Computer vision measurement equipment

Abstract

The invention relates to computer vision measurement equipment, and belongs to the technical field of vision measurement. Comprising a remote control car, the front end and the rear end of the remote control car are each provided with a set of supporting claws, the front set of supporting claws and the rear set of supporting claws are connected through a driving mechanism, and synchronous opening and synchronous contracting of the front set of supporting claws and the rear set of supporting claws are achieved through the driving mechanism; a connecting plate is arranged at the lower end of the remote control car, a detecting claw is arranged at the lower end of the connecting plate, the connecting plate is connected with a driving mechanism through a linkage mechanism, the connecting plate is folded when the driving mechanism controls the front and rear supporting claws to open, and the connecting plate is released when the driving mechanism controls the front and rear supporting claws to retract; an industrial camera is rotationally arranged in the middle of the remote control car and connected with a driving mechanism through a rotating mechanism, and the driving mechanism drives the industrial camera to rotate synchronously through the rotating mechanism when acting. The problem that accurate positioning and accurate measurement cannot be achieved during detection of the internal weld joint of the small-diameter steel pipe at present is solved.

Description

Technical Field

[0001] This invention belongs to the field of visual measurement technology, and specifically relates to a computer vision measurement device. Background Technology

[0002] In water conservancy projects, steel pipes are key components for water transport and structural support, and their welding quality directly affects the safety and reliability of the entire project. In particular, the inspection of the internal weld quality of steel pipes with small diameters that are difficult for people to access directly has become a technical challenge. Traditional inspection methods, such as manual visual inspection or the use of large inspection equipment, are not only inefficient, but may also be impossible to implement due to space limitations, or even damage the steel pipes.

[0003] First, the steel pipes used in water conservancy projects often have specific diameters and lengths to meet the requirements of water flow and pressure. For some steel pipes with smaller diameters, manual inspection is not only difficult, but may also lead to incomplete inspection due to the limited space, resulting in the omission of potential weld defects.

[0004] Secondly, as a key part of the steel pipe connection, the quality of the weld is directly related to the strength and sealing of the steel pipe. In the long-term operation of water conservancy projects, defects at the weld may lead to water leakage, reduced structural strength, or even safety accidents. Therefore, accurate and comprehensive inspection of the weld quality is an important part of ensuring the quality of the project.

[0005] However, when existing computer vision measurement equipment is applied to the inspection of welds inside small-diameter steel pipes, a remote-controlled vehicle is needed to deliver the equipment to the weld. Precisely controlling the weld location and the distance the vehicle travels is particularly challenging. On one hand, the vehicle's movement within the pipe is constrained by the narrow space and complex conditions, making it difficult to accurately determine when it reaches the weld location in real time. On the other hand, the lack of effective positioning markers inside the pipe leads to significant measurement errors in the vehicle's movement distance. This not only easily results in missing welds during measurement but may also cause repeated inspections of the same weld, greatly reducing the efficiency and accuracy of the inspection work and thus affecting project progress. Therefore, we propose a computer vision measurement device. Summary of the Invention

[0006] This invention overcomes the shortcomings of existing technologies and proposes a computer vision measurement device; solving the problems of inaccurate positioning and measurement when inspecting internal welds of small-diameter steel pipes.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solution.

[0008] A computer vision measurement device includes a remote-controlled vehicle. A set of support claws is installed at both the front and rear ends of the vehicle, and the two sets of support claws are connected by a drive mechanism. The drive mechanism enables the two sets of support claws to open and retract synchronously. A connecting plate is installed at the lower end of the remote-controlled vehicle, and a probe claw is installed at the lower end of the connecting plate. The connecting plate is connected to the drive mechanism via a linkage mechanism. When the drive mechanism controls the two sets of support claws to open, the connecting plate is retracted; when the drive mechanism controls the two sets of support claws to retract, the connecting plate is extended. An industrial camera is rotatably mounted in the middle of the remote-controlled vehicle. The industrial camera is connected to the drive mechanism via a rotation mechanism. When the drive mechanism is activated, it drives the industrial camera to rotate synchronously through the rotation mechanism.

[0009] Furthermore, a through-type mounting cylinder is installed inside the remote control vehicle. A connecting ring is fixedly installed at the openings at the front and rear ends of the mounting cylinder. Two sets of support claws are rotatably mounted on the front and rear connecting rings respectively. Multiple support claws inside each set are arranged in a circular array along the axis of the connecting ring. A torsion spring is installed at the hinge between the support claw and the connecting ring.

