Narrow pipeline welding seam detection method and system, storage medium and intelligent terminal

Abstract

The invention relates to a narrow pipeline welding seam detection method and system, a storage medium and an intelligent terminal, and relates to the field of pipeline welding seam detection technologies. Determining a working scheme based on the welding seam position, the detected welding seam size and the X-ray film size, wherein the working scheme is as follows: determining a single patch position based on the detected welding seam size and the X-ray film size; a forward route and a return route are determined based on the single patch position and the welding seam position, the detection trolley comprises a trolley body and an X-ray detection device, and the X-ray detection device is arranged on the trolley body; the detection trolley is controlled to arrive at the single-time surface mounting position according to the advancing route, and X-ray detection operation is carried out; and after the X-ray detection operation is completed, the X-ray film is replaced according to the return route, and the advancing route continues to be executed. The welding seam detection trolley has the advantages that the X-ray film is shot through the detection trolley, the welding seam detection operation is achieved, the welding seam detection trolley can be suitable for a narrow pipeline space, and the adaptation range of welding seam detection is widened.

Description

Technical Field

[0001] The present application relates to the field of pipeline weld detection technology, and in particular to a narrow pipeline weld detection method, system, storage medium and intelligent terminal. Background Art

[0002] A pipe is a long strip of structure used to transport liquids, gases or other substances. It is widely used in many fields such as industry, agriculture, urban water supply and drainage, energy, etc. A heat exchanger is a device used to transfer heat. It can exchange heat between two or more fluids without mixing them.

[0003] Shell and tube heat exchangers are one of the most commonly used types of heat exchangers, in which one fluid flows through the inside of the tubes, while another fluid flows parallel to it outside the tubes, and the two fluids exchange heat through the tube walls.

[0004] In order to ensure the structural safety and reliability of the heat exchanger welding, it is usually necessary to inspect the welds between pipes. X-rays penetrate the workpiece and detect internal defects based on the intensity change after the rays pass through the material.

[0005] The prior art has the following problems: the internal space of the shell and tube heat exchanger is small and cannot be accessed by workers, so detection is difficult and there is still room for improvement. Summary of the invention

[0006] In order to improve the problem that the internal space of a shell and tube heat exchanger is small and workers cannot access it, making detection difficult, the present application provides a narrow pipeline weld detection method, system, storage medium and intelligent terminal.

[0007] In the first aspect, the present application provides a narrow pipe weld detection method, which adopts the following technical solution: A method for detecting a narrow pipe weld, comprising: Obtain the size and position of the weld to be tested; A working scheme is determined based on the weld position, the detected weld size and the preset X-ray film size, and the working scheme is: determining a single patch position based on the detected weld size and the X-ray film size; determining a forward route and a return route of a detection vehicle based on the single patch position and the weld position, the detection vehicle comprising a vehicle body that moves circumferentially around the inner wall of the pipeline and along the length direction of the pipeline and an X-ray detection device storing X-ray films, the X-ray detection device being arranged on the vehicle body; controlling the detection vehicle to reach the single patch position according to the forward route, and performing an X-ray detection operation, the X-ray detection operation comprising a patch operation of attaching the X-ray film to the weld of the inner wall of the pipeline and a detection operation of detecting through the X-ray film; After the X-ray inspection operation is completed, take the X-ray film and return along the return route to replace the X-ray film and continue to execute the forward route corresponding to the next single patch position until there is no single patch position that has not been inspected.

[0008] By adopting the above technical solution, X-ray films are taken by the inspection trolley. Since the size of the X-ray film is limited, multiple inspections are required to achieve weld inspection operations, which can be suitable for narrow pipeline spaces and improve the adaptability range of weld inspection.

[0009] Optionally, the method of controlling the detection vehicle to reach a single patch position according to the forward route includes: The forward route is disassembled to obtain an axial route that advances along the axial direction of the pipeline and a circumferential route that advances along the circumference of the pipeline; Based on the single patch position, a corresponding theoretical indication image is found from a preset angle database, wherein the theoretical indication image is a detection image of a level detector on the detection vehicle, wherein the level detector comprises a cylinder with a horizontal axis and half a volume of water inside, wherein an indication rod suspended on the water is placed inside the cylinder, wherein a mark is provided at one end of the indication rod, and wherein the circular end face of the cylinder is a transparent end face and a scale indicating an angle is provided along the circumferential direction; Acquire the current indication image when completing the axial route; When the current indication image is different from the theoretical indication image, continue to move forward along the circumferential route and continue to acquire the current indication image; When the current indication image and the theoretical indication image are identical, the movement stops.

[0010] By adopting the above technical solution, since the pressure between the pipeline trolley and the inner wall of the pipeline will decrease and the friction will decrease due to climbing and other reasons during the circumferential movement of the pipeline trolley, the route of the pipeline trolley may be inaccurate at this time. Therefore, angle detection is used to determine whether the corresponding position has been reached at this time, thereby improving the accuracy of the patch position.

