Visual detection and positioning device for pressure resistance detection outer wall water seepage dipping area of vertical cast pipe

Abstract

The invention relates to the technical field of visual detection and positioning of a cast pipe pressure-resistant detection outer wall water seepage dipping area, in particular to a visual detection and positioning device for a vertical cast pipe pressure-resistant detection outer wall water seepage dipping area, which comprises a mounting platform, a water inlet pressurizing port and a water outlet are formed in the bottom of the mounting platform, and a lifting detection platform is arranged on the mounting platform; the lifting detection platform is provided with a rotary detection platform which can do circular motion around the axis of the cast pipe to be detected; the lifting detection platform is arranged on the mounting platform, the pressing mechanism is arranged on the mounting platform, the axial lifting mechanism is arranged on the mounting platform and connected with the lifting detection platform, and the detection and positioning mechanism is arranged on the rotary detection platform. The device has the advantages of high detection precision, strong applicability, high efficiency, wide detection range, high reliability and the like, realizes automatic visual detection and positioning of the water seepage dipping area of the outer wall of the cast pipe, reduces personnel investment, reduces labor intensity, improves the reliability of cast pipe quality, and ensures the safety of later engineering application of the cast pipe.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of visual detection and positioning of the water infiltration area of the outer wall of a cast pipe pressure detection, in particular to a vertical cast pipe pressure detection visual detection and positioning device for the water infiltration area of the outer wall. BACKGROUND

[0002] Ductile iron pipe (hereinafter referred to as cast pipe) is widely used in modern infrastructure such as oil transportation, gas transportation, urban water transportation, sewage, large water diversion projects, etc. due to its thin wall, light weight, high strength, large elongation, corrosion resistance, pressure resistance, load bearing and strong anti-seismic capacity.

[0003] Cast pipe pressure detection is one of the important means to ensure the quality of cast pipe, and cast pipe pressure detection mainly detects the pressure resistance and air tightness of cast pipe. Although the traditional horizontal cast pipe pressure detection can detect whether the pressure resistance of the cast pipe meets the requirements, it cannot detect the air tightness of the cast pipe in 360°, and cannot position the water infiltration area, which causes difficulty in positioning for later repair. Since the cast pipe has high value, in order to facilitate the welding repair of the leakage part, the area where leakage occurs must be positioned during pressure detection. SUMMARY

[0004] In order to solve the above technical problems, the vertical cast pipe pressure detection visual detection and positioning device for the water infiltration area of the outer wall is provided.

[0005] The technical problems to be solved by the present application are solved by the following technical solutions:

[0006] The vertical cast pipe pressure detection visual detection and positioning device for the water infiltration area of the outer wall comprises:

[0007] A mounting platform is used to place the cast pipe to be detected, the bottom of which is provided with a water inlet and a drain, and the top of which is provided with a lifting detection platform, and the lifting detection platform is provided with a rotating detection platform which can rotate around the axis of the cast pipe to be detected;

[0008] A pressing mechanism is arranged on the mounting platform to press or loosen the cast pipe to be detected;

[0009] An axial lifting mechanism is arranged on the mounting platform and connected with the lifting detection platform to realize the axial lifting of the lifting detection platform;

[0010] A detection and positioning mechanism is arranged on the rotating detection platform to realize the visual detection and laser printing of the outer surface of the cast pipe to be detected.

[0011] As a further improvement of the present application, the mounting platform comprises a mounting base, four guide columns arranged on the mounting base, a top plate arranged on the top of the four guide columns, the water inlet pressurizing port and the water outlet port are arranged on the bottom of the mounting base, and the lifting detection platform is slidingly arranged on the four guide columns.

[0012] As a further improvement of the present application, the pressing mechanism comprises a pressing plate slidingly arranged on the four guide columns, and a pressing cylinder arranged on the top plate, the pressing cylinder being connected with the pressing plate.

[0013] As a further improvement of the present application, an exhaust port is arranged on the pressing plate, and a sealing gasket is correspondingly arranged on the bottom of the mounting base and the bottom of the pressing plate.

[0014] As a further improvement of the present application, the axial lifting mechanism comprises a lead screw arranged between the mounting base and the top plate, and a lead screw driving mechanism arranged on the top plate, the lifting detection platform being connected with the lead screw, and the lead screw being connected with the lead screw driving mechanism.

