CN1719191A - Measuring instrument for space curve type long distance fine pipe internal surface shape and its detecting method - Google Patents
Measuring instrument for space curve type long distance fine pipe internal surface shape and its detecting method Download PDFInfo
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- CN1719191A CN1719191A CN 200510050355 CN200510050355A CN1719191A CN 1719191 A CN1719191 A CN 1719191A CN 200510050355 CN200510050355 CN 200510050355 CN 200510050355 A CN200510050355 A CN 200510050355A CN 1719191 A CN1719191 A CN 1719191A
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 23
- 238000012876 topography Methods 0.000 claims description 10
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Abstract
The present invention discloses a space curve type long-distance microfine pipe internal surface form measurement instrument and its detection method. Said pipe internal surface form measurement instrument is formed from the components of 2-D position sensor, semiconductor laser, transparent window, micromotor, scanning lens, reflector, convergent lens and receiving lens group, etc. Said measurement instrument is applicable to defect detection and 3-D measurement of curve type microfine pipe internal wall whose inner diameter is 9-11 mm and curvature radius is greater than 100 mm, and its measuring accuracy can be up to plus or minus 0.1 mm.
Description
Technical field
The present invention relates to a kind of measuring instrument for space curve type long distance fine pipe internal surface shape and detection method.
Background technology
In all conglomeraties such as machinery, the energy, chemical industry, all used a large amount of pipeline-like parts, after long-term the use, defectives such as crackle just might appear, thereby cause the leakage of gas or liquid, make total system receive damage, cause unnecessary economic loss, even critical life security to the staff.Therefore the detection to this class part has just become a very important problem.Domestic and international many documents have all been done deep research to the problem of this respect, but major part is at the pipeline of internal diameter greater than 20mm, and for small pipeline, especially internal diameter is less less than the research report of the pipeline of 10mm.
The detection technique of large pipeline inwall is comparative maturity, and the most frequently used method is to adopt ccd video camera to the inner-walls of duct imaging, then image is carried out suitable processing, just can judge whether pipeline exists defective.Because the treatment circuit complexity of CCD chip, microminiaturization be difficulty relatively, therefore concerning small pipeline, common ccd video camera is difficult to enter inside.Though and special-purpose industrial electronic endoscope can detect the small pipeline inwall, be difficult to determine the size of defective, the concrete locus and the inner three-dimensional appearance of pipe at place.Though the micro-tube robot of people such as Tsuruta k. development also can enter the pipeline of 10mm and detect, and can only lean on the CCD picture shot that inner-walls of duct is observed, and can not remedy the above-mentioned shortcoming of endoscope.Human position transducer PSD (Position Sensitive Detector) such as Mizunuma M realize the detection and the three-dimensional reconstruction of inner-walls of duct, but system's rotating mechanism complexity of their development, only be suitable for the straight tube that internal diameter is 66～83mm, and can not detect crooked pipeline or microtubule.
Summary of the invention
The purpose of this invention is to provide a kind of internal diameter that is applicable to is Φ 9～Φ 11mm, the defects detection of the shaped form microtubule inwall that radius-of-curvature 100mm is above and the measuring instrument for space curve type long distance fine pipe internal surface shape and the detection method of three-dimensional measurement.
Measuring instrument for space curve type long distance fine pipe internal surface shape has the two-dimensional position sensor pedestal that is connected successively, transparency window, the laser instrument pedestal, at the transparency window internal fixation motor set collar is arranged, on the motor set collar, be fixed with the micro motor that connects successively, the scanning microscope base, scanning mirror, the two-dimensional position sensor trim ring is installed on the two-dimensional position sensor pedestal successively, two-dimensional position sensor, the receiver lens group, be fixed with the feeler set collar in the two-dimensional position sensor pedestal outside, feeler is regulated sea whelk and be fixed with the elasticity feeler on the feeler set collar, the laser instrument set screw is installed on the laser instrument pedestal successively, the laser instrument trim ring, semiconductor laser, elastic washer, convergent lens, catoptron is fixed with the feeler set collar in the laser instrument pedestal outside, feeler is regulated sea whelk and be fixed with the elasticity feeler on the feeler set collar.
Described catoptron thickness is 0.6-0.7mm, and diameter is 5.5-5.8mm, and the middle through hole that a 0.6-1mm is arranged.
