Image nondestructive testing device and method

Abstract

The present invention discloses an image nondestructive testing device and method, the device comprises a testing device body, a testing end module and a bracket connection structure, the testing device body is connected to the testing end module through the bracket connection structure, the testing end module can make circumferential movement along the inner wall of the pipeline, an ultrasonic probe and a coupling agent storage and recovery device are arranged in the testing end module, the coupling agent storage and recovery device comprises an outlet, a recovery port, a side baffle, a first recovery area, a second recovery area, a temporary storage area and an output area, the first recovery area is connected to the recovery port and is provided with a first recovery mechanism for conveying the coupling agent entering the recovery port to the second recovery area, the second recovery area is provided with a second recovery mechanism for collecting the coupling agent from the first recovery mechanism and conveying it to the temporary storage area near the temporary storage area, and the temporary storage area is provided with a feeding mechanism for inputting the recovered coupling agent from the second recovery area to the temporary storage area. The present invention has a better and more stable recovery effect on coupling agents with higher viscosity.

Description

Technical Field

[0001] The invention belongs to the field of detection equipment, and in particular relates to an image nondestructive detection device and method. Background Art

[0002] In the existing pressure pipeline, since the pipeline needs to bear pressure during use, the pipeline needs to be inspected regularly to find defects in the pipeline in time and perform maintenance and replacement, so as to avoid the defects in the pipeline causing damage to the pipeline under pressure and leaking the transported substances, such as high-temperature and high-pressure flue gas, etc. The prior art already has a robot that moves inside the pipe and carries an image acquisition device or an ultrasonic detection device to perform non-destructive testing on the inside of the pipe. However, in order to ensure the detection effect of ultrasonic detection by the existing equipment, a coupling agent needs to be applied to the pipe wall. The coupling agent in the prior art is usually one of engine oil, transformer oil, grease, glycerin, water glass or industrial glue, chemical paste, some of which have strong fluidity and low viscosity and belong to liquid coupling agents, such as engine oil; others have high viscosity, weak fluidity or even basically no flow, such as industrial glue and chemical paste. Different types of coupling agents are suitable for different scenarios.

[0003] Generally speaking, the inner wall of a long-term used pipeline is often not smooth enough and has many local deformations and rough surfaces due to corrosion, pressure or deformation caused by external forces of the conveying medium. The use of a viscous paste coupling agent is more effective. At the same time, when the pipeline is scanned circumferentially, since the pipe wall on the scanning trajectory cannot be horizontal, there are always inclined, vertical or even pipe wall parts below the top of the pipeline. If a liquid coupling agent with good fluidity is used, the coupling agent will flow to the low point during the scanning process, that is, the coupling agent will accumulate downward, resulting in uneven distribution of the coupling agent on the pipe wall, which will significantly affect the ultrasonic scanning effect. Therefore, this method of scanning the pipe wall requires the use of a viscous, non-flowing paste coupling agent.

[0004] Due to the limited space in the pipeline, the coupling agent that the device can carry is also limited, but there are many areas in the pipeline that need to be inspected. If the coupling agent is not recovered, the range that the detection device can scan in a single test will be greatly reduced, resulting in an increase in detection time; on the other hand, if the coupling agent itself remains in the pipeline, it will also contaminate the substances transported by the pipeline. Coupling agents with high viscosity such as chemical pastes will be difficult to clean once they are exposed to the outside and dry, so timely recovery of the coupling agent is very necessary. The existing technology uses the method of collecting or adsorbing the coupling agent and then sucking it in through a power pump and transporting it through a pipeline for recovery. However, the space in the pipeline is small, which is not conducive to the arrangement of a powerful power pump and more complex pipelines on the one hand. On the other hand, due to the poor fluidity of the paste coupling agent, it is difficult for general pumping mechanisms and pipelines to effectively realize the suction and recovery of the coupling agent. Often, only the surface coupling agent and a large amount of gas can be sucked in, but more coupling agent remains on the pipe wall. There are also some technologies in the prior art that utilize the fluidity of the coupling agent to achieve coupling agent recovery. After the coupling agent is collected, the coated coupling agent is obtained using a scraper or sponge or other structure, and then transported to the top of the storage cavity to allow it to flow into the storage cavity on its own. However, the fluidity of the paste coupling agent is very poor. It basically does not flow or flows very slowly without the action of external forces. Therefore, it is difficult to allow it to flow into the coupling agent storage cavity on its own through the flow channel or pipeline. When performing circumferential scanning in the pipeline, since the relative direction of the storage cavity and the scanning area is constantly changing, the solution of using gravity to achieve flow to the storage cavity itself is also difficult to apply. In summary, the prior art has the problem that the coated coupling agent is difficult to effectively recover when performing ultrasonic testing in pipelines. Summary of the invention

[0005] The object of the present invention is to provide an image nondestructive testing device and method for solving the technical problem in the prior art that the coupling agent applied during ultrasonic testing in pipelines is difficult to effectively recover.

