Machine vision-based pipeline weld surface crack automatic identification device

Abstract

The invention relates to the technical field of pipeline welding seam detection, in particular to a pipeline welding seam surface crack automatic recognition device based on machine vision, which comprises a control device, a pipeline fixing frame is arranged on one side of the control device, and a mounting movable frame is movably mounted in the middle of the pipeline fixing frame; the pipeline fixing frame has the beneficial effects that the air cushion ring is inflated and expanded to enable the pressing gasket to press the outer wall of a pipeline, the whole pipeline fixing frame is fixed to the outer wall of the pipeline, the limiting piece pulls the limiting rack to descend to the reserved height while the pressing gasket presses the pipeline, and the working distance of the industrial camera and the projection height of the projection lamp are kept constant and optimal; at the moment, the mounting movable frame rotates around the pipeline fixing frame, the projection lamp orthographically projects parallel grating stripes on the surface of the pipeline weld joint, the industrial camera collects images of a projection area and outputs the images to the control equipment, if cracks exist on the surface of the weld joint, the stripe images collected by the industrial camera can generate deformation defects, and the purpose of accurately and automatically recognizing the cracks on the surface of the weld joint is achieved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of pipeline weld detection, and particularly relates to a pipeline weld surface crack automatic identification device based on machine vision. BACKGROUND

[0002] Weld is a weak link in the pipeline structure, even if a tiny surface crack appears, under the cyclic action of internal pressure, temperature change, vibration or external load, it will gradually expand, and once the crack reaches the critical size, it may cause the pipeline to suddenly break or burst. Through periodic or online crack identification, the crack can be found when it is still very small and has not caused serious damage, and at this time, the repair cost is low. In the prior art, layered penetration detection and ray detection technology are generally used to detect the pipeline weld, and conventional ultrasonic detection is used as an auxiliary means to detect the pipeline weld surface crack. However, layered penetration can only detect the surface opening defects of the weld, the detection procedure is complicated, the speed is slow, and the cycle is long; the ray detection is harmful to the human body, and the conventional ultrasonic detection technology is prone to missed detection.

[0003] The Chinese patent document with the publication number CN103336055A proposes a method for detecting the weld quality of a main pipeline of a nuclear power plant by using a phased array ultrasonic testing system. The phased array ultrasonic testing system includes an ultrasonic phased array detector, a computer integrated with a phased array operation system, a scanner, and a calibration test block. The method selects a suitable area probe and matches the focusing law parameters, ultrasonic parameters, and mechanical parameters to detect the weld and the surrounding area in layers to solve the above technical problems. However, the phased array ultrasonic has defects in detecting small or extremely shallow surface cracks of the weld. When the crack opening width is small and the depth is shallow, the ultrasonic echo energy will be "overwhelmed" by the surface clutter, and the detection rate will decrease.

[0004] Therefore, the present application proposes a pipeline weld surface crack automatic identification device based on machine vision to solve the problem of defects in detecting small or extremely shallow surface cracks of the weld when using the phased array ultrasonic to detect the weld surface crack in the prior art. The machine carries an active grating vision detection device, uses a projection lamp to project parallel grating stripes on the pipeline weld surface, and uses an industrial camera to take pictures. If there is a crack on the weld surface, the stripes will produce deformation defects. The detection process is simple, the detection result is clear at a glance, there is no blind area, and the accuracy and efficiency of the weld surface crack identification are improved. SUMMARY

[0005] In view of the deficiencies in the prior art, the present application aims to provide a pipeline weld surface crack automatic identification device based on machine vision to solve the problems raised in the background art.

[0006] In order to achieve the above object, the present application provides the following technical scheme: the pipeline weld surface crack automatic identification device based on machine vision, including control equipment, the side of the control equipment is provided with pipeline fixing frame, the middle part of the pipeline fixing frame is movably installed with installation movable frame, the inner surface of the pipeline fixing frame is provided with a circular limiting groove matched with the installation movable frame, the top of the installation movable frame is fixedly installed with a crack identification equipment installation box, the inside of the crack identification equipment installation box is provided with a fixed sleeve and a movable probe, the lower part of the movable probe is provided with a limiting frame, the inside of the movable probe is fixedly installed with a projection lamp and an industrial camera.

