Detection and processing method, device and detection system for pipe welds

Abstract

The present invention provides a detection and processing method, device and detection system for a pipe weld. The detection and processing method comprises: during the self-rotation of the pipe, using a first detection device to detect the reflection intensity of the light reflected by the light spot, and obtaining the measured reflection intensity information at each rotation angle; during the self-rotation of the pipe, using a second detection device to detect the color of the light spot, and obtaining the measured color information at each rotation angle; according to the measured reflection intensity information and the measured color information, identifying the position of the weld along the circumference of the pipe.

Description

Technical Field

[0001] The present invention relates to the field of pipe processing, and in particular to a method, device and detection system for detecting and processing pipe welds. Background Art

[0002] Due to process limitations, metal pipes will leave an axial weld when they are formed. During the process of cutting pipes and other pipe processing, this weld will have an adverse effect on the processing, so it is necessary to make process compensation when processing to the weld position. The premise of compensation is to detect the position of the weld.

[0003] In the existing related technologies, the weld position is usually found by manual search, which is prone to errors and is time-consuming and labor-intensive. Summary of the invention

[0004] The present invention provides a method, device and system for detecting and processing a pipe weld, so as to solve the problem that manual searching for welds is prone to errors and is time-consuming and labor-intensive.

[0005] According to a first aspect of the present invention, a method for detecting and processing a pipe weld is provided, comprising:

[0006] Controlling the light source to illuminate the surface of the tube to form a light spot on the surface of the tube;

[0007] Control the pipe to rotate around its center direction;

[0008] During the self-rotation of the pipe, the first detection device is used to detect the reflection intensity of the light reflected by the light spot to obtain the reflection intensity information actually measured at each rotation angle;

[0009] During the self-rotation of the tube, the color of the light spot is detected by a second detection device to obtain the color information actually measured at each rotation angle;

[0010] The position of the weld along the circumference of the pipe is identified according to the measured reflection intensity information and the measured color information.

[0011] Optionally, identifying the weld location according to the reflection intensity change information and the color change information includes:

[0012] Determine the similarity information at the N rotation angles according to the reference reflection intensity information, the reference color information, the actually measured reflection intensity information at each rotation angle, and the actually measured color information; the reference reflection intensity information is the information of the reflection intensity at the non-weld position of the standard pipe measured in advance, the reference color information is the information of the color at the non-weld position of the standard pipe measured in advance, and the similarity information at each rotation angle is used to characterize the similarity between the actually measured luminous intensity information and the actually measured color information at the rotation angle and the reference reflection intensity information and the reference color information;

[0013] According to the similarity information at all N rotation angles, a similarity variation curve of the similarity information changing with the rotation angle is obtained by fitting;

[0014] The position of the weld along the circumference of the pipe is determined according to the similarity variation curve.

[0015] Optionally, determining the position of the weld along the circumference of the pipe according to the similarity change curve includes:

[0016] Determining a target curve portion and a non-target curve portion in the similarity change curve, wherein similarity information corresponding to the target curve portion is smaller than that of the non-target curve portion;

[0017] Determining the target rotation angle corresponding to the target curve portion according to the similarity change curve;

[0018] The position of the weld along the circumference of the pipe is determined according to the target rotation angle.

[0019] Optionally, the reflection intensity information includes a reflection value, and the color information includes a red value, a green value, and a blue value; the reflection value, the red value, the green value, and the blue value are all values ​​within a range of 0 to 255;

[0020] The similarity information at each rotation angle is determined based on the reflection value difference, red value difference, green value difference and blue value difference at the rotation angle;

[0021] The reflection value difference is the difference between the reflection value in the measured luminous intensity information and the reflection value in the reference luminous intensity information at the corresponding rotation angle;

[0022] The red value difference is the difference between the red value in the measured color information and the red value in the reference color information at the corresponding rotation angle;

[0023] The green value difference is the difference between the green value in the measured color information and the green value in the reference color information at the corresponding rotation angle;

[0024] The blue value difference is the difference between the blue value in the measured color information and the blue value in the reference color information at the corresponding rotation angle.

[0025] Optionally, the second detection device includes a color sensor, and the first detection device includes a full-band photodiode.

