Automatic detection terminal, device and method for wear of densely arranged thin pipes

Abstract

The present invention relates to the technical field of pipeline wear detection, and specifically discloses an automatic detection terminal and device and method for densely arranged thin pipeline wear, including a guide structure, a probe body, a probe base, a connecting flange, a remote auxiliary imaging device, a main imaging device, a near-end auxiliary imaging device, a first laser positioning device and a second laser positioning device; the guide structure is connected to the remote end of the probe body; one end of the probe base is connected to the near-end of the probe body, and the other end is connected to the connecting flange; the remote auxiliary imaging device and the near-end auxiliary imaging device are arranged oppositely, and are used to collect the notch contour of the pipeline wear area; the first laser positioning device and the second laser positioning device are used to measure the relative posture of the pipeline and the detection terminal; the main imaging device is used to provide visual information for the remote operation automatic detection terminal. The present invention achieves the goal of performing pipeline wear detection tasks in an inaccessible or dangerous environment, while improving detection efficiency and reducing personnel workload.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline wear detection, and in particular to a terminal, a device and a method for automatically detecting the wear of densely arranged thin pipelines. Background Art

[0002] Pipeline wear is an important cause of pipeline damage and even leakage. The main reason is the cross-contact points between pipelines. The movement of fluid in the pipeline causes tiny vibrations in the pipeline. After a long period of accumulation, the pipeline wears, becomes thinner, and breaks, which will affect the normal operation of industrial equipment and even cause serious safety accidents. Therefore, regular inspection of pipeline wear has become an indispensable key link in the safe operation of modern industrial equipment. Traditional pipeline wear detection mainly adopts manual contact detection and uses vernier calipers for measurement. During the inspection, the pipeline is manually opened and the caliper is inserted for measurement. The insertion direction and readings are all based on manual observation. When there are a large number of points to be inspected, the work intensity is high and the accuracy is difficult to guarantee. At the same time, since many pipelines are in inaccessible or dangerous scenes, they will pose a serious threat to the health of personnel.

[0003] Chinese invention patent CN201910124931.5 discloses a non-contact three-source magnetic field comprehensive detection method for metal pipeline defects, which determines whether the pipeline has defects and the degree of defect wear by using three-source magnetic fields: natural field, continuous field, and transient field; Chinese invention patent CN201210473413.2 authorizes a metal pipeline detection method, which detects loss defects of the pipe wall by setting an ultrasonic guided wave sensor group on the inner wall of the pipe.

[0004] The above methods can all detect the amount of pipe wear. However, for densely arranged thin pipes, due to the small diameter of the pipes, the large number of pipes, the difficulty in disassembly, the close distance between adjacent pipes and the mutual shielding, and the limited detection space, effective detection is impossible. Manual assistance is required for work, and personnel cannot be isolated from the work scene. The magnetic field detection method for pipeline defects cannot detect the amount of wear for dense metal thin pipes due to mutual interference. The ultrasonic guided wave sensor detection device cannot detect the outer wall wear of small diameter pipes, cannot detect the wear of pipes where sensors are not installed, and is not suitable for multi-point pipeline wear detection. At the same time, the above methods still have the problem of lack of suitable detection methods and devices in terms of automatic detection. At present, there is no method that can effectively realize automatic detection of wear for densely arranged thin pipes.

[0005] Therefore, it is necessary to design a method for automatically detecting the end of pipe wear suitable for densely arranged thin pipes to solve the shortcomings of existing methods. Summary of the invention

[0006] The purpose of the present invention is to provide an automatic detection terminal, device and method for the wear of densely arranged thin pipes, so as to achieve the goal of performing pipeline wear detection tasks in inaccessible or dangerous environments, while improving detection efficiency and reducing personnel workload.

[0007] The present invention is achieved through the following technical solutions:

[0008] The terminal for automatic detection of wear of densely arranged thin pipes comprises a guide structure, a probe body, a probe base and a connecting flange, and also comprises a distal auxiliary imaging device, a main imaging device, a proximal auxiliary imaging device, a first laser positioning device and a second laser positioning device;

[0009] The guiding structure is connected to the distal end of the probe body;

[0010] One end of the probe base is connected to the proximal end of the probe body, and the other end is connected to a connecting flange, and the connecting flange is used to connect to the moving actuator;

[0011] The far-end auxiliary imaging device and the near-end auxiliary imaging device are arranged opposite to each other, and are used to collect the notch contour of the pipeline wear area; the first laser positioning device and the second laser positioning device are respectively arranged on both sides of the near-end auxiliary imaging device, and are used to measure the relative posture of the pipeline and the detection end; the main imaging device is used to provide visual information for the remote operation automatic detection end.

