CN109444170A - A kind of novel pressure inner wall of the pipe visual defects detection system - Google Patents
A kind of novel pressure inner wall of the pipe visual defects detection system Download PDFInfo
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- CN109444170A CN109444170A CN201811449739.5A CN201811449739A CN109444170A CN 109444170 A CN109444170 A CN 109444170A CN 201811449739 A CN201811449739 A CN 201811449739A CN 109444170 A CN109444170 A CN 109444170A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N2021/0106—General arrangement of respective parts
- G01N2021/0112—Apparatus in one mechanical, optical or electronic block
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Abstract
The invention discloses a kind of novel pressure inner wall of the pipe visual defects detection systems, including scanning means, coupling apparatus, climbing robot and fiber optic communication remote control system；Scanning means, coupling apparatus, climbing robot are fixedly connected sequentially, and fiber optic communication remote control system is communicated to connect with scanning means and climbing robot respectively, and it is fixedly connected with the top of climbing robot；The present invention solves underwater robot of the existing technology and connect existing maintenance difficult with three dimension laser scanning surreying device, can not dismantle, at high cost, and manipulation range is short, accuracy is low, detection difficult and handicapped problem.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of novel pressure inner wall of the pipe visual defects detection system
System.
Background technique
Three-dimensional laser scanning technique is a kind of advanced full-automatic high precision stereoscan technology, is that the data based on face are adopted
Mode set can be under many complex environments using the geometric jacquard patterning unit surface data of acquisition object without contacting with testee.In water
In small sized pipeline and inclined shaft inside power station pressure pipes, three dimension laser scanning surreying device, energy are carried by using robot
It is enough to be difficult to the region directly detected progress data acquisition and detection in personnel.
The prior art has the following problems:
(1) in the prior art, when robot carries three dimension laser scanning surreying device, often connected using welding manner
It connects, when equipment component breaks down or damages, can not be independently serviced；When part of equipment scrapping, can not dismantle,
Improve cost；
(2) in the prior art, signal is controlled by cable transmission and receives acquisition signal, effective distance is short, and signal is by electricity
Magnetic disturbance is big, can not adapt to underwater environment, causes testing result accuracy low, and cable line volume is big, and weight is big, is laid with tired
Difficult capital investment is big, causes three dimension laser scanning surreying device detection difficult, and robotic movement is inconvenient.
Summary of the invention
For above-mentioned deficiency in the prior art, a kind of novel pressure inner wall of the pipe visual defects detection provided by the invention
It is tired to connect existing maintenance for solving underwater robot of the existing technology with three dimension laser scanning surreying device for system
It is difficult, can not dismantle, is at high cost, and manipulation range is short, accuracy is low, detection difficult and handicapped problem.
In order to achieve the above object of the invention, the technical solution adopted by the present invention are as follows:
A kind of novel pressure inner wall of the pipe visual defects detection system, including scanning means, coupling apparatus, climbing robot
And fiber optic communication remote control system；Scanning means, coupling apparatus, climbing robot are fixedly connected sequentially, and fiber optic communication is remote
Journey remote control system is communicated to connect with scanning means and climbing robot respectively, and it is fixedly connected with the top of climbing robot.
This programme has the beneficial effect that
(1) design of coupling apparatus, climbing robot and scanning means are connected, when ensure that pressure pipeline detection
The stability of equipment, while dismountable design, are convenient for maintenance of equipment, have saved cost input；
(2) fiber optic communication remote control system realizes the acquisition of the submarine pipeline data parameters remotely monitored, improves system
Practicability and convenience, improve data transmission efficiency；
(3) optical fiber is laid with simple, convenient for detecting, and light weight, it is convenient for underwater human action, optical fiber transmitting control signal
Control sensitivity and the adaptability to underwater environment are improved, capital investment has been saved, has avoided by electromagnetic noise interference.
Further, coupling apparatus include combine pedestal and firm banking, in conjunction with pedestal be surface be provided with it is externally threaded
Cylindrical body, bottom end are fixedly connected with the top of firm banking, and its top is fixedly connected with scanning means, the bottom of firm banking
End is fixedly connected with the top of climbing robot；Firm banking includes the riser of surface plate and two sides, and surface plate is provided with first
Screw hole is arranged at surface plate center in conjunction with pedestal, and riser is provided with the second screw hole；
Scanning means includes three-dimensional laser scanner and attachment base, three-dimensional laser scanner by rotary shaft with connect pedestal
Top connection, connect be provided at pedestal bottom center size in conjunction with the identical threaded mounting hole of pedestal, and its bottom face
It is provided with third screw hole；
The two sides of climbing robot are provided with the 4th screw hole, and bottom end front is provided with directional wheel, and its bottom end rear portion is set
It is equipped with universal wheel.