[0015] As a further improvement of the present application, an annular sliding groove is arranged on the lifting detection platform, and the rotary detection platform is slidingly arranged in the annular sliding groove through a bullseye bearing support mechanism.

[0016] As a further improvement of the present application, a servo motor is arranged on the rotary detection platform, the servo motor being connected with a speed reducer, the speed reducer being connected with an external gear, an internal gear ring being arranged on the lifting detection platform, and the external gear being meshingly connected with the internal gear ring.

[0017] As a further improvement of the present application, an annular conductive groove is arranged on the lifting detection platform, and an electric brush is arranged on the rotary detection platform and matched with the annular conductive groove.

[0018] As a further improvement of the present application, the detection and positioning mechanism comprises a visual camera, a laser marking machine, a communication module and a control module arranged on the rotary detection platform.

[0019] The present application has the following beneficial effects:

[0020] The application realizes axial lifting of the lifting detection platform by the rotation of the lead screw, drives the detection and positioning mechanism, and can realize visual detection and positioning of the full height of the cast pipe; the rotation of the rotating detection platform around the axis of the cast pipe can realize 360° visual detection and positioning of the cast pipe without dead angle; through reasonable cooperation of the two, the lens of the visual camera can uniformly cover the entire outer wall of the cast pipe, and after a series of image processing such as image cropping, image merging and image subtraction with the background image of the pictures taken by the visual camera, the real-time change of the cast pipe outer wall image before and after the cast pipe pressure test can be quickly and intelligently identified by using the image edge detection technology, and then the intelligent judgment of whether the cast pipe has water seepage phenomenon and the determination of the boundary and position of the water seepage immersion area are realized; the application has high detection precision, and high-resolution cameras can ensure the detection precision; the application has strong adaptability, and the initial appearance of the outer surface of the cast pipe is not high, the background image technology and the image subtraction technology can eliminate the adverse effects of the initial image of the outer wall of the cast pipe on the detection result, and improve the adaptability of the technology; the detection range is wide, and the cast pipe outer surface can be detected in 360°; the efficiency is high, and since the automatic visual detection, intelligent judgment and positioning are adopted, the detection efficiency is much higher than that of manual detection; the reliability is high, since the 360° full-range sampling without dead angle and the automatic intelligent identification and positioning of the sampling image are adopted, the "missed detection" and "false detection" are prevented, and the reliability of the product quality is further improved. The application realizes automatic visual detection, intelligent judgment and positioning of the water seepage immersion area of the outer wall of the cast pipe, reduces the personnel investment, reduces the labor intensity and improves the reliability of the cast pipe quality, ensures the safety of the cast pipe in the later engineering application; meanwhile, the application provides great convenience for the repair and positioning of the cast pipe with leakage.

[0021] In the application, the visual detection and the judgment and positioning process of the water seepage immersion area are automatically completed under the control system, so that the application can quickly realize visual automatic detection of the outer wall of the cast pipe and intelligent identification and positioning of the water seepage immersion area of the outer wall. BRIEF DESCRIPTION OF DRAWINGS

[0022] The application will be further described below in combination with the drawings and examples:

[0023] Figure 1 It is a main view of the structural schematic diagram of the application;

[0024] Figure 2 It is a left view of the structural schematic diagram of the application;

[0025] Figure 3 It is a view of Figure 1 A-A sectional view of the structural schematic diagram in the application;

[0026] Figure 4 It is a layout diagram of the rotating detection platform of the application;

[0027] Figure 5The installation diagram of the visual camera of the present application;

[0028] Figure 6 The driving mechanism of the ring-shaped detection platform of the present application;

[0029] Figure 7 The installation diagram of the laser marking machine of the present application;

[0030] Figure 8 The azimuth and picture name of the first layer visual camera in the present application;

[0031] Figure 9 The schematic diagram of the picture cropping principle of the present application;

[0032] Figure 10 The name and arrangement of the photographed pictures of the present application;

[0033] Figure 11 The schematic diagram of the photographed pictures and their corresponding positions on the outer surface of the cast pipe of the present application;

[0034] Figure 12 The schematic diagram of the merging of the 12 photographed pictures according to the azimuth angle order of each layer of the present application;

[0035] Figure 13 The picture after merging according to layers of the present application;

[0036] Figure 14 The schematic diagram of the visual identification of the expanded picture of the outer wall of the cast pipe of the present application;

[0037] Figure 15 The schematic diagram of the water infiltration immersion area boundary identification of the expanded picture of the outer wall of the cast pipe of the present application;

[0038] Figure 16 The schematic diagram of the determination of the orthogonal boundary of the present application;

[0039] Figure 17 The schematic diagram of the laser printing of the orthogonal boundary of the outer surface of the cast pipe of the present application.