[0011] Optionally, the method of continuing to move along the circumferential route when the current indication image is different from the theoretical indication image includes: Analyze based on the current indication image to obtain the current angle; Analyze based on theoretical indication images to obtain theoretical perspectives; Calculate the angle difference based on the theoretical angle and the current angle; When the angle difference is less than the preset straight angle, the vehicle continues to move forward in a preset positive direction, wherein the positive direction is a direction in which the angle difference is reduced; When the angle difference is greater than the straight angle, the vehicle continues to move forward in a preset negative direction, wherein the negative direction is a direction in which the angle difference increases.

[0012] By adopting the above technical solution and calculating the angle, if the forward movement requires more than half a circle, the reverse direction can be chosen to move forward. This shortens the forward route and improves the efficiency of detecting the vehicle's arrival.

[0013] Optionally, a method that is better than the method of continuing to move in the negative direction when the angle difference is greater than the straight angle is also included, the method comprising: When the angle difference is greater than the straight angle, the deviation amplitude is calculated based on the angle difference and the straight angle; When the deviation amplitude is greater than the preset ignore threshold amplitude, continue to move in the negative direction; When the deviation amplitude is less than the neglected critical amplitude, a positive movement trend curve is determined based on the current angle, the theoretical angle and the positive direction, wherein the positive movement trend curve is a curve of the angle and the vertical direction of movement, and the vertical direction of movement is the sub-direction of the tangent direction of the movement curve in the vertical direction; Determine a negative movement trend curve based on the current angle, the theoretical angle and the negative direction, wherein the negative movement trend curve is a curve of the angle and the vertical direction of movement; Decomposition based on the positive moving trend curve to obtain a positive downward range; Decomposition based on the negative moving trend curve to obtain the negative downward range; Calculate the range difference based on the positive downward range and the negative upward range; When the range difference is greater than the preset saving critical difference, the device continues to move in the positive direction; When the range difference is less than the saving critical difference, the vehicle continues to move in the negative direction.

[0014] By adopting the above technical solution, if the distance in the reverse direction is not much different from the distance in the forward direction, but the overall forward direction is downward, then the forward direction can still be selected. Although the path is relatively increased, the overall kinetic energy consumption is lower, saving energy for detecting the movement of the trolley.

[0015] Optionally, the method for determining a single patch position based on the detected weld size and X-ray film size includes: Determine the weld circumference and the X-ray film length based on the detected weld size and the X-ray film size, wherein the X-ray film length is the length of the X-ray film along the weld circumference direction; The number of patching times and the remainder perimeter are calculated based on the weld perimeter and the length of the X-ray film, wherein the value corresponding to the number of patching times is the integer part of the quotient of the weld perimeter divided by the length of the X-ray film plus 1; If the remainder circumference does not exist, update the X-ray film length to the remainder circumference; When the remainder perimeter exists, the overlap length is determined based on the number of patches and the remainder perimeter; The single patch position is determined based on the number of patches, X-ray film length, overlap length and the end point coordinates of the axial route.

[0016] By adopting the above technical solution, the fitting positions are partially overlapped. On the one hand, even if there is a deviation in the positioning, there is still an overlapping area, and the two positions will not be far away from each other due to the deviation in the patch position, so that the X-ray film cannot cover the adjacent areas and miss them; on the other hand, the patch position can also be checked through the overlapping area, thereby improving the accuracy of the patch position.

[0017] Optionally, a method for checking the X-ray film that has been tested after the X-ray detection operation is completed and returning along the return route to replace the X-ray film is also included, and the method includes: Acquire weld inspection images; Searching for the latest historical weld inspection images based on the weld inspection images; Determine a first overlapped image based on the overlapped length and the latest historical weld inspection image; determining a second coincident image based on the coincident length and the weld inspection image; Outputting the X-ray film normally when the first coincident image and the second coincident image coincide with each other; When the first overlapped image and the second overlapped image do not overlap, a preset X-ray film offset signal is output.

[0018] By adopting the above technical solution, when the single patch position is set as mentioned above and there is an overlapping area, then it is also possible to determine whether the next single patch position is accurate based on the overlapping area. When the image is the same, it means there is an overlap.

[0019] Optionally, a method for adjusting the next single patch position after outputting a preset X-ray film offset signal when the first overlapped image and the second overlapped image do not overlap is further included, and the next single patch position is defined as an expected single patch position, the method comprising: Determine a local coincidence image based on the first coincidence image and the second coincidence image, wherein the local coincidence image is an image of a region where the first coincidence image and the second coincidence image overlap; determining a first local relative length based on the local coincidence image and the first coincidence image; determining a second local relative length based on the local coincidence image and the second coincidence image; determining an offset length based on the overlap length, the first local relative length, or the second local relative length; Determine the pasted length; updating the weld perimeter based on the attached length to obtain an updated weld perimeter; The estimated single patch position is updated based on the weld perimeter.

