A variable-direction dynamic stress-strain testing system

Abstract

The present invention discloses a directional dynamic stress-strain testing system, comprising a frame and a mobile module located below the frame, wherein the mobile module drives the frame to move along the pipeline, a marking module is arranged on the frame, and the marking module marks the monitoring point of the pipeline, and a visual collection module is arranged on the frame, which is used to collect pipeline images, identify the marking information on the pipeline images, and compare and analyze whether the pipeline in the pipeline images is strained. The present invention can effectively understand the use of the pipeline, and can also analyze and find out whether the pipeline has cracks or creep.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline stress and strain testing, and in particular relates to a variable-direction dynamic stress and strain testing system. Background Art

[0002] The damage of materials under alternating stress is called fatigue damage. Usually, when the alternating stress on the material is much smaller than its strength limit under static load, damage may occur. In addition, the material will cause local increase of stress due to the change of cross-sectional dimensions. This phenomenon is called stress concentration. There have been many leakage incidents caused by pipeline cracking in nuclear power plants in use in the United States and France, which have had a certain impact on the basic functions and safety issues of nuclear power plant systems. After a lot of analysis and research, the results show that most pipeline failures are ultimately attributed to mechanical vibration fatigue. Stress-strain testing plays an important role in preventing pipeline cracking caused by mechanical vibration fatigue.

[0003] Existing pipeline safety prevention detection methods mainly include pipeline detection methods disclosed in US4393711A, US08514998B2 and CN201811503257.3, among which the device for measuring pipeline lateral stress disclosed in CN107367338B is particularly representative. The device is dedicated to measuring pipeline lateral stress, is easy to use and has accurate detection. However, since this device is fixedly installed on the pipeline, it is often necessary to add multiple detection devices when performing stress detection on multiple points of the pipeline. The installation operation is troublesome and the cost is high. Alternatively, the stress detection device is manually controlled for detection. High-temperature pipelines and leakage of hot steam are also likely to cause harm to the human body. At the same time, the existing resistive stress gauges are also easily affected by the high temperature of the pipeline to produce test errors. Therefore, it is necessary to develop a dynamic strain testing system with high detection accuracy. Summary of the invention

[0004] In order to overcome the problems existing in the above-mentioned prior art, the purpose of the present invention is to provide a variable direction dynamic stress-strain testing system, which can effectively understand the usage of the pipeline and analyze and check whether there are cracks or creep in the pipeline.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A variable-direction dynamic stress-strain testing system comprises a frame 1 and a moving module 2 located below the frame 1, wherein the moving module 2 drives the frame 1 to move along a pipeline, a marking module 3 is arranged on the frame 1, and the marking module 3 marks a monitoring point of the pipeline, and a visual collection module 4 is arranged on the frame 1 for collecting pipeline images, identifying marking information on the pipeline images, and comparing and analyzing whether the pipeline in the pipeline image is strained.

[0007] The frame 1 includes a mounting frame 11, a lifting connection frame 12, and a base 13 which are sequentially connected. The lifting connection frame 12 is used to adjust the height of the mounting frame 11. The mounting frame 11 is arranged around the outer periphery of the pipeline.

[0008] The mounting frame 11 includes a first mounting ring mechanism 111, a second mounting ring mechanism 112 and a steering mechanism 113. The first mounting ring mechanism 111 and the second mounting ring mechanism 112 are both arranged around the pipeline, and the first mounting ring mechanism 111 and the second mounting ring mechanism 112 are connected through the steering mechanism 113, and the steering mechanism 113 drives the second mounting ring mechanism 112 to rotate around the first mounting ring mechanism 111, and the second mounting ring mechanism 112 is connected to the lifting connecting frame 12.

[0009] The first mounting ring mechanism 111 includes a first connecting half ring 114, a second connecting half ring 115 and a third telescopic rod 116. One end of the first connecting half ring 114 and the second connecting half ring 115 are interconnected, and the other ends are interconnected through the third telescopic rod 116. The ring diameter of the first mounting ring mechanism 111 can be adjusted by extending or contracting the third telescopic rod 116.

[0010] The mobile module 2 includes a driving mechanism 21 and a pipe climbing mechanism 22. The driving mechanism 21 is disposed at the lower portion of the base 13 and drives the frame 1 to move forward, and the pipe climbing mechanism 22 enables the frame 1 to crawl along the pipeline.

