Steel defect detector based on AI vision

Abstract

The invention belongs to the technical field of steel detection, and discloses a steel defect detector based on AI vision. Comprising an industrial camera, a transverse plate and a transverse column, the industrial camera is mounted on the transverse plate, and the transverse plate is arranged on the transverse column through a position adjusting assembly. By arranging the walking assembly and the adaptation assembly, the device is arranged in a to-be-detected steel pipe, a second motor is started to drive a first moving column to be gradually separated from a first hollow column, the first moving column drives a box body and a first rolling wheel to move, so that the first rolling wheel abuts against the inner wall of the steel pipe, and a first motor is started to drive a first bevel gear to rotate; the first bevel gear drives a hollow shaft to rotate through a plurality of second bevel gears, the hollow shaft drives a worm to rotate through a second rotating shaft, and the worm drives a first roller to rotate through a worm gear, so that the first roller walks on the inner wall of the steel pipe, an industrial camera on the device is driven to walk, and defect detection is carried out on the inner wall of the steel pipe.

Description

Technical Field

[0001] The present invention relates to the technical field of steel material detection, and more specifically, to a steel material defect detector based on AI vision. Background Art

[0002] The defects that may exist in some large steel pipes will seriously affect their strength and pressure resistance, and may cause serious problems such as leakage and breakage during the use of the steel pipes, posing a threat to the safety and reliability of the steel pipes. Therefore, in order to ensure the quality and safety of steel pipes, they must be inspected. The current method for detecting surface defects of steel pipes is mainly to capture images of the steel pipe surface through image acquisition equipment, and pre-process the captured images, such as denoising and smoothing, to improve image quality and facilitate subsequent analysis and processing. The pre-processed images are identified and analyzed using a pre-trained AI model, and the location, type and other information of the defects are output based on the recognition results of the AI ​​model.

[0003] However, it is currently difficult to perform defect detection on the inner wall of large steel pipes. The current image acquisition equipment is mainly industrial cameras or cameras. The industrial cameras or cameras are used to take pictures of the steel pipe surface, but the industrial cameras or cameras cannot take pictures of the inner wall of the steel pipe, that is, the inner wall of the steel pipe cannot be detected for defects, resulting in the inability to obtain the specific situation of the defects on the inner wall of the steel pipe, which affects the judgment of the state of the steel pipe. Summary of the invention

[0004] In order to solve the problem in the background technology that it is currently difficult to detect defects on the inner wall of a large steel pipe, the present invention proposes a steel defect detector based on AI vision.

[0005] To achieve the above object, the present invention provides the following technical solution: a steel defect detector based on AI vision, comprising an industrial camera and a horizontal board, wherein the industrial camera is mounted on the horizontal board, and further comprising: The horizontal column and the horizontal plate are arranged on the horizontal column through a position adjustment component, the position adjustment component is used to adjust the position of the industrial camera, the horizontal column is provided with a walking component for driving the industrial camera to walk on the inner wall of the steel pipe, and the horizontal column is also provided with an adaptation component for making the walking component adapt to steel pipes with different inner diameters; The marking pen is arranged on the horizontal plate, and a marking component for driving the marking pen to mark the defect position is arranged on the horizontal plate.

[0006] The walking assembly includes a first motor fixedly connected to the inside of the cross column, the output shaft of the first motor is fixedly connected to the first rotating shaft rotatably connected to the cross column, two first bevel gears are fixedly connected to the first rotating shaft, both ends of the cross column are rotatably connected to four hollow shafts, one end of the hollow shaft is fixedly connected to a second bevel gear meshing with the corresponding first bevel gear, a second rotating shaft is slidably inserted in the hollow shaft, one end of the second rotating shaft is fixedly connected to a worm, one side of the worm is meshed with a worm wheel, the middle part of the worm wheel is fixedly connected to a third rotating shaft, and both ends of the third rotating shaft are fixedly connected to the first roller.

[0007] Furthermore, the adaptation component includes four first hollow columns fixedly connected to the outer walls at both ends of the transverse column, a first movable column is slidably inserted in the first hollow column, one end of the first movable column is fixedly connected to a box body, the second rotating shaft and the third rotating shaft are both rotatably connected to the box body, the hollow shaft is rotatably connected to the first hollow column, the outer walls of the first movable columns are fixedly connected to movable blocks slidably connected to the corresponding first hollow columns, the outer walls of the transverse column are slidably connected to two sliding blocks, a first connecting rod is hinged between the sliding block and the moving block, the sliding blocks are fixedly connected to vertical plates slidably connected in the transverse column, the vertical plates are fixedly connected to racks, a second motor is fixedly connected in the transverse column, and the output shaft of the second motor is fixedly connected to a first circular gear meshing with the two racks.