[0012] The fine pipe wear automatic detection terminal of the present invention is installed on a mobile execution device, as an end actuator of a mobile execution device, and replaces the detection personnel to realize the automatic identification of the wear of the outer wall of the fine pipes densely arranged in a dangerous environment. The present invention can adjust the posture of the fine pipe wear automatic detection terminal through the notch contour of the pipeline wear area collected by the far-end auxiliary imaging device and the near-end auxiliary imaging device, and the relative posture of the pipeline and the detection terminal measured by the first laser positioning device and the second laser positioning device, so that the probe body is parallel to the pipeline to be tested, and the notch of the pipeline wear area is facing the probe body, and then the notch contour of the pipeline wear area collected by the far-end auxiliary imaging device or the near-end auxiliary imaging device is used to accurately measure the pipeline wear area, thereby achieving the goal of performing pipeline wear detection tasks in inaccessible or dangerous environments, while improving detection efficiency and reducing personnel workload.

[0013] Furthermore, the guide structure has a horizontally arranged top surface, the probe base has a horizontally arranged bottom surface, and the bottom surface of the probe base and the top surface of the guide structure are arranged relative to each other with the horizontal center line of the probe body.

[0014] The remote auxiliary imaging device is mounted on the top surface of the guide structure;

[0015] The main imaging device, the proximal auxiliary imaging device, the first laser positioning device and the second laser positioning device are installed on the bottom surface of the probe base.

[0016] Furthermore, a remote light source is also arranged on the top surface of the guiding structure.

[0017] Furthermore, a proximal light source is also arranged on the bottom surface of the probe base.

[0018] Furthermore, two positioning baffles are included;

[0019] Two positioning baffles are symmetrically arranged on both sides of the probe body, the upper end surfaces of the positioning baffles protrude from the side walls of the probe body, and the positioning baffles are provided with positioning grooves for fixing the pipeline to be detected.

[0020] Furthermore, the positioning baffle is detachably connected to the probe body, and the probe body is equipped with positioning baffles of various specifications. The positioning grooves on the positioning baffles of different specifications have different sizes and can be used to fix pipes of different sizes.

[0021] Furthermore, a linear scale is provided on the upper end surface of the probe body at a position corresponding to the positioning groove, and the linear scale is used to provide an image scale for a machine vision detection algorithm.

[0022] Furthermore, the guiding structure, the probe body and the positioning baffle are all made of smooth polymer materials, and the smooth polymer materials include smooth hard polyetheretherketone materials, which have the advantages of wear resistance, aging resistance, high hardness and elasticity.

[0023] Furthermore, the guiding structure is a wedge-shaped structure, and both sides of the wedge-shaped structure are inclined surfaces with a certain slope, which facilitates the introduction and export of the probe body between two adjacent pipes. The wedge-shaped structure realizes the function of non-destructively opening the pipes in the densely arranged pipe scene.

[0024] An automatic detection device for the wear of a thin pipe, comprising an automatic detection terminal for the wear of a thin pipe, an adjustment mechanism and a control unit;

[0025] The control unit drives the adjustment mechanism to act according to the notch profile of the pipeline wear area and / or the relative position of the pipeline and the detection end;

[0026] The adjustment mechanism is used to adjust the relative position of the end of the automatic detection of fine pipe wear and the probe body, ensuring that the probe body is parallel to the pipe to be tested and that the notch in the pipe wear area faces the probe body.

