CN214426656U - Pipeline inner wall detection system - Google Patents
Pipeline inner wall detection system Download PDFInfo
- Publication number
- CN214426656U CN214426656U CN202120980246.5U CN202120980246U CN214426656U CN 214426656 U CN214426656 U CN 214426656U CN 202120980246 U CN202120980246 U CN 202120980246U CN 214426656 U CN214426656 U CN 214426656U
- Authority
- CN
- China
- Prior art keywords
- pipeline
- laser
- wall
- robot body
- detection robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model relates to a pipeline inspection technical field provides a detecting system of pipeline inner wall, and detecting system includes: the detection robot comprises a detection robot body (1), a circular ring laser (2), a camera (3), a point laser (4), a target (5) and a support frame (6); the detection robot comprises a detection robot body (1) and is characterized in that the detection robot body (1) can walk on the inner wall of a pipeline (11), a camera (3) is arranged at the front part or the rear part of the detection robot body (1), a target (5) and a circular ring-shaped laser (2) are arranged in the front of or behind the camera (3), the target (5) and the circular ring-shaped laser (2) are fixedly connected with the detection robot body (1) through a support frame (6), a point laser (4) is arranged at the inlet end of the pipeline (11) and projects a laser point to the target (5), and the camera (3) shoots a circular ring-shaped laser stripe (12) emitted by the circular ring-shaped laser (2) and the laser point on the target (5). The scheme can accurately obtain the three-dimensional appearance of the inner wall of the pipeline.
Description
Technical Field
The utility model relates to a pipeline inspection technical field especially relates to a detecting system, detection method and application of pipeline inner wall.
Background
In the process of long-term use of the pipeline, pits, bulges, structural damage or linear deformation of the whole pipeline and the like can occur on the inner wall, so that the inner wall of the pipeline needs to be regularly detected.
The existing detection technology comprises the following steps:
first, a caliper is used to measure the inside wall diameter parameter at each location. The method has the disadvantages that a standard gauge is needed for correction before use, each section needs to be measured respectively during measurement, only one diameter can be measured each time, the whole circle cannot be measured, the testing efficiency is low, and when the circle of the inner wall of the pipeline is irregular, the center is difficult to determine, so that the detection precision is reduced.
Second, images of the inner wall of the pipe are taken. The method has the defects that the image is a two-dimensional plane image one by one, three-dimensional information is lacked, and a three-dimensional model of the inner wall of the pipeline cannot be accurately constructed.
Thirdly, a plurality of laser beams are irradiated onto the pipeline to be constructed at one time, the reflected laser points are received by the receiver, and the three-dimensional object to be imaged is restored through the angle and intensity data of each reflected laser point. The method is generally suitable for three-dimensional construction of the appearance of the pipeline, and if the method is applied to the inner wall of a narrow pipeline, multiple reflection phenomena are easy to occur due to the fact that large-scale laser emitting equipment and receiving equipment are needed, and the method is difficult to technically realize.
Therefore, it is necessary to develop a system and a method for detecting the inner wall of a pipeline, which can accurately detect the flaws of the inner wall of the pipeline.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a pipeline inner wall's detecting system, detection method and application can detect out the flaw condition of pipeline inner wall accurately.
According to the utility model discloses a first aspect provides a detecting system of pipeline inner wall, include: the method comprises the following steps of detecting a robot body, a circular laser, a camera, a point laser, a target and a support frame;
the detection robot body can walk on the inner wall of the pipeline;
the camera is arranged at the front part of the detection robot body, and a target and a circular laser are arranged in front of the camera; or the camera is arranged at the rear part of the detection robot body, and a target and a circular laser are arranged behind the camera;
the target and the circular ring laser are fixedly connected with the detection robot body through a support frame, the point laser is arranged at the inlet end of the pipeline and projects point laser to the target, and the camera shoots circular ring laser stripes emitted by the circular ring laser and laser points on the target.
According to the utility model discloses an example embodiment, detecting system still includes the distancer, the distancer sets up at the entry end of pipeline, measures the distance that detection robot body walked.
