CN116448665A

CN116448665A - Inner wall detection method, electronic device, inner wall detection system and storage medium

Info

Publication number: CN116448665A
Application number: CN202310385034.6A
Authority: CN
Inventors: 陈海波; 李传金; 康祥
Original assignee: Shenlan Artificial Intelligence Application Research Institute Shandong Co ltd
Current assignee: Shenlan Artificial Intelligence Application Research Institute Shandong Co ltd
Priority date: 2023-04-06
Filing date: 2023-04-06
Publication date: 2023-07-18

Abstract

The application provides an inner wall detection method, electronic equipment, an inner wall detection system and a storage medium. The inner wall detection method comprises the following steps: moving the vision inspection apparatus from the initial position to the mouth of the tube at the inspection station with the execution apparatus; moving the visual detection equipment into the pipe fitting by using the execution equipment, and acquiring a plurality of endoscopic images shot by the visual detection equipment based on preset conditions in the moving process; the preset conditions comprise preset shooting interval time and/or preset shooting interval distance; and obtaining a detection result of the inner wall of the pipe fitting based on at least one endoscopic image, wherein the detection result is defective or flawless. The execution equipment is utilized to move the visual detection equipment, and the detection result of the inner wall of the pipe fitting is obtained through the visual detection equipment according to the preset condition, so that the high-efficiency detection of the inner wall of the pipe fitting is realized.

Description

Inner wall detection method, electronic device, inner wall detection system and storage medium

Technical Field

The application relates to the field of pipe fitting detection, in particular to an inner wall detection method, electronic equipment, an inner wall detection system and a storage medium.

Background

At present, a pipe fitting with high requirements on precision and quality, such as a hydraulic rod and the like, needs to be detected that the surface of the inner wall of the pipe fitting has defects, such as cracks, abrasion, expansion and the like of the inner wall of the pipe fitting. In the prior art, whether cracks exist on the inner wall of the pipe fitting can be detected by manual visual inspection; and measuring the inner diameter of the pipe fitting by using a caliper, and comparing the measured size of the caliper with the standard size to judge whether the pipe fitting is defect-free. Obviously, the above-mentioned inner wall detection method of the pipe fitting wastes labor, and cannot provide efficient inner wall detection of the pipe fitting. Therefore, the detection method has a large limitation in industrialized use, and the inner wall of the pipe fitting in the application scene such as the assembly line is difficult to detect by means of the detection method.

Based on this, the present application provides an inner wall detection method, an electronic device, an inner wall detection system, and a computer-readable storage medium, to solve the above-described problems in the prior art.

Disclosure of Invention

The purpose of the application is to provide an inner wall detection method, electronic equipment, an inner wall detection system and a computer readable storage medium, wherein an execution device is utilized to move a visual detection device, and a detection result of the inner wall of a pipe fitting is obtained through the visual detection device according to preset conditions, so that high-efficiency detection of the inner wall of the pipe fitting is realized.

The purpose of the application is realized by adopting the following technical scheme:

in a first aspect, the present application provides an inner wall detection method, including:

moving the vision inspection apparatus from the initial position to the mouth of the tube at the inspection station with the execution apparatus;

moving the visual detection equipment into the pipe fitting by using the execution equipment, and acquiring a plurality of endoscopic images shot by the visual detection equipment based on preset conditions in the moving process; the preset conditions comprise preset shooting interval time and/or preset shooting interval distance;

and acquiring a detection result of the inner wall of the pipe fitting based on at least one endoscopic image, wherein the detection result is defect or defect-free.

The beneficial effect of this technical scheme lies in: the initial position of the visual detection equipment is set, so that the positioning of the visual detection equipment before the pipe fitting detection and the homing of the visual detection equipment after the detection are facilitated, and a user can set the initial position of the visual detection equipment according to own requirements (such as production standardization requirements) so that the inner wall detection method has strong applicability in production enterprises; the visual detection equipment does not need manpower to move, but can be moved to the pipe orifice of the pipe fitting by using the execution equipment, so that the labor is saved, and the detection efficiency in the detection of the inner wall of a large number of pipe fittings can be improved; the visual detection equipment arranged at the initial position is moved by the execution equipment, so that the position acquisition step of the visual detection equipment during the detection of the inner wall of the pipe fitting is reduced, the difficulty in positioning the visual detection equipment is reduced (in the process, only whether the visual detection equipment is at the initial position or at the pipe orifice of the pipe fitting is determined, the position of the visual detection equipment between the initial position and the pipe orifice of the pipe fitting is not required to be positioned, the position acquisition and comparison process of a large amount of data is avoided), and the efficiency of detecting the inner wall of the pipe fitting is improved; on the one hand, when the lengths of the continuously placed pipe fittings are inconsistent (for example, when production is tried, equipment is debugged, experiments are carried out or products are changed, the shooting of endoscopic images can be carried out according to the preset interval time), and on the other hand, when the continuously placed pipe fittings with consistent lengths are continuously placed, the shooting of the endoscopic images can be carried out according to the preset shooting interval distance, so that the method can better adapt to the lean production requirements of the inner wall detection of the pipe fittings.

In summary, different from the existing means such as caliper detection and manual visual inspection, a high-efficiency inner wall detection method is provided, and the high-efficiency detection of the inner wall of the pipe fitting is realized by moving visual detection equipment through execution equipment and acquiring a detection result of the inner wall of the pipe fitting according to preset conditions through the visual detection equipment. The method fully considers the requirement of lean production (adjustment of the length of the pipe fitting) in the application scene of pipeline pipe fitting detection, and can finish the pipe fitting inner wall detection of the pipeline pipe fitting with high efficiency.