[0007] Preferably, the fixed sleeve is fixedly installed on the inner surface of the crack identification equipment installation box, the movable probe is slidably installed in the fixed sleeve, the sidewall of the fixed sleeve is provided with a wire slot, the input end of the projection lamp is connected with the output end of the control equipment through a wire, and the output end of the industrial camera is connected with the input end of the control equipment through a wire.

[0008] Preferably, the inner surface of the movable probe is fixedly installed with a protective cover in the middle part, the lower part of the protective cover is fixedly installed with a protective mirror, the middle part of the protective mirror is provided with an identification shooting positioning area, the bottom surface of the movable probe is fixedly installed with a light shield cover, the inner sidewall of the light shield cover is slidably installed with an arc compensation piece, and the middle part of the protective cover is provided with a square through hole matched with the size of the identification shooting positioning area.

[0009] Preferably, the inner surface of the crack identification equipment installation box is fixedly installed with an air suction pump above, the air suction pipe end of the air suction pump is fixedly installed with a bellows, and the lower end of the bellows is fixedly connected with the top inner wall of the movable probe.

[0010] Preferably, the inner wall of the limiting frame is fixedly installed with a dust suction cover on both sides, the lower surface of the dust suction cover is uniformly provided with a dust suction groove, and the lower surface of the dust suction cover is rotatably installed with a weld seam cleaning roller in the middle part.

[0011] Preferably, the inner wall of the limiting frame is fixedly installed with a dust suction connecting square pipe in the middle part, the middle part of the dust suction connecting square pipe is fixedly connected with the sidewall of the movable probe, and the inside of the dust suction connecting square pipe is clampedly installed with a filtering folding net.

[0012] Preferably, the outer surface of the installation movable frame is rotatably installed with a limiting gear in the middle part, the inner surface of the installation movable frame is fixedly installed with a driving motor for driving the limiting gear to rotate, and the inner surface of the pipeline fixing frame is fixedly installed with a limiting rack engaged with the limiting gear.

[0013] Preferably, the inner surface of the pipeline fixing frame is uniformly distributed with fixed connecting pieces, the upper end of the fixed connecting piece is fixedly connected with the inner surface of the pipeline fixing frame, the lower end of the fixed connecting piece is fixedly installed with a compression gasket, the compression gasket is fixedly installed with a limiting piece at one end close to the installation movable frame, and the side surface of the limiting piece is in contact with the side surface of the limiting frame.

[0014] Preferably, the middle part of the fixed connecting piece is provided with an air cushion ring, the outer side wall of the pipeline fixing frame is fixedly installed with a fixed pipeline frame, and the inner side wall of the pipeline fixing frame is fixedly installed with an internal fixed pipe.

[0015] Preferably, the inner side wall of the internal fixed pipe is fixedly connected with the inner wall of the air cushion ring through a branch pipe, and the input pipe of the fixed pipeline frame is movably connected with the air source delivery pipe of the control device through a connecting pipe.

