CN111664807B - Rotary structure optical method pipeline detection system - Google Patents
Rotary structure optical method pipeline detection system Download PDFInfo
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- CN111664807B CN111664807B CN202010334951.8A CN202010334951A CN111664807B CN 111664807 B CN111664807 B CN 111664807B CN 202010334951 A CN202010334951 A CN 202010334951A CN 111664807 B CN111664807 B CN 111664807B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
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Abstract
The invention provides a rotating structure optical method pipeline detection system, which relates to the technical field of contour detection and comprises a traveling device, a rotating device, a structure optical generator, an industrial camera and a detection device; the rotating device is provided with a rotating shaft; the structured light generator is arranged on the rotating shaft and used for emitting structured light to the inner wall of the steel pipe; the industrial camera is arranged on the traveling device and used for acquiring the image of the inner wall of the steel pipe, and the acquisition area of the industrial camera is consistent with the projection area of the structured light generator; the detection device is electrically connected with the industrial camera. According to the rotating structure optical method pipeline detection system, the traveling device drives the upper structure light generator and the industrial camera to move along the axial direction of the steel pipe, so that the whole detection of the inner wall of the steel pipe is realized, the industrial camera can collect the profile information of the inner wall of the steel pipe corresponding to the structure light position, the detection range of the steel pipe is effectively enlarged, and the detection comprehensiveness is guaranteed.
Description
Technical Field
The invention belongs to the technical field of contour detection, and particularly relates to a rotary structured light method pipeline detection system.
Background
Steel pipes are a common component in industrial production and can be used not only for transporting fluids and powdery solids, but also for manufacturing various mechanical parts. In the field of construction, a steel pipe can be used for manufacturing a building structure net rack, a support or an equipment support, and the structure can reduce the whole weight of the rack body and save 20-40% of metal consumption. The large-diameter steel pipe can also be used for manufacturing a highway or a bridge, steel can be saved, construction can be simplified, the coating area of the protective layer can be greatly reduced, and the effects of saving investment and maintaining cost are achieved. In conclusion, the steel pipe has wide use space, the relationship between the national economic development and the improvement of the quality of human life is great, and any other types of steel can not completely replace the steel pipe.
In order to ensure the quality of the steel pipe, the steel pipe needs to be strictly detected before delivery. In the existing steel pipe detection technology, a worker pushes a camera device connected with a steel cable into a steel pipe for detection, but the detection method is limited by the length of the steel cable, so that the inside of the long steel pipe cannot be comprehensively detected, great inconvenience is brought to the detection of the inner wall of the steel pipe, and the detection precision of the steel pipe is influenced.
Disclosure of Invention
The invention aims to provide a rotary structured light method pipeline detection system to solve the technical problems of incomplete detection of a steel pipe and poor detection precision in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: the rotary structure optical method pipeline detection system comprises a traveling device, a rotating device, a structure light generator, an industrial camera and a detection device; the traveling device is used for moving along the axial direction of the steel pipe; the rotating device is arranged on the advancing device and is provided with a rotating shaft which is arranged along the horizontal direction and is vertical to the running direction of the advancing device; the structured light generator is arranged on the rotating shaft and used for emitting structured light to the inner wall of the steel pipe; the industrial camera is arranged on the traveling device and used for acquiring the image of the inner wall of the steel pipe, and the acquisition area of the industrial camera is consistent with the projection area of the structured light generator; the detection device is electrically connected with the industrial camera.
As another embodiment of the application, the top of the traveling device is provided with a platform arranged along the horizontal direction, the rotating device, the structural light generator and the industrial camera are respectively provided with two rotating devices, and the two rotating devices, the two structural light generators and the two industrial cameras are respectively and symmetrically arranged on the upper side and the lower side of the platform.
As another embodiment of the application, in the walking direction perpendicular to the traveling device, the two sides of the platform are respectively provided with an elastic supporting piece extending outwards, and the outer end of the elastic supporting piece is provided with a guide wheel used for being in rolling fit with the inner wall of the steel pipe.