[0006] The supply chain sorting and conveying device comprises a detection device body, a detection end module and a bracket connection structure, wherein the detection device body is connected to the detection end module via the bracket connection structure, the detection end module can make circumferential movements along the inner wall of the pipeline, an ultrasonic probe and a coupling agent storage and recovery device are arranged in the detection end module, the coupling agent storage and recovery device comprises an outlet, a recovery port, a side baffle, a first recovery area, a second recovery area, a temporary storage area and an output area, the first recovery area is connected to the recovery port and is provided with a first recovery mechanism for transporting the coupling agent entering from the recovery port to the second recovery area, the second recovery area is arranged between the temporary storage area and the output area The first recovery area is between the first recovery area and the second recovery area is provided with a second recovery mechanism for collecting the coupling agent from the first recovery mechanism and transporting it to the temporary storage area close to the temporary storage area, the temporary storage area is provided with a feeding mechanism for inputting the recovered coupling agent from the second recovery area to the temporary storage area, the output area is provided with an output mechanism for pressing the coupling agent in the temporary storage area into the outlet, the outlet is connected with the temporary storage area through an output pipe, the outlet and the recovery port are respectively located at two ends of the ultrasonic probe along the circumferential direction of the pipeline, the side baffles are clamped on both sides of the ultrasonic probe in pairs and are attached to the pipe wall with the outlet and the recovery port to form a closed detection area that constrains the coupling agent.

[0007] Preferably, the first recovery mechanism includes a recovery shaft assembly, a plurality of rotating scrapers and an elastic spring, the rotating scrapers are evenly arranged on the shaft side of the recovery shaft assembly along the circumferential direction, one side of the rotating scraper is rotatably installed on the shaft side through a connecting shaft in the same direction as the recovery shaft assembly, one side of the rotating scraper is used to scrape the coupling agent and the other side is fixedly connected to a part of the elastic spring, the other part of the elastic spring is fixedly connected to the shaft side surface of the recovery shaft assembly, the upper part of the first recovery area is an arc-shaped inner wall structure, the arc-shaped inner wall structure has an arc-shaped inner wall, the arc-shaped inner wall radius matches the extension length of the rotating scraper when it is radially extended, and the recovery shaft assembly is arranged at the center of the arc-shaped inner wall.

[0008] Preferably, the second recovery mechanism includes a sliding scraper, a slider and a groove baffle, the sliding scraper includes a scraping portion extending obliquely upward and a sliding portion horizontally attached to the bottom of the second recovery area, the front end of the sliding portion is transitioned to the scraping portion by an elastic arc portion, sliders are fixed on both sides of the sliding portion, side walls on both sides of the second recovery area are provided with sliding grooves that slidably cooperate with the sliders, the groove baffle is fixed to the side of the slider for covering the sliding groove, and the first recovery area is provided with an opening for the sliding scraper to extend into.

[0009] Preferably, a guide ring groove is provided on the inner side wall of the first recovery area, and cylindrical protrusions slidingly matched with the guide ring groove are fixed on the left and right sides of the rotating scraper. The guide ring groove is centered on the recovery shaft assembly, and the guide ring groove includes an annular section and an adjustment section. The annular section is centered on the recovery shaft assembly, and the adjustment section is located at a position corresponding to the opening. The adjustment section is a smooth curve structure recessed inward, and both ends of the adjustment section are smoothly connected to the annular section.

[0010] Preferably, the temporary storage area and the second recovery area are separated by a partition, and the partition is provided with a one-way feed door which can only be opened toward the temporary storage area. The feeding mechanism includes a feeding scraper which can be abutted against the partition, and the upper side of the feeding scraper is rotatably installed in the second recovery area through a transverse rotating shaft. The feeding scraper is connected to a transmission mechanism, and the transmission mechanism can drive the feeding scraper to periodically rotate and open and close in the direction of the sliding scraper. The feeding scraper can scrape the coupling agent on the sliding scraper by rotating and opening and closing, and feed it into the temporary storage area through the one-way feed door.

[0011] Preferably, the output mechanism includes a fixed end plate, an elastic telescopic rod, a sliding push plate and an air inlet, the sliding push plate is located between the partition and the fixed end plate and divides the space into the temporary storage area and the output area, the sliding push plate is connected to the fixed end plate through the elastic telescopic rod, the elastic telescopic rod is perpendicular to the fixed end plate and the sliding push plate, and the air inlet is arranged in the output area and connected to the air pump.

[0012] Preferably, the coupling agent storage and recovery device also includes a recovery motor, and the transmission mechanism is a gear transmission mechanism, which includes a driving gear coaxially connected to the recovery shaft assembly, an active gear and a transmission gear connected to the recovery motor through a bevel gear mechanism, and the transmission gear is meshed with the active gear and the driving gear at the same time. A turntable is also fixedly connected to the gear shaft of the active gear, and the turntable is rotatably embedded and installed on the inner wall of the second recovery area. The edge of the turntable is hingedly connected to one end of a first connecting rod parallel to the turntable, and the other end of the first connecting rod is hinged to the side of the feeding scraper.

[0013] Preferably, the gear shaft of the transmission gear is also fixedly connected to one end of the second connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, the other end of the third connecting rod is hinged to the slider, the length of the third connecting rod is greater than twice the length of the second connecting rod, and the transmission ratio between the transmission gear and the driving gear is equal to the number of rotating scrapers.