The step of space curve type long distance fine pipe internal surface shape detection method is:
1) the laser emitting light beam is behind scanning mirror and catoptron two secondary reflections, on inner-walls of duct, form a small hot spot D, this luminous point receives the back by lens and obtain picture point N on the two-dimensional position sensor photosurface, set up an office D and some N is respectively R and r to the distance of measuring instrument axis, the deflection angle of catoptron is θ, lens interarea spacing is d, and some B is the incident point of laser beam in scan mirror, and some B ' is the symmetric points of B about mirror surface with holes; L represents the distance of a B ' to the two-dimensional position sensor photosurface, and f represents the distance of lens left side interarea to the two-dimensional position sensor photosurface; Then try to achieve and put the distance of D on the inner-walls of duct to the measuring instrument axis according to optical geometry:
Wherein a and b try to achieve according to the incident angle of thickness, refractive index and the laser of transparency window;
2) center O with the two-dimensional position sensor receiver lens is an initial point, and measuring instrument axis OC is the z axle, the portion's three-dimensional system of coordinate of founding the bureau, and the location tables of 1 D is shown on the inner-walls of duct:
Wherein ω is O
PN and O
PThe angle of u, the anglec of rotation of expression scanning mirror;
3) inner surface of pipeline topography measurement instrument transfixion in pipeline, and micro motor drives scanning mirror around 360 ° of detecting device axis rotations, calculates the position coordinates that cross section ring of inner-walls of duct is gone up each sampled point;
4) when adjacent two sampled points to the range difference of measuring instrument axis during less than 0.1mm, then there is not defective in this sampling location; When adjacent two sampled points to the range difference of measuring instrument axis greater than 0.1mm, then there is defective in this sampling location.
The formula that described a and b try to achieve according to the incident angle of thickness, refractive index and the laser of transparency window is
Wherein, t is the thickness of transparency window, α
1=90 °-2 β, β
2=arctan (r/f), and α
2, β
1Can be according to the refractive index i of transparency window
rObtain: α
2=arcsin (sin α
1/ i
r), β
1=arcsin (i
rSin β
2).Beneficial effect of the present invention:
1) this topography measurement instrument is applicable to that internal diameter is Φ 9～Φ 11mm, the defects detection and the three-dimensional measurement of the shaped form microtubule inwall that radius-of-curvature 100mm is above, and measuring accuracy can reach ± 0.1mm.
2) laser convergence is after overscanning mirror and twice reflection of catoptron with holes arrive inner-walls of duct, and the length of having dwindled whole measuring instrument makes it and can the bend pipe of small curvature radius be detected.
3) two-dimensional position sensor has only four signal wires and a power lead, its output is current signal, attenuation ratio is less after the long Distance Transmission, therefore treatment circuit and two-dimensional position sensor can be separated, thereby reduced the weight of whole detection system, enable under the driving of micro-tube robot, to enter the inside of long pipeline, detect duct length and can reach 10m.
4) the micro motor rotating speed is regulated by waveform generator, thereby can regulate the sampling number on cross section of inner-walls of duct.
5) micro motor drive scanning mirror rotates a circle, and can finish the detection of a pipeline section, can calculate the three-dimensional coordinate of corresponding hot spot point on the pipeline section according to the structural parameters of detecting device.
6) feeler is regulated the subtended angle that sea whelk can be regulated feeler, enables to adapt to the duct survey of certain limit internal diameter.
7) the laser instrument set screw can be finely tuned for laser instrument, thereby effectively eliminates laser instrument itself and assemble the eccentric error that brings.
8) laser instrument adopts the square wave modulation, and the difference that light signal and no light signal will be arranged is as useful signal, thereby has eliminated the influence of bias light and dark current
9) under the collaborative work of the driving of micro-tube robot and curvature sensor, can finish the measuring three-dimensional morphology and the three-dimensional reconstruction of inner surface of pipeline.
Description of drawings
Fig. 1 is the measuring instrument for space curve type long distance fine pipe internal surface shape structural representation;
Fig. 2 is a two-dimensional position sensor fundamental diagram of the present invention;
Fig. 3 is that inner-walls of duct of the present invention detects schematic diagram;
Fig. 4 is an inner surface of pipeline measuring three-dimensional morphology synoptic diagram of the present invention.