[0010] Furthermore, the drive mechanism includes a main shaft and a threaded ring; a main shaft is rotatably mounted inside the mounting cylinder of the remote control vehicle, and a threaded section is respectively provided on the outer side of the front and rear ends of the main shaft, with the external threads of the front and rear threaded sections having opposite directions; a threaded ring is screwed onto the front and rear threaded sections of the main shaft, and a ring of circularly arranged locking grooves is provided on the outer cylindrical surface of the threaded ring; a set of support claws on the front side slides and engages with each locking groove of the front threaded ring, and a set of support claws on the rear side slides and engages with each locking groove of the rear threaded ring.

[0011] Furthermore, the drive mechanism also includes a second spring, a friction ring, and a driven bevel gear. A circular array of grooves is arranged in the middle of the main shaft, and a guide rod is fixedly installed inside each groove. A second spring is sleeved on the outside of the guide rod. A friction ring is sleeved on the outside of the middle of the main shaft, and a circular array of sliding plates is fixedly installed on the inner cylindrical surface of the friction ring. Each sliding plate has a guide hole. The sliding plates on the friction ring are inserted into the grooves of the main shaft, and the guide holes on the sliding plates are slidably sleeved on the outside of the guide rods. One end of the second spring is fixedly connected to the sliding plate, and the other end of the second spring is fixedly connected to the inner wall of the groove. A driven bevel gear is also sleeved on the outside of the middle of the main shaft. The driven bevel gear is located on the side of the friction ring away from the second spring, and the end face of the driven bevel gear maintains sliding contact with the end face of the friction ring.

[0012] Furthermore, the drive mechanism also includes a drive motor and a driving bevel gear; the drive motor is fixedly installed inside the remote control vehicle, and a square groove is provided at the end of the output shaft of the drive motor; a fourth spring is sleeved on the outside of the output shaft of the drive motor, one end of the fourth spring is fixedly connected to the outside of the drive motor, and a circular washer is fixedly installed on the other end of the fourth spring, the washer being sleeved on the outside of the output shaft of the drive motor; a square rod is slidably inserted into the square groove of the output shaft of the drive motor, and a driving bevel gear is fixedly installed on one end of the outer side of the square rod, the driving bevel gear maintaining rotational contact with the washer; the driving bevel gear and the driven bevel gear are meshed.

[0013] Furthermore, the linkage mechanism includes a storage plate, a threaded rod, a threaded slider, and a first spring. An L-shaped storage plate is fixedly installed on the lower end face of the remote control vehicle. The storage plate includes a horizontal plate and a vertical plate. The upper end of the vertical plate is fixedly connected to the lower end face of the remote control vehicle, and the rear end of the horizontal plate is fixedly connected to the lower end of the vertical plate. A threaded rod is rotatably installed inside the storage plate. An external thread is provided in the middle of the outer side of the threaded rod. An annular clearance groove is provided at both ends of the outer side of the threaded rod. A first spring is installed in each clearance groove. The first spring is sleeved on the outer side of the threaded rod. The two first springs are fixedly connected to the two clearance grooves at opposite ends. A threaded slider is screwed onto the outer side of the threaded rod. The lower end face of the threaded slider maintains sliding contact with the storage plate. The upper end of the connecting plate is rotatably connected to the threaded slider. One end of the threaded rod is connected to the main shaft through a belt drive mechanism.

[0014] Furthermore, the rotating mechanism includes a friction wheel, a one-way gear, a drive ring, and a gear ring; the same drive ring is rotatably sleeved on the outside of the friction ring and the driven bevel gear, the industrial camera is fixedly mounted on the outer side of the drive ring, and a gear ring is fixedly mounted on the inner side of the drive ring. A rotating shaft is rotatably mounted in the area between the driven bevel gear and the drive ring, one end of the rotating shaft is fixedly sleeved with a friction wheel, and the other end of the rotating shaft is fixedly sleeved with a one-way gear, which meshes with the gear ring.

[0015] Furthermore, the rotating mechanism also includes compression rings. Three compression rings are fixedly arranged inside the friction ring. The three compression rings are located on the side of the slide away from the second spring. The three compression rings are arranged along the axial direction of the friction ring and are sleeved on the outside of the main shaft. Each compression ring is provided with a trapezoidal notch, and the trapezoidal notches on the three compression rings are staggered along the circumferential direction of the compression ring.