[0040] In the figure: 1, mounting base; 2, guide column; 3, top plate; 4, water inlet pressurizing port and drainage port; 5, pressing plate; 6, pressing cylinder; 7, exhaust port; 8, sealing gasket; 9, lifting detection platform; 10, screw rod; 11, screw rod driving mechanism; 12, rotating detection platform; 13, ring-shaped sliding groove; 14, bull's eye bearing support mechanism; 15, servo motor; 16, speed reducer; 17, outer gear; 18, inner gear ring; 19, ring-shaped conductive groove; 20, brush; 21, visual camera; 22, communication module; 23, control module; 24, laser marking machine; 25, cast pipe to be detected. DETAILED DESCRIPTION

[0041] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0042] like Figures 1 to 7 As shown, the visual inspection and positioning device for the water seepage and immersion area on the outer wall of the vertical cast iron pipe pressure resistance test mainly includes an installation platform, a clamping mechanism, a lifting inspection platform 9, an axial lifting mechanism, a rotating inspection platform 12, and an inspection and positioning mechanism.

[0043] The installation platform includes a mounting base 1, four guide pillars 2 mounted on the mounting base 1, and a top plate 3 mounted on top of the four guide pillars 2. The mounting base 1 is used to place the cast pipe 25 to be inspected. The bottom of the mounting base 1 is provided with a water inlet and a drain outlet 4. Through the water inlet and the drain outlet 4, it can be connected to an external pressurization system to realize the functions of adding water, pressurizing and maintaining pressure, and draining water into the cast pipe 25 to be inspected. A sealing gasket 8 is provided on the mounting base 1.

[0044] The clamping mechanism can clamp or loosen the casting tube 25 to be inspected. Specifically, it includes a clamping plate 5 slidably mounted on four guide posts 2 and a clamping cylinder 6 disposed on the top plate 3, the clamping cylinder 6 being connected to the clamping plate 5. The clamping plate 5 is provided with an exhaust port 7, and a sealing gasket 8 is correspondingly disposed at the bottom of the clamping plate 5. Through the sealing gasket 8 on the mounting base 1 and the sealing gasket 8 at the bottom of the clamping plate 5, the upper and lower ends of the casting tube 25 to be inspected can be sealed, thereby enabling pressure resistance testing of the casting tube.

[0045] The lifting detection platform 9 is slidably mounted on four guide columns 2. The axial lifting mechanism enables the lifting detection platform 9 to move axially, and is used for visual inspection of the outer wall of the cast pipe at different heights and laser marking and positioning of the water seepage and immersion areas. Specifically, it includes a lead screw 10 disposed between the mounting base 1 and the top plate 3, and a lead screw drive mechanism 11 disposed on the top plate 3. The lifting detection platform 9 is connected to the lead screw 10, and the lead screw 10 is connected to the lead screw drive mechanism 11.

[0046] Furthermore, the lifting detection platform 9 is provided with an annular slide groove 13, and the rotating detection platform 12 is slidably installed in the annular slide groove 13 through a bullseye bearing support mechanism 14. The bullseye bearing support mechanism 14 is used to support the rotating detection platform 12 and ensure that it rotates flexibly in the annular slide groove 13.

[0047] The rotating detection platform 12 is provided with a servo motor 15, the servo motor 15 is connected with a speed reducer 16, the speed reducer 16 is connected with an external gear 17, the lifting detection platform 9 is provided with an internal gear ring 18, and the external gear 17 is meshed and connected with the internal gear ring 18. Through the meshing transmission of the external gear 17 and the internal gear ring 18, the rotating detection platform 12 realizes the rotating movement of the detection and positioning mechanism around the axis of the cast pipe 25 to be detected, and realizes the visual detection of different azimuth angles in the circumferential direction of the cast pipe 25 to be detected and the positioning of the water seepage immersion area.

[0048] Further, the lifting detection platform 9 is provided with an annular conductive groove 19, and the rotating detection platform 12 is provided with an electric brush 20 matched with the annular conductive groove 19. Through the electric brush 20 and the annular conductive groove 19, the servo motor 15 and the detection and positioning mechanism on the rotating detection platform 12 can be provided with continuous and stable power.