In some optional embodiments, when the detection result of the inner wall of the pipe is obtained, the inner wall detection method further includes:

moving the visual inspection apparatus to the initial position with the execution apparatus;

based on the detection result, moving the pipe fitting from the detection station to a good station or a defective station by using a displacement device;

and moving the pipe fitting to be detected to the detection station by using the displacement equipment so as to detect the inner wall of the pipe fitting to be detected.

The beneficial effect of this technical scheme lies in: the execution equipment is used for not only moving the visual detection equipment from the initial position to the pipe orifice of the pipe, but also resetting the visual detection equipment, and realizing the automatic detection of the subsequent pipe to be detected by reciprocally moving the visual detection equipment, so that on one hand, the automation degree is high, and on the other hand, the efficiency of detecting the inner wall of the pipe of the production line is also improved; the detected pipe fittings are classified according to the detection result, so that enterprises can conveniently classify and process the pipe fittings with good products (without defects) and defective products, for example, the pipe fittings with good products in the working position are transmitted to the next production working procedure with good products (for example, packaging, coding working procedure and the like), the pipe fittings with defective products are transmitted to the defective product treatment working procedure for repairing and the like; the execution equipment is utilized to move the visual detection equipment, the displacement equipment is utilized to move the pipe fitting, the two processes are not interfered with each other, and the fluency of the inner wall detection process is improved.

In summary, be different from the mode that needs the handheld check out test set of user to detect the pipe fitting inner wall, through the position removal of the visual check out test set of executive device and pipe fitting respectively of displacement equipment, realized high-efficient, automatic pipe fitting inner wall detection.

counting the times of defect-free detection results to obtain accumulated times;

and when the accumulated times are larger than a preset quantity threshold, increasing the moving speed of the visual detection equipment.

The beneficial effect of this technical scheme lies in: under the condition of multiple times of defect-free pipe fittings, the production state is good, the moving speed of visual detection equipment can be properly increased, and the inner wall detection efficiency is improved; the preset number threshold may be set empirically by the user, for example, if the continuous production is required for a long time (for example, more than one month), the preset number threshold is appropriately increased (for example, 100 times, 200 times), and if the intermittent production is performed, the preset number threshold is appropriately reduced (for example, 10 times, 15 times), so that the importance of the user experience on the production quality is considered, the operation difficulty of the user is reduced, and an appropriate balance point is found between the automatic detection and the manual operation.

In summary, the detection speed is properly increased in the process of detecting the inner wall based on the user's wish under the trend of good detection results, a balance is achieved between the detection effect and the detection efficiency, and a balance is also achieved between automatic detection and manual intervention.

In some optional embodiments, the obtaining the detection result of the inner wall of the tube based on the at least one endoscopic image includes:

inputting each endoscopic image into a defect detection model respectively to obtain an output result corresponding to each endoscopic image;

when the output result corresponding to any one of the endoscopic images is that the defect exists, determining that the detection result of the inner wall of the pipe fitting is that the defect exists.

The beneficial effect of this technical scheme lies in: and taking each endoscopic image as the input of the defect detection model, outputting an output result corresponding to the endoscopic image through the defect detection model in real time, and determining that the detection result of the inner wall of the pipe fitting is defective when the output result corresponding to any one of the endoscopic images is defective, so that the subsequent endoscopic images do not need to be continuously acquired, and the inner wall detection efficiency is improved.

In a second aspect, the present application provides an electronic device comprising a memory storing a computer program and a processor configured to implement the following steps when executing the computer program:

In some alternative embodiments, when obtaining the detection result of the inner wall of the pipe, the processor is further configured to execute the computer program to implement the following steps:

In some alternative embodiments, the processor is configured to obtain the detection result of the inner wall of the tube based on at least one endoscopic image when executing the computer program in the following manner:

In a third aspect, the present application provides an inner wall detection system, the inner wall detection system including the electronic device of the second aspect, the inner wall detection system further comprising:

the support comprises a support body and a plurality of fixing parts, wherein the fixing parts are arranged above the support body in parallel and are used for forming a detection station for placing the pipe fitting;

the visual detection device is connected with the electronic device and is used for shooting an endoscopic image of the pipe fitting;

The execution device is connected with the electronic device and is used for driving the visual detection device to reciprocate in the pipe fitting.

The beneficial effect of this technical scheme lies in: the support is used for placing the pipe fitting to be detected, so that the pipe fitting can be parked at a detection station defined by the fixing part during detection, and the inner wall detection system has good stability when being used for detecting the inner wall of the pipe fitting; the holding part is arranged above the support body in parallel, on one hand, when no pipe fitting is placed at the detection station, the space occupied by the support (of which the holding part is arranged in parallel) is small, so that the position of the inner wall detection system can be conveniently placed and adjusted on site, on the other hand, when the pipe fitting is detected in a large batch, the pipe fitting at the detection station can be frequently updated (the pipe fitting to be detected is placed in and the detected pipe fitting is taken away), the holding part arranged in parallel can better keep the balance of the support when the pipe fitting is updated, and the structure can be understood to be more suitable for the high-frequency and high-efficiency pipe fitting inner wall detection of the assembly line.

