CN115318758A - Metal pipeline laser derusting robot and method based on machine vision - Google Patents
Metal pipeline laser derusting robot and method based on machine vision Download PDFInfo
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- CN115318758A CN115318758A CN202210845005.9A CN202210845005A CN115318758A CN 115318758 A CN115318758 A CN 115318758A CN 202210845005 A CN202210845005 A CN 202210845005A CN 115318758 A CN115318758 A CN 115318758A
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- 239000002184 metal Substances 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title claims abstract description 13
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims abstract description 62
- 238000005096 rolling process Methods 0.000 claims abstract description 18
- 238000003860 storage Methods 0.000 claims description 23
- 238000004140 cleaning Methods 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 10
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 2
- 238000012806 monitoring device Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000002457 bidirectional effect Effects 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000011247 coating layer Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention relates to the technical field of laser rust removal, in particular to a metal pipeline laser rust removal robot and a method based on machine vision, wherein the robot comprises a robot body, a camera shooting mechanism, a rust removal mechanism and a controller; the robot comprises a platform deck and two bases fixedly connected to the upper surface and the lower surface of the platform deck, wherein the back surfaces of the two bases are fixedly provided with stand columns, the periphery of the base is uniformly provided with an accommodating part, the bottom end of the accommodating part is rotatably connected with the base, the top of the accommodating part is rotatably connected with a rolling wheel, the accommodating part is of a hollow structure, and the inner side of the accommodating part is provided with a driving assembly for driving the rolling wheel to rotate. The robot body carries the rust removing mechanism to climb in the vertical pipeline, so that the inner wall of the pipeline can be subjected to rust removal without disassembling and assembling the metal pipeline, the rust removing step is greatly simplified, and the rust removing efficiency is improved.
Description
Technical Field
The invention relates to the technical field of laser rust removal, in particular to a metal pipeline laser rust removal robot and a metal pipeline laser rust removal method based on machine vision.
Background
Rusting is a common chemical reaction that is essentially an oxidation reaction of the metal. At present, when a metal pipeline is used, the interior of the pipeline is soaked in water for a long time, so that rusting is inevitable. The rusting of the metal pipeline can not only influence the water quality inside the pipeline, but also reduce the service life of the pipeline, so the rust removal work is very important. At present, laser rust removal is a novel rust removal mode, and the laser emitter is used for emitting laser with a specific wavelength to irradiate rust, so that the rust on the surface of the metal can disappear, the efficiency is high, and the laser rust removal method is suitable for metal workpieces in various shapes. The principle is that the high-frequency high-energy laser pulse is utilized to irradiate the surface of a workpiece, and a coating layer can instantly absorb focused laser energy, so that oil stains, rusty spots or coatings on the surface are instantly evaporated or stripped, and surface attachments or surface coatings are effectively removed at a high speed.
At present, the inner wall of a vertical metal pipeline is subjected to rust removal work, and certain difficulty exists when the inner wall is specifically unfolded, so that workers often need to detach the vertical pipeline, place the pipeline on the ground horizontally, and then stretch a rust removal tool into the pipeline to remove rust. The method needs to disassemble and assemble the pipeline, so that the method is very troublesome, and in order to remove rust on the inner wall of the pipeline without disassembling the pipeline, a metal pipeline laser rust removing robot and a metal pipeline laser rust removing method based on machine vision are provided to well solve the defects.
Disclosure of Invention
The invention aims to provide a metal pipeline laser derusting robot and a metal pipeline laser derusting method based on machine vision, which are used for solving the problems in the background technology.
