Automatic recognition device for pipeline weld surface cracks based on machine vision

Abstract

This invention relates to the field of pipeline weld inspection technology, specifically to an automatic identification device for surface cracks in pipeline welds based on machine vision. The device includes a control unit with a pipeline fixing frame on one side. A movable mounting frame is movably installed in the middle of the pipeline fixing frame. The advantages are: by inflating an air cushion, a pressure pad is pressed against the outer wall of the pipeline, thus fixing the pipeline fixing frame to the outer wall. Simultaneously, the pressure pad presses against the pipeline, and a limiting plate pulls a limiting rack down to a predetermined height, maintaining the optimal working distance of the industrial camera and the projection height of the projection lamp. At this time, the movable mounting frame rotates around the pipeline fixing frame, and the projection lamp projects parallel grating stripes onto the surface of the pipeline weld. The industrial camera captures the image of the projected area and outputs it to the control unit. If there are cracks on the weld surface, the stripe image captured by the industrial camera will show deformation defects, achieving the purpose of accurate and automatic identification of surface cracks in the weld.

Description

Technical Field

[0001] This invention belongs to the field of pipeline weld inspection technology, specifically relating to an automatic identification device for surface cracks in pipeline welds based on machine vision. Background Technology

[0002] Welds are weak points in pipeline structures. Even tiny surface cracks can gradually propagate under the cyclical effects of internal pressure, temperature changes, vibration, or external loads. Once the crack reaches a critical size, it can lead to sudden pipe breakage or rupture. Regular or online crack identification allows for the detection of cracks before they cause serious damage, enabling cost-effective repair. Current technologies typically employ penetrant testing and radiographic testing to inspect pipeline welds, using conventional ultrasonic testing as an auxiliary method to detect surface cracks. However, penetrant testing can only detect open defects on the weld surface, resulting in a cumbersome, slow, and time-consuming process; radiographic testing is harmful to human health; and conventional ultrasonic testing is prone to missed detections.

[0003] A Chinese patent document with publication number CN103336055A proposes a method for inspecting the quality of welds in main pipelines of nuclear power plants using phased array ultrasonic testing. This method employs a phased array ultrasonic testing system consisting of an ultrasonic phased array detector, a computer with an integrated phased array operating system, a scanner, and calibration blocks. It addresses the aforementioned technical problems by selecting appropriate area array probes and combining focusing law parameters, ultrasonic parameters, and mechanical parameters to perform layered inspection of the weld and surrounding area. However, phased array ultrasonic testing has limitations in detecting small or extremely shallow cracks on the weld surface. When the crack opening width and depth are small, the ultrasonic echo energy of the longitudinal wave straight probe of the phased array ultrasonic system is "submerged" by surface clutter, resulting in a decreased detection rate.

[0004] Therefore, this invention proposes an automatic identification device for surface cracks in pipe welds based on machine vision. This addresses the problem of defects in detecting small or extremely shallow cracks on the weld surface when using phased array ultrasonic testing in existing technologies. The device employs an active grating vision inspection equipment mounted on a machine. Parallel grating stripes are projected onto the surface of the pipe weld using a projection lamp, and an industrial camera is used to capture the image. If there is a crack on the weld surface, the stripes will show deformation defects. The detection process is simple, and the detection results are clear and without blind spots, thus improving the accuracy and efficiency of crack identification on the weld surface. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an automatic identification device for surface cracks in pipe welds based on machine vision, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automatic identification device for surface cracks in pipe welds based on machine vision, comprising a control device, a pipe fixing frame disposed on one side of the control device, a movable mounting frame movably mounted in the middle of the pipe fixing frame, a circular limiting groove adapted to the movable mounting frame being formed on the inner surface of the pipe fixing frame, a crack identification device mounting box being fixedly mounted on the top of the movable mounting frame, a fixing sleeve and a movable probe being disposed inside the crack identification device mounting box, a limiting frame being disposed below the movable probe, and a projection lamp and an industrial camera being fixedly mounted inside the movable probe.

[0007] Preferably, the fixing sleeve is fixedly installed on the top of the inner surface of the crack identification device mounting box, the movable probe is slidably installed inside the fixing sleeve, the side wall of the fixing sleeve is provided with a wire groove, the input end of the projection lamp is connected to the output end of the control device through a line, and the output end of the industrial camera is connected to the input end of the control device through a line.