In conclusion, be different from pipe fitting inner wall check out test set such as current slide caliper rule, provide a high efficiency inner wall check out test set, be more suitable for pipe fitting inner wall check out under the high-frequency, the high efficiency application demand.

In some alternative embodiments, the visual inspection apparatus further comprises:

an endoscope lens for acquiring the endoscopic image;

the lens fixing tube, the lens fixing tube is close to the one end of support is including placing the shrinkage pool of endoscope camera lens, the lens fixing tube is used for protecting the endoscope camera lens.

The beneficial effect of this technical scheme lies in: the endoscope lens is fixed by the rigid lens fixing tube, so that the detection of the inner wall of the tube is not affected, and the endoscope head can be effectively protected from being damaged.

In some alternative embodiments, the execution device includes:

an endoscope bracket connected with the lens fixing tube;

the linear motor is connected with the endoscope bracket and is used for driving the lens fixing tube to move along the axial direction of the pipe fitting through the endoscope bracket.

The beneficial effect of this technical scheme lies in: compared with the speed reducing motor which drives a synchronous belt to drive through a synchronous wheel or drives a screw rod to drive through a coupler and the like, the linear motor does not need to convert rotation into linear motion, and has simple and reliable mechanical structure, because the linear motor directly cancels mechanical transmission parts with larger response time constants such as the screw rod and the like, and the mechanical friction in operation is reduced because the transmission parts such as the screw rod and the like are cancelled, the response performance is greatly improved, and the response is extremely sensitive and quick; because no intermediate transmission link exists, the linear motor drives the linear motor to eliminate energy loss during mechanical friction, so that the linear motor is more energy-saving; the linear motor can be driven by linear position detection feedback control, so that the positioning precision is improved, and meanwhile, the transmission rigidity is improved, and the linear motor has the advantages of high speed and short acceleration and deceleration process.

In conclusion, the linear motor is connected with the lens fixing tube through the endoscope support, and can drive the visual inspection equipment to move towards or away from the tube fitting of the inspection station, so that the stability of the movement of the visual inspection equipment is improved based on the advantages of the linear motor.

In some alternative embodiments, the inner wall detection device further comprises a motor bracket for placing the linear motor;

the visual inspection device further comprises a processing module, the processing module is arranged on the motor support, the processing module is connected with the endoscope lens through a wire, and the processing module is used for generating an endoscopic image according to optical image information obtained through shooting of the endoscope lens.

The beneficial effect of this technical scheme lies in: the linear motor is placed by the motor support, and the processing module is arranged on the motor support, so that vibration of the processing module when the linear motor drives the lens fixing tube to move is reduced, the service life of the processing module is prolonged, and the failure rate of the inner wall detection device is low.

In some optional embodiments, the linear motor drives the lens fixing tube to move at a constant speed along the axial direction of the pipe fitting through the endoscope bracket.

The beneficial effect of this technical scheme lies in: the linear motor is utilized to drive the lens fixing tube to move at a uniform speed, so that photographing quality of the visual inspection equipment is effectively guaranteed, and further, the accuracy rate of the inner wall inspection system on the inner wall of the pipe fitting is guaranteed.

In some alternative embodiments, the inner wall detection system further comprises a displacement device for displacing the tubular.

The beneficial effect of this technical scheme lies in: on one hand, the inner wall detection system is internally provided with the shifting equipment, so that repeated investment of the user on equipment purchase is avoided, and the inner wall detection system is more economical; on the other hand, different from the existing mode of manually loading and unloading the pipe fitting to be detected for detection, the position of the pipe fitting is moved through the shifting equipment, so that efficient automatic inner wall detection of the pipe fitting is realized.

In some alternative embodiments, the support further comprises a lifting module for moving the holder up and down to keep the visual inspection apparatus and the tube coaxial.

The beneficial effect of this technical scheme lies in: when the pipe diameter of the pipe is smaller, a user can adjust the lifting module to enable the fixing part to move in a direction away from the bracket main body, so that the visual detection equipment and the pipe placed at the detection station are kept coaxial; similarly, when the pipe diameter is large, the user can adjust the fixing part to move towards the direction close to the bracket main body when the lifting module is in use, so that the visual detection equipment and the pipe arranged at the detection station are kept coaxial. Through the movement of the lifting module to the fixing part, the inner wall detection system can be suitable for detecting the inner walls of the pipe fittings with different pipe diameters.

In a fourth aspect, the present application provides a computer readable storage medium storing a computer program which when executed by a processor performs the steps of any of the methods described above.

Drawings

The present application is further described below with reference to the drawings and embodiments.

FIG. 1 is a schematic view showing an angle of an inner wall detection system according to the present application;

FIG. 2 is a schematic view of another angle of an inner wall detection system provided herein;

fig. 3 is a schematic flow chart of an inner wall detection method provided in the present application;

FIG. 4 is a schematic flow chart of another method for detecting an inner wall according to the present application;

FIG. 5 is a schematic flow chart of another method for detecting an inner wall provided by the present application;

fig. 6 is a schematic flow chart of obtaining an inner wall detection result provided in the present application;

fig. 7 shows a schematic structural diagram of an electronic device provided in the present application;

fig. 8 shows a block diagram of a program product provided by the present application.

