CN118090754A - Surface image acquisition system - Google Patents

Abstract

The invention discloses a surface image acquisition system, which comprises a feeding device, an image acquisition device and a discharging device, wherein the feeding device is used for feeding a surface image; the feeding device comprises a plurality of feeding rollers; the image acquisition device comprises a plurality of area array cameras and light sources, wherein the area array cameras and the light sources are uniformly distributed along the circumferential direction of a pipe conveying path, an image acquisition area is formed in the pipe conveying path, the optical axis of each area array camera is perpendicular to the pipe conveying path and can shoot towards the corresponding image acquisition area, and the light sources irradiate towards the corresponding image acquisition area. By adopting the technical scheme, the pipe can not be stopped in the image acquisition process, so that the operation efficiency is higher, and a section of outer wall image of the pipe in the image acquisition area can be shot simultaneously and completely, and the complete acquisition of the image is not influenced when the pipe rotates in the pipe transmission process.

Description

Surface image acquisition system

Technical Field

The invention relates to an image acquisition system which can be used for detecting surface defects of extremely long and compatible pipes with various diameters, and belongs to the technical field of detection.

Background

Metal pipe surface defect detection is an important task in the industry to ensure product quality and safety. Visual inspection is a common method of detecting surface defects of long metal tubes by capturing images of the surface of the metal tube using cameras and image processing techniques, and then analyzing the images by computer algorithms to detect defects such as cracks, pits, bubbles, and the like. The usual visual inspection steps include: acquiring an image, namely shooting the image or video of the surface of the metal tube by using imaging equipment; preprocessing, namely preprocessing the acquired image to optimize the image quality and reduce noise, wherein the preprocessing comprises operations of removing illumination non-uniformity, smoothing the image, adjusting contrast and the like; feature extraction, which is to extract features from images by image processing algorithms, and may include edge detection, color analysis, texture analysis, etc.; and identifying the defects, and analyzing the extracted characteristics by using a model or algorithm trained in advance to identify the defects in the image. The visual inspection of the short pipe can generally drive the pipe to rotate and acquire an image by using a line scanning camera, but in the pipe inspection process with a longer length, the line scanning camera can only scan and acquire the surface image of one length range of the pipe at a time, after the completion, the pipe needs to be moved forward to enable the next length range to enter a shooting station, and then the pipe is driven to rotate again until the shooting of all the length ranges of the pipe is completed. The shooting mode has low efficiency and cannot meet the requirements of efficient production tasks, so that a novel surface image acquisition system with high efficiency is necessary to design.

Disclosure of Invention

Therefore, the invention aims to provide a surface image acquisition system, wherein a plurality of area array cameras are circumferentially arranged on a conveying path of a pipe, and photographing is carried out through the area array cameras along with conveying of the pipe, so that conveying is not required to be stopped and the pipe is driven to rotate, and the detection efficiency of the pipe is effectively improved.

In order to solve the technical problems, the invention provides a surface image acquisition system which comprises a feeding device, an image acquisition device and a discharging device; the feeding device comprises a plurality of feeding rollers; the blanking device comprises a plurality of blanking rollers; the image acquisition device is arranged between the feeding device and the discharging device, the feeding rollers and the discharging rollers are arranged in a straight line together to form a straight line pipe conveying path, the feeding rollers can drive the pipe to move forward along the axial direction and pass through the image acquisition device, and the discharging rollers are used for receiving the pipe passing through the image acquisition device; the image acquisition device comprises a plurality of area array cameras and light sources, wherein the area array cameras and the light sources are uniformly distributed along the circumferential direction of a pipe conveying path, an image acquisition area is formed in the pipe conveying path, the optical axis of each area array camera is perpendicular to the pipe conveying path and can shoot towards the corresponding image acquisition area, and the light sources irradiate towards the corresponding image acquisition area.

The image acquisition device further comprises a plurality of positioning press rollers arranged on one side of the image acquisition area, and the positioning press rollers are uniformly distributed along the circumferential direction of the pipe conveying path and can be tightly pressed on the pipe.