[0049] The detection and positioning mechanism is arranged on the rotating detection platform 12 and is used for realizing the visual detection and laser marking positioning of the outer surface of the cast pipe 25 to be detected. Specifically, the detection and positioning mechanism comprises a visual camera 21, a communication module 22, a control module 23 and a laser marking machine 24 arranged on the rotating detection platform 12.

[0050] The front end of the visual camera 21 can be configured with a visual light source, which can ensure the clear visual field of the visual detection camera, so as to further improve the accuracy and reliability of visual detection.

[0051] The communication module 22 is connected with an upper computer in the external environment, and the main function of the communication module 22 is to receive the control information issued by the upper computer and send the control information to the control module 23, control the movement of the screw rod driving mechanism 11, the servo motor 15 and the visual photo collection of the visual camera 21 through the control module 23, and upload the visual photos collected by the visual camera 21 to the upper computer. The upper computer carries out a series of image processing processes such as "cropping-splicing-subtraction-edge detection" on the collected photos, finally judges whether the cast pipe has leakage, if there is leakage, judges the boundary of the leakage immersion area and further determines the orthogonal boundary of the leakage immersion area; the upper computer converts the orthogonal boundary into position information of the laser engraving machine and sends the position information to the laser marking machine 24 through the communication module 22, and the laser marking machine 24 prints the orthogonal boundary on the surface of the cast pipe 25 to be detected, so as to facilitate the positioning of the later repair.

[0052] The working principle and use process of the application are as follows:

[0053] a: the cast pipe 25 to be detected is placed on the mounting base 1, the pressing plate 5 is pushed down by the pressing cylinder 6, and the cast pipe 25 to be detected is pressed by the mounting base 1. After the installation of the cast pipe 25 to be detected is completed, under the joint action of the axial lifting mechanism and the rotating detection platform 12, the outer surface of the cast pipe 25 to be detected is divided into 10 layers in the order of layering first and then angle, and each layer is evenly divided into 12 equal parts at an interval of 30°. Thus, the outer surface of the entire cast pipe 25 to be detected is divided into 120 areas, and then the 120 areas are respectively photographed, cropped and merged to obtain the outer wall panoramic image of the cast pipe before water injection and pressurization. The image file is named Axxxxxx.jpg, and the image is the original appearance of the outer wall of the cast pipe before water injection and pressurization. The image is the background image of the cast pipe.

[0054] b: water is injected into the pipe of the cast pipe 25 to be detected through the water injection and pressurization port and the drain port 4. After the cast pipe 25 to be detected is water-injected and pressurized, the 120 areas of the outer surface of the cast pipe are respectively photographed, cropped and merged in the same way as before water injection and pressurization under the joint action of the axial lifting mechanism and the rotating detection platform 12 to obtain the outer wall panoramic image of the cast pipe after water injection and pressurization. The image file is named Bxxxxxx.jpg, and the image is the outer wall appearance of the cast pipe after water injection and pressurization. The image is the current image of the cast pipe.

[0055] c: if there is water seepage in the cast pipe 25 to be detected, there will be a water seepage immersion area on the outer wall of the cast pipe 25 to be detected, and the appearance of the outer wall of the cast pipe 25 to be detected will change. These changes are reflected in the image file Bxxxxxx.jpg. The host computer processes the image files Axxxxxx.jpg and Bxxxxxx.jpg respectively through the host computer software to determine whether there is water seepage. If there is water seepage, the position of the water seepage immersion area is found, and the orthogonal boundary of the water seepage immersion area is printed on the outer wall of the cast pipe 25 to be detected by the laser marking machine 24 for later repair.

[0056] The specific processing process is as follows:

[0057] Cxxxxxx.jpg is obtained by subtracting the background image Axxxxxx.jpg from the current image Bxxxxxx.jpg using image subtraction technology.

[0058] Cxxxxxx.jpg is detected using image edge detection technology:

[0059] If there is no closed edge in Cxxxxxx.jpg, it means that Cxxxxxx.jpg is a whiteboard, which means that there is no water seepage immersion area on the outer wall of the cast pipe 25 to be detected, and the cast pipe 25 to be detected has no water seepage and has good air tightness.

[0060] If there is a closed area in Cxxxxxx.jpg, it means that there is a water infiltration area on the outer wall of the cast pipe 25 to be inspected, and the cast pipe 25 to be inspected has water infiltration, and the air tightness is not up to the requirements.