[0020] By adopting the above technical solution, when the offset has been determined through the overlapped area, the subsequent solutions are updated according to the position of the offset so that the overlapped images in the subsequent solutions are as consistent as possible.

[0021] In the second aspect, the present application provides a narrow pipeline weld detection system, which adopts the following technical solution: A narrow pipeline weld detection system, comprising: An acquisition module is used to acquire the size of the weld to be detected, the position of the weld, the current indication image and the weld detection image; A memory for storing a program of a control method of any of the above narrow pipe weld detection methods; The program in the processor memory can be loaded and executed by the processor to implement any of the above-mentioned control methods for narrow pipe weld detection methods.

[0022] By adopting the above technical solution, X-ray films are taken by the inspection trolley. Since the size of the X-ray film is limited, multiple inspections are required to achieve weld inspection operations, which can be suitable for narrow pipeline spaces and improve the adaptability range of weld inspection.

[0023] In the third aspect, the present application provides a smart terminal, which adopts the following technical solution: The intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and execute any one of the above-mentioned narrow pipe weld detection methods.

[0024] By adopting the above technical solution, X-ray films are taken by the inspection trolley. Since the size of the X-ray film is limited, multiple inspections are required to achieve weld inspection operations, which can be suitable for narrow pipeline spaces and improve the adaptability range of weld inspection.

[0025] Fourthly, the present application provides a computer storage medium that can store corresponding programs and has the characteristics of fast interaction with memory big data.

[0026] Computer readable storage medium, using the following technical solution: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned narrow pipe weld detection methods.

[0027] By adopting the above technical solution, X-ray films are taken by the inspection trolley. Since the size of the X-ray film is limited, multiple inspections are required to achieve weld inspection operations, which can be suitable for narrow pipeline spaces and improve the adaptability range of weld inspection.

[0028] In summary, the present application includes at least the following beneficial technical effects: 1. The X-ray film is taken by the inspection trolley to realize the operation of weld inspection, which can be suitable for narrow pipeline space and improve the adaptability range of weld inspection; 2. Determine whether the corresponding position has been reached through angle detection, which improves the accuracy of the patch position; 3. The bonding positions are partially overlapped to prevent the two positions from being far away from each other due to the position deviation of the patch, which will cause the X-ray film to be unable to cover the adjacent areas and miss them. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a flow chart of a narrow pipe weld detection method in an embodiment of the present application.

[0030] Figure 2 It is a structural schematic diagram of the movement of the trolley in the pipeline in the embodiment of the present application.

[0031] Figure 3 It is a flow chart of a method for controlling a detection vehicle to reach a single patch position along a forward route in an embodiment of the present application.

[0032] Figure 4 It is a structural schematic diagram of the level detector in an embodiment of the present application.

[0033] Figure 5 It is a flowchart of a method for continuing to advance along a circumferential route when a current indication image and a theoretical indication image are different in an embodiment of the present application.

[0034] Figure 6 It is a flow chart of a method in an embodiment of the present application that is better than the method of continuing to move in the negative direction when the angle difference is greater than the straight angle.

[0035] Figure 7 It is a flow chart of a method for determining a single patch position based on detecting weld size and X-ray film size in an embodiment of the present application.

[0036] Figure 8 It is a flowchart of a method for checking X-ray films that have been inspected after the X-ray inspection operation is completed and the X-ray film is returned along the return route to replace the X-ray film in an embodiment of the present application.

[0037] Fig. 9 It is a flowchart of a method for adjusting the position of the next single patch after outputting a preset X-ray film offset signal when the first overlapped image and the second overlapped image do not overlap in an embodiment of the present application.

[0038] Fig.10 It is a system module diagram of a narrow pipe weld detection method in an embodiment of the present application.

[0039] Explanation of the reference numerals: 1. vehicle body; 2. X-ray detection device; 3. level detector; 31. cylinder; 32. indicator rod; 33. scale. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 10 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] The present application embodiment discloses a method for detecting narrow pipe welds. Figure 1 , a narrow pipeline weld detection method includes: Step 100: Obtain the size and position of the weld to be detected.

[0042] The weld size to be detected is the size of the weld to be detected. The weld position is the location of the weld. The weld position here is the position starting from the opening into the pipe, so the weld position is actually the relative position of the weld from the entrance. The acquisition method is manual input, and the manual input method here can also be inputting a pipeline structure drawing, and then the system obtains it through a deep learning model.

[0043] Step 101: Determine a working plan based on the weld position, the detected weld size, and the preset X-ray film size.