The invention is realized by the following technical scheme:
a metal pipeline laser derusting robot based on machine vision comprises a robot body, a camera shooting mechanism, a derusting mechanism and a controller;
the robot comprises a robot body and a control system, wherein the robot body comprises a carrying platform and two bases fixedly connected to the upper surface and the lower surface of the carrying platform, stand columns are fixedly arranged on the opposite surfaces of the two bases, accommodating parts are uniformly arranged on the periphery of the bases, the bottom ends of the accommodating parts are rotatably connected with the bases, rolling wheels are rotatably connected to the tops of the accommodating parts, the accommodating parts are of hollow structures, driving components for driving the rolling wheels to rotate are arranged on the inner sides of the accommodating parts, the stand columns are of hollow structures, and accommodating components for adjusting the inclination angles of the accommodating parts are arranged on the stand columns and are used for controlling the accommodating parts to be unfolded or accommodated;
the camera shooting mechanism comprises a mounting box and shooting cameras uniformly arranged on the peripheral wall of the mounting box, the mounting box is fixedly connected to the top end of one upright positioned above the mounting box, and the shooting cameras are electrically connected with the controller and used for acquiring image information in a pipeline and outputting the image information to the controller;
the rust removing mechanism comprises a rotating box, a steering engine holder fixedly connected to the top surface of the rotating box and a laser transmitter fixedly installed at the output end of the steering engine holder, and the rotating box is rotatably connected above the installing box; the controller is arranged in the mounting box.
Optionally, drive assembly includes the axis of rotation, fixes the cup joint at the outside worm wheel of axis of rotation and be located the inboard first motor and the worm of storage portion, the axis of rotation with storage portion normal running fit, the both ends of axis of rotation all stretch out to the outside of storage portion and coaxial coupling have the wheel that rolls, the output shaft of first motor with worm coaxial coupling, just the worm with the worm wheel meshing sets up.
Optionally, the storage assembly includes lift cylinder, movable part and with the connecting rod of storage part one-to-one, the cylinder body fixed connection of lift cylinder is in the inside of stand, the piston rod of lift cylinder with the movable part is connected, run through on the periphery wall of stand set up with storage part one-to-one and along the opening that vertical direction distributes, sliding connection has the slider in the opening, the both ends of connecting rod respectively with storage part and the slider is articulated, just the slider with movable part fixed connection.
Optionally, still include the deashing mechanism, the deashing mechanism includes the oversheath of symmetric distribution in rotatory box periphery wall both sides and the two-way cylinder of fixed connection top surface in rotatory box, the inside sliding connection of oversheath has clean pole, the one end of clean pole runs through to in the rotatory box, the other end of clean pole is equipped with the cleaning brush, two output of two-way cylinder respectively with two clean pole fixed connection.
Optionally, the ash removal mechanism further comprises a second motor fixedly connected to the inner bottom surface of the mounting box, an output shaft of the second motor is provided with a connecting portion, and the connecting portion is connected with the inner top surface of the rotating box.
Optionally, the mounting box and rotatory box are disc hollow structure, be equipped with on the periphery wall of mounting box and be annular spacing collar, set up on the interior rampart of rotatory box with the spacing groove of spacing collar looks adaptation, the spacing collar with spacing groove normal running fit.
Optionally, the monitoring device further comprises a monitoring camera, the monitoring camera is fixedly installed on the top surface of the laser emitter, and the orientation of the camera of the monitoring camera is consistent with the orientation of the laser emitter.
The invention also provides a derusting method of the metal pipeline laser derusting robot based on machine vision, which comprises the following steps:
s1: putting the robot body into a vertical metal pipeline;
s2: the inclination angle of the accommodating part is adjusted by utilizing the accommodating component, so that each rolling wheel is abutted against the inner wall of the metal pipeline;
s3: the driving assembly is used for driving each rolling wheel to synchronously rotate, so that the robot body ascends along the vertical pipeline;
s4: starting a shooting camera, collecting image information of the inner wall of the metal pipeline in real time, and outputting the image information to a controller;
s5: the controller automatically analyzes the image and determines the area of the rust;
s6: when the controller identifies rust on the inner wall of the pipeline, the robot body stops moving;
s7: the steering engine cradle head adjusts the angle of the laser emitter, so that the laser emitter is aligned to the rust and rust removal is carried out.