The image acquisition device further comprises a radial adjusting mechanism, and the radial adjusting mechanism is used for driving the area array camera and the positioning press roller to synchronously approach or separate from the pipe.

The image acquisition device comprises a mounting substrate, a window hole for a pipe to pass through is formed in the mounting substrate, a mounting frame is arranged on the radial adjusting mechanism, and the area array camera and the positioning press roller are arranged on the mounting frame.

The light source is an annular light source, and the annular light source is sleeved outside the pipe conveying path.

The feeding device further comprises two non-connected inclined guide plates positioned on the side of the pipe conveying path, a lifting plate is arranged between the two inclined guide plates, the opposite far ends of the two inclined guide plates extend to the pipe conveying path and the first swing supporting plate respectively, and pipe transmission between the two inclined guide plates is achieved through the lifting plate.

The two inclined guide plates are respectively a first inclined guide plate and a second inclined guide plate which is arranged on one side of the first inclined guide plate far away from the pipe conveying path, a first vertical baffle is arranged on one side of the lower end of the second inclined guide plate, and the pipe can roll downwards along the second inclined guide plate and is blocked by the first vertical baffle; the lifting plate comprises a third inclined guide plate and a second vertical baffle plate positioned at one side of the lower end of the third inclined guide plate; the upper end of the third inclined guide plate extends to one side, far away from the pipe conveying path, of the first vertical baffle plate and can upwards support the pipe blocked by the first vertical baffle plate, when the upward moving height of the pipe exceeds that of the first vertical baffle plate, the pipe can roll down along the third inclined guide plate and be blocked by the second vertical baffle plate, when the lifting plate descends, the pipe can move down together and can be supported by the first inclined guide plate, and after the top end of the second vertical baffle plate moves down to the lower side of the pipe, the pipe can roll down onto the feeding roller along the first inclined guide plate.

The feeding device further comprises a first swing supporting plate, wherein the first swing supporting plate is arranged at one side of the upper end of the second inclined guide plate and is provided with two swing stations, and the pipe positioned on the first swing supporting plate can be driven to roll onto the second inclined guide plate.

The second inclined guide plate is also provided with a fourth inclined guide plate, a channel is formed between the fourth inclined guide plate and the second inclined guide plate to allow a single pipe to pass through, and the height of the fourth inclined guide plate is adjustable.

The blanking device further comprises a second swing supporting plate and a third swing supporting plate, wherein the second swing supporting plate is used for lifting the pipe on the blanking roller and enabling the pipe to roll along the third swing supporting plate towards the second swing supporting plate, and the third swing supporting plate is used for receiving the pipe and can release the pipe towards a direction far away from the second swing supporting plate.

The second swing supporting plate is fixed on a transmission shaft, the transmission shaft is connected with a second driving device, and the second driving device can drive the transmission shaft to rotate; the transmission shaft is also fixedly provided with a swinging compression roller, the middle part of a third swinging supporting plate is hinged on a mounting shaft, the parts of the third swinging supporting plate, which are positioned at two sides of the mounting shaft, are respectively a far side section and a near side section, and the swinging compression roller is pressed on the near side section; the second driving device is used for driving the second swing supporting plate, the swing pressing roller and the third swing supporting plate to change between a first discharging posture and a second discharging posture; when in the first unloading posture, the second swing supporting plate is positioned below the pipe on the blanking roller, and the far side section is lower than the near side section; the second driving device can drive the second swing supporting plate to support the pipe on the blanking roller and enable the pipe to roll down to the far side section along the second swing supporting plate, and at the moment, the swing pressing roller presses down the near side section to enable the far side section to tilt upwards, so that the second unloading gesture is formed.

A transition inclined guide plate is further arranged between the distal section and the second swing supporting plate, a third vertical baffle plate is arranged below the transition inclined guide plate, an included angle is formed between the third vertical baffle plate and the distal section, and the pipe on the second swing supporting plate can roll down to the transition inclined guide plate and roll down to one side of the distal section along the transition inclined guide plate.