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

[0009] Preferably, an air pump is fixedly installed above the inner surface of the crack identification device mounting box, and a corrugated pipe is fixedly installed at the air pump's air extraction pipe end, with the lower end of the corrugated pipe fixedly connected to the top inner wall of the movable probe.

[0010] Preferably, dust collection hoods are symmetrically fixedly installed on both sides of the inner wall of the limiting frame, and dust collection grooves are evenly opened on the lower surface of the dust collection hoods. A weld cleaning roller is rotatably installed in the middle of the lower surface of the dust collection hoods.

[0011] Preferably, a vacuum connecting square tube is symmetrically fixedly installed in the middle of the inner wall of the limiting frame, the middle port of the vacuum connecting square tube is fixedly connected to the lower side wall of the movable probe, and a filter screen is snapped into the inside of the vacuum connecting square tube.

[0012] Preferably, a limiting gear is rotatably installed at the center of the outer surface of the movable mounting frame, a drive motor for driving the limiting gear to rotate is fixedly installed at the center of the inner surface of the movable mounting frame, and a limiting rack that meshes with the limiting gear is fixedly installed on one side of the inner surface of the pipe fixing frame.

[0013] Preferably, the inner surface of the pipe fixing bracket is evenly distributed with fixing connecting pieces, the upper end of the fixing connecting piece is fixedly connected to the inner surface of the pipe fixing bracket, the lower end of the fixing connecting piece is fixedly installed with a clamping pad, and the end of the clamping pad near the movable mounting bracket is fixedly installed with a limiting piece, the side surface of the limiting piece is in contact with the side surface of the limiting bracket.

[0014] Preferably, an air cushion is provided in the middle of the fixed connecting piece, a fixed pipe bracket is fixedly installed on the outer side wall of the pipe fixing bracket, an internal fixing pipe is fixedly installed on the inner side wall of the pipe fixing bracket, and one end of the fixed pipe bracket passes through the side wall of the pipe fixing bracket and is fixedly connected to the side wall of the internal fixing pipe.

[0015] Preferably, the inner wall of the internal fixed pipe is fixedly connected to the inner wall of the air cushion through a branch pipe, and the input pipe of the fixed pipe rack is movably connected to the air source delivery pipe of the control equipment through a connecting pipe.

[0016] Compared with the prior art, the beneficial effects of the present invention are:

[0017] By designing a pipe fixing bracket, an air cushion is inflated to press a clamping pad against the outer wall of the pipe, thus fixing the entire pipe fixing bracket to the outer wall of the pipe. While the clamping pad is pressing the pipe, a limiting plate pulls a limiting rack down to a predetermined height, maintaining the working distance of the industrial camera and the projection height of the projector lamp at a constant and optimal level. At this time, the movable bracket rotates around the pipe fixing bracket, and the projector lamp projects parallel grating stripes onto the surface of the pipe weld. The industrial camera captures the image of the projected area and outputs it to the control equipment. If there is a crack on the weld surface, the stripe image captured by the industrial camera will show a deformation defect, achieving the purpose of accurate and automatic identification of cracks on the weld surface. This solves the problem of defects in the detection of small or extremely shallow cracks on the weld surface when using phased array ultrasonic testing for weld surface cracks in existing technologies. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention in its closed state;

[0019] Figure 2 This is a schematic diagram of the overall structure of the present invention in the open state;

[0020] Figure 3 This is a schematic diagram of the overall structure of the pipe fixing bracket and the movable mounting bracket of the present invention in the closed state;

[0021] Figure 4 This is a schematic diagram of the pipe fixing bracket and the movable mounting bracket of the present invention in the closed state, on the right side.

[0022] Figure 5 This is a schematic cross-sectional view of the entire invention at point AA;

[0023] Figure 6 For the present invention Figure 5 A magnified structural diagram at point A;

[0024] Figure 7 This is a schematic diagram of the left side of the pipe fixing bracket and mounting bracket of the present invention in the closed state;

[0025] Figure 8 This is a schematic cross-sectional view of the pipe fixing bracket of the present invention at point BB;

[0026] Figure 9 This is a top view of the pipe fixing bracket and the movable mounting bracket of the present invention in the closed state;

[0027] Figure 10 This is a schematic cross-sectional view of the air cushion of the present invention at the CC position when it is in working condition.

[0028] Figure 11 This is a schematic cross-sectional view of the air cushion of the present invention at the CC position when it is in the released state;

[0029] Figure 12 This is a schematic diagram of the overall structure of the pipe fixing bracket of the present invention;

[0030] Figure 13 This is a bottom view of the overall structure of the mounting frame of the present invention;

[0031] Figure 14 This is a schematic diagram of the internal structure of the mounting frame of the present invention.