Above-mentioned further scheme has the beneficial effect that
Equally distributed screw hole further improves the stability of equipment, is fixed by bolt and screw hole, avoided
Equipment slides, and improves safety, while being convenient for the disassembly of equipment, improves practicability；Three-dimensional laser scanner is horizontal
Adjustable angle expands the angle of detection, further improves practicability；The universal wheel adjustment direction of climbing robot improves
Convenience.
Further, four corners of surface plate are provided with the first screw hole, and bolt passes through the first screw hole and three-dimensional laser
The third screw hole of the corresponding position setting of scanner bottom surface, is fixedly connected with the two；
The two sides and centre of riser are provided with the second screw hole, and bolt passes through the two sides pair of the second screw hole and climbing robot
The 4th screw hole for answering position to be arranged is fixedly connected with the two.
Above-mentioned further scheme has the beneficial effect that
It is connected by bolt with screw hole, it is easy to disassemble.
Further, fiber optic communication remote control system includes microprocessor, photoelectric conversion module, optical fiber interface, optical fiber
And battery, the microprocessor control chip with photoelectric conversion module, three-dimensional laser scanner and climbing robot respectively
Communication connection, photoelectric conversion module, optical fiber interface, optical fiber and control centre successively communicate to connect, battery respectively with micro- place
Device, climbing robot and three-dimensional laser scanner is managed to be electrically connected.
Above-mentioned further scheme has the beneficial effect that
Battery be required equipment power supply, photoelectric conversion module will manipulate electric signal be converted to optical signal and by optical fiber it is remote
Journey transmitting, control three-dimensional laser scanner adjust detection angles, increase the controllable distance of three-dimensional laser scanner, improve reality
The property used.
Further, attachment base, be all made of stainless steel material in conjunction with pedestal and firm banking and be made.
Above-mentioned further scheme has the beneficial effect that
The intensity of raising system avoids corrosion caused by term underwater work and due under stability caused by corroding
Drop.
Further, attachment base, be all made of aluminum alloy material in conjunction with pedestal and firm banking and be made.
Above-mentioned further scheme has the beneficial effect that
Mitigate system weight.
Further, the size of surface plate is 140mm × 120mm, and the size of riser is 120mm × 22mm, the first screw hole,
The diameter of second screw hole, third screw hole and the 4th screw hole is 2.5mm, and the diameter in conjunction with pedestal is 6mm.
Further, system altitude is less than 25cm, and three-dimensional laser scanner weight is less than 5kg.
Detailed description of the invention
Fig. 1 is novel pressure inner wall of the pipe visual defects detection system structure；
Fig. 2 is coupling apparatus structural representation positive view；
Fig. 3 is coupling apparatus structural representation sectional view；
Fig. 4 is fiber optic communication remote control system structural block diagram.
Wherein, 1, scanning means；11, three-dimensional laser scanner；12, attachment base；13, rotary shaft；2, coupling apparatus；21,
In conjunction with pedestal；22, firm banking；221, surface plate；222, riser；23, the first screw hole；24, the second screw hole；3, crawling machine
People；31, universal wheel；32, directional wheel；4, fiber optic communication remote control system；41, optical fiber.
Specific embodiment
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
Embodiment 1:
As shown in Figure 1, a kind of novel pressure inner wall of the pipe visual defects detection system, including scanning means 1, coupling apparatus
2, climbing robot 3 and fiber optic communication remote control system 4；Scanning means 1, coupling apparatus 2, climbing robot 3 are successively solid
Fixed connection, fiber optic communication remote control system 4 is communicated to connect with scanning means 2 and climbing robot 3 respectively, and itself and creeper
The top of device people 3 is fixedly connected.
In the present embodiment, as Fig. 2 and Fig. 3 jointly shown in, coupling apparatus 2 include combine pedestal 21 and firm banking 22, knot
Closing pedestal 21 is that surface is provided with externally threaded cylindrical body, and bottom end is fixedly connected with the top of firm banking 22, and its top
It is fixedly connected with scanning means 1, the bottom end of firm banking 22 is fixedly connected with the top of climbing robot 3；Firm banking 22 wraps
The riser 222 of surface plate 221 and two sides is included, surface plate 221 is provided with the first screw hole 23, is arranged in conjunction with pedestal 21 in surface plate
At 221 centers, riser 222 is provided with the second screw hole 24；
Scanning means 1 includes three-dimensional laser scanner 11 and attachment base 12, and three-dimensional laser scanner 11 passes through rotary shaft 13
It is connected with the top for connecting pedestal, connects and be provided with size screw thread installation identical with pedestal 21 is combined at pedestal bottom center
Hole, and its bottom face is provided with third screw hole；
The two sides of climbing robot 3 are provided with the 4th screw hole, and bottom end front is provided with directional wheel 32, and its bottom end rear portion
It is provided with universal wheel 31.