[0044] The X-ray film size is the size of the X-ray film, which is mainly the size along the circumference of the weld when the X-ray film is placed on the weld. It is obtained by manually measuring the X-ray film. The working plan is a plan for the trolley to detect the weld of a narrow pipe.

[0045] The work plan is: Step 1010: Determine a single patch position based on the detected weld size and X-ray film size.

[0046] The single patch position is the relative position of each patch, which can be the position of the detection trolley or the position of the X-ray film. The determination method is to move the trolley to the position corresponding to the weld along the pipe length, and then accumulate it in sequence according to the size of the X-ray film. The center point of each accumulation is the single patch position. For example: the initial point is 0, and the first point is 2.4, then the X-ray film size is 4.8, and the second one is 2.4+4.8=7.2.

[0047] Step 1011: Determine the forward route and return route of the inspection vehicle based on the single patch position and the weld position.

[0048] Reference Figure 2The inspection vehicle includes a vehicle body 1 that moves circumferentially around the inner wall of the pipeline and along the length direction of the pipeline and an X-ray inspection device 2 that stores X-ray films. The X-ray inspection device 2 is installed on the vehicle body 1.

[0049] The forward route is the route that the trolley takes to the weld. The return route is the route that the trolley takes from the weld to the edge of the entry port. The method of determining this is to first determine the moving path along the pipe direction between the weld position and the starting point. Then, the required distance to move along the circumferential direction is determined based on the arrival angle and the required angle. The return route is the route that the trolley takes from the weld to the entry port. This route is opposite to the forward route.

[0050] Step 1012: Control the inspection vehicle to arrive at the single patch position according to the forward route and perform X-ray inspection operation.

[0051] The X-ray inspection operation includes a patching operation of attaching an X-ray film to the weld of the inner wall of the pipeline and an inspection operation of inspecting with the X-ray film.

[0052] The detection trolley is equipped with a driving source and wheels in four directions to facilitate the movement of the detection trolley. In order to allow the detection trolley to move above the inner wall of the pipeline, the detection trolley can be equipped with a certain adsorption and grasping device, such as a suction cup.

[0053] Step 102: After the X-ray inspection operation is completed, take the X-ray film and return along the return route to replace the X-ray film and continue to execute the forward route corresponding to the next single patch position until there is no single patch position that has not been inspected.

[0054] Reference Figure 3 ,The method of controlling the detection vehicle to reach a single patch position according to the forward route includes: Step 200: Disassemble the forward route to obtain an axial route that advances along the axial direction of the pipeline and a circumferential route that advances along the circumference of the pipeline.

[0055] Step 201: searching for a corresponding theoretical indication image from a preset angle database based on a single patch position.

[0056] like Figure 2 and Figure 4 As shown, a level detector 3 is installed on the vehicle body 1. The level detector 3 includes a cylinder 31 whose axis is horizontal and carries half of the volume of water. An indicator rod 32 suspended on the water is placed in the cylinder 31. One end of the indicator rod 32 is provided with a mark. The circular end surface of the cylinder 31 is a transparent end surface and a scale 33 indicating an angle is provided along the circumferential direction. Only a part of it is shown in the figure, and in the real figure, each scale 33 shows the corresponding angle.

[0057] The theoretical indication image is the detection image of the level detector 3 on the detection trolley. The mapping relationship between the single patch position and the theoretical indication image is stored in the database. The person skilled in the art takes a photo of each patch position to which the trolley moves. When the system receives the corresponding single patch position, it automatically finds the corresponding theoretical indication image from the database for output.

[0058] Step 202: Acquire a current indication image when the axial route is completed.

[0059] The current indication image is an image taken when the axial route is completed. Here, the marking direction of the indication rod 32 in the image is generally 0°, that is, at this time, the position where the weld detection begins is generally Figure 2 and Figure 4 The direction shown is obtained by using a camera.

[0060] Step 203: When the current indication image is different from the theoretical indication image, continue to move forward along the circumferential route and continue to acquire the current indication image.

[0061] If the current indication image is different from the theoretical indication image, it means that the single patch position has not been reached yet, and it is necessary to continue moving forward. At this time, since the axial route has been completed, it is only necessary to continue to complete the circumferential route. Since the inspection trolley is moving inside the pipeline, it may tilt too much and slip, so the image is checked to ensure the accuracy of the single patch position.

[0062] Step 204: Stop moving when the current indication image is identical to the theoretical indication image.

[0063] When the current indication image and the theoretical indication image are the same, it means that the single patch position has been reached, so there is no need to move further.

[0064] Reference Figure 5 The method of continuing to move along the circumferential route when the current indication image and the theoretical indication image are different includes: Step 300: Analyze based on the current indication image to obtain the current angle.

[0065] The current angle is the angle corresponding to the current indication image. Here, the angle is obtained by reading and analyzing the corresponding scale 33. For example, each angle has a corresponding image, and then the image aligned with the indication rod 32 is matched.