[0027] The method for automatically detecting the wear of a thin pipe based on the automatic detection terminal of the wear of a thin pipe comprises the following steps:

[0028] S1. Move the mobile execution device to the point to be detected;

[0029] S2, the mobile execution device controls the displacement of the end of the automatic detection of the wear amount of the fine pipe through the visual information provided by the main imaging device, so that the guide structure is inserted between two adjacent pipes to push the two contacting pipes apart; and controls the probe body to move downward so that the pipe to be tested contacts the side wall of the probe body;

[0030] S3, measuring the relative position of the pipeline and the detection end by the first laser positioning device and the second laser positioning device, and adjusting the position of the probe body according to the measurement results so that the probe body is parallel to the pipeline to be measured;

[0031] S4, respectively collecting the notch profile of the pipeline wear area by the distal auxiliary imaging device and the proximal auxiliary imaging device, and adjusting the position of the probe body by comparing the notch profiles of the pipeline wear area collected by the two devices, so that the notch of the pipeline wear area faces the side wall of the probe body;

[0032] S5. After steps S3 and S4 are completed, the probe body is parallel to the pipeline to be tested, and the notch in the pipeline wear area is facing the probe body. The notch profile of the pipeline wear area is then collected by the far-end auxiliary imaging device or the near-end auxiliary imaging device, and the pipeline wear depth is calculated based on the notch profile information.

[0033] Furthermore, in step S3, the specific measurement process of the relative posture of the pipeline and the detection end is:

[0034] The first laser positioning device measures the distance d1 between it and the outer wall of the pipe; the second laser positioning device measures the distance d2 between it and the outer wall of the pipe, and judges whether the pipe is parallel to the probe body according to the difference δ between d1 and d2. If the difference δ is 0, the pipe is parallel to the probe body and there is no need to adjust the position of the probe body. If the absolute value of the difference δ is greater than 0, the pipe is not parallel to the probe body, and the posture of the detection end is adjusted according to the diameter d of the pipe and the value of d1 or d2 to make the pipe parallel to the probe body.

[0035] Furthermore, the specific process in step S4 is:

[0036] The notch image acquired by the proximal auxiliary imaging device is Pic1, and the notch image acquired by the distal auxiliary imaging device is Pic2. The contours of the notch area are extracted from images Pic1 and Pic2 respectively to obtain contour curves P1 and P2, and the distances h1 and h2 between the deepest points of contours P1 and P2 and the pipeline axis are calculated; if h1>h2, the detection end is adjusted to rotate around the pipeline axis to reduce h1 to be equal to h2, and vice versa.

[0037] Furthermore, the specific process in step S5 is:

[0038] A proximal auxiliary imaging device or a distal auxiliary imaging device is used to obtain a notch image Pic3 of the pipeline wear area, extract the notch area contour from the image Pic3, obtain the contour curve P3, and calculate the distance h3 between the deepest point of P3 and the pipeline axis. The difference between the pipeline radius r and the distance h3 is the pipeline wear amount Dc.

[0039] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0040] 1. The automatic detection terminal of the wear of fine pipes of the present invention is installed on a mobile actuator. As an end actuator of a mobile actuator, it replaces the detection personnel to realize the automatic identification of the wear of the outer wall of the densely arranged fine pipes in the dangerous environment, and realizes the goal of pipeline wear detection in an inaccessible or dangerous environment, while improving the detection efficiency and reducing the workload of personnel.

[0041] 2. The present invention achieves the function of non-destructively pushing aside pipes in a densely arranged pipe scenario by designing a guiding structure with a specific shape.

[0042] 3. The present invention can improve the application scope of the present invention by designing positioning baffles of different specifications. When the present invention is applied to the detection of pipelines with different diameters, the detection of pipeline wear can also be achieved.

[0043] 4. The present invention uses two laser positioning devices at specific positions and uses the difference δ of the distances d1 and d2 measured from the outer wall of the pipeline to automatically adjust the alignment between the pipeline and the positioning groove to ensure detection accuracy.

[0044] 5. The present invention uses high-definition images of pipeline wear and tear to find pipeline wear gaps based on visual algorithms, performs wear detection, and converts the image pipeline wear amount Dpic into the actual pipeline wear amount Dw, so that the process of identifying and reading is automated. The results are more objective than manual work, and the degree of automation of the operation is enhanced.

[0045] 6. The present invention can realize the recognition modeling of different types of pipeline defects and realize the digital management of pipeline defect detection by adjusting the iterative machine vision algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings described herein are used to provide a further understanding of the embodiments of the present invention and constitute the present invention.