The blanking mechanism further comprises a bearing device which is positioned on one side, far away from the pipe conveying path, of the third swing supporting plate, the bearing device comprises a bearing belt used for bearing pipes, the bearing belt bypasses the guide rollers, and one end of the bearing belt is connected to the elastic tensioning piece.

By adopting the technical scheme, the surface image acquisition system provided by the invention has the advantages that the pipe to be detected is placed on the feeding roller to pass through the image acquisition device along the pipe conveying path, the image acquisition device is used for shooting through a plurality of area array cameras which encircle the circumference of the pipe conveying path, and each area array camera is used for shooting a plurality of pictures from the head part to the tail part of the pipe along with uninterrupted advancing of the pipe, so that the image acquisition of the outer surface of the pipe is completed; the pipe is not stopped in the image acquisition process, so that the working efficiency is higher, the plurality of area array cameras are uniformly distributed in the circumferential direction, a section of outer wall image of the pipe in the image acquisition area can be shot at the same time, and the integral acquisition of the image is not influenced when the pipe rotates to generate angle offset in the pipe transmission process; in addition, the annular light source is sleeved outside the pipe conveying path, illumination can be provided on the surface of the pipe completely and uniformly in the circumferential direction, the annular light source is arranged on one side of the image acquisition area instead of the pipe to vertically illuminate, so that the pipe with the surface being in specular reflection or similar specular reflection is conveniently shot, and reflected light on the surface of the pipe is prevented from entering the lens of the area array camera to influence the shooting effect.

Drawings

Fig. 1 is a schematic structural diagram of a surface image acquisition system according to the present invention.

Fig. 2 is a schematic structural view of the feeding mechanism.

Fig. 3 is a side view of the loading mechanism.

FIG. 4 is a side view of the assembled structure of the first, second, and third inclined guides.

Fig. 5 is a perspective view showing the assembly structure of the first, second and third inclined guide plates.

Fig. 6 is a schematic diagram of a loading state one.

Fig. 7 is a schematic diagram of a feeding state two.

Fig. 8 is a schematic diagram of a loading state three.

Fig. 9 is a schematic structural diagram of an image capturing device.

Fig. 10 is a schematic view of an assembly structure of the ring light source.

Fig. 11 is a schematic diagram of an assembly structure of the mounting substrate.

Fig. 12 is a schematic diagram of an assembly structure of an area camera, a positioning press roller, and a radial adjustment mechanism.

Fig. 13 is a schematic structural view of the blanking mechanism.

Fig. 14 is a schematic diagram of an assembly structure of the second swing supporting plate, the transmission shaft and the third swing supporting plate.

Fig. 15 is a schematic structural diagram of a blanking posture one.

Fig. 16 is a schematic structural diagram of the blanking gesture two.

Fig. 17 is a schematic diagram of the structure from the second discharging posture to the first discharging posture.

Fig. 18 is a side view of the blanking apparatus.

Fig. 19 is a schematic view showing a state of the receiving device.

Fig. 20 is a schematic view of a second structure of the receiving device.

Detailed Description

The invention is described in further detail below with reference to the drawings and the detailed description.

As shown in fig. 1, the surface image acquisition system of the present invention includes a feeding device 1, an image acquisition device 2, and a discharging device 3. The pipe to be detected is fed through the feeding device 1, passes through the image acquisition device 2, acquires images of the outer surface, and is fed through the discharging device 3.

As shown in fig. 2-5, the feeding device 1 includes a feeding frame 11, a plurality of feeding rollers 12, a feeding motor 13 for driving the feeding rollers 12 to rotate, a first inclined guide plate 14, a second inclined guide plate 15, a first vertical baffle 16, and a lifting plate 17. The feeding rollers 12 and the discharging rollers 32 on the discharging device 3 are arranged in a straight line to form a straight pipe conveying path, the feeding rollers 12 are used for driving the pipe to move forward along the axial direction and pass through the image acquisition device 2, and the discharging rollers 32 are used for receiving the pipe passing through the image acquisition device 2. The feeding roller 12 and the discharging roller 32 are V-shaped rollers, and the pipe can be limited in the concave part of the V-shaped rollers after being placed on the V-shaped rollers, so that the pipe is prevented from shifting to two sides.