Embodiment
As shown in Figure 1, measuring instrument for space curve type long distance fine pipe internal surface shape has the two-dimensional position sensor pedestal 17 that is connected successively, transparency window 3, laser instrument pedestal 7, at transparency window 3 internal fixation motor set collar 4 is arranged, on motor set collar 4, be fixed with the micro motor 15 that connects successively, scanning microscope base 14, scanning mirror 5, two-dimensional position sensor trim ring 1 is installed on two-dimensional position sensor pedestal 17 successively, two-dimensional position sensor 19, receiver lens group 16, be fixed with feeler set collar 18 in two-dimensional position sensor pedestal 17 outsides, feeler is regulated sea whelk 12 and be fixed with elasticity feeler 2 on feeler set collar 18, laser instrument set screw 10 is installed on laser instrument pedestal 7 successively, laser instrument trim ring 9, semiconductor laser 8, elastic washer 11, convergent lens 6, catoptron 13 is fixed with feeler set collar 18 in laser instrument pedestal 7 outsides, feeler is regulated sea whelk 12 and be fixed with elasticity feeler 2 on feeler set collar 18.
Above-mentioned two-dimensional position sensor is a kind of lateral effect silicon photoelectric device, luminous energy can be converted into electric energy.But it has the fast continuous sampling of response speed, detect characteristics such as data are only relevant with the center of energy of luminous point.When incident illumination is to the two-dimensional position sensor photosurface, produce four tunnel electric current I
1, I
2, I
3, I
4As Fig. 2, with the center O of photosurface
PFor initial point is set up plane coordinate system O
PUv, then the position of launching spot N on photosurface can be expressed as:
Wherein, s is the length of side of photosurface.
Then put the distance of N to two-dimensional position sensor photosurface center:
The used two-dimensional position sensor of this inner surface of pipeline measuring instrument is 3mm * 3mm type position transducer that Zhejiang company of Futong produces, and its physical dimension is Φ 7.5mm * 2.5mm.Semiconductor laser adopt Chongqing to navigate AL650T10 type laser instrument that big photoelectricity company limited produces, its wavelength is 650nm, power is 10mW.The 4ZK751Q type motor that micro motor adopts Lufa Micromoter Co., Ltd., Zhejiang to produce, its size of main body is Φ 4.1mm * 7mm, rated voltage 3.0V, no-load speed 25000r/m.
The inner-walls of duct of topography measurement instrument detects principle as shown in Figure 3.The laser emitting light beam is behind scanning mirror and catoptron two secondary reflections, on inner-walls of duct, form a small hot spot D, this luminous point receives the back by lens and obtain picture point N on the two-dimensional position sensor photosurface, set up an office D and some N is respectively R and r to the distance of measuring instrument axis, the deflection angle of catoptron is θ, lens interarea spacing is d, and some B is the incident point of laser beam in scan mirror, and some B ' is the symmetric points of B about mirror surface with holes; L represents the distance of a B ' to the two-dimensional position sensor photosurface, and f represents the distance of lens left side interarea to the two-dimensional position sensor photosurface; Then try to achieve and put the distance of D on the inner-walls of duct to the measuring instrument axis according to optical geometry:
For microtubule, the light refraction that transparency window causes can bring very big deviation to result of calculation, therefore must pay attention to.As can be seen from Figure 3, the refraction action of transparency window is equivalent to some B ' is displaced to a B ", the right principal point E of lens is displaced to E ', and the bias size of establishing them is respectively a, b, then (3) formula is modified to:
Wherein
The t here represents the thickness of transparency window, α
1=90 °-2 β, β
2=arctan (r/f), and α
2, β
1Can be according to the refractive index i of transparency window
rObtain: α
2=arcsin (sin α
1/ i
r), β
1=arcsin (i
rSin β
2).
Center O with the two-dimensional position sensor receiver lens is an initial point, and measuring instrument axis OC is the z axle, sets up partial 3 d coordinate system shown in Figure 3, and the position of 1 D can be expressed as on the inner-walls of duct:
Wherein ω is O
PN and O
PThe angle of u, the anglec of rotation of expression scanning mirror.
According to following formula,, can calculate the position of corresponding point in the measuring instrument local coordinate system on the inner-walls of duct by a sampled data of two-dimensional position sensor.If topography measurement instrument transfixion in pipeline, and scanning mirror revolves three-sixth turn around the measuring instrument axis, then can finish the detection of a cross section ring of inner-walls of duct, calculates the position of all sampled points in the partial 3 d coordinate system.For straight tube, the axis of pipeline axis and topography measurement instrument overlaps in the testing process, the R that is tried to achieve by (4) formula is exactly the radius of inner-walls of duct, if therefore a certain inner wall section does not have defective to exist, then the R value of each point correspondence should equate on this cross section.And in the crooked pipeline, intersect two axis, and the internal diameter of pipeline needs the data in several cross sections, comprehensive front and back just can calculate.But no matter the sort of situation so long as the size of R takes place to change suddenly, just means that this place exists crackle, pit or other defect.
