Duct piece detection system and detection method

Abstract

The invention relates to a duct piece detection system and method, in particular to the technical field of shield duct piece manufacturing, and adopts a terminal, a positioning mechanism and a duct piece detection mechanism, a placement space is arranged in the positioning mechanism, a duct piece to be detected is placed in the placement space, and the duct piece detection mechanism is located above the placement space. According to the duct piece detection device, the duct piece detection mechanism is controlled by the arranged terminal to enter the placement space, and when the duct piece detection mechanism enters the placement space, the duct piece detection mechanism is used for detecting the duct piece to be detected in the placement space, so that the duct piece detection mechanism can be controlled by the arranged terminal to automatically move, and the purpose of improving the detection efficiency is achieved. Meanwhile, the to-be-detected duct piece is placed in the placing space of the positioning mechanism, so that the to-be-detected duct piece can be positioned through the cooperation of the duct piece detection mechanism and the positioning mechanism, and the defect that the detection precision is influenced due to the existence of other materials in the detection process is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of shield segment manufacturing, and in particular to a segment detection system and a detection method. Background Art

[0002] With the development of tunnel construction technology, shield tunneling has become the mainstream construction technology for tunnel construction. When using the shield method for tunnel construction, prefabricated segments need to be assembled in the shield-formed tunnel to complete the tunnel lining and finally form the tunnel structure. At present, prefabricated segments are usually obtained by injecting concrete into the segment prefabrication mold in the segment prefabrication plant. When using the segment prefabrication mold to manufacture prefabricated segments, it is usually necessary to perform surface quality inspection on the formed segments.

[0003] In the prior art, when the surface quality of the prefabricated segments is inspected, the molding quality of the prefabricated segments is usually inspected by manual surface observation, surface tapping, etc. Of course, there is also a related technology that uses a three-dimensional scanning device in conjunction with a segment mold to inspect the molding quality of the prefabricated segments.

[0004] However, although the above detection method can obtain the quality detection results of the prefabricated pipe segments to a certain extent, in the actual operation process, there are defects such as low manual detection efficiency and detection accuracy. Summary of the invention

[0005] The main purpose of the present invention is to propose a pipe segment detection system and detection method, aiming to solve the technical problem in the related technology that in the actual operation process, the manual detection efficiency and detection accuracy are low.

[0006] To achieve the above object, the present invention proposes a segment detection system, comprising:

[0007] terminal;

[0008] A positioning mechanism, the terminal is installed outside the positioning mechanism, and a placement space for placing the pipe segment to be tested is formed inside the positioning mechanism; and

[0009] A segment detection mechanism, wherein the segment detection mechanism is installed above the placement space, the segment detection mechanism is communicatively connected with the terminal, the segment detection mechanism comprises a segment detection component and a tracking component, the tracking component is installed on one side of the segment detection component and can follow the movement of the segment detection component, the terminal can control the segment detection component to drive the tracking component to enter or leave the placement space, and when entering the placement space, perform detection operations on the segment to be detected placed in the placement space.

[0010] In one embodiment, the segment detection system further includes a base frame, which is arranged around the periphery of the positioning mechanism and extends upward from the top of the positioning mechanism. A guide member is provided on the top of the base frame, and the guide member is slidably matched with a sliding module. The sliding module is passed through the top of the placement space, and the segment detection component is slidably matched with the sliding module. The sliding module is communicatively connected with the terminal, and the terminal can control the sliding module to drive the segment detection component to slide along the guide member, and the terminal can also control the segment detection component to slide along the sliding module, so that the segment detection component can stop at any position above the placement space.

[0011] In one embodiment, the segment detection component includes:

[0012] A base, the base being mounted on the sliding module;

[0013] A lifting motion module, wherein the tracking component and the motion lifting module are spaced apart and distributed on the base, and the bottom of the lifting motion module is a mounting end, and the lifting motion module is communicatively connected with the terminal; and

[0014] A detection module, the detection module is installed at the installation end, and the detection module is communicatively connected with the terminal;

[0015] The terminal can also control the lifting and lowering motion module to drive the detection module to move down to enter the placement space, and when the detection module enters the placement space, control the detection module to perform detection operations on the pipe segment to be detected.

[0016] In one embodiment, the detection module includes:

[0017] A connecting piece, one end of which is detachably connected to the mounting end, and the other end of the connecting piece has a mounting seat, and the mounting seat can swing around the connecting piece;

[0018] an image acquisition component, the image acquisition component being mounted on the mounting seat; and

[0019] A spherical laser cage is arranged around the outer periphery of the image acquisition component and is connected to the mounting seat. The terminal can control the spherical laser hole to emit a grid-shaped detection laser toward the pipe segment to be inspected to scan each surface of the pipe segment to be inspected, and synchronously control the image acquisition component to follow and collect image data of the corresponding surface scanned by the laser.

[0020] In one embodiment, the lifting motion module comprises:

[0021] A slide seat, the slide seat is mounted on the base, and a vertically arranged slideway is formed on the slide seat, a driving gear is arranged in the slideway, the driving gear is connected to the output shaft of the driving member, and the driving member is communicatively connected to the terminal;

[0022] A slide column, wherein the slide column is slidably matched with the slide seat, and a spur rack capable of meshing with the driving gear is formed on one side of the slide column corresponding to the spur tooth groove, and the terminal can control the driving member to drive the driving gear to rotate, so as to drive the slide column to rise and fall along the slide seat through the spur rack; and

[0023] A multi-joint robotic arm is installed at the bottom of the sliding column, the multi-joint robotic arm is communicatively connected to the terminal, and one end of the multi-joint robotic arm away from the sliding column forms the installation end.

[0024] In one embodiment, the tracking component includes a rotating frame and a capturer, the rotating frame is installed on the base, the capturer is installed on the rotating frame, the capturer is communicatively connected to the terminal, the capturer is set toward the placement space, and the rotating frame is used to drive the capturer to rotate, and the capturer can capture the current scanning area of ​​the laser to determine the current position of the image acquisition component.

[0025] In one embodiment, the positioning mechanism comprises:

[0026] A plurality of first support seats, wherein the plurality of first support seats are distributed at intervals along the circumferential direction on the periphery of the placement space;

[0027] A connecting plate, the connecting plate is sequentially connected and arranged on the top of each of the first supporting seats and connected end to end to enclose the placement space, and the top surface of the connecting plate is formed with a plurality of positioning positions distributed at intervals along the circumferential direction on the periphery of the placement space; and

[0028] A plurality of positioning posts, wherein the number of the positioning posts is consistent with the number of the positioning positions and they are arranged in one-to-one correspondence, and the terminal can establish a basic coordinate system of the detection space when controlling the capture mechanism to capture at least three of the positioning positions.

[0029] In one embodiment, a plurality of the positioning posts are spaced apart on the connecting plate from the inside to the outside to form at least two positioning rings enclosing the outer periphery of the placement space, each of the positioning posts includes a first column and a second column, the top surface of the first column is lower than the top surface of the second column, the first column and the second column on the same positioning ring are staggered, and the adjacent first column and the second column on any two adjacent positioning rings are staggered.

[0030] In one embodiment, at least two sinking sections are formed on the connecting plate, and the at least two sinking sections are spaced apart and relatively distributed along the circumference of the placement space, and at least two of the first columns and the second columns are installed on each of the sinking sections.

[0031] Based on the same technical concept, in a second aspect, the present invention further proposes a pipe segment detection method, using the pipe segment detection system described in the first aspect;

[0032] The detection method comprises the following steps:

[0033] Using the terminal to control the segment detection mechanism to scan the positioning mechanism and the placement space to obtain the current position of the segment to be detected;

[0034] The terminal is used to control the segment detection mechanism to move to the current position, so that the segment detection component drives the tracking component to perform detection operations on the segment to be detected.