The invention has the beneficial effects that:
1. the robot body carries the rust removing mechanism to climb in the vertical pipeline, so that the inner wall of the pipeline can be subjected to rust removal without disassembling and assembling a metal pipeline, the rust removing step is greatly simplified, and the rust removing efficiency is improved;
2. the invention is provided with a shooting mechanism and a controller and is used for acquiring the image information of the inner wall of the pipeline and analyzing the image information, so that the invention can realize fixed-point rust removal and greatly improve the rust removal efficiency;
3. the invention is provided with the dust cleaning mechanism which is used for cleaning the dirt attached to the inner wall of the pipeline, thereby being beneficial to the shooting mechanism to acquire clearer image information.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art 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 other drawings can be obtained by those skilled in the art without inventive exercise.
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a cross-sectional view of the structure of the present invention;
FIG. 3 is an enlarged corresponding view taken at A in FIG. 2;
fig. 4 is an enlarged corresponding view of B in fig. 2.
In the figure: 10. a robot body; 100. a stage; 101. a base; 102. a column; 103. a storage section; 104. a rolling wheel; 105. a rotating shaft; 106. a worm gear; 107. a first motor; 108. a worm; 109. a lifting cylinder; 110. a movable portion; 111. a connecting rod; 112. an opening; 113. a slider; 20. a camera mechanism; (ii) a 201. Mounting a box; 202. a shooting camera; 203. a limiting ring; 204. a limiting groove; 30. a rust removal mechanism; 301. rotating the cassette; 302. a steering engine pan-tilt; 303. a laser transmitter; 40. a controller; 50. a dust removal mechanism; 501. an outer sheath; 502. a bidirectional cylinder; 503. a cleaning rod; 504. a cleaning brush; 505. a second motor; 506. a connecting portion; 60. a monitoring camera.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.
The embodiment is as follows: referring to fig. 1-4, a metal pipeline laser rust removing robot based on machine vision includes a robot body 10, a camera 20, a rust removing mechanism 30 and a controller 40; the robot body 10 comprises a carrier 100 and two bases 101 fixedly connected to the upper surface and the lower surface of the carrier 100, the bases 101 are regular hexagons, the bases 101 are fixedly connected with the carrier 100 through bolts, the upright posts 102 are fixedly arranged on the opposite back surfaces of the two bases 101, the peripheries of the bases 101 are uniformly provided with containing parts 103, the number of the containing parts 103 is six, the bottom ends of the containing parts 103 are rotatably connected with the bases 101, the tops of the containing parts 103 are rotatably connected with rolling wheels 104, the containing parts 103 are of hollow structures, and the inner sides of the containing parts 103 are provided with driving components for driving the rolling wheels 104 to rotate; specifically, the driving assembly includes a rotating shaft 105, a worm wheel 106 fixedly sleeved outside the rotating shaft 105, and a first motor 107 and a worm 108 located inside the accommodating part 103, the rotating shaft 105 is in running fit with the accommodating part 103, two ends of the rotating shaft 105 both extend out of the accommodating part 103 and are coaxially connected with a rolling wheel 104, the first motor 107 is fixedly connected in the accommodating part 103, an output shaft of the first motor 107 is coaxially connected with the worm 108, and the worm 108 is meshed with the worm wheel 106, so that the rolling wheel 104 can be indirectly driven to rotate by the first motor 107, and the robot body 10 is further controlled to move along the inner wall of the pipeline.
