A visual inspection device and method for detecting surface welds of a hull structure

Abstract

The present invention discloses a visual inspection device and method for the surface welds of a hull structure, which relates to the technical field of weld quality inspection. The visual inspection device and method for the surface welds of a hull structure include a track device and a visual acquisition device. The track device is adsorbed on the side of the weld to be inspected on the hull for installing and guiding the visual acquisition device to move along the weld and acquire images. By setting up a plurality of supports to lift the main track plate, a track extending along the weld direction is constructed for the visual acquisition device to move along the weld direction for visual inspection. This can be achieved without precise manipulation, with low equipment cost, and can be continuously built over a long distance. Thus, welds over a relatively long distance can be inspected at one time. The position of the supports does not affect the passage of the visual acquisition device, and the supports are directly adsorbed on the hull surface, enabling flexible construction, convenient disassembly and assembly. At the same time, two forms of installation methods are provided, with a wider adaptation range.

Description

Technical Field

[0001] The present invention relates to the technical field of weld quality detection, and specifically provides a visual detection device and method for detecting surface welds of a hull structure. Background Art

[0002] The main purpose of hull weld quality detection is to ensure the firmness and density of the welds to meet the requirements of design drawings and shipbuilding standards. Through detection, defects in the welds can be discovered and processed in a timely manner to avoid structural damage or safety accidents during the use of the ship. The content of hull weld quality detection mainly includes aspects such as weld morphology, weld size, welding strength, and welding defects. The methods of hull weld quality detection mainly include visual inspection, airtightness test, and non-destructive flaw detection inspection, etc.

[0003] For example, a hull weld defect detection and recognition device and method disclosed in Patent No. CN116952944A. The hull weld defect detection and recognition device includes a moving mechanism, a lifting mechanism, a detection mechanism, and an industrial control host. The lifting mechanism is arranged on the moving mechanism. The detection mechanism includes a robotic arm and a detection component. The robotic arm is arranged on the lifting mechanism, and the detection component is arranged on the robotic arm. The detection component includes a vision sensor and a laser emitter. The industrial control host is respectively connected to the moving mechanism, the lifting mechanism, and the detection mechanism. This invention can automatically collect images of the morphological characteristics of hull welds and identify whether there are defects on the welds based on the collected images, thereby reducing the workload of detecting hull weld defects, which helps to improve the detection efficiency of hull weld defect detection and reduce potential safety hazards during detection.

[0004] As shown in the above technology, currently, for weld detection, visual inspection and image analysis are usually used for the visual inspection of weld appearance. However, as shown in this device, a relatively large movable detection device needs to be built outside the ship, which occupies a large area and has a high cost. Moreover, its moving range is limited. For a relatively large ship, after the detection within the detection range is completed, the device needs to be moved to the next location for continued detection, which is cumbersome and inefficient in operation and difficult to maintain continuous detection. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a visual detection device and method for detecting surface welds of a hull structure, and solves the problems that still exist when the above visual detection device is applied to hull weld detection.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A visual inspection device for detecting the weld seams on the surface of a hull structure, comprising an orbital device and a visual acquisition device. The orbital device is adsorbed on the side of the weld seam to be detected on the hull for installing and guiding the visual acquisition device to move along the weld seam and acquire images. The orbital device includes:

[0007] A main track plate, made of a lightweight rigid material, for guiding the movement trajectory of the visual acquisition device. The visual acquisition device is sleeved on the main track plate and moves.

[0008] A number of supports, installed at both ends of the main track plate and used to connect adjacent main track plates. One end of the support is adsorbed on the hull surface to support the main track plate. The position where the support is connected to the main track plate forms a continuous track with the main track plate.

[0009] The position where the support is connected to the main track plate is deformable to connect the main track plates on both sides with different axes, thereby adapting to the curvature changes of the hull surface or the weld seam.

[0010] The part of the support adsorbed on the hull surface adopts one of the methods of negative pressure adsorption or magnetic adsorption to cope with different surface adsorption conditions. Among them, the support using the magnetic adsorption method is adsorbed by a magnet. The support is also provided with a lifting structure for lifting one side of the magnet when separating the magnet to reduce the adsorption force.