The diagram is: 1. an inner wall detection system; 2. a pipe fitting; 11. a memory; 12. a processor; 13. a bus; 14. an external device; 15. an input/output interface; 16. a network adapter; 20. a bracket; 30. a visual inspection device; 40. an execution device; 50. a motor bracket; 21. a bracket body; 22. a holding portion; 31. an endoscope lens; 32. a lens fixing tube; 33. a processing module; 41. an endoscope holder; 42. a linear motor; 111. a random access memory; 112. a cache memory; 113. a read-only memory; 114. a utility tool; 115. program modules.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

It should be noted that, on the premise of no conflict, new embodiments may be formed by any combination of the embodiments or technical features described below.

In this application, the terms "exemplary" or "such as" and the like are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.

The first, second, etc. descriptions in the embodiments of the present application are only used for illustrating and distinguishing the description objects, and no order division is used, nor does it indicate that the number of the devices in the embodiments of the present application is particularly limited, and no limitation on the embodiments of the present application should be construed.

(method example)

See fig. 1-3. Fig. 1 shows a schematic structural diagram of an angle of an inner wall detection system provided by the present application, fig. 2 shows a schematic structural diagram of another angle of an inner wall detection system provided by the present application, and fig. 3 shows a schematic flow chart of an inner wall detection method provided by the present application.

The inner wall detection method comprises the following steps:

step S101: moving the visual inspection apparatus 30 from the initial position to the mouth of the tube 2 of the inspection station with the execution apparatus 40;

step S102: moving the visual inspection device 30 into the pipe fitting 2 by using the execution device 40, and acquiring a plurality of endoscopic images obtained by shooting the visual inspection device 30 based on preset conditions in the moving process; the preset conditions comprise preset shooting interval time and/or preset shooting interval distance;

step S103: and acquiring a detection result of the inner wall of the pipe fitting based on at least one endoscopic image, wherein the detection result is defect or defect-free.

Therefore, the initial position of the visual detection device 30 is set, so that the positioning of the visual detection device 30 before the pipe fitting 2 is detected and the homing of the visual detection device 30 after the detection are facilitated, and a user can set the initial position of the visual detection device 30 according to own requirements (such as production standardization requirements), so that the applicability of the inner wall detection method in a production enterprise is strong; the visual inspection device 30 does not need manpower to move, but can move the visual inspection device 30 to the pipe orifice of the pipe fitting 2 by using the execution device 40, so that not only is the manpower saved, but also the inspection efficiency of the inner wall inspection of a large number of pipe fittings can be improved; the visual inspection device 30 arranged at the initial position is moved by the execution device 40, so that the position acquisition step of the visual inspection device 30 during the inner wall inspection of the pipe fitting is reduced, the difficulty in positioning the visual inspection device 30 is reduced (in the process, only the position of the visual inspection device 30 between the initial position and the pipe orifice of the pipe fitting 2 is required to be determined, the position of the visual inspection device 30 between the initial position and the pipe orifice of the pipe fitting 2 is not required to be positioned, the position acquisition and comparison process of a large amount of data is avoided, and the efficiency of detecting the inner wall of the pipe fitting is improved; on the one hand, when the lengths of the continuously placed pipe fittings 2 are inconsistent (for example, when test production, debugging equipment, experiments or product line replacement are performed), the shooting of endoscopic images can be performed according to the preset interval time, and on the other hand, when the continuously placed pipe fittings 2 with consistent lengths are continuously placed, the shooting of the endoscopic images can be performed according to the preset shooting interval distance, so that the method can better adapt to the lean production requirements of the inner wall detection of the pipe fittings.

In summary, different from the existing means such as caliper detection and manual visual inspection, a high-efficiency inner wall detection method is provided, and the high-efficiency detection of the inner wall of the pipe is realized by moving the visual detection device 30 through the execution device 40 and acquiring the detection result of the inner wall of the pipe through the visual detection device 30 according to preset conditions. The method fully considers the requirement of lean production (adjustment of the length of the pipe fitting 2) in the application scene of pipeline pipe fitting 2 detection, and can finish the pipe fitting inner wall detection of the pipeline pipe fitting 2 with high efficiency.

The type of the pipe 2 is not limited in this embodiment, and may be a round pipe, a square pipe, or the like, and may be a PVC pipe, a galvanized steel pipe, a copper pipe, or the like.

The executing device 40 may be a device including a cylinder, a motor, etc. for realizing the movement of the visual inspection device 30, and may be driven by a linear motor 42, a synchronous belt driven by a gear motor through a synchronous wheel, or a screw driven by a motor through a coupling. In general, the movement trajectory of the vision inspection apparatus 30 from the initial position to the inspection station by the execution apparatus 40 is a straight line, and the time for the inner wall inspection can be reduced. The trajectory of movement of the vision inspection apparatus 30 from the initial position to the inspection station by the execution apparatus 40 may also be curved, depending on the field requirements (e.g., an obstacle between the initial position and the mouth of the pipe 2).

The preset shooting time interval is not limited, and is, for example, 0.1 seconds, 0.5 seconds, or 1 second. The preset shooting interval distance is not limited, and is, for example, 0.5 cm, 8 cm or 15 cm. The present application is not limited to the visual inspection apparatus 30, and is, for example, an industrial endoscope such as a tube endoscope or a fiber endoscope.

In one specific application, the time point when the visual inspection apparatus 30 moves into the pipe 2, 1.5 seconds, 3 seconds, and 4.5 seconds are respectively photographed, so as to obtain four endoscopic images of the pipe 2 to be inspected.

In another specific application, the visual inspection apparatus 30 is moved to the nozzle, 5 cm from the nozzle, and 10 cm from the nozzle, and then photographed to obtain three endoscopic images of the tube 2 to be inspected.