[0014] Preferably, the detection end module also includes a color camera for RGB image acquisition and a detection end mounting plate, the detection end mounting plate is provided with a first mounting portion for mounting the ultrasonic probe and a second mounting portion for mounting the color camera, the first mounting portion and the second mounting portion form a certain angle, and the detection end mounting plate is arranged along the circumference of the pipeline.

[0015] The present invention also provides an image nondestructive testing method, which uses the above-mentioned image nondestructive testing device and includes the following steps.

[0016] The first step is to complete the scanning preparation after the robot reaches a position to be inspected in the pipeline.

[0017] In the second step, the robot drives the image nondestructive testing device to rotate, driving each detection end module to rotate circumferentially, thereby performing a circumferential scan of the inner wall of the pipeline.

[0018] In the third step, the collected images are sent to the image processing module to complete the preprocessing process, and then the temporally continuous images are output to the data processing device.

[0019] In the fourth step, the data processing equipment performs splicing processing on the continuously collected images, thereby obtaining a spliced ​​image of the inner wall of the pipeline.

[0020] Step 5: Intelligently identify defects in the image based on the trained intelligent recognition model, mark the defects and output them to the inspector.

[0021] Step 6. After completing the inspection of an area, the data processing device sends a signal to the robot and the control module. After the image nondestructive testing device stops the inspection, the robot continues to move forward to the next inspection area.

[0022] Afterwards, the image nondestructive testing device repeats the first to sixth steps above.

[0023] The advantages of the present invention are that it can realize circumferential scanning and inspection of the inner wall of a long-distance pipeline, and can ensure that no additional coupling agent is required for a long time. During the circumferential scanning process, the coupling agent is stably transported and applied to the pipe wall through pneumatic extrusion, and is constrained in a closed detection area, so that the ultrasonic probe can scan normally. During the rotation process, the coupling agent is collected through the recovery port, and the coupling agent is recovered to the temporary storage area through the first recovery mechanism, the second recovery mechanism, the feeding scraper, etc. In addition, the above-mentioned recovery method has a relatively small structure, and the transportation of the recovered coupling agent is completely realized through the mechanical movement of the corresponding mechanism and the scraper. The transfer of the coupling agent in different areas is realized by the directional action of external forces such as scraping and extrusion by the scraper. Therefore, the stable transportation is not affected by unfavorable factors such as the direction of the ultrasonic probe and the poor fluidity of the coupling agent. Therefore, this scheme overcomes the corresponding defects of the prior art, has a better and more stable recovery effect on coupling agents with higher viscosity, and is suitable for application scenarios with limited space such as inside pipelines.

[0024] In this scheme, a transmission mechanism is used to realize the linkage work of multiple mechanisms such as the first recovery mechanism, the second recovery mechanism, and the feeding mechanism, which not only ensures the stable coordinated work of the above-mentioned parts, but also the transmission mechanism is arranged in a position that is not directly connected to the first recovery area, the second recovery area or the temporary storage area, thereby avoiding leakage of the coupling agent from the connection and ensuring the stable operation of the transmission mechanism itself.

[0025] This solution is based on the guiding effect of the guide ring groove. After being squeezed and rotated downward, the rotating slide plate will not resume the radially extended state until it passes through the adjustment section, thereby avoiding the problem of excessive upward warping of the scraping end caused by the squeezing of the rotating scraper on the lower side while the sliding scraper is scraping, resulting in poor scraping effect.

[0026] In addition to the ultrasonic probe, this device is also equipped with a color camera to collect RGB image information at the same time, and uses RGB images and ultrasonic images to perform non-destructive testing on the pipeline at the same time, with high detection efficiency and good detection effect, and can ensure that no additional coupling agent is required for a long time. The image non-destructive testing device can cover more time and pipeline areas for a single non-destructive test, improve the detection efficiency, and reduce the impact of the coupling agent on the inside of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The figure is a schematic structural diagram of an image nondestructive testing device according to the present invention.

[0028] Figure 2 for Figure 1 Magnified view of region A of the structure shown.

[0029] Figure 3 for Figure 1 Structural schematic diagram of the detection end module in the structure shown.

[0030] Figure 4 and Figure 5for Figure 1 Schematic diagram of the internal structure of the detection end module in the structure shown.

[0031] Figure 6 for Figure 5 Magnified view of region B in the structure shown.

[0032] Figure 7 for Figure 4 Structural schematic diagram of the transmission mechanism in the structure shown.

[0033] The marks in the attached drawings are: 1. detection equipment body, 2. detection end module, 21. detection end mounting plate, 22. color camera, 23. ultrasonic probe, 24. coupling agent storage and recovery device, 241. first recovery area, 2411. arc-shaped inner wall structure, 2412. guide ring groove, 2413. opening, 242. second recovery area, 2421. sliding scraper, 2422. groove baffle, 2423. slider, 2424. feeding scraper, 243. temporary storage area, 2431. coupling agent, 2432. output pipe, 2433. partition, 2434. protruding platform, 2435. waterproof breathable valve, 244. output area, 2441. sliding push plate, 2442. Air inlet; 2443. Fixed end plate; 245. Outlet; 246. Recovery port; 247. First recovery mechanism; 2471. Recovery shaft assembly; 2472. Rotating scraper; 2473. Cylindrical protrusion; 2474. Elastic spring; 248. Transmission mechanism; 2481. Active bevel gear; 2482. Driven bevel gear; 2483. Active gear; 2484. Transmission gear; 2485. Drive gear; 2486. First connecting rod; 2487. Turntable; 2488. Second connecting rod; 2489. Third connecting rod; 25. Side baffle; 26. Recovery motor; 3. Bracket connection structure; 31. Ring member; 32. Retractable connection assembly. DETAILED DESCRIPTION

[0034] The specific implementation modes of the present invention are further explained in detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art to have a more complete, accurate and in-depth understanding of the inventive concept and technical solution of the present invention.