[0035] The technical solution of the present invention adopts a terminal, a positioning mechanism and a pipe segment detection mechanism. When in use, a placement space is set in the positioning mechanism, and the pipe segment to be detected is placed in the placement space, and the pipe segment detection mechanism is located above the placement space. The pipe segment detection mechanism is controlled by the terminal to enter the placement space, and when entering the placement space, the pipe segment detection mechanism is used to perform detection operations on the pipe segment to be detected placed in the placement space, so that the present invention can control the pipe segment detection mechanism to perform automatic movement through the terminal when in use, thereby achieving the purpose of improving detection efficiency. At the same time, since the pipe segment to be detected is placed in the placement space of the positioning mechanism, the present invention can position the pipe segment to be detected through the cooperation of the pipe segment detection mechanism and the positioning mechanism when in specific use, and further, when the present invention performs detection operations on the pipe segment to be detected, the pipe segment detection mechanism can only perform detection operations on the pipe segment to be detected, thereby avoiding the defect that the presence of other materials affects the detection accuracy during the detection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of the structure of the pipe segment detection system provided by the present invention;

[0038] Figure 2A structural schematic diagram of the pipe segment detection system provided by the present invention from another perspective;

[0039] Figure 3 for Figure 2 A schematic diagram of the structure of the pipe segment detection mechanism as exemplified in FIG.

[0040] Figure 4 for Figure 3 A schematic diagram of the structure of the enlarged portion A of the example;

[0041] Figure 5 for Figure 2 A schematic diagram of the structure of the pipe segment detection component of the example;

[0042] Figure 6 for Figure 5 A schematic diagram of the structure of the positioning mechanism of the example;

[0043] Figure 7 for Figure 6 A schematic diagram of the structure of the detection module of the example;

[0044] Figure 8 for Figure 7 A schematic structural diagram of an embodiment of a laser transmitter in a spherical laser cage as exemplified in FIG.

[0045] Fig. 9 A schematic structural diagram of another embodiment of the laser transmitter provided by the present invention;

[0046] Fig.10 A schematic structural diagram of another embodiment of the laser transmitter provided by the present invention;

[0047] Fig.11 A schematic structural diagram of an embodiment of a ring-shaped bracket provided by the present invention;

[0048] Fig.12 A schematic structural diagram of an embodiment of a mounting ring provided by the present invention;

[0049] Fig.13 A schematic structural diagram of an embodiment of a vibration reduction mechanism provided by the present invention;

[0050] Fig.14 A structural schematic diagram of an embodiment of a hook mechanism provided by the present invention;

[0051] Fig.15 A schematic structural diagram of another embodiment of the hook mechanism provided by the present invention;

[0052] Fig.16 A schematic structural diagram of another embodiment of the vibration reduction mechanism provided by the present invention;

[0053] Fig.17A schematic diagram of the structure of an embodiment of a detection system provided by the present invention;

[0054] Fig.18 The figure is a flow chart of a pipe segment detection method according to an example of the present invention.

[0055] Description of Figure Numbers:

[0056] 1000, terminal; 2000, positioning mechanism; 2100, placement space; 3000, segment detection mechanism; 3100, segment detection component; 3200, tracking component; 4000, base frame; 4100, guide member; 4200, sliding module; 3110, base; 3120, lifting and lowering module; 3130, detection module; 3131, connecting member; 3132, image acquisition component; 3133, spherical laser cage; 3121, slide seat; 3122, driving gear; 3123, slide column ; 3124, multi-joint mechanical arm; 3125, spur rack; 3126, driving member; 3210, rotating frame; 3220, catcher; 2100, first support seat; 2200, connecting plate; 2300, positioning column; 2310, first column; 2320, second column; 2400, sinking section; 4210, sliding driving member; 4220, connecting beam; 4230, first slide rail; 4240, first slide seat; 4250, truss; 4260, second slide rail; 4270, second slide seat;

[0057] 100, mounting ring; 200, limiting plate; 300, clamping mechanism; 400, buffer; 500, limiting ring; 600, vibration reduction mechanism; 700, grating lens; 800, hook mechanism; 900, annular bracket; 910, light source; 210, limiting part; 301, clamping space; 310, guide column; 320, elastic reset member; 330, clamping plate; 501, accommodating space; 502, Through slot; 610, connecting seat; 620, compression spring; 630, clamping claw assembly; 631, arc plate; 632, limiting strip; 601, assembly space; 810, hook assembly; 820, hinged seat; 830, guide strip; 840, axial displacement driving member; 811, mounting plate; 812, hook member; 801, hook space; 821, first rotating shaft; 822, second rotating shaft; 823, connecting strip.

[0058] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0060] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0061] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0062] The invention provides a pipe segment detection system.

[0063] See also Figures 1 to 18 In one embodiment of the present invention, the segment detection system includes a terminal 1000, a positioning mechanism 2000 and a segment detection mechanism 3000. The terminal 1000 is installed outside the positioning mechanism 2000. A placement space 2100 for placing segments to be detected is formed in the positioning mechanism 2000. The segment detection mechanism 3000 is installed above the placement space 2100. The segment detection mechanism 3000 is communicatively connected with the terminal 1000. The segment detection mechanism 3000 includes a segment detection component 3100 and a tracking component 3200. The tracking component 3200 is installed on one side of the segment detection component 3100 and can move with the segment detection component 3100. The terminal 1000 can control the segment detection component 3100 to drive the tracking component 3200 to enter or leave the placement space 2100, and when entering the placement space 2100, the segment detection mechanism 3000 performs a detection operation on the segment to be detected placed in the placement space 2100.

[0064] In this embodiment, by adopting the terminal 1000, the positioning mechanism 2000 and the pipe segment detection mechanism 3000, when in use, a placement space 2100 is set in the positioning mechanism 2000, the pipe segment to be detected is placed in the placement space 2100, and the pipe segment detection mechanism 3000 is located above the placement space 2100, and the pipe segment detection mechanism 3000 is controlled by the set terminal 1000 to enter the placement space 2100, and when entering the placement space 2100, the pipe segment detection mechanism 3000 is used to perform detection operations on the pipe segment to be detected placed in the placement space 2100, so that the present invention can achieve the function of automatically moving by controlling the pipe segment detection mechanism 3000 through the set terminal 1000 when in use, thereby achieving the purpose of improving the detection efficiency. At the same time, since the pipe segment to be inspected is placed in the placement space 2100 located in the positioning mechanism 2000, the present invention can position the pipe segment to be inspected through the cooperation of the set pipe segment inspection mechanism 3000 and the positioning mechanism 2000 during specific use. As a result, when the present invention is inspecting the pipe segment to be inspected, the pipe segment inspection mechanism 3000 can only inspect the pipe segment to be inspected, thereby avoiding the defect of affecting the inspection accuracy due to the presence of other materials during the inspection process.

[0065] It should be particularly and clearly stated that, in the present embodiment, when used specifically, a plurality of positioning positions spaced circumferentially from the outer periphery of the placement space 2100 may be first set on the positioning mechanism 2000, and the terminal 1000 may be used to control the segment detection mechanism 3000 to scan the positioning mechanism 2000 and the segment to be detected, and obtain the first spatial coordinates corresponding to at least three positioning positions. At the same time, the terminal 1000 may be used to establish a basic coordinate system of the placement space 2100 according to the multiple first spatial coordinates obtained. After the basic coordinate system is established, the segment detection mechanism 3000 may be used to scan the segment to be detected placed in the placement space 2100 to determine the current position of the segment. After determining the current position of the segment, the segment detection device may be used to detect the segment to be detected, thereby realizing the function of only detecting the segment to be detected when the segment to be detected is detected, and effectively avoiding the defect that the detection accuracy of the segment to be detected is affected by the presence of other structures during the detection process.