Referring to fig. 4, fig. 4 is a schematic flow chart of another method for detecting an inner wall provided in the present application.

In some optional embodiments, after step S103, the inner wall detection method may further include:

step S104: moving the visual inspection apparatus 30 to the initial position using the executing apparatus 40;

step S105: based on the detection result, moving the pipe fitting 2 from the detection station to a good station or a defective station by using a displacement device;

Step S106: and moving the pipe fitting 2 to be detected to the detection station by using the displacement equipment so as to detect the inner wall of the pipe fitting 2 to be detected.

Therefore, the execution device 40 is not only used for moving the visual detection device 30 from the initial position to the pipe orifice of the pipe fitting 2, but also used for resetting the visual detection device 30, and the automatic detection of the pipe fitting 2 to be detected subsequently is realized by reciprocally moving the visual detection device 30, so that on one hand, the automation degree is high, and on the other hand, the efficiency of detecting the inner wall of the production pipe fitting is also improved; the detected pipe fittings 2 are classified according to the detection result, so that enterprises can conveniently classify and process the pipe fittings 2 with good products (without defects) and the pipe fittings 2 with defective products, for example, the pipe fittings 2 with good products in a working position are transmitted to the next production working procedure with good products (for example, packaging, coding working procedure and the like), the pipe fittings 2 with defective products are transmitted to the processing working procedure with defective products for repairing and the like; the execution device 40 is used for moving the visual detection device 30, the displacement device is used for moving the pipe fitting 2, the two processes are not interfered with each other, and the smoothness of the inner wall detection process is improved.

In summary, unlike the manner in which the user is required to hold the inspection apparatus to inspect the inner wall of the pipe, the inspection apparatus 40 and the displacement apparatus move the positions of the vision inspection apparatus 30 and the pipe 2, respectively, so as to implement efficient and automatic inspection of the inner wall of the pipe.

The displacement device may be a device for realizing movement of the visual inspection device 30 driven by a cylinder, a motor, or the like. The good product station is a station where a user stores the pipe 2 without defects in the detection result, for example, a stacking shelf, a storage bin, and the like. The defective product station is a station where a user stores the pipe 2 having a defect at the time of the detection result, and is, for example, a stacking rack, a storage bin, or the like at a position different from the non-defective product station.

Since the movement paths for the displacement of the pipe member 2 and for the movement of the visual inspection apparatus 30 are different, the displacement of the pipe member 2 and the movement of the visual inspection apparatus 30 are realized by the same apparatus (e.g., robot hand), which is obviously difficult to realize and high in cost. The shifting device for shifting the pipe fitting 2 and the executing device 40 for shifting the visual inspection device 30 are different, and the shifting process of the pipe fitting 20 and the visual inspection device 30 are not interfered with each other, so that the smoothness of implementation of the inner wall inspection method is improved. Referring to fig. 5, fig. 5 shows a schematic flow chart of another method for detecting an inner wall provided in the present application.

step S107: counting the times of defect-free detection results to obtain accumulated times;

Step S108: when the accumulated number of times is greater than a preset number threshold, the moving speed of the visual inspection apparatus 30 is increased.

Therefore, in the case of the defect-free pipe fitting 2 for many times, the production state is good, the moving speed of the visual inspection device 30 can be properly increased, and the efficiency of inner wall inspection is improved; the preset number threshold may be set empirically by the user, for example, if the continuous production is required for a long time (for example, more than one month), the preset number threshold is appropriately increased (for example, 100 times, 200 times), and if the intermittent production is performed, the preset number threshold is appropriately reduced (for example, 10 times, 15 times), so that the importance of the user experience on the production quality is considered, the operation difficulty of the user is reduced, and an appropriate balance point is found between the automatic detection and the manual operation.

The cumulative number is, for example, 100 times, 1000 times or 2000 times. The preset number threshold is, for example, 10 times, 100 times, or 150 times.

In some alternative embodiments, if any one of the detection results is defective, the movement speed of the visual detection device 30 is restored to an initial value.

One feature of the pipe fitting 2 to be continuously produced is that "once the pipe fitting 2 has an inner wall defect due to equipment, materials, etc., the inner wall defect is necessarily continuously present", when one detection result is that there is a defect, the moving speed of the visual inspection apparatus 30 can be restored (reduced) to an initial value, the accuracy of the inspection is improved, and the omission factor is reduced.

Referring to fig. 6, fig. 6 is a schematic flow chart of obtaining an inner wall detection result provided in the present application.

In some alternative embodiments, the step S103 may include:

step S201: inputting each endoscopic image into a defect detection model respectively to obtain an output result corresponding to each endoscopic image;

step S202: when the output result corresponding to any one of the endoscopic images is that the defect exists, determining that the detection result of the inner wall of the pipe fitting is that the defect exists.

Therefore, each endoscopic image is used as the input of the defect detection model, the output result corresponding to the endoscopic image is output through the defect detection model in real time, when the output result corresponding to any one of the endoscopic images is defective, the defect of the detection result of the inner wall of the pipe fitting can be determined, the subsequent endoscopic images do not need to be continuously acquired, and the inner wall detection efficiency is improved.

In some alternative embodiments, the step S202 may include: when the output result corresponding to any one of the endoscopic images is that the defect exists, determining that the detection result of the inner wall of the pipe fitting is that the defect exists, and stopping inputting other endoscopic images into the defect detection model.