[0066] Step 301: Analyze based on the theoretical indication image to obtain a theoretical angle.

[0067] The theoretical angle is the angle corresponding to the theoretical indication image. The analysis method here is the same as step 300, and will not be repeated here.

[0068] Step 302: Calculate the angle difference based on the theoretical angle and the current angle.

[0069] The angle difference is the difference between the angles. The calculation method here is to subtract the current angle from the theoretical angle.

[0070] Step 303: Continue moving along a preset positive direction when the angle difference is less than a preset straight angle.

[0071] The straight angle is 180°. The positive direction is the direction of reducing the angle difference. Figure 2 In the clockwise direction. Figure 4 As shown, for example, the theoretical angle is 90°, and when moving in the clockwise direction, the level detector 3 also rotates clockwise, so that the marking portion of the indicator rod 32 gradually approaches 90°.

[0072] Step 304: Continue moving along a preset negative direction when the angle difference is greater than the straight angle.

[0073] The negative direction is the direction of increasing the angle difference. Figure 2 The direction is counterclockwise. Figure 4 As shown, for example, if the theoretical angle is 270°, when moving in the counterclockwise direction, the level detector 3 also rotates counterclockwise, while the indicator rod 32 is always horizontal, so that the marking portion of the indicator rod 32 gradually approaches 270°. In this process, only 90° of rotation is required, not 270°, so the moving efficiency is improved.

[0074] Reference Figure 6 , and also includes a method that is better than the method of continuing to move in the negative direction when the angle difference is greater than the straight angle, the method comprising: Step 400: Calculate the deviation amplitude based on the angle difference and the flat angle when the angle difference is greater than the flat angle.

[0075] The deviation amplitude is the amplitude of the difference between the angle difference and the flat angle. It is calculated by subtracting the difference between the flat angle and the angle difference, and dividing it by the flat angle. If the angle difference is close to the flat angle, then there is little difference between clockwise and counterclockwise movement, and it can be moved arbitrarily. If it is relatively large, then there is a difference between clockwise and counterclockwise movement.

[0076] Step 401: Continue to move in the negative direction when the deviation amplitude is greater than the preset ignore threshold amplitude.

[0077] The neglected critical amplitude is the amplitude at which the angle difference can be ignored. It is set manually. When it is greater than, it means that the deviation amplitude cannot be ignored, and it is necessary to continue moving in the negative direction according to the original path.

[0078] Step 402: When the deviation amplitude is less than the ignoring critical amplitude, a positive moving trend curve is determined based on the current angle, the theoretical angle and the positive direction.

[0079] The positive moving trend curve is a curve of angle and moving vertical direction. Moving vertical direction is the sub-direction of the tangent direction of the moving curve in the vertical direction. The determination method is to form an arc through the current angle and the theoretical angle, and then obtain the tangent direction according to the tangent direction from the current angle to the theoretical angle, and finally decompose the tangent direction into the sub-direction in the vertical direction and the sub-direction in the horizontal direction, and extract the sub-direction in the vertical direction, so as to obtain the mapping relationship between the sub-direction and the angle, and then obtain the corresponding trend curve.

[0080] Step 403: Determine a negative movement trend curve based on the current angle, the theoretical angle and the negative direction.

[0081] The negative moving trend curve is a curve of the angle and the vertical direction of the moving direction. The determination is performed in the same manner as step 402, and no further description is given here.

[0082] Step 404: Decompose based on the positive moving trend curve to obtain a positive downward range.

[0083] The positive downward range is the range of angles corresponding to the downward direction of the tangent in the positive moving trend curve. The decomposition method is to extract and integrate the downward angles of each sub-direction.

[0084] Step 405: Decompose based on the negative moving trend curve to obtain a negative downward range.

[0085] The negative downward range is the range of angles corresponding to the downward direction of the tangent in the negative moving trend curve. The decomposition method is to extract and integrate the downward angles of each sub-direction.

[0086] Step 406: Calculate a range difference based on the positive downward range and the negative upward range.

[0087] The range difference is the difference of the downward range. Here, the difference is the difference between the widths corresponding to the ranges. The calculation method is to first calculate the range widths of the positive downward range and the negative downward range respectively, and then subtract them to obtain the result.

[0088] Step 407: Continue moving in the positive direction when the range difference is greater than the preset saving threshold difference.

[0089] The critical difference in savings is the critical value at which the widths of the two corresponding downward ranges are basically the same and the difference can be ignored. When the range difference is greater than the critical difference in savings, it means that the downward range of the positive direction movement is larger, which means that the positive direction movement is more needed at this time, so as to convert the downward potential energy into kinetic energy and save power.

[0090] Step 408: Continue to move in the negative direction when the range difference is less than the saving threshold difference.