[0011] Preferably, the support includes a riser pipe. One end of the riser pipe is installed with a connecting piece for connecting the main track plate, and the other end of the riser pipe is installed with an adsorbing part for adsorbing the hull surface. Both the connecting piece and the adsorbing part are threadedly connected to the riser pipe and are sealed with a sealing ring. The adsorbing part is divided into a magnetic adsorbing part and a negative pressure adsorbing part according to the difference between magnetic adsorption and negative pressure adsorption.

[0012] Preferably, the connecting piece includes a threaded pipe threadedly connected to the top end of the riser pipe, and a plug board is fixedly connected to the top of the threaded pipe. A number of T-shaped shafts are inserted side by side on the front side of the plug board. The T-shaped shafts are elastic. The number of T-shaped shafts is divided into two outer T-shaped shafts on the outermost sides and inner T-shaped shafts on the inner side. One end of the outer T-shaped shaft is fixedly connected to the plug board, and one end of the inner T-shaped shaft is slidably connected to the plug board. The corners of the outer T-shaped shaft and the inner T-shaped shaft are integrally fixedly sleeved by an elastic rubber rod. The upper and lower ends of the outer T-shaped shaft and the inner T-shaped shaft are sleeved with rubber sleeves, and an activity groove for the end part of the inner T-shaped shaft to move is provided in the rubber sleeve corresponding to the inner T-shaped shaft.

[0013] Preferably, square shafts are fixed at both ends of the glue stick, and the other two ends of the outer T-shaped shaft are bent to the side. Sockets matching the square shaft and the bending section of the outer T-shaped shaft are respectively provided in the middle and upper and lower sides of the end face of the main track plate. The main track plates on both sides apply bending force to the outer T-shaped shaft through the square shaft and the bending section of the outer T-shaped shaft, and the elasticity of the glue stick and the rubber sleeve are combined to make the outer T-shaped shaft and the inner T-shaped shaft deform evenly and transitionally as a whole.

[0014] Preferably, the magnetic adsorption component includes:

[0015] The outer shell has two magnets symmetrically arranged inside the outer shell, and the bottom of the magnets extends out of the bottom of the outer shell. The top center of the outer shell is also provided with a threaded head connected with the vertical pipe thread;

[0016] A transfer lifting frame, the two sides of which are rotatably connected to the magnets on both sides respectively, and the middle part of the transfer lifting frame is in the form of an internal threaded tube and the top end extends to the inside of the threaded head;

[0017] A rocker, the bottom end of which is an external thread that matches the internal thread of the transfer lifting frame, and a stopper that presses on the top of the connecting piece is provided on the surface of the rocker. The transfer lifting frame can be raised by screwing the bottom end of the rocker into the transfer lifting frame and shaking it.

[0018] Preferably, the magnet is provided with notches on both the front and rear sides of one end away from the transfer lifting frame, and a roller is rotatably connected to the notch through an axle passing through the magnet, and the surface of the roller exceeds the end face of the magnet, so that when the other side of the magnet is lifted, the side located on the roller leaves the adsorption surface, and an inner edge is provided inwardly on the bottom surface of the outer shell, and the two ends of the axle overlap the inner edges on both sides to limit the magnet from sliding out of the outer shell, and a groove is provided on the surface of the axle and on the side opposite to the two rollers, and a clamp is provided in the groove to limit the roller from separating from the axle.

[0019] Preferably, the negative pressure adsorption component comprises:

[0020] A pressure plate, the top of which is threadedly connected to the bottom end of the riser, and the pressure plate is hollow;

[0021] The suction cup is hollow and the top is inserted and fixed to the center of the pressure plate;

[0022] The top of the plug plate is fixedly connected with a valve communicated with the vertical pipe, and the air in the suction cup is extracted through the valve docking the air extraction device and cooperating with the threaded pipe and the vertical pipe.

[0023] Preferably, the visual acquisition device comprises:

[0024] A sliding sleeve, which is arranged on the main track plate;

[0025] The CCD camera is fixed on the side of the main track plate through a bracket;

[0026] A driving structure is installed on the sliding sleeve and drives the overall movement of the visual acquisition device through meshing with the main track plate and the rubber sleeve.

[0027] A control module is fixed on the bracket and is connected to the driving structure and the CCD camera through wires. The control module is connected to the control host by wired or wireless means.