[0016] Compared with the prior art, the present application has the following advantages: By designing the pipeline fixing frame, inflating the air cushion ring to make the compression gasket compress the outer wall of the pipeline, and fixing the pipeline fixing frame on the outer wall of the pipeline as a whole, the compression gasket compresses the pipeline while pulling the limiting rack down to the reserved height through the limiting piece, so that the working distance of the industrial camera and the projection height of the projection lamp are kept constant and optimal. At this time, the installation movable frame rotates around the pipeline fixing frame, the projection lamp projects parallel grating stripes on the surface of the pipeline weld, the industrial camera collects the image of the projection area and outputs it to the control device. If there is a crack on the surface of the weld, the stripe image collected by the industrial camera will be deformed, achieving the purpose of accurately and automatically identifying the crack on the surface of the weld. The problem of detecting small or very shallow cracks on the surface of the weld when using phased array ultrasonic detection to detect the crack on the surface of the weld in the prior art is solved. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present application in a closed state; Figure 2 It is a schematic diagram of the overall structure of the present application in an open state; Figure 3 It is a schematic diagram of the overall structure of the pipeline fixing frame and the installation movable frame of the present application in a closed state; Figure 4 It is a schematic diagram of the right side structure of the pipeline fixing frame and the installation movable frame of the present application in a closed state; Figure 5 It is a schematic diagram of the overall structure of the present application in a closed state; Figure 6 It is a schematic diagram of the overall structure of the present application in a closed state; Figure 5 Figure 7 ​The left side structure schematic diagram of the pipeline fixing frame and the mounting movable frame in the closed state of the present application; Figure 8 The structure schematic diagram of the pipeline fixing frame in the B-B section of the present application; Figure 9 The overhead structure schematic diagram of the pipeline fixing frame and the mounting movable frame in the closed state of the present application; Figure 10 The structure schematic diagram of the air cushion ring in the working state in the C-C section of the present application; Figure 11 The structure schematic diagram of the air cushion ring in the releasing state in the C-C section of the present application; Figure 12 The overall structure schematic diagram of the pipeline fixing frame of the present application; Figure 13 The overall overhead structure schematic diagram of the mounting movable frame of the present application; Figure 14 The internal structure schematic diagram of the mounting movable frame of the present application.