[0091] When the range difference is less than the critical saving difference, it means that there is little difference between the two, so continue to move in the negative direction according to the original plan.

[0092] Reference Figure 7 The method for determining the position of a single patch based on the size of the weld and the size of the X-ray film includes: Step 500: Determine the weld circumference and the X-ray film length based on the detected weld size and X-ray film size.

[0093] The length of the X-ray film is the length of the X-ray film along the circumference of the weld. The circumference of the weld is the circumference of the weld on the pipe, which is basically the circumference of the inner wall of the pipe. The determination method is to directly read the contents of the weld size and the X-ray film size.

[0094] Step 501: Calculate the number of patching times and the remainder circumference based on the weld circumference and the length of the X-ray film.

[0095] The value corresponding to the number of patching is the integer part of the quotient of the weld perimeter divided by the length of the X-ray film plus 1. The remainder perimeter is the perimeter corresponding to the decimal part of the quotient of the weld perimeter divided by the length of the X-ray film. The calculation method is to divide the quotient obtained by dividing the weld perimeter by the length of the X-ray film, decompose it into an integer part and a decimal part, and the integer part plus 1 is the number of patching, and the remainder part multiplied by the length of the X-ray film is the remainder perimeter.

[0096] Step 502: When the remainder circumference does not exist, update the X-ray film length to the remainder circumference.

[0097] When the remainder perimeter does not exist, it means that it is exactly divisible. However, in order to allow the X-ray films to have overlapping areas, one X-ray film length is sacrificed to update it to the remainder perimeter. However, the number of patches is still the weld perimeter divided by the X-ray film length plus 1.

[0098] Step 503: When the remainder perimeter exists, determine the overlap length based on the number of patches and the remainder perimeter.

[0099] The overlap length is the overlap length generated by evenly distributing the remainder perimeter to each patching process. The calculation method is to divide the remainder perimeter by the number of patches.

[0100] Step 504: Determine the single patch position based on the number of patches, the length of the X-ray film, the overlap length and the end point coordinates of the axial route.

[0101] The determination method is to determine the position of the weld circumference according to the end point of the axis route, and then determine the starting and end points of each patch according to the X-ray film length and the overlap length. The starting point of the patch is the overlap length of the end point of the previous patch, and the end point is the position of the X-ray film length away from the starting point.

[0102] For example: if the length is 45cm and the length of the X-ray film is 10cm, then the number of patches is 5 and the remainder circumference is 5cm, so the first patch is 0-10cm, the second patch is 9-19cm, the third patch is 18-28cm, the fourth patch is 27-37cm, and the fifth patch is 36-45cm and 0-1cm.

[0103] Reference Figure 8 , and also includes a method for checking the X-ray film that has been tested after the X-ray detection operation is completed, taking the X-ray film and returning along the return route to replace the X-ray film, the method comprising: Step 600: Acquire a weld inspection image.

[0104] The weld inspection image is the image on the X-ray film that is retrieved. The acquisition method is to directly read the corresponding image.

[0105] Step 601: searching for the latest historical weld inspection image based on the weld inspection image.

[0106] The latest historical weld inspection image is a weld inspection image acquired once before the current X-ray film. The search method may be to store the weld inspection images in the database in the order in which they were acquired, and then read the latest stored image from the database.

[0107] Step 602: Determine a first overlapped image based on the overlapped length and the latest historical weld inspection image.

[0108] The first overlapped image is the image of the area at the end of the latest historical weld inspection image, with a length equal to the overlapped length. The determination method is to determine the end according to the latest historical weld inspection image, and then move the overlapped length to the front end, and the image within this distance is the first overlapped image.

[0109] It should be noted that the end here is the last edge line along the direction of the placement order of the X-ray films.

[0110] Step 603: Determine a second overlap image based on the overlap length and the weld detection image.

[0111] The second overlapped image is an image of the frontmost region on the weld inspection image, the length of which is the overlapped length.

[0112] Step 604: Output the X-ray film normally when the first overlapped image and the second overlapped image overlap.

[0113] When the first overlapped image and the second overlapped image overlap, it indicates that the patch is applied according to steps 500-504, and the patch position is accurate, so the weld area captured by the X-ray film is the required area.

[0114] Step 605: Output a preset X-ray film offset signal when the first overlapped image and the second overlapped image do not overlap.

[0115] The X-ray film offset signal is a signal that the position of the X-ray film patch is incorrect and needs to be re-photographed. The output method can be a text display method.

[0116] When the first overlapped image and the second overlapped image do not overlap, it indicates that the single patch position is incorrect and the patch position is inaccurate, so the excluded X-ray film is not the corresponding required area, and therefore an X-ray film offset signal is output.