[0061] At this time, the boundary of the closed area is found by the image edge detection algorithm, and then the coordinates of the orthogonal boundary of the area are found, and the coordinates of the orthogonal boundary are transmitted to the laser marking machine 24, and the laser marking machine 24 prints the orthogonal boundary on the outer wall of the cast pipe 25 to be inspected, so as to facilitate the positioning of the later repair.

[0062] Application example:

[0063] The use process of the device is described in detail taking the visual detection and positioning of the water infiltration area on the outer wall of the DN1000*6000 cast pipe in the pressure test as an example.

[0064] The initial position of the vision camera 21 is located at an angle of 0° and is flush with the cast pipe spout. The ring-shaped detection angle interval of the vision camera is 30°, and the axial detection height is 600 mm, that is, the default azimuth angle of the vision camera during detection is 0°, the ring-shaped detection step is 30°, the default height is 0 mm, and the axial downward direction is the positive detection direction, and the axial detection step is 600 mm.

[0065] 1. Collection (background image) and processing of cast pipe outer wall image before water injection and pressurization.

[0066] The cast pipe 25 to be inspected is vertically placed in the center of the installation base 1, and the pressing plate 5 is driven by the pressing cylinder 6 to move downward. Under the sealing action of the rubber sealing pads 8 on the installation base 1 and the pressing plate 5, the two ends of the cast pipe 25 to be inspected are tightly sealed.

[0067] (1) Collection of cast pipe outer wall image (background image) before water injection and pressurization.

[0068] The lifting detection platform 9 is driven by the lead screw 10 to descend 300 mm, so that the vision camera 21 is located at the center of the first layer at a height, and then the rotating detection platform 12 is driven by the external gear 17 to rotate uniformly around the axis of the cast pipe 25 for one revolution. When the azimuth angle of the vision camera 21 is 0°, 30°, 60°,..., 300°, 330°, as shown in Figure 8 , 12 pictures of the outer wall of the cast pipe 25 to be inspected are taken (the file type is jpg format), and each picture is cropped using a rectangular window (the size of the rectangular window is related to the outer diameter of the cast pipe). The center of the cropping frame is aligned with the center of the picture, and the length direction of the field of view boundary corresponds to a 30° angle range of the cast pipe, and the height direction of the field of view range corresponds to a 600 mm height of the outer wall of the cast pipe. The cropping principle is shown in Figure 9 . The cropped picture file names are respectively: a 1，1 , a1，2 , a 1，3 ……a 1，11 , a 1，12 .

[0069] The lifting detection platform 9 is driven by the screw rod 10 to further descend 600 mm, so that the visual camera 21 is located at the height of the center of the second layer. Then the rotating detection platform 12 is driven by the external gear 17 to rotate at a uniform speed around the axis of the cast pipe 25 for one round. When the azimuth angle of the visual camera 21 is 0°, 30°, 60°, …, 300°, 330° respectively, a photo of the outer wall of the cast pipe 25 is taken, a total of 12 photos. The same rectangular window is used to crop each photo, and the cropped picture file names are respectively: 2，1 , a 2，2 , a 2，3 ……a 2，11 , a 2，12 .

[0070] The lifting detection platform 9 is driven by the screw rod 10 to further descend 600 mm, so that the visual camera 21 is located at the height of the center of the second layer. Then the rotating detection platform 12 is driven by the external gear 17 to rotate at a uniform speed around the axis of the cast pipe 25 for one round. When the azimuth angle of the visual camera 21 is 0°, 30°, 60° …, 300°, 330° respectively, a photo of the outer wall of the cast pipe 25 is taken, a total of 12 photos. The same rectangular window is used to crop each photo, and the cropped picture file names are respectively: 3，1 , a 3，2 , a 3，3 ……a 3，11 , a 3，12 .

[0071] …

[0072] In succession, until the visual camera 21 reaches the position of 5700 mm away from the socket of the cast pipe 25, so that the visual camera 21 is located at the height of the center of the tenth layer. Then the rotating detection platform 12 is driven by the external gear 17 to rotate at a uniform speed around the axis of the cast pipe 25 for one round. When the azimuth angle of the visual camera 21 is 0°, 30°, 60° …, 300°, 330° respectively, a photo of the outer wall of the cast pipe 25 is taken, a total of 12 photos. The same rectangular window is used to crop each photo, and the cropped picture file names are respectively: 10,1 , a 10,2 , a 10,3 ……a 10,11 , a 10,12 ; in this way, the entire outer wall of the cast pipe 25 is photographed into 120 photos, and the file names of the photos and the arrangement positions on the outer surface of the cast pipe are respectively as follows: Figure 10 ,Figure 11 As shown.