In the present embodiment, four corners of surface plate 221 are provided with the first screw hole 23, and bolt passes through 23 He of the first screw hole
The third screw hole of the corresponding position setting of 11 bottom surface of three-dimensional laser scanner, is fixedly connected with the two；
The two sides and centre of riser 222 are provided with the second screw hole 24, and bolt passes through the second screw hole 24 and climbing robot 3
The setting of two sides corresponding position the 4th screw hole, both make to be fixedly connected.
In the present embodiment, as shown in figure 4, fiber optic communication remote control system 4 includes the micro process of model stm32f103
Device, the photoelectric conversion module of model YTF110-MSC-2, optical fiber interface, optical fiber 41 and battery, microprocessor respectively with
The control chip of the climbing robot 3 of the three-dimensional laser scanner 11 and model BARRACUDA of model Z+F 5016 is logical
Letter connection, photoelectric conversion module, optical fiber interface, optical fiber and control centre successively communicate to connect, battery respectively with micro process
Device, photoelectric conversion module, climbing robot and three-dimensional laser scanner 11 are electrically connected.
In the present embodiment, attachment base 12 is all made of stainless steel material in conjunction with pedestal 21 and firm banking 22 and is made.
In the present embodiment, attachment base 12 is all made of aluminum alloy material in conjunction with pedestal 21 and firm banking 22 and is made.
In the present embodiment, the size of surface plate 221 is 140mm × 120mm, and the size of riser 222 is 120mm × 22mm,
First screw hole 23, the second screw hole 24, third screw hole and the 4th screw hole diameter be 2.5mm, the diameter in conjunction with pedestal 21 is
6mm。
In the present embodiment, system altitude is less than 25cm, and 11 weight of three-dimensional laser scanner is less than 5kg.
Working principle:
Bolt passes through the first screw hole 23, the second screw hole 24, third screw hole and the 4th screw hole, by scanning means 1, in conjunction with dress
It is fixed to set 2, climbing robot 3, improves device stability, control centre is converted to using photoelectric conversion module by electric signal is controlled
Optical signal, and it is transmitted through the fiber to fiber optic communication remote control system 4, the photoelectric conversion of fiber optic communication remote control system 4
Module receives the optical signal remotely controlled, and is converted to electric signal, moves microprocessor control climbing robot 3, and pass through
Signal line traffic control three-dimensional laser scanner 11 starts to detect, and adjusts the vertical angle of three-dimensional laser scanner 11, and passes through connection
The rotary shaft 13 of seat 12 adjusts level angle, carries out the detection work of each angle, and the universal wheel 31 of climbing robot 3 adjusts movement
Direction improves convenience；When three-dimensional laser scanner 11 works, a laser pulse signal is issued by transmitter, through object
After the diffusing reflection of surface, receiver is reversely transferred back to along almost the same path, target point and equipment distance, micro process can be calculated
Decoders-Synchronous is controlled in device measures each laser pulse transversal scanning angular observation and longitudinal scanning angular observation, it is built-in
Computer is according to the spatial coordinate location for measuring distance with goniometer calculating measurement point, at work by 3 D laser scanning
High speed is repeatedly completed measurement process while 11 fuselage of instrument and rotation of lens, obtains the spatial coordinated information of mass data point.
A kind of novel pressure inner wall of the pipe visual defects detection system provided by the invention, underwater robot and three-dimensional are swashed
Photoscanner connects, and ensure that the stability of pressure pipeline inspection horological device, while dismountable design, ties up convenient for equipment
It repairs, has saved cost input, so that underwater robot is consolidated with three-dimensional laser scanner and is flexibly connect, fiber optic communication is long-range
Remote control system make three-dimensional laser scanner can remote control carry out detection work, solve underwater robot of the existing technology
It connect existing maintenance difficult with three dimension laser scanning surreying device, can not dismantle, at high cost, and manipulation range is short, accurate
The low, detection difficult of property and handicapped problem.
Claims (8)
1. a kind of novel pressure inner wall of the pipe visual defects detection system, which is characterized in that including scanning means, coupling apparatus,
Climbing robot and fiber optic communication remote control system；The scanning means, coupling apparatus, climbing robot are successively fixed to be connected
It connects, the fiber optic communication remote control system is communicated to connect with scanning means and climbing robot respectively, and itself and crawling machine
The top of people is fixedly connected.