[0008] Furthermore, the position adjustment component includes a rotating sleeve rotatably connected to the outer wall of the transverse column, the outer wall of the rotating sleeve is fixedly connected to a second hollow column, a second movable column is slidably inserted in the second hollow column, the transverse plate is fixedly connected to one end of the second movable column, the outer wall of the second movable column is fixedly connected to a movable plate slidably connected to the second hollow column, a rotating ring is rotatably connected to the sliding block, a connecting plate is fixedly connected to the rotating ring, a second connecting rod is hinged between the connecting plate and the movable plate, a gear ring is fixedly connected to the outer wall of the rotating sleeve, a third motor is fixedly connected to the rotating sleeve via a mounting plate, and an output shaft of the third motor is fixedly connected to a second circular gear meshing with the gear ring.

[0009] Furthermore, the marking component includes an electric push rod fixedly connected to the horizontal plate, the output end of the electric push rod is fixedly connected to a fourth motor through a mounting plate, the output shaft of the fourth motor is fixedly connected to a rotating block, a rectangular opening is opened in the rotating block, a first spring is fixed in the rectangular opening, one end of the first spring is fixedly connected to a slider slidably connected in the rectangular opening, the marking pen is slidably set in the middle of the slider, one end of the marking pen is fixedly connected to a disc, and an elastic member is fixed between the disc and the slider.

[0010] Furthermore, a fifth motor is fixedly connected to the second hollow column via a bracket plate, an output shaft of the fifth motor is fixedly connected to a rotating plate, a plurality of limit rings of different shapes are fixedly connected to the rotating plate, the plurality of limit rings can be rotated to a position opposite to the marking pen, an L-shaped rod is fixedly connected to the marking pen, and the L-shaped rod can contact the inner wall of the limit ring when moving upward.

[0011] Furthermore, the transverse plate is provided with a cleaning assembly for cleaning the inner wall of the steel pipe, the cleaning assembly includes a fourth rotating shaft rotatably connected to the transverse plate through a fixed plate, one end of the fourth rotating shaft is fixedly connected to a rotating plate, one end of the rotating plate is equipped with a brush, two support plates are fixedly connected to the transverse plate, a second spring is fixedly connected between the support plate and the rotating plate, the other end of the rotating plate is fixedly connected to an inclined rotating sheet, and a first connecting column is fixedly connected to the rotating sheet.

[0012] Furthermore, the cross plate is rotatably connected with a fifth rotating shaft and a sixth rotating shaft through a bracket plate, a second roller is fixedly connected to one end of the fifth rotating shaft, a first pulley is fixedly connected to the outer wall of the fifth rotating shaft, a second pulley is fixedly connected to the outer wall of the sixth rotating shaft, the second pulley is connected to the first pulley via a transmission belt, a circular plate is fixedly connected to one end of the sixth rotating shaft, a second connecting column is fixedly connected to the circular plate, and the first connecting column is located on the trajectory of the second connecting column rotating around the sixth rotating shaft.

[0013] The technical effects and advantages of the AI ​​vision-based steel defect detector of the present invention are as follows: (1) By setting a walking component and an adapting component, the device is set in the steel pipe to be inspected. It is necessary to first make the first roller of the device abut against the inner wall of the steel pipe, start the second motor to drive the first circular gear to rotate, and the first circular gear drives the sliding blocks on both sides to move to both sides through two racks. The sliding block drives multiple moving blocks and the first moving column to move simultaneously through the first connecting rod, so that the first moving column gradually separates from the first hollow column. The first moving column drives the box body and the first roller to move, so that the first roller is pressed against the inner wall of the steel pipe, and the first motor is started to drive the first bevel gear to rotate. The first bevel gear drives the hollow shaft to rotate through multiple second bevel gears. The hollow shaft drives the worm to rotate through the second rotating shaft. The worm drives the first roller to rotate through the worm gear, so that the first roller moves on the inner wall of the steel pipe, thereby driving the industrial camera on the device to move and perform defect detection on the inner wall of the steel pipe.