[0066] More specifically, when the example terminal 1000 controls the segment detection component 3100 and the tracking component 3200 in the segment detection mechanism 3000 to perform detection operations on the segment to be detected, the terminal 1000 can be used to control the segment detection component 3100 to drive the tracking component 3200 to scan and detect the segment to be detected. During scanning and detection, since the tracking component 3200 is set to synchronously follow the segment detection component 3100 to move synchronously, the present invention can instantly determine the current detection position of the segment detection component 3100 on the segment to be detected during specific use, and can also determine whether the various surfaces on the segment to be detected have been detected, thereby avoiding repeated detection of the segment to be detected, and ensuring the detection efficiency of the segment to be detected.

[0067] It needs to be further emphasized and clarified that, in the present embodiment, when the pipe segment detection component 3100 is used to detect the pipe segment to be detected, image acquisition or laser scanning operation may be performed on the pipe segment to be detected.

[0068] In some specific embodiments, the segment detection system also includes a base frame 4000, which is arranged around the outer periphery of the positioning mechanism 2000 and extends upward from the top of the positioning mechanism 2000. A guide member 4100 is provided on the top of the base frame 4000. The guide member 4100 is slidably matched with a sliding module 4200. The sliding module 4200 is passed through the top of the placement space 2100. The segment detection component 3100 is slidably matched with the sliding module 4200. The sliding module 4200 is communicatively connected with the terminal 1000. The terminal 1000 can control the sliding module 4200 to drive the segment detection component 3100 to slide along the guide member 4100, and the terminal 1000 can also control the segment detection component 3100 to slide along the sliding module 4200, so that the segment detection component 3100 can stop at any position above the placement space 2100.

[0069] In this embodiment, a base frame 4000 is provided so that the base frame 4000 is arranged around the outer periphery of the positioning mechanism 2000, and the base frame 4000 is extended upward from the top of the positioning mechanism 2000, and a guide member 4100 is provided on the top of the base frame 4000, and a sliding module 4200 is slidably fitted on the guide member 4100, and the segment detection mechanism 3000 is installed on the sliding module 4200, so that when the present invention is used, the sliding module 4200 can be used to drive the segment detection mechanism 3000 to slide automatically along the guide member 4100, and the segment detection component 3100 can slide along the sliding module 4200, thereby enabling the present invention to have the function of automatically adjusting the position of the segment detection mechanism 3000 when in use, so that the segment detection component 3100 can stop at any position above the placement space 2100.

[0070] It should be particularly and clearly stated that, in this embodiment, the sliding direction of the exemplary sliding module 4200 along the guide member 4100 is a first direction, which extends along the extension direction of the placement space 2100, and the sliding direction of the pipe segment detection component 3100 along the sliding module 4200 is a second direction, which is a direction across the placement space 2100.

[0071] In some preferred embodiments, the segment detection component 3100 includes:

[0072] Base 3110, base 3110 is installed on sliding module 4200;

[0073] The lifting and moving module 3120, the tracking component 3200 and the moving lifting and moving module are spaced apart and distributed on the base 3110, and the bottom of the lifting and moving module 3120 is the installation end, and the lifting and moving module 3120 is connected to the terminal 1000 for communication; and,

[0074] A detection module 3130, which is installed at the installation end and is in communication connection with the terminal 1000;

[0075] The terminal 1000 can also control the lifting and lowering motion module 3120 to drive the detection module 3130 to move down to enter the placement space 2100, and when the detection module 3130 enters the placement space 2100, control the detection module 3130 to perform detection operations on the pipe segment to be detected.

[0076] In this embodiment, by setting a base 3110, a lifting and moving module 3120 and a detection module 3130, when in use, the base 3110 is installed on the sliding module 4200, so that the lifting and moving module 3120 and the tracking component 3200 are installed on the base 3110 at intervals, and at the same time, the lifting and moving module 3120 can drive the detection module 3130 installed on its installation end to descend to enter the placement space 2100, and when the detection module 3130 enters the placement space 2100, the detection module 3130 is controlled to perform detection operations on the pipe segment to be inspected, so that the present invention has the ability to allow the detection module 3130 to enter the placement space 2100 at any position above the placement space 2100 and perform detection operations on the pipe segment to be inspected when in use, thereby effectively improving the flexibility and adaptability of the pipe segment detection system.

[0077] It should be particularly and clearly stated that, in this embodiment, the lifting motion module 3120 is used to enable the lifting motion module 3120 itself to have a lifting function. Specifically, the lifting motion module 3120 includes:

[0078] A slide 3121, the slide 3121 is mounted on the base 3110, and a vertical slide is formed on the slide 3121, a driving gear 3122 is arranged in the slide, the driving gear 3122 is connected to the output shaft of the driving member 3126, and the driving member 3126 is connected to the terminal 1000 for communication;

[0079] The slide post 3123 is slidably matched with the slide seat 3121, and a straight rack 3125 capable of meshing with the driving gear 3122 is formed on one side of the slide post 3123 corresponding to the straight tooth groove. The terminal 1000 can control the driving member 3126 to drive the driving gear 3122 to rotate, so as to drive the slide post 3123 to rise and fall along the slide seat 3121 through the straight rack 3125; and,

[0080] The multi-joint robotic arm 3124 is installed at the bottom of the sliding column 3123. The multi-joint robotic arm 3124 is communicatively connected with the terminal 1000, and one end of the multi-joint robotic arm 3124 away from the sliding column 3123 forms a mounting end.

[0081] In this embodiment, by setting a slide seat 3121, a slide column 3123 and a multi-joint robotic arm 3124, during use, the set slide column 3123 is used to drive the multi-joint robotic arm 3124 and the detection module 3130 installed on the mounting end of the multi-joint robotic arm 3124 to descend, so that the present invention can have the function of allowing the detection module 3130 to rise and fall autonomously when in use.

[0082] Of course, in order to further ensure the movement accuracy of the detection module 3130 when entering the placement space 2100, a multi-joint robotic arm 3124 is installed at the bottom of the sliding column 3123, and the detection module 3130 is installed at the installation end of the multi-joint robotic arm 3124, so that the present invention can drive the detection module 3130 to move through the set multi-joint robotic arm 3124, thereby realizing the function of adjusting the position of the detection module 3130 in the placement space 2100. At the same time, since the multi-joint robotic arm 3124 has an autonomous movement function, therefore, during specific use, the present invention can also be through the set multi-joint robotic arm 3124 and the sliding column 3123 and the sliding module 4200 to achieve real-time scanning of the pipe segment to be detected, thereby enabling the terminal 1000 to establish an overall model of the pipe segment to be detected, which is convenient for subsequent operations.

[0083] It should be particularly and clearly stated that, in this embodiment, the exemplary driving member 3126 is preferably a servo motor or a stepper motor, and the exemplary multi-joint robotic arm 3124 is preferably a robotic arm with seven degrees of freedom.

[0084] Of course, in some exemplary embodiments, the detection module 3130 includes:

[0085] A connecting member 3131, one end of which is detachably connected to the mounting end, and the other end of the connecting member 3131 has a mounting seat, and the mounting seat can swing around the connecting member 3131;

[0086] An image acquisition component 3132, the image acquisition component 3132 is mounted on a mounting seat; and,

[0087] The spherical laser cage 3133 is arranged around the outer periphery of the image acquisition component 3132, and the spherical laser cage 3133 is connected to the mounting seat. The terminal 1000 can control the spherical laser hole to emit a grid-shaped detection laser toward the pipe segment to be inspected to scan the surfaces of the pipe segment to be inspected, and synchronously control the image acquisition component 3132 to follow and collect image data of the corresponding surface scanned by the laser.

[0088] In this embodiment, by providing a connecting piece 3131, an image acquisition piece 3132 and a spherical laser cage 3133, the spherical laser cage 3133 transmitting mechanism is used to emit a grid-shaped laser to the pipe segment to be inspected, and at the same time, the image acquisition piece 3132 is used to scan the area passed by the grid-shaped laser, so as to realize the function of real-time image acquisition of the surface of the pipe segment to be inspected, thereby enabling the present invention to make an instant judgment on the surface quality of the pipe segment to be inspected based on the acquired image and accurately output the inspection results of each position on the pipe segment to be inspected.