[0028] Preferably, the driving structure includes a reduction motor fixed on the sliding sleeve. The output end of the reduction motor penetrates into the interior of the sliding sleeve and is fixedly connected with a gear. Tooth grooves meshing with the gear are provided at the tops of both the main track plate and the rubber sleeve. A protective cover covering the gear is arranged at the top of the sliding sleeve.

[0029] The present invention also discloses a visual inspection method for detecting the welds on the surface of a hull structure, including the following steps:

[0030] S1. Selection of the track device construction method: Consider whether the position of the weld to be detected on the hull is a steel or smooth surface. For a steel surface, the magnetic adsorption method is selected for installation; for a non-steel but smooth surface, the negative pressure adsorption method is selected for installation.

[0031] S2. Construction of the track device: After selecting a suitable support, initially install it on one side of the weld and disperse it evenly, and then insert and connect the main track plate between adjacent supports. At this time, adjust the position of the support, and after adjustment, fix the position until the track device with the required length is constructed.

[0032] S3. Visual inspection: After the track device is constructed, put the visual inspection device on the track device from one end, start and control the visual inspection device to move along the track device while shooting the weld picture, and transmit the picture to the control host for image processing and weld quality analysis.

[0033] The present invention provides a visual inspection device and method for detecting the welds on the surface of a hull structure. Compared with the prior art, it has the following beneficial effects:

[0034] 1. For the visual inspection device and method for detecting the welds on the surface of a hull structure, by arranging a plurality of supports to support the main track plate, a track extending along the weld direction is constructed for the visual acquisition device to move along the weld direction for visual inspection. It can be realized without precise manipulation, with low equipment cost, and can be continuously built over a long distance. Thus, a weld with a relatively long distance can be detected at one time. The position of the support does not affect the passage of the visual acquisition device, and the support is directly adsorbed on the hull surface, with flexible construction, convenient disassembly and assembly. At the same time, two forms of installation methods are equipped, with a wider adaptation range, and the support can also adapt to the changes in multiple directions of the two side main track plates for connection, thereby adapting to the curvature change of the hull surface or the angle change in the general direction of the weld, ensuring continuous and complete image acquisition and detection.

[0035] 2. For the visual inspection device and method for the surface welds of the hull structure, the part of the support connecting the main track plate uses a number of parallel T-shaped shafts in cooperation with rubber rods and rubber sleeves to build a track with an external outline consistent with that of the main track plate. At the same time, the T-shaped shafts, rubber rods, and rubber sleeves can all undergo elastic deformation under the force applied by the main track plate, so that the position where the connecting piece transfers the main track plate turns more smoothly, preventing the visual acquisition device from being stuck when moving. Moreover, the design here can adapt to twists in multiple directions, better adapt to the changes in the hull curvature, and the connection method is relatively simple and convenient.

[0036] 3. For the visual inspection device and method for the surface welds of the hull structure, the two types of suction accessories are both installed based on the riser pipe. During use, only an additional driving part needs to be added, rather than directly replacing a whole set of facilities. The installation and replacement are fast, and the cost is also reduced. They can also be used in combination according to the actual situation in the whole track device, making the installation more flexible.

[0037] 4. For the visual inspection device and method for the surface welds of the hull structure, the visual acquisition device is directly sleeved on the main track plate through a sliding sleeve and is driven by a driving structure, enabling uniform movement for inspection. The overall device has a high integration level, can be removed as a whole for storage, and is not limited by the length of the overall track device, making it convenient to use. Description of the Drawings

[0038] Figure 1 It is a schematic diagram of the overall structure of the magnetic adsorption installation method of the present invention;

[0039] Figure 2 It is a schematic diagram of the overall structure of the negative pressure installation method of the present invention;

[0040] Figure 3 It is a schematic diagram of the installation of the main track plate and the support of the present invention;

[0041] Figure 4 It is an exploded view of the connecting piece of the present invention;

[0042] Figure 5 It is a schematic diagram of the support of the magnetic adsorption method of the present invention;

[0043] Figure 6 It is an exploded view of the support of the magnetic adsorption method of the present invention;

[0044] Figure 7 It is a split schematic diagram of the magnet and the roller of the present invention;

[0045] Figure 8 It is a schematic cross-sectional view of the support with the magnet in a flat state of the present invention;

[0046] Figure 9 It is a schematic cross-sectional view of the support with the magnet in a lifted state of the present invention;

[0047] Figure 10 Partial cross-sectional view of the support in the magnetic attraction mode of the present invention;

[0048] Figure 11 Stereogram of the vision acquisition device of the present invention;

[0049] Figure 12 Exploded view of the vision acquisition device of the present invention.

