CN108737705A - A kind of inner wall of the pipe image collecting device - Google Patents
A kind of inner wall of the pipe image collecting device Download PDFInfo
- Publication number
- CN108737705A CN108737705A CN201810615726.4A CN201810615726A CN108737705A CN 108737705 A CN108737705 A CN 108737705A CN 201810615726 A CN201810615726 A CN 201810615726A CN 108737705 A CN108737705 A CN 108737705A
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- Prior art keywords
- wall
- carrier platform
- line array
- pipe
- controller
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/74—Circuitry for compensating brightness variation in the scene by influencing the scene brightness using illuminating means
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Human Computer Interaction (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The present invention provides a kind of inner wall of the pipe image collecting device, including carrier platform, the controller being arranged on carrier platform, line array CCD, it is characterized in that, it further include the storage unit being connect with controller, the line array CCD is arranged in the both sides of carrier platform, each line array CCD controls stepper motor by controller respectively and realizes that it completes 0-180 ° of rotation, to make two line array CCDs complete to acquire the full images of 360 ° of inner wall of the pipe, the image of two line array CCDs acquisition is stored by the storage unit.The line array CCD of 0-180 ° of scanning is installed respectively in two sides of carrier platform, the inner wall of the pipe information storage that 360 ° are scanned is in the memory unit, the drawbacks of so as to avoid needing to follow robot whereabouts using a signal wire, to expand the range of inner wall of the pipe detection.
Description
Technical field
The present invention relates to pipeline inspection technology field more particularly to a kind of inner wall of the pipe image collecting devices.
Background technology
The various conveyance conduits of existing pipeline, especially underground gas transmission, oil transportation, the pipelines such as water delivery in long-term use, by
The defect etc. of the corrosion of medium and pipeline itself will produce crackle, loophole etc. and leak air, oil leak inside and outside by pipeline,
Phenomena such as leak.Therefore periodic detection is carried out for pipeline, the operation conditions to understand pipeline is very important.Existing pipeline
Detection includes mainly hand excavation's detection and pipe robot detection.Hand excavation detects, and not only labor intensity is big, benefit is low,
And the traffic on piping laying periphery or the normal life of people would generally be interfered.Mobile robot detection is can edge in one kind
One or more sensors and operating device are carried on the mechanical device walked in pipeline, under the far distance controlled of operating personnel
Carry out a series of pipe detections.
Mobile robot technology development is very fast in pipeline in recent years, occur it is large quantities of can be at a distance in the straight of various calibers
The robot of pipe, bend pipe and bent intraductal operation.These robots are small, light-weight, reliable operation, efficient.Simultaneously because
There are some pipeline inner tube image detection devices in the intuitive of image detecting technique.This device is mobile in pipeline
A kind of small ccd camera is carried in robot, is obtained by the rotation of operator's remote mobile robot and camera holder
The pipeline image for obtaining very small region is given video camera to illuminate, can be seen clearly so that operator understands using the halogen light lamp of several 4-5W
Pipeline inner case.But since pipeline is typically metallic conduit, due to the shielding action of metal, the pipe signal of shooting is very
Difficulty is by wireless transmission, therefore usually video camera will drag a signal wire, this is extremely difficult to the detection of long pipeline.
Invention content
It is an object of the invention to solve the problems of the above-mentioned prior art, providing one kind, can to obtain entire pipeline outstanding
It is that long pipe road inner wall carries out all standing sample of high-resolution image method and device.
A kind of inner wall of the pipe image collecting device, including carrier platform, the controller being arranged on carrier platform, linear array
CCD, further includes the storage unit being connect with controller, and the line array CCD is arranged in the both sides of carrier platform, each line array CCD
Stepper motor is controlled by controller respectively and realizes that it completes 0-180 ° of rotation, to make two complete twin conduits of line array CCD
The full images acquisition that 360 ° of inner wall, the image of two line array CCDs acquisition are stored by the storage unit.
Further, inner wall of the pipe image collecting device as described above is provided with measuring wheel on the carrier platform,
Encoder is provided on the measuring wheel, encoder is connect with the controller, for the impulsive measurement by encoder output
The distance that measuring wheel is advanced in inner wall of the pipe.
Further, inner wall of the pipe image collecting device as described above, it can be adjusted by being provided on carrier platform
Steadily forward balance mechanism.