[0047] The present invention is not intended to be construed as a part of the present application and does not constitute a limitation on the embodiments of the present invention.

[0048] Figure 1 This is a schematic diagram of the working end of the automatic detection of wear amount of a thin pipe according to the present invention;

[0049] Figure 2This is a schematic diagram of the structure of the end of the automatic detection of the wear amount of a thin pipe according to the present invention;

[0050] Figure 3 It is a structural schematic diagram of the guiding structure of the present invention;

[0051] Figure 4 It is a structural schematic diagram of the probe base of the present invention;

[0052] Figure 5 This is a schematic diagram of image processing at the end of the automatic detection of wear of a thin pipe according to the present invention;

[0053] Figure 6 This is a schematic diagram of the automatic detection end of the wear amount of a thin pipe of the present invention for detecting the wear of a pipe notch;

[0054] Figure 7 This is a flow chart of the detection method in Example 1 of the present invention.

[0055] Marks and corresponding parts names in the attached drawings:

[0056] 1-guiding structure, 2-probe body, 3-positioning baffle, 4-probe base, 5-connecting flange, 11-distal auxiliary imaging device, 12-distal light source, 21-linear calibration ruler, 31-positioning groove, 41-main imaging device, 42-proximal auxiliary imaging device, 43-first laser positioning device, 44-second laser positioning device, 45-proximal light source. DETAILED DESCRIPTION

[0057] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0058] Embodiment 1:

[0059] like Figure 1-Figure 4 As shown, the terminal for automatic detection of wear of densely arranged thin pipes includes a guiding structure 1, a probe body 2, a probe base 4 and a connecting flange 5, and also includes a distal auxiliary imaging device 11, a main imaging device 41, a proximal auxiliary imaging device 42, a first laser positioning device 43 and a second laser positioning device 44; the distal auxiliary imaging device 11, the main imaging device 41, and the proximal auxiliary imaging device 42 can all be cameras.

[0060] The guide structure 1 is connected to the distal end of the probe body 2; see Figure 1 When in use, the guide structure 1 shown passes through the gap between the two pipes, so that the probe body 2 is placed between the two pipes to separate the pipes; preferably, the guide structure 1 is a wedge-shaped structure, and both sides of the wedge-shaped structure have slopes to facilitate insertion and withdrawal from the gap of the pipe.

[0061] One end of the probe base 4 is connected to the proximal end of the probe body 2, and the other end is connected to the connecting flange 5, and the connecting flange 5 is used to connect to the mobile actuator; the probe base 4 provides space for installing circuits and related components, and can be connected to a robot arm through the connecting flange 5, so that the robot arm can adjust the posture of the end of the automatic detection of the wear amount of the fine pipe to adapt to different pipeline detection environments.

[0062] During implementation, the wear detection device in this embodiment is connected to the robot arm through the connecting flange 5 ; the power supply and signal lines of the robot arm are connected to the probe base 4 and the guide structure 1 .

[0063] The remote auxiliary imaging device 11 and the near-end auxiliary imaging device 42 are arranged opposite to each other, and are used to collect the notch contour of the pipeline wear area; the first laser positioning device 43 and the second laser positioning device 44 are respectively arranged on both sides of the near-end auxiliary imaging device 42, and are used to measure the relative position of the pipeline and the detection end; the main imaging device 41 is used to provide visual information for the remote operation automatic detection end. The specific installation method can be:

[0064] The guide structure 1 has a horizontally arranged top surface, and the probe base 4 has a horizontally arranged bottom surface. The bottom surface of the probe base 4 and the top surface of the guide structure 1 are arranged relative to each other along the horizontal center line of the probe body 2.

[0065] The remote auxiliary imaging device 11 is installed on the top surface of the guide structure 1;

[0066] The main imaging device 41 , the proximal auxiliary imaging device 42 , the first laser positioning device 43 and the second laser positioning device 44 are installed on the bottom surface of the probe base 4 .

[0067] In a preferred case, a distal light source 12 is further disposed on the top surface of the guiding structure 1 ; and a proximal light source 45 is further disposed on the bottom surface of the probe base 4 .

[0068] The distal auxiliary imaging device 11 , the main imaging device 41 , the proximal auxiliary imaging device 42 , the first laser positioning device 43 and the second laser positioning device 44 , the distal light source 12 and the proximal light source 45 are connected to the probe base 4 and the circuit in the guide structure 1 .