As another embodiment of the application, the elastic top supporting piece comprises a sliding rail, two cross rods and a tension spring; the slide rail is arranged on the side edge of the platform along the direction of the traveling device; the middle parts of the two cross rods are rotationally connected through a rotating shaft arranged along the up-down direction, and one ends of the two cross rods close to the platform are respectively in sliding fit with the sliding rails; the extension spring sets up between two crossbars and is located one side that two crossbars are close to the platform.
As another embodiment of this application, the slide rail is equipped with the slip chamber that deviates from platform one side and set up, and the one end that two crossbars are close to the platform is equipped with respectively and is located the slip intracavity and with slide rail sliding fit's slide bar.
As another embodiment of the application, the middle part of the sliding cavity is also provided with a partition part, and the two sliding rods are respectively positioned at two sides of the partition part.
As another embodiment of the present application, the traveling device includes four lifting struts, two horizontal tubes, and four rollers; the four lifting support rods are respectively positioned at four corners below the platform; the two transverse pipes are respectively arranged along the running direction vertical to the running device, one of the transverse pipes is arranged at the lower ends of the two lifting support rods, and the other transverse pipe is arranged at the lower ends of the other two lifting support rods; four gyro wheels rotate respectively and connect in the both ends of violently managing, and at least one gyro wheel is connected with the driving piece that advances.
As another embodiment of the present application, the lifting support rod includes a fixing rod, a sheathing rod, and a lifting driving member; the upper end of the fixed rod is connected with the bottom surface of the platform; the sleeving rod is sleeved on the periphery of the lower end of the fixed rod and is in sliding connection and locking with the fixed rod in the up-down direction; the upper end of the lifting driving piece is connected with the lower end of the fixing rod and used for driving the fixing rod to move up and down, and the lifting driving piece is arranged in the sleeving rod.
As another embodiment of the present application, the rotating structure optical method pipeline detection system further includes a controller, and the controller is electrically connected to the traveling driving member, the rotating device, the lifting driving member, and the detection device, respectively.
As another embodiment of this application, be equipped with the distance sensor who is connected with the controller electricity on the platform, distance sensor is equipped with two, and two distance sensor symmetries set up in the upper and lower both sides of platform.
The rotary structure optical method pipeline detection system provided by the invention has the beneficial effects that: compared with the prior art, the rotating structure optical method pipeline detection system provided by the invention has the advantages that the traveling device drives the upper structure optical generator and the industrial camera to move along the axial direction of the steel pipe, so that the integral detection of the inner wall of the steel pipe is realized, the industrial camera can collect the profile information of the inner wall of the steel pipe corresponding to the structure optical position and transmit the profile information to the detection device for analysis, the detection range of the steel pipe is effectively enlarged, the detection comprehensiveness is ensured, the rotating device drives the structure optical generator to adjust the swing angle, so that the light emitted by the structure optical generator can be accurately collected by the industrial camera, the detection accuracy of the steel pipe is ensured, and the product quality of the steel pipe is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments or the prior art description will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings may be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic top view, partially cross-sectional structural view of a first embodiment of a pipeline detection system using a rotating structured light method according to an embodiment of the present invention;
FIG. 2 is a schematic front view of the structure of FIG. 1;
FIG. 3 is a left side view of the structure of FIG. 1;
fig. 4 is a schematic top view, partially cross-sectional structural diagram, of a second embodiment of a pipeline detection system by a rotating structure optical method according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
100. a traveling device; 110. a platform; 120. a lifting strut; 121. fixing the rod; 122. sleeving a rod; 123. a lifting drive member; 130. a transverse tube; 140. a roller; 200. a rotating device; 210. a rotating shaft; 300. a structured light generator; 400. an industrial camera; 500. a controller; 600. an elastic top support; 610. a slide rail; 611. a spacer; 620. a slide bar; 621. a slider; 630. a cross bar; 631. a rotating shaft; 640. a tension spring; 650. a guide wheel; 710. a distance sensor.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 4 together, a pipeline inspection system using a rotating structure optical method according to the present invention will now be described. The rotating structure optical method pipeline detection system comprises a traveling device 100, a rotating device 200, a structure light generator 300, an industrial camera 400 and a detection device; the top of the traveling device 100 is provided with a platform 110, and the traveling device 100 is used for moving along the axial direction of the steel pipe; the rotating device 200 is disposed on the traveling device 100, and the rotating shaft 210 is perpendicular to the traveling direction of the traveling device 100; the structured light generator 300 is disposed on the output end of the rotating device 200, and is configured to swing around the rotating shaft 210 and emit structured light onto the inner wall of the steel pipe; the industrial camera 400 is arranged on the traveling device 100 and used for collecting the structural light on the inner wall of the steel pipe, and the industrial camera 400 and the structural light generator 300 are respectively positioned at two sides of the rotating shaft 210; the detection device is electrically connected to the industrial camera 400. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or be indirectly on the other element. It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings and are used merely for convenience in describing and simplifying the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and thus are not to be considered limiting of the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a number" means two or more unless specifically limited otherwise.