[0035] like Figure 1-7As shown, the present invention provides an image nondestructive testing device, including a testing device body 1, a testing end module 2 and a bracket connection structure 3, wherein the testing device body 1 is connected to the testing end module 2 through the bracket connection structure 3, and the testing end module 2 can make circumferential movement along the inner wall of the pipeline, and an ultrasonic probe 23 and a coupling agent storage and recovery device 24 are provided in the testing end module 2, and the coupling agent storage and recovery device 24 includes an outlet 245, a recovery port 246, a side baffle 25, a first recovery area 241, a second recovery area 242, a temporary storage area 243 and an output area 244, wherein the first recovery area 241 is connected to the recovery port 246 and is provided with a first recovery mechanism 247 for transporting the gathered coupling agent 2431 entering from the recovery port 246 to the second recovery area 242, and the second recovery area 242 is provided between the temporary storage area 243 and the first recovery area 241, the second recovery area 242 is provided with a second recovery mechanism for collecting the coupling agent 2431 from the first recovery mechanism 247 and conveying it to the temporary storage area 243, the temporary storage area 243 is provided with a feeding mechanism for inputting the recovered coupling agent 2431 from the second recovery area 242 to the temporary storage area 243, the output area 244 is provided with an output mechanism for pressing the coupling agent 2431 in the temporary storage area 243 into the outlet 245, the outlet 245 is connected with the temporary storage area 243 through the output pipe 2432, the outlet 245 and the recovery port 246 are respectively located at the two ends of the ultrasonic probe 23 along the circumferential direction of the pipeline, the side baffles 25 are clamped on both sides of the ultrasonic probe 23 in pairs and are attached to the pipe wall with the outlet 245 and the recovery port 246 to form a closed detection area that constrains the coupling agent 2431.

[0036] The first recovery mechanism 247 includes a recovery shaft assembly 2471, a plurality of rotating scrapers 2472 and an elastic spring 2474, the rotating scrapers 2472 are evenly arranged on the axial side of the recovery shaft assembly 2471 along the circumferential direction, one side of the rotating scraper 2472 is rotatably installed on the axial side through a connecting shaft in the same direction as the recovery shaft assembly 2471 and the other side extends radially, one side of the rotating scraper 2472 is used to scrape the coupling agent 2431 and the other side is fixedly connected to a part of the elastic spring 2474, the other part of the elastic spring 2474 is fixedly connected to the axial side surface of the recovery shaft assembly 2471, the upper part of the first recovery area 241 is an arc-shaped inner wall structure 2411, the arc-shaped inner wall structure 2411 has an arc-shaped inner wall, the arc-shaped inner wall radius matches the extension length of the rotating scraper 2472 when it extends radially, and the recovery shaft assembly 2471 is arranged at the center of the arc-shaped inner wall. The elastic spring 2474 will keep the rotating scraper 2472 radially extended in a natural state. During the rotation of the rotating scraper 2472, the coupling agent 2431 entering from the recovery port 246 will be scraped onto the arc-shaped inner wall structure 2411. The arc-shaped inner wall structure 2411 and the inner walls on both sides constrain the coupling agent 2431 to prevent it from flowing down from the rotating scraper 2472. The rotating slide plate will eventually transport the coupling agent 2431 to a location close to the second recovery area 242.

[0037] The second recovery mechanism includes a sliding scraper 2421, a slider 2423 and a groove baffle 2422. The sliding scraper 2421 includes a scraping portion extending obliquely upward and a sliding portion horizontally attached to the bottom of the second recovery area 242. The front end of the sliding portion is transitioned to the scraping portion by an elastic arc portion. Sliders 2423 are fixed on both sides of the sliding portion. The side walls of the second recovery area 242 are provided with sliding grooves that slide with the sliders 2423. The groove baffle 2422 is fixed to the side of the slider 2423 to cover the sliding groove. The first recovery area 241 is provided with an opening 2413 for the sliding scraper 2421 to extend into. The sliding scraper 2421 slides along the slide groove to extend the scraping part into the first recovery area 241, and uses the scraping part to scrape the coupling agent 2431 transported by the rotating scraper 2472. The elastic reed 2474 allows the rotating scraper 2472 to rotate to a certain extent when being scraped. Combined with the elastic avoidance effect of the elastic arc part in the sliding scraper 2421, the problem of jamming between the two during the scraping process is prevented.