The distance measuring instrument adopts a laser distance measuring instrument.
According to the utility model discloses an example embodiment, detecting system still includes the data processing computer, the data processing computer with camera, distancer are connected for the distance that ring shape laser stripe and point laser and distancer shot according to the camera found the three-dimensional appearance of pipeline inner wall.
According to the utility model discloses an example embodiment, the inspection robot body includes the walking wheel for the inspection robot body can paste the walking of pipe inner wall.
According to the utility model discloses an example embodiment, detecting system still includes the motor, the motor sets up on the inspection robot body, and the walking wheel walking of drive inspection robot body.
According to an exemplary embodiment of the present invention, the target is not coplanar with a plane where the circular laser stripe emitted by the circular laser is located. If the target is coplanar with the plane of the circular laser stripe, the circular laser stripe is blocked from reflecting on the inner wall of the pipeline.
Preferably, the target is parallel to a plane where the circular laser stripe emitted by the circular laser is located.
According to an exemplary embodiment of the present invention, the support frame is transparent.
According to an exemplary embodiment of the present invention, the conduit is a gun barrel.
According to a second aspect of the present invention, there is provided a method for detecting an inner wall of a pipeline, comprising the steps of:
a detection system for the inner wall of the pipeline is adopted;
the detection robot body enters the pipeline from the inlet end of the pipeline;
in the process of detecting the walking of the robot body, the camera continuously shoots circular laser stripes emitted by the circular laser and point lasers on the marking plate.
According to an exemplary embodiment of the present invention, the detection method further comprises: and in the process of detecting the walking of the robot body, the walking distance of the robot body is measured continuously.
According to an exemplary embodiment of the present invention, the detection method further comprises: and constructing the three-dimensional shape of the inner wall of the pipeline according to the circular laser stripes, the point laser and the walking distance of the detection robot body. The posture of the detection robot body can be obtained according to the annular laser stripes and the point laser, and the three-dimensional appearance of the inner wall of the pipeline can be constructed according to the posture and the position of the detection robot body.
According to the utility model discloses an example embodiment, the method of establishing the three-dimensional appearance of pipeline inner wall according to the distance of ring shape laser stripe, point laser and the walking of detection robot body includes:
the target and the plane where the circular laser stripe emitted by the circular laser is located are not coplanar, and a two-dimensional coordinate system is established by the plane where the target is located;
obtaining the shaking displacement of the detection robot body according to the displacement of the point laser in a two-dimensional coordinate system, extracting the central contour line of the circular laser stripe, and obtaining the inner contour shape of the section of a specific position of the inner wall of the pipeline according to the central contour line, the shaking displacement of the detection robot body and the walking distance of the detection robot body;
splicing the inner contour shapes of the sections of specific positions of the inner walls of the pipelines into a three-dimensional shape.
According to the utility model discloses an example embodiment, after the distance according to ring shape laser stripe, point laser and the walking of detection robot body found the three-dimensional appearance of pipeline inner wall, compare the three-dimensional appearance of pipeline inner wall and the three-dimensional appearance of the pipeline inner wall of standard, find out the flaw of pipeline inner wall.
According to a third aspect of the present invention, there is provided a method of detecting an inner wall of a pipe in a gun barrel of an artillery and similar applications.
The utility model has the advantages that:
the utility model discloses combine some laser, ring laser and inspection robot body working distance, the laser point cloud that obtains the pipeline inner wall that can the high accuracy can know the condition that inspection robot body was shaken about, about in the pipeline from top to bottom constantly again simultaneously, satisfies under measurement of efficiency's the prerequisite, can obtain the three-dimensional appearance of pipeline inner wall again accurately to can find the flaw of pipeline inner wall fast, accurately.
Drawings
Fig. 1 schematically shows a block diagram of a detection system of the first embodiment.
Fig. 2 schematically shows a diagram of the relationship between the circular ring shaped laser stripe and the central profile line.