[0032] In the diagram: 1. Control equipment; 2. Pipe fixing bracket; 21. Fixing connecting piece; 22. Pressure pad; 221. Limiting piece; 23. Fixed pipe bracket; 231. Internal fixing pipe; 24. Air cushion; 25. Limiting rack; 3. Mounting movable bracket; 31. Crack identification equipment mounting box; 32. Fixing sleeve; 33. Movable probe; 331. Protective cover; 332. Protective mirror; 3321. Identification and shooting positioning area; 333. Light shield; 3331. Curvature compensation piece; 34. Air pump; 341. Corrugated pipe; 35. Limiting bracket; 351. Dust suction hood; 3511. Weld seam cleaning roller; 352. Dust suction connecting square tube; 3521. Filter screen; 36. Projection lamp; 37. Industrial camera; 38. Drive motor; 381. Limiting gear. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the present invention clear and complete, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some, not all, embodiments of the present invention, and are merely illustrative of the embodiments of the present invention. They are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Example 1

[0035] Please refer to Figures 1 to 14 This invention provides a technical solution: an automatic identification device for surface cracks in pipe welds based on machine vision, including a control device 1. A pipe fixing frame 2 is provided on one side of the control device 1, and a movable mounting frame 3 is movably installed in the middle of the pipe fixing frame 2. A circular limiting groove adapted to the movable mounting frame 3 is opened on the inner surface of the pipe fixing frame 2. A crack identification device mounting box 31 is fixedly installed on the top of the movable mounting frame 3. A fixing sleeve 32 and a movable probe 33 are provided inside the crack identification device mounting box 31. A limiting frame 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. In this example, it should be noted that the control device 1 mainly includes a power management module, a signal acquisition and preprocessing module, and a communication module. The system includes a data interaction module and a pneumatic control module. The power management module, which provides control and power to the entire device, mainly includes an air pump 34, a projection lamp 36, an industrial camera 37, a drive motor 38, control boards, solenoid valves, sensors, and a host computer. It also provides overvoltage, undervoltage, short-circuit, and overtemperature protection. The signal acquisition and preprocessing module receives image signals from the industrial camera 37, processes them, and uploads them to the host computer via a bus connection. The communication and data interaction module is used to connect data cables for power and control signal transmission. The pneumatic control module generates and regulates compressed air to inflate the air cushion 24. It also utilizes a high-speed solenoid valve and a proportional valve to independently inflate and deflate the air cushion 24, achieving flexible compression and attitude adjustment of the air cushion 24 over the pipeline.

[0036] 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, and the lower end of the fixing connecting piece 21 is fixedly installed with a clamping pad 22. The pipe fixing bracket 2 mainly serves to provide limiting support for the operation of the movable bracket 3 when installed on the pipe. The pipe fixing bracket 2 includes two semi-circular brackets, one end of which rotates and the other end is fixed by bolts or buckles. When needed, first open the pipe fixing bracket 2 so that it fits onto the outer wall of the pipe, and adjust the overall position so that the movable bracket 3 covers the area to be inspected. In the measured pipe weld area, the fixing connecting piece 21 is a foldable, stretchable, elastic metal sheet, mainly used to fix the clamping pad 22 and limit the gasket 24; a limiting piece 221 is fixedly installed on the end of the clamping pad 22 near the mounting frame 35, and the side surface of the limiting piece 221 contacts the side surface of the limiting frame 35; a gasket 24 is provided in the middle of the fixing connecting piece 21; a fixing pipe frame 23 is fixedly installed on the outer wall of the pipe fixing frame 2; an internal fixing pipe 231 is fixedly installed on the inner wall of the pipe fixing frame 2; and one end of the fixing pipe frame 23... The side wall of the through pipe fixing bracket 2 is fixedly connected to the side wall of the internal fixing pipe 231. The inner side wall of the internal fixing pipe 231 is fixedly connected to the inner wall of the air cushion 24 through a branch pipe. The input pipe of the fixed pipe bracket 23 is movably connected to the air source delivery pipe of the control device 1 through a connecting pipe. The fixed pipe bracket 23 and the internal fixing pipe 231 are rigid pressure-resistant hollow pipes, which not only serve to connect the entire fixed pipe fixing bracket 2, but also serve to deliver compressed gas to the inside of the air cushion 24 to cause the air cushion 24 to expand. The expansion of the air cushion 24 compresses the pressure pad 22 to achieve compression. The gasket 22 presses against the outer surface of the pipe. At this time, the pipe fixing frame 2 is fixedly installed on the outside of the pipe to be inspected. It should be noted that a limiting piece 221 is installed on the side of the pressing gasket 22 near the mounting frame 3. When the pressing gasket 22 presses against the pipe in a centripetal manner, it can limit the limiting frame 35, 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. This keeps the working distance of the industrial camera 37 and the projection height of the projection lamp 36 in an optimal constant state, improving the accuracy of detecting cracks on the surface of the pipe weld.