Compared with the prior art, the rotating structure optical method pipeline detection system provided by the invention has the advantages that the traveling device 100 drives the upper structure light generator 300 and the industrial camera 400 to move along the axial direction of the steel pipe, so that the integral detection of the inner wall of the steel pipe is realized, the industrial camera 400 can emit structure light to the contour information of the corresponding area of the inner wall of the steel pipe for collection and transmit the contour information to the detection device for analysis, the accurate detection of the quality of the inner wall of the steel pipe is realized, the detection range of the steel pipe is effectively enlarged, the detection comprehensiveness is ensured, the rotating device 200 drives the structure light generator 300 to adjust the swing angle, the adjustment of the structure light emission angle is realized so as to be collected by the industrial camera 400, the accuracy of the detection of the steel pipe is ensured, and the product quality of the steel pipe is improved.
In this embodiment, the detection device is configured to receive the signal acquired by the industrial camera 400 and analyze the signal to determine the quality of the inner wall of the steel pipe, thereby achieving the function of discriminating defective products. The traveling device 100 is used for driving the structural light generator 300 above and the industrial camera 400 to move along the axial direction of the steel pipe, so that the length direction of the steel pipe can be comprehensively detected, and the problem of insufficient traveling distance caused by the traditional steel wire rope traction is avoided. Marching device 100 is used for bearing industry camera 400 and structural light generator 300, and industry camera 400 can gather the image of the first half circular arc position of steel pipe, realizes the regional comprehensive detection of the first half circular arc of steel pipe, and follow-up can be through rotating the steel pipe 180 and realizing the regional detection of the second half circular arc, accomplishes the whole detection of steel pipe circumferencial direction. When the structural light generator 300 emits structural light to the inner wall of the steel pipe, the region where the structural light is projected to the inner wall of the steel pipe coincides with the region range where the industrial camera 400 can collect image signals, so that the accurate light emission angle is ensured to effectively collect the image information corresponding to the position of the inner wall of the steel pipe by the industrial camera 400.
The industrial camera 400 and the structural light generator 300 are disposed on the traveling device 100 at different positions on the axis of the corresponding steel pipe. In this embodiment, in order to make the region projected by the structured light generator 300 correspond to the collection region of the industrial camera 400, the industrial camera 400 is disposed at a side of the rotating device 200 away from the structured light generator 300. When rotary device 200 is static, the emergence direction of structure light generator 300 is ascending state, when needs examine, rotation axis 210 drives structure light generator 300 counter-clockwise swing, and the transmission direction of structure light generator 300 throws on the steel pipe roof that is close to industry camera 400 one side under rotary device 200's drive gradually, is convenient for realize that structure light throws regional effective corresponding with industry camera 400 collection area, realizes accurate detection effect.