[0016] Furthermore, the rotating mechanism also includes a friction push rod. Three circularly arranged sliding grooves are provided on the driven bevel gear. Each sliding groove has a T-shaped structure, comprising a radial section and an arc section. The arc section is located on the outer surface of the driven bevel gear, and the radial section extends radially along the driven bevel gear. One outer end of the radial section is connected to the middle of the arc section. A friction push rod is slidably disposed inside each sliding groove. The friction push rod has a T-shaped structure and includes a radial rod and an arc plate. The radial rod is slidably inserted into the radial section of the sliding groove, and the arc plate is slidably disposed inside the arc section of the sliding groove. One outer end of the radial rod is fixedly connected to the middle of the inner surface of the arc plate. A third spring is disposed inside the radial section of the sliding groove. One end of the third spring is fixedly connected to the inner wall of the radial section, and the other end of the third spring is fixedly connected to the arc plate.

[0017] Furthermore, the three compression rings on the friction ring are located inside the driven bevel gear, and one end of the radial rod of the three friction push rods is inserted into the trapezoidal notch of the three compression rings respectively; the friction wheel is located outside the driven bevel gear, and when the friction push rod slides to the outside of the sliding groove, the outer side of the arc plate of the friction push rod maintains sliding contact with the friction wheel.

[0018] The beneficial effects of this invention compared to the prior art are as follows: 1. The bottom of the remote control vehicle is equipped with a naturally drooping probe. When the remote control vehicle moves inside the steel pipe, the probe is always in contact with the inner wall of the steel pipe. Once it touches the weld, the probe will stop the remote control vehicle from moving due to the obstruction of the weld. Compared with traditional equipment that cannot effectively sense welds, this invention can sense the position of the weld in real time with extremely high accuracy. It solves the problem that traditional equipment is difficult to determine when to reach the weld in narrow spaces and complex working conditions, greatly improves the accuracy of locating the weld, and effectively avoids missing the weld.

[0019] 2. The equipment adopts computer vision measurement technology. The industrial camera continuously collects images of the inner wall of the steel pipe and transmits them to an external computer. The images are analyzed to accurately identify weld features and further confirm the weld location. This not only provides secondary verification of the weld location sensed by the probe, but also allows for a more comprehensive and accurate definition of the weld range under complex weld morphology. Compared with the incomplete inspection caused by space limitations in traditional manual visual inspection, this greatly improves the accuracy of weld location judgment.

[0020] 3. Through the ingenious transmission design of the friction ring between the main shaft and the driven bevel gear, the transmission path can be smoothly switched to drive the industrial camera to rotate for measurement after the support claw unfolds and fixes the main shaft. The cooperation between the T-shaped friction push rod and the friction wheel ensures the stable operation of the industrial camera rotation. The entire measurement process is stable and reliable. Compared with traditional inspection methods, whether it is the subjectivity of manual visual inspection or the difficulty of implementing large inspection equipment due to space limitations and the possibility of damaging the steel pipe, this equipment can complete the inspection of the internal welds of small-diameter steel pipes more efficiently and accurately, effectively ensuring the safety and reliability of water conservancy projects and accelerating the project progress. Attached Figure Description

[0021] The present invention will now be described in further detail with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the operation of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention; Figure 3 This is a schematic diagram of the internal structure of a remote-controlled car; Figure 4 This is a schematic diagram of the linkage mechanism; Figure 5 This is an exploded view of the front and rear sets of support claws and the drive mechanism; Figure 6 This is a schematic diagram showing the connection between the main shaft, friction ring, driven bevel gear, friction wheel, and one-way gear; Figure 7 This is a schematic diagram of the connection between the friction ring and the extrusion ring; Figure 8 This is a schematic diagram of the connection between the driven bevel gear and the friction push rod; Figure 9 This is an exploded view of the drive motor and the driving bevel gear; Among them, 1 is a remote control car, 2 is an industrial camera, 3 is a support claw, 4 is a connecting plate, 5 is a probe claw, 6 is a connecting ring, 7 is a storage plate, 8 is a threaded rod, 9 is a threaded slider, 10 is a first spring, 11 is a main shaft, 12 is a threaded section, 13 is a threaded ring, 14 is a sliding groove, 15 is a friction ring, 16 is a second spring, 17 is a driven bevel gear, 18 is a driving bevel gear, 19 is a friction wheel, 20 is a one-way gear, 21 is a drive ring, 22 is a gear ring, 23 is a compression ring, 24 is a friction push rod, 25 is a third spring, 26 is a washer, 27 is a third spring, 28 is a through groove, 29 is a square groove, and 30 is a square rod. Detailed Implementation

[0022] To make the technical problems to be solved, the technical solutions, and the beneficial effects of this invention clearer, the invention will be further described in detail with reference to the embodiments and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The technical solutions of this invention are described in detail below with reference to the embodiments and accompanying drawings, but the scope of protection is not limited thereto.