[0026] According to a second aspect of the present invention, there is provided a detection and processing device for a pipe weld, comprising:

[0027] A light source control module, used for controlling the light source to illuminate the surface of the tube to form a light spot on the surface of the tube;

[0028] The rotation control module is used to control the rotation of the pipe around its center direction;

[0029] A reflection intensity determination module, used to detect the reflection intensity of the light reflected by the light spot by using a first detection device during the self-rotation of the pipe, and obtain the reflection intensity information actually measured at each rotation angle;

[0030] A color determination module, used to detect the color of the light spot using a second detection device during the self-rotation of the tube, and obtain the color information actually measured at each rotation angle;

[0031] The weld identification module is used to identify the position of the weld along the circumference of the pipe according to the measured reflection intensity information and the measured color information.

[0032] Optionally, the first detection device includes a full-band photodiode.

[0033] According to a third aspect of the present invention, there is provided a pipe weld detection system, comprising a first detection device, a second detection device, a detection processing device, a light source, and a rotation drive device;

[0034] The light source is used to illuminate the surface of the tube to form a light spot on the surface of the tube;

[0035] The rotary drive device is used to drive the pipe to rotate around its center direction;

[0036] The first detection device is used to detect the reflection intensity of the light reflected by the light spot during the rotation of the tube;

[0037] The second detection device is used to detect the color of the light spot during the rotation of the tube;

[0038] The detection and processing device is used to implement the detection and processing method of the pipe weld involved in the first aspect and its optional solutions.

[0039] Optionally, the first detection device includes a full-band photodiode, and the second detection device includes a color sensor.

[0040] Optionally, the system further includes a fixed structure, the pipe can be installed and fixed on the fixed structure, and the fixed structure is connected to the rotation drive device; the rotation drive device is used to drive the fixed structure to rotate together with the pipe.

[0041] Optionally, the system further comprises a height adjustment device and a connecting plate; the connecting plate is mounted on the height adjustment device, and the first detection device, the second detection device and the light source are all mounted on the connecting plate;

[0042] The height adjustment device is used to adjust the height of the connecting plate, and the first detection device, the second detection device and the light source mounted thereon relative to the pipe, so as to adjust the size of the light spot.

[0043] According to a fourth aspect of the present invention, there is provided an electronic device, comprising a memory and a processor.

[0044] The memory is used to store codes;

[0045] The processor is used to execute the code in the memory to implement the method involved in the first aspect and its optional solutions.

[0046] According to a fifth aspect of the present invention, there is provided a storage medium having a program stored thereon, wherein the program, when executed by a processor, implements the method involved in the first aspect and its optional solutions.

[0047] The detection and processing method, device and detection system of the pipe weld provided by the present invention can control the light source to generate a light spot and control the rotation of the pipe. During the rotation process, the reflection intensity and color can be detected to provide a basis for the identification of the weld. Then, the position of the weld along the circumference of the pipe can be identified according to the reflection intensity information and the color information. It can be seen that the present invention can automatically identify the weld. In comparison, in the prior art, it is usually necessary to manually find the weld with the human eye, and then estimate the position information of the weld, and then input it into the system. This process is time-consuming and labor-intensive. For example, it may take 30 seconds or even longer to find the weld. Compared with the manual identification method, the present invention can save time and manpower. For example, automatic detection can be triggered in only a few seconds. At the same time, it is also convenient to maintain a high recognition accuracy and / or precision.

[0048] The present invention is based on the reflection intensity and color respectively, which can be convenient for situations where color is not sufficient to distinguish the weld, and can also achieve higher measurement accuracy for materials such as carbon steel whose welds are difficult to distinguish by color. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0050] Figure 1 Schematic diagram of the structure of a pipe weld detection system in one embodiment of the present invention;

[0051] Figure 2 FIG. 1 is a schematic diagram of the structure of a pipe weld detection system in one embodiment of the present invention. Figure 1 ;

[0052] Figure 3 FIG. 1 is a schematic diagram of the structure of a pipe weld detection system in one embodiment of the present invention. Figure 2 ;

[0053] Figure 4 FIG. 1 is a schematic diagram of the structure of a pipe weld detection system in one embodiment of the present invention. Figure 3 .