[0089] It can be further explained that, in the present embodiment, since the grid-shaped laser emitted by the spherical laser cage 3133 is used to scan the surface of the pipe segment to be inspected, and the provided image acquisition component 3132 is used to follow and acquire images during the scanning, the image acquisition component 3132 can actually acquire a combined image of the surface of the pipe segment to be inspected and the surface of the pipe segment to be inspected irradiated by the laser beam. Since the image acquisition component 3132 and the spherical laser cage 3133 are both installed on the connecting component 3131 and move synchronously, the present invention can be used to determine the material and the extension of the laser beam in the image acquired by the image acquisition component 3132 through the terminal 1000 during specific use, and then determine whether the surface of the corresponding pipe segment to be inspected in the image has quality problems such as cracks, sand holes and ridges.

[0090] It should be particularly and clearly stated that, in this embodiment, the exemplary image acquisition component 3132 is preferably a CCD visual camera.

[0091] An example spherical laser cage 3133 may be configured to include a laser emitter, an example laser emitter includes:

[0092] The invention comprises a limiting ring 500, a mounting ring 100, a limiting sheet 200, a clamping mechanism 300, a grating lens 700 and a plurality of hook mechanisms 800. The mounting ring 100 is coaxially arranged with the limiting ring 500, and an accommodating space 501 is formed between the outer wall of the mounting ring 100 and the inner wall of the limiting ring 500; the limiting sheet 200 is arranged on the mounting ring 100; the clamping mechanism 300 is slidably arranged on the mounting ring 100 along the radial direction of the mounting ring 100, the clamping mechanism 300 is arranged opposite to the limiting sheet 200, and the clamping mechanism 300 and the limiting sheet 200 jointly form a clamping space 301; the grating lens 700 is arranged in the clamping space 301, and the clamping mechanism 300 can be moved away from the grating lens 70 along the radial direction of the mounting ring 100. 0 and a clamping position close to the grating lens 700, and correspondingly releases or clamps the grating lens 700; a plurality of hook mechanisms 800 are arranged at intervals along the circumference of the limiting ring 500; each hook mechanism 800 extends along the axial direction of the limiting ring 500, and each hook mechanism 800 has a connecting portion and a hook portion at both ends along its extension direction, and the connecting portion of each hook mechanism 800 is slidably connected to the limiting ring 500 along the axial direction of the limiting ring 500, and the hook portion of each hook mechanism 800 extends into the accommodating space 501 and is detachably connected to the mounting ring 100, and each hook mechanism 800 is used to drive a portion of the mounting ring 100 to tilt toward the limiting ring 500, so as to drive a portion of the grating lens 700 to tilt toward the limiting ring 500.

[0093] Specifically, a plurality of hook mechanisms 800 are arranged at intervals along the circumference of the limiting ring 500, and the connection portion of each hook mechanism 800 can slide along the axial direction of the limiting ring 500, so that the hook mechanism 800 can maintain flexibility during the position and angle adjustment process of the grating lens 700. The hook portion extends into the accommodating space 501 and is detachably connected to the mounting ring 100, ensuring that force can be effectively transmitted during the fine-tuning process and preventing the hook portions from interfering with each other, that is, preventing any hook portion from causing friction and loss between the other hook portion and the mounting ring 100 when driving the mounting ring 100 to tilt, that is, each hook portion is hinged to the mounting ring 100.

[0094] During the implementation process, the hook mechanism 800 can drive part of the mounting ring 100 to tilt toward the limit ring 500, thereby driving the corresponding part of the grating lens 700 to tilt toward the limit ring 500. The fine-tuning accuracy of the grating lens 700 is improved, so that the laser transmitter can more accurately align the target prefabricated segment when performing the laser positioning task, thereby improving the overall performance of the laser positioning system. The reaction speed and accuracy of the laser transmitter can also be flexibly adjusted by setting the number and interval of the hook mechanism 800, and can be adjusted according to the needs of different application scenarios to meet the actual prefabrication requirements of various segments. In addition, the hook mechanism 800 can be slidably connected to the limit ring 500, which also effectively reduces the error caused by improper installation and ensures the stability and accuracy of the grating lens 700.

[0095] In addition, by coaxially arranging the mounting ring 100 and the limiting ring 500 , the formed accommodation space 501 can provide space for making way for the mounting ring 100 and the grating lens 700 during the tilting process.

[0096] It should be noted that the power source for adjusting the clamping mechanism 300 between the release position away from the grating lens 700 and the clamping position close to the grating lens 700 is manual adjustment or a driving motor in the prior art.

[0097] During implementation, when the grating lens 700 is installed in the clamping space 301, the edge of the grating lens 700 is located on the limiting piece 200 and is abutted by the mounting ring 100 to limit the axial displacement of the grating lens 700 on the mounting ring 100; the combined action of the clamping mechanism 300 and the limiting portion 210 limits the radial displacement of the grating lens 700 on the mounting ring 100, and therefore, the position of the grating lens 700 placed in the clamping space 301 is fixed by the limiting piece 200, the mounting ring 100 and the clamping mechanism 300.

[0098] More specifically, the clamping mechanism 300 can move radially along the mounting ring 100, and can be adjusted between a release position away from the grating lens 700 and a clamping position close to the grating lens 700, so as to quickly install and disassemble the grating lens 700, ensuring that it is firmly clamped during operation and easy to release during maintenance or replacement.

[0099] It should be understood that the setting of the mounting ring 100 provides a stable base for the grating lens 700, and the limiting piece 200 thereon can provide a stable mounting point, thereby enhancing the stability and accuracy of the grating lens 700. The limiting piece 200 enables the grating lens 700 to be reliably positioned in the clamping space 301, avoiding the light deviation caused by vibration or other external forces when the laser positioning system is working, thereby improving the overall correction effect. In addition, the clamping mechanism 300 is slidably arranged on the mounting ring 100 along the radial direction of the mounting ring 100, which not only enables the clamping mechanism 300 to be flexibly moved to the clamping position and the release position, but also facilitates the operator to make quick adjustments. In actual operation, the clamping mechanism 300 can effectively control the clamping force of the grating lens 700, ensuring that the grating lens 700 will not be damaged due to excessive pressure during the clamping process. At the same time, the clamping mechanism 300 and the limiting piece 200 are arranged relative to each other to form the clamping space 301 together, further ensuring the stability of the grating lens 700. In addition, the grating lens 700 is arranged in the clamping space 301, and can be released or clamped under the control of the clamping mechanism 300, which greatly simplifies the installation and replacement process of the grating lens 700 and eliminates the inconvenience and risks brought by the traditional threaded connection method. The operator can complete the release and installation of the grating lens 700 in a shorter time, reducing the loss caused by frequent adjustments, thereby effectively improving work efficiency. Through the coordinated setting of the mounting ring 100, the limit plate 200 and the clamping mechanism 300, the convenience and reliability of the grating lens 700 are significantly improved, which not only improves the stability of the grating lens 700, but also enhances its accuracy during calibration operations, effectively preventing the laser positioning system from causing light deviation due to vibration or external force interference during operation, thereby improving the correction effect of the laser light of the laser positioning system. At the same time, the clamping mechanism 300 can slide along the radial direction of the mounting ring 100, so that the grating lens 700 can be easily released or clamped under the control of the clamping mechanism 300, simplifying the installation and replacement process of the grating lens 700 and eliminating the complexity and potential risks brought by the traditional threaded connection method. In addition, the operator can complete the installation and release of the grating lens 700 in a shorter time, reducing the wear of components caused by frequent adjustments, effectively improving work efficiency, making the use experience of the laser positioning system smoother, and better meeting the requirements for high precision and high efficiency of prefabricated segments in modern tunnel construction.