In addition, the upright column 102 is a hollow structure, a receiving assembly for adjusting the inclination angle of the receiving portion 103 is arranged on the upright column 102 and is used for controlling the receiving portion 103 to unfold or receive, specifically, the receiving assembly comprises a lifting cylinder 109, a movable portion 110 and a connecting rod 111 which corresponds to the receiving portion 103 one by one, the cylinder body of the lifting cylinder 109 is fixedly connected inside the upright column 102, the piston rod of the lifting cylinder 109 is connected with the movable portion 110 and is used for controlling the movable portion 110 to ascend and descend along the vertical direction, an opening 112 which corresponds to the receiving portion 103 one by one and is distributed along the vertical direction is formed in the outer peripheral wall of the upright column 102 in a penetrating manner, the top end of the opening 112 is flush with the top end of the upright column 102, a sliding block 113 is connected in the opening 112 in a sliding manner, two ends of the connecting rod 111 are respectively hinged to the receiving portion 103 and the sliding block 113, and the sliding block 113 is fixedly connected with the movable portion 110, so that the lifting cylinder 109 can control the movable portion 110 to ascend and descend, and further control the inclination angle of the receiving portion 103 to unfold or receive.
On the basis of the above embodiments, the image capturing mechanism 20 includes the mounting box 201 and the shooting cameras 202 uniformly disposed on the outer peripheral wall of the mounting box 201, the mounting box 201 is fixedly connected to the top end of one of the upright posts 102 located above, as shown in fig. 1, the shooting cameras 202 are electrically connected to the controller 40, and are used for acquiring image information in the pipeline and outputting the image information to the controller 40, and the controller 40 is used for analyzing the image information acquired by the shooting cameras 202, identifying rust and determining the area where the rust is located.
In addition, derusting mechanism 30 includes rotatory box 301, fixed connection is in the steering wheel cloud platform 302 of rotatory box 301 top surface and the laser emitter 303 of fixed mounting at the output of steering wheel cloud platform 302, rotatory box 301 rotates the top of connecting at mounting box 201, and is concrete, mounting box 201 and rotatory box 301 are disc hollow structure, be equipped with on the periphery wall of mounting box 201 and be annular spacing collar 203, set up the spacing groove 204 with spacing collar 203 looks adaptation on the interior rampart of rotatory box 301, as shown in fig. 4, spacing collar 203 and spacing groove 204 normal running fit, therefore in specific use, the angle of steerable laser emitter 303 of steering wheel cloud platform 302 makes laser emitter 303 send laser and eliminate the rust stain.
The dust removing mechanism 50 further comprises an outer sheath 501 symmetrically distributed on two sides of the outer peripheral wall of the rotating box 301 and a bidirectional cylinder 502 fixedly connected to the inner top surface of the rotating box 301, the outer sheath 501 is welded and fixed to the outer portion of the rotating box 301, a cleaning rod 503 is slidably connected to the inner portion of the outer sheath 501, one end of the cleaning rod 503 penetrates into the rotating box 301, a cleaning brush 504 is arranged at the other end of the cleaning rod 503, two output ends of the bidirectional cylinder 502 are fixedly connected with the two cleaning rods 503 respectively, that is, the bidirectional cylinder 502 can control the two cleaning rods 503 to move synchronously; the ash removing mechanism 50 further comprises a second motor 505 fixedly connected with the inner bottom surface of the mounting box 201, a connecting portion 506 is arranged on an output shaft of the second motor 505, and the connecting portion 506 is connected with the inner top surface of the rotating box 301, namely the second motor 505 can control the rotating box 301 to rotate, so that the cleaning brush 504 can be controlled to rotate along the inner wall of the pipeline for removing ash.
The embodiment further comprises a monitoring camera 60, wherein the monitoring camera 60 is fixedly installed on the top surface of the laser emitter 303, and the orientation of the camera of the monitoring camera 60 is consistent with the orientation of the laser emitter 303; this embodiment is in concrete use, and when robot 10 advanced along the pipeline inner wall, cloud platform steering wheel 302 control surveillance camera 60's camera pointed dead ahead for shoot the inside end of pipeline, thereby guarantee that robot 10 can in time stop in pipeline end department.
It should be mentioned that the controller 40 in this embodiment is disposed in the mounting box 201, and in addition, the signal output end of the controller 40 is electrically connected to the first motor 107, the second motor 505, and the steering engine pan-tilt 302, so that the controller 40 can control the robot body 10 to climb or descend in the vertical pipe, and can adjust the angle of the laser emitter 303 to align with rust for rust removal.
