Automatic detection and image acquisition method for pipe fitting welding seam quality

Abstract

The invention is applicable to the technical field of ship and ocean platform pipeline processing quality detection, and provides a pipe fitting weld joint quality automatic detection image acquisition method, which comprises the following steps: transporting a plurality of pipe fittings to a quality inspection area one by one, and moving an image acquisition device to one or more weld joint detection areas of the pipe fittings; adjusting the focal length and shooting parameters of the image acquisition device; shooting the welding seam to generate a welding seam image; performing quality detection on the weld seam image; wherein the step of moving the image detection device to one or more welding seam detection areas of the pipe fitting comprises the following steps: identifying one or more welding seam positions on the pipe fitting; further, the step of recognizing the positions of the one or more welding seams on the pipe fitting comprises the substeps that one or more of a camera, a thermal imager, a laser sensor and a 3D line laser contourgraph are used for scanning and recognizing the shape of the pipe fitting and the positions of the welding seams on the pipe fitting; therefore, full-automatic intelligent detection on the welding seam quality of the pipe fitting is realized, the working efficiency and the detection precision are improved, the cost is reduced, and the user experience is further improved.

Description

Technical Field

[0001] The invention belongs to the technical field of ship and offshore platform pipeline processing quality detection, and in particular relates to an image acquisition method for automatic detection of pipe weld quality. Background Art

[0002] For ships and offshore platforms, a large number of piping systems are one of the key points of their construction, and the quality of welding joints is the key to ensure the safe operation of the piping system or even the entire ship or platform in the future. At present, radiographic detection is one of the main methods for quality inspection of welding joints. It uses the phenomenon of absorption and scattering of rays when passing through objects. The intensity of rays at different positions is recorded by film or detectors to detect welds. It can directly determine the type, size, location and distribution of defects in welds. The imaging results are intuitive and reliable, with good repeatability and easy to save. It is an important means of welding quality inspection. Due to the wide variety of pipe specifications and shapes of ships and offshore platforms, the current traditional radiographic detection method is to manually arrange X-ray machines to take pictures of pipe welds and then manually evaluate the negatives. It is heavily dependent on the level and experience of operators, and has problems of low work efficiency and poor reliability. It also has high radiation protection requirements and can no longer meet people's needs for efficient use. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide an image acquisition method for automatic detection of pipe weld quality, aiming to solve the problem that the prior art cannot provide an effective image acquisition method for automatic detection of pipe weld quality, resulting in low intelligence and poor user experience.

[0004] In one aspect, the present invention provides an image acquisition method for automatic detection of pipe weld quality, the method comprising the following steps: Transport multiple pipes to the quality inspection area one by one, and move the image acquisition device to one or more weld inspection areas of the pipes; Adjusting the focal length and shooting parameters of the image acquisition device; Photograph the weld to generate a weld image; Performing quality inspection on the weld image.

[0005] The method of the present invention, wherein the moving image detection device to one or more weld detection areas of the pipe comprises: According to the preset one or more weld positions of the pipe fitting, the image detection device is moved to the weld detection area corresponding to the weld position.

[0006] The method of the present invention, wherein the moving image detection device to one or more weld inspection areas of the pipe comprises: identifying one or more weld locations on the pipe; According to the weld position, the image detection device is moved to the weld detection area corresponding to the weld position.

[0007] The method of the present invention, wherein the identifying one or more weld locations on the pipe comprises: Use one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler to scan and identify the shape of the pipe and the position of the weld on the pipe; or use the image acquisition device to scan and identify the shape of the pipe and the position of the weld on the pipe; The camera, the thermal imager, the laser sensor, and the 3D line laser profiler are one or more; One or more of the camera, the thermal imager, the laser sensor, and the 3D line laser profiler are installed on the image acquisition device.

[0008] The method of the present invention, wherein adjusting the focal length of the image acquisition device comprises: Detecting a shooting distance between the image acquisition device and the weld, and adjusting a focal length of the image acquisition device or a shooting distance between the image acquisition device and the weld according to the shooting distance; The adjusting the shooting parameters of the image acquisition device includes: adjusting the shooting parameters according to the shooting distance and the material information of the pipe.

[0009] The method of the present invention further comprises: Preset the material information of the pipe or use one or more of the camera, the thermal imager, the laser sensor, and the 3D line laser profiler to scan and identify the material information of the pipe; The method further includes: scanning and identifying a mark on the pipe fitting, and acquiring material information of the pipe fitting according to the mark; The content of the mark includes: one or more of text, pattern, QR code, barcode; The scanning and identifying the mark on the pipe includes: using one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler to scan and identify the mark on the pipe.