[0069] The guide structure 1 and the probe body 2 are both made of smooth polymer materials, including smooth hard polyetheretherketone materials; the material has the advantages of high temperature resistance, wear resistance, aging resistance, high hardness and radiation resistance, and can be used in high temperature and radiation environments that are commonly seen in nuclear power plants and in conditions of frequent friction with pipelines.

[0070] like Figure 7As shown, the method for automatically detecting the wear amount of a thin pipe at the end of the automatic detection of the wear amount of a thin pipe in this embodiment includes the following steps:

[0071] S1. Move the mobile actuator to the point to be detected.

[0072] S2. The mobile execution device controls the automatic detection of the end displacement of the fine pipe wear through the visual information provided by the main imaging device 41, so that the guide structure 1 is inserted between two adjacent pipes to push the two contacting pipes apart; and controls the probe body 2 to move downward so that the pipe to be tested contacts the side wall of the probe body 2.

[0073] S3. The relative position of the pipeline and the detection end is measured by the first laser positioning device 43 and the second laser positioning device 44, and the position of the probe body 2 is adjusted according to the measurement result so that the probe body 2 is parallel to the pipeline to be measured.

[0074] The specific measurement process of the relative posture of the pipeline and the detection end is as follows:

[0075] The first laser positioning device 43 measures the distance d1 between it and the outer wall of the pipe; the second laser positioning device 44 measures the distance d2 between it and the outer wall of the pipe, and determines whether the pipe is parallel to the probe body 2 based on the difference δ between d1 and d2. If the difference δ is 0, the pipe is parallel to the probe body 2 and there is no need to adjust the position of the probe body 2. If the absolute value of the difference δ is greater than 0 and the pipe is not parallel to the probe body 2, the posture of the detection end is adjusted based on the diameter d of the pipe and the value of d1 or d2 to make the pipe parallel to the probe body 2.

[0076] S4, respectively collecting the notch profile of the pipeline wear area through the remote auxiliary imaging device 11 and the near-end auxiliary imaging device 42, and adjusting the position of the probe body 2 by comparing the notch profiles of the pipeline wear area collected by the two, so that the notch of the pipeline wear area faces the side wall of the probe body 2. The specific process in step S4 is:

[0077] See also Figure 5 , the gap image acquired by the proximal auxiliary imaging device 42 is Pic1, and the gap image acquired by the distal auxiliary imaging device 11 is Pic2. The contours of the gap area are extracted from the images Pic1 and Pic2 respectively to obtain the contour curves P1 and P2, and the distances h1 and h2 between the deepest points of the contours P1 and P2 and the pipeline axis are calculated; if h1>h2, the detection end is adjusted to rotate around the pipeline axis so that h1 is reduced to be equal to h2, and vice versa. The rotation angle θ around the gap is calculated based on the difference between h1 and h2. Assuming that the pipeline radius is r, the rotation angle of the detection end around the pipeline toward the proximal end is a positive value, and the simple calculation formula for calculating the rotation angle θ around the gap is formula (1):

[0078]

[0079] The position of the robot arm is automatically adjusted by rotating around the pipeline axis according to the calculated rotation angle so that the notch faces the probe body 2.

[0080] S5. After steps S3 and S4 are completed, the probe body 2 is parallel to the pipeline to be tested, and the notch in the pipeline wear area is facing the probe body 2. The notch profile of the pipeline wear area is collected by the remote auxiliary imaging device 11 or the near-end auxiliary imaging device 42, and the pipeline wear depth is calculated based on the notch profile information. The specific process in step S5 is:

[0081] See also Figure 6 , use the proximal auxiliary imaging device 42 or the distal auxiliary imaging device 11 to obtain the notch image Pic3 of the pipeline wear area, extract the notch area contour of the image Pic3, obtain the contour curve P3, and calculate the distance h3 between the deepest point of P3 and the pipeline axis. The difference between the pipeline radius r and the distance h3 is the pipeline wear amount Dc (Dc represents the wear amount on the schematic diagram, which belongs to the real wear amount, and the unit is millimeter or other length units). The pipeline wear amount Dc is the pipeline radius r-h3. The resolution is calculated according to the image scale length L, and the unit is millimeter per pixel. Assume that the pixel length of the image scale is L pic , then the simple calculation formula for the actual pipeline wear size is formula (2):

[0082]

[0083] The image pipeline wear amount Dpic can be converted into the actual pipeline wear amount Dw according to this formula. Dpic is the pixel wear amount detected by visual method on the image, and the unit is the number of pixels.