[0011] The pipe climbing mechanism 22 is provided with multiple groups, and is respectively arranged in a ring around the first mounting ring mechanism 111. The pipe climbing mechanism 22 includes a connecting rod group and a crawler mechanism. The connecting rod group connects the crawler mechanism with the first mounting ring mechanism 111, and the abutment degree between the crawler mechanism and the pipeline is adjusted by setting a spring. The crawler mechanism runs on the pipeline and crawls along the pipeline.

[0012] The marking module 3 includes a punctuation mechanism 31 and a telescopic mechanism 32. The punctuation mechanism 31 leaves a monitoring mark on the monitoring point of the pipeline wall, and the telescopic mechanism 32 drives the punctuation mechanism 31 to move closer to or away from the pipeline wall.

[0013] The punctuation mechanism 31 is configured as a marking pen, and the telescopic mechanism 32 includes a fifth telescopic rod and a connecting spring, wherein the fifth telescopic rod drives the marking pen to move, and the connecting spring is used to contract when the marking pen contacts the pipe wall to reduce the pressure between the marking pen and the pipe wall.

[0014] The visual collection module 4 includes a shooting device, a splicing module, a recognition module, and an analysis module. The shooting device is arranged on the second mounting ring mechanism 112, and shoots the pipeline, so as to collect images of the pipeline in different states. The splicing module splices and synthesizes the images shot by the shooting device, and the recognition module recognizes the marking points of the images spliced ​​by the splicing module. The analysis module is used to analyze the pipeline structure of the spliced ​​image, and compare whether the marking points in the pipeline images in different states are offset.

[0015] Beneficial effects of the present invention:

[0016] The present invention can drive the device to crawl on the pipeline by setting the moving module 2, and at the same time, the two mounting ring mechanisms are pushed to flexibly expand and contract by setting the steering module and the telescopic rod, so that the device can crawl freely on the continuous and curved pipeline; at the same time, the moving module 2 is composed of two driving modes. When turning, the climbing mechanism 22 is separated from the pipeline, that is, the driving mechanism 21 provides the main power, and at ordinary times, the climbing mechanism 22 is driven as the main power to enhance the environmental adaptability of the device; by setting the visual collection module 4, the appearance characteristics of the pipeline can be collected, so as to roughly understand the use of the pipeline, and at the same time, it can be analyzed and checked whether the pipeline has cracks or creep; at the same time, by setting the marking module 3, fixed-point marking can be performed on the monitoring point of the pipeline, and the position information of each marking point can be recorded at the same time, and the punctuation pattern can be compared and analyzed to find out whether the pipeline is strained during installation and use, so as to analyze the stress of the pipeline; by setting the coordinate reference point, the coordinates of the monitoring point can be positioned, so as to analyze the strain faster and more accurately, and by setting two positioning coordinate systems, the position of the monitoring point can be double-positioned to prevent errors caused by overall deformation of the same-section pipeline or monitoring errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is a schematic structural diagram of the first mounting ring mechanism of the present invention when it is extended.

[0019] Figure 3 It is a structural schematic diagram of another embodiment of the present invention.

[0020] Figure 4 It is a structural schematic diagram of the marking module of the present invention.

[0021] Figure 5 This is a schematic diagram of pipeline image simulation after marking the monitoring points and positioning coordinate system.

[0022] Figure 6 It is a schematic diagram of the connection simulation between each monitoring point and the origin coordinate point.

[0023] In the figure: frame 1, mounting frame 11, first mounting ring mechanism 111, second mounting ring mechanism 112, steering mechanism 113, first connecting half ring 114, second connecting half ring 115, third telescopic rod 116, lifting connecting frame 12, base 13, moving module 2, driving mechanism 21, climbing mechanism 22, marking module 3, punctuation mechanism 31, telescopic mechanism 32, rotating mechanism 33, visual collection module 4. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0025] Embodiment 1:

[0026] like Figure 1 As shown, a variable-direction dynamic stress-strain testing system comprises: a frame 1;

[0027] The moving module 2 is used to drive the frame 1 to move along the pipeline;

[0028] A marking module 3 is arranged on the frame 1 and marks the monitoring points of the pipeline;

[0029] The visual collection module 4 is arranged on the rack 1, collects the pipeline image, and identifies the marking information on the pipeline image, so as to compare and analyze whether the pipeline in the pipeline image is strained;

[0030] The frame 1 includes a mounting frame 11, a lifting connection frame 12, and a base 13 which are sequentially connected. The lifting connection frame 12 adjusts the height of the mounting frame 11. The mounting frame 11 is arranged around the outer periphery of the pipeline.