[0010] The method of the present invention, wherein before the quality inspection of the weld image, the method comprises: After adjusting the focal length or shooting parameters of the image acquisition device according to the weld image, the weld is photographed to generate a weld image to be detected; The performing quality inspection on the weld image includes: performing quality inspection on the weld image to be inspected.

[0011] The method of the present invention, wherein the quality inspection of the weld image to be inspected comprises: after identifying the contour of the weld from the weld image to be inspected, performing integrity inspection on the weld, and generating a quality inspection report corresponding to the pipe; The pipe fittings are moved to the corresponding resumption area or waiting area for processing according to the quality inspection report.

[0012] The method of the present invention, wherein photographing the weld to generate a weld image comprises: photographing the weld from a plurality of different angles or positions by the image acquisition device; The image acquisition device photographs the weld at an angle; The image acquisition device is an X-ray machine, which includes: an X-ray transmitter and an imaging plate, and the X-rays emitted by the X-ray transmitter pass through the tube to form an image on the imaging plate; The quality inspection of the weld image includes: performing quality inspection after splicing a plurality of weld images to be inspected.

[0013] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the above-mentioned image acquisition method for automatic detection of pipe weld quality.

[0014] The beneficial effects of the present invention are: transporting multiple pipe fittings to the quality inspection area one by one, moving the image acquisition device to one or more weld inspection areas of the pipe fittings; adjusting the focal length and shooting parameters of the image acquisition device; shooting the weld to generate a weld image; and performing quality inspection on the weld image; wherein, before moving the image detection device to one or more weld inspection areas of the pipe fittings, it includes: identifying one or more weld positions on the pipe fittings; moving the image detection device to the weld inspection area corresponding to the weld position according to the weld position; further, identifying one or more weld positions on the pipe fittings includes: using one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler to scan and identify the shape of the pipe fitting and the weld position on the pipe fitting; or using the image acquisition device to scan and identify the shape of the pipe fitting and the weld position on the pipe fitting; thereby realizing fully automatic and intelligent inspection of the weld quality of the pipe fittings, improving work efficiency and inspection accuracy, reducing costs, and thereby improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart for implementing the image acquisition method for automatic detection of pipe weld quality provided in the first embodiment of the present invention; Figure 2It is a structural schematic diagram of an image acquisition device for automatically detecting the quality of pipe welds provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments: Example

[0018] Figure 1 The implementation process of the image acquisition method for automatic detection of pipe weld quality provided by the first embodiment of the present invention is shown. For the convenience of description, only the part related to the embodiment of the present invention is shown, which is described in detail as follows: In step S101, multiple pipes are transported to the quality inspection area one by one, and the image acquisition device is moved to one or more weld inspection areas of the pipes; In an embodiment of the present invention, the plurality of pipes are transported one by one to the quality inspection area by an AGV or a manipulator; Further, moving the image detection device to one or more weld inspection areas of the pipe includes: According to one or more preset weld positions of the pipe fitting, the image detection device is moved to the weld detection area corresponding to the weld position.

[0019] Further preferably, before moving the image detection device to one or more weld inspection areas of the pipe, the method includes: Identifying one or more weld locations on a pipe fitting; According to the position of the weld, the image detection device is moved to the weld detection area corresponding to the weld position.

[0020] Wherein, identifying one or more weld locations on the pipe fitting includes: Use one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler to scan and identify the shape of the pipe and the position of the weld on the pipe; or use an image acquisition device to scan and identify the shape of the pipe and the position of the weld on the pipe; One or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler; One or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler are installed on the image acquisition device to meet different usage requirements.

[0021] In step S102, the focal length and shooting parameters of the image acquisition device are adjusted; In an embodiment of the present invention, adjusting the focal length of the image acquisition device includes: Detecting the shooting distance between the image acquisition device and the weld, and adjusting the focal length of the image acquisition device or the shooting distance between the image acquisition device and the weld according to the shooting distance; Adjusting the shooting parameters of the image acquisition device includes: adjusting the shooting parameters according to the shooting distance and the material information of the pipe.

[0022] In step S103, the weld is photographed to generate a weld image; In an embodiment of the present invention, before performing quality inspection on the weld image, the method includes: After adjusting the focal length or shooting parameters of the image acquisition device according to the weld image, the weld is photographed to generate a weld image to be inspected, and the shooting parameters are fine-tuned; The quality inspection of the weld image includes: performing quality inspection on the weld image to be inspected.