The first inclined guide plate 14 is located at the side of the pipe conveying path, the second inclined guide plate 15 is arranged at the side, far away from the pipe conveying path, of the first inclined guide plate 14, the first vertical baffle 16 is arranged at the lower end side of the second inclined guide plate 15, and the pipe can roll downwards along the second inclined guide plate 15 and is blocked by the first vertical baffle 16. The lifting plate 17 is disposed between the first inclined guide plate 14 and the second inclined guide plate 15, and the lifting plate 17 is lifted by driving of the third driving device 171, and the third driving device 171 may be an air cylinder or a hydraulic cylinder. The lifting plate 17 includes a third inclined guide plate 172 and a second vertical baffle 173 positioned at one side of the lower end of the third inclined guide plate 172; the upper end of the third inclined guide plate 172 extends to a side of the first vertical baffle 16 far from the pipe conveying path and can upwards support one pipe blocked by the first vertical baffle 16, when the upward moving height of the pipe exceeds the first vertical baffle 16, the pipe can roll down along the third inclined guide plate 172 and is blocked by the second vertical baffle 173, when the lifting plate 17 descends, the pipe can be simultaneously moved down and supported by the first inclined guide plate 14, and after the top end of the second vertical baffle 173 moves down to the lower side of the pipe, the pipe can roll down onto the feeding roller 12 along the first inclined guide plate 14.

The feeding device 1 further comprises a first swing supporting plate 18, the first swing supporting plate 18 is arranged on one side of the upper end of the second inclined guide plate 15, two swing stations are arranged on the first swing supporting plate, and a pipe located on the first swing supporting plate can be driven to roll onto the second inclined guide plate. Specifically: the first swing supporting plate 18 is connected to a first driving device 181, the first driving device 181 is a hydraulic cylinder or an air cylinder, and the first driving device 181 can drive the first swing supporting plate 18 to swing between a first swing station and a second swing station. When the first swing pallet 18 is in the first swing station, it is disposed laterally, and a pipe can be placed on the first swing pallet 18; when the first swing pallet 18 is located at the second swing station, it is inclined, and the pipe located on the first swing pallet 18 can roll onto the second inclined guide 15.

A fourth inclined guide plate 19 is further arranged on the feeding bracket 11, the fourth inclined guide plate 19 is located vertically above the second inclined guide plate 15 and is arranged in parallel with the second inclined guide plate 15, and a channel is formed between the fourth inclined guide plate 19 and the second inclined guide plate 15 to allow a single pipe to pass through, so that a plurality of pipes can be aligned after being blocked by the first vertical baffle 16. In this embodiment, the fourth inclined guide plate 19 is disposed on the lifting rod 191, the lifting rod 191 is connected with the hand wheel 193 through the worm gear mechanism 192, and the height of the fourth inclined guide plate 19 can be adjusted by hand shaking, so that pipes with different diameters and sizes can be adapted.

As shown in fig. 6, a plurality of tubes 100 are sequentially arranged on the second inclined guide 15, and the tube 100 located at the lowermost position is blocked by the first vertical baffle 16. As shown in fig. 7, the elevation plate 17 is elevated such that the upper end portion of the third inclined guide plate 172 lifts up the pipe 100 blocked by the first vertical baffle 16. As shown in fig. 8, when the lifted pipe 100 is higher than the first vertical barrier 16, the pipe 100 rolls down along the third inclined guide 172 and is blocked by the second vertical barrier 173. The lifting plate 17 then moves downwards, the pipe 100 moves downwards until being blocked by the first inclined guide plate 14, and as the lifting plate 17 continues to move downwards, when the top end of the second vertical baffle 173 moves downwards below the first inclined guide plate 14, the pipe 100 rolls down along the first inclined guide plate 14 onto the feeding roller 12, and the feeding device 1 resumes the state shown in fig. 6, ready for feeding of the next pipe. Through the structure, automatic feeding of the pipe materials can be realized, one pipe material can be accurately lifted each time and can slide onto the feeding roller, the movement of the pipe materials in the horizontal direction is completed by rolling along the inclined plane under the action of self gravity, and fewer mechanical driving components are used.