[0031] The mounting frame 11 includes a first mounting ring mechanism 111, a second mounting ring mechanism 112 and a steering mechanism 113. The first mounting ring mechanism 111 and the second mounting ring mechanism 112 are both arranged around the pipeline, and the first mounting ring mechanism 111 and the second mounting ring mechanism 112 are connected through the steering mechanism 113. The steering mechanism 113 drives the second mounting ring mechanism 112 to rotate around the first mounting ring mechanism 111. The second mounting ring mechanism 112 is connected to the lifting connection frame 12.

[0032] The first mounting ring mechanism 111 includes a first connecting half ring 114, a second connecting half ring 115 and a third telescopic rod 116. One end of the first connecting half ring 114 and the second connecting half ring 115 are connected to each other, and the other ends are connected to each other through the third telescopic rod 116. The ring diameter of the first mounting ring mechanism 111 can be adjusted by extending or contracting the third telescopic rod 116.

[0033] The mobile module 2 includes a driving mechanism 21 and a pipe climbing mechanism 22. The driving mechanism 21 is arranged at the lower part of the base 13 and drives the frame 1 to move forward. The pipe climbing mechanism 22 enables the frame 1 to crawl along the pipeline.

[0034] The pipe climbing mechanism 22 is provided with multiple groups, and is respectively arranged in a ring around the first mounting ring mechanism 111. The pipe climbing mechanism 22 includes a connecting rod group and a crawler mechanism. The connecting rod group connects the crawler mechanism with the first mounting ring mechanism 111, and the contact degree between the crawler mechanism and the pipeline is adjusted by setting a spring. The crawler mechanism runs on the pipeline to crawl along the pipeline.

[0035] The marking module 3 includes a punctuation mechanism 31 and a telescopic mechanism 32. The punctuation mechanism 31 leaves a monitoring mark on the monitoring point of the pipeline wall, and the telescopic mechanism 32 drives the punctuation mechanism 31 to move closer to or away from the pipeline wall.

[0036] The punctuation mechanism 31 is set as a marking pen, and the telescopic mechanism 32 includes a fifth telescopic rod and a connecting spring, and the fifth telescopic rod drives the marking pen to move, and the connecting spring is used to contract when the marking pen contacts the pipe wall to reduce the pressure between the marking pen and the pipe wall;

[0037] The visual collection module 4 includes a shooting device, a splicing module, a recognition module, and an analysis module. The shooting device is arranged on the second mounting ring mechanism 112, and shoots the pipeline, so as to collect images of the pipeline in different states. The splicing module splices and synthesizes the images shot by the shooting device, and the recognition module recognizes the marking points of the images spliced ​​by the splicing module. The analysis module is used to analyze the pipeline structure of the spliced ​​image, and compare whether the marking points in the pipeline images in different states are offset.

[0038] Embodiment 2: This embodiment is a further description of the above embodiment. It should be understood that this embodiment includes all the above technical features and is further described in detail:

[0039] A variable-direction dynamic stress-strain testing system, comprising: a frame 1;

[0040] The moving module 2 is used to drive the frame 1 to move along the pipeline;

[0041] A marking module 3 is arranged on the frame 1 and marks the monitoring points of the pipeline;

[0042] The visual collection module 4 is arranged on the rack 1, collects the pipeline image, and identifies the marking information on the pipeline image, so as to compare and analyze whether the pipeline in the pipeline image is strained;

[0043] The frame 1 includes a mounting frame 11, a lifting connection frame 12, and a base 13 which are sequentially connected. The lifting connection frame 12 adjusts the height of the mounting frame 11. The mounting frame 11 is arranged around the outer periphery of the pipeline.