Further, inner wall of the pipe image collecting device as described above, the balance mechanism include flat mounted on carrier
Accelerometer on platform and steering engine, the accelerometer are connected with controller, and controller is controlled by analyzing acceleration signal
Driving circuit drives steering engine, and the balance of carrier platform is adjusted by steering engine.
Further, inner wall of the pipe image collecting device as described above, is provided in front of linear array CCD camera
LED illumination lamp, the LED illumination lamp are connect by current regulating circuit with controller.
Further, inner wall of the pipe image collecting device as described above, the storage unit are solid state disk.
The present invention has the beneficial effect that：
(1) line array CCD for installing 0-180 ° of scanning respectively in two sides of carrier platform, will be in the pipeline of 360 ° of scanning
Wall information storage in the memory unit, the drawbacks of so as to avoid needing to follow robot whereabouts using a signal wire, to
Expand the range of inner wall of the pipe detection；
(2) line array CCD is used, and line array CCD is placed longitudinally along pipeline, line array CCD is automatically controlled by stepper motor
It is rotated in pipeline cross section, as carrier platform moves, line array CCD gradually scans pipeline, realizes inner wall of the pipe image
All standing high-precision is shot, and solves the problems, such as that area array cameras generates pattern distortion in shooting at close range arcuate objects.
Description of the drawings
Fig. 1 is inventive pipeline inner wall image collecting device structural schematic diagram；
Fig. 2 is the driving circuit figure of line array CCD of the present invention；
Fig. 3 is the amplification circuit structure figure that the present invention is connect with line array CCD；
Fig. 4 is analog-digital converter circuit structure chart of the present invention；
Fig. 5 is carrier platform motor-drive circuit figure of the present invention；
Fig. 6 is that FPGA of the present invention configures connection figure；
Fig. 7 is accelerometer scheme of installation of the present invention；
Fig. 8 is accelerometer Acquisition Circuit figure of the present invention；
Fig. 9 is that line array CCD of the present invention is drivingly connected figure；
Figure 10 is LED illumination circuit structure diagram of the present invention.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, the technical solution below in the present invention carries out clear
Chu is fully described by, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Inner wall of the pipe image collecting device provided by the invention, including carrier platform, the control that is arranged on carrier platform
Device, line array CCD, further include the storage unit being connect with controller, and the line array CCD is arranged in the both sides of carrier platform, each
Line array CCD controls stepper motor by controller respectively and realizes that it completes 0-180 ° of rotation, to make two line array CCDs complete
To 360 ° of full images acquisition of inner wall of the pipe, the image of two line array CCDs acquisition is stored by the storage unit.It is described
Storage unit is solid state disk.
Specifically, as shown in Figure 1, the present invention is using mobile robot (carrier platform) as the platform of acquisition system, at this
Measuring wheel (measuring wheel), encoder, stepper motor, line array CCD, solid state disk, accelerometer, LED are installed on carrier platform
Lighting circuit, image acquisition circuit, CCD scan drive circuits, carrier platform driving circuit, controller FPGA.In carrier platform
2 line array CCDs of upper installation, the two CCD are able to be completed 0-180 ° of rotation by stepper motor driving, in mobile robot
In moving process, 360 ° of sections of 2 linear array CCD scanning inner wall of the pipes, by the picture storage of acquisition to mounted on mobile carrier
On solid state disk in.
The line array CCD needs that specific sequential could work, the driving circuit of CCD is as shown in Fig. 2, use two
HC04 as driving chip, driver' s timing by EP2C8Q208 105,106,107,108,110,112,113,114,115,
116,117,118 output.
As shown in Figure 1, the output end of the line array CCD is connected with filter circuit, the output end of filter circuit, which is connected with, to be put
The output end of big circuit, amplifying circuit is connected with analog-digital converter, and the analog-digital converter is connect with controller.
Specifically, the output signal of CCD is very faint, and carries noise, needs that it is amplified and is filtered before acquisition,
As shown in figure 3, high speed operation amplifier AD8032A provides prime enlarging function, may amplify the signal to can be handled amplifying circuit
Degree, then the die filter shaping that is constituted together through AD8310 operational amplifiers and peripheral original paper, then transported through level-one high speed
AD8032B is put signal enhancing to the degree that can be acquired.
The image information of CCD is exported in the form of simulation, needs to be AD converted, using TLV5580AD chips,
The signal of CCD is input to through amplification filtering on 5580 No. 26 pins, and 5580 D0-D7 is the digital information converted, connection
Onto 63,64,65,68,69,70,71,73 pins of EPSC8Q208, the driving clock signal of TLV5580 is by EP2C8Q208's
75 feet provide.As shown in Figure 4.