[0038] The inner wall of the first recovery area 241 is provided with a guide ring groove 2412, and cylindrical protrusions 2473 that slide in cooperation with the guide ring groove 2412 are fixed on the left and right sides of the rotating scraper 2472. The guide ring groove 2412 is centered on the recovery shaft assembly 2471, and the guide ring groove 2412 includes an annular section and an adjustment section. The annular section is centered on the recovery shaft assembly 2471, and the adjustment section is located at a position corresponding to the opening 2413. The adjustment section is a smooth curve structure that is concave inward, and both ends of the adjustment section are smoothly connected to the annular section. The function of the adjusting section is to drive the rotating scraper 2472 to rotate when passing through the cylindrical protrusion 2473. When the sliding scraper 2421 is extended, the coupling agent 2431 is scraped off the upper rotating scraper 2472, while the lower rotating scraper 2472 is squeezed downward. Based on the guiding effect of the guide ring groove 2412, the rotating slide plate that has been squeezed and rotated downward will resume the radially extended state only after passing through the adjusting section, thereby avoiding the problem of excessive upward warping of the scraping end caused by the squeezing of the lower rotating scraper 2472 while the sliding scraper 2421 is scraping, resulting in poor scraping effect.

[0039] The temporary storage area 243 and the second recovery area 242 are separated by a partition 2433, and a one-way feed door which can only be opened toward the temporary storage area 243 is provided on the partition 2433. The feeding mechanism includes a feeding scraper 2424 which can be abutted against the partition 2433, and the upper side of the feeding scraper 2424 is rotatably installed in the second recovery area 242 via a transverse rotating shaft. The feeding scraper 2424 is connected to a transmission mechanism 248, and the transmission mechanism 248 can drive the feeding scraper 2424 to periodically rotate and open and close in the direction of the sliding scraper 2421. The feeding scraper 2424 can scrape the coupling agent 2431 on the sliding scraper 2421 by rotating and opening and closing, and feed it into the temporary storage area 243 through the one-way feed door.

[0040] The one-way feeding door is located at the lower part of the partition 2433, and a sealing gasket is also provided at the bottom of the second recovery area 242, and the sealing gasket is provided on the side of the one-way feeding door. When the feeding scraper 2424 feeds the material to the temporary storage area 243, the lower side of the feeding scraper 2424 is sealed by the sealing gasket to prevent the coupling agent 2431 from flowing out from the lower side, so that the coupling agent 2431 can only enter the temporary storage area 243 from the one-way feeding door. The left and right sides of the feeding scraper 2424, the sliding scraper 2421 and the rotating scraper 2472 are all provided with sealing strips. This kind of sealing structure prevents the coupling agent 2431 from leaking out when the three move.

[0041] The output mechanism includes a fixed end plate 2443, an elastic telescopic rod, a sliding push plate 2441 and an air inlet 2442. The sliding push plate 2441 is located between the partition 2433 and the fixed end plate 2443 and divides the space into the temporary storage area 243 and the output area 244. The sliding push plate 2441 is connected to the fixed end plate 2443 through the elastic telescopic rod, and the elastic telescopic rod is perpendicular to the fixed end plate 2443 and the sliding push plate 2441. The air inlet 2442 is arranged in the output area 244 and connected to the air pump.

[0042] The temporary storage area 243 is used to temporarily store the input and recovered coupling agent 2431, and is used to output the coupling agent 2431 to the outlet 245 during use. One side of the temporary storage area 243 is the partition 2433 and the other side is provided with the output mechanism. The temporary storage area 243 is connected to the coupling agent storage tank in the detection equipment body 1 through a coupling agent delivery pipe. The temporary storage area 243 is also connected to the external gas through a waterproof breathable valve 2435. One end of the output pipe 2432 extends into the bottom area of ​​the partition 2433.

[0043] A protruding platform 2434 corresponding to the moving range of the sliding push plate 2441 is provided at the bottom between the fixed end plate 2443 and the partition plate 2433. The top of the protruding platform 2434 and the side wall of the coupling agent storage and recovery device 24 form a push plate channel. The sliding push plate 2441 can slide along the push plate channel and remain sealed. The output pipe 2432 passes through the protruding platform 2434. A check valve is provided in the output pipe 2432 to prevent the output coupling agent 2431 from flowing back.

[0044] In this solution, the air pump performs periodic inflation and degassing when the feeding scraper 2424 is not recycling the coupling agent 2431 and feeding it into the temporary storage area 243. The sliding push plate 2441 thus periodically squeezes the temporary storage area 243 under the action of the elastic telescopic rod. After the temporary storage area 243 is squeezed by the sliding push plate 2441, the coupling agent 2431 temporarily stored inside it will be output through the output pipe 2432. When the sliding push plate 2441 is reset, the coupling agent 2431 will not flow back from the output pipe 2432, and the outside air will enter the temporary storage area 243 to maintain the air pressure stable. When recycling, the coupling agent 2431 enters from the one-way feed port, and the excess gas in the temporary storage area 243 is discharged from the waterproof breathable valve 2435. The waterproof breathable valve 2435 can prevent the coupling agent 2431 from passing through and will not cause the coupling agent 2431 to leak out.