[0050] In the figure: 1 - vision acquisition device, 11 - sliding sleeve, 12 - CCD camera, 13 - bracket, 14 - control module, 15 - reduction motor, 16 - gear, 17 - protective cover;

[0051] 2 - main track plate, 21 - jack, 22 - tooth groove;

[0052] 3 - support, 31 - connecting piece, 311 - threaded pipe, 312 - insertion plate, 313 - outer T-shaped shaft, 314 - inner T-shaped shaft, 315 - rubber rod, 316 - rubber sleeve, 317 - movable groove, 318 - square shaft, 32 - magnetic attraction accessory, 321 - outer shell, 322 - magnet, 323 - threaded seat, 324 - transfer lifting frame, 325 - rocker, 326 - stop block, 327 - wheel axle, 328 - roller, 329 - card slot, 3210 - clamp, 33 - negative pressure accessory, 331 - pressing disc, 332 - suction cup, 333 - valve, 34 - riser pipe. Specific implementation manners

[0053] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0054] Refer to Figures 1 - 3 , the present invention discloses a vision detection device for detecting the surface welds of a ship hull structure and provides the following four technical solutions:

[0055] The first implementation manner: including a track device and a vision acquisition device 1. The track device is adsorbed on the side of the weld to be detected on the ship hull for installing and guiding the vision acquisition device 1 to move along the weld and acquire images. The track device includes:

[0056] The main track plate 2, made of a lightweight hard material, is used to guide the moving track of the vision acquisition device 1, and the vision acquisition device 1 is sleeved on the main track plate 2 and moves;

[0057] A number of supports 3 are installed at both ends of the main track slab 2 and are used to connect adjacent main track slabs 2. One end of the support 3 adsorbs to the hull surface to support the main track slab 2, and the position where the support connects to the main track slab 2 and the main track slab 2 form a continuous track.

[0058] The position where the support 3 connects to the main track slab 2 is deformable to connect the main track slabs 2 on both sides with different axes, thereby adapting to the curvature changes of the hull surface or the weld. The included angle between the main track slabs 2 on both sides is not less than 175°, that is, the deviation angle relative to the coaxial line is not greater than 5°, so as to avoid affecting the sliding of the visual acquisition device 1 due to too small an arc.

[0059] The part of the support 3 that adsorbs to the hull surface adopts one of the methods of negative pressure adsorption or magnetic adsorption to cope with different surface adsorption conditions. Among them, the support 3 using the magnetic adsorption method is adsorbed by the magnet 322, and the support 3 is also provided with a lifting structure that lifts one side of the magnet 322 to reduce the adsorption force when separating the magnet 322.

[0060] By setting multiple supports 3 to support the main track slab 2, a track extending along the weld direction is constructed for the visual acquisition device 1 to move along the weld direction for visual inspection. It can be achieved without precise control, with low equipment cost, and can be continuously built over a long distance. Furthermore, a relatively long weld can be detected at one time. The position of the support 3 does not affect the passage of the visual acquisition device 1, and the support 3 directly adsorbs to the hull surface, with flexible construction, convenient disassembly and assembly. At the same time, it is equipped with two forms of installation methods, with a wider adaptation range, and the support 3 can also adapt to the changes in multiple directions of the main track slabs 2 on both sides for connection, thereby adapting to the curvature changes of the hull surface or the angle changes in the general direction of the weld, ensuring continuous and complete image acquisition and detection.

[0061] The second implementation mode is mainly different from the first implementation mode in that: the support 3 includes a riser 34. One end of the riser 34 is installed with a connector 31 for connecting to the main track slab 2, and the other end of the riser 34 is installed with an adsorber for adsorbing to the hull surface. Both the connector 31 and the adsorber are threadedly connected to the riser 34 and are sealed with a sealing ring. The adsorber is divided into a magnetic adsorber 32 and a negative pressure adsorber 33 according to the difference between magnetic adsorption and negative pressure adsorption.