[0018] In the figure: 1, control device; 2, pipeline fixing frame; 21, fixed connecting piece; 22, compression gasket; 221, limiting piece; 23, fixed pipeline frame; 231, internal fixed pipe; 24, air cushion ring; 25, limiting rack; 3, mounting movable frame; 31, crack identification device mounting box; 32, fixed sleeve; 33, movable probe; 331, protective cover; 332, protective mirror; 3321, identification shooting positioning area; 333, light shield cover; 3331, arc compensation piece; 34, air suction pump; 341, corrugated pipe; 35, limiting frame; 351, dust suction cover; 3511, weld cleaning roller; 352, dust suction connecting square pipe; 3521, filtering folding net; 36, projection lamp; 37, industrial camera; 38, driving motor; 381, limiting gear. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme of the present application clear and complete, and the advantages more clear and obvious, the embodiments of the present application are further described in detail below in combination with the drawings. It should be understood that the specific embodiments described here are part of the embodiments of the present application, not all the embodiments, and are only used to explain the embodiments of the present application, and do not limit the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0020] Embodiment one Please refer to Figures 1 to 14The application provides a technical scheme: a pipeline weld surface crack automatic identification device based on machine vision, which comprises a control device 1, a pipeline fixing frame 2 is arranged on one side of the control device 1, a mounting movable frame 3 is movably arranged in the middle of the pipeline fixing frame 2, a circular limiting groove matched with the mounting movable frame 3 is formed in the inner side surface of the pipeline fixing frame 2, a crack identification device mounting box 31 is fixedly arranged on the top of the mounting movable frame 3, a fixing sleeve 32 and a movable probe 33 are arranged in the crack identification device mounting box 31, a limiting frame 35 is arranged below the movable probe 33, a projection lamp 36 and an industrial camera 37 are fixedly arranged in the movable probe 33, and it is to be explained that, in the example, the control device 1 mainly comprises a power supply management module, a signal acquisition and pretreatment module, a communication and data interaction module and an air path control module; the power supply management module is a complete set of device, mainly provides control power and power supply for an air suction pump 34, the projection lamp 36, the industrial camera 37 and a driving motor 38, a control board card, an electromagnetic valve, a sensor, an upper computer and the like, and completes overvoltage, undervoltage, short circuit and overtemperature protection; the signal acquisition and pretreatment module mainly receives image signal processing of the industrial camera 37 and uploads to the upper computer through a connection bus mode, the communication and data interaction module is mainly used for connecting a data line to transmit power supply and control signals; the air path control module mainly generates and adjusts compressed air, inflates the air cushion ring 24, and cooperates with a high-speed electromagnetic valve and a proportional valve to complete independent inflation and deflation of the air cushion ring 24, realizes flexible compression and attitude adjustment of the air cushion ring 24 to the pipeline; The inner surface of the pipe fixing frame 2 is uniformly distributed with the fixed connecting piece 21, the upper end of the fixed connecting piece 21 is fixedly connected with the inner surface of the pipe fixing frame 2, and the lower end of the fixed connecting piece 21 is fixedly installed with the compression gasket 22; the pipe fixing frame 2 mainly plays a role of being installed on the pipe to provide limiting support for the operation of the installation movable frame 3, the pipe fixing frame 2 includes two semicircular frames, one end rotates, and one end is fixed through bolts or buckles, when needed, first open the pipe fixing frame 2 to make it sleeved on the outer wall of the pipe, adjust the overall position to make the installation movable frame 3 cover the pipe weld area to be detected, the fixed connecting piece 21 is an elastic metal sheet that can be folded, extended and stretched, mainly used for fixing the compression gasket 22 and limiting the air cushion ring 24; the compression gasket 22 is fixedly installed with the limiting piece 221 close to one end of the installation movable frame 3, the side surface of the limiting piece 221 is in contact with the side surface of the limiting frame 35, the air cushion ring 24 is arranged in the middle of the fixed connecting piece 21, the outer side wall of the pipe fixing frame 2 is fixedly installed with the fixed pipe frame 23, the inner side wall of the pipe fixing frame 2 is fixedly installed with the internal fixed pipe 231, one end of the fixed pipe frame 23 penetrates through the side wall of the pipe fixing frame 2 and is fixedly connected with the side wall of the internal fixed pipe 231, the inner side wall of the internal fixed pipe 231 is fixedly connected with the inner wall of the air cushion ring 24 through a branch pipe, and the input pipe of the fixed pipe frame 23 is movably connected with the gas source delivery pipe of the control equipment 1 through a connecting pipe; the fixed pipe frame 23 and the internal fixed pipe 231 are hard and pressure-resistant hollow pipes, which not only play a role of connecting and fixing the whole pipe fixing frame 2, but also play a role of delivering compressed gas to the inside of the air cushion ring 24 to make the air cushion ring 24 expand, the expansion of the air cushion ring 24 presses the compression gasket 22 to press the outer surface of the pipe, at this time, the whole pipe fixing frame 2 is fixedly installed outside the pipe to be detected, it should be noted that the compression gasket 22 is installed with the limiting piece 221 close to one side of the installation movable frame 3, which can limit the limiting frame 35 when the compression gasket 22 centripetally extrudes the pipe, so that the limiting frame 35 drives the movable probe 33 to automatically adjust to the optimal height reserved from the outer wall of the pipe, so that the working distance of the industrial camera 37 and the projection height of the projection lamp 36 remain in the best constant state, and the precision of detecting the surface crack of the pipe weld is improved.