The system comprises a detection robot body, a 2-circular ring laser, a 3-camera, a 4-point laser, a 5-target, a 6-support frame, a 7-range finder, a 8-data processing computer, a 9-motor, a 10-power supply, a 11-pipeline, a 12-circular ring laser stripe, a 13-point laser line and a 14-center contour line.
Detailed Description
The embodiments of the invention are described in detail below, but the invention can be implemented in many different ways, which are defined and covered by the claims.
As a first embodiment of the present invention, there is provided a detection system for an inner wall of a pipeline, as shown in fig. 1, including: the detection robot comprises a detection robot body 1, a circular ring-shaped laser 2, a camera 3, a point laser 4, a target 5, a support frame 6, a range finder 7, a data processing computer 8, a motor 9 and a power supply 10.
The detection robot body 1 can walk on the inner wall of the pipeline 11. The pipeline 11 can be a circular pipeline, can also be a square pipeline, still can be for arbitrary closed shape pipeline, the utility model discloses a detecting system is applicable to the pipeline of different shapes. The utility model discloses a detecting system still is applicable to different types of pipelines, for example artillery gun barrel, water pipeling etc.. The detection robot body comprises a walking wheel which walks along the 11 walls of the pipeline. The motor 9 is arranged on the detection robot body 1, is close to the walking wheels and drives the walking wheels of the detection robot body 1 to walk. The motor 9 is a shaft encoder motor.
The camera 3 is arranged in the front of the detection robot body 1, and the mark plate 5 and the annular laser 2 are arranged in front of the camera 3. The target 5 is not coplanar with, and preferably parallel to, the plane in which the annular laser stripes 12 emitted by the annular laser 2 lie. The mark plate 5 and the circular laser 2 are fixedly connected with the detection robot body 1 through a support frame 6. The supporting frame 6 may be made of transparent material.
The point laser 4 is arranged at the inlet end of the pipeline 11 and projects point laser to the target 5, and a plurality of point lasers form a point laser line 13 between the point laser 4 and the target 5.
The camera 3 shoots the circular laser stripe 12 emitted by the circular laser 2 and the point laser on the target 5.
The distance measuring instrument 7 adopts a laser distance measuring instrument and is arranged at the inlet end of the pipeline 11 to measure the walking distance of the detection robot body 1.
And the data processing computer 8 is connected with the camera 3 and the range finder 7 and is used for constructing the three-dimensional shape of the inner wall of the pipeline 11 according to the circular laser stripes shot by the camera 3 and the distance detected by the range finder 7.
The power supply 10 provides a stable power supply for the distance meter 7, the data processing computer 8 and the motor 9.
As a second embodiment of the present invention, a system for detecting an inner wall of a pipeline is provided. The inspection system of the second embodiment is substantially the same as that of the first embodiment, except that a camera 3 is provided at the rear of the inspection robot body 1, and a target 5 and a ring laser 2 are provided behind the camera 3.
As a third embodiment of the present invention, there is provided a method for detecting an inner wall of a pipeline, including the steps of:
a detection system for an inner wall of a pipe according to the first or second embodiment;
the detection robot body 1 enters the interior of the pipeline 11 from the inlet end of the pipeline 11;
in the process of detecting the walking of the robot body 1, the camera 3 continuously shoots circular laser stripes emitted by the circular laser 2 and point lasers on the mark plate 5; meanwhile, the distance measuring instrument 7 continuously measures the walking distance of the detection robot body 1;
constructing the three-dimensional shape of the inner wall of the pipeline according to the circular laser stripes, the point laser and the walking distance of the detection robot body 1;
and comparing the three-dimensional shape of the inner wall of the pipeline 11 with the standard three-dimensional shape of the inner wall of the pipeline to find out the flaws of the inner wall of the pipeline 11.
