CN111023967B

CN111023967B - Three-dimensional acquisition equipment for inner wall of pipeline

Info

Publication number: CN111023967B
Application number: CN201911255844.XA
Authority: CN
Inventors: 左忠斌; 左达宇
Original assignee: Tianmu Aishi Beijing Technology Co Ltd
Current assignee: Tianmu Aishi Beijing Technology Co Ltd
Priority date: 2019-12-10
Filing date: 2019-12-10
Publication date: 2020-08-28
Anticipated expiration: 2039-12-10
Also published as: CN111023967A; CN112066158A

Abstract

The invention provides a three-dimensional acquisition device for the inner wall of a pipeline, which comprises a body and an impeller, wherein the body comprises a rotating device, and an image acquisition port is arranged on the rotating device; the image acquisition port is used for guiding the pipeline inner wall image into the image acquisition device; the image acquisition device is used for acquiring an image of the inner wall of the pipeline; the traveling speed of the scanning equipment, the rotating angular speed of the rotating device and the field angle of the image acquisition device satisfy the following relations: (theta-beta) x v is less than m x R x sin beta x w, wherein v is the advancing speed of the scanning equipment in the rotating process of the rotating device, R is the radius of the pipeline, beta is the half field angle of the image acquisition device, w is the rotating angular speed of the rotating device, theta is the included angle of the optical axes of two adjacent cameras, and m is a coefficient. The three-dimensional acquisition equipment without additional power is provided for the first time. In order to ensure the synthesis effect of the subsequent three-dimensional images, the advancing speed of the scanning equipment and the rotation speed of image acquisition are limited, and optimization is carried out according to experience, so that the speed and the effect can be simultaneously considered in the three-dimensional synthesis.

Description

Three-dimensional acquisition equipment for inner wall of pipeline

Technical Field

The invention relates to the technical field of shape measurement, in particular to the technical field of shape measurement of an inner wall of a pipeline.

Background

The pipeline detection usually comprises an electromagnetic method and an ultrasonic method, which can detect defect cracks and the like in the pipe wall, but cannot detect the appearance of the inner wall of the pipeline, particularly cannot obtain an intuitive visual image of the inner wall of the pipeline.

At present, a method for visually detecting the inner wall of the pipeline by using a camera exists, but the method is only limited to a two-dimensional image, but the three-dimensional shape of the inner wall of the closed pipeline cannot be judged, so that the condition of the pipeline cannot be accurately measured/detected. Although the three-dimensional shape of the pipeline can be obtained by using a laser scanning or structured light scanning method, the three-dimensional shape structure can only be obtained, the real image condition cannot be obtained, the complex condition in the closed pipeline cannot be easily judged, the cost of any equipment using a laser device is very high, the requirement on optical stability is high, and the three-dimensional shape structure is not suitable for the complex environment of the pipeline.

In addition, due to the special environment of the pipeline, a plurality of three-dimensional acquisition devices cannot enter due to large volume. And the three-dimensional scanning equipment can not move at present and can not scan the inner wall of the whole pipeline. If the special environment of the pipeline is not considered, the precision of three-dimensional acquisition is reduced, and even a three-dimensional model cannot be synthesized. And the working time in the pipeline is too long, so that potential safety hazards are brought, the acquisition efficiency needs to be improved, and the acquisition time is reduced. In other words, there is no related technology at present to meet the requirements of short acquisition time and high precision.

Although some pipeline cleaning equipment can work in a pipeline at present, the technology does not suggest that the pipeline cleaning equipment has the functions of image acquisition and three-dimensional modeling. And these devices often require additional power, require a tow cable entry or frequent recharging, and are extremely inconvenient to use. And once the power fails, the pipeline can not be moved and is blocked.

Therefore, the following technical problems are urgently needed to be solved: the walking device can walk in a pipeline and is suitable for complex environment of the pipeline; the three-dimensional appearance and the image texture information of the inner wall of the pipeline can be obtained simultaneously; and the cost is low, the reliability is high, the three-dimensional acquisition precision is high, and the acquisition time is short. And fourthly, no extra energy is needed.

Disclosure of Invention

In view of the above, the present invention has been developed to provide a collecting device that overcomes, or at least partially solves, the above-mentioned problems.

The invention provides a three-dimensional acquisition device for the inner wall of a pipeline, which comprises a body and an impeller, wherein,

the body comprises a rotating device, and an image acquisition port is arranged on the rotating device;

the image acquisition port is used for guiding the pipeline inner wall image into the image acquisition device;

the image acquisition device is used for acquiring an image of the inner wall of the pipeline;

the traveling speed of the scanning equipment, the rotating angular speed of the rotating device and the field angle of the image acquisition device satisfy the following relations: (theta-beta) x v is less than m x R x sin beta x w, wherein v is the advancing speed of the scanning equipment in the rotating process of the rotating device, R is the radius of the pipeline, beta is the half field angle of the image acquisition device, w is the rotating angular speed of the rotating device, theta is the included angle of the optical axes of two adjacent cameras, and m is a coefficient.