[0021] Example two Please refer to Figures 1 to 14On the basis of the first embodiment, in order to make the pipeline weld surface projection image collected by the industrial camera 37 clearer, the embodiment further proposes that the fixed sleeve 32 is fixedly installed on the inner surface top of the crack identification equipment mounting box 31, and the movable probe 33 is slidingly installed in the inside of the fixed sleeve 32; it needs to be explained in this embodiment that the inner surface of the fixed sleeve 32 is symmetrically fixedly installed with a limiting rod, a spring is sleeved and installed on the outer surface of the limiting rod, the outer side of the top sealing cover of the movable probe 33 is symmetrically provided with a sliding hole matched with the limiting rod, the spring plays a role of reset support for the movable probe 33, the fixed sleeve 32 and the movable probe 33 form a telescopic sleeve, and the movable probe 33 mainly plays a role of installing the projection lamp 36 and the industrial camera 37; the side wall of the fixed sleeve 32 is provided with a wire slot, the input end of the projection lamp 36 is plugged with the output end of the control equipment 1 through a wire, and the signal output end of the industrial camera 37 is plugged with the signal input end of the control equipment 1 through a wire; the control equipment 1 provides power supply for the projection lamp 36 and the industrial camera 37, the projection lamp 36 projects parallel grating stripes on the weld surface, the industrial camera 37 scans and shoots the projection image of the weld surface, and outputs the image signal to the control equipment 1, the control equipment 1 outputs the image to the host computer such as a notebook computer or a tablet computer through a connection bus after collecting and preprocessing the image, and displays the result, generally, the projection image of the weld surface is a complete parallel grating stripe without defects, once a crack appears on the weld surface, the projection image of the weld surface will be defective or distorted, and the detection result is obvious at a glance. The inner surface of the movable probe 33 is fixedly installed with a protective cover 331 in the middle, the lower part of the protective cover 331 is fixedly installed with a protective mirror 332, the middle part of the protective mirror 332 is provided with an identification and shooting positioning area 3321, the bottom lower surface of the movable probe 33 is fixedly installed with a light shield 333, the inner side wall of the light shield 333 is slidingly installed with an arc compensation piece 3331, and the middle part of the protective cover 331 is provided with a square through hole matched in size with the identification and shooting positioning area 3321; in this embodiment, the protective cover 331 and the protective mirror 332 mainly play a role of closing the lower area of the movable probe 33, guaranteeing that the projection of the projection lamp 36 is stable and not disturbed, and the identification and shooting positioning area 3321 in the middle part of the protective mirror 332 mainly plays a role of auxiliary positioning of the shooting area of the industrial camera 37, the light shield 333 plays a role of light shielding of the outside area of the pipeline, guarantees that the projection image shot by the industrial camera 37 is not disturbed by external stray light, and the arc compensation piece 3331 is installed along the fluctuation of the pipeline curve, shields the arc surface, guarantees that the projection imaging below the identification and shooting positioning area 3321 is not disturbed by the arc radian of the pipeline arc surface, and improves the precision of the pipeline weld surface crack detection.

[0022] Embodiment three Please refer to Figures 1 to 14On the basis of embodiment two, in order to improve the accuracy of the pipeline weld crack identification, the inner side surface of the crack identification equipment installation box 31 is fixedly installed with an air suction pump 34, the air suction pipe end of the air suction pump 34 is fixedly installed with a corrugated pipe 341, the lower end of the corrugated pipe 341 is fixedly connected with the top inner wall of the movable probe 33, the inner wall of the limiting frame 35 is symmetrically fixedly installed with a dust suction hood 351, the lower surface of the dust suction hood 351 is uniformly provided with a dust suction groove, the lower surface of the dust suction hood 351 is rotatably installed with a weld cleaning roller 3511, the inner wall of the limiting frame 35 is symmetrically fixedly installed with a dust suction connecting square pipe 352, the middle part of the dust suction connecting square pipe 352 is fixedly connected with the lower side wall of the movable probe 33, the dust suction connecting square pipe 352 is internally clamped with a filtering folded net 3521, the outer side surface of the installation movable frame 3 is rotatably installed with a limiting gear 381, the inner side surface of the installation movable frame 3 is fixedly installed with a driving motor 38 which drives the limiting gear 381 to rotate, and the inner surface of the pipeline fixing frame 2 is fixedly installed with a limiting rack 25 which is engaged with the limiting gear 381; in this embodiment, the driving motor 38 drives the limiting gear 381 to rotate, and under the limiting cooperation of the limiting rack 25, the installation movable frame 3 rotates along the pipeline fixing frame 2, so as to facilitate the automatic identification of the pipeline weld, the air suction pump 34 extracts air through the corrugated pipe 341, the limiting frame 35 cooperates with the limiting piece 221 to limit the height of the movable probe 33 to keep the optimal height, and also plays a role in assisting the cleaning of the pipeline weld surface, with the rotation of the installation movable frame 3, the dust suction hood 351 below the limiting frame 35 sucks the dust on the surface of the pipeline weld, and cooperates with the weld cleaning roller 3511 to clean the surface of the weld, so as to reduce the problem that the dust and impurities on the surface of the weld cover the cracks and cause missed detection, the dust suction connecting square pipe 352 is in communication with the side wall of the movable probe 33, the filtering folded net 3521 clamped in the dust suction connecting square pipe 352 can filter the dust, the air enters the movable probe 33, rises along the inclined side surface of the protective cover 331 and is finally extracted through the corrugated pipe 341, and the projection lamp 36 and the industrial camera 37 can also be cooled and radiated in the process of air circulation.