In one specific application, the visual inspection apparatus 30 performs photographing when moving to the nozzle, 5 cm from the nozzle, and 10 cm from the nozzle, respectively, and photographs a first endoscopic image and inputs a defect detection model when the visual inspection apparatus 30 moves to the nozzle, and the output result of the defect detection model is defect-free; meanwhile, the visual inspection device 30 does not stop moving and shoots a second endoscopic image at a position 5 cm away from the pipe orifice, the second endoscopic image is input into a defect detection model, and the output result of the defect detection model is that defects exist; the visual inspection device 30 does not need to input a defect inspection model again in the third endoscopic image shot at the position 10 cm away from the pipe orifice, and when any one of the endoscopic images corresponds to an output result that is defective, it can be determined that the inspection result of the inner wall of the pipe is defective.

In some alternative embodiments, the defect detection model may be trained, and the training process of the defect detection model may include:

Acquiring a training set, wherein the training set comprises a plurality of training data, and each training data comprises a sample endoscopic image and marking data of a defect detection result of the sample endoscopic image;

for each training data in the training set, performing the following processing:

inputting a sample endoscopic image in the training data into a preset deep learning model to obtain predicted data of a defect detection result of the sample endoscopic image;

updating model parameters of the deep learning model based on the predicted data and the labeling data of the defect detection result of the sample endoscopic image;

detecting whether a preset training ending condition is met; if yes, taking the trained deep learning model as the defect detection model; if not, continuing to train the deep learning model by using the next training data.

Therefore, through designing, a proper amount of neuron computing nodes and a multi-layer operation hierarchical structure are established, a proper input layer and a proper output layer are selected, a preset deep learning model can be obtained, through learning and tuning of the deep learning model, a functional relation from input to output is established, although the functional relation between input and output cannot be found by 100%, the functional relation can be as close to a real association relation as possible, the obtained defect detection model is trained, a corresponding defect detection result can be obtained based on an endoscopic image obtained in real time, and the accuracy and reliability of the computed result are high.

The training process of the similarity model is not limited, and for example, a training mode of supervised learning, a training mode of semi-supervised learning or a training mode of unsupervised learning can be adopted.

The preset training ending condition is not limited, and for example, the training times may reach the preset times (the preset times are, for example, 1 time, 3 times, 10 times, 100 times, 1000 times, 10000 times, etc.), or the training data in the training set may all complete one or more training, or the total loss value obtained in the training is not greater than the preset loss value.

In some alternative embodiments, the present embodiment may train to obtain a defect detection model, and in other alternative embodiments, the present application may use a pre-trained defect detection model.

(device example)

The embodiment of the present invention provides an electronic device, where a specific implementation manner of the electronic device is consistent with an implementation manner and achieved technical effects described in the foregoing method embodiment, and some details are not repeated.

The electronic device comprises a memory storing a computer program and a processor configured to implement the following steps when executing the computer program:

In some alternative embodiments, when the detection result of the inner wall of the pipe is obtained, the processor is further configured to execute the computer program to implement the following steps:

In some alternative embodiments, when obtaining the detection result of the inner wall of the tube, the processor may be configured to obtain the detection result of the inner wall of the tube based on at least one of the endoscopic images when executing the computer program in the following manner:

Referring to fig. 7, fig. 7 shows a schematic structural diagram of an electronic device provided in the present application.

The electronic device may for example comprise at least one memory 11, at least one processor 12 and a bus 13 connecting the different platform systems.

Memory 11 may include readable media in the form of volatile memory, such as Random Access Memory (RAM) 111 and/or cache memory 112, and may further include Read Only Memory (ROM) 113.

The memory 11 also stores a computer program executable by the processor 12 to cause the processor 12 to implement the steps of any of the methods described above.

Memory 11 may also include utility 114 having at least one program module 115, such program modules 115 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

Accordingly, the processor 12 may execute the computer programs described above, as well as may execute the utility 114.

The processor 12 may employ at least one application specific integrated circuit (ASIC, application Specif icIntegrated Circuit), DSP, programmable logic device (PLD, programmable Logic Dev ice), complex programmable logic device (CPLD, complex Programmable Logic Device), field programmable gate array (FPGA, field-Programmable Gate Array), or other electronic component.

Bus 13 may be a local bus representing one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or any of a variety of bus architectures.

The electronic device may also communicate with at least one external device 14, such as a keyboard, pointing device, bluetooth device, etc., with one or more devices capable of interacting with the electronic device, and/or with any device (e.g., router, modem, etc.) that enables the electronic device to communicate with at least one other computing device. Such communication may be via an input-output interface 15. And the electronic device may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet, via the network adapter 16. The network adapter 16 may communicate with other modules of the electronic device via the bus 13. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with an electronic device in actual practice, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage platforms, and the like.

(System example)

Referring to fig. 1 and fig. 2, an embodiment of the present application provides an inner wall detection system 1, where a specific implementation manner is consistent with an implementation manner and achieved technical effects described in the foregoing method embodiment, and some details are not repeated.

The inner wall detection system 1 comprises an electronic device, the inner wall detection system 1 further comprising:

the support 20, the said support 20 includes the support body 21 and a plurality of holding portions 22, a plurality of said holding portions 22 are set up in parallel above the said support body 21, a plurality of said holding portions 22 are used for making up and placing the detection station of the pipe fitting 2;

a visual inspection device 30, wherein the visual inspection device 30 is connected with the electronic device, and the visual inspection device 30 is used for shooting an endoscopic image of the pipe fitting 2;

the execution device 40 is connected with the electronic device, and the execution device 40 is used for driving the visual inspection device 30 to reciprocate in the pipe fitting 2.