In order to obtain final data, need handle image data.At first the position signalling that two-dimensional position sensor is produced carries out processing such as I/V conversion, amplification, A/D conversion, filtering, removal bias light and noise current, according to the demarcation of PSD data is proofreaied and correct again.At last data are cut apart, fitted, thereby obtain the final position of cross section discrete point in the partial 3 d coordinate system.
In Fig. 4, use O
iXyz represents the measuring instrument partial 3 d coordinate system of topography measurement instrument when the i time sampling, O
iInitial point for respective coordinates system.If if O
I-1Be known, then carry out when sampling the i time, if 1 P that surveys on the inner wall section ring at measuring instrument partial 3 d coordinate system O
iPosition among the xyz then has to obtain:
Wherein
Step-length for the topography measurement instrument advances is provided by the pipe robot that drives.
Point to the direction that this instantaneous topography measurement instrument advances, provide by the curvature sensor of collaborative work.
For the ease of determining the initial measuring instrument partial 3 d coordinate origin and the working direction of topography measurement instrument, connect the straight-run of pipe road at the tested pipeline initiating terminal, and be initial point with straight tube port center, be that the z axle is set up global coordinate system with the straight tube axis.
Therefore, according to the position of initial detector, can obtain a P and O by above-mentioned three formula
iPosition in global coordinate system, the rest may be inferred can obtain when sampling next time, the initial point of measuring instrument partial 3 d coordinate system and the position of any point in global coordinate system on the cross section of surveying, thus the description of each point in building global coordinate system on the tested pipeline inside surface obtained.
Claims (4)
1, a kind of measuring instrument for space curve type long distance fine pipe internal surface shape, it is characterized in that: it has the two-dimensional position sensor pedestal (17) that is connected successively, transparency window (3), laser instrument pedestal (7), at transparency window (3) internal fixation motor set collar (4) is arranged, on motor set collar (4), be fixed with the micro motor (15) that connects successively, scanning microscope base (14), scanning mirror (5), two-dimensional position sensor trim ring (1) is installed on two-dimensional position sensor pedestal (17) successively, two-dimensional position sensor (19), receiver lens group (16), be fixed with feeler set collar (18) in two-dimensional position sensor pedestal (17) outside, feeler is regulated sea whelk (12) and be fixed with elasticity feeler (2) on feeler set collar (18), laser instrument set screw (10) is installed on laser instrument pedestal (7) successively, laser instrument trim ring (9), semiconductor laser (8), elastic washer (11), convergent lens (6), catoptron (13) is fixed with feeler set collar (18) in laser instrument pedestal (7) outside, feeler is regulated sea whelk (12) and be fixed with elasticity feeler (2) on feeler set collar (18).
2, a kind of measuring instrument for space curve type long distance fine pipe internal surface shape according to claim 1 is characterized in that: described catoptron (13) thickness is 0.6-0.7mm, and diameter is 5.5-5.8mm, and the middle through hole that a 0.6-1mm is arranged.
3, a kind of space curve type long distance fine pipe internal surface shape detection method, it is characterized in that: the step of method is:
1) the laser emitting light beam is behind scanning mirror and catoptron two secondary reflections, on inner-walls of duct, form a small hot spot D, this luminous point receives the back by lens and obtain picture point N on the two-dimensional position sensor photosurface, set up an office D and some N is respectively R and r to the distance of measuring instrument axis, the deflection angle of catoptron is θ, lens interarea spacing is d, and some B is the incident point of laser beam in scan mirror, and some B ' is the symmetric points of B about mirror surface with holes; L represents the distance of a B ' to the two-dimensional position sensor photosurface, and f represents the distance of lens left side interarea to the two-dimensional position sensor photosurface; Then try to achieve and put the distance of D on the inner-walls of duct to the measuring instrument axis according to optical geometry:
Wherein a and b try to achieve according to the incident angle of thickness, refractive index and the laser of transparency window;
2) center O with the two-dimensional position sensor receiver lens is an initial point, and measuring instrument axis OC is the z axle, the portion's three-dimensional system of coordinate of founding the bureau, and the location tables of 1 D is shown on the inner-walls of duct:
Wherein ω is O
PN and O
PThe angle of u, the anglec of rotation of expression scanning mirror;
3) inner surface of pipeline topography measurement instrument transfixion in pipeline, and micro motor drives scanning mirror around 360 ° of detecting device axis rotations, calculates the position coordinates that cross section ring of inner-walls of duct is gone up each sampled point;
4) when adjacent two sampled points to the range difference of measuring instrument axis during less than 0.1mm, then there is not defective in this sampling location; When adjacent two sampled points to the range difference of measuring instrument axis greater than 0.1mm, then there is defective in this sampling location.