[0044] The mounting frame 11 includes a first mounting ring mechanism 111, a second mounting ring mechanism 112 and a steering mechanism 113. The first mounting ring mechanism 111 and the second mounting ring mechanism 112 are both arranged around the pipeline, and the first mounting ring mechanism 111 and the second mounting ring mechanism 112 are connected through the steering mechanism 113. The steering mechanism 113 drives the second mounting ring mechanism 112 to rotate around the first mounting ring mechanism 111. The second mounting ring mechanism 112 is connected to the lifting connection frame 12.

[0045] The steering mechanism 113 includes a first telescopic rod and a second telescopic rod, both ends of which are rotatably connected to the first mounting ring mechanism 111 and the second mounting ring mechanism 112 respectively, and the first telescopic rod and the second telescopic rod are arranged opposite to each other;

[0046] The first mounting ring mechanism 111 includes a first connecting half ring 114, a second connecting half ring 115 and a third telescopic rod 116. One end of the first connecting half ring 114 and the second connecting half ring 115 are connected to each other, and the other ends are connected to each other through the third telescopic rod 116. The ring diameter of the first mounting ring mechanism 111 can be adjusted by extending or contracting the third telescopic rod 116.

[0047] The second mounting ring mechanism 112 has the same structure as the first mounting ring mechanism 111. In this embodiment, the second mounting ring mechanism 112 also includes a third connecting half ring, a fourth connecting half ring and a fourth telescopic rod;

[0048] The mobile module 2 includes a driving mechanism 21 and a pipe climbing mechanism 22. The driving mechanism 21 is arranged at the lower part of the base 13 and drives the frame 1 to move forward. The pipe climbing mechanism 22 enables the frame 1 to crawl along the pipeline.

[0049] The driving mechanism 21 includes a moving wheel set and a first driving motor, and the first driving motor drives the moving wheel set to operate;

[0050] The pipe climbing mechanism 22 is provided with multiple groups, and is respectively arranged in a ring around the first mounting ring mechanism 111. The pipe climbing mechanism 22 includes a connecting rod group and a crawler mechanism. The connecting rod group connects the crawler mechanism with the first mounting ring mechanism 111, and the contact degree between the crawler mechanism and the pipeline is adjusted by setting a spring. The crawler mechanism runs on the pipeline to crawl along the pipeline.

[0051] The marking module 3 includes a punctuation mechanism 31 and a telescopic mechanism 32. The punctuation mechanism 31 leaves a monitoring mark on the monitoring point of the pipeline wall, and the telescopic mechanism 32 drives the punctuation mechanism 31 to move closer to or away from the pipeline wall.

[0052] The punctuation mechanism 31 is set as a marking pen, and the telescopic mechanism 32 includes a fifth telescopic rod and a connecting spring, and the fifth telescopic rod drives the marking pen to move, and the connecting spring is used to contract when the marking pen contacts the pipe wall to reduce the pressure between the marking pen and the pipe wall;

[0053] The visual collection module 4 includes a shooting device, a splicing module, a recognition module, and an analysis module. The shooting device is arranged on the second mounting ring mechanism 112, and shoots the pipeline, so as to collect images of the pipeline in different states. The splicing module splices and synthesizes the images shot by the shooting device, and the recognition module recognizes the marking points of the images spliced ​​by the splicing module. The analysis module is used to analyze the pipeline structure of the spliced ​​image, and compare whether the marking points in the pipeline images in different states are offset.

[0054] Embodiment 3: This embodiment is a further description of the above embodiment. It should be understood that this embodiment includes all the above technical features and is further described in detail:

[0055] Further integration Figures 2 to 6 As shown, a variable-direction dynamic stress-strain testing system comprises: a frame 1;

[0056] The moving module 2 is used to drive the frame 1 to move along the pipeline;

[0057] A marking module 3 is arranged on the frame 1 and marks the monitoring points of the pipeline;

[0058] The visual collection module 4 is arranged on the rack 1, collects the pipeline image, and identifies the marking information on the pipeline image, so as to compare and analyze whether the pipeline in the pipeline image is strained;

[0059] The frame 1 includes a mounting frame 11, a lifting connection frame 12, and a base 13 which are sequentially connected. The lifting connection frame 12 adjusts the height of the mounting frame 11. The mounting frame 11 is arranged around the outer periphery of the pipeline.