[0084] If the wear amount is detected to exceed the threshold, an alarm will be issued, the point will be marked, and the relevant processing personnel will be notified through the robot. If it does not exceed the threshold, only the point wear amount data needs to be recorded for subsequent analysis, and then the inspection personnel will operate the robot to inspect the next point.

[0085] The embodiments of the present invention provide a pipeline wear detection device and method. In the pipeline wear detection process in a nuclear power plant, a robot is used to replace the detection personnel, and a robotic arm, laser positioning and machine vision are used to obtain images to find wear points and detect the wear amount. This method is not only easy to apply in engineering, but also suitable for pipeline wear detection in other places outside nuclear power plants.

[0086] Embodiment 2:

[0087] This embodiment is based on Embodiment 1, and differs from Embodiment 1 in that:

[0088] Also includes two positioning baffles 3;

[0089] Two positioning baffles 3 are symmetrically arranged on both sides of the probe body 2 , and the upper end surfaces of the positioning baffles 3 protrude from the side walls of the probe body 2 . The positioning baffles 3 are provided with positioning grooves 31 for fixing the pipeline to be detected.

[0090] In a preferred case, the positioning baffle 3 is detachably connected to the probe body 2, and the probe body 2 is equipped with positioning baffles 3 of various specifications. The positioning grooves 31 on the positioning baffles 3 of different specifications have different sizes and can be used to fix pipes of different sizes.

[0091] In a preferred case, a linear scale 21 is provided on the upper end surface of the probe body 2 at a position corresponding to the positioning groove 31 , and the linear scale 21 is used to provide an image scale for a machine vision detection algorithm.

[0092] The guide structure 1 , the probe body 2 and the positioning baffle 3 may be made of smooth and hard polyetheretherketone material.

[0093] The method for automatically detecting the wear amount of a thin pipe at the end of the automatic detection of the wear amount of a thin pipe in this embodiment comprises the following steps:

[0094] S1. Move the mobile actuator to the point to be detected.

[0095] S2. The mobile execution device controls the wear amount of the fine pipe to automatically detect the end displacement through the visual information provided by the main imaging device 41, so that the guide structure 1 is inserted between two adjacent pipes to push the two contacting pipes apart; and controls the probe body 2 to move downward so that the pipe fits tightly with the positioning baffle 3.

[0096] S3. Measure the relative posture of the pipeline and the detection end through the first laser positioning device 43 and the second laser positioning device 44, and adjust the position of the probe body 2 according to the measurement results, so that the pipeline is aligned with the positioning groove 31 on the positioning baffle 3 of the detection end, and finally make the probe body 2 parallel to the pipeline to be measured.

[0097] Whether the pipeline is parallel to the positioning groove 31 on the positioning baffle 3 at the detection end is determined based on the difference δ between d1 and d2; when δ<ε (ε is close to 0), the terminal posture is adjusted according to the value of the pipe diameter d and d1 (or d2) to align the pipeline with the positioning groove 31 on the positioning baffle 3 at the detection end.

[0098] S4, using the distal auxiliary imaging device 11 and the proximal auxiliary imaging device 42, respectively collect the notch contours of the pipeline wear area under the condition of supplementary light from the same side, and by comparing the notch contours of the pipeline wear area collected by the two, adjust the position of the probe body 2 so that the notch is directly opposite to the linear calibration scale 21 of the bottom line of the positioning groove 31, and adjust D according to the length of the linear calibration scale 21 on the image. pic Converted into actual pipeline wear Dw .

[0099] S5. After steps S3 and S4 are completed, the probe body 2 is parallel to the pipeline to be tested, and the notch is opposite to the straight calibration scale 21 of the bottom line of the positioning groove 31. Then, the notch profile of the pipeline wear area is collected through the far-end auxiliary imaging device 11 and the far-end light source 12 or the near-end auxiliary imaging device 42 and the near-end light source 45, and the pipeline wear depth is calculated based on the notch profile information.