Optionally, m is less than 0.85.

Optionally, there are one or more image acquisition units located within the rotation device.

Optionally, the image capturing port includes a light deflecting unit for deflecting light into the image capturing unit.

Optionally, the impeller is connected to a power supply device, and the power supply is charged by rotation.

Optionally, the walking device further comprises a walking wheel, and the walking wheel is connected with the body through a telescopic device.

Optionally, the impeller is used for receiving the pushing of the fluid in the pipeline so as to generate the power for advancing the equipment.

Optionally, the rotation driving device drives the rotation device to rotate.

Optionally, the impeller is connected to the rotation driving device to provide power for rotation of the rotation device.

Optionally, the translating device drives the image capturing device to move radially along the rotating device.

Invention and technical effects

1. The three-dimensional acquisition equipment without additional power is provided for the first time.

2. Prevent that the drive camera from rotating the burden that brings, only rotatory image acquisition port through the speculum with different image reflection to the camera in, and need not to rotate the camera, equipment lightweight more, it is more stable to rotate the collection.

3. In order to ensure the synthesis effect of the subsequent three-dimensional images, the advancing speed of the scanning equipment and the rotation speed of image acquisition are limited, and optimization is carried out according to experience, so that the speed and the effect can be simultaneously considered in the three-dimensional synthesis.

4. The position of the scanning device in the pipeline is adjusted in a self-adaptive mode through the elastic walking device, so that the scanning device is always located at the axis of the pipeline, the consistency of three-dimensional collected pictures is guaranteed, and the problem of inaccurate focusing caused by eccentricity is prevented.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic external structural diagram of a three-dimensional pipeline inner wall acquisition device according to an embodiment of the present invention;

fig. 2 is a schematic view of an internal structure of a three-dimensional pipeline inner wall acquisition device according to an embodiment of the present invention;

fig. 3 is a schematic view of a traveling device of a three-dimensional pipeline inner wall collecting device according to an embodiment of the present invention;

fig. 4 is a schematic diagram of a three-dimensional pipeline inner wall acquisition device according to an embodiment of the present invention.

The correspondence of the components in the drawings to the reference numerals is as follows:

the device comprises a body 1, an impeller 2, a rotating device 3, an image acquisition port 4, an image acquisition device 5, a traveling wheel 6 and a telescopic support 7.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Example 1

In order to solve the above technical problem, an embodiment of the present invention provides a three-dimensional collecting device for an inner wall of a pipeline, which is also called a three-dimensional collecting robot (the three-dimensional collecting robot is referred to as a robot for short), and the three-dimensional collecting device comprises a body 1, an impeller 2, and a traveling unit.

As shown in fig. 1-3, the body 1 includes a rotating device 3, and the rotating device 3 may be a hollow rotating disk. The rotating device 3 is provided with a plurality of image acquisition ports 4 along the circumferential direction for receiving image light rays of the inner wall of the target pipeline. The port may be a hole with a transparent material, and may also include an optical deflection system, such as a lens or a lens set, capable of shaping the light beam, forming an optical inlet. A plurality of light sources are disposed around the port. The light source can be LED lamp pearl, but also can set up intelligent light source, for example can select different light source luminance, bright and off etc. as required. The light source is used for illuminating the target object, and the target object is prevented from being too dark to influence the acquisition effect and accuracy. But also prevent the light source from being too bright, resulting in loss of texture information of the object. The light source may be disposed at other positions of the body 1 to illuminate the portion to be scanned. Each port corresponds to an image capture device 5, which may be, for example, a video camera, a CCD, a CMOS, or the like. The image acquisition device 5 can be close to the light inlet, namely, is positioned at the inner side and the outer side of the rotating device 3; or close to the axis of rotation of the rotating means 3. Due to the fact that the pipe diameters to be measured are different, the image acquisition device 5 can zoom through the lens group, the translation device moving along the radial direction (namely the light path direction) of the rotating device 3 is arranged, and the distance between the image acquisition device 5 and the area to be measured is adjusted through the translation device. The acquisition port guides the image of the object to be measured into the image acquisition device 5, so as to acquire the image of the inner wall of the pipeline to be measured.

The rotating device 3 rotates at a specific angular speed to drive the plurality of image acquisition devices 5 to rotate, so that each image acquisition device 5 acquires an image of a corresponding position of the inner wall of the pipeline. In one embodiment, the light inlet is a circular hole made of transparent glass material, and the lens group and the CCD chip are sequentially arranged behind the circular hole along the light path direction. In another embodiment, the light inlet comprises a circular hole of transparent resin material, and the variable focus camera is arranged along the light path.

