A three-dimensional acquisition device for the inner wall of a pipeline

Abstract

The invention provides pipeline inner wall three-dimensional acquisition equipment, which comprises a body and an impeller, wherein the body comprises a rotating device, and the rotating device is provided with an image acquisition port; an image acquisition port used for importing the images of the inner wall of the pipeline into the image acquisition device; an image acquisition device used foracquiring images of the inner wall of the pipeline; the advancing speed of the scanning equipment, the rotating angular speed of the rotating device and the field angle of the image acquisition device meet the following relation: (theta-beta) * v is smaller than m * R * sin beta * w, v is the advancing speed of the scanning equipment in the rotating process of the rotating device, R is the radiusof the pipeline, beta is the half field angle of the image collecting device, w is the rotating angular speed of the rotating device, theta is the included angle of the optical axes of every two adjacent cameras, and m is a coefficient. Three-dimensional acquisition equipment without extra power is proposed for the first time. In order to ensure the synthesis effect of subsequent three-dimensional images, the advancing speed of scanning equipment and the rotating speed of image acquisition are limited, and optimization is performed according to experience, so that the three-dimensional synthesis can give consideration to the speed and the effect at the same time.

Description

technical field [0001] The invention relates to the technical field of profile measurement, in particular to the technical field of profile measurement of the inner wall of a pipeline. Background technique [0002] Pipeline inspection usually includes electromagnetic methods and ultrasonic methods. These methods can detect defects and cracks in the pipe wall, but they cannot detect the shape of the inner wall of the pipe, especially the visual image of the inner wall of the pipe cannot be obtained intuitively. [0003] At present, there is also a method of visual inspection of the inner wall of the pipeline using a camera, but this method is limited to two-dimensional images, but for closed pipelines, it is impossible to judge the three-dimensional shape of the inner wall, so that it is impossible to accurately measure / detect the condition of the pipeline. Although the three-dimensional shape of the pipeline can be obtained by laser scanning or structured light scanning, it ...

AI Technical Summary

Problems solved by technology

[0005] Although there are currently some pipeline cleaning equipment that can enter the pipeline to work, there is no technical inspiration to enable it to have image acquisition and 3D modeling capabilities

And these devices usually require extra power, need to drag cables into or frequent charging, very inconvenient to use

And once the power fails, it will not be able to travel, and the pipeline will be blocked

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