[0054] Description of reference numerals:

[0055] 201-light source;

[0056] 202- second detection device;

[0057] 203-first detection device;

[0058] 204-Pipe;

[0059] 205-rotation drive device;

[0060] 206-fixed structure;

[0061] 207-connecting plate;

[0062] 208-Detection and processing device.

[0063] Figure 5 It is a schematic flow chart of a method for detecting and processing a pipe weld in one embodiment of the present invention;

[0064] Figure 6 is a schematic flow chart of step S15 in one embodiment of the present invention;

[0065] Figure 7 is a flow chart of step S153 in one embodiment of the present invention;

[0066] Figure 8 is a schematic diagram of a similarity change curve fitted in one embodiment of the present invention;

[0067] Fig. 9 It is a schematic diagram of a program module of a pipe weld detection and processing device in one embodiment of the present invention;

[0068] Fig.10 It is a schematic diagram of the structure of an electronic device in one embodiment of the present invention. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0071] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0072] This embodiment Figures 5 to 7 The method shown, and Figure 8 The detection and processing device shown can be applied to Figures 1 to 4 The detection processing device 208 in the detection system is shown.

[0073] Figures 1 to 4The detection system shown may include: a first detection device 203, a second detection device 202, a detection processing device 208, a light source 201, and a rotation drive device 205; the detection processing device is communicatively connected to the first detection device 203, the second detection device 202, the light source 201 and the rotation drive device 205 respectively, for example, the first detection device 203, the second detection device 202, the light source 201 and the rotation drive device 205 can be connected via a communication component.

[0074] The light source 201 is used to illuminate the surface of the tube to form a light spot on the surface of the tube 204 ; the illumination can be implemented under the control of the detection and processing device 208 .

[0075] It can be seen that the light source 201 can be any light source connected to the detection and processing device 208 so as to be turned on under its control, and the light spot formed by it can be circular, elliptical, rectangular, polygonal, or any other regular or irregular shape. The light source can be white, and this embodiment does not exclude the use of other colors.

[0076] During specific implementation, the detection and processing device 208 can also be used to control the light-emitting parameters of the light source 201, such as light-emitting intensity, light-emitting color, etc.

[0077] In one embodiment, the system further includes a height adjustment device (not shown) and a connecting plate 207; the connecting plate 207 is installed on the height adjustment device, and the first detection device 203, the second detection device 202 and the light source 201 are all installed on the connecting plate 207.

[0078] The height adjustment device is used to adjust the height of the connecting plate 207, and the first detection device 203, the second detection device 202 and the light source 201 mounted thereon relative to the pipe 204, so as to adjust the size of the light spot. For example, the farther the light source 201 is from the pipe 204, the larger the size of the light spot.

[0079] Through the height adjustment device and the connecting plate 207, the light emitted by the white light source 201 can form a light spot of appropriate size on the tube 204. Furthermore, the white light source can also cooperate with a position-adjustable lens, and the position of the light spot formed by the light source can be adjusted by adjusting the position of the lens.

[0080] In addition, the first detection device 203, the second detection device 202 and the light source 201 can also be connected to the plate 207 through a corresponding adjustment component. Then, through the adjustment component, the positions of the first detection device 203, the second detection device 202 and the light source 201 can be adjusted, for example, adjusting their orientation relative to the pipe, so that the three can be oriented to the position of the light spot.

[0081] The rotation driving device 205 is used to drive the tube 204 to rotate around its center direction; specifically, the tube 204 can be driven to rotate under the control of the detection and processing device 208.

[0082] In one embodiment, the system may further include a fixed structure 206, and the pipe 204 can be installed and fixed on the fixed structure 206, and the fixed structure 206 is connected to the rotation drive device 205; the rotation drive device 205 is used to drive the fixed structure to rotate together with the pipe.

[0083] Any structure that can be used to drive the fixed structure 206 and the tube 204 to rotate does not deviate from the description of the rotation drive device 205 involved above. In one example, the rotation drive device 205 may include a rotation drive motor that can be directly or indirectly connected to the fixed structure 206.

[0084] The first detection device 203 is used to detect the reflection intensity of the light reflected by the light spot during the rotation of the tube 204; at the same time, the first detection device 203 can feed back the data obtained by detecting the reflection intensity to the detection processing device 208; further, the first detection device 203 can be any device that can sense the reflection intensity and generate an electrical signal, thereby realizing the detection and feedback of the reflection intensity.