The feeding bracket 11 is further provided with a second transverse adjusting mechanism 161, the second transverse adjusting mechanism 161 is a second motor screw nut mechanism, the first vertical baffle 16 is arranged on the second transverse adjusting mechanism 161, and the position of the first vertical baffle 16 can be adjusted through the second transverse adjusting mechanism 161 so as to adapt to pipes with different diameters, so that the upper end part of the third inclined guide plate 172 can only upwards support one pipe.

As shown in fig. 9 to 12, the image pickup apparatus 2 includes a casing 21, a plurality of area cameras 22 located in the casing 21, a positioning press roller 23, a mounting substrate 24, an annular light source 25, a front positioning assembly 26, and a rear positioning assembly 27. The pipe conveying path passes through the box body 21, a plurality of area array cameras 22 are uniformly distributed along the circumference of the pipe conveying path, an image acquisition area is arranged on the pipe conveying path, and the optical axis of the area array cameras 22 is perpendicular to the pipe conveying path and can shoot towards the image acquisition area.

A window hole for the pipe to pass through is provided on the mounting substrate 24, and a plurality of radial adjustment mechanisms 221 for adjusting the radial distance from each of the area array cameras 22 to the pipe are provided on the mounting substrate 24. The radial adjustment mechanism 221 is a first motor screw nut mechanism, a mounting frame 222 is disposed on the first motor screw nut mechanism, and the area camera 22 is disposed on the mounting frame 222. The positioning press rollers 23 are further arranged on at least a part of the plurality of mounting frames 222, the positioning press rollers 23 are uniformly distributed in the circumferential direction of the pipe conveying path, and the positioning press rollers 23 are used for pressing on the upstream side of the pipe in the image acquisition area. Before the pipe enters the image acquisition area, the positioning press roller 23 moves radially outwards through the radial adjusting mechanism 221, the pipe is conveyed forwards by the feeding roller 12, when the end part of the pipe moves to the relative position of the positioning press roller 23, the positioning press roller 23 is pushed by the radial adjusting mechanism 221 to be pressed on the pipe, meanwhile, the area array camera 22 also moves together, so that the distance between a lens of the area array camera 22 and the surface of the pipe is always constant, and the focal length of the lens does not need to be adjusted repeatedly even if the pipe with different diameters is replaced. When the pipe is continuously conveyed forwards to reach the image acquisition area, the area array camera 22 starts continuously shooting the surface of the pipe, so that image acquisition is continuously performed under the condition of no shutdown, and the working efficiency is effectively improved.

In this embodiment, the area array camera 22 is eight, four mounting frames 222 for mounting the area array camera 22 are provided with positioning press rollers 23, each mounting frame 222 is provided with two positioning press rollers 23, the two positioning press rollers 23 are respectively disposed on the front and rear sides of the mounting substrate 24 through a door-shaped frame 231, and the door-shaped frame 231 is fixed with the mounting frame 222.

The annular light source 25 is sleeved outside the tube and is positioned at the downstream side of the image acquisition area to irradiate towards the image acquisition area. The mounting substrate 24 is further provided with a first lateral adjustment mechanism 251, the annular light source 25 is disposed on the first lateral adjustment mechanism 251, in this embodiment, the first lateral adjustment mechanism 251 is a third motor screw nut mechanism, and the distance from the annular light source 25 to the image acquisition area can be adjusted by the first lateral adjustment mechanism 251.