Therefore, the bracket 20 is used for placing the pipe fitting 2 to be detected, so that the pipe fitting 2 can be parked at the detection station defined by the fixing part 22 during detection, and the inner wall detection system 1 has good stability when being used for detecting the inner wall of the pipe fitting 2; the fixing portion 22 is disposed above the support body 21 in parallel, on the one hand, when no pipe 2 is placed at the detection station, the space occupied by the support 20 (which is disposed in parallel with the fixing portion 22) is small, so that the position of the inner wall detection system 1 can be conveniently placed and adjusted on site, on the other hand, when the pipe 2 is detected in batch, the pipe 2 at the detection station can be frequently updated (the pipe 2 to be detected is placed in and the detected pipe 2 is taken away), and the balance of the support 20 can be better maintained when the pipe 2 is updated by the fixing portion 22 disposed in parallel, so that the structure is more suitable for high-frequency and high-efficiency pipe inner wall detection of the assembly line.

In summary, different from the existing pipe fitting inner wall detection equipment such as calipers, the high-efficiency inner wall detection system 1 is provided, and is more suitable for pipe fitting inner wall detection under the requirements of high-frequency and high-efficiency application.

Wherein, the contact plane of the holding part 22 and the pipe fitting 2 can be matched with the shape of the pipe fitting 2 so as to further improve the stability of the pipe fitting 2. For example, the holding portion 22 is an inverted V-shaped or inverted U-shaped accommodation groove.

The executing device 40 may be a device including a cylinder, a motor, etc. for realizing the movement of the visual inspection device 30, and may be driven by a linear motor 42, a synchronous belt driven by a gear motor through a synchronous wheel, or a screw driven by a motor through a coupling.

The visual inspection device 30 is an industrial endoscope such as a pipeline endoscope or a fiber endoscope.

In some alternative embodiments, the visual inspection apparatus 30 may further include:

an endoscope lens 31, the endoscope lens 31 being for acquiring the endoscopic image;

a lens fixing tube 32, wherein one end of the lens fixing tube 32 near the bracket 20 comprises a concave hole for placing the endoscope lens 31, and the lens fixing tube 32 is used for protecting the endoscope lens 31.

The lens fixing tube 32 is considered to be rigid, and the endoscope lens 31 is fixed by the rigid lens fixing tube 32, so that the endoscope head can be effectively protected from damage without affecting the detection of the inner wall of the tube.

The lens fixing tube 32 is not limited in this embodiment, and the lens fixing tube 32 may be a circular tube or a square tube, or may be a steel tube or a PVC tube.

In some alternative embodiments, the execution device 40 may include:

an endoscope holder 41, the endoscope holder 41 being connected to the lens fixing tube 32;

the linear motor 42 is connected with the endoscope support 41, and the linear motor 42 is used for driving the lens fixing tube 32 to move along the axial direction of the pipe fitting 2 through the endoscope support 41.

Compared with the speed reducing motor which drives a synchronous belt to drive through a synchronous wheel or the motor which drives a screw rod to drive through a coupler, the linear motor 42 does not need to convert rotation into linear motion, and the mechanical structure is simple and reliable, because some mechanical transmission parts with larger response time constants such as the screw rod are directly omitted in the linear motor 42, and because the parts such as the transmission screw rod are omitted, mechanical friction in operation is reduced, the response performance is greatly improved, and the response is extremely sensitive and rapid; because no intermediate transmission link exists, the linear motor 42 drives and eliminates the energy loss during mechanical friction, so that the energy is saved; the linear motor 42 can be driven by linear position detection feedback control, so that the positioning accuracy is improved, the transmission rigidity is improved, and the advantages of high speed and short acceleration and deceleration process are achieved.

Therefore, the linear motor 42 is connected with the lens fixing tube 32 through the endoscope support 41, and the linear motor 42 can drive the visual inspection device 30 to move towards or away from the pipe fitting 2 of the inspection station, so that the stability of the movement of the visual inspection device 30 is improved based on the advantages of the linear motor 42.

The endoscope holder 41 may be connected to the lens fixing tube 32 and the linear motor 42 by welding, caulking, or the like.

In some alternative embodiments, the inner wall detecting device may further include a motor bracket 50, where the motor bracket 50 is used to place the linear motor 42;

the visual inspection device 30 may further include a processing module 33, where the processing module 33 is disposed on the motor support 50, the processing module 33 is connected to the endoscope lens 31 through a wire, and the processing module 33 is configured to generate an endoscopic image according to optical image information obtained by photographing the endoscope lens 31.

Therefore, the linear motor 42 is placed by the motor bracket 50, and the processing module 33 is arranged on the motor bracket 50, so that vibration of the processing module 33 when the linear motor 42 drives the lens fixing tube 32 to move is reduced, the service life of the processing module 33 is prolonged, and the failure rate of the inner wall detection device is low.

Wherein, this application does not limit processing module 33, and processing module 33 and endoscope camera lens 31 pass through the wire and connect for to the pipe fitting inner wall image that endoscope camera lens 31 gathered, processing module 33 can be the endoscope host computer, and processing module 33's one port passes through the wire and is connected with endoscope camera lens 31, and processing module 33's another port passes through wire or wireless communication unit (bluetooth communication unit, wifi communication unit etc.) and electronic equipment and connects, will shoot the endoscopic image that obtains and transmit electronic equipment.