[0085] In one implementation manner, the first detection device 203 may include a photodiode, and the photodiode may be a full-band photodiode.

[0086] Furthermore, in one example, the signal fed back from the first detection device 203 to the detection processing device 208 may be, for example, the electrical signal itself generated by the full-band photodiode, whose current and / or voltage may characterize the reflected light intensity. The signal fed back from the first detection device 203 to the detection processing device 208 may also be the analog electrical signal characterizing the reflected light intensity converted into a digital signal and then transmitted to the detection processing device. It can be seen that if the first detection device 203 needs to feed back a digital signal, it may also have an analog-to-digital conversion circuit connected between the photodiode and the detection processing device 208.

[0087] The second detection device 202 is used to detect the color of the light spot during the rotation of the tube. At the same time, the second detection device 202 can feed back the data finally obtained by detecting the color and / or the data obtained during the detection process to the detection processing device 208.

[0088] In one embodiment, the second detection device 202 may include a color sensor, which may be an RGB color sensor, and the color sensor is specifically used to detect the red light intensity, green light intensity and blue light intensity in the reflected light of the light spot, and after obtaining the corresponding signals, perform analog-to-digital conversion on them to obtain digital signals of the red light intensity signal, the green light intensity signal and the blue light intensity signal, and the digital signals of the red light intensity signal, the green light intensity signal and the blue light intensity signal may be fed back to the detection processing device 208. Correspondingly, the detection processing device 208 may determine the red value, the green value and the blue value according to the corresponding digital signals.

[0089] In a specific implementation, the color sensor may include:

[0090] A red light channel, used to detect the intensity of red light in the reflected light of the light spot to obtain a red light intensity signal;

[0091] A green light channel, used for detecting the green light intensity in the reflected light of the light spot to obtain a green light intensity signal;

[0092] A blue light channel, used for detecting the intensity of blue light in the reflected light of the light spot to obtain a blue light intensity signal;

[0093] The analog-to-digital converter is used for receiving the red light intensity signal, the green light intensity signal and the blue light intensity signal, and converting them into digital signals respectively.

[0094] The detection and processing device 208 is used to implement the pipe weld detection and processing method involved below. The detection and processing device 208 can also be understood as a host computer. Through the control software of the host computer, the data of the photodiode and the color sensor can be collected in real time.

[0095] In the specific implementation process, the pipe 204 can be first fixed horizontally by the fixing structure 206, and then the light source 201 such as white light, the first detection device 203 such as a full-band photodiode, and the second detection device 202 such as an RGB color sensor are fixed to the connecting plate of the height adjustment device and placed at a certain angle. Then, the preparation work for the detection is completed between the components, and then the detection processing method involved later can be implemented.

[0096] Please refer to Figure 5 , the detection and processing methods of pipe welds include:

[0097] S11: controlling the light source to illuminate the surface of the tube to form a light spot on the surface of the tube;

[0098] S12: Control the pipe to rotate around its center direction;

[0099] S13: During the rotation of the pipe, the reflection intensity of the light reflected by the light spot is detected by a first detection device to obtain the reflection intensity information measured at each rotation angle;

[0100] S14: During the self-rotation of the tube, a second detection device is used to detect the color of the light spot to obtain color information measured at each rotation angle;

[0101] S15: Identify the position of the weld along the circumference of the pipe according to the measured reflection intensity information and the measured color information.

[0102] Among them, steps S13 and S14 can be implemented simultaneously, and step S15 can be after obtaining the complete color information and reflection intensity information of each rotation angle (such as information obtained after one or more rotations), or it can be obtained in real time with the rotation, and then recognized in real time.

[0103] In step S12, the self-rotation of the pipe can be indirectly controlled by controlling the rotation of the rotation driving device. At the same time, when the rotation driving device drives the pipe to rotate, the angle driven by the rotation driving device can also be recorded at the same time, which is the self-rotation angle of the pipe. Furthermore, the color and reflection intensity involved above can correspond to the corresponding self-rotation angle, so as to obtain color change information and reflection intensity change information.