[0060] The mounting frame 11 includes a first mounting ring mechanism 111, a second mounting ring mechanism 112 and a steering mechanism 113. The first mounting ring mechanism 111 and the second mounting ring mechanism 112 are both arranged around the pipeline, and the first mounting ring mechanism 111 and the second mounting ring mechanism 112 are connected through the steering mechanism 113. The steering mechanism 113 drives the second mounting ring mechanism 112 to rotate around the first mounting ring mechanism 111. The second mounting ring mechanism 112 is connected to the lifting connection frame 12.

[0061] The steering mechanism 113 includes a first telescopic rod and a second telescopic rod, both ends of which are rotatably connected to the first mounting ring mechanism 111 and the second mounting ring mechanism 112 respectively, and the first telescopic rod and the second telescopic rod are arranged opposite to each other;

[0062] The first mounting ring mechanism 111 includes a first connecting half ring 114, a second connecting half ring 115 and a third telescopic rod 116. One end of the first connecting half ring 114 and the second connecting half ring 115 are connected to each other, and the other ends are connected to each other through the third telescopic rod 116. The ring diameter of the first mounting ring mechanism 111 can be adjusted by extending or contracting the third telescopic rod 116.

[0063] The second mounting ring mechanism 112 has the same structure as the first mounting ring mechanism 111. In this embodiment, the second mounting ring mechanism 112 also includes a third connecting half ring, a fourth connecting half ring and a fourth telescopic rod;

[0064] The mobile module 2 includes a driving mechanism 21 and a pipe climbing mechanism 22. The driving mechanism 21 is arranged at the lower part of the base 13 and drives the frame 1 to move forward. The pipe climbing mechanism 22 enables the frame 1 to crawl along the pipeline.

[0065] The driving mechanism 21 includes a moving wheel group and a first driving motor, wherein the first driving motor drives the moving wheel group to operate, and the moving wheel group is configured as a McRae wheel structure;

[0066] The pipe climbing mechanism 22 is provided with multiple groups, and is respectively arranged in a ring around the first mounting ring mechanism 111. The pipe climbing mechanism 22 includes a connecting rod group and a crawler mechanism. The connecting rod group connects the crawler mechanism with the first mounting ring mechanism 111, and the contact degree between the crawler mechanism and the pipeline is adjusted by setting a spring. The crawler mechanism runs on the pipeline to crawl along the pipeline.

[0067] The crawler mechanism is also provided with a second drive motor, and the second drive motor drives the crawler mechanism to operate;

[0068] The marking module 3 includes a punctuation mechanism 31 and a telescopic mechanism 32. The punctuation mechanism 31 leaves a monitoring mark on the monitoring point of the pipeline wall, and the telescopic mechanism 32 drives the punctuation mechanism 31 to move closer to or away from the pipeline wall.

[0069] The punctuation mechanism 31 is set as a marking pen, and the telescopic mechanism 32 includes a fifth telescopic rod and a connecting spring, and the fifth telescopic rod drives the marking pen to move, and the connecting spring is used to contract when the marking pen contacts the pipe wall to reduce the pressure between the marking pen and the pipe wall;

[0070] In this embodiment, the marking module 3 is further provided with a rotating mechanism 33, and the rotating mechanism 33 drives the telescopic mechanism 32 to rotate along the axis of the pipeline, so that the marking pen can mark multiple positions of the pipeline;

[0071] The rotating mechanism 33 includes an arc track, a slider and a push rod. The arc track is arranged on the second mounting ring mechanism 112, and the slider is slidably arranged on the arc track.

[0072] The visual collection module 4 includes a shooting device, a splicing module, a recognition module, and an analysis module. The shooting device is arranged on the second mounting ring mechanism 112, and shoots the pipeline, so as to collect images of the pipeline in different states. The splicing module splices and synthesizes the images shot by the shooting device, and the recognition module recognizes the marking points of the images spliced ​​by the splicing module. The analysis module is used to analyze the pipeline structure of the spliced ​​image, and compare whether the marking points in the pipeline images in different states are offset.