[0045] The coupling agent storage and recovery device 24 also includes a recovery motor 26, and the transmission mechanism 248 is a gear transmission mechanism 248, which includes a driving gear 2485 coaxially connected to the recovery shaft assembly 2471, a driving gear 2483 and a transmission gear 2484 transmission-connected to the recovery motor 26, and the transmission gear 2484 is meshed with the driving gear 2483 and the driving gear 2485 at the same time. A turntable 2487 is also fixedly connected to the gear shaft of the driving gear 2483, and the turntable 2487 is rotatably embedded and installed on the inner wall of the second recovery area 242. The edge of the turntable 2487 is hingedly connected to one end of a first connecting rod 2486 parallel to the turntable 2487, and the other end of the first connecting rod 2486 is hingedly connected to the side of the feeding scraper 2424.

[0046] The gear shaft of the transmission gear 2484 is also fixedly connected to one end of the second connecting rod 2488, the other end of the second connecting rod 2488 is hinged to one end of the third connecting rod 2489, the other end of the third connecting rod 2489 is hinged to the slider 2423, the length of the third connecting rod 2489 is greater than twice the length of the second connecting rod 2488, and the transmission ratio between the transmission gear 2484 and the driving gear 2485 is equal to the number of the rotating scrapers 2472, so that the sliding scraper 2421 runs back and forth once, and the corresponding recovery shaft assembly 2471 rotates the angle between the two rotating scrapers 2472, which just realizes the operation cycle of one rotating scraper 2472 from extending into the sliding scraper 2421 to retracting the sliding scraper 2421 to scrape off the coupling agent 2431. The output shaft of the recovery motor 26 is arranged downward, and a driving bevel gear 2481 is fixedly sleeved on the output shaft. A driven bevel gear 2482 is coaxially mounted on the driving gear 2483 , and the driven bevel gear 2482 is vertically meshed with the driving bevel gear 2481 .

[0047] The detection end module 2 also includes a color camera 22 for RGB image acquisition and a detection end mounting plate 21, which can make up for the defects that ultrasonic scanning cannot well identify some shallow deformation, corrosion, rust and other defects on the inner surface of the pipeline. The detection end mounting plate 21 is provided with a first mounting portion for mounting the ultrasonic probe 23 and a second mounting portion for mounting the color camera 22, the first mounting portion and the second mounting portion form a certain angle, the detection end mounting plate 21 is arranged along the circumference of the pipeline, the bracket connection structure 3 includes a radially extending retractable connection component 32 and a ring member 31 fixedly sleeved outside the detection device body 1, one end of the retractable connection component 32 is connected to the detection end mounting plate 21, and the other end is fixed outside the ring member 31.

[0048] The detection device body 1 is provided with the coupling agent storage tank, the air pump, the signal processing module and the control module. The coupling agent storage tank is provided with a delivery pump for outputting the coupling agent 2431 to the temporary storage area 243. The air pump is used to control the extrusion of the coupling agent 2431. The signal processing module is used to process the ultrasonic scanning image and RGB image output by the ultrasonic probe 23 and the color camera 22 and output them to the outside. The upper control module is used to control the above-mentioned various actuators, such as the air pump, the delivery pump, the recovery motor 26, etc. The detection device body 1 is also provided with a central axis connector, which is used to connect the connecting shaft extended by the robot in the pipeline. The connecting shaft can drive the image nondestructive testing device to rotate, thereby realizing ultrasonic circumferential scanning and RGB image acquisition.

[0049] Utilizing the above-mentioned image nondestructive testing device, the present invention further provides an image nondestructive testing method, comprising the following steps.

[0050] The first step is to complete the scanning preparation after the robot reaches a position to be inspected in the pipeline.

[0051] The scanning preparation includes calibrating the ultrasonic probe 23 detection and image acquisition at the beginning, and replenishing the coupling agent 2431 according to the storage of the coupling agent 2431 in the corresponding detection end module 2 each time the detection position is reached.

[0052] In the second step, the robot drives the image nondestructive testing device to rotate, driving each detection end module 2 to rotate circumferentially, thereby performing a circumferential scan on the inner wall of the pipeline.

[0053] Here, the circumferential rotation generally refers to the rotation in the direction where the color camera 22 is provided, and the outlet 245 is also provided in this direction. In this way, the color camera 22 first takes a picture of the corresponding area to obtain RGB image information, and then when the ultrasonic probe 23 passes by, the air pump periodically inflates and deflates to complete the output and application of the coupling agent 2431, and the ultrasonic probe 23 passes through the area where the coupling agent 2431 is applied to complete the scanning, and then the recovery port 246 passes through the area and collects the applied coupling agent 2431 into the first recovery area 241.

[0054] After the coupling agent 2431 is accumulated in the first recovery area 241, it is scraped by the rotating scraper 2472 near the first recovery mechanism 247 and then transported to the position of the opening 2413. When each rotating scraper 2472 passes through the position, the sliding scraper 2421 extends from the opening 2413 and is retracted. During this process, the scraping part scrapes the coupling agent 2431 on the rotating scraper 2472 to the second recovery area 242. At the same time, the feeding scraper 2424 rotates downward from the top to scrape the coupling agent 2431 during the retraction of the sliding scraper 2421, and moves toward the one-way feeding port, thereby pressing the coupling agent 2431 into the temporary storage area 243.