Based on the laser rust removal robot, the embodiment also provides a rust removal method of the metal pipeline laser rust removal robot based on machine vision, which comprises the following steps:
s1: the robot body 10 is placed in a vertical metal pipe. According to the specific situation of the site, the robot body 10 can be placed into the metal pipeline from bottom to top, or the robot body 10 can be placed into the metal pipeline from top to bottom.
S2: the inclination of the housing 103 is adjusted by the housing assembly so that each rolling wheel 104 abuts against the inner wall of the metal pipe. At this time, the robot body 10 is fixed in the metal pipe, and then the second motor 505 is turned on, the second motor 505 drives the rotating box 301 to rotate, and the cleaning brush 504 is used to clean dust and dirt on the inner wall of the metal pipe.
S3: the driving assembly is used for driving each rolling wheel 104 to synchronously rotate, so that the robot body 10 ascends along a vertical pipeline; if the robot body 10 is placed in the metal pipe from the top down, the robot body 10 is controlled to descend along the pipe by the driving means.
S4: and starting the shooting camera 202, acquiring image information of the inner wall of the metal pipeline in real time, and outputting the image information to the controller 40.
S5: the controller 40 automatically analyzes the image and determines the area where the rust is located.
S6: when the controller 40 recognizes the rust on the inner wall of the pipe, the robot body 10 stops moving, and the controller 40 simultaneously turns off the second motor 505 to keep the rotating box 301 in a stationary state.
S7: the steering engine pan-tilt 302 adjusts the angle of the laser emitter 303, so that the laser emitter 303 is aligned with rust and rust removal is performed.
In this embodiment, the rust removing mechanism 30 is carried by the robot body 10 to enter the vertical metal pipeline, and the robot body 10 can freely walk in the vertical pipeline, and the camera mechanism 20 is also carried by the robot body 10, so that rust can be automatically identified, and a fixed-point rust removing function is achieved.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a metal pipeline laser rust cleaning robot based on machine vision which characterized in that: comprises a robot body (10), a camera shooting mechanism (20), a derusting mechanism (30) and a controller (40);
the robot body (10) comprises a carrying platform (100) and two bases (101) fixedly connected to the upper surface and the lower surface of the carrying platform (100), wherein upright posts (102) are fixedly arranged on the opposite surfaces of the two bases (101), storage parts (103) are uniformly arranged on the periphery of the bases (101), the bottom ends of the storage parts (103) are rotatably connected with the bases (101), rolling wheels (104) are rotatably connected to the tops of the storage parts (103), the storage parts (103) are of hollow structures, driving components for driving the rolling wheels (104) to rotate are arranged on the inner sides of the storage parts (103), the upright posts (102) are of hollow structures, and the storage components for adjusting the inclination angles of the storage parts (103) are arranged on the upright posts (102) and used for controlling the storage parts (103) to be unfolded or stored;
the camera shooting mechanism (20) comprises a mounting box (201) and shooting cameras (202) uniformly arranged on the outer peripheral wall of the mounting box (201), the mounting box (201) is fixedly connected to the top end of one upright post (102) positioned above, and the shooting cameras (202) are electrically connected with the controller (40) and used for acquiring image information in a pipeline and outputting the image information to the controller (40);
the rust removing mechanism (30) comprises a rotating box (301), a steering engine holder (302) fixedly connected to the top surface of the rotating box (301) and a laser emitter (303) fixedly installed at the output end of the steering engine holder (302), and the rotating box (301) is rotatably connected above the mounting box (201); the controller (40) is arranged in the mounting box (201).
2. The metal pipeline laser rust removing robot based on the machine vision is characterized in that: drive assembly includes axis of rotation (105), fixed cup joint at outside worm wheel (106) of axis of rotation (105) and be located first motor (107) and worm (108) of storage portion (103) inboard, axis of rotation (105) with storage portion (103) normal running fit, the both ends of axis of rotation (105) all stretch out to the outside of storage portion (103) and coaxial coupling has rolling wheel (104), the output shaft of first motor (107) with worm (108) coaxial coupling, just worm (108) with worm wheel (106) meshing sets up.