Referring to fig. 1 to 4 as a specific embodiment of the present invention, as another embodiment of the present invention, a platform 110 is disposed at the top of a traveling device 100 along a horizontal direction, two rotating devices 200, two structured light generators 300 and two industrial cameras 400 are respectively disposed, and the two rotating devices 200, the two structured light generators 300 and the two industrial cameras 400 are respectively symmetrically disposed at upper and lower sides of the platform 110. In order to realize synchronous detection of the upper half circular arc area and the lower half circular arc area of the inner wall of the steel pipe, the detection efficiency of the inner wall of the steel pipe is improved, two industrial cameras 400, two rotating devices 200 and two structural light generators 300 are symmetrically arranged above and below the platform 110, synchronous detection can be performed in the process that the traveling device 100 travels by the upper group of components and the lower group of components, comprehensive detection of the circumferential direction of the inner wall of the steel pipe can be completed simultaneously, the detection efficiency of the steel pipe is effectively improved, and the comprehensive detection effect is ensured.
The structured light generator 300 is connected to the rotation shaft 210 of the rotation device 200 through a link, and the link is connected to a side plate surface of the structured light generator 300 far from the emission port. The light emitting plane of the structured light is parallel to the rotating shaft 210 of the rotating device 200, and can swing around the axis of the rotating shaft 210, so that the change of the included angle between the emission angle of the structured light and the axis of the steel pipe is realized, so that the structured light generator 300 can accurately project the structured light to the corresponding area of the inner wall of the steel pipe, which can be collected by the industrial camera 400, the industrial camera 400 transmits the image information of the area to the detection device, and the specific result of the quality of the inner wall of the steel pipe is obtained through the analysis of the detection device.
As a specific implementation manner of the embodiment of the present invention, please refer to fig. 1 to 4, in a direction perpendicular to the traveling direction of the traveling device 100, two sides of the platform 110 are further respectively provided with an elastic supporting member 600 extending outward, and an outer end of the elastic supporting member 600 is provided with a guide wheel 650 for rolling-fitting with an inner wall of the steel pipe. The elastic supporting members 600 at both sides of the platform 110 can effectively limit the moving direction of the moving device 100, and since the moving device 100 is moved in a straight line direction, if a slight deviation occurs in the initial moving direction, a large position deviation amount is accumulated when the moving device is operated in a subsequent long steel pipe. The elastic supporting piece 600 can form an elastic abutting effect with the inner wall of the steel pipe through the guide wheel 650 at the outer end, so that the stress on two sides of the advancing device 100 is balanced, the problem that the offset of the advancing device 100 gradually increases towards one side of the axial direction is avoided, and the effect of comprehensively detecting the circumferential direction of the inner wall of the steel pipe at all times is further ensured.
The elastic supporting member 600 may be formed by combining a straight bar fixed on the platform 110 with a sleeve sleeved at an outer end of the straight bar, an elastic element is disposed between the outer end of the straight bar and an inner wall of the sleeve, and the guide wheel 650 is disposed at the outer end of the sleeve. In a natural state, the elastic element is in an extension state, and the distance from the guide wheel 650 to the center line of the platform 110 is greater than the inner diameter of the steel pipe; when the steel pipe is required to be detected, the guide wheel 650 which compresses the elastic element to the outer end of the sleeve can enter the steel pipe, when the steel pipe advances, the elastic element is in a pressed state, and the guide wheel 650 is in rolling fit with the inner wall of the steel pipe. The elastic top support of the elastic top support 600 can avoid rigid damage to the inner wall of the steel pipe, not only can realize the function of top support, but also can realize effective protection to the inner wall of the steel pipe.
The elastic supporting piece 600 has a certain elastic force extending outwards in the radial direction of the steel pipe, in the operation process of the advancing device 100, when the advancing device 100 gradually deviates, the elastic supporting piece 600 on one side of the platform 110 deviates to one side close to the inner wall of the steel pipe, at the moment, the outer end of the elastic supporting piece 600 can receive a larger jacking force, the elastic supporting piece 600 on the other side gradually moves towards the direction away from the inner wall of the steel pipe, the jacking force between the elastic supporting piece 600 and the inner wall of the steel pipe is reduced, under the condition that the jacking forces on the two sides of the platform 110 change, the advancing device 100 can correct the axis position of the steel pipe, the automatic deviation rectifying effect is realized, and the accuracy of the transmitting position of the structured light is ensured.