[0055] At the same time, the air pump continuously drives the output mechanism to squeeze the coupling agent 2431 in the temporary storage area 243 inward, so that the coupling agent 2431 is continuously output through the output pipe 2432 and the outlet 245, and the coupling agent 2431 is applied to the inner wall of the pipe. The side baffles 25 block the coupling agent 2431 on both sides to confine it in the closed detection area to prevent the coupling agent 2431 from leaking out.

[0056] In the third step, the collected RGB images and ultrasonic images are transmitted to the image processing module to complete the pre-processing processes such as denoising and filtering, and then the temporally continuous images are output to the data processing equipment through communication cables or wireless communications.

[0057] In the fourth step, the data processing device performs splicing processing on the several RGB images and ultrasonic images collected continuously, thereby obtaining the spliced ​​circumferential RGB image and circumferential ultrasonic image of the inner wall of the pipeline.

[0058] Step 5: Based on the trained intelligent recognition model, intelligently identify the defects in the RGB image and ultrasonic image, mark the defects and output them to the inspector.

[0059] Step 6. After completing the inspection of an area, the data processing device sends a signal to the robot and the control module. After the image nondestructive testing device stops the inspection, the robot continues to move forward to the next inspection area.

[0060] Afterwards, the image nondestructive testing device repeats the first to sixth steps above.

[0061] Through the above-mentioned manner, the method can realize the circumferential scanning inspection of the inner wall of the long-distance pipeline, collect RGB image information at the same time, and use RGB images and ultrasonic images to perform non-destructive inspection of the pipeline at the same time, with high inspection efficiency and good inspection effect, and can ensure that no additional coupling agent 2431 is required for a long time. The image non-destructive inspection device has a longer time and pipeline area for a single non-destructive inspection, which improves the inspection efficiency and reduces the influence of the coupling agent 2431 on the inside of the pipeline.

[0062] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the inventive concept and technical solution of the present invention, or the inventive concept and technical solution are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. An image nondestructive testing device, characterized in that: The invention comprises a detection device body (1), a detection end module (2) and a support connection structure (3); the detection device body (1) is connected to the detection end module (2) via the support connection structure (3); the detection end module (2) is capable of circumferential movement along the inner wall of a pipeline; an ultrasonic probe (23) and a coupling agent storage and recovery device (24) are arranged in the detection end module (2); the coupling agent storage and recovery device (24) comprises an outlet (245), a recovery port (246), a side baffle (25), a first recovery area (241), a second recovery area (242), a temporary storage area (243) and an output area (244); the first recovery area (241) is communicated with the recovery port (246) and is provided with a first recovery mechanism (247) for transporting the coupling agent (2431) collected from the recovery port (246) to the second recovery area (242); the second recovery area (242) is arranged between the temporary storage area (243) and the first recovery area (241); The second recovery area (242) is provided with a second recovery mechanism for collecting the coupling agent (2431) from the first recovery mechanism (247) and conveying it to the temporary storage area (243); the temporary storage area (243) is provided with a feeding mechanism for conveying the recovered coupling agent (2431) from the second recovery area (242) to the temporary storage area (243); the output area (244) is provided with a feeding mechanism for pressing the coupling agent (2431) in the temporary storage area (243) into the outlet (245). The output mechanism comprises an outlet (245) connected to the temporary storage area (243) through an output pipe (2432), the outlet (245) and the recovery port (246) are respectively located at two ends of the ultrasonic probe (23) along the circumferential direction of the pipeline, and the side baffles (25) are clamped on both sides of the ultrasonic probe (23) in pairs and are attached to the pipe wall together with the outlet (245) and the recovery port (246) to form a closed detection area that constrains the coupling agent (2431).

2. The image nondestructive testing device according to claim 1, characterized in that: The first recovery mechanism (247) comprises a recovery shaft assembly (2471), a plurality of rotating scrapers (2472) and an elastic spring (2474), wherein the rotating scrapers (2472) are evenly arranged on the shaft side of the recovery shaft assembly (2471) along the circumferential direction, and one side of the rotating scraper (2472) is rotatably mounted on the shaft side via a connecting shaft in the same direction as the recovery shaft assembly (2471), and one side of the rotating scraper (2472) is used to scrape the coupling agent (2431) and the other side is fixedly connected to the coupling agent (2431). A part of the elastic spring (2474), another part of the elastic spring (2474) is fixedly connected to the axial side surface of the recovery shaft assembly (2471), the upper part of the first recovery area (241) is an arc-shaped inner wall structure (2411), and the arc-shaped inner wall structure (2411) has an arc-shaped inner wall, and the radius of the arc-shaped inner wall matches the extension length of the rotating scraper (2472) when it is radially extended, and the recovery shaft assembly (2471) is arranged at the center of the arc-shaped inner wall.

3. The image nondestructive testing device according to claim 2, characterized in that: The second recovery mechanism comprises a sliding scraper (2421), a slider (2423) and a groove baffle (2422); the sliding scraper (2421) comprises a scraping portion extending obliquely upward and a sliding portion horizontally attached to the bottom of the second recovery area (242); an elastic arc portion transitions between the front end of the sliding portion and the scraping portion; sliders (2423) are fixed on both sides of the sliding portion; side walls on both sides of the second recovery area (242) are provided with sliding grooves that slide with the sliders (2423); the groove baffle (2422) is fixed to the side of the slider (2423) to cover the sliding groove; and the first recovery area (241) is provided with an opening (2413) for the sliding scraper (2421) to extend into.