3. The metal pipeline laser rust removing robot based on the machine vision is characterized in that: the storage assembly comprises a lifting cylinder (109), a movable portion (110) and connecting rods (111) corresponding to the storage portions (103) one by one, the cylinder body of the lifting cylinder (109) is fixedly connected inside the stand column (102), a piston rod of the lifting cylinder (109) is connected with the movable portion (110), openings (112) which correspond to the storage portions (103) one by one and are distributed along the vertical direction are formed in the peripheral wall of the stand column (102) in a penetrating mode, sliding blocks (113) are connected in the openings (112) in a sliding mode, two ends of each connecting rod (111) are hinged to the corresponding storage portions (103) and the corresponding sliding blocks (113), and the sliding blocks (113) are fixedly connected with the movable portions (110).
4. The metal pipeline laser derusting robot based on the machine vision is as claimed in claim 1, wherein: still include deashing mechanism (50), deashing mechanism (50) are including outer sheath (501) and two-way cylinder (502) of fixed connection at rotatory box (301) interior top surface of symmetric distribution in rotatory box (301) periphery wall both sides, the inside sliding connection of outer sheath (501) has cleaning rod (503), the one end of cleaning rod (503) is run through to in rotatory box (301), the other end of cleaning rod (503) is equipped with cleaning brush (504), two output of two-way cylinder (502) respectively with two cleaning rod (503) fixed connection.
5. The metal pipeline laser derusting robot based on the machine vision as recited in claim 4, wherein: the ash removal mechanism (50) further comprises a second motor (505) fixedly connected to the inner bottom surface of the mounting box (201), a connecting portion (506) is arranged on an output shaft of the second motor (505), and the connecting portion (506) is connected with the inner top surface of the rotating box (301).
6. The metal pipeline laser derusting robot based on the machine vision is as claimed in claim 1, wherein: mounting box (201) and rotatory box (301) are disc hollow structure, be equipped with on the periphery wall of mounting box (201) and be annular spacing collar (203), seted up on the interior rampart of rotatory box (301) with spacing groove (204) of spacing collar (203) looks adaptation, spacing collar (203) with spacing groove (204) normal running fit.
7. The metal pipeline laser rust removing robot based on the machine vision is characterized in that: the monitoring device is characterized by further comprising a monitoring camera (60), wherein the monitoring camera (60) is fixedly installed on the top surface of the laser emitter (303), and the orientation of a camera of the monitoring camera (60) is consistent with that of the laser emitter (303).
8. A rust removing method of the machine vision based metal pipeline laser rust removing robot as claimed in any one of claims 1 to 7, characterized in that: the method comprises the following steps:
s1: putting a robot body (10) into a vertical metal pipeline;
s2: adjusting the inclination angle of the accommodating part (103) by using the accommodating component to ensure that each rolling wheel (104) is abutted against the inner wall of the metal pipeline;
s3: driving each rolling wheel (104) to synchronously rotate by using a driving assembly, so that the robot body (10) ascends along a vertical pipeline;
s4: starting a shooting camera (202), collecting image information of the inner wall of the metal pipeline in real time, and outputting the image information to a controller (40);
s5: the controller (40) automatically analyzes the image and determines the area where the rust is located;
s6: when the controller (40) identifies the rust on the inner wall of the pipeline, the robot body (10) stops moving;
s7: the steering engine cradle head (302) adjusts the angle of the laser transmitter (303), so that the laser transmitter (303) is aligned to rust and rust removal is carried out.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210845005.9A CN115318758A (en) | 2022-07-18 | 2022-07-18 | Metal pipeline laser derusting robot and method based on machine vision |
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| CN202210845005.9A CN115318758A (en) | 2022-07-18 | 2022-07-18 | Metal pipeline laser derusting robot and method based on machine vision |
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