[0100] As an optional implementation of this embodiment, the laser transmitter also includes a plurality of vibration damping mechanisms 600, and the plurality of vibration damping mechanisms 600 are alternately arranged with a plurality of hook mechanisms 800; the plurality of vibration damping mechanisms 600 are arranged on the limiting ring 500 at intervals along the circumference of the limiting ring 500, and each vibration damping mechanism 600 extends along the axial direction of the limiting ring 500; the two ends of each vibration damping mechanism 600 along its extension direction are respectively a free end and a connecting end, the connecting end of each vibration damping mechanism 600 is connected to the limiting ring 500, and the free end of each vibration damping mechanism 600 extends into the accommodating space 501 and is connected to the mounting ring 100.

[0101] As an optional embodiment of the vibration reduction mechanism 600, the vibration reduction mechanism 600 includes a connecting seat 610, a compression spring 620 and a clamping jaw assembly 630. The connecting seat 610, the compression spring 620 and the clamping jaw assembly 630 are arranged at intervals along the circumference of the limiting ring 500. The connecting seat 610 is connected to the inner wall of the limiting ring 500 to form a connecting end. One end of the compression spring 620 is connected to the connecting seat 610, and the other end of the compression spring 620 is connected to the clamping jaw assembly 630. The clamping jaw assembly 630 can detachably clamp the outer wall of the mounting ring 100 to form a free end.

[0102] Specifically, the connection seat 610 is connected to the inner wall of the limiting ring 500 to form the connection end of the vibration reduction mechanism 600, thereby ensuring the reliability and stability of the vibration reduction mechanism 600 during operation. One end of the compression spring 620 is connected to the connection seat 610, and the other end is connected to the clamping jaw assembly 630. The function of the compression spring 620 is to provide a moderate elastic force so that the clamping jaw assembly 630 can maintain flexibility and recovery ability when subjected to external vibration, thereby effectively absorbing and buffering vibration.

[0103] More specifically, the clamping jaw assembly 630 is detachably clamped to the outer wall of the mounting ring 100, which improves the convenience of maintenance. When the staff is maintaining or replacing the grating lens 700, the clamping jaw can be quickly released for easy operation without disassembling the entire structure. At the same time, the clamping jaw assembly 630 can firmly clamp the grating lens 700, ensuring that it is not disturbed unnecessarily in the working state, further reducing the risk of wear.

[0104] As another optional implementation of the vibration reduction mechanism 600, the compression spring 620 in the vibration reduction mechanism 600 not only provides a structural basis for the reset of the mounting ring 100 after tilting, but also ensures that the side of the mounting ring 100 facing the limit ring 500 is always kept in a tensioned state. This design enhances the stability of the mounting ring 100 when tilting, thereby improving the tilt control accuracy of the grating lens 700.

[0105] In specific implementation, when a certain hook mechanism 800 hooks one side of the mounting ring 100, the mounting ring 100 will be affected and tilted. Meanwhile, the other unaffected hook mechanisms 800 remain stationary. During the tilting process of the mounting ring 100, the compression spring 620 of the vibration reduction mechanism 600 will apply tension to ensure the stability of the mounting ring 100.

[0106] When the hook mechanism 800 is reset, the compression spring 620 will return to the initial state, so that the mounting ring 100 is also reset along with the hook mechanism 800. The main function of the hook mechanism 800 is to achieve the tilting of the mounting ring 100 without the need for complex connections or adjustments, which can effectively reduce the contact area and assembly points between the hook mechanism 800 and the mounting ring 100, and improve the durability of the hook mechanism 800 and the mounting ring 100. The stability and long-term reliability of the laser positioning system during use are ensured, while simplifying the assembly and maintenance process.

[0107] As an optional embodiment of the clamping jaw assembly 630, the clamping jaw assembly 630 includes an arc plate 631 and a limiting bar 632. The limiting bar 632 is L-shaped. One end of the limiting bar 632 is connected to the arc plate 631. The other end of the limiting bar 632 and the arc plate 631 are spaced apart to form an assembly space 601. Part of the mounting ring 100 is arranged in the assembly space 601. The arc plate 631 has a curvature that is compatible with the mounting ring 100.

[0108] Specifically, the limiting strip 632 is L-shaped, one end of which is connected to the arc plate 631 and the other end is spaced apart from the arc plate 631 to form an assembly space 601, so that the clamping jaw assembly 630 can flexibly adapt to the shape of the mounting ring 100 during the clamping process.

[0109] The assembly space 601 allows part of the mounting ring 100 to be smoothly placed therein, thereby ensuring a good fit between the clamping jaw assembly 630 and the mounting ring 100. The curvature of the arc plate 631 is adapted to the mounting ring 100. This matching design not only enhances the stability of the clamping, but also ensures that the clamping jaw assembly 630 can apply pressure evenly during clamping, thereby reducing potential damage to the grating lens 700. Through the combination of the arc plate 631 and the limit bar 632, the clamping jaw assembly 630 can provide a smooth and reliable operating experience during the clamping and releasing process. Especially when maintaining or replacing the grating lens 700, the user can easily adjust the clamping jaw assembly 630 to achieve quick release or clamping without affecting the overall stability of the laser positioning system.

[0110] In addition, a vibration isolation pad is provided on the side of the limiting strip 632 and the arc plate 631 facing the mounting ring 100 .

[0111] Specifically, the vibration isolation pad can effectively isolate the vibration from the robot arm or other external sources and play a buffering role. The vibration isolation pad is combined with the limit bar 632 and the arc plate 631 to form a multi-level shock absorption system. The vibration isolation pad can further absorb and dissipate the vibration energy and reduce the possibility of them being transmitted to the mounting ring 100 and the grating lens 700.

[0112] In addition, when the clamping jaw assembly 630 clamps the grating lens 700, the vibration isolation pad can provide more uniform pressure and avoid slight displacement caused by vibration, thereby further protecting the accuracy and stability of the grating lens 700.

[0113] In an embodiment of the present invention, the clamping mechanism 300 includes a guide column 310 and a clamping plate 330, and the clamping plate 330 and the limiting plate 200 together form a clamping space 301; the guide column 310 extends along the radial direction of the mounting ring 100, and the guide column 310 is installed on the outer wall of the mounting ring 100, and the clamping plate 330 is slidably installed on the guide column 310, and can move between a release position and a clamping position, correspondingly releasing or clamping the grating lens 700.

[0114] Specifically, the clamping piece 330 and the limiting portion 210 of the limiting piece 200 together form a clamping space 301 for accommodating the grating lens 700. The clamping piece 330 can move between a release position and a clamping position to achieve the release or clamping of the grating lens 700. The guide post 310 extends along the radial direction of the mounting ring 100 and is mounted on the outer wall of the mounting ring 100. The clamping piece 330 can be slidably mounted on the guide post 310 to guide the movement of the clamping piece 330 in the radial direction of the mounting ring 100, thereby improving the clamping stability of the grating lens 700. The elastic reset member 320 is sleeved on the guide post 310 and is located between the clamping piece 330 and the mounting ring 100. To provide elastic force, the clamping piece 330 automatically returns to the preset position after release, ensuring that the clamping piece 330 can stably clamp the grating lens 700.

[0115] In an embodiment of the present invention, the clamping mechanism 300 further includes a radial displacement driving member, which is mounted on the mounting ring 100 . The radial displacement driving member is connected to the clamping plate 330 and is used to drive the clamping plate 330 to move between a release position and a clamping position, thereby releasing or clamping the grating lens 700 accordingly.

[0116] Specifically, the radial displacement drive provides power support for the clamping mechanism 300, so that the operator can quickly adjust the position of the clamping piece 330 through simple operations, and can easily complete the clamping or release of the grating lens 700, greatly reducing the complexity and time cost of manual operation. In addition, the radial displacement drive also ensures the stability of the clamping piece 330 during the movement process, avoiding damage to the grating lens 700 due to unnecessary shaking during clamping or release. In addition, the use of the radial displacement drive also effectively improves the accuracy of the operation, so that the grating lens 700 can be accurately positioned in the clamping space 301, further enhancing the overall performance of the laser positioning system.