What temporary storage was selected is ISS61V6416 chips, and address wire and data line are coupled with the data and ground of FPGA
In the bus of location.The configuration mode of FPGA is configured using AS.
The controller uses the ATmega128 microcontrollers of atmel corp's production as controller.
Carrier platform motor-drive circuit is as shown in figure 5, motor needs high current that could work, the electricity of digital circuit output
Stream is not enough to drive motor, and H-bridge drive circuit is formed using half bridge chip BTS960P, needs 4 BTS969P chips compositions
The prime of dual H-bridge circuit, Driving Stepping Motor, H bridges is driven with HC541, PP7 in figure, PP5, and PH7, PH6 are patrolling for digital circuit
Output is collected, 541 2,3,4,5 pins are input to, exports, is input to from 15,16,17,18 pins after HC541 enhances
2 feet of BTS960P are connected to A, B, C, D phase of stepper motor by the amplification of BTS960P by P1, P2 terminal again.System is adopted
With the bus of 16 bit widths, it is managed collectively by FPGA, FPGA uses the EP2C8Q208 chips of altera corp's production,
Pin assignments such as Fig. 6,67,68,69,70,72,74,75,76,77,80,81,82,84,86,87,88 are used as data line；89,
90,92,94,95,96,97,99,101,102,103,104 it is used as address wire, then by this two bus drivers and management outer part
Part.
The carrier platform use crawler belt type pipeline robot, appearance and size be 150mm (width) × 110mm (height) ×
380mm (length), weight 5.3kg, movement speed 0-10m/min.
It is the 230HS28DX of HDB, maximum radial force 75N, maximum axial to drive the stepper motor that the carrier platform is advanced
Power 15N.
Linear CCD scanning stepper motor is the 42BYG250C, rated power supply 24v, rated current 1.5A of SYNTR0N.
The solid state disk chip is the HDTB320AK3C hard disks of Toshiba, and capacity 2TB caches 8MB.
Preferably, the present invention is provided with measuring wheel on the carrier platform, and encoder is provided on the measuring wheel, compiles
Code device connect with the controller, for by the impulsive measurement measuring wheel of encoder output advance in inner wall of the pipe away from
From.
Specifically, the picture dot number of line array CCD of the present invention is 5340, and example is divided to be less than 0.1mm, so each time can only
534 millimeters of long pipelines are scanned, i.e. carrier platform often advances 534mm, and linear array CCD scanning is primary.The onward impulse of carrier is by step
Stepper motor provides, but can not rule out the tyre slip for having various oily matters to lead to stress inside pipeline, the positioning of carrier platform
Error is larger, and the method for solving the problems, such as this is that one measuring wheel of installation, measuring wheel do not have special requirement on carrier, as long as peace
It, can be with the mobile and driven of carrier on carrier.On the measuring wheel install an encoder, by encoder come
Realize being accurately positioned for mobile carrier.
Pulse signal is generated by encoder, stepper motor drives in line array CCD one section of fore-and-aft distance interior conduit of accurate scan
360 ° of sections of wall, will be in the picture storage to the solid state disk on mobile carrier of acquisition.With the shifting of mobile carrier
It is dynamic to obtain the high-definition picture for covering entire inner wall of the pipe.The present invention is equipped with encoder by installing one on carrier platform
Measuring wheel, being accurately positioned for carrier platform is obtained with this, positioning accuracy is less than 0.1mm；It can realize entire inner wall of the pipe
The high resolution detection of all standing image, image resolution ratio are less than 0.1mm.
In carrier platform moving process, be mounted on measuring wheel on encoder generate pulse signal, pulse reach to
When determining number, i.e., when carrier platform moves a given step-length, circuit system drives linear array CCD scanning to obtain inner wall of the pipe
High-definition picture, i.e.,：When measuring wheel moves, encoder is known that ranging has moved in turn how many, such as 1 circle of ranging rotation, coding
Device exports 2000 pulses, then the distance of 1 pulse of encoder is wheel perimeter divided by 2048, when encoder obtains the survey of 0.5m
Span from when, the tunnel one in CCD scan drive circuits control scanning 0.5m length encloses, and the pixel of CCD is 5340, therefore, choosing
Fore-and-aft distance when selecting progress and scanning easily reaches the resolution ratio of 0.1mm, as a result, image collecting device provided by the invention
It can not only know being accurately positioned for carrier platform, and the resolution ratio of image is less than 0.1mm.