[0100] This embodiment provides a method for detecting pipeline wear using the terminal, that is, the carrying platform moves to the detection point, the main imaging device 41 remotely operates to open the pipeline and fit the positioning baffle, the laser positioning device adjusts the relative posture to align the positioning groove, the auxiliary imaging device fills in light to collect local high-definition images to find the gap in the pipeline wear area and calibrate the scale, and the opposite side fills in light to obtain the image of the pipeline wear area and then calculates the wear depth. This embodiment achieves the goal of detecting pipeline wear in an environment that is inaccessible to humans, while improving detection efficiency and reducing personnel workload.

[0101] Embodiment 3:

[0102] An automatic detection device for the wear of a thin pipe, comprising the automatic detection terminal for the wear of a thin pipe as described in Example 1 or Example 2, and also comprising an adjustment mechanism and a control unit;

[0103] The control unit drives the adjustment mechanism to act according to the notch profile of the pipeline wear area and / or the relative position of the pipeline and the detection end;

[0104] The adjustment mechanism is used to adjust the relative position of the automatic detection end of the fine pipe wear and the probe body 2 to ensure that the probe body 2 is parallel to the pipe to be tested and the notch in the pipe wear area faces the probe body 2. The adjustment mechanism can specifically be a robotic arm.

[0105] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0106] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and the like cited in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of the relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

Claims

1. Used for automatic detection of wear of densely arranged thin pipes, characterized by: It comprises a guiding structure (1), a probe body (2), a probe base (4) and a connecting flange (5), and also comprises a distal auxiliary imaging device (11), a main imaging device (41), a proximal auxiliary imaging device (42), a first laser positioning device (43) and a second laser positioning device (44); The guiding structure (1) is connected to the distal end of the probe body (2); One end of the probe base (4) is connected to the proximal end of the probe body (2), and the other end is connected to a connecting flange (5), and the connecting flange (5) is used to connect to a moving execution device; The distal auxiliary imaging device (11) and the proximal auxiliary imaging device (42) are arranged opposite to each other and are used to collect the notch profile of the pipeline wear area; the first laser positioning device (43) and the second laser positioning device (44) are respectively arranged on both sides of the proximal auxiliary imaging device (42) and are used to measure the relative position and posture of the pipeline and the detection end; the main imaging device (41) is used to provide visual information for the remotely operated automatic detection end; The guiding structure is a wedge-shaped structure, which facilitates the introduction and export of the probe body between two adjacent pipes.

2. The automatic detection terminal for wear of densely arranged thin pipes according to claim 1 is characterized in that: The guide structure (1) has a top surface arranged horizontally, the probe base (4) has a bottom surface arranged horizontally, the bottom surface of the probe base (4) and the top surface of the guide structure (1) are arranged relative to each other along the horizontal center line of the probe body (2), The distal auxiliary imaging device (11) is mounted on the top surface of the guide structure (1); The main imaging device (41), the proximal auxiliary imaging device (42), the first laser positioning device (43) and the second laser positioning device (44) are installed on the bottom surface of the probe base (4).

3. The automatic detection terminal for wear of densely arranged thin pipes according to claim 2 is characterized in that: A distal light source (12) is also provided on the top surface of the guiding structure (1).

4. The automatic detection terminal for wear of densely arranged thin pipes according to claim 2 is characterized in that: A proximal light source (45) is also provided on the bottom surface of the probe base (4).

5. The automatic detection terminal for wear of densely arranged thin pipes according to claim 1 is characterized in that: It also includes two positioning baffles (3); Two positioning baffles (3) are symmetrically arranged on both sides of the probe body (2); the upper end surfaces of the positioning baffles (3) protrude from the side walls of the probe body (2); and the positioning baffles (3) are provided with positioning grooves (31) for fixing the pipeline to be detected.

6. The automatic detection terminal for wear of densely arranged thin pipes according to claim 5 is characterized in that: The positioning baffle (3) is detachably connected to the probe body (2); the probe body (2) is equipped with positioning baffles (3) of various specifications; the positioning grooves (31) on the positioning baffles (3) of different specifications have different sizes and can be used to fix pipes of different sizes.