[0104] Among them, if the first detection device adopts a full-band photodiode, it can generate a corresponding electrical signal after sensing the light signal, and its electrical parameter can be used to characterize the reflection intensity. The electrical parameter can be, for example, current. Then, after receiving the current, or the reflection intensity digital signal obtained after analog-to-digital conversion of the current, the detection and processing device can determine the corresponding reflection intensity information. Then, the curve of the reflection intensity information and the rotation angle can also be used to characterize the change of the reflection intensity.

[0105] If the second detection device uses a color sensor (such as an RGB color sensor), it can output a digital signal of a red light intensity signal, a digital signal of a green light intensity signal, and a digital signal of a blue light intensity signal, and then use these signals to determine the color information and its changes. Correspondingly, a curve of color information and rotation angle can be used to characterize the color changes.

[0106] In one implementation, please refer to Figure 6 , step S15 may include:

[0107] S151: determining similarity information at the N rotation angles according to the reference reflection intensity information, the reference color information, the measured reflection intensity information at each of the N rotation angles, and the measured color information;

[0108] S152: fitting, based on the similarity information at all N rotation angles, to obtain a similarity variation curve of the similarity information as the rotation angle varies;

[0109] S153: Determine the position of the weld along the circumference of the pipe according to the similarity change curve.

[0110] The N rotation angles involved above may be multiple rotation angles after only one full rotation, and correspondingly, the rotation angle is between 0 and 360 degrees. In other examples, it may also be the rotation angle after multiple integer rotations (the multiple full rotations may be, for example, two full rotations or three full rotations, but the implementation method with more rotations is not excluded, which can be specifically configured according to the specific material and environment).

[0111] Taking three full circles as an example, in one measurement method, the rotation angle can be represented as being between 0 and 1080 degrees, wherein the reflection intensity information and color information corresponding to the rotation angles that differ by 360 degrees can be regarded as information at the same position, and then the similarity can be calculated by calculating the average of multiple reflection intensity information and color information at the same position, or the average of the similarities can be calculated after the similarities are calculated separately; in another measurement method, the rotation angle can also only represent the angle within a single circle, which can be between 0 and 360 degrees, and then the same position in different full circles can be represented as the same angle, for example, for the information collected by the first circle of 30 degrees and the information collected by the second circle of 30 degrees, the corresponding rotation angles are both defined as 30 degrees, and then the similarity can be calculated in the same way as the average value mentioned above.

[0112] Among the above methods, the full rotation can have a positive effect of facilitating calculations.

[0113] The similarity information at each rotation angle involved in step S151 can be understood as being used to characterize the similarity between the measured luminous intensity information and the measured color information at the rotation angle and the reference reflection intensity information and the reference color information.

[0114] The reference reflection intensity information is information about the reflection intensity of a non-weld position of a standard pipe measured in advance, and the reference color information is information about the color of a non-weld position of the standard pipe measured in advance.

[0115] In a specific implementation process, the reflection intensity information includes a reflection value, and the color information includes a red value, a green value, and a blue value; the reflection value, the red value, the green value, and the blue value are all values ​​within a range of 0 to 255;

[0116] The similarity information at each rotation angle is determined based on the reflection value difference, red value difference, green value difference and blue value difference at the rotation angle;

[0117] The reflection value difference is the difference between the reflection value in the measured luminous intensity information and the reflection value in the reference luminous intensity information at the corresponding rotation angle;

[0118] The red value difference is the difference between the red value in the measured color information and the red value in the reference color information at the corresponding rotation angle;

[0119] The green value difference is the difference between the green value in the measured color information and the green value in the reference color information at the corresponding rotation angle;

[0120] The blue value difference is the difference between the blue value in the measured color information and the blue value in the reference color information at the corresponding rotation angle.

[0121] The standard pipes may be any selected pipes, for example, silvery white standard pipes made of stainless steel or other materials, or standard pipes made of other materials other than silvery white. Correspondingly, different calculation methods may be used to determine the similarity information.

[0122] In one example, for silver-white pipes made of stainless steel and other materials, the following formula can be used to calculate similarity information:

[0123]

[0124] in:

[0125] R represents the red value in the reference color information;

[0126] G represents the green value in the reference color information;

[0127] B represents the blue value in the reference color information;

[0128] Re represents the reflective value in the reference reflective intensity information;

[0129] R' represents the red value in the measured color information;

[0130] G' represents the green value in the measured color information;

[0131] B' represents the blue value in the measured color information;

[0132] Re' represents the reflective value in the measured reflective intensity information.