[0062] The connecting member 31 includes a threaded pipe 311 threadedly connected to the top end of the riser pipe 34. A plug plate 312 is fixedly connected to the top of the threaded pipe 311. A number of T-shaped shafts are inserted side by side on the front side of the plug plate 312. The T-shaped shafts are elastic. The number of T-shaped shafts are divided into two outer T-shaped shafts 313 on the outermost two sides and inner T-shaped shafts 314 on the inner side. One end of the outer T-shaped shaft 313 is fixedly connected to the plug plate 312, and one end of the inner T-shaped shaft 314 is slidably connected to the plug plate 312. The corners of the outer T-shaped shaft 313 and the inner T-shaped shaft 314 are integrally fixedly sleeved by an elastic rubber rod 315. The upper and lower ends of the outer T-shaped shaft 313 and the inner T-shaped shaft 314 are sleeved by rubber sleeves 316. An activity groove 317 for the end of the inner T-shaped shaft 314 to move is provided in the rubber sleeve 316 corresponding to the inner T-shaped shaft 314. The activity groove 317 is used for the activity of the inner T-shaped shaft 314 during deformation; Square shafts 318 are fixedly connected to both ends of the rubber rod 315. The other two ends of the outer T-shaped shaft 313 are bent towards the side. Jacks 21 adapted to the square shafts 318 and the bent sections of the outer T-shaped shaft 313 are respectively provided in the middle, upper and lower sides of the end face of the main track plate 2. The two main track plates 2 apply a bending force to the outer T-shaped shaft 313 through the square shafts 318 and the bent sections of the outer T-shaped shaft 313, and combined with the elasticity of the rubber rod 315 and the rubber sleeve 316, the outer T-shaped shaft 313 and the inner T-shaped shaft 314 are integrally deformed with a uniform transition.

[0063] For the part where the support 3 is connected to the main track plate 2, a number of parallel T-shaped shafts are used in cooperation with the rubber rod 315 and the rubber sleeve 316 to build a track with an external outline generally consistent with that of the main track plate 2. At the same time, the T-shaped shafts, the rubber rod 315 and the rubber sleeve 316 can all produce elastic deformation under the force applied by the main track plate 2, so that the position turning of the connecting member 31 to the main track plate 2 is smoother, the visual acquisition device 1 will not be stuck when moving, and the design here can adapt to the twists in multiple directions, can better adapt to the change of the hull curvature, and the connection method is also relatively simple and convenient.

[0064] The third implementation mode is mainly different from the second implementation mode in that: the magnetic attraction accessory 32 includes:

[0065] A housing 321, two magnets 322 are symmetrically arranged inside the housing 321, and the bottom of the magnet 322 extends out of the bottom of the housing 321. A threaded seat 323 threadedly connected to the riser pipe 34 is also provided at the center of the top of the housing 321;

[0066] A transfer lifting frame 324, the two sides of the transfer lifting frame 324 are respectively rotatably connected to the two side magnets 322, and the middle part of the transfer lifting frame 324 is in the form of an internal threaded pipe and the top extends into the threaded seat 323;

[0067] A rocker 325, the bottom end of which is an external thread adapted to the internal thread of the transfer lifting frame 324, and a stopper 326 pressed on the top of the connecting member 31 is provided on the surface of the rocker 325, and the transfer lifting frame 324 is raised by screwing the bottom end of the rocker 325 into the transfer lifting frame 324 and shaking it;

[0068] The magnet 322 is provided with a notch on both the front and rear sides of one end away from the transfer lifting frame 324, and a roller 328 is rotatably connected to the notch through an axle 327 that passes through the magnet 322, and the surface of the roller 328 exceeds the end surface of the magnet 322, so that when the other side of the magnet 322 is lifted, the side located on the roller 328 leaves the adsorption surface. When the magnet 322 is normally attached, the bottom surface of the roller 328 is flush with the surface of the magnet 322. The roller 328 is used for support. On the one hand, the magnet 322 can be slightly padded when the magnet 322 is tilted, and on the other hand, the friction of the magnet 322 on the adsorption surface can be avoided, which can reduce resistance and wear. The bottom surface of the shell 321 is provided with an inner edge inwardly, and the two ends of the axle 327 are overlapped on the inner edges on both sides to limit the magnet 322 from sliding out of the shell 321. The surface of the axle 327 and the side opposite to each other of the two rollers 328 are provided with a slot 329, and a clamp 3210 is sleeved in the slot 329 to limit the roller 328 from separating from the axle 327.