Due to the rotation, the areas acquired by the plurality of image acquisition devices 5 are overlapped with each other, which can improve the redundancy of information and ensure the success rate and effect of 3D synthesis. However, excessive overlapping can cause the acquisition speed to be too slow, the efficiency to be reduced, and the whole three-dimensional scanning robot stays in the pipeline for too long time, which causes potential safety hazards. More importantly, too slow a scanning speed requires that the robot travel speed be correspondingly slow (which, if too fast, can result in incomplete scanning). And fluid flows in the pressure pipeline, and the robot has certain passive traveling speed when being impacted by the fluid. In order to meet the requirement of excessively slow traveling speed, extra braking needs to be carried out on the traveling of the robot, energy is consumed, and the cruising duration of the robot is reduced. Meanwhile, the rotation speed of the rotating device 3 has a direct relationship with the number, position, and optical parameters of the cameras, and needs to be considered as a whole. Therefore, one of the invention points out that the relation among the traveling speed of the robot, the rotation angular speed of the rotating device 3, the camera position and the field angle is optimized, the collection is ensured to have proper information redundancy, the collection efficiency is considered, and the traveling speed is improved to the maximum extent. According to a large amount of experiments and experience, the traveling speed of the scanning equipment, the rotating angular speed of the rotating device and the field angle of the image acquisition device satisfy the following relations: (theta-beta) x v is less than m x R x sin beta x w, wherein v is the advancing speed of the scanning equipment in the rotating process of the rotating device, R is the radius of the pipeline, beta is the half field angle of the image acquisition device, w is the rotating angular speed of the rotating device, theta is the included angle of the optical axes of two adjacent cameras, and m is a coefficient. When m is less than 0.85, the redundancy of the acquired images can ensure the precision and effect of 3D synthesis, and meanwhile, the reduction of the advancing speed is avoided to the greatest extent. Typical values may be:

a target pipeline: municipal pipeline with radius of 1.2m

An image acquisition device: the angle of view is 30 degrees to 60 degrees, the included angle of the optical axis between two adjacent optical axes is 60 degrees, and r is 0.3m

The advancing speed is as follows: 0.1m/s

Rotating speed of the rotating device: 0.15 pi/s

The body 1 also comprises a rotation driving device, which can be a motor, inside the shell, and the rotation driving device 3 is driven to rotate at a specific angular speed under the control of the processor.

The impeller 2 is installed on the body 1 through a rotating shaft and used for receiving the pushing of fluid in the pipeline, so that power for pushing the robot to advance is generated. Therefore, the pressure of the fluid pipeline can be fully utilized, and energy is saved. But the thrust generated in the pipeline is not consistent, so when the thrust is small, the robot supplements power through the motor in the shell of the body 1; when the thrust is large, a certain brake is generated through a mechanical speed reducing device or a motor, so that the traveling speed of the robot is ensured to meet the requirement of the formula.

The impeller 2 is connected to a power generating device through a rotating shaft, generates power by rotation of the impeller 2, and stores the power in a battery, in addition to generating a forward thrust to the robot. The battery can be used to power the light source, the motor, and the camera. Of course, the body 1 includes a charging port in addition to the power generated by the impeller 2, and an external power source may be used to charge the robot.

The impeller 2 is connected with the rotating device 3 through a speed changing device, and the rotating device 3 is driven to rotate through the rotation of the impeller 2. Can directly save electric energy and improve the endurance of the robot. The rotational speed of the impeller 2 is not the same as the rotational speed of the rotating means 3. Therefore, a mechanical speed change device is needed to ensure that the rotating speed of the rotating device 3 meets the requirement. Or by means of an electric motor to adjust the rotational speed of the rotating means 3.

It will be appreciated that the impeller 2 is not essential and the robot may provide forward power via the running gear.

As shown in fig. 4, a traveling device is provided on the housing of the main body 1, and various traveling methods such as a crawler and a wheel can be used. In one embodiment, the travelling means may consist of travelling wheels 6 and telescopic supports 7. The marching device is along the periphery evenly distributed of cylinder line body 1, sets up 3 totally, can support body 1 respectively from three direction, guarantees that it marches along the pipeline. The distance between the telescopic bracket 7 and the body 1 can be adjusted through stretching, so that the robot can adapt to pipelines with different pipe diameters. Meanwhile, the body 1 can be guaranteed to advance along the axis of the pipeline basically through the telescopic support 7, so that the object distance of the camera basically keeps unchanged when the image acquisition device 5 in the rotating device 3 rotates to different positions, frequent adjustment of an optical system and image degradation caused by too-close and too-far object distance change are prevented, and the accuracy and the effect of 3D information synthesis are guaranteed. The telescopic bracket 7 may be spring type or hydraulic type. The body 1 is internally provided with a travel driving device which is composed of a motor, is powered by a battery and is used for driving the travel wheel 6 to accelerate or decelerate under the control of a processor.