The present invention uses line array CCD, and line array CCD is longitudinally arranged along pipeline, and line array CCD is controlled automatically by stepper motor
System rotates in pipeline cross section, and with the movement of carrier platform, camera gradually scans inner wall of the pipe, can realize pipeline inner tube
The all standing high-precision of image does not distort shooting, solves area array cameras and generates pattern distortion in shooting at close range arcuate objects
The problem of.
It is the E40S-8-2000-3-2-24 of AutonicS productions that the encoder, which uses rotary encoder, rotary encoder,
Three-phase incremental-rotating coder, measuring wheel every revolution can send out 2000 pulses, between accuracy representing any two pulse
Journey error.If detection vehicle tire circumference is 100mm, each pulse of three-phase incremental-rotating coder is about as much as water
Flat operating range 0.05mm.
Preferably, its balance mechanism steadily to move ahead can be adjusted by being provided on carrier platform.The balance mechanism packet
The accelerometer and steering engine on carrier platform are included, the accelerometer is connected with controller, and controller is added by analysis
Speed signal drives steering engine to control driving circuit, and the balance of carrier platform is adjusted by steering engine.
Determine, without occurring tilting or turn on one's side, to need carrier drive control to allow carrier platform to keep steady in driving process total security
System.The present invention installs two axis or three axis accelerometer on image collecting device, and the appearance of carrier platform is perceived with this
State, and detection is obtained the filtered circuit of acceleration signal, amplifying circuit filter and amplification, enter in FPGA after AD conversion,
The acceleration signal drives steering engine so as to adjust the operation of mobile robot by analyzing by driving circuit, avoids mobile machine
People tilts, and mobile robot is made to be always ensured that in equilibrium state.Installation method of the accelerometer on carrier platform such as Fig. 7 institutes
Show.OA, OB are two axial directions of acceleration transducer, differ 90 degree, OF is that method, angle AOF are equal to angle BOF straight down.OA
It is actually two component of gravity OF with OB, just can know that mobile machine by analyzing accelerometer A and accelerometer B in this way
Whether people is in the bottom of pipeline, and in due course adjusting mobile robot steering engine travels to adjust mobile robot.
The present invention only uses accelerometer, perceives whether carrier platform tilts with accelerometer, has tilted how many (obtain
Whether platform is in duct bottom), if not in bottom, need the operation that carrier platform is adjusted by servos control.
The accelerometer measures model using being three axis deceleration chip SCA3100-D04, chip power supply voltage 3.3V
Enclose ± 2g, ± 30mg zero point accuracies within the scope of total temperature.
The signal of accelerometer is defeated through P1, P2 terminal in the accelerometer Acquisition Circuit (Fig. 8) in carrier drive control
Enter, the follower that operational amplifier OP07 is constituted follows signal, is output to 72 and 73 pins of S12XS, then by
S12XS is AD converted acceleration signal.And a suitable PWM pulse width information is exported from PP1 according to result of calculation, with
Control the steering behavior of steering engine.
The steering engine using S906 drag cup rotor electric machines drive turn to steering engine, circuit such as Fig. 9, power supply pass through
LM1084 voltage stabilizings, filtering are powered to steering engine, then are exported by S12XS and turned to pulse to drive the steering angle of steering engine.
Preferably, the present invention is provided with LED illumination lamp in front of linear array CCD camera, and the LED illumination lamp passes through electricity
Stream adjusts circuit and is connect with controller.
In carrier platform moving process, be mounted on measuring wheel on encoder generate pulse signal, pulse reach to
When determining number, i.e., when carrier platform moves a given step-length, circuit system drives LED illumination and linear array CCD scanning to obtain
The high-definition picture of inner wall of the pipe, linear array CCD scanning is synchronous with LED illumination to be generated.I.e.：Line array CCD during scanning,
Control circuit controls LED illumination circuit stroboscopic, often dodges once, line scan camera sweeps a frame.
LED light work during it is very stringent to current requirements, in order to ensure LED operation safety current range simultaneously
Enough illumination intensities of illumination can be provided again, it is necessary to which current constant control, circuit such as Figure 10, power supply electricity are done to LED light emitting diodes
Light emitting diode can just be flowed through after field-effect tube Q4 control by flowing through, and the control of field-effect tube is by the in due course magnitude of current through amplifier
LM358 does a negative-feedback and then flows into field-effect tube.It can must switch, therefore use at any time in order to reduce power consumption etc.