[0069] The magnetic adsorption component 32 has the function of lifting one side of the magnet 322 for removal on the basis of using the magnet 322 for adsorption. When the entire surface of the magnet 322 is in contact, when the magnet 322 is pulled outward perpendicularly to the adsorption surface, the entire surface of the magnet 322 is subjected to dispersed force, which makes it more difficult to pull it out. If the adsorption force of the magnet 322 is not enough, the adsorption is not strong enough. Therefore, the rocker 325 of this embodiment is used in conjunction with the transfer lifting frame 324 to lift one side of the magnet 322. At this time, the other side of the magnet 322 will also be slightly separated from the adsorption surface due to the roller 328, and then the magnetic adsorption component 32 can be easily removed, and the operation is simple and convenient.

[0070] The negative pressure adsorption component 33 includes:

[0071] A pressure plate 331, the top of which is threadedly connected to the bottom of the riser 34, and the pressure plate 331 is hollow;

[0072] The suction cup 332 is hollow in design and the top is inserted and fixed to the center of the pressure plate 331;

[0073] The top of the plug plate 312 is fixedly connected with a valve 333 which is in communication with the vertical pipe 34 . The valve 333 is connected to the air extraction device and cooperates with the threaded pipe 311 and the vertical pipe 34 to extract the air in the suction cup 332 .

[0074] In the negative pressure suction attachment 33 of this embodiment, the riser pipe 34 and the connecting piece 31 are integrated for use. After the negative pressure suction attachment 33 is installed at the bottom of the riser pipe 34, a gas extraction device is connected to the valve 333 at the top of the connecting piece 31, and then negative pressure air extraction can be achieved, enabling the suction cup 332 to firmly adsorb. The structure is simple and the operation is convenient.

[0075] The two forms of suction attachments provided are both installed based on the riser pipe 34. When in use, only an additional driving part needs to be added, rather than directly replacing a whole set of facilities. The installation and replacement are fast, and the cost is also reduced. They can be used in combination according to the actual situation in the whole track device, and the installation is more flexible.

[0076] The main difference between the fourth implementation method and the first implementation method is that the visual acquisition device 1 includes:

[0077] A sliding sleeve 11, which is slidably sleeved on the main track plate 2. Large arc angles are provided at both ends of the main track plate 2, enabling better transition when passing through the bending part and reducing jamming.

[0078] A CCD camera 12, which is fixed to the side of the main track plate 2 through a bracket 13.

[0079] A driving structure, which is installed on the sliding sleeve 11 and drives the overall movement of the visual acquisition device 1 through meshing with the main track plate 2 and the rubber sleeve 316.

[0080] A control module 14, which is fixed to the bracket 13 and is connected to the driving structure and the CCD camera 12 through wires. The control module 14 is connected to the control host through wired or wireless means.

[0081] The driving structure includes a reduction motor 15 fixed to the sliding sleeve 11. The output end of the reduction motor 15 penetrates into the inside of the sliding sleeve 11 and is fixedly connected with a gear 16. Tooth grooves 22 meshing with the gear 16 are provided at the tops of both the main track plate 2 and the rubber sleeve 316. A protective cover 17 covering the gear 16 is provided at the top of the sliding sleeve 11.

[0082] The visual acquisition device 1 is directly sleeved on the main track plate 2 through the sliding sleeve 11 and is driven by the driving structure, enabling uniform movement detection. The overall device has a high integration degree, can be removed as a whole for storage, and is not limited by the length of the overall track device, making it convenient to use.

[0083] The present invention also discloses a visual detection method for the surface welds of a hull structure, including the following steps:

[0084] S1. Selection of the track device construction method: Consider whether the position of the weld to be detected on the hull is a steel or smooth surface. For a steel surface, the magnetic adsorption method is selected for installation, and for a non - steel but smooth surface, the negative pressure adsorption method is selected for installation.