The mounting substrate 24 is disposed on a lifting adjustment mechanism 241, the lifting adjustment mechanism 241 is a fourth motor screw nut mechanism, and the lifting adjustment mechanism 241 is used for adjusting the height of the mounting substrate 24. The left and right sides of the mounting substrate 24 are mounted on slide rails 211 located on the side walls of the case 21 by sliders.

The front positioning assembly 26 is arranged at a position close to the inlet of the box body 21 and comprises a front press roller 261 and a front carrier roller 262, the front press roller 261 is positioned above the front carrier roller 262, the front press roller 261 is mounted on a front lifting mechanism 263, the front lifting mechanism 263 is a fifth motor screw nut mechanism and is used for driving the front press roller 261 to move downwards and press on a pipe and driving the front press roller 261 to lift upwards, and the front carrier roller 262 is a V-shaped roller and is connected to the power output end of the front driving motor 264 through a belt wheel assembly.

The rear positioning assembly 27 is arranged at a position close to the outlet of the box 21 and comprises a rear press roller 271 and a rear support roller 272, the rear press roller 271 is positioned above the rear support roller 272, the rear press roller 271 is arranged on a rear lifting mechanism 273, the rear lifting mechanism 273 is a sixth motor screw nut mechanism and is used for driving the rear press roller 271 to move downwards and be pressed on a pipe and driving the rear press roller 271 to lift upwards, and the rear support roller 272 is a V-shaped roller and is connected to the power output end of a rear driving motor 274 through a belt wheel assembly.

An auxiliary clamping roller assembly is further arranged between the front positioning assembly 26 and the mounting substrate 24, and comprises a left clamping roller 281, a right clamping roller 282 and a clamping roller driving mechanism 283 for driving the left clamping roller 281 and the right clamping roller 282 to be close to and far away from each other, in this embodiment, the clamping roller driving mechanism 283 is a seventh motor screw nut mechanism, wherein two nuts are arranged on a screw and used for respectively mounting the left clamping roller 281 and the right clamping roller 282, and the rotation of the screw can drive the two nuts to be close to or far away from each other.

As shown in fig. 13 and 14, the blanking device 3 includes a blanking frame 31, a plurality of blanking rollers 32, a blanking motor for driving the blanking rollers 32 to rotate, a second swing supporting plate 34, a transmission shaft 35, a swing pressing roller 36, a third swing supporting plate 37, and a receiving device 38.

The second swing supporting plate 34 is fixed on a transmission shaft 35, the transmission shaft 35 is connected to a second driving device 351, and the second driving device 351 can be an air cylinder or a hydraulic cylinder and can drive the transmission shaft 35 to rotate. The swing press roller 36 is further arranged on the transmission shaft 35, the middle part of the third swing supporting plate 37 is hinged on a mounting shaft 371, the parts of the third swing supporting plate, which are positioned at two sides of the mounting shaft 371, are respectively a distal section 372 and a proximal section 373, and the swing press roller 36 is pressed on the proximal section 373.

A transition inclined guide plate 39 is further arranged between the distal section 372 and the second swing support plate 34, a third vertical baffle 391 is arranged below the transition inclined guide plate 39, an included angle is formed between the third vertical baffle 391 and the distal section 372, and the pipe on the second swing support plate 34 can roll down to the transition inclined guide plate 39 and roll down to one side of the distal section 372 along the transition inclined guide plate 39.

The second driving device 351 is used for driving the second swing supporting plate 34, the swing pressing roller 36 and the third swing supporting plate 37 to change between a first unloading posture and a second unloading posture. When in the first discharge position, as shown in fig. 15, the second swing pallet 34 is positioned below the tubing 100 on the feed roll 32, and the distal segment 372 is lower than the proximal segment 373. As shown in fig. 16, the second driving device 351 can drive the second swing pallet 34 to lift the tube 100 on the blanking roller 32 and roll the tube 100 down to the distal section 372 along the second swing pallet 34, and at this time, the swing pressing roller 36 presses the proximal section 373 to tilt the distal section 372 upward to form the second discharging posture. As shown in fig. 17, upon returning from the second discharge position to the first discharge position, the tubing 100 rolls obliquely downward along the distal section 372. With the above structure, the pipe can be lifted on the blanking roller by the second driving device 351, rolled along the second swinging supporting plate 34 under the action of gravity, linked with the third swinging supporting plate 37 by the swinging pressing roller 36, reset from the second discharging posture to the first discharging posture and other complex actions can be realized, and fewer mechanical driving components are used, so that the operation control steps are simplified, and the equipment error rate is effectively reduced.