The method for constructing the three-dimensional shape of the inner wall of the pipeline according to the circular laser stripes, the point laser and the walking distance of the detection robot body 1 comprises the following steps:
establishing a two-dimensional coordinate system by using a plane where the target 5 is located;
obtaining the displacement of the detection robot body 1 by the displacement of the point laser in the two-dimensional coordinate system, as shown in fig. 2, extracting a central outline 12 of a circular laser stripe 12, and obtaining the cross-sectional inner outline shape of a specific position of the inner wall of the pipeline 11 by the central outline 12, the displacement of the detection robot body 1 by the vibration and the distance of the detection robot body 1;
the inner contour shapes of the cross sections of specific positions of the inner walls of the plurality of pipelines 11 are spliced into a three-dimensional shape.
When the detection robot body 1 travels in the pipeline 11, the detection robot body 1 can shake up and down or left and right due to the fact that pits, bulges or bends of the pipeline 11 exist in the pipeline 11, the built three-dimensional model of the inner wall of the pipeline 11 is equivalent to the real situation, and the shaking situation of the detection robot body 1 influenced by the inner wall of the pipeline 11 when the detection robot body 1 travels should be considered, so that the scheme records the shaking displacement of the detection robot body 1 while shooting the circular laser stripe 12, obtains the laser point cloud of the inner wall of the pipeline with high precision, can calculate the posture of the detection robot body 1 through the circular laser stripe 12 and the shaking displacement of the detection robot body 1, and can know the vertical, left and right shaking situation of the detection robot body 1 in the pipeline 11 and the specific position of the detection robot body 1 constantly through the traveling distance of the detection robot body 1, on the premise of meeting the measurement efficiency, the three-dimensional morphology of the inner wall of the pipeline 11 can be accurately obtained, so that the flaws of the inner wall of the pipeline 11 can be quickly and accurately found.
The displacement for detecting the shake of the robot body 1 includes a displacement for detecting the up-down shake and a displacement for detecting the left-right shake of the robot body 1.
The method for extracting the central contour line of the circular laser stripe comprises the following steps:
adopting a steger algorithm and utilizing a hessian matrix to obtain the line-emitting direction of the circular laser stripe 12;
and then, obtaining an extreme point in the line sending direction to obtain the pixel position of the center of the stripe, and further obtaining a central outline line 14 of the circular laser stripe 12.
As a fourth embodiment of the present invention, there is provided an application of the method for detecting an inner wall of a pipe according to the third embodiment to a gun barrel of an artillery.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A system for detecting the inner wall of a pipeline, comprising: the detection robot comprises a detection robot body (1), a circular ring laser (2), a camera (3), a point laser (4), a target (5) and a support frame (6);
the detection robot body (1) can walk on the inner wall of the pipeline (11);
the camera (3) is arranged at the front part of the detection robot body (1), and a target (5) and a circular laser (2) are arranged in front of the camera (3); or the camera (3) is arranged at the rear part of the detection robot body (1), and a target (5) and a circular laser (2) are arranged behind the camera (3);
target (5) and ring laser instrument (2) pass through support frame (6) with inspection robot body (1) fixed connection, point laser instrument (4) set up the entry end in pipeline (11) to throw some laser to target (5), camera (3) shoot the point laser on ring laser stripe (12) and the target (5) of ring laser instrument (2) transmission.
2. The detection system for the inner wall of the pipeline is characterized by further comprising a distance meter (7), wherein the distance meter (7) is arranged at the inlet end of the pipeline (11) and is used for measuring the walking distance of the detection robot body (1).
3. The detection system for the inner wall of the pipeline is characterized by further comprising a data processing computer (8), wherein the data processing computer (8) is connected with the camera (3) and the distance meter (7) and is used for constructing the three-dimensional appearance of the inner wall of the pipeline (11) according to the circular laser stripes shot by the camera (3), the point laser and the distance detected by the distance meter (7).
4. The pipeline inner wall detection system according to claim 1, wherein the detection robot body (1) comprises a walking wheel, so that the detection robot body can walk against the inner wall of the pipeline (11).
5. The detection system for the inner wall of the pipeline is characterized by further comprising a motor, wherein the motor (9) is arranged on the detection robot body (1) and drives a walking wheel of the detection robot body (1) to walk.