[0023] Embodiment four For reference Figures 1 to 14 On the basis of embodiment three, the use method of the pipeline weld surface crack automatic identification device based on machine vision is also proposed, which includes the following steps: Step one, installation connection, first open the pipeline fixing frame 2 to make it sleeved on the outer wall of the pipeline, adjust the overall position to make the installation movable frame 3 cover the pipeline weld area to be detected, and check the accuracy of each line connection, then control the equipment 1 to work to deliver compressed gas to the inside of the air cushion ring 24 to make it expand, the gasket 22 is compressed to compress the outer surface of the pipeline, and the pipeline fixing frame 2 is fixedly installed on the outer surface of the pipeline to be detected; Step two, test run, start the driving motor 38, industrial camera 37 and projection lamp 36, first install the movable frame 3 in the cooperation of the driving motor 38 to rotate along the pipeline fixing frame 2 within a certain range, detect whether the driving motor 38 and the projection lamp 36 work normally, at this time the air pump 34 cooperates with the limiting frame 35 to clean the test run area, and then control the movable probe 33 to reset; Step three, formal detection, the movable probe 33 rotates along the pipeline fixing frame 2, the projection lamp 36 projects the parallel grating fringe on the weld surface, the industrial camera 37 scans and shoots the projection image of the weld surface, and outputs the image signal to the control device 1, the control device 1 collects and pre-processes the image, and then outputs it to the upper computer through the connection bus for result display, generally, the projection image of the weld surface is a complete parallel grating fringe without defects, once the weld surface appears cracks, the projection image of the weld surface will appear defects or distortion, while detecting, the limiting frame 35 cooperates with the air pump 34 to clean the weld area to be detected until a week of detection is completed; Step four, detection end, ensure that the installed movable frame 3 is reset, then turn off the driving motor 38, industrial camera 37 and projection lamp 36, cancel the connection line, release the air cushion ring 24, open the pipeline fixing frame 2 to take down the entire device, and take down the filter folding net 3521 to clean the dust regularly.

[0024] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A machine vision-based automatic identification device for surface cracks in pipe welds, comprising a control device (1), characterized in that: A pipe fixing bracket (2) is provided on one side of the control device (1). A movable mounting bracket (3) is movably installed in the middle of the pipe fixing bracket (2). A circular limiting groove adapted to the movable mounting bracket (3) is opened on the inner surface of the pipe fixing bracket (2). A crack identification device mounting box (31) is fixedly installed on the top of the movable mounting bracket (3). A fixing sleeve (32) and a movable probe (33) are provided inside the crack identification device mounting box (31). A limiting bracket (35) is provided below the movable probe (33). A projection lamp (36) and an industrial camera (37) are fixedly installed inside the movable probe (33).