The control signal of master controller is isolated in 4N25, and one high electricity is inputted by the ends LEDEN by master controller when needing illumination
It is flat to open LED.
The present invention also has the advantage that：
(1) measuring wheel is installed in mobile robot (carrier platform), encoder is installed on measuring wheel, realizes pipeline
It the good passability of inner wall image capturing system and is accurately positioned.
(2) in image acquisition process, the image that scanning obtains every time is stored according to the displacement distance of mobile carrier platform, and
And line is used to scan, it solves the problems, such as that shooting image is corresponding with practical pipeline location and is difficult to and shoots image overlapping or leakage bat.
(3) LED illumination circuit is being scanned by encoder pulse and CCD scan drive circuit Comprehensive Controls on measuring wheel
Stroboscopic illumination in the process realizes low energy, highlight illumination.Solve in pipeline that image taking lighting circuit power is larger,
Heat leads to the problem of larger, long bright illumination and improves the shooting quality of image.
(4) carrier platform in the process of moving can be because of a variety of causes without the stringent bottom for being maintained at pipeline, meeting
Go to side wall up, therefore 1 accelerometer be installed on mobile carrier platform, this add meter can at least realize two axis plus
Velocity measuring.Carrier platform is set to clap to control the movement of carrier platform come the posture for perceiving carrier platform by this plus meter
Total security, which keeps steady, during taking the photograph determines not deviate, and avoids the occurrence of carrier platform and seriously deviates the phenomenon that even turning on one's side in the process of moving.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (7)
1. a kind of inner wall of the pipe image collecting device, which is characterized in that including carrier platform, the control being arranged on carrier platform
Device, line array CCD, which is characterized in that further include the storage unit being connect with controller, the line array CCD is arranged in carrier platform
Both sides, each line array CCD controls stepper motor by controller respectively and realizes that it completes 0-180 ° of rotation, to make two
Line array CCD is completed to acquire the full images of 360 ° of inner wall of the pipe, the image of two line array CCDs acquisition by the storage unit into
Row storage.
2. inner wall of the pipe image collecting device according to claim 1, which is characterized in that be arranged on the carrier platform
There is measuring wheel, encoder is provided on the measuring wheel, encoder is connect with the controller, for passing through encoder output
The distance that impulsive measurement measuring wheel is advanced in inner wall of the pipe.
3. inner wall of the pipe image collecting device according to claim 1, which is characterized in that be provided with energy on carrier platform
It enough adjusts it and does not tilt forward balance mechanism steadily.
4. inner wall of the pipe image collecting device according to claim 3, which is characterized in that the balance mechanism includes installation
Accelerometer on carrier platform and steering engine, the accelerometer are connected with controller, and controller is believed by analyzing acceleration
Number come control driving circuit drive steering engine, the balance of carrier platform is adjusted by steering engine.
5. inner wall of the pipe image collecting device according to claim 1, which is characterized in that before linear array CCD camera
Side is provided with LED illumination lamp, and the LED illumination lamp is connect by current regulating circuit with controller.
6. inner wall of the pipe image collecting device according to claim 1, which is characterized in that the storage unit is that solid-state is hard
Disk.
7. inner wall of the pipe image collecting device according to claim 1, which is characterized in that the output end of the line array CCD
It is connected with filter circuit, the output end of filter circuit is connected with amplifying circuit, and the output end of amplifying circuit is connected with analog-to-digital conversion
Device, the analog-digital converter are connect with controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810615726.4A CN108737705A (en) | 2018-06-14 | 2018-06-14 | A kind of inner wall of the pipe image collecting device |
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| CN201810615726.4A CN108737705A (en) | 2018-06-14 | 2018-06-14 | A kind of inner wall of the pipe image collecting device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110068580A (en) * | 2019-04-11 | 2019-07-30 | 苏州赛瑞郦祺光电科技有限公司 | A kind of tube wall scanning recorder |
| CN111055647A (en) * | 2019-12-28 | 2020-04-24 | 芜湖安普机器人产业技术研究院有限公司 | Control system of trolley capable of walking on reducing cambered surface of rotary cement kiln |
| CN113341993A (en) * | 2021-06-21 | 2021-09-03 | 杭州越歌科技有限公司 | Automatic navigation method and system of pipeline detection robot, storage medium and robot |
| CN113915449A (en) * | 2021-10-22 | 2022-01-11 | 安庆师范大学 | Robot system and method suitable for detecting defects of inner wall of pipeline |
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