[0037] Example 2

[0038] Please refer to Figures 1 to 14Based on Embodiment 1, to achieve clearer projected images of the pipe weld surface acquired by the industrial camera 37, this embodiment further proposes that the fixed sleeve 32 be fixedly installed on the top of the inner surface of the crack identification equipment mounting box 31, and the movable probe 33 be slidably installed inside the fixed sleeve 32. In this embodiment, it should be noted that limit rods are symmetrically fixedly installed on the inner surface of the fixed sleeve 32, and springs are sleeved on the outer surface of the limit rods. The top closed cover of the movable probe 33 has symmetrically arranged sliding holes adapted to the limit rods. The springs provide reset support for the movable probe 33. The fixed sleeve 32 and the movable probe 33 form a telescopically sliding sleeve. The movable probe 33 mainly serves to install the projection lamp 36 and the industrial camera 37. The side wall of the fixed sleeve 32 has a wire groove for the projection... The input terminal of lamp 36 is connected to the output terminal of control device 1 via a line, and the signal output terminal of industrial camera 37 is connected to the signal input terminal of control device 1 via a line. Control device 1 provides power to projection lamp 36 and industrial camera 37. Projection lamp 36 projects parallel grating stripes onto the weld surface. Industrial camera 37 scans and captures the projected image of the weld surface and outputs the image signal to control device 1. Control device 1 performs image acquisition and preprocessing and outputs the image to a host computer, such as a laptop or tablet computer, via a connection bus for result display. Under normal circumstances, the projected image of the weld surface is a complete parallel grating stripe without defects. Once a crack appears on the weld surface, the projected image of the weld surface will show defects or distortion, and the detection result is clear at a glance.

[0039] A protective cover 331 is fixedly installed on the middle of the inner surface of the movable probe 33. 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. An arc compensation piece 3331 is slidably installed on the inner sidewall of the light shield 333. A square through hole with a size adapted to the recognition and shooting positioning area 3321 is provided in the middle of the protective cover 331. In this embodiment, the protective cover 331 and the protective mirror 332 mainly serve to protect the lower area of ​​the movable probe 33. The enclosure ensures stable and uninterrupted projection of the projection lamp 36. The identification and shooting positioning area 3321 in the middle of the protective mirror 332 mainly serves to assist in positioning the shooting area of ​​the industrial camera 37. The light shield 333 blocks light from the outer area of ​​the pipe, ensuring that the projected image captured by the industrial camera 37 is not affected by external stray light. At the same time, the curvature compensation plate 3331 is installed along the undulation of the pipe surface to block the curved surface, ensuring that the projected image below the identification and shooting positioning area 3321 is not affected by the curvature of the pipe surface, thus improving the accuracy of detecting surface cracks in the pipe weld.