[0023] like Figure 1 As shown in Figure 9, this invention provides a computer vision measurement device, including a remote-controlled vehicle 1. A set of support claws 3 are respectively arranged at the front and rear ends of the remote-controlled vehicle 1. The two sets of support claws 3 are connected by a drive mechanism, which enables the two sets of support claws 3 to open and retract synchronously. A connecting plate 4 is arranged at the lower end of the remote-controlled vehicle 1, and a probe claw 5 is arranged at the lower end of the connecting plate 4. The connecting plate 4 is connected to the drive mechanism through a linkage mechanism. When the drive mechanism controls the two sets of support claws 3 to open, the connecting plate 4 is retracted; when the drive mechanism controls the two sets of support claws 3 to retract, the connecting plate 4 is extended. An industrial camera 2 is rotatably arranged in the middle of the remote-controlled vehicle 1. The industrial camera 2 is connected to the drive mechanism through a rotation mechanism. When the drive mechanism is activated, it drives the industrial camera 2 to rotate synchronously through the rotation mechanism.

[0024] Two sets of rollers are rotatably installed on the lower end face of the remote control car 1. A drive device is installed inside the remote control car 1. The drive device is connected to the rollers and drives the rollers to rotate, thereby driving the remote control car 1 to move back and forth.

[0025] Inside the remote-controlled vehicle 1, there is a through-type mounting cylinder, with its axis horizontally aligned front to back. A connecting ring 6 is fixedly installed at each of the front and rear openings of the mounting cylinder. The connecting ring 6 is a circular structure, and its axis coincides with the axis of the mounting cylinder. Two sets of support claws 3 are rotatably mounted on the front and rear connecting rings 6, respectively. Multiple support claws 3 within each set are arranged in a circular array along the axis of the connecting ring 6. The front support claw 3 extends forward at the end furthest from the connecting ring 6, and the rear support claw 3 extends backward at the end furthest from the connecting ring 6. A torsion spring is installed at the hinge point between the support claw 3 and the connecting ring 6. When the support claw 3 is not subjected to external force, one ring of support claw 3 is in a retracted state.

[0026] The drive mechanism includes a main shaft 11, a threaded ring 13, a friction ring 15, a second spring 16, a driven bevel gear 17, a driving bevel gear 18, and a drive motor.

[0027] A main shaft 11 is rotatably mounted inside the mounting cylinder of the remote control vehicle 1. The main shaft 11 is coaxial with the mounting cylinder, and its front and rear ends extend to the outside of the openings at the front and rear ends of the mounting cylinder, respectively. A threaded section 12 is provided on the outer side of each of the front and rear ends of the main shaft 11, with the external threads of the two threaded sections 12 having opposite directions. A threaded ring 13 is screwed onto each of the two threaded sections 12 of the main shaft 11. A circular array of locking grooves is provided on the outer cylindrical surface of the threaded ring 13. A set of front support claws 3 slides and engages with each locking groove of the front threaded ring 13, and a set of rear support claws 3 slides and engages with each locking groove of the rear threaded ring 13.

[0028] A circular array of grooves 14 is arranged in the middle of the main shaft 11. A guide rod is fixedly installed inside each groove 14, with the axis of the guide rod parallel to the axis of the main shaft 11. A second spring 16 is sleeved on the outside of the guide rod. A friction ring 15 is sleeved on the outer side of the middle of the main shaft 11. The friction ring 15 has a circular ring structure, and a circular array of sliding plates is fixedly installed on the inner cylindrical surface of the friction ring 15. Each sliding plate has a guide hole. The sliding plates on the friction ring 15 are inserted into the grooves 14 of the main shaft 11, and the guide holes on the sliding plates are slidably fitted onto the outside of the guide rods. One end of the second spring 16 is fixedly connected to the sliding plate, and the other end of the second spring 16 is fixedly connected to the inner wall of the groove 14.

[0029] A driven bevel gear 17 is also sleeved on the outer side of the middle part of the main shaft 11. The driven bevel gear 17 is located on the side of the friction ring 15 away from the second spring 16, and the end face of the driven bevel gear 17 maintains sliding contact with the end face of the friction ring 15.

[0030] A drive motor is fixedly installed inside the remote control vehicle 1. The output shaft of the drive motor is horizontally arranged along the front-to-back direction, and a square groove 29 is provided at the end of the output shaft. A fourth spring 27 is sleeved on the outside of the output shaft of the drive motor. One end of the fourth spring 27 is fixedly connected to the outside of the drive motor, and a circular washer 26 is fixedly installed on the other end of the fourth spring 27. The washer 26 is sleeved on the outside of the output shaft of the drive motor. A square rod 30 is slidably inserted into the square groove 29 of the output shaft of the drive motor. A driving bevel gear 18 is fixedly installed on one end of the outer side of the square rod 30. The driving bevel gear 18 maintains rotational contact with the washer 26. The driving bevel gear 18 meshes with the driven bevel gear 17.