[0085] S2. Erection of the track device: After selecting a suitable support 3, initially install it on one side of the weld and disperse it evenly:

[0086] For the magnetic adsorption installation method, select the magnetic adsorption accessory 32, screw its threaded seat 323 onto the bottom end of the riser 34, then insert the rocker 325 into the riser 34 and rotate it into the intermediate lifting frame 324. When the stop block 326 on the rocker 325 abuts against the insertion plate 312, continue to rotate the rocker 325 to pull the intermediate lifting frame 324, and then pull the magnets 322 on both sides to tilt. Then place the magnetic adsorption accessory 32 in the selected position for preliminary positioning using magnetism. Then place the main track plate 2 between adjacent supports 3, so that the jacks 21 of the main track plate 2 are sleeved on the two ends of the side surface of the outer T-shaped shaft 313 and the square shaft 318. At this time, adjust the position of the support 3 to insert the main track plate 2 tightly. After adjustment, reverse the rocker 325 to gradually reset the magnet 322 until it is adsorbed on the hull surface for position fixation. Repeat the above operations until the track device of the required length is erected;

[0087] For the negative pressure installation method, screw the pressure plate 331 of the negative pressure adsorption accessory 33 onto the bottom end of the riser 34, connect the air extraction device to the valve 333, then wipe the surface to be adsorbed clean, and press the suction cup 332 on the surface to be adsorbed to initially fix the position. Then place the main track plate 2 between adjacent supports 3, so that the jacks 21 of the main track plate 2 are sleeved on the two ends of the side surface of the outer T-shaped shaft 313 and the square shaft 318. At this time, adjust the position of the support 3 to insert the main track plate 2 tightly. After adjustment, open the valve 333 and start the air extraction device to extract the air in the suction cup 332 through the threaded pipe 311 and the riser 34, so that the suction cup 332 is firmly adsorbed on the hull surface. After adsorption, close the valve 333. Repeat the above operations until the track device of the required length is erected;

[0088] S3. Visual inspection: After the track device is erected, put the visual inspection device 1 on the rubber sleeve 316 from one end through the sliding sleeve 11, and then slide it onto the main track plate 2. Start the reduction motor 15 to drive the gear 16 to rotate, and drive the overall movement of the visual acquisition device 1 by meshing with the tooth grooves 22. At the same time, control the CCD camera 12 to move along the track device while shooting the weld image, and transmit the image to the control host for image processing and weld quality analysis.

[0089] At the same time, the content not described in detail in this specification belongs to the well-known prior art in the art.

[0090] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0091] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A visual inspection device for detecting welds on the surface of a hull structure, comprising a track device and a visual acquisition device, wherein the track device is adsorbed on the side of the weld to be inspected on the hull and used to install and guide the visual acquisition device to move along the weld and collect images, characterized in that: The track device comprises: The main track plate is made of a light and hard material and is used to guide the moving track of the visual acquisition device, and the visual acquisition device is sleeved on the main track plate and moves; A plurality of supports are installed at two sections of the main track plate and are used to connect two adjacent main track plates. One end of the support is adsorbed on the surface of the hull to support the main track plate. The position where the support connects to the main track plate forms a continuous track with the main track plate. The position where the support is connected to the main track plate can be deformed to connect the main track plates on both sides with different axes to adapt to the curvature change of the hull surface or the weld; The part of the support adsorbed on the surface of the hull adopts one of negative pressure adsorption or magnetic adsorption to cope with different surface adsorption conditions, wherein the support adopting the magnetic adsorption method is adsorbed by a magnet, and the support is also provided with a lifting structure that lifts one side of the magnet to reduce the adsorption force when the magnet is separated; The magnetic adsorption method uses a magnetic adsorption component for adsorption, and the magnetic adsorption component includes: The outer shell has two magnets symmetrically arranged inside the outer shell, and the bottom of the magnets extends out of the bottom of the outer shell. The top center of the outer shell is also provided with a threaded head connected with the vertical pipe thread; A transfer lifting frame, the two sides of which are rotatably connected to the magnets on both sides respectively, and the middle part of the transfer lifting frame is in the form of an internal threaded tube and the top end extends to the inside of the threaded head; A rocker, the bottom end of which is an external thread adapted to the internal thread of the transfer lifting frame, and the surface of the rocker is provided with a stopper pressed on the top of the connecting piece, and the transfer lifting frame is raised by screwing the bottom end of the rocker into the transfer lifting frame and shaking it; The magnet is provided with notches on both the front and rear sides of one end away from the transfer lifting frame, and a roller is rotatably connected to the notch through an axle passing through the magnet, and the surface of the roller exceeds the end surface of the magnet, so that when the other side of the magnet is lifted, the side located on the roller leaves the adsorption surface, and the bottom surface of the shell is provided with an inner edge inwardly, and the two ends of the axle overlap on the inner edges on both sides to limit the magnet from sliding out of the shell, and the surface of the axle and the side opposite to the two rollers are provided with a clamping groove, and a clamping hoop is sleeved in the clamping groove to limit the roller from leaving the axle; The support comprises a vertical pipe, one end of which is provided with a connector connected to the main track plate, the connector comprises a threaded tube threadedly connected to the top of the vertical pipe, and a plug plate is fixedly connected to the top of the threaded tube, a plurality of T-shaped shafts are inserted in parallel on the front side of the plug plate, the T-shaped shafts are elastic, and the plurality of T-shaped shafts are divided into two outer T-shaped shafts on both sides of the outermost periphery and an inner T-shaped shaft on the inner side, one end of the outer T-shaped shaft is fixedly connected to the plug plate, and one end of the inner T-shaped shaft is slidably connected to the plug plate, and the corners of the outer T-shaped shaft and the inner T-shaped shaft are integrally fixedly sleeved by an elastic glue stick, The upper and lower ends of the outer T-axis and the inner T-axis are connected by rubber sleeves, and a movable groove for the inner T-axis end to move is provided in the rubber sleeve corresponding to the inner T-axis. Square shafts are fixed at both ends of the rubber stick, and the other two ends of the outer T-axis are bent to the side. Sockets adapted to the square shaft and the outer T-axis bending section are respectively provided in the middle and upper and lower sides of the end face of the main track plate. The main track plates on both sides apply bending force to the outer T-axis through the square shaft and the outer T-axis bending section, and the outer T-axis and the inner T-axis are deformed evenly and transitionally as a whole due to the elasticity of the rubber stick and the rubber sleeve.