2. The automatic identification device for surface cracks in pipe welds based on machine vision according to claim 1, characterized in that: The fixed sleeve (32) is fixedly installed on the top of the inner surface of the crack identification device mounting box (31). The movable probe (33) is slidably installed inside the fixed sleeve (32). The side wall of the fixed sleeve (32) is provided with a wire groove. The input end of the projection lamp (36) is connected to the output end of the control device (1) through a line. The output end of the industrial camera (37) is connected to the input end of the control device (1) through a line.

3. The automatic identification device for surface cracks in pipe welds based on machine vision according to claim 1, characterized in that: A protective cover (331) is fixedly installed on the middle of the inner surface of the movable probe (33), and a protective mirror (332) is fixedly installed below the protective cover (331). A recognition and shooting positioning area (3321) is provided in the middle of the protective mirror (332). A light shield (333) is fixedly installed on the bottom lower surface of the movable probe (33), and an arc compensation piece (3331) is slidably installed on the inner side wall of the light shield (333). A square through hole that matches the size of the recognition and shooting positioning area (3321) is provided in the middle of the protective cover (331).

4. The automatic identification device for surface cracks in pipe welds based on machine vision according to claim 1, characterized in that: An air pump (34) is fixedly installed above the inner surface of the crack identification device mounting box (31). A corrugated pipe (341) is fixedly installed at the air pump (34) end. The lower end of the corrugated pipe (341) is fixedly connected to the top inner wall of the movable probe (33).

5. The automatic identification device for surface cracks in pipe welds based on machine vision according to claim 1, characterized in that: The inner walls of the limiting frame (35) are symmetrically fixed with dust collection hoods (351), and the lower surface of the dust collection hoods (351) is evenly provided with dust collection grooves. A weld cleaning roller (3511) is rotatably installed in the middle of the lower surface of the dust collection hoods (351).

6. The automatic identification device for surface cracks in pipe welds based on machine vision according to claim 1, characterized in that: The inner wall of the limiting frame (35) is symmetrically fixedly installed with a vacuuming connecting square tube (352). The middle port of the vacuuming connecting square tube (352) is fixedly connected to the lower side wall of the movable probe (33). A filter screen (3521) is snapped into the inside of the vacuuming connecting square tube (352).

7. The automatic identification device for surface cracks in pipe welds based on machine vision according to claim 1, characterized in that: A limiting gear (381) is rotatably installed on the middle of the outer surface of the mounting frame (3), and a drive motor (38) for driving the limiting gear (381) to rotate is fixedly installed on the middle of the inner surface of the mounting frame (3). A limiting rack (25) that meshes with the limiting gear (381) is fixedly installed on one side of the inner surface of the pipe fixing frame (2).

8. The automatic identification device for surface cracks in pipe welds based on machine vision according to claim 1, characterized in that: The inner surface of the pipe fixing bracket (2) is evenly distributed with fixing connecting pieces (21). The upper end of the fixing connecting piece (21) is fixedly connected to the inner surface of the pipe fixing bracket (2). The lower end of the fixing connecting piece (21) is fixedly installed with a pressing pad (22). The end of the pressing pad (22) near the mounting frame (3) is fixedly installed with a limiting piece (221). The side surface of the limiting piece (221) is in contact with the side surface of the limiting frame (35).

9. The automatic identification device for surface cracks in pipe welds based on machine vision according to claim 8, characterized in that: An air cushion (24) is provided in the middle of the fixed connecting piece (21). A fixed pipe bracket (23) is fixedly installed on the outer side wall of the pipe fixing bracket (2). An internal fixing pipe (231) is fixedly installed on the inner side wall of the pipe fixing bracket (2). One end of the fixed pipe bracket (23) passes through the side wall of the pipe fixing bracket (2) and is fixedly connected to the side wall of the internal fixing pipe (231).

10. The automatic identification device for surface cracks in pipe welds based on machine vision according to claim 9, characterized in that: The inner wall of the internal fixed pipe (231) is fixedly connected to the inner wall of the air cushion (24) through a branch pipe, and the input pipe of the fixed pipe rack (23) is movably connected to the air source delivery pipe of the control device (1) through a connecting pipe.

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