[0031] The linkage mechanism includes a storage plate 7, a threaded rod 8, a threaded slider 9, and a first spring 10.

[0032] An L-shaped storage plate 7 is fixedly installed on the lower end face of the remote control vehicle 1. The storage plate 7 includes a horizontal plate and a vertical plate. The upper end of the vertical plate is fixedly connected to the lower end face of the remote control vehicle 1, and the rear end of the horizontal plate is fixedly connected to the lower end of the vertical plate. A threaded rod 8 is rotatably installed inside the storage plate 7. An external thread is provided in the middle of the outer side of the threaded rod 8. An annular clearance groove is provided at both ends of the outer side of the threaded rod 8, and the two clearance grooves are located on both sides of the external thread in the middle. A first spring 10 is provided in each clearance groove. The first spring 10 is sleeved on the outside of the threaded rod 8, and the two first springs 10 are fixedly connected to the ends of the two clearance grooves that are far apart from each other. A threaded slider 9 is screwed to the outside of the threaded rod 8. The lower end face of the threaded slider 9 maintains sliding contact with the storage plate 7. The upper end of the connecting plate 4 is rotatably connected to the threaded slider 9. A through groove 28 for avoiding the threaded rod 8 is provided on the connecting plate 4. One end of the threaded rod 8 is connected to the main shaft 11 via a belt drive mechanism.

[0033] The rotating mechanism includes a friction wheel 19, a one-way gear 20, a drive ring 21, a gear ring 22, a compression ring 23, and a friction push rod 24.

[0034] A drive ring 21 is rotatably sleeved on the outside of the friction ring 15 and the driven bevel gear 17. The industrial camera 2 is fixedly mounted on the outer surface of the drive ring 21, and the industrial camera 2 rotates synchronously with the drive ring 21. A gear ring 22 is fixedly mounted on the inner surface of the drive ring 21. A rotating shaft is rotatably mounted in the area between the driven bevel gear 17 and the drive ring 21. A friction wheel 19 is fixedly sleeved on one end of the rotating shaft, and a one-way gear 20 is fixedly sleeved on the other end of the rotating shaft. The one-way gear 20 meshes with the gear ring 22.

[0035] Three compression rings 23 are fixedly installed inside the friction ring 15. Each compression ring 23 has a circular ring structure and is located on the side of the slide away from the second spring 16. The three compression rings 23 are arranged along the axial direction of the friction ring 15 and are sleeved on the outside of the main shaft 11. Each compression ring 23 has a trapezoidal notch, which is an isosceles trapezoid and connects to both the inner and outer sides of the compression ring 23. The outer width of the trapezoidal notch is greater than the inner width. The trapezoidal notches on the three compression rings 23 are staggered along the circumference of the compression ring 23.

[0036] Three circularly arranged sliding grooves are provided on the driven bevel gear 17. Each sliding groove has a T-shaped structure, comprising a radial section and an arc section. The arc section is located on the outer surface of the driven bevel gear 17, and the radial section extends radially along the driven bevel gear 17, with one outer end of the radial section connected to the middle of the arc section. A friction push rod 24 is slidably disposed inside each sliding groove. The friction push rod 24 has a T-shaped structure and includes a radial rod and an arc plate. The radial rod is slidably inserted into the radial section of the sliding groove, and the arc plate is slidably disposed inside the arc section of the sliding groove. One outer end of the radial rod is fixedly connected to the middle of the inner surface of the arc plate. A third spring 25 is disposed inside the radial section of the sliding groove. One end of the third spring 25 is fixedly connected to the inner wall of the radial section, and the other end of the third spring 25 is fixedly connected to the arc plate.

[0037] The three compression rings 23 on the friction ring 15 are located inside the driven bevel gear 17, and the radial inner ends of the three friction push rods 24 are respectively inserted into the trapezoidal notches of the three compression rings 23.

[0038] The friction wheel 19 is located outside the driven bevel gear 17. When the friction push rod 24 slides to the outside of the sliding groove, the outer side of the arc plate of the friction push rod 24 maintains sliding contact with the friction wheel 19.