[0023] In step S104, the weld image is quality inspected; In an embodiment of the present invention, performing quality inspection on the weld image to be inspected includes: performing integrity inspection on the weld after identifying the contour of the weld from the weld image to be inspected, and generating a quality inspection report corresponding to the pipe fitting; According to the quality inspection report, the pipe fittings are moved to the corresponding resumption area or waiting area for processing so that they can resume work or flow into the next workstation.

[0024] Further, photographing the weld to generate a weld image includes: an image acquisition device photographing the weld from a plurality of different angles or positions; The image acquisition device shoots the weld at an angle, and the X-ray machine is not perpendicular to the weld; this improves shooting efficiency and can meet the inspection requirements of welds with different cross-sections; The image acquisition device is an X-ray machine, which includes: an X-ray transmitter and an imaging plate, and the X-rays emitted by the X-ray transmitter pass through the tube to form an image on the imaging plate; The quality inspection of weld images includes: performing quality inspection after splicing multiple weld images to be inspected, so as to meet the inspection requirements of large welds.

[0025] More preferably, the method further comprises: Preset the material information of the pipe fittings or use one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler to scan and identify the material information of the pipe fittings; The method also includes: scanning and identifying a mark on the pipe fitting, and obtaining material information of the pipe fitting according to the mark; The content of the mark includes: one or more of text, pattern, QR code, barcode; Scanning and identifying the mark on the pipe includes: using one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler to scan and identify the mark on the pipe.

[0026] In an embodiment of the present invention, a plurality of pipe fittings are transported to a quality inspection area one by one, and an image acquisition device is moved to one or more weld inspection areas of the pipe fittings; the focal length and shooting parameters of the image acquisition device are adjusted; the weld is photographed to generate a weld image; and the weld image is quality inspected; wherein, before moving the image detection device to one or more weld inspection areas of the pipe fittings, the following steps are included: identifying one or more weld positions on the pipe fittings; moving the image detection device to the weld inspection area corresponding to the weld position according to the weld position; further, identifying one or more weld positions on the pipe fittings includes: using one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler to scan and identify the shape of the pipe fitting and the weld position on the pipe fitting; or using an image acquisition device to scan and identify the shape of the pipe fitting and the weld position on the pipe fitting; thereby achieving fully automatic and intelligent inspection of the weld quality of the pipe fittings, improving work efficiency and inspection accuracy, reducing costs, and thereby improving user experience. Example

[0027] Figure 2 FIG. 2 shows an image acquisition device for automatically detecting the quality of a pipe weld provided by a second embodiment of the present invention. Figure 2 As shown, the device 10 includes: One or more processors 110 and memory 120, Figure 2 A processor 110 is used as an example for description. The processor 110 and the memory 120 may be connected via a bus or other means. Figure 2 The example of connecting through bus is taken in the following.

[0028] The processor 110 is used to complete various control logics of the device 10, and it can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, a discrete gate or transistor logic, a discrete hardware component, or any combination of these components. In addition, the processor 110 can also be any traditional processor, microprocessor or state machine. The processor 110 can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration.

[0029] The memory 120, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions corresponding to the pipe fitting weld quality automatic detection image acquisition method in the embodiment of the present invention. The processor 110 executes various functional applications and data processing of the device 10 by running the non-volatile software programs, instructions and units stored in the memory 120, that is, the pipe fitting weld quality automatic detection image acquisition method in the above method embodiment is realized.

[0030] The memory 120 may include a program storage area and a data storage area, wherein the program storage area may store applications required for operating the device and at least one function; the data storage area may store data created according to the use of the device 10, etc. In addition, the memory 120 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 120 may optionally include a memory remotely arranged relative to the processor 110, and these remote memories may be connected to the device 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0031] One or more units are stored in the memory 120, and when executed by one or more processors 110, the method for automatically detecting the quality of pipe welds is executed in any of the above method embodiments, for example, the method described above is executed. Figure 1 The method comprises steps S101 to S104. Example

[0032] Embodiment 3 of the present invention provides a non-volatile computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example, to execute the above-described Figure 1 The method comprises steps S101 to S104.

[0033] As an example, non-volatile storage media can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) as external cache memory. By way of illustration and not limitation, RAM can be obtained in many forms such as synchronous RAM (SRAM), dynamic RAM, (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM) and direct Rambus RAM (DRRAM). The disclosed memory components or memories of the operating environment described herein are intended to include one or more of these and / or any other suitable types of memories. Example

[0034] Embodiment 4 of the present invention provides a computer program product, which includes a computer program stored in a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the automatic detection image acquisition method for the quality of pipe welds in the above method embodiment. For example, the above described Figure 1 The method comprises steps S101 to S104.