[0117] In an embodiment of the present invention, the clamping mechanism 300 also includes an elastic return member 320 , which is sleeved on the guide column 310 , and one end of the elastic return member 320 is connected to the clamping plate 330 , and the other end of the elastic return member 320 is connected to the mounting ring 100 .

[0118] Specifically, the provision of the elastic reset member 320 greatly enhances the automation function of the clamping mechanism 300. When the operator moves the clamping plate 330 to the release position, the elastic reset member 320 will restore the clamping plate 330 to the clamping position through its elastic properties. This automatic reset function not only reduces the operator's manual intervention and improves work efficiency, but also ensures that the grating lens 700 will not fall off due to accidental collision in the non-clamped state. In addition, the elastic reset member 320 can absorb external shocks or vibrations, further enhancing the stability of the clamping plate 330, so as to effectively avoid the position displacement of the grating lens 700 caused by vibration, and ensure the accuracy and stability of the laser light.

[0119] More specifically, the elastic reset member 320 is a spring, one end of the elastic reset member 320 is connected to the side of the clamping piece 330 facing the mounting ring 100, and the other end of the elastic reset member 320 is connected to the outer wall of the mounting ring 100. In this embodiment, the guide column 310 is used to provide a stable sliding path for the clamping piece 330, and combined with the deformation reset function of the elastic reset member 320, it is ensured that the clamping piece 330 can be quickly and reliably moved to the desired position, thereby enhancing the convenience and stability of the assembly and disassembly operation of the grating lens 700.

[0120] In an embodiment of the clamping mechanism 300 , a buffer 400 is disposed on both the clamping piece 330 and the side of the limiting portion 210 of the limiting piece 200 facing the grating lens 700 .

[0121] It should be noted that the buffer member 400 is a rubber member in the prior art.

[0122] Specifically, the buffer 400 can effectively absorb the impact force between the clamping piece 330 and the grating lens 700, reduce the damage caused by collision during the clamping or releasing process, and thus protect the grating lens 700 and its optical properties. In addition, during the operation of the laser transmitter, vibration or external impact may occur, and the buffer 400 can provide additional shock absorption effect to ensure that the grating lens 700 always maintains a stable working state. In addition, by using the buffer 400 to provide a soft contact surface during the clamping process, it helps to prevent the grating lens 700 from being offset or inaccurately positioned during the clamping process, thereby improving the overall calibration accuracy of the laser positioning system. In addition, the use of the buffer 400 can reduce the wear and tear on the clamping mechanism 300 and the grating lens 700 caused by frequent operations, thereby extending the service life.

[0123] In an embodiment of the limiting piece 200 , there are multiple limiting pieces 200 , and the multiple limiting pieces 200 are arranged at intervals along the circumference of the mounting ring 100 , and the clamping mechanism 300 is arranged opposite to any limiting piece 200 .

[0124] Specifically, the plurality of stoppers 200 are distributed along the circumference of the mounting ring 100, which can provide more uniform support for the grating lens 700 when clamping it, ensuring that the grating lens 700 can be stably fixed during the clamping process, reducing local stress concentration. In addition, the provision of the plurality of stoppers 200 makes the adjustment of the clamping space 301 more flexible, and can adapt to grating lenses 700 of different types or sizes, thereby enhancing the compatibility of the laser transmitter.

[0125] It should be noted that the relative setting in this embodiment refers to the relative positional relationship, including but not limited to a symmetrical relationship. The relative setting may also refer to the setting of the clamping piece 330 relative to the gap between two adjacent limiting pieces 200.

[0126] In an embodiment of the present invention, each hook mechanism 800 includes a hook assembly 810, a hinge seat 820, a guide bar 830 and an axial displacement driving member 840. The hook assembly 810 forms a hook portion, and the guide bar 830 forms a connecting portion. One end of the hook assembly 810 is hinged to the guide bar 830 through the hinge seat 820, and the other end of the hook assembly 810 is detachably connected to the mounting ring 100. The axial displacement driving member 840 is installed on the limiting ring 500. The axial displacement driving member 840 is connected to the guide bar 830 and is used to drive the guide bar 830 to slide axially along the limiting ring 500, so as to drive a portion of the mounting ring 100 to tilt toward the limiting ring 500, and to make a portion of the grating lens 700 tilt toward the limiting ring 500.

[0127] Specifically, at the beginning of the implementation process, the axial displacement driving member 840 receives a control signal, and after being activated, the axial displacement driving member 840 drives the guide bar 830 to slide along the axial direction of the limiting ring 500. One end of the hook assembly 810 is hinged to the guide bar 830, and the other end is detachably connected to the mounting ring 100. As the guide bar 830 moves, the hook assembly 810 tilts through the hinge seat 820, so that the hook assembly 810 can be flexibly rotated during adjustment, thereby effectively adjusting the angle of the mounting ring 100. When the guide bar 830 slides along the limiting ring 500, the hook part is connected to the mounting ring 100, causing part of the mounting ring 100 to tilt toward the limiting ring 500, thereby causing the corresponding part of the grating lens 700 to tilt toward the limiting ring 500.

[0128] More specifically, the axial displacement driving member 840 can be used to drive the guide bar 830 to perform reciprocating linear motion along the circumference of the mounting ring 100 and the limiting ring 500 , so that the mounting ring 100 drives the grating lens 700 to tilt or reset.

[0129] This embodiment significantly improves the fine-tuning accuracy of the grating lens 700, so that the laser transmitter can be more accurately aligned with the target prefabricated segment when performing the laser positioning task. In addition, the hook mechanism 800 not only enhances the stability during the fine-tuning process, but also ensures the flexibility and accuracy of the adjustment process of the grating lens 700, thereby effectively improving the overall performance of the laser positioning system.

[0130] In an embodiment of the present invention, the hook assembly 810 includes a mounting plate 811 and a hook member 812. The mounting plate 811 is spaced apart from the inner wall of the mounting ring 100. The hook member 812 is L-shaped. One end of the hook member 812 is connected to the mounting plate 811. The other end of the hook member 812 is spaced apart from the mounting plate 811 to form a hook space 801. Part of the mounting ring 100 is disposed in the hook space 801.

[0131] Specifically, the hook space 801 not only ensures the stability of the mounting ring 100 during the adjustment process, but also provides the necessary flexibility for fine-tuning the grating lens 700. When adjusting, part of the grating lens 700 can be tilted in the hook space 801 at the non-powered end, thereby avoiding friction and loss between part of the grating lens 700 and the hook assembly 810.

[0132] In an embodiment of the present invention, the articulated seat 820 includes a first rotating shaft 821, a second rotating shaft 822 and a connecting strip 823. The first rotating shaft 821 and the second rotating shaft 822 are arranged at radial intervals along the limiting ring 500. The first rotating shaft 821 is installed on the guide strip 830, and the second rotating shaft 822 is installed on the hook member 812. The first rotating shaft 821 is rotatably connected to one end of the connecting strip 823, and the second rotating shaft 822 is rotatably connected to the other end of the connecting strip 823.

[0133] Specifically, the first rotating shaft 821 is mounted on the guide bar 830, and the second rotating shaft 822 is mounted on the hook member 812. The first rotating shaft 821 is rotatably connected to one end of the connecting bar 823, and the second rotating shaft 822 is also rotatably connected to the other end of the connecting bar 823, so that the hook member 812 can rotate freely during the adjustment process, thereby improving the flexibility and accuracy of the hook mechanism 800. Through the hinge seat 820, the hook assembly 810 can effectively cooperate with the guide bar 830 to achieve fine adjustment of the grating lens 700. It ensures that the grating lens 700 can be accurately adjusted in angle when the laser transmitter is in operation, thereby improving the performance and reliability of the laser positioning system.

[0134] In the embodiment of the present invention, a through slot 502 is formed on the limiting ring 500 , and the through slot 502 extends along the axial direction of the limiting ring 500 . The guide bar 830 extends into the through slot 502 and is slidably connected to the limiting ring 500 .