[0040] Example 3

[0041] Please refer to Figures 1 to 14Based on Embodiment 2, to improve the accuracy of identifying weld cracks in pipelines, this embodiment further proposes that an air pump 34 be fixedly installed above the inner surface of the crack identification equipment mounting box 31, a corrugated pipe 341 be fixedly installed at the end of the air pump 34's air extraction pipe, and the lower end of the corrugated pipe 341 be fixedly connected to the top inner wall of the movable probe 33. Dust collection hoods 351 are symmetrically fixedly installed on both sides of the inner wall of the limiting frame 35, and dust collection grooves are evenly distributed on the lower surface of the dust collection hoods 351. A weld cleaning roller 35 is rotatably installed in the middle of the lower surface of the dust collection hoods 351. 11. A vacuum connecting square tube 352 is symmetrically fixedly installed in the middle of the inner wall of the limiting frame 35. The middle port of the vacuum 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 vacuum connecting square tube 352. A limiting gear 381 is rotatably installed in the middle of the outer surface of the movable frame 3. A drive motor 38 for driving the limiting gear 381 to rotate is fixedly installed in the middle of the inner surface of the movable frame 3. A limiting rack that meshes with the limiting gear 381 is fixedly installed on one side of the inner surface of the pipe fixing frame 2. 25; In this embodiment, the drive motor 38 drives the limiting gear 381 to rotate. Under the limiting cooperation of the limiting rack 25, the mounting frame 3 rotates along the pipe fixing frame 2, which facilitates the automatic identification of the pipe weld. The air pump 34 draws air through the bellows 341. In addition to cooperating with the limiting plate 221 to limit the height of the movable probe 33 and keep it at the optimal height, the limiting frame 35 also plays a role in assisting the cleaning of the pipe weld surface. As the mounting frame 3 rotates, the dust suction hood 351 below the limiting frame 35 cleans the pipe. Dust on the surface of the weld is sucked out, and the weld cleaning roller 3511 can clean the surface of the weld, reducing the problem of dust and impurities on the weld surface covering cracks and causing missed detection. The dust suction connecting square tube 352 is connected to the side wall of the movable probe 33. The filter screen 3521 inside the dust suction connecting square tube 352 can filter dust. Air enters the movable probe 33, rises along the oblique side of the protective cover 331, and is finally extracted through the corrugated pipe 341. During the air circulation process, the projection lamp 36 and industrial camera 37 can also be cooled down.

[0042] Example 4

[0043] Please refer to Figures 1 to 14 Based on Embodiment 3, this embodiment also proposes a method for using a machine vision-based automatic identification device for surface cracks in pipe welds, including the following steps:

[0044] Step 1, Installation and Connection: First, open the pipe fixing bracket 2 and let it fit onto the outer wall of the pipe. Adjust the overall position so that the installation movable bracket 3 covers the weld area of ​​the pipe to be inspected. Check that all wiring connections are accurate. Then, control the device 1 to deliver compressed gas into the air cushion 24 to make it expand. Press the gasket 22 to press the outer surface of the pipe. The pipe fixing bracket 2 is then fixedly installed on the outside of the pipe to be inspected.

[0045] Step 2, trial run: Start the drive motor 38, industrial camera 37 and projection lamp 36. First, install the movable frame 3 and rotate it a certain distance along the pipe fixing frame 2 with the cooperation of the drive motor 38 to check whether the drive motor 38 and projection lamp 36 are working properly. At this time, the air pump 34 and the limit frame 35 cooperate to clean the trial run area. Then, control the movable probe 33 to reset.

[0046] Step 3, formal inspection: The movable probe 33 rotates along the pipe fixing frame 2, the projection lamp 36 projects parallel grating stripes onto the weld surface, the industrial camera 37 scans and captures the projected image of the weld surface, and outputs the image signal to the control device 1. The control device 1 performs image acquisition and preprocessing, and then outputs the results to the host computer through the connection bus for display. Under normal circumstances, the projected image of the weld surface is a complete parallel grating stripe without defects. Once a crack appears on the weld surface, the projected image of the weld surface will show defects or distortion. At the same time as the inspection, the limit frame 35 and the air pump 34 work together to clean the weld area to be inspected until the inspection is completed in one week.

[0047] Step 4: After the test is completed, ensure that the installation frame 3 is reset and turn off the drive motor 38, industrial camera 37 and projection lamp 36. Disconnect the connection wires, release the air gasket 24, open the pipe fixing frame 2 and remove the entire device. Periodically remove the filter screen 3521 for cleaning.

[0048] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which 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). A light shield (333) is fixedly installed on the bottom surface of the movable probe (33). An arc compensation piece (3331) is slidably installed on the inner wall of the light shield (333). 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 pressure pad (22). The end of the pressure pad (22) near the installation movable 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). An air cushion (24) is provided in the middle of the fixing connecting piece (21). A fixing pipe bracket (23) is fixedly installed on the outer wall of the pipe fixing bracket (2). An internal fixing pipe (231) is fixedly installed on the inner wall of the pipe fixing bracket (2). The inner wall of the internal fixing pipe (231) is fixedly connected to the inner wall of the air cushion (24) through a branch pipe.

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 active 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), and a square through hole adapted to 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 7, characterized in that: 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 fixed pipe (231).

9. The automatic identification device for surface cracks in pipe welds based on machine vision according to claim 8, characterized in that: The input pipe of the fixed pipe rack (23) is movably connected to the gas supply pipe of the control device (1) through a connecting pipe.

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