2. A visual inspection device for detecting welds on the surface of a hull structure according to claim 1, characterized in that: The other end of the riser is provided with an adsorption member for adsorbing the surface of the hull. The connector and the adsorption member are both threadedly connected to the riser and sealed with a sealing ring. The adsorption member is divided into a magnetic adsorption member and a negative pressure adsorption member according to the difference between magnetic adsorption and negative pressure adsorption.

3. A visual inspection device for detecting welds on the surface of a hull structure according to claim 2, characterized in that: The negative pressure adsorption component comprises: A pressure plate, the top of which is threadedly connected to the bottom end of the riser, and the pressure plate is hollow; The suction cup is hollow and the top is inserted and fixed to the center of the pressure plate; The top of the plug plate is fixedly connected with a valve communicated with the vertical pipe, and the air in the suction cup is extracted through the valve docking the air extraction device and cooperating with the threaded pipe and the vertical pipe.

4. A visual inspection device for detecting welds on the surface of a hull structure according to claim 1, characterized in that: The visual acquisition device comprises: A sliding sleeve, which is arranged on the main track plate; The CCD camera is fixed on the side of the main track plate through a bracket; A driving structure is installed on the sliding sleeve to drive the visual acquisition device to move as a whole through engagement with the main track plate and the rubber sleeve; The control module is fixed on the bracket and connected to the driving structure and the CCD camera through wires. The control module is connected to the control host through wired or wireless means.

5. A visual inspection device for detecting welds on the surface of a hull structure according to claim 4, characterized in that: The driving structure includes a reduction motor fixed on the sleeve, the output end of the reduction motor passes through the interior of the sleeve and is fixedly connected to a gear, the main track plate and the top of the rubber sleeve are both provided with tooth grooves meshing with the gear, and a protective cover covering the gear is provided on the top of the sleeve.

6. A visual inspection method for detecting welds on the surface of a hull structure, implemented using the visual inspection device for detecting welds on the surface of a hull structure according to any one of claims 1 to 5, characterized in that: The following steps are involved: S1. Selection of track device construction method: Consider whether the position of the weld to be inspected on the hull is steel or smooth surface. For steel surface, choose magnetic suction installation method, and for non-steel but smooth surface, choose negative pressure adsorption installation method; S2. Track device construction: After selecting suitable supports, they are initially installed on one side of the weld and evenly dispersed, and then the main track plate is inserted between adjacent supports. At this time, the support positions are adjusted and fixed after adjustment until the track device of the required length is built; S3. Visual inspection: After the track device is built, put the visual inspection device on the track device from one end, start and control the visual inspection device to move along the track device while shooting the weld image, and transmit the image to the control host for image processing and weld quality analysis.

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