[0039] The working principle of this invention is as follows: The remote-controlled car 1 is placed at one end of the welded steel pipe. The drive device drives the roller to rotate, thereby moving the remote-controlled car 1 forward inside the steel pipe. In the initial state, the threaded slider 9 is located on the side of the horizontal plate of the storage plate 7 away from the vertical plate. At this time, the connecting plate 4 is located outside the storage plate 7. The probe 5 at the lower end of the connecting plate 4 hangs down naturally and is in an inclined state. The end of the probe 5 moves forward along the inside of the steel pipe.

[0040] When the probe 5 contacts the weld seam on the inner wall of the steel pipe, the probe 5 will prevent the remote control car 1 from moving forward due to the presence of the weld seam, and at this time the drive motor inside the remote control car 1 will be activated.

[0041] When the drive motor rotates, it drives the active bevel gear 18 to rotate via the interlocking square rod 30 and square groove 29. The active bevel gear 18 drives the driven bevel gear 17 to rotate, and the driven bevel gear 17 drives the friction ring 15 to rotate through friction. The rebound force of the second spring 16 ensures stable contact between the driven bevel gear 17 and the friction ring 15, thus ensuring stable rotation of the friction ring 15. The friction ring 15 drives the main shaft 11 to rotate via the interlocking slide plate and slide groove 14. Since the two threaded sections 12 at both ends of the main shaft 11 are screwed to the two threaded rings 13 respectively, the two threaded rings 13 are driven to move closer to each other. The two threaded rings 13 continuously move closer to the connecting ring 6 on the same side, causing the threaded rings 13 to continuously squeeze the ring of support claws 3 on the same side, thus causing the support claws 3 to continuously open until the end of the support claws 3 away from the connecting ring 6 contacts the inner wall of the steel pipe. When the ends of the front and rear sets of support claws 3 furthest from the connecting ring 6 are in contact with the inner wall of the steel pipe, neither set of support claws 3 can continue to open. At this time, the axis of the main shaft 11 inside the remote control car 1 coincides with the axis of the steel pipe, thus achieving mutual positioning between the remote control car 1 and the steel pipe. Since the ends of the front and rear sets of support claws 3 furthest from the connecting ring 6 are already in contact with the inner wall of the steel pipe, the support claws 3 cannot continue to open, the two threaded rings 13 cannot continue to approach, and the main shaft 11 cannot continue to rotate. As a result, the driven bevel gear 17 and the friction ring 15 begin to slip, and the second spring 16 is compressed.

[0042] When the driven bevel gear 17 rotates synchronously with the friction ring 15, the inner ends of the radial rods of the three friction push rods 24 are always inserted into the trapezoidal notches of the three extrusion rings 23, and the friction push rods 24 rotate synchronously with the extrusion rings 23. When the driven bevel gear 17 and the friction ring 15 begin to slip, the friction ring 15 stops rotating, and the driven bevel gear 17 continues to rotate. The driven bevel gear 17 drives the three friction push rods 24 to continue rotating, and the inner ends of the radial rods of the three friction push rods 24 slide relative to the trapezoidal notches on the extrusion rings 23. The inner ends of the radial rods slide into contact with the inclined inner wall of the trapezoidal notches, so that the inner ends of the radial rods move to contact the outer surface of the extrusion rings 23. The radial rods move outward along the radial section of the sliding groove, and the radial rods drive the arc plate to move outward, so that the outer surface of the arc plate contacts the friction wheel 19. As the driven bevel gear 17 continues to rotate, the arc plate of the friction push rod 24 drives the friction wheel 19 to rotate. The friction wheel 19 drives the one-way gear 20 to rotate through the rotating shaft. The one-way gear 20 drives the gear ring 22 to rotate. The gear ring 22 drives the drive ring 21 to rotate. The drive ring 21 drives the industrial camera 2 to rotate. The rotating industrial camera 2 takes pictures and measures the inside of the steel pipe.

[0043] When the main shaft 11 starts to rotate, it drives the threaded rod 8 to rotate via the belt drive mechanism. The threaded rod 8 drives the threaded slider 9 to slide into the receiving plate 7. As the threaded slider 9 slides, it drives the connecting plate 4 to gradually retract into the receiving plate 7, and the probe 5 disengages from the inner wall of the steel pipe. When the threaded slider 9 moves to the innermost side of the receiving plate 7, it enters the clearance groove at the end of the threaded rod 8. The threaded slider 9 is no longer screwed into the external thread of the threaded rod 8, and it stops moving. The first spring 10 inside the clearance groove is compressed.

[0044] A wire is fixedly connected to the rear end of the remote-controlled vehicle 1, and the wire is electrically connected to a computer located at one end of a steel pipe. Image data captured by the industrial camera 2 is transmitted to the computer via the wire for subsequent analysis and measurement operations.