[0014] (2) By setting a marking component, when it is necessary to mark the defect position, start the electric push rod to drive the marking pen to move toward the inner wall of the steel pipe so that the marking pen contacts the inner wall of the steel pipe, start the fourth motor to drive the rotating block to rotate, and the rotating block drives the marking pen to draw a circle mark at the defect on the inner wall of the steel pipe. The fifth motor can be started to drive the rotating plate to rotate, and the rotating plate drives multiple limit rings of different shapes to rotate, so that the limit rings of corresponding shapes are opposite to the marking pen. When the marking pen moves toward the inner wall of the steel pipe, the L-shaped rod will contact the inner wall of the limit ring. When the fourth motor drives the marking pen to rotate, the limit ring can limit the shape drawn by the marking pen to distinguish different defects. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a cross-sectional schematic diagram of the transverse column, the first hollow column and the second hollow column in the present invention; Figure 3 For the present invention Figure 2 The enlarged schematic diagram at A in the middle; Figure 4 For the present invention Figure 2 The enlarged schematic diagram of point B in the middle; Figure 5 For the present invention Figure 2 The enlarged schematic diagram at C in the middle; Figure 6 It is a schematic diagram of the structure of the right end of the horizontal plate in the present invention; Figure 7 For the present invention Figure 6 The enlarged schematic diagram at D in the middle; Figure 8 It is a schematic structural diagram of the left end of the horizontal plate in the present invention.

[0016] In the figure: 1. Industrial camera; 2. Horizontal plate; 3. Horizontal column; 4. First motor; 5. First rotating shaft; 6. First bevel gear; 7. Hollow shaft; 8. Second bevel gear; 9. Second rotating shaft; 10. Worm; 11. Third rotating shaft; 12. Worm gear; 13. First roller; 14. First hollow column; 15. First moving column; 16. Box body; 17. Moving block; 18. Sliding block; 19. First connecting rod; 20. Vertical plate; 21. Rack; 22. Second motor; 23. First circular gear; 24. Rotating sleeve; 25. Second hollow column; 26. Second moving column; 27. Moving plate; 28. Second connecting rod; 29. ​​Connecting plate; 30. Rotating ring; 31. Gear ring; 3 2. The third motor; 33. The second circular gear; 34. The electric push rod; 35. The fourth motor; 36. The rotating block; 37. The rectangular opening; 38. The first spring; 39. The slider; 40. The marking pen; 41. The round piece; 42. The elastic member; 43. The fifth motor; 44. The rotating plate; 45. The limiting ring; 46. The L-shaped rod; 47. The fourth rotating shaft; 48. The rotating plate; 49. The brush; 50. The supporting plate; 51. The second spring; 52. The rotating piece; 53. The first connecting column; 54. The fifth rotating shaft; 55. The second roller; 56. The first pulley; 57. The sixth rotating shaft; 58. The second pulley; 59. The transmission belt; 60. The round plate; 61. The second connecting column. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Reference Figure 1 - Figure 8 , a steel defect detector based on AI vision, including an industrial camera 1 and a horizontal board 2, the industrial camera 1 is installed on the horizontal board 2, and also includes: The horizontal column 3 and the horizontal plate 2 are arranged on the horizontal column 3 through a position adjustment component, the position adjustment component is used to adjust the position of the industrial camera 1, and the horizontal column 3 is provided with a walking component for driving the industrial camera 1 to walk on the inner wall of the steel pipe. The horizontal column 3 is also provided with an adaptation component for making the walking component adapt to steel pipes with different inner diameters; A marking pen 40, the marking pen 40 is arranged on the horizontal plate 2, and a marking component for driving the marking pen 40 to mark the defect position is arranged on the horizontal plate 2; When in use, the device is set in the steel pipe to be inspected, and the walking component is set on the inner wall of the steel pipe through the adaptation component to make the walking component adapt to the inner diameter of the steel pipe. The walking component can drive the cross plate 2 and the industrial camera 1 to move on the inner wall of the steel pipe. The position of the industrial camera 1 can be adjusted by the position adjustment component to capture images of the inner wall of the steel pipe in different directions. The captured images are transmitted to the system. The system recognizes and analyzes the preprocessed images through a pre-trained AI model, and outputs relevant information about the defects based on the recognition results of the AI ​​model. The defects can be marked with a marker pen 40 through the marking component to facilitate subsequent processing of the defects.

[0019] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4 The walking assembly includes a first motor 4 fixedly connected to the inside of the cross column 3, the output shaft of the first motor 4 is fixedly connected to a first rotating shaft 5 rotatably connected to the cross column 3, two first bevel gears 6 are fixedly connected to the first rotating shaft 5, both ends of the cross column 3 are rotatably connected to four hollow shafts 7, one end of each of the hollow shafts 7 is fixedly connected to a second bevel gear 8 meshing with the corresponding first bevel gear 6, a second rotating shaft 9 is slidably inserted in the hollow shaft 7, one end of the second rotating shaft 9 is fixedly connected to a worm 10, one side of the worm 10 is meshed with a worm wheel 12, the middle part of the worm wheel 12 is fixedly connected to a third rotating shaft 11, and both ends of the third rotating shaft 11 are fixed A first roller 13 is connected; when the industrial camera 1 needs to move in the steel pipe, multiple first rollers 13 are made to abut against the inner wall of the steel pipe, and the first motor 4 is started. The first motor 4 drives the first shaft 5 to rotate, and the first shaft 5 drives the first bevel gear 6 to rotate. The first bevel gear 6 drives the hollow shaft 7 to rotate through the second bevel gear 8, and the hollow shaft 7 drives the worm 10 to rotate through the second shaft 9. The worm 10 drives the worm wheel 12 and the third shaft 11 to rotate, and the third shaft 11 drives the first roller 13 to rotate, so that the first roller 13 can roll on the inner wall of the steel pipe. The rolling of the first roller 13 can drive the industrial camera 1 to move in the steel pipe to capture images of the inner wall of the steel pipe.

[0020] Reference Figure 1 , Figure 2 , Figure 4 and Figure 5The adaptation component includes four first hollow columns 14 fixedly connected to the outer walls of both ends of the horizontal column 3, a first movable column 15 is slidably inserted in the first hollow column 14, one end of the first movable column 15 is fixedly connected to a box body 16, the second rotating shaft 9 and the third rotating shaft 11 are both rotatably connected to the box body 16, the hollow shaft 7 is rotatably connected to the first hollow column 14, the outer wall of the first movable column 15 is fixedly connected to a movable block 17 slidably connected to the corresponding first hollow column 14, the outer wall of the horizontal column 3 is slidably connected to two sliding blocks 18, a first connecting rod 19 is hinged between the sliding block 18 and the moving block 17, the sliding block 18 is fixedly connected to a vertical plate 20 slidably connected to the horizontal column 3, and the vertical plate 20 is fixedly connected to a rack 21, A second motor 22 is fixedly connected in the transverse column 3, and an output shaft of the second motor 22 is fixedly connected to a first circular gear 23 meshing with two racks 21; when the device needs to adapt to steel pipes with different inner diameters, the device is placed in the steel pipe, and the second motor 22 is started. The second motor 22 drives the first circular gear 23 to rotate, and the first circular gear 23 drives the two racks 21 to move to both sides. The racks 21 drive the vertical plates 20 and the sliding blocks 18 on both sides to move to both sides. The sliding blocks 18 drive multiple moving blocks 17 away from the transverse column 3 through the first connecting rod 19. The moving blocks 17 drive the first moving column 15 to gradually separate from the first hollow column 14. The first moving column 15 drives the box body 16 and the first roller 13 away from the transverse column 3 until the first roller 13 abuts against the inner wall of the steel pipe.

[0021] Reference Figure 1 , Figure 2 and Figure 5, the position adjustment component includes a rotating sleeve 24 rotatably connected to the outer wall of the cross column 3, the outer wall of the rotating sleeve 24 is fixedly connected to a second hollow column 25, a second movable column 26 is slidably inserted in the second hollow column 25, the cross plate 2 is fixedly connected to one end of the second movable column 26, the outer wall of the second movable column 26 is fixedly connected to a movable plate 27 slidably connected to the second hollow column 25, a rotating ring 30 is rotatably connected to the sliding block 18, a connecting plate 29 is fixedly connected to the rotating ring 30, a second connecting rod 28 is hinged between the connecting plate 29 and the movable plate 27, a gear ring 31 is fixedly connected to the outer wall of the rotating sleeve 24, a third motor 32 is fixedly connected to the rotating sleeve 24 through a mounting plate, and the output shaft of the third motor 32 is fixedly connected to a second circular gear 33 meshing with the gear ring 31; in the process of moving the first roller 13 toward the inner wall of the steel pipe, the sliding block 18 can The rotating ring 30 is driven to move, and the rotating ring 30 drives the connecting plate 29 to move. The connecting plate 29 drives the moving plate 27 away from the horizontal column 3 through the second connecting rod 28. The moving plate 27 drives the second moving column 26 to gradually separate from the second hollow column 25. The second moving column 26 drives the horizontal plate 2 and the industrial camera 1 to move toward the inner wall of the steel pipe, so that the distance between the industrial camera 1 and the inner wall of the steel pipe is moderate, which is convenient for subsequent image acquisition. When the first roller 13 abuts against the inner wall of the steel pipe, starting the first motor 4 can drive the first roller 13 to rotate, thereby driving the device to move in the steel pipe. During the walking process, the third motor 32 is started, and the third motor 32 drives the rotating sleeve 24 to rotate on the surface of the horizontal column 3 through the second circular gear 33 and the gear ring 31. The horizontal column 3 drives the horizontal plate 2 and the industrial camera 1 to rotate through the second hollow column 25 and the second moving column 26, so that the industrial camera 1 can capture images at any position in the steel pipe.

[0022] Reference Figure 1 , Figure 6 and Figure 7The marking assembly includes an electric push rod 34 fixedly connected to the horizontal plate 2, the output end of the electric push rod 34 is fixedly connected to a fourth motor 35 through a mounting plate, the output shaft of the fourth motor 35 is fixedly connected to a rotating block 36, a rectangular opening 37 is opened in the rotating block 36, a first spring 38 is fixedly connected in the rectangular opening 37, one end of the first spring 38 is fixedly connected to a slider 39 slidably connected in the rectangular opening 37, the marking pen 40 is slidably arranged in the middle of the slider 39, one end of the marking pen 40 is fixedly connected to a disc 41, and an elastic member 4 is fixedly connected between the disc 41 and the slider 39 2. When it is necessary to mark a defect, the marker pen 40 is aligned with the defect through the cooperation of the walking assembly and the position adjustment assembly, and the electric push rod 34 is started. The electric push rod 34 drives the marker pen 40 to move toward the defect until the marker pen 40 contacts the inner wall of the steel pipe. The fourth motor 35 is started. The fourth motor 35 drives the marker pen 40 to rotate through the rotating block 36. The marker pen 40 can draw a circle on the outside of the defect to mark. By setting the elastic member 42, the marker pen 40 can always contact the inner wall of the steel pipe to mark the defect, which is convenient for subsequent positioning of the defect and processing of the defect.

[0023] Reference Figure 1 and Figure 6 A fifth motor 43 is fixedly connected to the second hollow column 25 through a bracket plate, and a rotating plate 44 is fixedly connected to the output shaft of the fifth motor 43, and a plurality of limit rings 45 of different shapes are fixedly connected to the rotating plate 44, and the plurality of limit rings 45 can be rotated to a position directly opposite to the marking pen 40, and an L-shaped rod 46 is fixedly connected to the marking pen 40, and the L-shaped rod 46 can contact the inner wall of the limit ring 45 when it moves upward; before marking the defect, the fifth motor 43 is started, and the fifth motor 43 drives the rotating plate 44 to rotate, and the rotating plate 44 drives the plurality of limit rings 45 to rotate, and the corresponding limit rings 45 are selected according to the type of defect. Ring 45, each shape of the limit ring 45 corresponds to a type of defect, and the number of limit rings 45 can be increased to correspond to more types of defects, so that the corresponding limit ring 45 is opposite to the marking pen 40, and the electric push rod 34 is started to drive the marking pen 40 to move, and the marking pen 40 drives the L-shaped rod 46 to move, so that the L-shaped rod 46 contacts the inner wall of the limit ring 45, and the fourth motor 35 is started to drive the marking pen 40 to rotate. Due to the setting of the first spring 38, the marking pen 40 can drive the L-shaped rod 46 to rotate along the inner wall of the limit ring 45, and the marking pen 40 can draw different marks according to the shape of the limit ring 45 to distinguish different types of defects.

[0024] Reference Figure 1 and Figure 8, a cleaning assembly for cleaning the inner wall of the steel pipe is provided on the horizontal plate 2, and the cleaning assembly includes a fourth rotating shaft 47 rotatably connected to the horizontal plate 2 through a fixed plate, one end of the fourth rotating shaft 47 is fixedly connected to a rotating plate 48, and one end of the rotating plate 48 is installed with a brush 49, two support plates 50 are fixedly connected to the horizontal plate 2, a second spring 51 is fixedly connected between the support plate 50 and the rotating plate 48, and the other end of the rotating plate 48 is fixedly connected to an inclined rotating piece 52, and a first connecting column 53 is fixedly connected to the rotating piece 52; before the industrial camera 1 is used to collect images of the inner wall of the steel pipe, the inner wall of the steel pipe can be cleaned by the cleaning assembly to prevent stains or impurities from affecting the detection, so that the first connecting column 53 and the rotating piece 52 rotate back and forth, and the rotating piece 52 drives the rotating plate 48 to rotate back and forth through the fourth rotating shaft 47, and the rotating plate 48 can clean the inner wall of the steel pipe through the brush 49.

[0025] Reference Figure 8 , the transverse plate 2 is rotatably connected with a fifth rotating shaft 54 ​​and a sixth rotating shaft 57 through a bracket plate, one end of the fifth rotating shaft 54 ​​is fixedly connected with a second roller 55, the outer wall of the fifth rotating shaft 54 ​​is fixedly connected with a first belt pulley 56, the outer wall of the sixth rotating shaft 57 is fixedly connected with a second belt pulley 58, the second belt pulley 58 and the first belt pulley 56 are connected by a transmission belt 59, one end of the sixth rotating shaft 57 is fixedly connected with a circular plate 60, the circular plate 60 is fixedly connected with a second connecting column 61, the first connecting column 53 is located on the track of the second connecting column 61 rotating around the sixth rotating shaft 57; in the process of the first roller 13 driving the device to move, the second roller 55 also contacts the inner wall of the steel pipe, and the movement can The second roller 55 is driven to rotate, and the rotation of the second roller 55 can drive the fifth rotating shaft 54 ​​to rotate. The fifth rotating shaft 54 ​​drives the sixth rotating shaft 57 to rotate through the first pulley 56, the second pulley 58 and the transmission belt 59. The sixth rotating shaft 57 drives the circular plate 60 to rotate, and the circular plate 60 drives the second connecting column 61 to rotate. The rotation of the second connecting column 61 can move the first connecting column 53 downward, that is, the first connecting column 53 and the rotating sheet 52 will rotate downward, causing the rotating plate 48 to rotate, and the second spring 51 will deform. When the second connecting column 61 is not in contact with the first connecting column 53, under the action of the second spring 51, the rotating plate 48 will rotate back and forth, so that the brush 49 rotates back and forth to clean the inner wall of the steel pipe.

[0026] Working principle: When in use, the device is set in the steel pipe to be inspected, and the walking component is set on the inner wall of the steel pipe through the adaptation component to make the walking component adapt to the inner diameter of the steel pipe. The walking component can drive the cross plate 2 and the industrial camera 1 to walk on the inner wall of the steel pipe. The position adjustment component can adjust the position of the industrial camera 1, and the image of the inner wall of the steel pipe in different directions is collected. The collected image is transmitted to the system. The system recognizes and analyzes the pre-processed image through the pre-trained AI model, and outputs relevant information about the defect according to the recognition result of the AI ​​model. The defect can be marked with a marker pen 40 through the marking component to facilitate the subsequent processing of the defect; When it is necessary to make the industrial camera 1 move in the steel pipe, make the multiple first rollers 13 contact the inner wall of the steel pipe, start the first motor 4, the first motor 4 drives the first shaft 5 to rotate, the first shaft 5 drives the first bevel gear 6 to rotate, the first bevel gear 6 drives the hollow shaft 7 to rotate through the second bevel gear 8, the hollow shaft 7 drives the worm 10 to rotate through the second shaft 9, the worm 10 drives the worm wheel 12 and the third shaft 11 to rotate, the third shaft 11 drives the first roller 13 to rotate, so that the first roller 13 can roll on the inner wall of the steel pipe, and the rolling of the first roller 13 can drive the industrial camera 1 to move in the steel pipe to collect images of the inner wall of the steel pipe; When the device needs to adapt to steel pipes with different inner diameters, the device is placed in the steel pipe, and the second motor 22 is started. The second motor 22 drives the first circular gear 23 to rotate, and the first circular gear 23 drives the two racks 21 to move to both sides. The racks 21 drive the vertical plates 20 and the sliding blocks 18 on both sides to move to both sides. The sliding blocks 18 drive the multiple moving blocks 17 away from the horizontal column 3 through the first connecting rod 19. The moving blocks 17 drive the first moving column 15 to gradually separate from the first hollow column 14. The first moving column 15 drives the box body 16 and the first roller 13 away from the horizontal column 3 until the first roller 13 abuts against the inner wall of the steel pipe. In the process of moving the first roller 13 toward the inner wall of the steel pipe, the sliding block 18 can drive the rotating ring 30 to move, and the rotating ring 30 drives the connecting plate 29 to move. The connecting plate 29 drives the moving plate 27 away from the cross column 3 through the second connecting rod 28, and the moving plate 27 drives the second moving column 26 to gradually separate from the second hollow column 25. The second moving column 26 drives the cross plate 2 and the industrial camera 1 to move toward the inner wall of the steel pipe, so that the distance between the industrial camera 1 and the inner wall of the steel pipe is moderate, which is convenient for subsequent image acquisition. When the first roller 13 abuts against the inner wall of the steel pipe, the first motor 4 is started to drive the first roller 13 to rotate, thereby driving the device to move in the steel pipe. During the walking process, the third motor 32 is started, and the third motor 32 drives the rotating sleeve 24 to rotate on the surface of the cross column 3 through the second circular gear 33 and the gear ring 31. The cross column 3 drives the cross plate 2 and the industrial camera 1 to rotate through the second hollow column 25 and the second moving column 26, so that the industrial camera 1 can collect images at any position in the steel pipe. When a defect needs to be marked, the marker pen 40 is aligned with the defect through the cooperation of the walking assembly and the position adjustment assembly, the electric push rod 34 is started, and the electric push rod 34 drives the marker pen 40 to move toward the defect until the marker pen 40 contacts the inner wall of the steel pipe, the fourth motor 35 is started, and the fourth motor 35 drives the marker pen 40 to rotate through the rotating block 36, and the marker pen 40 can draw a circle on the outside of the defect to mark, and the elastic member 42 is provided to make the marker pen 40 always contact the inner wall of the steel pipe to mark the defect, so as to facilitate the subsequent positioning of the defect and the treatment of the defect; Before marking the defect, the fifth motor 43 is started, and the fifth motor 43 drives the rotating plate 44 to rotate, and the rotating plate 44 drives the plurality of limit rings 45 to rotate. The corresponding limit ring 45 is selected according to the type of defect. Each shape of the limit ring 45 corresponds to one type of defect. The number of limit rings 45 can be increased to correspond to more types of defects, so that the corresponding limit ring 45 is directly opposite to the marking pen 40, and the electric push rod 34 is started to drive the marking pen 40 to move, and the marking pen 40 drives the L-shaped rod 46 to move, so that the L-shaped rod 46 contacts the inner wall of the limit ring 45, and the fourth motor 35 is started to drive the marking pen 40 to rotate. Due to the provision of the first spring 38, the marking pen 40 can drive the L-shaped rod 46 to rotate along the inner wall of the limit ring 45, and the marking pen 40 can draw different marks according to the shape of the limit ring 45, so as to distinguish different types of defects; Before the industrial camera 1 is used to collect images of the inner wall of the steel pipe, the inner wall of the steel pipe can be cleaned by the cleaning component to prevent stains or impurities from affecting the detection, so that the first connecting column 53 and the rotating piece 52 rotate back and forth, and the rotating piece 52 drives the rotating plate 48 to rotate back and forth through the fourth rotating shaft 47, and the rotating plate 48 can clean the inner wall of the steel pipe through the brush 49; When the first roller 13 drives the device to move, the second roller 55 also contacts the inner wall of the steel pipe. The movement can drive the second roller 55 to rotate. The rotation of the second roller 55 can drive the fifth rotating shaft 54 ​​to rotate. The fifth rotating shaft 54 ​​drives the sixth rotating shaft 57 to rotate through the first pulley 56, the second pulley 58 and the transmission belt 59. The sixth rotating shaft 57 drives the circular plate 60 to rotate. The circular plate 60 drives the second connecting column 61 to rotate. The rotation of the second connecting column 61 can drive the first connecting column 53 to move downward, that is, the first connecting column 53 and the rotating sheet 52 will rotate downward, causing the rotating plate 48 to rotate, and the second spring 51 will deform. When the second connecting column 61 is not in contact with the first connecting column 53, under the action of the second spring 51, the rotating plate 48 will rotate back and forth, causing the brush 49 to rotate back and forth to clean the inner wall of the steel pipe.

[0027] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0028] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A steel defect detector based on AI vision, comprising an industrial camera (1) and a horizontal plate (2), wherein the industrial camera (1) is mounted on the horizontal plate (2), and characterized in that: Also includes: A horizontal column (3), the horizontal plate (2) is arranged on the horizontal column (3) via a position adjustment component, the position adjustment component is used to adjust the position of the industrial camera (1), the horizontal column (3) is provided with a walking component for driving the industrial camera (1) to walk on the inner wall of the steel pipe, and the horizontal column (3) is also provided with an adaption component for making the walking component adapt to steel pipes with different inner diameters; A marking pen (40), wherein the marking pen (40) is arranged on the horizontal plate (2), and a marking component for driving the marking pen (40) to mark the defect position is arranged on the horizontal plate (2); The walking assembly comprises a first motor (4) fixedly connected to the inside of the transverse column (3); the output shaft of the first motor (4) is fixedly connected to a first rotating shaft (5) rotatably connected to the transverse column (3); two first bevel gears (6) are fixedly connected to the first rotating shaft (5); four hollow shafts (7) are rotatably connected to both ends of the transverse column (3); one end of each hollow shaft (7) is fixedly connected to a second bevel gear (8) meshing with the corresponding first bevel gear (6); a second rotating shaft (9) is slidably inserted in the hollow shaft (7); one end of the second rotating shaft (9) is fixedly connected to a worm (10); one side of the worm (10) is meshed with a worm wheel (12); a third rotating shaft (11) is fixedly connected to the middle of the worm wheel (12); and both ends of the third rotating shaft (11) are fixedly connected to first rollers (13).

2. The AI ​​vision-based steel defect detector according to claim 1 is characterized in that: The adaptable assembly comprises four first hollow columns (14) fixedly connected to the outer walls of both ends of the transverse column (3); a first movable column (15) is slidably inserted in the first hollow column (14); one end of the first movable column (15) is fixedly connected to a box body (16); the second rotating shaft (9) and the third rotating shaft (11) are both rotatably connected to the box body (16); the hollow shaft (7) is rotatably connected to the first hollow column (14); the outer walls of the first movable columns (15) are fixedly connected to movable columns slidably connected to the corresponding first hollow columns (14); The outer wall of the horizontal column (3) is slidably connected to two sliding blocks (18), a first connecting rod (19) is hinged between the sliding block (18) and the moving block (17), the sliding blocks (18) are fixedly connected to a vertical plate (20) slidably connected to the horizontal column (3), the vertical plates (20) are fixedly connected to a rack (21), the horizontal column (3) is fixedly connected to a second motor (22), and the output shaft of the second motor (22) is fixedly connected to a first circular gear (23) meshing with the two racks (21).

3. The AI ​​vision-based steel defect detector according to claim 2 is characterized in that: The position adjustment assembly comprises a rotating sleeve (24) rotatably connected to the outer wall of the transverse column (3); a second hollow column (25) is fixedly connected to the outer wall of the rotating sleeve (24); a second movable column (26) is slidably inserted in the second hollow column (25); the transverse plate (2) is fixedly connected to one end of the second movable column (26); a movable plate (27) slidably connected to the second hollow column (25) is fixedly connected to the outer wall of the second movable column (26); a rotating ring (30) is rotatably connected to the sliding block (18); a connecting plate (29) is fixedly connected to the rotating ring (30); a second connecting rod (28) is hingedly connected between the connecting plate (29) and the movable plate (27); a gear ring (31) is fixedly connected to the outer wall of the rotating sleeve (24); a third motor (32) is fixedly connected to the rotating sleeve (24) via a mounting plate; an output shaft of the third motor (32) is fixedly connected to a second circular gear (33) meshing with the gear ring (31).

4. The AI ​​vision-based steel defect detector according to claim 3 is characterized in that: The marking assembly comprises an electric push rod (34) fixedly connected to the transverse plate (2); an output end of the electric push rod (34) is fixedly connected to a fourth motor (35) via a mounting plate; an output shaft of the fourth motor (35) is fixedly connected to a rotating block (36); a rectangular opening (37) is provided in the rotating block (36); a first spring (38) is fixedly connected in the rectangular opening (37); one end of the first spring (38) is fixedly connected to a slider (39) slidably connected in the rectangular opening (37); the marking pen (40) is slidably arranged in the middle of the slider (39); one end of the marking pen (40) is fixedly connected to a disc (41); an elastic member (42) is fixedly connected between the disc (41) and the slider (39).

5. The AI ​​vision-based steel defect detector according to claim 4 is characterized in that: A fifth motor (43) is fixedly connected to the second hollow column (25) via a bracket plate; an output shaft of the fifth motor (43) is fixedly connected to a rotating plate (44); a plurality of limiting rings (45) of different shapes are fixedly connected to the rotating plate (44); the plurality of limiting rings (45) can all be rotated to a position directly opposite to the marking pen (40); an L-shaped rod (46) is fixedly connected to the marking pen (40); the L-shaped rod (46) can move upward to contact the inner wall of the limiting ring (45).

6. The AI ​​vision-based steel defect detector according to claim 5 is characterized in that: The horizontal plate (2) is provided with a cleaning assembly for cleaning the inner wall of the steel pipe, the cleaning assembly comprising a fourth rotating shaft (47) rotatably connected to the horizontal plate (2) via a fixed plate, one end of the fourth rotating shaft (47) is fixedly connected to a rotating plate (48), one end of the rotating plate (48) is mounted with a brush (49), two supporting plates (50) are fixedly connected to the horizontal plate (2), a second spring (51) is fixedly connected between the supporting plate (50) and the rotating plate (48), the other end of the rotating plate (48) is fixedly connected to an inclined rotating sheet (52), and the rotating sheet (52) is fixedly connected to a first connecting column (53).

7. The AI ​​vision-based steel defect detector according to claim 6 is characterized in that: The transverse plate (2) is rotatably connected to a fifth rotating shaft (54) and a sixth rotating shaft (57) via a bracket plate; one end of the fifth rotating shaft (54) is fixedly connected to a second roller (55); an outer wall of the fifth rotating shaft (54) is fixedly connected to a first belt pulley (56); an outer wall of the sixth rotating shaft (57) is fixedly connected to a second belt pulley (58); the second belt pulley (58) and the first belt pulley (56) are connected in transmission via a transmission belt (59); one end of the sixth rotating shaft (57) is fixedly connected to a circular plate (60); a second connecting column (61) is fixedly connected to the circular plate (60); and the first connecting column (53) is located on a trajectory of the second connecting column (61) rotating around the sixth rotating shaft (57).

Images