The body 1 is also provided with a data storage device for storing the image data sent by the image acquisition unit. The data storage device is connected with the transmission device and used for sending the stored data to an upper computer, a network or a cloud platform. The transmission device may be a wired device, such as an optical port, a network port, a serial port, a USB interface, etc. The interface can be arranged on the shell of the body 1 and is transmitted by solid media such as optical fibers, electric wires, network cables and the like. The transmission device may also be a wireless device such as wifi, cellular, 4G, 5G, bluetooth, etc. The transmission device can be arranged in the shell of the body 1 or on the shell and transmits the data through a wireless network.

The processor is respectively connected with the motor of the advancing driving device and the motor of the rotating driving device, drives the advancing device to advance at a specific speed, and drives the rotating device 3 to rotate at a specific angular speed. Meanwhile, the processor is also connected with the image acquisition device 5, the data storage device and the data transmission device, stores the picture data acquired by the image acquisition device 5 into the data storage device, and transmits the picture data to the upper computer or the cloud platform through the data transmission device when appropriate.

The target object, and the object all represent objects for which three-dimensional information is to be acquired. The object may be a solid object or a plurality of object components. The three-dimensional information of the target object, such as a gas pipeline, a water pipe and the like, comprises a three-dimensional image, a three-dimensional point cloud, a three-dimensional grid, a local three-dimensional feature, a three-dimensional size and all parameters with the three-dimensional feature of the target object. Three-dimensional in the present invention means having XYZ three-direction information, particularly depth information, and is essentially different from only two-dimensional plane information. It is also fundamentally different from some definitions, which are called three-dimensional, panoramic, holographic, three-dimensional, but actually comprise only two-dimensional information, in particular not depth information.

The capture area in the present invention refers to a range in which an image capture device (e.g., a camera) can capture an image. The image acquisition device can be a CCD, a CMOS, a camera, a video camera, an industrial camera, a monitor, a camera, a mobile phone, a tablet, a notebook, a mobile terminal, a wearable device, intelligent glasses, an intelligent watch, an intelligent bracelet and all devices with image acquisition functions.

The three-dimensional information of the multiple regions of the target object obtained in the above embodiment can be used for comparison. For example: the method comprises the steps of firstly obtaining three-dimensional information of a standard pipeline by using the scheme of the invention, and storing the three-dimensional information in a server as standard data. When the pipeline quality testing device is used, the three-dimensional information of the actual pipeline can be collected and obtained again by the three-dimensional obtaining device, the three-dimensional information is compared with the standard data, and the pipeline quality is considered to be good if the comparison is successful. The three-dimensional information of the plurality of regions of the target object obtained in the above embodiment can be used for designing, producing and manufacturing a kit for the target object. For example, three-dimensional data of the pipeline is obtained, and a corresponding pipeline attachment can be designed. The three-dimensional information of the target object obtained in the above embodiments can also be used for measuring the geometric dimension and the outline of the target object.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in an apparatus in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.

Claims

1. The utility model provides a three-dimensional collection equipment of pipeline inner wall which characterized in that: comprises a body and an impeller, wherein

2. The apparatus for three-dimensionally collecting an inner wall of a pipe according to claim 1, wherein: m < 0.85.

3. The apparatus for three-dimensionally collecting an inner wall of a pipe according to claim 1, wherein: one or more image acquisition units are located in the rotating device.

4. The apparatus for three-dimensionally collecting an inner wall of a pipe according to claim 3, wherein: the image acquisition port comprises a light deflection unit for deflecting light rays into the image acquisition unit.

5. The apparatus for three-dimensionally collecting an inner wall of a pipe according to claim 1, wherein: the impeller is connected with a power supply device, and the power supply is charged through rotation.

6. The apparatus for three-dimensionally collecting an inner wall of a pipe according to claim 1, wherein: the device also comprises a traveling wheel, and the traveling wheel is connected with the body through a telescopic device.

7. The apparatus for three-dimensionally collecting an inner wall of a pipe according to claim 1, wherein: and the impeller is used for receiving the pushing of the fluid in the pipeline so as to generate the power for advancing the equipment.

8. The apparatus for three-dimensionally collecting an inner wall of a pipe according to claim 1, wherein: and a rotation driving device for driving the rotation device to rotate.

9. The apparatus for three-dimensionally collecting an inner wall of a pipe according to claim 1, wherein: the impeller is connected with the rotary driving device to provide power for the rotation of the rotary device.

10. The apparatus for three-dimensionally collecting an inner wall of a pipe according to claim 1, wherein: the translation device drives the image acquisition device to move along the radial direction of the rotating device.