[0073] The marking point includes a positioning coordinate system and a monitoring point, the positioning coordinate system is used to compare and locate the monitoring point, and the monitoring point is used to position and mark the monitoring point of the pipeline;

[0074] The first mounting ring mechanism 111 is also provided with an orientation device, which identifies the extension direction of the pipeline, thereby adjusting the moving direction of the moving module 2;

[0075] The orientation device is configured as an infrared sensor;

[0076] The testing method of the testing system comprises:

[0077] S1. Pre-application marking detection: The mobile module 2 drives the device to move along the pipeline while collecting the first image set. During the movement, the shooting device continuously shoots the pipeline to generate the first image set, and sends the first image set to the splicing module. Then, the splicing module splices the first image set into a first pipe body image. The strain multiple-initiator is analyzed by the analysis module to determine the monitoring point. Then, after the mobile module 2 drives the frame 1 to move to the corresponding monitoring position, the marking module 3 marks the monitoring point and locates the coordinate system on the stable section mark of the pipeline. If the monitoring position is set at the turning part of the pipeline, Then, the positioning coordinate system is marked on the two pipe sections in different directions respectively. If the detection position is set at the connecting section, the positioning coordinate system is marked on the two connected pipe sections respectively. The two positioning coordinate systems are the first coordinate system and the second coordinate system respectively. Then, the mobile module 2 continues to drive the device to crawl along the marked pipeline, and the shooting module collects the pipeline image to generate a second image set. At the same time, the splicing module splices the second image set into a second pipe body image. At the same time, the recognition module recognizes each marking point of the second pipe body image, and the recognition module records the position of the marking point to generate the first position information.

[0078] S2, post-application marking detection: the pipeline is then spliced, installed and used, and then the monitoring device repeatedly crawls on the marked pipeline, and the shooting module collects pipeline images to generate a third image set, and the splicing module splices the third image set into a third pipe body image, and the recognition module identifies each marking point of the third pipe body image, and the recognition module records the position of the marking point to generate second position information, and then the analysis module compares whether the second position information is the same as the first position information, and if the same, generates: no strain result, if different, generates: strain occurs result;

[0079] In this embodiment, the strain-prone end is a turning end or a connecting end, and the stable section of the pipeline is a pipe section that is not prone to strain and is close to the monitoring position, such as the middle section of the pipeline. The specific selection is based on actual application and will not be described in detail here.

[0080] The positioning coordinate system includes an origin coordinate point, an X-axis orientation coordinate point and a Y-axis orientation coordinate point, and a connecting line between the X-axis orientation coordinate point and the origin coordinate point and a connecting line between the Y-axis orientation coordinate point and the origin coordinate point are perpendicular;

[0081] The format of the first position information and the second position information is the same, and both are set to [k1, j1, k2, j2], where k1 is the distance from the monitoring point to the origin coordinate point of the first coordinate system, j1 is the angle between the connecting line from the monitoring point to the origin coordinate point of the first coordinate system and the connecting line from the X-axis oriented coordinate point of the first coordinate system to the origin coordinate point of the first coordinate system, k2 is the distance from the monitoring point to the origin coordinate point of the second coordinate system, and j2 is the angle between the connecting line from the monitoring point to the origin coordinate point of the second coordinate system and the connecting line from the X-axis oriented coordinate point of the second coordinate system to the origin coordinate point of the second coordinate system;

[0082] S3, turning; when the device moves to the turning position, and the turning direction is toward one side of the second telescopic rod, the fourth telescopic rod pushes the third connecting half ring to separate from the fourth connecting half ring, thereby expanding the ring diameter of the second mounting ring mechanism 112, and then extends through the first telescopic rod, thereby pushing the first mounting ring mechanism 111 to flip toward one side of the second telescopic rod, and then the moving module 2 continues to push the device forward until the second mounting ring mechanism 112 completely falls into the second pipe section, and then the fourth telescopic rod contracts to restore the ring diameter of the second mounting ring mechanism 112 to the initial state, and at the same time, the first mounting ring mechanism 111 is pushed to open by the third telescopic rod 116, and then the first telescopic rod is contracted, and at the same time, the driving mechanism 21 adjusts the rotation direction of the wheel group, so that the device moves along the second pipe section, thereby driving the first mounting ring mechanism 111 to also fall into the second pipe section, and then the third telescopic cylinder contracts, so that the detection device is reset to the initial state;

[0083] When the turning direction is toward the side of the first telescopic rod, the second telescopic rod is used to replace the first telescopic rod for extension and contraction, and the other steps are consistent with the above-mentioned turning steps.