As shown in fig. 18, the receiving device 38 is located on a side of the third swing supporting plate 37 away from the pipe conveying path, the receiving device 38 includes a receiving bracket 381 and a receiving belt for receiving the pipe, the receiving belt 382 bypasses the plurality of guide rollers 383, one end of the receiving belt 382 is connected to an elastic stretching member, in this embodiment, the elastic stretching member is a tension spring 384, and in other embodiments, the elastic stretching member may be a member equivalent to the tension spring 384, such as a rubber elastic belt.

The receiving device 38 includes a proximal end area 38a located near the pipe conveying path and a distal end area 38b located far from the pipe conveying path, a fourth swinging support plate 386 and a fourth driving device 387 for driving the fourth swinging support plate 386 to swing are installed between the proximal end area 38a and the distal end area 38b through a rotating shaft 385, and the fourth driving device 387 may be a cylinder or a hydraulic cylinder. As shown in fig. 20, the fourth swing blade 386 can span the proximal region 38a and connect to below the transition inclined guide 39 for receiving tubing rolling on the transition inclined guide 39 and guiding tubing to the distal region 38b. When it is desired to deliver tubing to the proximal end region 38a, the fourth swing pallet 386 may be erected as shown in fig. 19.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims (12)

1. A surface image acquisition system, characterized by: comprises a feeding device, an image acquisition device and a discharging device; the feeding device comprises a plurality of feeding rollers; the blanking device comprises a plurality of blanking rollers; the image acquisition device is arranged between the feeding device and the discharging device, the feeding rollers and the discharging rollers are arranged in a straight line together to form a straight line pipe conveying path, the feeding rollers can drive the pipe to move forward along the axial direction and pass through the image acquisition device, and the discharging rollers are used for receiving the pipe passing through the image acquisition device; the image acquisition device comprises a plurality of area array cameras and light sources, wherein the area array cameras and the light sources are uniformly distributed along the circumferential direction of a pipe conveying path, an image acquisition area is arranged on the pipe conveying path, the optical axis of each area array camera is perpendicular to the pipe conveying path and can shoot towards the corresponding image acquisition area, and the light sources irradiate towards the corresponding image acquisition area; the blanking device further comprises a second swing supporting plate and a third swing supporting plate, wherein the second swing supporting plate is used for lifting the pipe on the blanking roller and enabling the pipe to roll along the third swing supporting plate towards the second swing supporting plate, and the third swing supporting plate is used for receiving the pipe and can release the pipe towards a direction far away from the second swing supporting plate.

2. The surface image acquisition system of claim 1, wherein: the image acquisition device further comprises a plurality of positioning press rollers arranged on one side of the image acquisition area, and the positioning press rollers are uniformly distributed along the circumferential direction of the pipe conveying path and can be tightly pressed on the pipe.

3. The surface image acquisition system of claim 2, wherein: the image acquisition device further comprises a radial adjusting mechanism, and the radial adjusting mechanism is used for driving the area array camera and the positioning press roller to synchronously approach or separate from the pipe.

4. A surface image acquisition system as claimed in claim 3, characterized in that: the image acquisition device comprises a mounting substrate, a window hole for a pipe to pass through is formed in the mounting substrate, a mounting frame is arranged on the radial adjusting mechanism, and the area array camera and the positioning press roller are arranged on the mounting frame.