[0133] In another example, for pipes of other materials that are not mainly silvery white, the following formula can be used to calculate the similarity information:

[0134]

[0135] in:

[0136] R represents the red value in the reference color information;

[0137] G represents the green value in the reference color information;

[0138] B represents the blue value in the reference color information;

[0139] Re represents the reflective value in the reference reflective intensity information;

[0140] R' represents the red value in the measured color information;

[0141] G' represents the green value in the measured color information;

[0142] B' represents the blue value in the measured color information;

[0143] Re' represents the reflective value in the measured reflective intensity information.

[0144] This embodiment does not exclude other ways to determine the similarity. Furthermore, any method that determines the similarity and uses it as a basis for determining the weld position does not deviate from the description of this embodiment.

[0145] Correspondingly, the curve fitted in step S152 can be, for example, Figure 8 Specifically, when the pipe is rotated, the light source irradiation point gradually moves from the left side of the weld to the right side of the weld, and the similarity data is read in real time, and then the similarity change curve of this process can be obtained, where the horizontal axis is the rotation angle, unit °; the vertical axis is the similarity, unit %. Figure 8 For example, we can see that the similarity of the weld position (about 60%) is significantly different from the similarity of other positions (about 100%), thereby determining the position of the weld.

[0146] This embodiment judges welds based on similarity. Compared with the method of using only color sensors, it can be used for situations where some colors are difficult to distinguish welds. Specifically, it can distinguish the same colors with different reflectivity, such as the color of the weld and the color of the pipe are matte black and bright black respectively. Furthermore, the measurement accuracy of materials such as carbon steel that are difficult to distinguish welds is higher.

[0147] During specific application, the detection accuracy can be improved to within 0.5°, and the manual input data accuracy is 5°, which is improved by nearly 10 times.

[0148] In one implementation, please refer to Figure 7 , step S153 may include:

[0149] S1531: Determine a target curve portion and a non-target curve portion in the similarity change curve;

[0150] S1532: Determine the target rotation angle corresponding to the target curve portion according to the similarity change curve;

[0151] S1533: Determine the position of the weld along the circumference of the pipe according to the target rotation angle.

[0152] The similarity information corresponding to the target curve part is smaller than that of the non-target curve part. In a further optional scheme, the difference between the similarity information of the target curve part and the similarity information of the non-target curve part needs to be greater than a preset threshold; the threshold can be a fixed value or can change with the similarity information of the target curve part or the similarity information of the non-target curve part.

[0153] In summary, the detection and processing method and detection system for the pipe weld provided in the present embodiment can control the light source to generate a light spot and can also control the rotation of the pipe. During the rotation process, the reflection intensity and color can be detected to provide a basis for the identification of the weld. Furthermore, the position of the weld along the circumference of the pipe can be identified based on the reflection intensity information and the color information. It can be seen that the present embodiment can automatically identify the weld, which can save time and manpower compared to manual identification methods, and can also facilitate maintaining a high recognition accuracy and / or precision.

[0154] Among them, this embodiment uses reflection intensity and color as the basis respectively, which can be convenient for situations where color is not sufficient to distinguish the weld. For materials such as carbon steel whose welds are difficult to distinguish by color, a higher measurement accuracy can also be achieved.

[0155] Please refer to Fig. 9 , the detection and processing device of the pipe weld includes:

[0156] A light source control module 301 is used to control the light source to illuminate the surface of the tube to form a light spot on the surface of the tube;

[0157] The rotation control module 302 is used to control the pipe to rotate around its center direction;

[0158] A reflection intensity determination module 303 is used to detect the reflection intensity of the light reflected by the light spot by using a first detection device during the self-rotation of the pipe, and obtain the reflection intensity information measured at each rotation angle;

[0159] A color determination module 304 is used to detect the color of the light spot using a second detection device during the self-rotation of the tube, and obtain the color information measured at each rotation angle;

[0160] The weld identification module 305 is used to identify the position of the weld along the circumference of the pipe according to the measured reflection intensity information and the measured color information.