[0035] The embodiments described above are merely illustrative, in which the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0036] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and of course can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can exist in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer electronic device (which can be a personal computer, a server, or a network electronic device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0037] What has been described herein in this specification and the accompanying drawings includes examples of methods for automatically detecting the quality of pipe welds. Of course, it is not possible to describe every conceivable combination of elements and / or methods for the purpose of describing the various features of the present disclosure, but it is recognized that many other combinations and permutations of the disclosed features are possible. Therefore, it is obvious that various modifications can be made to the present disclosure without departing from the scope or spirit of the present disclosure. In addition, or in the alternative, other embodiments of the present disclosure may be apparent from consideration of the present specification and the accompanying drawings and from the practice of the present disclosure as presented herein. It is intended that the examples set forth in this specification and the accompanying drawings are to be considered illustrative and not restrictive in all respects. Although specific terms are employed herein, they are used in a general and descriptive sense and are not used for limiting purposes.

Claims

1. A method for automatically detecting the quality of pipe welds, characterized in that: The method comprises the following steps: Transport multiple pipes to the quality inspection area one by one, and move the image acquisition device to one or more weld inspection areas of the pipes; Adjusting the focal length and shooting parameters of the image acquisition device; Photograph the weld to generate a weld image; Performing quality inspection on the weld image.

2. The method according to claim 1, characterized in that The moving image detection device to one or more weld inspection areas of the pipe comprises: According to the preset one or more weld positions of the pipe fitting, the image detection device is moved to the weld detection area corresponding to the weld position.

3. The method according to claim 1, characterized in that The moving image detection device to one or more weld inspection areas of the pipe comprises: identifying one or more weld locations on the pipe; According to the weld position, the image detection device is moved to the weld detection area corresponding to the weld position.

4. The method according to claim 3, characterized in that The identifying one or more weld locations on the pipe comprises: Use one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler to scan and identify the shape of the pipe and the position of the weld on the pipe; or use the image acquisition device to scan and identify the shape of the pipe and the position of the weld on the pipe; The camera, the thermal imager, the laser sensor, and the 3D line laser profiler are one or more; One or more of the camera, the thermal imager, the laser sensor, and the 3D line laser profiler are installed on the image acquisition device.

5. The method according to claim 1, characterized in that The adjusting the focal length of the image acquisition device comprises: Detecting a shooting distance between the image acquisition device and the weld, and adjusting a focal length of the image acquisition device or a shooting distance between the image acquisition device and the weld according to the shooting distance; The adjusting the shooting parameters of the image acquisition device includes: adjusting the shooting parameters according to the shooting distance and the material information of the pipe.

6. The method according to claim 1, characterized in that The method further comprises: Preset the material information of the pipe or use one or more of the camera, the thermal imager, the laser sensor, and the 3D line laser profiler to scan and identify the material information of the pipe; The method further includes: scanning and identifying a mark on the pipe fitting, and acquiring material information of the pipe fitting according to the mark; The content of the mark includes: one or more of text, pattern, QR code, barcode; The scanning and identifying the mark on the pipe includes: using one or more of a camera, a thermal imager, a laser sensor, and a 3D line laser profiler to scan and identify the mark on the pipe.

7. The method according to claim 1, characterized in that The quality inspection of the weld image includes: After adjusting the focal length or shooting parameters of the image acquisition device according to the weld image, the weld is photographed to generate a weld image to be detected; The performing quality inspection on the weld image includes: performing quality inspection on the weld image to be inspected.

8. The method according to claim 7, characterized in that The quality inspection of the weld image to be inspected includes: after identifying the contour of the weld from the weld image to be inspected, performing integrity inspection on the weld, and generating a quality inspection report corresponding to the pipe; The pipe fittings are moved to the corresponding resumption area or waiting area for processing according to the quality inspection report.

9. The method according to claim 7, characterized in that The photographing of the weld to generate a weld image comprises: the image acquisition device photographing the weld from a plurality of different angles or positions; The image acquisition device photographs the weld at an angle; The image acquisition device is an X-ray machine, which includes: an X-ray transmitter and an imaging plate, and the X-rays emitted by the X-ray transmitter pass through the tube to form an image on the imaging plate; The quality inspection of the weld image includes: performing quality inspection after splicing a plurality of weld images to be inspected.

10. A computer program product, characterized in that The computer program product includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the image acquisition method for automatic detection of pipe weld quality according to any one of claims 1 to 9.

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