The guide wheel 650 arranged at the outer end of the elastic supporting member 600 can be in rolling fit with the inner wall of the steel pipe, so that the resistance received by the traveling device 100 in the traveling process can be reduced, and the kinetic energy loss of the traveling device 100 can be reduced.
As a specific implementation manner of the embodiment of the present invention, referring to fig. 1 to 4, the elastic supporting member 600 includes a sliding rail 610, two cross rods 630 and a tension spring 640; the slide rail 610 is disposed on a side edge of the platform 110 along a direction of the traveling device 100; the middle parts of the two cross rods 630 are rotatably connected through a rotating shaft 631 arranged along the up-down direction, and one ends of the two cross rods 630 close to the platform 110 are respectively in sliding fit with the sliding rails 610; the tension spring 640 is disposed between the two cross bars 630 and is located on a side of the two cross bars 630 near the platform 110. In this embodiment, the cross bars 630 arranged in a cross manner and the tension springs 640 arranged between the cross bars 630 are used to bring the guide wheels 650 into contact with the inner wall of the steel pipe. When the traveling path of the traveling device 100 is deviated, the propping force between the guide wheel 650 at the outer end of the cross bar 630 on the deviated side and the inner wall of the steel pipe is increased, and the two cross bars 630 respectively tend to rotate around the rotating shaft 631 in the direction of increasing the included angle, but the above-mentioned tendency of change is reduced by the pulling force of the tension spring 640. In addition, the jacking force between the cross bar 630 and the inner wall on the other side is reduced, and the platform 110 can be restored to the reverse direction under the action of the tension spring 640 for tensioning the cross bar 630, so that the automatic deviation correction of the advancing direction is realized.
As a specific implementation manner of the embodiment of the present invention, referring to fig. 1 to fig. 3, the sliding rail 610 is provided with a sliding cavity disposed at a side away from the platform 110, and one ends of the two cross rods 630 near the platform 110 are respectively provided with a sliding rod 620 disposed in the sliding cavity and slidably engaged with the sliding rail 610. The opening of the sliding cavity of the sliding rail 610 faces the inner wall of the steel pipe, and the end of the cross bar 630 is provided with a component which is located in the sliding cavity and is in sliding fit with the sliding rail 610.
Further, please refer to fig. 4, a sliding block 621 may be disposed in the sliding cavity, a small shaft rotatably connected to the end of the cross bar 630 is disposed in the middle of the sliding block 621, when the included angle between the two cross bars 630 changes, the sliding block 621 may move in the sliding rail 610 correspondingly, and the small shaft between the cross bar 630 and the sliding block 621 can ensure the corresponding change of the relative position between the cross bar 630 and the sliding block 621, so as to ensure the smooth sliding fit.
When platform 110 took place the skew of direction of advance when marcing, the crossbar 630 of platform 110 one side received the pressure of steel pipe inner wall, contained angle grow between two crossbar 630, the range greatly reduced of contained angle grow between extension spring 640 makes two crossbar 630 through the pulling force of self this moment, and then avoid the excessive skew steel pipe axis of platform 110, realize effectual effect of rectifying, with this guarantee that the emission angle of top structure light generator 300 is accurate, guarantee that industrial camera 400 is to the comprehensive image acquisition effect of steel pipe inner wall.
As a specific implementation manner of the embodiment of the present invention, referring to fig. 1 to 4, a partition 611 is further disposed in the middle of the sliding cavity, and the two sliding rods 620 are respectively located at two sides of the partition 611. The two cross rods 630 are respectively positioned at two sides of the partition piece 611, and the limit position of the inner end of the cross rod 630 can be effectively limited by the arrangement of the partition piece 611, so that the problem that the opening and closing angle change between the cross rods 630 is influenced by the two cross rods 630 which are centralized together is avoided.