5. The surface image acquisition system of any one of claims 1-4, wherein: the light source is an annular light source, and the annular light source is sleeved outside the pipe conveying path.

6. The surface image acquisition system of any one of claims 1-4, wherein: the feeding device further comprises two non-connected inclined guide plates positioned on the side of the pipe conveying path, a lifting plate is arranged between the two inclined guide plates, the opposite far ends of the two inclined guide plates extend to the pipe conveying path and the first swing supporting plate respectively, and pipe transmission between the two inclined guide plates is achieved through the lifting plate.

7. The surface image acquisition system of claim 6, wherein: the two inclined guide plates are respectively a first inclined guide plate and a second inclined guide plate which is arranged on one side of the first inclined guide plate far away from the pipe conveying path, a first vertical baffle is arranged on one side of the lower end of the second inclined guide plate, and the pipe can roll downwards along the second inclined guide plate and is blocked by the first vertical baffle; the lifting plate comprises a third inclined guide plate and a second vertical baffle plate positioned at one side of the lower end of the third inclined guide plate; the upper end of the third inclined guide plate extends to one side, far away from the pipe conveying path, of the first vertical baffle plate and can upwards support the pipe blocked by the first vertical baffle plate, when the upward moving height of the pipe exceeds that of the first vertical baffle plate, the pipe can roll down along the third inclined guide plate and be blocked by the second vertical baffle plate, when the lifting plate descends, the pipe can move down together and can be supported by the first inclined guide plate, and after the top end of the second vertical baffle plate moves down to the lower side of the pipe, the pipe can roll down onto the feeding roller along the first inclined guide plate.

8. The surface image acquisition system of claim 7, wherein: the feeding device further comprises a first swing supporting plate, wherein the first swing supporting plate is arranged at one side of the upper end of the second inclined guide plate and is provided with two swing stations, and the pipe positioned on the first swing supporting plate can be driven to roll onto the second inclined guide plate.

9. The tubing surface image acquisition system of claim 7, wherein: the second inclined guide plate is also provided with a fourth inclined guide plate, a channel is formed between the fourth inclined guide plate and the second inclined guide plate to allow a single pipe to pass through, and the height of the fourth inclined guide plate is adjustable.

10. The surface image acquisition system of any one of claims 1-4, wherein: the second swing supporting plate is fixed on a transmission shaft, the transmission shaft is connected with a second driving device, and the second driving device can drive the transmission shaft to rotate; the transmission shaft is also fixedly provided with a swinging compression roller, the middle part of a third swinging supporting plate is hinged on a mounting shaft, the parts of the third swinging supporting plate, which are positioned at two sides of the mounting shaft, are respectively a far side section and a near side section, and the swinging compression roller is pressed on the near side section; the second driving device is used for driving the second swing supporting plate, the swing pressing roller and the third swing supporting plate to change between a first discharging posture and a second discharging posture; when in the first unloading posture, the second swing supporting plate is positioned below the pipe on the blanking roller, and the far side section is lower than the near side section; the second driving device can drive the second swing supporting plate to support the pipe on the blanking roller and enable the pipe to roll down to the far side section along the second swing supporting plate, and at the moment, the swing pressing roller presses down the near side section to enable the far side section to tilt upwards, so that the second unloading gesture is formed.

11. The surface image acquisition system of any one of claims 1-4, wherein: a transition inclined guide plate is further arranged between the distal section and the second swing supporting plate, a third vertical baffle plate is arranged below the transition inclined guide plate, an included angle is formed between the third vertical baffle plate and the distal section, and the pipe on the second swing supporting plate can roll down to the transition inclined guide plate and roll down to one side of the distal section along the transition inclined guide plate.

12. The surface image acquisition system as recited in claim 11, wherein: the blanking mechanism further comprises a bearing device which is positioned on one side, far away from the pipe conveying path, of the third swing supporting plate, the bearing device comprises a bearing belt used for bearing pipes, the bearing belt bypasses the guide rollers, and one end of the bearing belt is connected to the elastic tensioning piece.