[0073] (2) Processing of the image of the outer wall of the cast pipe before water injection and pressurization.

[0074] The 12 images in each layer are merged sequentially from left to right according to their azimuth angles: 0°, 30°, 60°...300°, 330°. This results in each layer being merged into a single image, and the entire outer wall of the 25mm cast pipe under inspection is merged into 10 images (JPG format), named a1, a2, a3...a9, a10. Figure 12 As shown.

[0075] After merging each layer, the resulting 10 images are stitched together sequentially from top to bottom, layer by layer (a1, a2, a3... a9, a10), to form a single image. This merges the entire image of the outer wall of the 25-year-old cast iron pipe into one image, named Axxxxxx.JPG (where xxxxxx is the pipe number). This image is then archived. Figure 13 As shown.

[0076] 2. Acquisition and processing of images of the outer wall of the cast iron pipe after water injection, pressurization and pressure holding (current image).

[0077] Open the vent 7 on the clamping plate 5 and the water inlet / pressurization port and drain 4 at the bottom of the mounting base 1 to inject water into the inner cavity of the casting pipe 25 to be inspected. When water is discharged from the vent 7 on the clamping plate 5, close the vent 7, the water inlet / pressurization port and drain 4, and continue to pressurize the inner cavity of the casting pipe 25 to be inspected until the water pressure in the casting pipe 25 to be inspected reaches the specified value and is maintained for the specified time. After the pressure holding time is reached, open the water inlet / pressurization port and drain 4 and the vent 7 to drain the water outward.

[0078] Using the same method as for acquiring and processing images of the outer wall of the cast pipe before water injection and pressurization, 120 images of the outer wall of the 25-inch cast pipe under inspection were acquired by sealing layers and taking different angles. Then, the 12 images of each layer were stitched together sequentially from left to right according to azimuth angles of 0°, 30°, 60°…300°, 330°. Each layer was then merged into one image, resulting in 10 images (JPG format) of the entire outer wall of the 25-inch cast pipe under inspection, named as follows: b1, b2, b3…b9, b...b ......b...b......b......b......b......b......b......b......b......b......b......b......b......b......b......b.........b......b......... 10 Then, after merging each layer, the resulting 10 images are arranged from top to bottom in the order of layer 1, layer 2, layer 3... layer 10, with b1, b2, b3... b9, b 10 The images are stitched together to form a single image, thus merging the entire outer wall image of the 25-year-old cast iron pipe under inspection into one image. The image is named Bxxxxxx.JPG (Note: xxxxxx is the pipe number) and then archived.

[0079] 3. Intelligent identification and positioning of water seepage and immersion areas.

[0080] The merged image of the entire outer wall of the cast pipe 25 under inspection was processed to identify the water seepage and immersion areas. Since the image was composed of 120 merged images, it was too large to be identified using deep learning algorithms due to limited computing power of the host computer. However, because the outer wall of the cast pipe 25 was coated with zinc powder before the pressure test, the consistency of its outer wall image was good. Therefore, an image subtraction algorithm could quickly and accurately identify the real-time changes in the outer wall of the cast pipe 25 before and after pressure holding. These changes represent the water seepage and immersion areas on the outer wall of the cast pipe 25. Figure 14 As shown; image edge detection algorithms can quickly identify the boundaries of water seepage and immersion areas on the outer wall of cast iron pipes, such as... Figure 15 As shown.

[0081] Location of the seepage and immersion area: By comparing the pixel coordinates (θ, z) of each point on the boundary, the maximum and minimum values ​​of the pixel coordinates θ and z of the immersion area boundary can be obtained, thereby determining the orthogonal boundary of the seepage and immersion area. This orthogonal boundary is a rectangular boundary defined by the following four points: (θ min , z max ), (θ min , z min ), (θ max , z min ) and (θ max , z max ),like Figure 16 As shown, Figure 16 The obtained orthogonal boundary is transformed into the azimuth and layer height coordinates corresponding to the surface of the cast pipe 25 to be inspected. Finally, the orthogonal boundary is transformed into the azimuth and layer height coordinates corresponding to the surface of the cast pipe 25 to be inspected as the printing boundary, such as... Figure 17 As shown, the orthogonal boundary of the water seepage and immersion area is printed on the surface of the cast pipe 25 to be inspected using the lifting detection platform 9, the rotating detection platform 12, and the laser marking machine 24. Then, the orthogonal boundary of the water seepage and immersion area is located and marked on the outer wall of the cast pipe 25 to facilitate the search and location during later repair.