[0117] Reference Fig. 9 , further comprising a method for adjusting the next single patch position after outputting a preset X-ray film offset signal when the first overlapped image and the second overlapped image do not overlap, defining the next single patch position as an estimated single patch position, the method comprising: Step 700: Determine a local coincidence image based on the first coincidence image and the second coincidence image.

[0118] The local overlap image is an image of the area where the first overlap image and the second overlap image overlap. The determination method is to directly overlap the first overlap image and the second overlap image according to the corresponding position, and then move them away from each other, and the overlapping area gradually decreases during the process of moving away. When the overlapping area is an overlapping area, the corresponding overlapping area is output as the local overlap image.

[0119] Step 701: Determine a first local relative length based on the local coincidence image and the first coincidence image.

[0120] The first local relative length is the position of the local overlap image in the first overlap image. The determination method is to move the local overlap image on the first overlap image, and when the local overlap image overlaps, the first local relative length is known.

[0121] Step 702: Determine a second local relative length based on the local coincidence image and the second coincidence image.

[0122] The second local relative length is the position of the local overlap image in the second overlap image. The determination method is to move the local overlap image on the second overlap image, and when the local overlap image is overlapped, the second local relative length is known.

[0123] Step 703: Determine the offset length based on the overlap length, the first local relative length, or the second local relative length.

[0124] The offset length is the length of the offset caused by the first local relative length and the second local relative length being the same in theory, but actually being different from the first local relative length and the second local relative length due to the offset of the single patch position. The method of determining is to subtract the first local relative length or the second local relative length from the overlap length.

[0125] Step 704: Determine the pasted length.

[0126] The pasted length is the length that has been pasted. The determination method is to first obtain the length pasted between the current X-ray films according to the number of X-ray films that have been generated. The calculation method is to subtract the overlapping length from the length of the X-ray film to obtain the length that has been pasted in a single time, and then multiply it by the number of X-ray films.

[0127] Step 705: Update the weld perimeter based on the attached length to obtain an updated weld perimeter.

[0128] The weld perimeter is updated to be the perimeter of the weld remaining to be pasted excluding the X-ray film area that has been pasted.

[0129] Here, the weld circumference is essentially calculated and updated starting from the position of the last overlapping length of the last X-ray patch.

[0130] Step 706: Update the estimated single patch position based on the weld perimeter.

[0131] The updating method here is the same as the method of steps 500-504, and will not be described in detail here.

[0132] Based on the same inventive concept, an embodiment of the present invention provides a narrow pipeline weld detection system.

[0133] Reference Fig.10 , a narrow pipeline weld detection system, comprising: An acquisition module is used to acquire the size of the weld to be detected, the position of the weld, the current indication image and the weld detection image; A memory for storing a program of a control method for a narrow pipe weld detection method; The program in the memory can be loaded and executed by the processor to realize a control method for detecting a narrow pipe weld.

[0134] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0135] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded and executed by a processor and that is a method for detecting a narrow pipe weld.

[0136] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0137] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed by a narrow pipe weld detection method.

[0138] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for detecting narrow pipe welds, characterized in that: include: Obtain the size and position of the weld to be tested; A working scheme is determined based on the weld position, the weld size to be detected and the preset X-ray film size, the working scheme comprising: determining a single patch position based on the weld size to be detected and the X-ray film size; determining a forward route and a return route of a detection vehicle based on the single patch position and the weld position, the detection vehicle comprising a vehicle body (1) that moves around the inner wall of the pipeline in a circumferential direction and along the length direction of the pipeline and an X-ray detection device (2) that stores X-ray films, the X-ray detection device (2) being arranged on the vehicle body (1); controlling the detection vehicle to reach the single patch position according to the forward route and perform an X-ray detection operation, the X-ray detection operation comprising a patch operation of attaching the X-ray film to the weld of the inner wall of the pipeline and a detection operation of detecting through the X-ray film; After the X-ray inspection operation is completed, take the X-ray film and return along the return route to replace the X-ray film and continue to execute the forward route corresponding to the next single patch position until there is no single patch position that has not been inspected.

2. A narrow pipe weld detection method according to claim 1, characterized in that: The method of controlling the detection vehicle to reach a single patch position according to the forward route includes: The forward route is disassembled to obtain an axial route that advances along the axial direction of the pipeline and a circumferential route that advances along the circumference of the pipeline; Based on the single patch position, a corresponding theoretical indication image is searched from a preset angle database, the theoretical indication image being a detection image of a level detector (3) on the detection vehicle, the level detector (3) comprising a cylinder (31) with a horizontal axis and half a volume of water inside, an indication rod (32) suspended above the water is placed inside the cylinder (31), a mark is provided at one end of the indication rod (32), and the circular end surface of the cylinder (31) is a transparent end surface and is provided with a scale (33) indicating an angle along the circumferential direction; Acquire the current indication image when completing the axial route; When the current indication image is different from the theoretical indication image, continue to move forward along the circumferential route and continue to acquire the current indication image; When the current indication image and the theoretical indication image are identical, the movement stops.