7. The automatic detection terminal for wear of densely arranged thin pipes according to claim 5 is characterized in that: A linear calibration scale (21) is provided on the upper end surface of the probe body (2) at a position corresponding to the positioning groove (31), and the linear calibration scale (21) is used to provide an image scale for a machine vision detection algorithm.

8. The automatic detection terminal for wear of densely arranged thin pipes according to claim 5 is characterized in that: The guiding structure (1), the probe body (2) and the positioning baffle (3) are all made of smooth polymer materials.

9. An automatic detection device for wear of a thin pipe, characterized in that: It comprises the automatic detection terminal of the wear amount of the thin pipe as claimed in any one of claims 1 to 8, and also comprises an adjustment mechanism and a control unit; The control unit drives the adjustment mechanism to act according to the notch profile of the pipeline wear area and / or the relative position of the pipeline and the detection end; The adjustment mechanism is used to adjust the relative position of the end of the automatic detection end of the fine pipe wear and the probe body (2), ensuring that the probe body (2) is parallel to the pipe to be tested and that the notch in the pipe wear area faces the probe body (2).

10. A method for automatically detecting the wear of a thin pipe based on the thin pipe wear automatic detection terminal according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1. Move the mobile execution device to the point to be detected; S2, the moving execution device controls the displacement of the end of the automatic detection of the wear amount of the fine pipe through the visual information provided by the main imaging device (41), so that the guide structure (1) is inserted between two adjacent pipes to push the two contacting pipes apart; and the probe body (2) is controlled to move downward so that the pipe to be tested contacts the side wall of the probe body (2); S3, measuring the relative position of the pipeline and the detection end by means of the first laser positioning device (43) and the second laser positioning device (44), and adjusting the position of the probe body (2) according to the measurement result so that the probe body (2) is parallel to the pipeline to be measured; S4, respectively collecting the notch profile of the pipeline wear area through the distal auxiliary imaging device (11) and the proximal auxiliary imaging device (42), and adjusting the position of the probe body (2) by comparing the notch profiles of the pipeline wear area collected by the two devices, so that the notch of the pipeline wear area faces the side wall of the probe body (2); S5. After steps S3 and S4 are completed, the probe body (2) is parallel to the pipeline to be tested, and the notch in the pipeline wear area is facing the probe body (2). The notch profile of the pipeline wear area is then collected by the far-end auxiliary imaging device (11) or the near-end auxiliary imaging device (42), and the pipeline wear depth is calculated based on the notch profile information.

11. The method according to claim 10, characterized in that In step S3, the specific measurement process of the relative posture of the pipeline and the detection end is: The first laser positioning device (43) measures the distance d1 between it and the outer wall of the pipeline; the second laser positioning device (44) measures the distance d2 between it and the outer wall of the pipeline, and judges whether the pipeline and the probe body (2) are parallel based on the difference δ between d1 and d2. If the difference δ is 0, the pipeline and the probe body (2) are parallel, and there is no need to adjust the position of the probe body (2); if the absolute value of the difference δ is greater than 0, the pipeline and the probe body (2) are not parallel, and the posture of the detection end is adjusted based on the diameter d of the pipeline and the value of d1 or d2, so that the pipeline and the probe body (2) are parallel.

12. The method according to claim 10, characterized in that The specific process in step S4 is: The gap image acquired by the proximal auxiliary imaging device (42) is Pic1, and the gap image acquired by the distal auxiliary imaging device (11) is Pic2. The contours of the gap area are extracted from the images Pic1 and Pic2 respectively to obtain contour curves P1 and P2, and the distances h1 and h2 between the deepest points of the contours P1 and P2 and the pipeline axis are calculated; if h1>h2, the detection end is adjusted to rotate around the pipeline axis so that h1 is reduced to be equal to h2, and vice versa.

13. The method according to claim 10, characterized in that The specific process in step S5 is: A near-end auxiliary imaging device (42) or a far-end auxiliary imaging device (11) is used to obtain a notch image Pic3 of a pipeline wear region, extract a notch region contour from the image Pic3, obtain a contour curve P3, and calculate a distance h3 between the deepest point of P3 and the pipeline axis. The difference between the pipeline radius r and the distance h3 is calculated as the pipeline wear amount Dc.

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