[0045] After measurement, the drive motor is reversed, causing the active bevel gear 18 to rotate in the opposite direction. The active bevel gear 18 then drives the driven bevel gear 17 to rotate in the opposite direction. Under the restoring force of the second spring 16, the driven bevel gear 17 makes stable contact with the friction ring 15. The driven bevel gear 17 drives the friction ring 15 to rotate in the opposite direction, which in turn drives the main shaft 11 to rotate in the opposite direction. This causes the two threaded rings 13 to move away from each other, and the threaded rings 13 no longer press against the same set of support claws 3. The two sets of support claws 3 continuously contract under the force of the torsion spring until they return to their initial state. When the main shaft 11 rotates in the opposite direction, it drives the threaded rod 8 to rotate in the opposite direction via the belt drive mechanism. Through the restoring force of the first spring 10, the threaded slider 9 reconnects with the external thread of the threaded rod 8, and slides towards the outer opening of the receiving plate 7. This allows the connecting plate 4 to reach the outer side of the receiving plate 7 again, and the end of the probe 5 contacts the inner wall of the steel pipe once more.

[0046] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A computer vision measurement device, characterized in that: The system includes a remote control vehicle (1), with a set of support claws (3) at the front and rear ends of the remote control vehicle (1). The two sets of support claws (3) are connected by a drive mechanism, which enables the two sets of support claws (3) to open and close synchronously. A connecting plate (4) is provided at the lower end of the remote control vehicle (1), and a probe claw (5) is provided at the lower end of the connecting plate (4). The connecting plate (4) is connected to the drive mechanism through a linkage mechanism. When the drive mechanism controls the two sets of support claws (3) to open, the connecting plate (4) is retracted. When the drive mechanism controls the two sets of support claws (3) to close, the connecting plate (4) is released. An industrial camera (2) is rotatably installed in the middle of the remote control vehicle (1). The industrial camera (2) is connected to the drive mechanism through a rotation mechanism. When the drive mechanism is activated, the industrial camera (2) is rotated synchronously through the rotation mechanism.

2. The computer vision measurement device according to claim 1, characterized in that: Inside the remote control vehicle (1), there is a through mounting cylinder. A connecting ring (6) is fixedly installed at the openings at the front and rear ends of the mounting cylinder. Two sets of support claws (3) are rotatably mounted on the two connecting rings (6). Multiple support claws (3) inside each set are arranged in a circular array along the axis of the connecting ring (6). A torsion spring is installed at the hinge between the support claw (3) and the connecting ring (6).

3. The computer vision measurement device according to claim 2, characterized in that: The drive mechanism includes a main shaft (11) and a threaded ring (13). A main shaft (11) is rotatably installed inside the mounting cylinder of the remote control vehicle (1). A threaded section (12) is provided on the outer side of the front and rear ends of the main shaft (11), and the external threads of the front and rear threaded sections (12) are opposite in direction. A threaded ring (13) is screwed onto the front and rear threaded sections (12) of the main shaft (11). A ring of circularly arranged locking grooves is provided on the outer cylindrical surface of the threaded ring (13). A set of support claws (3) on the front side slides and locks into each locking groove of the threaded ring (13) on the front side, and a set of support claws (3) on the rear side slides and locks into each locking groove of the threaded ring (13) on the rear side.

4. The computer vision measurement device according to claim 3, characterized in that: The drive mechanism also includes a second spring (16), a friction ring (15), and a driven bevel gear (17). A circular array of grooves (14) is provided in the middle of the main shaft (11), and a guide rod is fixedly provided inside each groove (14). A second spring (16) is sleeved on the outside of the guide rod. A friction ring (15) is sleeved on the outside of the middle of the main shaft (11), and a circular array of sliding plates is fixedly provided on the inner cylindrical surface of the friction ring (15). A guide hole is provided on each sliding plate. 5) A ring of sliding plates is inserted into the groove (14) of the main shaft (11). The guide hole on the sliding plate is slidably sleeved on the outside of the guide rod. One end of the second spring (16) is fixedly connected to the sliding plate, and the other end of the second spring (16) is fixedly connected to the inner wall of the groove (14). A driven bevel gear (17) is also sleeved on the outer side of the middle part of the main shaft (11). The driven bevel gear (17) is located on the side of the friction ring (15) away from the second spring (16). The end face of the driven bevel gear (17) and the end face of the friction ring (15) maintain sliding contact.