In some alternative embodiments, the linear motor 42 drives the lens fixing tube 32 to move at a constant speed along the axial direction of the tube 2 through the endoscope support 41.

Therefore, the linear motor 42 is utilized to drive the lens fixing tube 32 to move at a uniform speed, so that the photographing quality of the visual inspection device 30 is effectively ensured, and the accuracy of the inner wall inspection system 1 on the inner wall of the tube is further ensured.

In some alternative embodiments, the inner wall detection system 1 may further comprise a displacement device (not shown) for displacing the tube 2.

Therefore, on one hand, the inner wall detection system 1 is internally provided with the shifting equipment, so that repeated investment of equipment purchase by a user is avoided, and the inner wall detection system is more economical; on the other hand, different from the existing mode of manually loading and unloading the pipe fitting 2 to be detected for detection, the position of the pipe fitting 2 is moved through the shifting equipment, so that efficient automatic inner wall detection of the pipe fitting 2 is realized.

The displacement device may be a device which is driven by a cylinder, a motor and the like and is used for realizing the movement of the pipe fitting 2, and the displacement device may be driven by a linear motor 42, a synchronous belt driven by a gear motor through a synchronous wheel, or a screw rod driven by a motor through a coupling. In one particular application, the displacement device is a robot.

In some alternative embodiments, the stand 20 may further include a lifting module (not shown) for moving the holder 22 up and down so as to keep the visual inspection apparatus 30 and the pipe 2 coaxial.

Therefore, the inner wall detection system 1 can be suitable for detecting the inner walls of the pipe fittings 2 with different pipe diameters through the movement of the lifting module to the fixing part 22.

The lifting module is, for example, an air cylinder, a screw, etc., and the stretching and the rotation of the air cylinder rod and the screw can realize the up-and-down movement of the holding part 22. One end of the lifting module may be connected to the main body of the bracket 20, and the other end of the lifting module is respectively connected to the plurality of fixing portions 22. When the pipe 2 has a smaller pipe diameter, the user can adjust the lifting module to move the holding part 22 in a direction away from the main body of the bracket 20 so as to keep the visual inspection device 30 (the endoscope lens 31) and the pipe 2 placed at the inspection station coaxial; similarly, when the pipe 2 has a large pipe diameter, the user can adjust the lifting module to move the holding portion 22 in a direction approaching the body of the stand 20 so that the visual inspection apparatus 30 (the endoscope lens 31) and the pipe 2 placed at the inspection station remain coaxial. Therefore, the above-described inner wall inspection system 1 can be applied to the inner wall inspection of the pipe 2 of different pipe diameters.

(Medium examples)

The embodiment of the application also provides a computer readable storage medium, and the specific implementation manner of the computer readable storage medium is consistent with the implementation manner and the achieved technical effects recorded in the embodiment of the method, and some contents are not repeated.

The computer readable storage medium stores a computer program which, when executed by a processor, implements the steps of any of the methods described above.

Referring to fig. 8, fig. 8 shows a block diagram of a program product provided herein. The program product for carrying out the steps of any of the methods described above may employ a portable compact disc read-only memory (CD-ROM) and comprise program code and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (eprom or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the preceding.

The computer readable storage medium may include a data signal propagated in baseband or as part of a carrier wave, with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable storage medium may also be any readable medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).

In this application, "at least one" means one or more, and "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a alone, a and B together, and B alone, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, a and b, a and c, b and c or a and b and c, wherein a, b and c can be single or multiple. It is noted that "at least one" may also be construed as "one (a) or more (a)"

The present application is directed to functional enhancement and use elements, which are emphasized by the patent laws, such as the description and drawings, of the present application, but are not limited to the preferred embodiments of the present application, and therefore, all equivalents and modifications, equivalents, and modifications, etc. of the structures, devices, features, etc. of the present application are included in the scope of the present application.

Claims

1. An inner wall detection method, characterized in that the inner wall detection method comprises:

and obtaining a detection result of the inner wall of the pipe fitting based on at least one endoscopic image, wherein the detection result is defective or flawless.

2. The method according to claim 1, wherein when a detection result of the inner wall of the pipe is obtained, the inner wall detection method further comprises:

3. The method according to claim 1, wherein when a detection result of the inner wall of the pipe is obtained, the inner wall detection method further comprises:

4. The method according to claim 1, wherein the obtaining the detection result of the inner wall of the tube based on the at least one endoscopic image includes:

5. An electronic device comprising a memory storing a computer program and a processor configured to implement the following steps when executing the computer program:

6. An interior wall detection system, comprising the electronic device of claim 5, the interior wall detection system further comprising:

7. The interior wall detection system of claim 6, wherein the visual inspection apparatus further comprises:

an endoscope lens for acquiring the endoscopic image;

8. The wall inspection system according to claim 7, wherein the performing device comprises:

an endoscope bracket connected with the lens fixing tube;

9. The wall inspection system according to claim 8, wherein the wall inspection device further comprises a motor mount for positioning the linear motor;

10. The system of claim 8, wherein the linear motor drives the lens fixing tube to move at a constant speed along the axial direction of the tube member through the endoscope support.

11. The inner wall inspection system of claim 6, further comprising a displacement device for displacing the tubular.

12. The system of claim 6, wherein the bracket further comprises a lifting module for moving the holder up and down to keep the visual inspection apparatus and the tube coaxial.

13. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the steps of the method of any of claims 1 to 4.