[0082] The aforementioned visual inspection, water seepage and immersion area judgment and positioning processes are all completed automatically under the control system. Therefore, the present invention can quickly realize automatic visual inspection of the outer wall of cast pipe and intelligent identification and positioning of water seepage and immersion areas on the outer wall.

[0083] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments and descriptions in the specification are only the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A visual inspection and positioning device for water seepage and immersion areas on the outer wall of a vertical cast iron pipe, characterized in that: The utility model relates to a kind of casting tube detection and positioning device, including: Mounting platform is used to place the casting tube (25) to be detected, the bottom of which is provided with water inlet pressurizing port and drainage port (4), and the top is provided with lifting detection platform (9), and the lifting detection platform (9) is provided with rotating detection platform (12) that can make circumferential motion around the axis of the casting tube (25) to be detected; Compression mechanism is arranged on the mounting platform, for realizing the compression or loosening of the casting tube (25) to be detected; Axial lifting mechanism is arranged on the mounting platform, connected with the lifting detection platform (9), for realizing the axial lifting of the lifting detection platform (9); Detection and positioning mechanism is arranged on the rotating detection platform (12), for realizing the visual detection and laser printing of the outer surface of the casting tube (25) to be detected.

2. The vertical pipe casting pressure detection outer wall water permeation immersion area visual detection and positioning device according to claim 1, characterized in that: The mounting platform includes mounting base (1), four guide columns (2) arranged on the mounting base (1), top plate (3) arranged on the top of the four guide columns (2), and the water inlet pressurizing port and drainage port (4) are arranged on the bottom of the mounting base (1), and the lifting detection platform (9) is slidingly installed on the four guide columns (2).

3. The vertical pipe casting pressure detection outer wall water permeation immersion area visual detection and positioning device according to claim 2, characterized in that: The compression mechanism includes a compression plate (5) slidingly installed on the four guide columns (2), and a compression cylinder (6) arranged on the top plate (3), and the compression cylinder (6) is connected with the compression plate (5).

4. The vertical pipe casting pressure detection outer wall water permeation immersion area visual detection and positioning device according to claim 3, characterized in that: An exhaust port (7) is arranged on the compression plate (5), and a sealing gasket (8) is correspondingly arranged on the mounting base (1) and the bottom of the compression plate (5).

5. The vertical pipe casting pressure detection outer wall water permeation immersion area visual detection and positioning device according to claim 2, characterized in that: The axial lifting mechanism includes a lead screw (10) arranged between the mounting base (1) and the top plate (3), and a lead screw driving mechanism (11) arranged on the top plate (3), and the lifting detection platform (9) is connected with the lead screw (10), and the lead screw (10) is connected with the lead screw driving mechanism (11).

6. The vertical pipe casting pressure detection outer wall water permeation immersion area visual detection and positioning device according to claim 1, characterized in that: An annular sliding groove (13) is arranged on the lifting detection platform (9), and the rotating detection platform (12) is slidingly installed in the annular sliding groove (13) through a bull's eye bearing support mechanism (14).

7. The vertical pipe pressure-resistant detection outer wall water penetration immersion area visual detection and positioning device according to claim 1, characterized in that: A servo motor (15) is arranged on the rotating detection platform (12), the servo motor (15) is connected with a speed reducer (16), the speed reducer (16) is connected with an external gear (17), an internal gear ring (18) is arranged on the lifting detection platform (9), and the external gear (17) is meshingly connected with the internal gear ring (18).

8. The vertical pipe pressure detection outer wall water infiltration immersion area visual detection and positioning device according to claim 1, characterized in that: An annular conductive groove (19) is arranged on the lifting detection platform (9), and an electric brush (20) is arranged on the rotating detection platform (12) and matched with the annular conductive groove (19).

9. The vertical pipe pressure detection outer wall water immersion impregnated area visual detection and positioning device according to claim 1, characterized in that: The detection and positioning mechanism includes a vision camera (21), a communication module (22), a control module (23) and a laser marking machine (24) arranged on the rotating detection platform (12).

Images