[0135] Specifically, a through groove 502 is formed on the limiting ring 500, and the through groove 502 extends along the axial direction of the limiting ring 500, and the guide bar 830 can slide therein. The through groove 502 structure of the limiting ring 500 provides a stable guide for the guide bar 830, thereby improving the accuracy of the grating lens 700 during the adjustment process.

[0136] In an embodiment of the present invention, the laser emitter also includes a light source 910 and an annular bracket 900. The annular bracket 900 is coaxially arranged with the limiting ring 500. The annular bracket 900 is opposite to the mounting ring 100 and is arranged at intervals. The light source 910 is installed on the annular bracket 900 corresponding to the position of the grating lens 700.

[0137] Specifically, the annular bracket 900 is coaxially arranged with the limiting ring 500, and is opposite to and spaced from the mounting ring 100. The light source 910 is mounted on the annular bracket 900, and its position corresponds to the grating lens 700, so that the light source 910 can directly illuminate the grating lens 700, ensuring that the light transmission path is accurate.

[0138] The annular bracket 900, the limiting ring 500 and the mounting ring 100 together form a stable frame, providing a reliable fixed position for the light source 910. This is beneficial to reduce the movement or offset of the light source 910 during operation, ensuring that the light is always aligned with the grating lens 700, and improving the light transmission efficiency.

[0139] In addition, the installation position of the light source 910 matches the position of the grating lens 700, ensuring that the light source 910 can illuminate the grating lens 700 at the optimal angle, maximizing the light utilization and reducing light loss, so that the laser positioning system can maintain efficient light transmission in complex environments.

[0140] More specifically, see Figure 4 Based on the axial displacement driving member 840 in the above embodiment, the annular bracket 900 also provides an installation base for the axial displacement driving member 840 to ensure that the entire laser transmitter has a compact structure and is easy to use and install.

[0141] As an optional embodiment of the annular bracket 900, the annular bracket 900 includes a plurality of long rods and connecting rings, each of the long rods extending along the axial direction of the limiting ring 500, one end of each limiting rod being connected to the limiting ring 500, and the other end of each limiting rod being connected to the outer wall of the connecting ring, the connecting ring is coaxially arranged with the limiting ring 500 and the mounting ring 100, and the light source 910 is mounted on the connecting ring.

[0142] In addition, a hook mechanism 800 is provided between two adjacent long rods, and the guide bar 830 of the hook mechanism 800 slides with the long rod through the slide groove on the outer wall of the long rod to further improve the sliding stability of the guide bar 830, thereby improving the reliability of the laser positioning system when in use.

[0143] In addition, the light source 910 is a laser light source in the prior art.

[0144] In some specific embodiments, the tracking component 3200 includes a rotating frame 3210 and a capturer 3220. The rotating frame 3210 is installed on the base 3110, and the capturer 3220 is installed on the rotating frame 3210. The capturer 3220 is communicatively connected with the terminal 1000. The capturer 3220 is set toward the placement space 2100, and the rotating frame 3210 is used to drive the capturer 3220 to rotate. The capturer 3220 can capture the current scanning area of ​​the laser to determine the current position of the image acquisition component 3132.

[0145] In this embodiment, by setting a rotating frame 3210 and a catcher 3220, the rotating frame 3210 is installed on the base 3110, and the catcher 3220 is installed on the rotating frame 3210, so that when the present invention is used, the set rotating frame 3210 can be used to drive the catcher 3220 to rotate autonomously, and thus the present invention can have the function of adjusting the capturing direction of the catcher 3220 when in use.

[0146] It should be particularly and clearly stated that, in the present embodiment, the example rotating frame 3210 is preferably a device or apparatus with an automatic rotation function, which is only applied in the present embodiment, and therefore, it will not be described one by one here. At the same time, the example capturer 3220 is preferably a device or apparatus capable of realizing light capture and position measurement functions in the prior art, which is only applied in the present embodiment, and its own structure has not been improved and designed, and therefore, it will not be described one by one here. Of course, in the exemplary embodiment, in order to achieve the moving stroke of the sliding module 4200, in the specific implementation, a plurality of equally spaced positioning blocks are also provided on one side of the guide member 4100 provided on the base frame 4000. In the specific operation, the provided capturer 3220 can be used to instantly capture the positioning blocks to achieve the purpose of quickly determining the specific position of the sliding module 4200.

[0147] Of course, in this embodiment, it can be further clarified and explained that the example capturer 3220 can be but is not limited to an oblique photography camera or a CCD visual camera in the prior art.

[0148] There are two guide members, which are spaced apart and distributed on both sides of the placement space, and each guide member is slidably matched with a sliding driving member 4210;

[0149] The sliding module includes:

[0150] A connecting beam 4220, the connecting beam 4220 is horizontally arranged above the placement space, and both ends of the connecting beam 4220 are respectively connected to the sliding driving member 4210 on the corresponding side, and the connecting beam 4220 is provided with a first slide rail 4230 arranged along the extension direction of the connecting beam 4220;

[0151] A first slide 4240, the first slide 4240 is slidably matched with the first slide rail 4230, the segment detection mechanism is installed on the first slide 4240, and the first slide 4240 can drive the segment detection mechanism to slide along the first slide rail 4230;

[0152] A truss 4250, the truss 4250 and the connecting beam 4220 are installed on the sliding drive member 4210 at intervals, the truss 4250 spans above the placement space, and a second slide rail 4260 spanning above the placement space is provided on the top of the truss 4250; and,

[0153] The second slide 4270 slidably cooperates with the second slide rail 4260 , and the tracking mechanism is installed on the second slide 4270 . The second slide 4270 can drive the tracking mechanism to slide along the second slide rail 4260 , and the second slide 4270 moves synchronously with the first slide 4240 .

[0154] In one embodiment, the positioning mechanism 2000 includes:

[0155] A plurality of first support seats 2100, wherein the plurality of first support seats 2100 are distributed at intervals along the circumferential direction on the periphery of the placement space 2100;

[0156] A connecting plate 2200, the connecting plates 2200 are sequentially connected and arranged on the top of each first support seat 2100 and are connected end to end to enclose a placement space 2100, and a top surface of the connecting plate 2200 is formed with a plurality of positioning positions distributed at intervals along the circumferential direction on the periphery of the placement space 2100; and,

[0157] There are multiple positioning posts 2300 , and the number of the positioning posts 2300 is consistent with the number of positioning positions and they are arranged in a one-to-one correspondence. The terminal 1000 can establish a basic coordinate system of the detection space when controlling the capture mechanism to capture at least three positioning positions.

[0158] In one embodiment, a plurality of positioning columns 2300 are spaced apart on the connecting plate 2200 in a direction from the inside to the outside to form at least two positioning rings enclosing the outer periphery of the placement space 2100, each positioning column 2300 includes a first column 2310 and a second column 2320, the top surface of the first column 2310 is lower than the top surface of the second column 2320, the first column 2310 and the second column 2320 on the same positioning ring are staggered, and the adjacent first columns 2310 and second columns 2320 on any two adjacent positioning rings are staggered.

[0159] In this embodiment, a connecting plate 2200, a plurality of first support seats 2100 and a plurality of positioning columns 2300 are provided. When in use, the connecting plate 2200 is installed on the first support seat 2100, and the plurality of positioning columns 2300 are provided on the top of the connecting plate 2200. This allows the present invention to not only provide a positioning function for the pipe segment to be inspected when in use, but also allows the entire positioning mechanism 2000 to have a walking passage between the connecting plate 2200 and the ground due to the provided first support seat 2100, thereby effectively ensuring that the pipe segment to be inspected can freely enter and exit the placement space 2100.

[0160] In one embodiment, at least two sinking sections 2400 are formed on the connecting plate 2200 , and the at least two sinking sections 2400 are spaced apart and relatively distributed along the circumference of the placement space 2100 , and at least two first columns 2310 and second columns 2320 are installed on each sinking section 2400 .