4. The image nondestructive testing device according to claim 3, characterized in that: The inner wall of the first recovery area (241) is provided with a guide ring groove (2412), and cylindrical protrusions (2473) slidingly matched with the guide ring groove (2412) are fixed on the left and right sides of the rotating scraper (2472), and the guide ring groove (2412) is centered on the recovery shaft assembly (2471). The guide ring groove (2412) includes an annular section and an adjustment section, and the annular section is centered on the recovery shaft assembly (2471). The adjustment section is located at a position corresponding to the opening (2413), and the adjustment section is a smooth curve structure concave inward, and both ends of the adjustment section are smoothly connected to the annular section.

5. The image nondestructive testing device according to claim 4, characterized in that: The temporary storage area (243) and the second recovery area (242) are separated by a partition (2433), and the partition (2433) is provided with a one-way feeding door that can only be opened toward the temporary storage area (243). The second recovery area (242) is provided with a feeding scraper (2424) that can be abutted against the partition (2433). The upper side of the feeding scraper (2424) is rotatably installed in the second recovery area (242) through a transverse rotating shaft. The feeding scraper (2424) is connected to a transmission mechanism (248), and the transmission mechanism (248) can drive the feeding scraper (2424) to periodically rotate and open and close in the direction of the sliding scraper (2421). The feeding scraper (2424) can scrape the coupling agent (2431) on the sliding scraper (2421) by rotating and opening and closing, and feed it into the temporary storage area (243) through the one-way feeding door.

6. The image nondestructive testing device according to claim 5, characterized in that: The output mechanism comprises a fixed end plate (2443), an elastic telescopic rod, a sliding push plate (2441) and an air inlet (2442); the sliding push plate (2441) is located between the partition plate (2433) and the fixed end plate (2443) and divides the space into the temporary storage area (243) and the output area (244); the sliding push plate (2441) is connected to the fixed end plate (2443) through the elastic telescopic rod; the elastic telescopic rod is perpendicular to the fixed end plate (2443) and the sliding push plate (2441); the air inlet (2442) is arranged in the output area (244) and connected to the air pump.

7. The image nondestructive testing device according to claim 6, characterized in that: The coupling agent storage and recovery device (24) further comprises a recovery motor (26); the transmission mechanism (248) is a gear transmission mechanism (248); the gear transmission mechanism (248) comprises a driving gear (2485) coaxially connected to the recovery shaft assembly (2471), a driving gear (2483) and a transmission gear (2484) connected to the recovery motor (26) via a bevel gear mechanism; the transmission gear (2484) is connected to the driving gear (2485) coaxially connected to the recovery shaft assembly (2471); 483) and a driving gear (2485), a turntable (2487) is fixedly connected to the gear shaft of the driving gear (2483), and the turntable (2487) is rotatably embedded in the inner wall of the second recovery area (242), and the edge of the turntable (2487) is hingedly connected to one end of a first connecting rod (2486) parallel to the turntable (2487), and the other end of the first connecting rod (2486) is hingedly connected to the side of the feeding scraper (2424).

8. The image nondestructive testing device according to claim 7, characterized in that: The gear shaft of the transmission gear (2484) is also fixedly connected to one end of the second connecting rod (2488), the other end of the second connecting rod (2488) is hinged to one end of the third connecting rod (2489), the other end of the third connecting rod (2489) is hinged to the slider (2423), the length of the third connecting rod (2489) is greater than twice the length of the second connecting rod (2488), and the transmission ratio between the transmission gear (2484) and the driving gear (2485) is equal to the number of the rotating scrapers (2472).

9. The image nondestructive testing device according to claim 8, characterized in that: The detection end module (2) further comprises a color camera (22) for RGB image acquisition and a detection end mounting plate (21); the detection end mounting plate (21) is provided with a first mounting portion for mounting the ultrasonic probe (23) and a second mounting portion for mounting the color camera (22); the first mounting portion and the second mounting portion form a certain angle; and the detection end mounting plate (21) is arranged along the circumference of the pipeline.

10. A nondestructive image detection method, characterized in that: Using an image nondestructive testing device according to any one of claims 1 to 9, and comprising the following steps: The first step is to complete the scanning preparation after the robot reaches a position to be inspected in the pipeline; Step 2: The robot drives the image nondestructive testing device to rotate, driving each detection end module (2) to rotate circumferentially, thereby performing a circumferential scan on the inner wall of the pipeline; The third step is to transmit the collected images to the image processing module, complete the preprocessing process, and then output the temporally continuous images to the data processing device; Step 4: The data processing device performs splicing processing on the continuously collected images, thereby obtaining a spliced ​​image of the inner wall of the pipeline; Step 5: Intelligently identify defects in the image based on the trained intelligent recognition model, mark the defects and output them to the inspector; Step 6: After completing the inspection of an area, the data processing device sends a signal to the robot and the control module. After the image nondestructive testing device stops the inspection, the robot continues to move forward to the next inspection area. Afterwards, the image nondestructive testing device repeats the first to sixth steps above.

Images