2. novel pressure inner wall of the pipe visual defects detection system according to claim 1, which is characterized in that the combination
Device includes combining pedestal and firm banking, and the combination pedestal is that surface is provided with externally threaded cylindrical body, bottom end and solid
The top for determining pedestal is fixedly connected, and its top is fixedly connected with scanning means, the bottom end of the firm banking and crawling machine
The top of people is fixedly connected；The firm banking includes the riser of surface plate and two sides, and the surface plate is provided with the first screw hole,
It is arranged at surface plate center in conjunction with pedestal, the riser is provided with the second screw hole；
The scanning means includes three-dimensional laser scanner and attachment base, the three-dimensional laser scanner by rotary shaft with connect
The top of pedestal connects, and size threaded mounting hole identical with pedestal is combined is provided at the connection pedestal bottom center, and
Its bottom face is provided with third screw hole；
The two sides of the climbing robot are provided with the 4th screw hole, and bottom end rear portion is provided with directional wheel, and its bottom end front is set
It is equipped with universal wheel.
3. novel pressure inner wall of the pipe visual defects detection system according to claim 2, which is characterized in that the plane
Four corners of plate are provided with the first screw hole, and bolt passes through the first screw hole and the corresponding position of three-dimensional laser scanner bottom surface is set
The third screw hole set is fixedly connected with the two；
The two sides and centre of the riser are provided with the second screw hole, and bolt passes through the two sides pair of the second screw hole and climbing robot
The 4th screw hole for answering position to be arranged is fixedly connected with the two.
4. novel pressure inner wall of the pipe visual defects detection system according to claim 3, which is characterized in that the optical fiber
Communicating remote remote control system includes microprocessor, photoelectric conversion module, optical fiber interface, optical fiber and battery, the micro process
Device is connect with the control chip communication of photoelectric conversion module, three-dimensional laser scanner and climbing robot respectively, the photoelectricity
Conversion module, optical fiber interface, optical fiber and control centre successively communicate to connect, the battery respectively with microprocessor, creep
Robot and three-dimensional laser scanner are electrically connected.
5. novel pressure inner wall of the pipe visual defects detection system according to claim 4, which is characterized in that the connection
Seat is all made of stainless steel material in conjunction with pedestal and firm banking and is made.
6. novel pressure inner wall of the pipe visual defects detection system according to claim 5, which is characterized in that the connection
Seat is all made of aluminum alloy material in conjunction with pedestal and firm banking and is made.
7. novel pressure inner wall of the pipe visual defects detection system according to claim 3, which is characterized in that the plane
The size of plate is 140mm × 120mm, and the size of the riser is 120mm × 22mm, first screw hole, the second screw hole, third
The diameter of screw hole and the 4th screw hole is 2.5mm, and the diameter of the combination pedestal is 6mm.
8. novel pressure inner wall of the pipe visual defects detection system according to claim 4, which is characterized in that the system
Height is less than 25cm, and the three-dimensional laser scanner weight is less than 5kg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811449739.5A CN109444170B (en) | 2018-11-30 | 2018-11-30 | Novel apparent defect detecting system of pipeline under pressure inner wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811449739.5A CN109444170B (en) | 2018-11-30 | 2018-11-30 | Novel apparent defect detecting system of pipeline under pressure inner wall |
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| CN109444170A true CN109444170A (en) | 2019-03-08 |
| CN109444170B CN109444170B (en) | 2021-03-16 |
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| CN201811449739.5A Active CN109444170B (en) | 2018-11-30 | 2018-11-30 | Novel apparent defect detecting system of pipeline under pressure inner wall |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110186395A (en) * | 2019-07-04 | 2019-08-30 | 中国地质大学（北京） | A kind of robot for pipeline gradient azimuthal measurement scanning |
| CN110217264A (en) * | 2019-06-21 | 2019-09-10 | 中国神华能源股份有限公司 | Vehicle wheel is to detection device, method and system |
| CN110398200A (en) * | 2019-08-29 | 2019-11-01 | 四川智能创新铸造有限公司 | A kind of volume detection device and its detection method of cast steel part defect groove |
| CN111337935A (en) * | 2020-03-17 | 2020-06-26 | 中国水利水电第五工程局有限公司 | Underground inclined shaft excavation measuring method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110217264A (en) * | 2019-06-21 | 2019-09-10 | 中国神华能源股份有限公司 | Vehicle wheel is to detection device, method and system |
| CN110186395A (en) * | 2019-07-04 | 2019-08-30 | 中国地质大学（北京） | A kind of robot for pipeline gradient azimuthal measurement scanning |
| CN110398200A (en) * | 2019-08-29 | 2019-11-01 | 四川智能创新铸造有限公司 | A kind of volume detection device and its detection method of cast steel part defect groove |
| CN111337935A (en) * | 2020-03-17 | 2020-06-26 | 中国水利水电第五工程局有限公司 | Underground inclined shaft excavation measuring method |
| CN111337935B (en) * | 2020-03-17 | 2022-06-14 | 中国水利水电第五工程局有限公司 | Underground inclined shaft excavation measuring method |
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| CN109444170B (en) | 2021-03-16 |
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