6. The pipeline inner wall detection system according to claim 1, wherein the target (5) is not coplanar with a plane where the circular ring laser stripes (12) emitted by the circular ring laser (2) are located.
7. The system for detecting the inner wall of a pipeline according to claim 1, wherein the support frame (6) is transparent.
8. The inspection system of the inner wall of a pipeline according to claim 1, characterized in that the pipeline (11) is a artillery barrel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120980246.5U CN214426656U (en) | 2021-05-10 | 2021-05-10 | Pipeline inner wall detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120980246.5U CN214426656U (en) | 2021-05-10 | 2021-05-10 | Pipeline inner wall detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214426656U true CN214426656U (en) | 2021-10-19 |
Family
ID=78076616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120980246.5U Active CN214426656U (en) | 2021-05-10 | 2021-05-10 | Pipeline inner wall detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214426656U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113804698A (en) * | 2021-11-17 | 2021-12-17 | 北京蜂盛蜜匀农业科技有限公司 | Self-propelled intelligent pipeline 3D imaging and measuring device and measuring method thereof |
| CN113959359A (en) * | 2021-10-28 | 2022-01-21 | 清华大学深圳国际研究生院 | Shape measuring device and method for pipeline-shaped continuous robot |
-
2021
- 2021-05-10 CN CN202120980246.5U patent/CN214426656U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113959359A (en) * | 2021-10-28 | 2022-01-21 | 清华大学深圳国际研究生院 | Shape measuring device and method for pipeline-shaped continuous robot |
| CN113959359B (en) * | 2021-10-28 | 2024-01-26 | 清华大学深圳国际研究生院 | Shape measuring device and method for pipeline-shaped continuous robot |
| CN113804698A (en) * | 2021-11-17 | 2021-12-17 | 北京蜂盛蜜匀农业科技有限公司 | Self-propelled intelligent pipeline 3D imaging and measuring device and measuring method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113091650A (en) | Detection system, detection method and application of pipeline inner wall | |
| CN214426656U (en) | Pipeline inner wall detection system | |
| CN109544679B (en) | Three-dimensional reconstruction method for inner wall of pipeline | |
| CN110118528B (en) | Line structure light calibration method based on chessboard target | |
| CN108802043B (en) | Tunnel detection device, tunnel detection system and tunnel defect information extraction method | |
| CN201964875U (en) | Distant target observing system | |
| US9020240B2 (en) | Method and surveying system for noncontact coordinate measurement on an object surface | |
| Summan et al. | Spatial calibration of large volume photogrammetry based metrology systems | |
| CA2686904C (en) | Hand-held self-referenced apparatus for three-dimensional scanning | |
| CN110243293B (en) | Duct piece dislocation rapid detection device and method based on structural light and machine vision | |
| CN113744351B (en) | Underwater structure light measurement calibration method and system based on multi-medium refraction imaging | |
| CN116009559B (en) | Inspection robot and inspection method for inner wall of water conveying pipeline | |
| CN111754462A (en) | Visual detection method and system for three-dimensional bent pipe | |
| CN102798456A (en) | Method, device and system for measuring working range of engineering mechanical arm frame system | |
| CN110926378A (en) | Improved bar straightness detection system and method based on visual detection | |
| CN114323571A (en) | Multi-optical-axis consistency detection method for photoelectric aiming system | |
| CN108593710B (en) | Thermal imaging detection system and method for surface defects of high-reflectivity material | |
| CN110763136A (en) | High-precision three-dimensional workpiece size detection system and method | |
| CN115376000A (en) | Underwater measurement method, device and computer readable storage medium | |
| CN113008158B (en) | Multi-line laser tire pattern depth measuring method | |
| JPH09189526A (en) | Method and device for measuring reinforcing bar diameter | |
| CN106908802B (en) | Laser beam space positioning device and method based on image processing | |
| JP2012163346A (en) | Apparatus and method for measuring surface shape | |
| Bergström et al. | Automatic in-line inspection of shape based on photogrammetry | |
| JP2009229439A (en) | System and method for measuring three-dimensional geometry |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |