Inner diameter precision measurement method and device applied to metal conduit

Abstract

The invention provides an inner diameter precision measurement method and device applied to a metal conduit. The method comprises the following steps: identifying a to-be-detected conduit with a soft attribute to determine a fixture point location with a preset fixture spacing distance; controlling the detection clamp to perform clamping operation on the to-be-detected threading pipe at the clamp point position according to a preset clamp angle, so that the to-be-detected threading pipe is in a bent state according to the preset angle from top to bottom; the detection unit is placed at the first end part of the to-be-detected conduit, and if the vibration attribute of the detection clamp corresponding to the second end part of the to-be-detected conduit within the preset falling time is no vibration output, the detection clamps with different vibration attributes and adjacent relations are determined as target clamps based on the to-be-detected conduit; and based on the to-be-detected threading pipe, determining the wire pipe part between the target clamps as a fine detection sub-wire pipe, and controlling the pressing end to press the fine detection sub-wire pipe. The method at least improves the measurement efficiency.

Description

Technical Field

[0001] This invention relates to data processing technology, and more particularly to a method and apparatus for precise measurement of the inner diameter of metal conduits. Background Technology

[0002] Metal conduit is a tubular metal component used for cable protection. It is widely used in core fields such as construction, industry, and power, resisting external interference such as mechanical impact, chemical corrosion, and extreme temperatures, providing a stable operating environment for cables. For metal conduit, it is crucial to determine whether there are protrusions or irregular structures inside the conduit caused by processing residues or surface defects. The presence of such abnormal structures can obstruct cable installation and even damage the cable insulation layer, leading to safety hazards. Flexible metal conduit, due to its structural characteristics, is more prone to such problems during manufacturing, storage, transportation, and use. Therefore, accurate testing is key to ensuring safe cable laying and stable equipment operation. Existing methods for measuring the inner diameter of metal conduits are mostly represented by high-precision inner diameter gauges and inductive microsystems. These methods obtain dimensional data through physical contact between the sensing element and the inner wall of the conduit. While these methods are simple to operate and cost-effective, the sensing pressure can easily cause instantaneous deformation of the conduit when testing flexible conduits, leading to measurement deviations. Furthermore, they may cause detection blockages in areas with abnormal structures within the conduit, affecting the accuracy of the full-range measurement. Summary of the Invention

[0003] In view of the above problems, the present invention is proposed to provide a method and apparatus for precise measurement of the inner diameter of metal conduits that overcomes or at least partially solves the above problems.

[0004] According to one aspect of the present invention, a method for precise measurement of the inner diameter of a metal conduit is provided, comprising the following steps: For soft-attribute conduits, identify and determine clamping points with preset clamping intervals; The control fixture clamps the conduit to be tested at the fixture point according to the preset fixture angle, so that the conduit to be tested is bent from top to bottom at the preset angle. The detection unit is placed at the first end of the conduit to be tested. If the vibration attribute of the detection fixture corresponding to the second end of the conduit to be tested is no vibration output within a preset drop time, then each detection fixture with different vibration attributes that are adjacent to each other is determined as the target fixture based on the conduit to be tested. Based on the conduit to be tested, the conduit section located between each target clamp is identified as the precision inspection sub-conduit, and the pressing end is controlled to press the precision inspection sub-conduit.

[0005] Optionally, in the method according to the present invention, identifying and determining clamping points with a preset clamping interval distance for soft-property conduit to be tested includes: The acquisition unit acquires images of a horizontally placed conduit to be tested, and performs image recognition on the acquired initial images to determine the initial conduit region indicating the conduit to be tested. Based on the preset point interval distance, the division points located in the initial pipeline area are determined, and the number of divisions of each corresponding division point is multiplied by the preset overlap coefficient to calculate the overlap threshold. Each division point at both ends of the corresponding initial conduit area is determined as an endpoint point, and a point connection line is established connecting each endpoint point. If the number of overlaps between the division points that overlap with the point connection line is less than the overlap threshold, the conduit attribute of the conduit to be detected is determined as a soft attribute. The determined length of the conduit to be tested is multiplied by a preset interval coefficient to obtain the clamp interval distance corresponding to the conduit to be tested, and the clamp points corresponding to the conduit to be tested are determined based on the clamp interval distance.

[0006] Optionally, in the method according to the invention, the method further includes: If the number of overlaps between the points and the connecting lines is equal to the number of divisions, the diameter of the conduit to be tested will be multiplied by the preset test multiple to obtain the test distance. Control any robotic arm of the corresponding mechanical group to perform a clamping operation on the conduit to be tested based on any endpoint point, and generate a test line segment with a test distance pointing to another endpoint point based on the initial acquired image, starting from the endpoint point. The test line segment is bent based on a preset bending strategy, and the conduit properties of the corresponding conduit to be tested are determined based on the operation results.

[0007] Optionally, in the method according to the present invention, the test segment is bent based on a preset bending strategy, and the conduit properties corresponding to the conduit to be tested are determined based on the operation result, including: The endpoint of the corresponding test line segment is determined as the test fixed point, and another robotic arm of the corresponding mechanical group is controlled to perform a clamping operation on the tube to be tested based on the test fixed point. Each robotic arm of the corresponding mechanical group is controlled to bend the tube to be tested based on a preset bending force value, and the image of the tube to be tested is acquired based on the acquisition unit. Image recognition is performed on the currently acquired image to determine the test sub-region of the corresponding test segment located in the current conduit region of the conduit to be tested in the currently acquired image; Based on the coordinate processing of the currently acquired image with the test center point of the corresponding test sub-region as the origin, the coordinate points of each contour that make up the test sub-contour corresponding to the test sub-region are determined. The conduit properties of the corresponding conduit to be tested are determined based on the distribution of each contour coordinate point.

[0008] Optionally, in the method according to the present invention, determining the conduit properties corresponding to the conduit to be detected based on the distribution of each contour coordinate point includes: Starting from the contour coordinate point with the largest vertical coordinate, perform difference calculation based on vertical coordinates for each contour coordinate point with an adjacent relationship; If any vertical difference in the contour is greater than a preset difference, the contour coordinate point with the larger vertical coordinate corresponding to the vertical difference in the contour is determined as the first bending point, and the contour coordinate point with the smaller vertical coordinate is determined as the second bending point. The test bending angle of the corresponding conduit to be tested is determined based on each bending point; If the test bending angle is less than the preset bending angle, the conduit property of the corresponding conduit to be tested is determined to be a hard property. Conversely, the conduit properties corresponding to the conduit to be tested are determined to be soft properties.

[0009] Optionally, in the method according to the present invention, determining the test bending angle of the corresponding conduit to be tested based on each bending point includes: The contour coordinate points that are adjacent to the first bending point, excluding the second bending point, are determined as the first connection points; Starting from the second bending point, the contour coordinate points that are spaced a preset number of points away from the second bending point are determined as the second connection points in a direction away from the first bending point. Generate a first curved line and a second curved line that connect the first connection point, the first bending point, the second connection point, and the second bending point, respectively; Determine the test bending angle based on the first bending line and the second bending line.

[0010] Optionally, in the method according to the present invention, controlling the testing fixture to clamp the tube to be tested at the fixture point according to a preset fixture angle, so that the tube to be tested is bent from top to bottom at a preset angle, includes: The control fixture clamps the conduit to be tested at the fixture point at a preset initial angle to ensure that the conduit to be tested is in a vertical position. The fixture points are sorted according to their position from top to bottom to obtain a point sequence, and the fixture points in the odd-numbered positions of the corresponding point sequence are assigned to fixed fixture groups. Based on the point sequence, the remaining fixture points are sequentially and alternately assigned to the first fixture group and the second fixture group according to their position. Control each detection fixture in the first fixture group to rotate in the first preset direction based on a preset fixture angle, and control each detection fixture in the second fixture group to rotate in the second preset direction based on a preset fixture angle, so that the conduit to be tested is bent from top to bottom based on a preset curvature.

[0011] Optionally, in the method according to the invention, placing the detection unit at the first end of the conduit to be detected includes: The acquisition unit acquires images of the bent conduit to be tested, and performs image recognition on the acquired images to determine each fixture sub-region that indicates each testing fixture. Determine the center point of the upper contour of the image acquired in the corresponding state and the center point of each region of each fixture sub-region, and generate the connecting lines of each region connected to the center point of the contour based on the center point of each region. Determine the connection length of each connection line corresponding to each region, and determine the clamping point of the clamping sub-region corresponding to the connection line of each region with the minimum connection length and the maximum connection length as the first end and the second end of the conduit to be tested; The difference between the diameter of the conduit to be tested and the preset testing interval is calculated to obtain the testing diameter, and the control terminal is used to place the testing unit with the testing diameter at the first end of the conduit to be tested.

[0012] Optionally, in the method according to the present invention, if the vibration attribute of the detection fixture corresponding to the second end of the conduit to be tested is no vibration output within a preset drop time, then each detection fixture with an adjacent relationship and different vibration attributes is determined as a target fixture based on the conduit to be tested, including: If the vibration sensor of the detection fixture corresponding to the first end of the conduit to be tested outputs a vibration value greater than the maximum value of the corresponding preset acquisition range, the vibration attribute of the detection fixture is determined to be vibration output, and the current time is determined as the start time. The preset drop time is calculated by multiplying the conduit length by the retrieved preset drop coefficient. If the vibration value output by the vibration sensor corresponding to the second end of the conduit to be tested within the preset drop time after the start time is less than the minimum value of the corresponding preset acquisition interval, the vibration attribute of the detection fixture is determined to be no vibration output. Obtain the vibration attributes of each testing fixture corresponding to the conduit to be tested, and sort the vibration attributes according to the top-to-bottom position order of each testing fixture based on the conduit to be tested; Based on the obtained attribute sequence, each detection fixture with different vibration attributes that has an adjacent relationship is identified as a target fixture.

[0013] Optionally, in the method according to the invention, the portion of the conduit located between each target clamp is identified as the precision inspection sub-conduit based on the conduit to be inspected, and the pressing end is controlled to press the precision inspection sub-conduit, including: Based on the state acquisition images, the fixture points corresponding to each target fixture are determined as each target point, and the fine inspection sub-regions located between each target point are determined. Based on the precision inspection sub-region, each pressing point with an interval detection diameter is generated, and based on the test tube, the pressing end with a pressure sensor is controlled to perform a pressing operation on the precision inspection sub-tube corresponding to the precision inspection sub-region based on each pressing point and a preset pressure. Determine the reaction values ​​of the pressure sensor outputs at each pressing point, and set the minimum reaction value as the target value. Each reaction-collected value is directly divided by the target collected value, and the pressing points corresponding to each reaction-collected value whose calculated result is greater than a preset multiple are determined as each problem point. Based on the status acquisition images, each problem location is color-marked using a first preset color, and the color-marked status acquisition images are sent to the management terminal.

[0014] Optionally, in the method according to the invention, the method further includes: Based on the point sequence, each target point and each fixture point located in front of the target point are determined as each laser point. Control each detection fixture corresponding to each laser point to return to the preset initial angle; The acquisition unit acquires images of the tube to be tested and the laser emitter and laser receiver located on the top and bottom of the tube to be tested, thus obtaining laser acquisition images. Control the laser emitter to emit laser downwards, and determine the current time as the emission time, and determine the laser interruption time of the corresponding laser receiver; The blocking points of the corresponding detection units are determined based on the point determination strategy.

[0015] Optionally, in the method according to the present invention, determining the obstruction point of the corresponding detection unit based on the point determination strategy includes: The difference between the laser interruption time and the emission time is calculated, and the laser reception time is multiplied by the preset propagation rate to obtain the propagation distance; Based on the laser acquisition image, the emission area and reception area of ​​the corresponding laser transmitter and laser receiver are determined, and a laser indicator line is generated starting from the emission center point of the emission area and pointing to the reception center point of the reception area. Based on the extension direction of the laser pointer line, the blocking point of the corresponding detection unit with a propagation distance from the emission center point is determined, and the blocking point is marked with a second preset color based on the laser acquisition image. The laser-acquired images, after being color-marked, are sent to the management terminal.

[0016] According to another aspect of the present invention, a precision measuring device for the inner diameter of a metal conduit is provided, comprising: The determination module is configured to identify and determine the clamping points with a preset clamping interval distance for the soft-attribute conduit to be tested; The clamping module is configured to control the testing fixture to clamp the test tube at the clamping point according to a preset clamping angle, so that the test tube is bent from top to bottom at a preset angle. The placement module is configured to place the detection unit at the first end of the conduit to be tested. If the vibration attribute of the detection fixture corresponding to the second end of the conduit to be tested is no vibration output within a preset falling time, then each detection fixture with an adjacent relationship and different vibration attributes is determined as a target fixture based on the conduit to be tested. The pressing module is configured to identify the portion of the conduit located between each target fixture as the precision inspection sub-conduit based on the conduit to be inspected, and to control the pressing end to perform a pressing operation on the precision inspection sub-conduit.

[0017] According to the present invention, the server first identifies the soft-property-sensitive conduit to be tested, determining the clamping points with preset clamping intervals. This ensures that after the subsequent control of the testing clamps to clamp the conduit at the clamping points according to preset clamping angles, the conduit will bend from top to bottom at a preset angle, thereby improving the standardization of the testing. Next, the server places the testing unit at the first end of the conduit. If, within a preset drop time, the vibration attribute of the testing clamp corresponding to the second end of the conduit is zero, it indicates that the testing unit has passed the test. The problem is that the component is stuck in the conduit to be tested, indicating a quality issue on the inner wall of the conduit. To more accurately determine the specific location of the testing unit, the server identifies adjacent testing fixtures with different vibration properties as target fixtures. Then, the portion of the conduit between these target fixtures is designated as the precision inspection sub-conduit. The pressing end is then used to press the precision inspection sub-conduit to determine the specific location of the testing unit, thereby pinpointing the exact location of the quality issue on the inner wall of the conduit. This invention improves the accuracy and efficiency of conduit testing. Attached Figure Description

[0018] Figure 1 A flowchart of a method for precise measurement of the inner diameter of a metal conduit according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the first end is shown according to an embodiment of the present invention; Figure 3 A schematic diagram of the blocking point location according to an embodiment of the present invention is shown; Figure 4 A structural block diagram of a precision measuring device for the inner diameter of a metal conduit, according to another embodiment of the present invention, is shown. Detailed Implementation

[0019] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0020] To address the problems existing in the background art described above, the inventors proposed the solution of this invention. One embodiment of this invention provides a method for precise measurement of the inner diameter of metal conduits, which can be executed in a computing device.

[0021] Figure 1A flowchart of a method for precise measurement of the inner diameter of a metal conduit according to an embodiment of the present invention is shown, the method being adapted to be performed in a computing device.

[0022] like Figure 1 As shown, the precision measurement method for the inner diameter of metal conduits proposed in this embodiment begins with step S102, which includes the following: For soft-attribute conduits, identify and determine clamping points with preset clamping intervals.

[0023] For example, in this embodiment, the conduit to be tested can be understood as a metal conduit, and the flexible conduit to be tested can be understood as a flexible metal conduit. The server will identify the soft properties of the conduit to be tested, thereby determining the corresponding clamping points for the conduit. This will facilitate the subsequent more precise clamping of the testing clamps onto the conduit based on the clamping points.

[0024] Furthermore, the aforementioned "identification of the clamping points with a preset clamping interval distance for soft-attribute conduit under test" also includes the following steps: The acquisition unit acquires images of a horizontally placed conduit to be tested, and performs image recognition on the acquired initial images to determine the initial conduit region indicating the conduit to be tested. Based on the preset point interval distance, the division points located in the initial pipeline area are determined, and the number of divisions of each corresponding division point is multiplied by the preset overlap coefficient to calculate the overlap threshold. Each division point at both ends of the corresponding initial conduit area is determined as an endpoint point, and a point connection line is established connecting each endpoint point. If the number of overlaps between the division points that overlap with the point connection line is less than the overlap threshold, the conduit attribute of the conduit to be detected is determined as a soft attribute. The determined length of the conduit to be tested is multiplied by a preset interval coefficient to obtain the clamp interval distance corresponding to the conduit to be tested, and the clamp points corresponding to the conduit to be tested are determined based on the clamp interval distance.

[0025] For example, in this embodiment, the server controls the acquisition unit to acquire images of the horizontally placed conduit to be tested, thereby obtaining an initial acquisition image. The horizontal placement method of the conduit to be tested can be to place the conduit to be tested into two conduit placement slots that are horizontally arranged and close to each other. Next, the server will perform image recognition on the initial acquired image to determine the initial conduit area indicating the conduit to be detected in the initial acquired image. The server will divide the initial conduit area into points according to the preset point interval distance to obtain each division point in the initial conduit area, and determine the two division points at both ends of the corresponding initial conduit area as endpoint points. Next, the server will determine the number of divisions for each division point. For example, if there are 5 division points, the number of divisions is 5. The server will multiply the number of divisions with the preset overlap coefficient to calculate the overlap threshold. Next, the server will establish a point connection line connecting the two endpoints, and then determine the number of overlaps of each division point that overlaps with the point connection line. For example, if there are 3 division points that overlap with the point connection line, then the number of overlaps is 3. When the number of overlaps is less than the overlap threshold, it means that there are fewer division points and point connection lines that have an overlap relationship, which means that the conduit to be detected is in a certain degree of bending state. Therefore, the server will determine the conduit attribute of the conduit to be detected as a soft attribute. Finally, the server determines the length of the conduit to be tested, and then multiplies the conduit length with a preset interval coefficient to calculate the clamp interval distance of the conduit to be tested, which is the interval distance between each clamp point. The server divides the initial conduit area according to the clamp interval distance to obtain each clamp point corresponding to the conduit to be tested.

[0026] Furthermore, the above method also includes the following steps: If the number of overlaps between the points and the connecting lines is equal to the number of divisions, the diameter of the conduit to be tested will be multiplied by the preset test multiple to obtain the test distance. Control any robotic arm of the corresponding mechanical group to perform a clamping operation on the conduit to be tested based on any endpoint point, and generate a test line segment with a test distance pointing to another endpoint point based on the initial acquired image, starting from the endpoint point. The test line segment is bent based on a preset bending strategy, and the conduit properties of the corresponding conduit to be tested are determined based on the operation results.

[0027] For example, in this embodiment, when all the division points overlap with the point connection lines, it indicates that the conduit to be tested does not exhibit a certain bending state due to gravity. Therefore, the server will further determine the conduit properties of the conduit to be tested in the following manner. Since the length of a conduit to be tested may be very long, in order to facilitate subsequent testing of the conduit, the server will first determine the diameter of the conduit to be tested, and then multiply the conduit diameter by the preset test multiple to calculate the test distance. Next, the server will control any one of the robotic arms in the mechanical group with flexible clamps to perform a clamping operation on the tube to be tested according to any one endpoint point. Then, based on the initial acquired image, a test line segment with a test distance is generated, starting from the endpoint point and pointing to the other endpoint point. Finally, the server will bend the test line segment according to the preset bending strategy, and then determine the conduit properties of the corresponding conduit to be tested based on the operation results.

[0028] Furthermore, the aforementioned "bending operation on the test line segment based on a preset bending strategy, and determining the conduit properties of the corresponding conduit to be tested based on the operation results" also includes the following steps: The endpoint of the corresponding test line segment is determined as the test fixed point, and another robotic arm of the corresponding mechanical group is controlled to perform a clamping operation on the tube to be tested based on the test fixed point. Each robotic arm of the corresponding mechanical group is controlled to bend the tube to be tested based on a preset bending force value, and the image of the tube to be tested is acquired based on the acquisition unit. Image recognition is performed on the currently acquired image to determine the test sub-region of the corresponding test segment located in the current conduit region of the conduit to be tested in the currently acquired image; Based on the coordinate processing of the currently acquired image with the test center point of the corresponding test sub-region as the origin, the coordinate points of each contour that make up the test sub-contour corresponding to the test sub-region are determined. The conduit properties of the corresponding conduit to be tested are determined based on the distribution of each contour coordinate point.

[0029] For example, in this embodiment, the server will determine the end point of the corresponding test line segment as the test fixed point, thereby controlling another robotic arm of the corresponding mechanical group to perform a clamping operation on the test tube according to the test fixed point, and then controlling each robotic arm of the corresponding mechanical group to perform a bending operation on the test tube based on a preset bending force value. The preset bending force value can be set to normal human force, for example, 50N. Then, the server will control the acquisition unit to acquire images of the conduit to be tested, thereby obtaining the current acquired image. Then, it will perform image recognition on the current acquired image to determine the test sub-region of the corresponding test segment located in the current conduit area indicating the conduit to be tested. Finally, the server will use the test center point of the corresponding test sub-region as the origin to perform coordinate processing on the currently acquired image. After determining the test sub-contour corresponding to the test sub-region, the server will determine the coordinate points of each contour of the combined test sub-contour based on the coordinate-processed current acquired image, and then determine the conduit attributes of the corresponding conduit to be tested based on the distribution of each contour coordinate point.

[0030] Furthermore, the aforementioned "determining the conduit attributes corresponding to the conduit to be inspected based on the distribution of each contour coordinate point" also includes the following steps: Starting from the contour coordinate point with the largest vertical coordinate, perform difference calculation based on vertical coordinates for each contour coordinate point with an adjacent relationship; If any vertical difference in the contour is greater than a preset difference, the contour coordinate point with the larger vertical coordinate corresponding to the vertical difference in the contour is determined as the first bending point, and the contour coordinate point with the smaller vertical coordinate is determined as the second bending point. The test bending angle of the corresponding conduit to be tested is determined based on each bending point; If the test bending angle is less than the preset bending angle, the conduit property of the corresponding conduit to be tested is determined to be a hard property. Conversely, the conduit properties corresponding to the conduit to be tested are determined to be soft properties.

[0031] For example, in this embodiment, the server will start from the contour coordinate point with the largest vertical coordinate and calculate the difference in the vertical coordinates of each contour coordinate point that is adjacent to it to obtain the vertical difference of each contour. When any vertical difference in the contour exceeds a preset difference, the server will identify the contour coordinate point with the larger vertical coordinate corresponding to the vertical difference as the first curvature point and the contour coordinate point with the smaller vertical coordinate as the second curvature point. Next, the server will further determine the test bending angle of the corresponding conduit to be tested based on each bending point; One possible scenario is that the test bending angle is smaller than the preset bending angle, indicating that the test bending angle is very small. In other words, the test conduit cannot be bent based on the preset bending force value. Therefore, the server will determine that the conduit attribute of the corresponding test conduit is a hard attribute. Another possibility is that the test bending angle is less than the preset bending angle, which means that the test bending angle is very small. In other words, the test conduit can be bent based on the preset bending force value. Therefore, the server will determine that the conduit attribute of the test conduit is a soft attribute.

[0032] Furthermore, the aforementioned "determining the test bending angle of the corresponding conduit based on each bending point" also includes the following steps: The contour coordinate points that are adjacent to the first bending point, excluding the second bending point, are determined as the first connection points; Starting from the second bending point, the contour coordinate points that are spaced a preset number of points away from the second bending point are determined as the second connection points in a direction away from the first bending point. Generate a first curved line and a second curved line that connect the first connection point, the first bending point, the second connection point, and the second bending point, respectively; Determine the test bending angle based on the first bending line and the second bending line.

[0033] For example, in this embodiment, the server will determine the contour coordinate points adjacent to the first bending point (excluding the second bending point) as the first connection point. In order to make the subsequently determined test bending angle more accurate, the server will determine the contour coordinate points at a preset number of points away from the second bending point as the second connection point, starting from the second bending point and moving away from the first bending point. Then, the server connects the first connection point and the first bending point to generate the first bending line, and then connects the second connection point and the second bending point to generate the second bending line. The test bending angle is then determined based on the angle between the two bending lines.

[0034] Step S104 includes the following: The control fixture clamps the conduit to be tested at the fixture point according to the preset fixture angle, so that the conduit to be tested is bent from top to bottom at the preset angle.

[0035] For example, in this embodiment, since the conduit to be tested, which has a soft property, is mostly used in a curved form, in order to make the testing process more in line with the usage form of the conduit to be tested, the server will control the testing fixture to clamp the conduit to be tested at the fixture point according to a preset fixture angle, so that the conduit to be tested is curved from top to bottom at a preset angle, such as a serpentine curved state.

[0036] Furthermore, the aforementioned "controlling the testing fixture to clamp the tube to be tested at the fixture point according to a preset fixture angle, so that the tube to be tested is bent from top to bottom at a preset angle" also includes the following steps: The control fixture clamps the conduit to be tested at the fixture point at a preset initial angle to ensure that the conduit to be tested is in a vertical position. The fixture points are sorted according to their position from top to bottom to obtain a point sequence, and the fixture points in the odd-numbered positions of the corresponding point sequence are assigned to fixed fixture groups. Based on the point sequence, the remaining fixture points are sequentially and alternately assigned to the first fixture group and the second fixture group according to their position. Control each detection fixture in the first fixture group to rotate in the first preset direction based on a preset fixture angle, and control each detection fixture in the second fixture group to rotate in the second preset direction based on a preset fixture angle, so that the conduit to be tested is bent from top to bottom based on a preset curvature.

[0037] For example, in this embodiment, the server controls the detection fixture to clamp the tube to be detected at the fixture point at a preset initial angle. For example, the preset initial angle can be parallel to the acquisition direction of the acquisition unit so that the tube to be detected is in a vertical state. Next, the server will sort the various clamp points in order from top to bottom to obtain a point sequence. The server will assign the clamp points with odd positions in the corresponding point sequence to fixed clamp groups. Then, according to the point sequence, the remaining clamp points will be assigned alternately to the first clamp group and the second clamp group in order of position. For example, if there are 3 clamp points remaining in the point sequence, the server will assign the first and third clamp points to the first clamp group and the second clamp point to the second clamp group. Next, the server will control each detection fixture in the first fixture group to rotate in the first preset direction based on the preset fixture angle, and then control each detection fixture in the second fixture group to rotate in the second preset direction based on the preset fixture angle, so that the conduit to be tested is bent from top to bottom based on the preset curvature. For example, the first preset direction can be the forward extension of the horizontal direction perpendicular to the vertical direction corresponding to the vertical state of the conduit to be tested, and the second preset direction can be the reverse extension of the horizontal direction perpendicular to the vertical direction corresponding to the vertical state of the conduit to be tested. That is, the first preset direction and the second preset direction can be understood as directions located on both sides of the conduit to be tested.

[0038] Step S106 includes the following: The detection unit is placed at the first end of the conduit to be tested. If the vibration attribute of the detection fixture corresponding to the second end of the conduit to be tested is no vibration output within a preset drop time, then each detection fixture with different vibration attributes that are adjacent to each other is determined as the target fixture based on the conduit to be tested.

[0039] For example, in this embodiment, the server places the detection unit into the first end of the conduit to be tested. The detection unit can be understood as a sphere. If the vibration attribute of the detection fixture corresponding to the second end of the conduit to be tested is no vibration output within the preset falling time, it means that the detection unit did not roll out smoothly in the conduit under the action of gravity. Therefore, the server will first determine each detection fixture with different vibration attributes that are adjacent to each other as target fixtures according to the conduit to be tested, so that the specific position of the corresponding detection unit can be determined according to each target fixture.

[0040] Furthermore, the aforementioned "placing the detection unit at the first end of the conduit to be tested" also includes the following steps: The acquisition unit acquires images of the bent conduit to be tested, and performs image recognition on the acquired images to determine each fixture sub-region that indicates each testing fixture. Determine the center point of the upper contour of the image acquired in the corresponding state and the center point of each region of each fixture sub-region, and generate the connecting lines of each region connected to the center point of the contour based on the center point of each region. Determine the connection length of each connection line corresponding to each region, and determine the clamping point of the clamping sub-region corresponding to the connection line of each region with the minimum connection length and the maximum connection length as the first end and the second end of the conduit to be tested; The difference between the diameter of the conduit to be tested and the preset testing interval is calculated to obtain the testing diameter, and the control terminal is used to place the testing unit with the testing diameter at the first end of the conduit to be tested.

[0041] For example, in this embodiment, the server controls the acquisition unit to acquire images of the tested conduit in a bent state, thereby obtaining a state acquisition image. Then, image recognition is performed on the state acquisition image to determine each fixture sub-region that indicates each detection fixture in the state acquisition image. Next, the server will determine the upper contour of the image captured in the corresponding state, and determine the center point of the upper contour of the image. Then, the server will determine the center point of each region corresponding to each fixture sub-region, and generate connecting lines of each region connected to the center point of the contour, with each region center point as the starting point. The server determines the connection lengths of each region's connecting lines. The jig sub-region corresponding to the region's connecting line with the minimum connection length is closest to the contour center point. Therefore, the server determines the jig point corresponding to the jig sub-region with the minimum connection length as the first end of the conduit to be inspected. Figure 2 As shown; Similarly, it can be seen that the distance between the fixture sub-region corresponding to the region connecting line with the maximum connection length and the center point of the contour is the farthest. Therefore, the server will determine the fixture point corresponding to the fixture sub-region corresponding to the region connecting line with the maximum connection length as the second end of the conduit to be tested. In order to enable the subsequent detection unit to roll along the wall of the conduit under the action of gravity, the server will calculate the difference between the diameter of the conduit to be detected and the preset detection interval, so as to obtain the detection diameter corresponding to the conduit to be detected. Finally, the server will control the operator to place the detection unit with the detection diameter at the first end of the corresponding conduit to be tested.

[0042] Furthermore, the aforementioned "if the vibration attribute of the detection fixture corresponding to the second end of the conduit to be tested is no vibration output within the preset drop time, then each detection fixture with an adjacent relationship and different vibration attributes is determined as the target fixture based on the conduit to be tested" also includes the following steps: If the vibration sensor of the detection fixture corresponding to the first end of the conduit to be tested outputs a vibration value greater than the maximum value of the corresponding preset acquisition range, the vibration attribute of the detection fixture is determined to be vibration output, and the current time is determined as the start time. The preset drop time is calculated by multiplying the conduit length by the retrieved preset drop coefficient. If the vibration value output by the vibration sensor corresponding to the second end of the conduit to be tested within the preset drop time after the start time is less than the minimum value of the corresponding preset acquisition interval, the vibration attribute of the detection fixture is determined to be no vibration output. Obtain the vibration attributes of each testing fixture corresponding to the conduit to be tested, and sort the vibration attributes according to the top-to-bottom position order of each testing fixture based on the conduit to be tested; Based on the obtained attribute sequence, each detection fixture with different vibration attributes that has an adjacent relationship is identified as a target fixture.

[0043] For example, in this embodiment, in order to more accurately determine the specific position of the detection unit in the conduit to be tested, a vibration sensor is provided on each detection fixture. If the vibration sensor output of the detection fixture corresponding to the first end of the conduit to be tested outputs a vibration value greater than the maximum value of the corresponding preset acquisition range, the server will determine that the vibration attribute of the detection fixture is that there is vibration output, which means that the detection unit has passed through the detection fixture in the conduit to be tested. At this time, the server will determine the current time as the start time. Next, the server will multiply the length of the conduit with the retrieved preset drop coefficient to calculate the preset drop time. The preset drop time is greater than the time required for the detection unit to slide out from the second end when the inner wall of the conduit to be tested is in a normal smooth state. In other words, under normal circumstances, the detection unit can slide out from the second end within the preset drop time. If the vibration acquisition value output by the vibration sensor corresponding to the second end of the tube to be tested is less than the minimum value of the corresponding preset acquisition range within the preset drop time after the start time, the server will first determine that the vibration attribute of the detection fixture is no vibration output. At this time, it means that the detection unit has not rolled smoothly in the tube to be tested, that is, the inner wall of the tube to be tested may have formed a protrusion or irregular structure due to processing residue, surface defects, etc. Next, the server will obtain the vibration attributes of each detection fixture for the conduit to be tested, and then sort the vibration attributes according to the top-to-bottom position of each detection fixture to obtain the attribute sequence. Finally, the server will determine each detection fixture with different vibration attributes that are adjacent to each other as the target fixture based on the attribute sequence, that is, the detection unit is located between the two target fixtures.

[0044] Step S108 includes the following: Based on the conduit to be tested, the conduit section located between each target clamp is identified as the precision inspection sub-conduit, and the pressing end is controlled to press the precision inspection sub-conduit.

[0045] For example, in this embodiment, the server identifies the portion of the conduit located between the various target clamps as the precision inspection sub-conduit in the conduit to be inspected, and then controls the pressing end to press the precision inspection sub-conduit to determine the precise position of the corresponding detection unit, thereby determining the problem location located on the inner wall of the conduit to be inspected.

[0046] Furthermore, the aforementioned "identifying the portion of the conduit located between each target clamp as the precision inspection sub-conduit based on the conduit to be inspected, and controlling the pressing end to perform a pressing operation on the precision inspection sub-conduit" also includes the following steps: Based on the state acquisition images, the fixture points corresponding to each target fixture are determined as each target point, and the fine inspection sub-regions located between each target point are determined. Based on the precision inspection sub-region, each pressing point with an interval detection diameter is generated, and based on the test tube, the pressing end with a pressure sensor is controlled to perform a pressing operation on the precision inspection sub-tube corresponding to the precision inspection sub-region based on each pressing point and a preset pressure. Determine the reaction values ​​of the pressure sensor outputs at each pressing point, and set the minimum reaction value as the target value. Each reaction-collected value is directly divided by the target collected value, and the pressing points corresponding to each reaction-collected value whose calculated result is greater than a preset multiple are determined as each problem point. Based on the status acquisition images, each problem location is color-marked using a first preset color, and the color-marked status acquisition images are sent to the management terminal.

[0047] For example, in this embodiment, the server will determine each fixture point corresponding to each target fixture as a target point in the status acquisition image, and then determine the fine inspection sub-region located between each target point. Next, the server will generate various pressing points with a detection diameter at intervals in the precision inspection sub-area, and then control the pressing end equipped with a pressure sensor to perform a pressing operation with a preset pressure on the precision inspection sub-line tube corresponding to the precision inspection sub-area according to the pressing points. Next, the server will determine the reaction values ​​output by the pressure sensors at each pressing point. The pressing point with the minimum reaction value can be understood as the pressing point without a detection unit. Therefore, the server will determine the minimum reaction value as the target value. Then, the server will divide each reaction collection value by the target collection value. When the calculation result is greater than a preset multiple, it means that the pressing point corresponding to the reaction collection value is the pressing point where the detection unit exists. Therefore, the server will determine each pressing point corresponding to each reaction collection value whose calculation result is greater than a preset multiple as the problem point. Finally, the server will color-mark each problem point in the status acquisition image based on a first preset color, and then send the color-marked status acquisition image to the management terminal to improve the identification and enable the management terminal to quickly determine the specific location of the problem point based on the color-marked status acquisition image.

[0048] Furthermore, the above method also includes the following steps: Based on the point sequence, each target point and each fixture point located in front of the target point are determined as each laser point. Control each detection fixture corresponding to each laser point to return to the preset initial angle; The acquisition unit acquires images of the tube to be tested and the laser emitter and laser receiver located on the top and bottom of the tube to be tested, thus obtaining laser acquisition images. Control the laser emitter to emit laser downwards, and determine the current time as the emission time, and determine the laser interruption time of the corresponding laser receiver; The blocking points of the corresponding detection units are determined based on the point determination strategy.

[0049] For example, in this embodiment, the server can also determine the specific location of the corresponding detection unit based on the laser emission method described below; First, the server determines each target point and each clamp point in front of the target point as a laser point according to the point sequence. Then, it controls each detection clamp corresponding to each laser point to restore to the preset initial angle so that the pipe area of ​​each detection clamp corresponding to each laser point in the pipe to be tested is in a vertical state. A laser emitter and a laser receiver are respectively installed at the top and bottom of the conduit to be tested. The server controls the acquisition unit to acquire images of the tube to be tested, as well as the laser emitter and laser receiver, thereby obtaining laser acquisition images; Next, the server will control the laser emitter to emit laser downwards and determine the current time as the emission time. Then, it will determine the laser interruption time of the corresponding laser receiver and determine the blocking point of the corresponding detection unit according to the point determination strategy. In other words, the determined blocking point is the position point of the corresponding detection unit.

[0050] Furthermore, the aforementioned "determining the obstruction point of the corresponding detection unit based on the point determination strategy" also includes the following steps: The difference between the laser interruption time and the emission time is calculated, and the laser reception time is multiplied by the preset propagation rate to obtain the propagation distance; Based on the laser acquisition image, the emission area and reception area of ​​the corresponding laser transmitter and laser receiver are determined, and a laser indicator line is generated starting from the emission center point of the emission area and pointing to the reception center point of the reception area. Based on the extension direction of the laser pointer line, the blocking point of the corresponding detection unit with a propagation distance from the emission center point is determined, and the blocking point is marked with a second preset color based on the laser acquisition image. The laser-acquired images, after being color-marked, are sent to the management terminal.

[0051] For example, in this embodiment, after the server calculates the difference between the laser interruption time and the emission time, it can obtain the laser reception time, which is the time it takes for the laser to travel from the emission location to the detection unit. Next, the server will multiply the laser reception time with the preset propagation rate to calculate the propagation distance, which is the distance from the laser transmitter to the detection unit. Then, the server will determine the emission area of ​​the corresponding laser transmitter and the reception area of ​​the corresponding laser receiver in the laser acquisition image. Next, the server generates a laser pointer line originating from the center point of the transmitting area and pointing towards the center point of the receiving area. Then, it determines blocking points along the extension direction of the laser pointer line that have a propagation distance from the center point of the transmitting area, such as... Figure 3 As shown, the obstruction point is the location of the corresponding detection unit; Finally, the server will color-mark the obstruction points in the laser acquisition image with a second preset color, and then send the color-marked laser acquisition image to the management terminal to improve the identification and enable the management terminal to quickly determine the specific location of the obstruction points based on the color-marked laser acquisition image.

[0052] According to the present invention, the server first identifies the soft-property-sensitive conduit to be tested, determining the clamping points with preset clamping intervals. This ensures that after the subsequent control of the testing clamps to clamp the conduit at the clamping points according to preset clamping angles, the conduit will bend from top to bottom at a preset angle, thereby improving the standardization of the testing. Next, the server places the testing unit at the first end of the conduit. If, within a preset drop time, the vibration attribute of the testing clamp corresponding to the second end of the conduit is zero, it indicates that the testing unit has passed the test. The problem is that the component is stuck in the conduit to be tested, indicating a quality issue on the inner wall of the conduit. To more accurately determine the specific location of the testing unit, the server identifies adjacent testing fixtures with different vibration properties as target fixtures. Then, the portion of the conduit between these target fixtures is designated as the precision inspection sub-conduit. The pressing end is then used to press the precision inspection sub-conduit to determine the specific location of the testing unit, thereby pinpointing the exact location of the quality issue on the inner wall of the conduit. This invention improves the accuracy and efficiency of conduit testing.

[0053] Another embodiment of the present invention provides a precision measuring device for the inner diameter of metal conduits. Figure 4 According to its corresponding device block diagram, the system includes: The determination module is configured to identify and determine the clamping points with a preset clamping interval distance for the soft-attribute conduit to be tested; The clamping module is configured to control the testing fixture to clamp the test tube at the clamping point according to a preset clamping angle, so that the test tube is bent from top to bottom at a preset angle. The placement module is configured to place the detection unit at the first end of the conduit to be tested. If the vibration attribute of the detection fixture corresponding to the second end of the conduit to be tested is no vibration output within a preset falling time, then each detection fixture with an adjacent relationship and different vibration attributes is determined as a target fixture based on the conduit to be tested. The pressing module is configured to identify the portion of the conduit located between each target fixture as the precision inspection sub-conduit based on the conduit to be inspected, and to control the pressing end to perform a pressing operation on the precision inspection sub-conduit.

[0054] In the specification provided herein, the algorithms and displays are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used with the examples of this invention. The required structure for constructing such systems is apparent from the above description. Furthermore, this invention is not directed to any particular programming language. It should be understood that the contents of the invention described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing preferred embodiments of the invention.

[0055] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0056] Similarly, it should be understood that, in order to streamline this disclosure and aid in understanding one or more of the various aspects of the invention, in the description of exemplary embodiments of the invention above, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof.

[0057] Those skilled in the art will understand that modules, units, or components of the devices disclosed in the examples herein can be arranged in the devices described in this embodiment, or alternatively, can be located in one or more devices different from the devices in this example. The modules in the foregoing examples can be combined into a single module or, in addition, can be divided into multiple sub-modules.

[0058] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components.

[0059] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of the invention and form different embodiments.

[0060] Furthermore, some of the embodiments described herein are methods or combinations of method elements that can be implemented by a processor of a computer system or by other means of performing the functions. Therefore, a processor having the necessary instructions for implementing the methods or method elements forms means for implementing the methods or method elements. Furthermore, the elements described herein in the apparatus embodiments are examples of means for implementing the functions performed by elements for the purposes of carrying out the invention.

[0061] As used herein, unless otherwise specified, the use of ordinal numbers such as “first,” “second,” “third,” etc., to describe ordinary objects merely indicates different instances of similar objects and is not intended to imply that the objects being described must have a given order in time, space, ordering, or any other manner.

[0062] Although the invention has been described with respect to a limited number of embodiments, those skilled in the art will understand from the foregoing description that other embodiments are conceivable within the scope of the invention described herein. Furthermore, it should be noted that the language used in this specification has been chosen primarily for readability and edibility purposes, and not for the purpose of explaining or limiting the subject matter of the invention.

Claims

1. A method for precise measurement of the inner diameter of a metal conduit, characterized in that, include: For soft-attribute conduits, identify and determine clamping points with preset clamping intervals; The control fixture clamps the conduit to be tested at the fixture point according to the preset fixture angle, so that the conduit to be tested is bent from top to bottom at the preset angle. The detection unit is placed at the first end of the conduit to be tested. If the vibration attribute of the detection fixture corresponding to the second end of the conduit to be tested is no vibration output within a preset drop time, then each detection fixture with different vibration attributes that are adjacent to each other is determined as the target fixture based on the conduit to be tested. Based on the conduit to be tested, the conduit section located between each target clamp is identified as the precision inspection sub-conduit, and the pressing end is controlled to press the precision inspection sub-conduit.

2. The method according to claim 1, characterized in that, For soft-attribute conduit identification, determine the clamping points with a preset clamping interval distance, including: The acquisition unit acquires images of a horizontally placed conduit to be tested, and performs image recognition on the acquired initial images to determine the initial conduit region indicating the conduit to be tested. Based on the preset point interval distance, the division points located in the initial pipeline area are determined, and the number of divisions of each corresponding division point is multiplied by the preset overlap coefficient to calculate the overlap threshold. Each division point at both ends of the corresponding initial conduit area is determined as an endpoint point, and a point connection line is established connecting each endpoint point. If the number of overlaps between the division points that overlap with the point connection line is less than the overlap threshold, the conduit attribute of the conduit to be detected is determined as a soft attribute. The determined length of the conduit to be tested is multiplied by a preset interval coefficient to obtain the clamp interval distance corresponding to the conduit to be tested, and the clamp points corresponding to the conduit to be tested are determined based on the clamp interval distance.

3. The method according to claim 2, characterized in that, The method further includes: If the number of overlaps between the points and the connecting lines is equal to the number of divisions, the diameter of the conduit to be tested will be multiplied by the preset test multiple to obtain the test distance. Control any robotic arm of the corresponding mechanical group to perform a clamping operation on the conduit to be tested based on any endpoint point, and generate a test line segment with a test distance pointing to another endpoint point based on the initial acquired image, starting from the endpoint point. The test line segment is bent based on a preset bending strategy, and the conduit properties of the corresponding conduit to be tested are determined based on the operation results.

4. The method according to claim 3, characterized in that, The test segment is bent based on a preset bending strategy, and the conduit properties are determined based on the operation results, including: The endpoint of the corresponding test line segment is determined as the test fixed point, and another robotic arm of the corresponding mechanical group is controlled to perform a clamping operation on the tube to be tested based on the test fixed point. Each robotic arm of the corresponding mechanical group is controlled to bend the tube to be tested based on a preset bending force value, and the image of the tube to be tested is acquired based on the acquisition unit. Image recognition is performed on the currently acquired image to determine the test sub-region of the corresponding test segment located in the current conduit region of the conduit to be tested in the currently acquired image; Based on the coordinate processing of the currently acquired image with the test center point of the corresponding test sub-region as the origin, the coordinate points of each contour that make up the test sub-contour corresponding to the test sub-region are determined. The conduit properties of the corresponding conduit to be tested are determined based on the distribution of each contour coordinate point.

5. The method according to claim 4, characterized in that, The conduit properties corresponding to the conduit to be inspected are determined based on the distribution of each contour coordinate point, including: Starting from the contour coordinate point with the largest vertical coordinate, perform difference calculation based on vertical coordinates for each contour coordinate point with an adjacent relationship; If any vertical difference in the contour is greater than a preset difference, the contour coordinate point with the larger vertical coordinate corresponding to the vertical difference in the contour is determined as the first bending point, and the contour coordinate point with the smaller vertical coordinate is determined as the second bending point. The test bending angle of the corresponding conduit to be tested is determined based on each bending point; If the test bending angle is less than the preset bending angle, the conduit property of the corresponding conduit to be tested is determined to be a hard property. Conversely, the conduit properties corresponding to the conduit to be tested are determined to be soft properties.

6. The method according to claim 5, characterized in that, The test bending angle of the conduit to be tested is determined based on each bending point, including: The contour coordinate points that are adjacent to the first bending point, excluding the second bending point, are determined as the first connection points; Starting from the second bending point, the contour coordinate points that are spaced a preset number of points away from the second bending point are determined as the second connection points in a direction away from the first bending point. Generate a first curved line and a second curved line that connect the first connection point, the first bending point, the second connection point, and the second bending point, respectively; Determine the test bending angle based on the first bending line and the second bending line.

7. The method according to claim 2, characterized in that, The control and inspection fixture clamps the conduit to be inspected at the fixture points according to a preset fixture angle, so that the conduit is bent from top to bottom at a preset angle, including: The control fixture clamps the conduit to be tested at the fixture point at a preset initial angle to ensure that the conduit to be tested is in a vertical position. The fixture points are sorted according to their position from top to bottom to obtain a point sequence, and the fixture points in the odd-numbered positions of the corresponding point sequence are assigned to fixed fixture groups. Based on the point sequence, the remaining fixture points are sequentially and alternately assigned to the first fixture group and the second fixture group according to their position. Control each detection fixture in the first fixture group to rotate in the first preset direction based on a preset fixture angle, and control each detection fixture in the second fixture group to rotate in the second preset direction based on a preset fixture angle, so that the conduit to be tested is bent from top to bottom based on a preset curvature.

8. The method according to claim 7, characterized in that, Placing the detection unit at the first end of the conduit to be tested includes: The acquisition unit acquires images of the bent conduit to be tested, and performs image recognition on the acquired images to determine each fixture sub-region that indicates each testing fixture. Determine the center point of the upper contour of the image acquired in the corresponding state and the center point of each region of each fixture sub-region, and generate the connecting lines of each region connected to the center point of the contour based on the center point of each region. Determine the connection length of each connection line corresponding to each region, and determine the clamping point of the clamping sub-region corresponding to the connection line of each region with the minimum connection length and the maximum connection length as the first end and the second end of the conduit to be tested; The difference between the diameter of the conduit to be tested and the preset testing interval is calculated to obtain the testing diameter, and the control terminal is used to place the testing unit with the testing diameter at the first end of the conduit to be tested.

9. The method according to claim 8, characterized in that, If the vibration attribute of the detection fixture corresponding to the second end of the conduit to be tested is no vibration output within the preset drop time, then each detection fixture with different vibration attributes that are adjacent to each other based on the conduit to be tested is determined as a target fixture, including: If the vibration sensor of the detection fixture corresponding to the first end of the conduit to be tested outputs a vibration value greater than the maximum value of the corresponding preset acquisition range, the vibration attribute of the detection fixture is determined to be vibration output, and the current time is determined as the start time. The preset drop time is calculated by multiplying the conduit length by the retrieved preset drop coefficient. If the vibration value output by the vibration sensor corresponding to the second end of the conduit to be tested within the preset drop time after the start time is less than the minimum value of the corresponding preset acquisition interval, the vibration attribute of the detection fixture is determined to be no vibration output. Obtain the vibration attributes of each testing fixture corresponding to the conduit to be tested, and sort the vibration attributes according to the top-to-bottom position order of each testing fixture based on the conduit to be tested; Based on the obtained attribute sequence, each detection fixture with different vibration attributes that has an adjacent relationship is identified as a target fixture.

10. The method according to claim 1, characterized in that, Based on the conduit to be inspected, the portion of the conduit located between each target clamp is identified as the precision inspection sub-conduit, and the pressing end is controlled to perform a pressing operation on the precision inspection sub-conduit, including: Based on the state acquisition images, the fixture points corresponding to each target fixture are determined as each target point, and the fine inspection sub-regions located between each target point are determined. Based on the precision inspection sub-region, each pressing point with an interval detection diameter is generated, and based on the test tube, the pressing end with a pressure sensor is controlled to perform a pressing operation on the precision inspection sub-tube corresponding to the precision inspection sub-region based on each pressing point and a preset pressure. Determine the reaction values ​​of the pressure sensor outputs at each pressing point, and set the minimum reaction value as the target value. Each reaction-collected value is directly divided by the target collected value, and the pressing points corresponding to each reaction-collected value whose calculated result is greater than a preset multiple are determined as each problem point. Based on the status acquisition images, each problem location is color-marked using a first preset color, and the color-marked status acquisition images are sent to the management terminal.

11. The method according to claim 10, characterized in that, The method further includes: Based on the point sequence, each target point and each fixture point located in front of the target point are determined as each laser point. Control each detection fixture corresponding to each laser point to return to the preset initial angle; The acquisition unit acquires images of the tube to be tested and the laser emitter and laser receiver located on the top and bottom of the tube to be tested, thus obtaining laser acquisition images. Control the laser emitter to emit laser downwards, and determine the current time as the emission time, and determine the laser interruption time of the corresponding laser receiver; The blocking points of the corresponding detection units are determined based on the point determination strategy.

12. The method according to claim 11, characterized in that, The blocking points of the corresponding detection units are determined based on the point determination strategy, including: The difference between the laser interruption time and the emission time is calculated, and the laser reception time is multiplied by the preset propagation rate to obtain the propagation distance; Based on the laser acquisition image, the emission area and reception area of ​​the corresponding laser transmitter and laser receiver are determined, and a laser indicator line is generated starting from the emission center point of the emission area and pointing to the reception center point of the reception area. Based on the extension direction of the laser pointer line, the blocking point of the corresponding detection unit with a propagation distance from the emission center point is determined, and the blocking point is marked with a second preset color based on the laser acquisition image. The laser-acquired images, after being color-marked, are sent to the management terminal.

13. A precision measuring device for the inner diameter of a metal conduit, characterized in that, include: The determination module is configured to identify and determine the clamping points with a preset clamping interval distance for the soft-attribute conduit to be tested; The clamping module is configured to control the testing fixture to clamp the test tube at the clamping point according to a preset clamping angle, so that the test tube is bent from top to bottom at a preset angle. The placement module is configured to place the detection unit at the first end of the conduit to be tested. If the vibration attribute of the detection fixture corresponding to the second end of the conduit to be tested is no vibration output within a preset falling time, then each detection fixture with an adjacent relationship and different vibration attributes is determined as a target fixture based on the conduit to be tested. The pressing module is configured to identify the portion of the conduit located between each target fixture as the precision inspection sub-conduit based on the conduit to be inspected, and to control the pressing end to perform a pressing operation on the precision inspection sub-conduit.

Images