[0161] It should be particularly and clearly stated that, in the present embodiment, the purpose of setting the sinking section 2400 is to enable the present invention to improve the coordinate accuracy of the basic coordinate system when in use by cooperating with the first column 2310 and the second column 2320 through the setting of the sinking section 2400. It should be further clearly stated that, in the present embodiment, since the sinking depth of the sinking section 2400 can be set, when obtaining the first spatial coordinates of the first column 2310 and the second column 2320, the corresponding first spatial coordinates can be obtained according to the corresponding data and the corresponding numbers of the first column 2310 and the second column 2320.

[0162] Of course, it needs to be further clarified that the multiple positioning columns 2300 illustrated in the present embodiment are spaced apart on the connecting plate 2200 in a direction from the inside to the outside to form at least two positioning rings enclosed in the outer periphery of the placement space 2100, and each positioning column 2300 includes a first column 2310 and a second column 2320, the top surface of the first column 2310 is lower than the top surface of the second column 2320, the first column 2310 and the second column 2320 on the same positioning ring are staggered, and the adjacent first columns 2310 and second columns 2320 on any two adjacent positioning rings are staggered.

[0163] In this embodiment, the positioning column 2300 is set as a first column 2310 and a second column 2320, and the top surface of the first column 2310 is lower than the top surface of the second column 2320. At the same time, the first column 2310 and the second column 2320 are staggered. Ultimately, when the present invention is implemented, the spatial coordinates of the first column 2310 and the second column 2320 are captured and obtained to achieve the function of establishing a basic coordinate system in a three-dimensional state.

[0164] Based on the same technical concept, in a second aspect, the present invention further proposes a pipe segment detection method, using the pipe segment detection system described in the first aspect;

[0165] The detection method comprises the following steps:

[0166] S100, using the terminal to control the segment detection mechanism to scan the positioning mechanism and the placement space to obtain the current position of the segment to be detected;

[0167] S200, using the terminal to control the segment detection mechanism to move to the current position, so that the segment detection component drives the tracking component to perform detection operations on the segment to be detected.

[0168] The present invention also proposes a pipe segment detection method, which includes a pipe segment detection system. The specific structure of the pipe segment detection method refers to the above embodiment. Since the pipe segment detection method adopts all the technical solutions of all the above embodiments, it can solve the technical problem that the related technology has the defects of low manual detection efficiency and detection accuracy in the actual operation process. Therefore, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here one by one.

[0169] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A segment detection system, characterized in that: include: terminal; A positioning mechanism, the terminal is installed outside the positioning mechanism, and a placement space for placing the pipe segment to be tested is formed inside the positioning mechanism; as well as, A segment detection mechanism, wherein the segment detection mechanism is installed above the placement space, the segment detection mechanism is communicatively connected with the terminal, the segment detection mechanism comprises a segment detection component and a tracking component, the tracking component is installed on one side of the segment detection component and can follow the movement of the segment detection component, the terminal can control the segment detection component to drive the tracking component to enter or leave the placement space, and when entering the placement space, perform detection operations on the segment to be detected placed in the placement space.

2. The segment detection system according to claim 1, characterized in that: The segment detection system also includes a base frame, which is arranged around the outer periphery of the positioning mechanism and extends upward from the top of the positioning mechanism. A guide member is arranged on the top of the base frame, and the guide member is slidably matched with a sliding module. The sliding module is passed through the top of the placement space, and the segment detection component is slidably matched with the sliding module. The sliding module is communicatively connected with the terminal, and the terminal can control the sliding module to drive the segment detection component to slide along the guide member, and the terminal can also control the segment detection component to slide along the sliding module, so that the segment detection component can stop at any position above the placement space.

3. The segment detection system according to claim 2, characterized in that: The segment detection component comprises: A base, the base being mounted on the sliding module; A lifting motion module, wherein the tracking component and the motion lifting module are spaced apart and distributed on the base, and the bottom of the lifting motion module is a mounting end, and the lifting motion module is communicatively connected with the terminal; and A detection module, the detection module is installed at the installation end, and the detection module is communicatively connected with the terminal; The terminal can also control the lifting and lowering motion module to drive the detection module to move down to enter the placement space, and when the detection module enters the placement space, control the detection module to perform detection operations on the pipe segment to be detected.

4. The segment detection system according to claim 3, characterized in that: The detection module comprises: A connecting piece, one end of which is detachably connected to the mounting end, and the other end of the connecting piece has a mounting seat, and the mounting seat can swing around the connecting piece; an image acquisition component, the image acquisition component being mounted on the mounting seat; and A spherical laser cage is arranged around the outer periphery of the image acquisition component and is connected to the mounting seat. The terminal can control the spherical laser hole to emit a grid-shaped detection laser toward the pipe segment to be inspected to scan each surface of the pipe segment to be inspected, and synchronously control the image acquisition component to follow and collect image data of the corresponding surface scanned by the laser.

5. The segment detection system according to claim 4, characterized in that: The lifting motion module comprises: A slide seat, the slide seat is mounted on the base, and a vertically arranged slideway is formed on the slide seat, a driving gear is arranged in the slideway, the driving gear is connected to the output shaft of the driving member, and the driving member is communicatively connected to the terminal; A slide column, wherein the slide column is slidably matched with the slide seat, and a spur rack capable of meshing with the driving gear is formed on one side of the slide column corresponding to the spur tooth groove, and the terminal can control the driving member to drive the driving gear to rotate, so as to drive the slide column to rise and fall along the slide seat through the spur rack; and A multi-joint robotic arm is installed at the bottom of the sliding column, the multi-joint robotic arm is communicatively connected to the terminal, and one end of the multi-joint robotic arm away from the sliding column forms the installation end.

6. The segment detection system according to claim 4, characterized in that: The tracking component includes a rotating frame and a capturer, the rotating frame is installed on the base, the capturer is installed on the rotating frame, the capturer is communicatively connected with the terminal, the capturer is set toward the placement space, and the rotating frame is used to drive the capturer to rotate, and the capturer can capture the current scanning area of ​​the laser to determine the current position of the image acquisition component.

7. The segment detection system according to claim 6, characterized in that: The positioning mechanism comprises: A plurality of first support seats, wherein the plurality of first support seats are distributed at intervals along the circumferential direction on the periphery of the placement space; A connecting plate, the connecting plate is sequentially connected and arranged on the top of each of the first supporting seats and connected end to end to enclose the placement space, and the top surface of the connecting plate is formed with a plurality of positioning positions distributed at intervals along the circumferential direction on the periphery of the placement space; and A plurality of positioning posts, wherein the number of the positioning posts is consistent with the number of the positioning positions and they are arranged in one-to-one correspondence, and the terminal can establish a basic coordinate system of the detection space when controlling the capture mechanism to capture at least three of the positioning positions.

8. The segment detection system according to claim 7, characterized in that: A plurality of the positioning posts are arranged on the connecting plate at intervals from the inside to the outside to form at least two positioning rings enclosing the outer periphery of the placement space, each of the positioning posts includes a first column and a second column, the top surface of the first column is lower than the top surface of the second column, the first column and the second column on the same positioning ring are staggered, and the adjacent first column and the second column on any two adjacent positioning rings are staggered.

9. The segment detection system according to claim 8, characterized in that: At least two sinking sections are formed on the connecting plate, and the at least two sinking sections are spaced apart and relatively distributed along the circumference of the placement space, and at least two of the first columns and the second columns are installed on each of the sinking sections.

10. A segment detection method, characterized in that: Using the segment detection system as described in any one of claims 1 to 9; The detection method comprises the following steps: Using the terminal to control the segment detection mechanism to scan the positioning mechanism and the placement space to obtain the current position of the segment to be detected; The terminal is used to control the segment detection mechanism to move to the current position, so that the segment detection component drives the tracking component to perform detection operations on the segment to be detected.

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