Further, the partition member 611 is located at the axial center of the sliding rail 610, and partitions the cross bars 630 at two sides, so that the elastic supporting member 600 is located at the middle of the traveling direction of the traveling device 100, thereby ensuring effective deviation correction of the platform 110 and improving overall accuracy of image acquisition of the industrial camera 400.
As a specific implementation manner of the embodiment of the present invention, referring to fig. 2 to 3, the traveling device 100 includes four lifting struts 120, two transverse pipes 130, and four rollers 140; the four lifting support rods 120 are respectively positioned at four lower corners of the platform 110; the two horizontal pipes 130 are respectively disposed along a direction perpendicular to the traveling direction of the traveling device 100, one of which is disposed at the lower ends of the two lifting struts 120, and the other of which is disposed at the lower ends of the other two lifting struts 120; the four rollers 140 are rotatably connected to both ends of the transverse tube 130, respectively, and at least one of the rollers 140 is connected to a travel driving member. In this implementation, effectively support platform 110 through four lift branches 120, lift branch 120 can carry out the ascending altitude mixture control in upper and lower direction to make the face of platform 110 and the axis coincidence of steel pipe, avoid the crooked detection error that causes of platform 110 face. The lifting strut 120 may be a hydraulic cylinder, a rack and pinion mechanism, or a lead screw structure for effective height adjustment. The lower cross tube 130 serves to reliably connect the lower ends of the two lifting struts 120, ensuring the overall stability of the traveling device 100. The rollers 140 at the two ends of the transverse tube 130 are driven by the driving member to drive the rollers 140 to move slowly, so that the effect of detecting along the axis of the steel tube is realized.
As a specific implementation manner of the embodiment of the present invention, referring to fig. 2 to 3, the lifting support rod 120 includes a fixing rod 121, a sheathing rod 122 and a lifting driving member 123, wherein an upper end of the fixing rod 121 is connected to a bottom surface of the platform 110; the sheathing rod 122 is sheathed on the periphery of the lower end of the fixing rod 121, and is connected with the fixing rod 121 in a sliding manner in the vertical direction and locked; the upper end of the lifting driving member 123 is connected with the lower end of the fixing rod 121, and is used for driving the fixing rod 121 to move up and down, and the lifting driving member 123 is disposed in the sheathing rod 122. The height of the platform 110 can be effectively adjusted by driving the fixing rod 121 through the lifting driving member 123, so that the structural light generator 300 and the industrial camera 400 above the platform can be at a reasonable height, and more comprehensive image information can be conveniently collected.
As a specific implementation manner of the embodiment of the present invention, the rotating structure optical method pipeline detection system further includes a controller 500, and the controller 500 is electrically connected to the traveling driving element, the rotating device 200, the lifting driving element 123 and the detection device, respectively. The platform 110 is provided with two distance sensors 710 electrically connected to the controller 500, and the two distance sensors 710 are symmetrically disposed on the upper and lower sides of the platform 110. When traveling is required, the automatic operation of the traveling device 100 can be achieved by the controller 500 sending a signal to the traveling driving member. Utilize two upper and lower distance sensor 710 to detect the distance of platform 110 upper surface to steel pipe inner wall top and the distance of platform 110 lower surface to steel pipe inner wall bottom respectively, and give controller 500 with apart from the parameter value transmission, controller 500 sends control command to lift driving piece 123 according to predetermineeing the procedure, lift driving piece 123 drive suit pole 122 reciprocates to reaching and predetermines the height, make the distance of platform 110 upper surface to steel pipe inner wall top and the distance of platform 110 lower surface to steel pipe inner wall bottom equal, and then guarantee that the industrial camera 400 of platform 110 top and below can gather the regional image information of first half circular arc and the next half circular arc of steel pipe respectively, realize the comprehensive detection to the steel pipe inner wall. The industrial camera 400 transmits the shot image information to the detection device for analysis processing, obtains the state information of the inner wall of the steel pipe, and constructs the inner contour of the steel pipe.