5. A computer vision measurement device according to claim 4, characterized in that: The drive mechanism also includes a drive motor and a drive bevel gear (18); a drive motor is fixedly installed inside the remote control vehicle (1), and a square groove (29) is provided at the end of the output shaft of the drive motor; a fourth spring (27) is sleeved on the outside of the output shaft of the drive motor, one end of the fourth spring (27) is fixedly connected to the outside of the drive motor, and a ring-shaped washer (26) is fixedly installed on the other end of the fourth spring (27), and the washer (26) is sleeved on the outside of the output shaft of the drive motor; a square rod (30) is slidably inserted into the square groove (29) of the output shaft of the drive motor, and a drive bevel gear (18) is fixedly installed on one end of the outside of the square rod (30), and the drive bevel gear (18) and the washer (26) maintain rotational contact; the drive bevel gear (18) and the driven bevel gear (17) maintain meshing.

6. The computer vision measurement device according to claim 3, characterized in that: The linkage mechanism includes a storage plate (7), a threaded rod (8), a threaded slider (9), and a first spring (10). An L-shaped storage plate (7) is fixedly installed on the lower end face of the remote control vehicle (1). The storage plate (7) includes a horizontal plate and a vertical plate. The upper end of the vertical plate is fixedly connected to the lower end face of the remote control vehicle (1), and the rear end of the horizontal plate is fixedly connected to the lower end of the vertical plate. A threaded rod (8) is rotatably installed inside the storage plate (7). An external thread is provided in the middle of the outer side of the threaded rod (8), and two threads are respectively provided at both ends of the outer side of the threaded rod (8). There is an annular clearance groove, and a first spring (10) is set inside each clearance groove. The first spring (10) is sleeved on the outside of the threaded rod (8). The two first springs (10) are fixedly connected to the two clearance grooves at opposite ends. A threaded slider (9) is screwed to the outside of the threaded rod (8). The lower end face of the threaded slider (9) is in sliding contact with the receiving plate (7). The upper end of the connecting plate (4) is rotatably connected to the threaded slider (9). One end of the threaded rod (8) is connected to the main shaft (11) through a belt drive mechanism.

7. A computer vision measurement device according to claim 4, characterized in that: The rotating mechanism includes a friction wheel (19), a one-way gear (20), a drive ring (21), and a gear ring (22). The same drive ring (21) is rotatably sleeved on the outside of the friction ring (15) and the driven bevel gear (17). The industrial camera (2) is fixedly installed on the outer side of the drive ring (21). The gear ring (22) is fixedly installed on the inner side of the drive ring (21). A rotating shaft is rotatably installed in the area between the driven bevel gear (17) and the drive ring (21). The friction wheel (19) is fixedly sleeved on one end of the rotating shaft, and the one-way gear (20) is fixedly sleeved on the other end of the rotating shaft. The one-way gear (20) meshes with the gear ring (22).

8. A computer vision measurement device according to claim 7, characterized in that: The rotating mechanism also includes a compression ring (23). Three compression rings (23) are fixedly arranged inside the friction ring (15). The three compression rings (23) are located on the side of the slide away from the second spring (16). The three compression rings (23) are arranged along the axial direction of the friction ring (15). The three compression rings (23) are sleeved on the outside of the main shaft (11). Each compression ring (23) is provided with a trapezoidal notch. The trapezoidal notches on the three compression rings (23) are staggered along the circumferential direction of the compression rings (23).

9. A computer vision measurement device according to claim 8, characterized in that: The rotating mechanism also includes a friction push rod (24). Three circular array sliding grooves are provided on the driven bevel gear (17). The sliding grooves are T-shaped and include a radial section and an arc section. The arc section is located on the outer surface of the driven bevel gear (17), and the radial section extends radially along the driven bevel gear (17). One end of the radial section is connected to the middle of the arc section. A friction push rod (24) is slidably arranged inside each sliding groove. The friction push rod (24) is T-shaped and includes a radial rod and an arc plate. The radial rod is slidably inserted into the radial section of the sliding groove, and the arc plate is slidably arranged inside the arc section of the sliding groove. One end of the radial rod is fixedly connected to the middle of the inner side of the arc plate. A third spring (25) is provided inside the radial section of the sliding groove. One end of the third spring (25) is fixedly connected to the inner wall of the radial section, and the other end of the third spring (25) is fixedly connected to the arc plate.

10. A computer vision measurement device according to claim 9, characterized in that: The three compression rings (23) on the friction ring (15) are located inside the driven bevel gear (17), and the radial rods of the three friction push rods (24) are respectively inserted into the trapezoidal notches of the three compression rings (23); the friction wheel (19) is located outside the driven bevel gear (17). When the friction push rod (24) slides to the outside of the sliding groove, the outer side of the arc plate of the friction push rod (24) maintains sliding contact with the friction wheel (19).

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