3. A narrow pipe weld detection method according to claim 2, characterized in that: The method of continuing to move along the circumferential route when the current indication image and the theoretical indication image are different includes: Analyze based on the current indication image to obtain the current angle; Analyze based on theoretical indication images to obtain theoretical perspectives; Calculate the angle difference based on the theoretical angle and the current angle; When the angle difference is less than the preset straight angle, the vehicle continues to move forward in a preset positive direction, wherein the positive direction is a direction in which the angle difference is reduced; When the angle difference is greater than the straight angle, the vehicle continues to move forward in a preset negative direction, wherein the negative direction is a direction in which the angle difference increases.

4. A narrow pipe weld detection method according to claim 3, characterized in that: Also included is a method that is superior to the method of continuing in a negative direction when the angle difference is greater than the straight angle, the method comprising: When the angle difference is greater than the straight angle, the deviation amplitude is calculated based on the angle difference and the straight angle; When the deviation amplitude is greater than the preset ignore threshold amplitude, continue to move in the negative direction; When the deviation amplitude is less than the neglected critical amplitude, a positive movement trend curve is determined based on the current angle, the theoretical angle and the positive direction, wherein the positive movement trend curve is a curve of the angle and the vertical direction of movement, and the vertical direction of movement is the sub-direction of the tangent direction of the movement curve in the vertical direction; Determine a negative movement trend curve based on the current angle, the theoretical angle and the negative direction, wherein the negative movement trend curve is a curve of the angle and the vertical direction of movement; Decomposition based on the positive moving trend curve to obtain a positive downward range; Decomposition based on the negative moving trend curve to obtain the negative downward range; Calculate the range difference based on the positive downward range and the negative upward range; When the range difference is greater than the preset saving critical difference, the device continues to move in the positive direction; When the range difference is less than the saving critical difference, the vehicle continues to move in the negative direction.

5. A narrow pipe weld detection method according to claim 2, characterized in that: Methods for determining a single patch position based on the size of the weld and the size of the X-ray film include: Determine the weld circumference and the X-ray film length based on the detected weld size and the X-ray film size, wherein the X-ray film length is the length of the X-ray film along the weld circumference direction; The number of patching times and the remainder perimeter are calculated based on the weld perimeter and the length of the X-ray film, wherein the value corresponding to the number of patching times is the integer part of the quotient of the weld perimeter divided by the length of the X-ray film plus 1; If the remainder circumference does not exist, update the X-ray film length to the remainder circumference; When the remainder perimeter exists, the overlap length is determined based on the number of patches and the remainder perimeter; The single patch position is determined based on the number of patches, X-ray film length, overlap length and the end point coordinates of the axial route.

6. A narrow pipe weld detection method according to claim 5, characterized in that: The method also includes a method for checking the X-ray film that has been tested after the X-ray film is replaced by the X-ray film after the X-ray detection operation is completed, the method comprising: Acquire weld inspection images; Searching for the latest historical weld inspection images based on the weld inspection images; Determine a first overlapped image based on the overlapped length and the latest historical weld inspection image; determining a second coincident image based on the coincident length and the weld inspection image; Outputting the X-ray film normally when the first coincident image and the second coincident image coincide with each other; When the first overlapped image and the second overlapped image do not overlap, a preset X-ray film offset signal is output.

7. A narrow pipe weld detection method according to claim 6, characterized in that: The method also includes a method for adjusting the next single patch position after outputting a preset X-ray film offset signal when the first overlapped image and the second overlapped image do not overlap, and defining the next single patch position as an expected single patch position, the method comprising: Determine a local coincidence image based on the first coincidence image and the second coincidence image, wherein the local coincidence image is an image of a region where the first coincidence image and the second coincidence image overlap; determining a first local relative length based on the local coincidence image and the first coincidence image; determining a second local relative length based on the local coincidence image and the second coincidence image; determining an offset length based on the overlap length, the first local relative length, or the second local relative length; Determine the pasted length; updating the weld perimeter based on the attached length to obtain an updated weld perimeter; The estimated single patch position is updated based on the weld perimeter.

8. A narrow pipe weld detection system, characterized in that: include: An acquisition module is used to acquire the size of the weld to be detected, the position of the weld, the current indication image and the weld detection image; A memory for storing a program of a control method for detecting a narrow pipe weld according to any one of claims 1 to 7; The program in the memory can be loaded and executed by the processor to implement a control method for detecting a narrow pipe weld as described in any one of claims 1 to 7.

9. Intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a narrow pipe weld detection method as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that A computer program is stored which can be loaded by a processor and execute a narrow pipe weld detection method as claimed in any one of claims 1 to 7.

Images