[0161] Optionally, the weld identification module 305 is specifically used for:

[0162] Determine the similarity information at the N rotation angles according to the reference reflection intensity information, the reference color information, the actually measured reflection intensity information at each rotation angle, and the actually measured color information; the reference reflection intensity information is the information of the reflection intensity at the non-weld position of the standard pipe measured in advance, the reference color information is the information of the color at the non-weld position of the standard pipe measured in advance, and the similarity information at each rotation angle is used to characterize the similarity between the actually measured luminous intensity information and the actually measured color information at the rotation angle and the reference reflection intensity information and the reference color information;

[0163] According to the similarity information at all N rotation angles, a similarity variation curve of the similarity information changing with the rotation angle is obtained by fitting;

[0164] The position of the weld along the circumference of the pipe is determined according to the similarity variation curve.

[0165] Optionally, the weld identification module 305 is specifically used for:

[0166] Determining a target curve portion and a non-target curve portion in the similarity change curve, wherein similarity information corresponding to the target curve portion is smaller than that of the non-target curve portion;

[0167] Determining the target rotation angle corresponding to the target curve portion according to the similarity change curve;

[0168] The position of the weld along the circumference of the pipe is determined according to the target rotation angle.

[0169] Optionally, the reflection intensity information includes a reflection value, and the color information includes a red value, a green value, and a blue value; the reflection value, the red value, the green value, and the blue value are all values ​​within a range of 0 to 255;

[0170] The similarity information at each rotation angle is determined based on the reflection value difference, red value difference, green value difference and blue value difference at the rotation angle;

[0171] The reflection value difference is the difference between the reflection value in the measured luminous intensity information and the reflection value in the reference luminous intensity information at the corresponding rotation angle;

[0172] The red value difference is the difference between the red value in the measured color information and the red value in the reference color information at the corresponding rotation angle;

[0173] The green value difference is the difference between the green value in the measured color information and the green value in the reference color information at the corresponding rotation angle;

[0174] The blue value difference is the difference between the blue value in the measured color information and the blue value in the reference color information at the corresponding rotation angle.

[0175] Optionally, the second detection device includes a color sensor, and the first detection device includes a full-band photodiode.

[0176] In summary, the detection and processing device for the pipe weld provided in this embodiment can control the light source to generate a light spot and can also control the rotation of the pipe. During the rotation process, the reflection intensity and color can be detected to provide a basis for the identification of the weld. Furthermore, the position of the weld along the circumference of the pipe can be identified based on the reflection intensity information and the color information. It can be seen that this embodiment can automatically identify the weld, which can save time and manpower compared to manual identification methods, and can also facilitate maintaining a high recognition accuracy and / or precision.

[0177] Among them, this embodiment uses reflection intensity and color as the basis respectively, which can be convenient for situations where color is not sufficient to distinguish the weld. For materials such as carbon steel whose welds are difficult to distinguish by color, a higher measurement accuracy can also be achieved.

[0178] Please refer to Fig.10 , an electronic device 40 is provided, comprising:

[0179] a processor 41; and

[0180] A memory 42, used to store executable instructions of the processor;

[0181] The processor 41 is configured to execute the above-mentioned method by executing the executable instructions.

[0182] The processor 41 can communicate with the memory 42 via a bus 43 .

[0183] This embodiment also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method is implemented.

[0184] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0185] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for detecting and processing a pipe weld, characterized in that: include: Controlling the light source to illuminate the surface of the tube to form a light spot on the surface of the tube; Control the pipe to rotate around its center direction; During the self-rotation of the pipe, the first detection device is used to detect the reflection intensity of the light reflected by the light spot to obtain the reflection intensity information actually measured at each rotation angle; During the self-rotation of the tube, the color of the light spot is detected by a second detection device to obtain the color information actually measured at each rotation angle; Determine similarity information at each rotation angle according to reference reflection intensity information, reference color information, measured reflection intensity information at each rotation angle, and measured color information; the reference reflection intensity information is information about the reflection intensity of a non-weld position of a standard pipe measured in advance, the reference color information is information about the color of a non-weld position of the standard pipe measured in advance, and the similarity information at each rotation angle is used to characterize the similarity between the measured luminous intensity information and the measured color information at the rotation angle and the reference reflection intensity information and the reference color information; According to the similarity information at all N rotation angles, a similarity variation curve of the similarity information changing with the rotation angle is obtained by fitting; Determining a target curve portion and a non-target curve portion in the similarity change curve, wherein similarity information corresponding to the target curve portion is smaller than that of the non-target curve portion; Determining the target rotation angle corresponding to the target curve portion according to the similarity change curve; The position of the weld along the circumference of the pipe is determined according to the target rotation angle.