Claims

1. A variable-direction dynamic stress-strain testing system, characterized in that: The apparatus comprises a frame (1) and a moving module (2) located below the frame (1), wherein the moving module (2) drives the frame (1) to move along the pipeline, a marking module (3) is arranged on the frame (1), and the marking module (3) marks the monitoring point of the pipeline, and a visual collection module (4) is arranged on the frame (1) for collecting pipeline images, identifying the marking information on the pipeline images, and comparing and analyzing whether the pipeline in the pipeline images is strained; The frame (1) comprises a mounting frame (11), a lifting connection frame (12), and a base (13) which are sequentially connected and arranged, the lifting connection frame (12) being used to adjust the height of the mounting frame (11), and the mounting frame (11) being arranged around the outer circumference of the pipeline; The mounting frame (11) comprises a first mounting ring mechanism (111), a second mounting ring mechanism (112) and a steering mechanism (113); the first mounting ring mechanism (111) and the second mounting ring mechanism (112) are both arranged around the pipeline, and the first mounting ring mechanism (111) and the second mounting ring mechanism (112) are connected via the steering mechanism (113); the steering mechanism (113) drives the second mounting ring mechanism (112) to rotate around the first mounting ring mechanism (111); and the second mounting ring mechanism (112) is connected to the lifting connection frame (12); The first mounting ring mechanism (111) comprises a first connecting half ring (114), a second connecting half ring (115) and a third telescopic rod (116); one end of the first connecting half ring (114) and the second connecting half ring (115) are connected to each other, and the other ends are connected to each other via the third telescopic rod (116); the ring diameter of the first mounting ring mechanism (111) can be adjusted by extending or contracting the third telescopic rod (116); The second mounting ring mechanism (112) has the same structure as the first mounting ring mechanism (111).

2. A variable direction dynamic stress-strain testing system according to claim 1, characterized in that: The mobile module (2) comprises a driving mechanism (21) and a pipe climbing mechanism (22); the driving mechanism (21) is arranged at the bottom of the base (13) and drives the frame (1) to move forward; and the pipe climbing mechanism (22) enables the frame (1) to crawl along the pipeline.

3. A variable direction dynamic stress-strain testing system according to claim 2, characterized in that: The pipe climbing mechanism (22) is provided with a plurality of groups, and is respectively arranged in a ring around the first mounting ring mechanism (111). The pipe climbing mechanism (22) comprises a connecting rod group and a crawler mechanism. The connecting rod group connects the crawler mechanism with the first mounting ring mechanism (111), and a spring is provided to adjust the contact degree between the crawler mechanism and the pipeline. The crawler mechanism operates on the pipeline and crawls along the pipeline.

4. The variable-direction dynamic stress-strain testing system according to claim 1, characterized in that: The marking module (3) comprises a punctuation mechanism (31) and a telescopic mechanism (32); the punctuation mechanism (31) leaves a monitoring mark on a monitoring point on the pipeline wall; and the telescopic mechanism (32) drives the punctuation mechanism (31) to move closer to or farther away from the pipeline wall; The marking module (3) is arranged on the second mounting ring mechanism (112).

5. The variable-direction dynamic stress-strain testing system according to claim 4, characterized in that: The punctuation mechanism (31) is configured as a marking pen, and the telescopic mechanism (32) comprises a fifth telescopic rod and a connecting spring, wherein the fifth telescopic rod drives the marking pen to move, and the connecting spring is configured to contract when the marking pen contacts the pipe wall so as to reduce the pressure between the marking pen and the pipe wall.

6. The variable-direction dynamic stress-strain testing system according to claim 1, characterized in that: The visual collection module (4) comprises a shooting device, a splicing module, a recognition module, and an analysis module. The shooting device is arranged on the second mounting ring mechanism (112) and shoots the pipeline, thereby collecting images of the pipeline in different states. The splicing module splices and synthesizes the images shot by the shooting device. The recognition module recognizes marking points on the images spliced ​​by the splicing module. The analysis module is used to analyze the pipeline structure of the spliced ​​image and compare whether the marking points in the pipeline images in different states are offset.

Images