4, a kind of space curve type long distance fine pipe internal surface shape detection method according to claim 3, it is characterized in that: the formula that described a and b try to achieve according to the incident angle of thickness, refractive index and the laser of transparency window is
Wherein, t is the thickness of transparency window, α
1=90 °-2 β, β
2=arctan (r/f), and α
2, β
1Can be according to the refractive index i of transparency window
rObtain: α
2=arcsin (sin α
1/ i
r), β
1=arcsin (i
rSin β
2).
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2005100503552A CN1314941C (en) | 2005-05-18 | 2005-05-18 | Measuring instrument for space curve type long distance fine pipe internal surface shape and its detecting method |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006101668379A Division CN100501220C (en) | 2005-05-18 | 2005-05-18 | Appearance measuring and detecting method for inner surface of space curve type long-distance microtubule |
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| CN1719191A true CN1719191A (en) | 2006-01-11 |
| CN1314941C CN1314941C (en) | 2007-05-09 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102608124A (en) * | 2012-04-06 | 2012-07-25 | 天津大学 | Micro-pipe internal flaw and appearance measurement device and method |
| CN103615976A (en) * | 2013-11-28 | 2014-03-05 | 江苏科技大学 | Large-diameter cylinder liner form and position error on-line measuring method and device |
| CN107194988A (en) * | 2017-05-15 | 2017-09-22 | 青岛海信医疗设备股份有限公司 | The method and apparatus for showing human body organ three-dimensional medical model inner marker point |
| CN108827186A (en) * | 2018-09-12 | 2018-11-16 | 北京理工大学 | A kind of interior thorax contour measuring method of long and narrow cavity |
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|---|---|---|---|---|
| JPH09196646A (en) * | 1996-01-23 | 1997-07-31 | Nippon Telegr & Teleph Corp <Ntt> | Method and apparatus for measuring surface nature |
| CN2562183Y (en) * | 2002-07-25 | 2003-07-23 | 浙江大学 | Fine tube internal surface detector |
| CN1410763A (en) * | 2002-10-25 | 2003-04-16 | 浙江大学 | Space curved type very fine pipeline internal surface shape detector |
| CN1488916A (en) * | 2003-07-30 | 2004-04-14 | 浙江大学 | Method and system for detecting local geometrical property for space curve type microtubule |
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2005
- 2005-05-18 CN CNB2005100503552A patent/CN1314941C/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102608124A (en) * | 2012-04-06 | 2012-07-25 | 天津大学 | Micro-pipe internal flaw and appearance measurement device and method |
| CN103615976A (en) * | 2013-11-28 | 2014-03-05 | 江苏科技大学 | Large-diameter cylinder liner form and position error on-line measuring method and device |
| CN103615976B (en) * | 2013-11-28 | 2016-01-06 | 江苏科技大学 | A kind of major diameter cylinder jacket Form and position error On-line Measuring Method and device |
| CN107194988A (en) * | 2017-05-15 | 2017-09-22 | 青岛海信医疗设备股份有限公司 | The method and apparatus for showing human body organ three-dimensional medical model inner marker point |
| CN107194988B (en) * | 2017-05-15 | 2020-11-10 | 青岛海信医疗设备股份有限公司 | Method and device for displaying internal mark points of three-dimensional medical model of human organ |
| CN108827186A (en) * | 2018-09-12 | 2018-11-16 | 北京理工大学 | A kind of interior thorax contour measuring method of long and narrow cavity |
| CN109443204A (en) * | 2018-11-08 | 2019-03-08 | 中车长春轨道客车股份有限公司 | A kind of complexity bend pipe size detecting method |
| CN109443204B (en) * | 2018-11-08 | 2021-06-01 | 中车长春轨道客车股份有限公司 | Complex bent pipe size detection method |
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