Further, the controller 500 is provided with an interactive interface through which a worker may set parameters such as a traveling speed and a traveling displacement of the traveling device 100, thereby controlling the movement of the traveling device 100; the detection device receives the image information of the inner wall of the steel pipe, displays the detection condition of the inner wall of the steel pipe in an interface, and finds the damage and corrosion conditions of the inner wall of the steel pipe in time.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. Rotating structure light method pipeline detecting system, its characterized in that includes:
the traveling device is used for moving along the axial direction of the steel pipe;
the rotating device is arranged on the travelling device and is provided with a rotating shaft which is arranged along the horizontal direction and is vertical to the running direction of the travelling device;
the structured light generator is arranged on the rotating shaft and used for emitting structured light to the inner wall of the steel pipe;
the industrial camera is arranged on the travelling device and used for acquiring the image of the inner wall of the steel pipe, and the acquisition area of the industrial camera is consistent with the projection area of the structured light generator; and
a detection device electrically connected with the industrial camera;
the top of the travelling device is provided with a platform arranged along the horizontal direction, the rotating devices, the structural light generator and the industrial cameras are respectively provided with two rotating devices, and the two rotating devices, the two structural light generator and the two industrial cameras are respectively and symmetrically arranged on the upper side and the lower side of the platform;
in the advancing direction perpendicular to the advancing device, two sides of the platform are respectively provided with an elastic supporting piece extending outwards, and the outer end of each elastic supporting piece is provided with a guide wheel used for being in rolling fit with the inner wall of the steel pipe;
the elastic top stay includes:
the sliding rail is arranged on the side edge of the platform along the direction of the travelling device;
the middle parts of the two cross rods are rotationally connected through a rotating shaft arranged along the up-down direction, and one ends of the two cross rods close to the platform are respectively in sliding fit with the sliding rails; and
the tension spring is arranged between the two cross rods and is positioned on one side of the two cross rods close to the platform;
the sliding rail is provided with a sliding cavity arranged at one side deviating from the platform, and one ends of the two cross rods close to the platform are respectively provided with a sliding rod which is positioned in the sliding cavity and is in sliding fit with the sliding rail;
the middle part of the sliding cavity is also provided with a partition part, and the two sliding rods are respectively positioned at two sides of the partition part.
2. The rotating structured light method duct inspection system of claim 1, wherein the traversing means comprises:
the four lifting support rods are respectively positioned at four corners below the platform;
the two transverse pipes are respectively arranged along the running direction vertical to the running device, one transverse pipe is arranged at the lower ends of the two lifting support rods, and the other transverse pipe is arranged at the lower ends of the other two lifting support rods; and
and the four rollers are respectively and rotatably connected to the two ends of the transverse pipe, and at least one roller is connected with a traveling driving piece.
3. The rotating structured light method duct inspection system of claim 2, wherein the lifting strut comprises:
the upper end of the fixed rod is connected with the bottom surface of the platform;
the sleeving rod is sleeved on the periphery of the lower end of the fixed rod, and is in sliding connection and locking with the fixed rod in the vertical direction; and
and the upper end of the lifting driving piece is connected with the lower end of the fixed rod and used for driving the fixed rod to move up and down, and the lifting driving piece is arranged in the sleeving rod.
4. The rotating structured light method pipeline inspection system according to claim 3, further comprising a controller electrically connected to the travel drive, the rotation device, the lift drive, and the inspection device, respectively.
5. The system according to claim 4, wherein two distance sensors are disposed on the platform and electrically connected to the controller, and the two distance sensors are symmetrically disposed on upper and lower sides of the platform.
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|---|---|---|---|---|
| CN114812414B (en) * | 2022-04-12 | 2024-01-12 | 西安交通大学 | Composite measuring device for inner diameter and inner wall surface defects of pipeline |
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