2. The method according to claim 1, characterized in that The reflection intensity information includes a reflection value, and the color information includes a red value, a green value, and a blue value; the reflection value, the red value, the green value, and the blue value are all values ​​within a range of 0 to 255; The similarity information at each rotation angle is determined based on the reflection value difference, red value difference, green value difference and blue value difference at the rotation angle; The reflection value difference is the difference between the reflection value in the measured luminous intensity information and the reflection value in the reference luminous intensity information at the corresponding rotation angle; The red value difference is the difference between the red value in the measured color information and the red value in the reference color information at the corresponding rotation angle; The green value difference is the difference between the green value in the measured color information and the green value in the reference color information at the corresponding rotation angle; The blue value difference is the difference between the blue value in the measured color information and the blue value in the reference color information at the corresponding rotation angle.

3. The method according to any one of claims 1 to 2, characterized in that: The second detection device includes a color sensor, and the first detection device includes a full-band photodiode.

4. A pipe weld detection and processing device, characterized in that: The pipe weld detection and processing device is used to implement the pipe weld detection and processing method according to any one of claims 1 to 2, comprising: A light source control module, used for controlling the light source to illuminate the surface of the tube to form a light spot on the surface of the tube; The rotation control module is used to control the rotation of the pipe around its center direction; A reflection intensity determination module, used to detect the reflection intensity of the light reflected by the light spot by using a first detection device during the self-rotation of the pipe, and obtain the reflection intensity information actually measured at each rotation angle; A color determination module, used to detect the color of the light spot using a second detection device during the self-rotation of the tube, and obtain the color information actually measured at each rotation angle; A weld identification module, for determining similarity information at each rotation angle according to reference reflection intensity information, reference color information, measured reflection intensity information at each rotation angle, and measured color information; the reference reflection intensity information is information about the reflection intensity of a non-weld position of a standard pipe measured in advance, the reference color information is information about the color of a non-weld position of the standard pipe measured in advance, and the similarity information at each rotation angle is used to characterize the similarity between the measured luminous intensity information and the measured color information at the rotation angle and the reference reflection intensity information and the reference color information; According to the similarity information at all N rotation angles, a similarity variation curve of the similarity information changing with the rotation angle is obtained by fitting; Determining a target curve portion and a non-target curve portion in the similarity change curve, wherein similarity information corresponding to the target curve portion is smaller than that of the non-target curve portion; Determining the target rotation angle corresponding to the target curve portion according to the similarity change curve; The position of the weld along the circumference of the pipe is determined according to the target rotation angle.

5. A pipe weld detection system, characterized in that: It includes a first detection device, a second detection device, a detection processing device, a light source, and a rotation driving device; The light source is used to illuminate the surface of the tube to form a light spot on the surface of the tube; The rotary drive device is used to drive the pipe to rotate around its center direction; The first detection device is used to detect the reflection intensity of the light reflected by the light spot during the rotation of the tube; The second detection device is used to detect the color of the light spot during the rotation of the tube; The detection and processing device is used to implement the detection and processing method for the pipe weld according to any one of claims 1 to 2.

6. The system according to claim 5, characterized in that The first detection device includes a full-band photodiode, and the second detection device includes a color sensor.

7. The system according to claim 5, characterized in that It also includes a fixing structure, the pipe can be installed and fixed on the fixing structure, and the fixing structure is connected to the rotation driving device; the rotation driving device is used to drive the fixing structure to rotate together with the pipe.

8. The system according to claim 5, characterized in that It also includes a height adjustment device and a connecting plate; the connecting plate is installed on the height adjustment device, and the first detection device, the second detection device and the light source are all installed on the connecting plate; The height adjustment device is used to adjust the height of the connecting plate, and the first detection device, the second detection device and the light source mounted thereon relative to the pipe, so as to adjust the size of the light spot.

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