Pipe detection device based on machine vision and use method

Abstract

The invention relates to the technical field of pipe detection, in particular to a pipe detection device based on machine vision and a use method.The pipe detection device comprises a rack, a base is fixed to the rack, two sets of pipe mounting plates are slidably connected to the base, pipe overturning assemblies are arranged on the pipe mounting plates, and pipes are arranged on the pipe overturning assemblies; the device has the advantages that automatic detection of the size of the pipe is achieved, manual intervention is not needed, batch detection can be rapidly completed, the real-time detection requirement of a production line is met, and the detection efficiency is greatly improved; a high-resolution industrial camera is adopted for detection, the measurement variable coefficients of the outer diameter and the wall thickness are both lower than 0.3%, the range is controlled within 0.06 mm, and the measurement precision is remarkably higher than that of a traditional manual detection and contact type measurement method; the non-contact type machine vision detection mode is adopted, damage possibly caused by traditional contact type measurement to the pipe is avoided, and the device is suitable for detection of various surface qualities and particularly suitable for occasions with high precision and non-destructive requirements.

Description

Technical Field

[0001] This invention relates to the field of pipe inspection technology, specifically to a pipe inspection device and its usage method based on machine vision. Background Technology

[0002] In industrial production, pipes are crucial basic materials in fields such as petroleum, chemical, and construction, and their dimensional accuracy directly affects the safety and reliability of projects. Traditional methods for pipe dimensional inspection mainly include manual visual inspection and contact measurement. Manual visual inspection relies on the operator's experience and attention, is prone to subjective errors, has low accuracy, struggles to detect minute defects, and is inefficient in large-scale production. Contact measurement, using tools such as calipers and micrometers, can obtain some dimensional information, but is easily affected by external environmental factors such as friction and temperature, leading to errors in the measurement results, especially when the pipe surface has corrosion, coatings, or contaminants, making it difficult to obtain accurate data. Furthermore, these traditional methods are labor-intensive and cannot meet the demands of modern industrial production for high-efficiency, high-precision inspection. Summary of the Invention

[0003] The purpose of this invention is to provide a pipe inspection device and its usage method based on machine vision, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a pipe inspection device based on machine vision, comprising: a frame, a base fixed on the frame, two sets of pipe mounting plates slidably connected on the base, a pipe flipping assembly provided on the pipe mounting plate, a pipe provided on the pipe flipping assembly, a radial industrial camera mounting seat movably connected on the frame, a radial industrial camera movably connected on the radial industrial camera mounting seat, a stop plate fixed at the top of the base, an axial industrial camera mounting seat fixed at the end of the frame away from the stop plate, and an axial industrial camera fixed on the axial industrial camera mounting seat.

[0005] Preferably, mounting plate grooves are provided on both symmetrical end faces of the base, the pipe mounting plate has an "n" shaped plate structure, and mounting plate sliders are fixed on the inner sides of both side plates of the pipe mounting plate, and the mounting plate sliders are slidably connected in the mounting plate grooves.

[0006] Preferably, the horizontal plate of the pipe mounting plate has a mounting plate limiting rod mounting groove and a mounting plate screw hole. Both the mounting plate limiting rod mounting groove and the mounting plate screw hole are circular holes. A mounting plate screw rod is installed in the mounting plate screw hole by threaded connection. A mounting plate limiting rod is movably inserted into the mounting plate limiting rod mounting groove. The mounting plate limiting rod is a circular rod with a diameter equal to the inner wall diameter of the mounting plate limiting rod mounting groove. The top end of the mounting plate limiting rod is fixed to the bottom end of the mounting plate screw rod, and an anti-slip pad is fixed to the bottom end of the mounting plate limiting rod.

[0007] Preferably, an industrial camera slide rail is fixed to the top of the frame, and an industrial camera slider is slidably connected in the industrial camera slide rail. The radial industrial camera mounting base has an "n"-shaped plate structure, and the industrial camera slider is fixed to the bottom end of the side rod of the radial industrial camera mounting base.

[0008] Preferably, a lead screw is rotatably connected to the industrial camera slide rail, and a lead screw hole is provided on the industrial camera slider. The lead screw is rotatably inserted into the lead screw hole, and a threaded connection is provided between the lead screw hole and the lead screw. A second servo motor is fixed to one end of the industrial camera slide rail, and the drive shaft of the second servo motor is fixed to one end of the lead screw.

[0009] Preferably, a radial supplementary light is fixed on the frame, and an axial supplementary light is movably inserted into the stop plate.

[0010] Preferably, the pipe flipping assembly includes: a pipe base, a rotating shaft, a first pipe placement seat, and a second pipe placement seat. A first servo motor is fixed on the pipe base, and the drive shaft of the first servo motor is rotatably inserted into the pipe base. A rotating shaft is fixed on the drive shaft of the first servo motor. The rotating shaft has a circular rod structure. The first pipe placement seat is movably connected to the rotating shaft. The second pipe placement seat is movably connected to the pipe base. Several sets of both the first and second pipe placement seats are provided. Both the first and second pipe placement seats have a semi-annular plate structure. The outer rings of both the first and second pipe placement seats are rectangular, and the inner rings of both the first and second pipe placement seats are circular.

[0011] Preferably, the rotating shaft has a first placement seat groove, the first tube placement seat has a first placement seat slider fixed on it, the first placement seat slider is movably inserted into the first placement seat groove, the rotating shaft has a first placement seat insertion rod mounting groove, the first placement seat slider has a first placement seat insertion groove, one end of the first placement seat insertion rod is movably inserted into the first placement seat insertion rod mounting groove, the other end of the first placement seat insertion rod is movably inserted into the first placement seat insertion groove, a first spring is fixed between the end of the first placement seat insertion rod extending into the first placement seat insertion rod mounting groove and the inner wall of the first placement seat insertion rod mounting groove, the rotating shaft has a first lever window, a first lever is slidably connected in the first lever window, one end of the first lever extends into the first placement seat insertion rod mounting groove and is fixed on the first placement seat insertion rod.

[0012] Preferably, the pipe base has a second placement seat groove, the bottom end of the second pipe placement seat is fixed with a second placement seat slider, the second placement seat slider is movably inserted into the second placement seat groove, the pipe base has a second placement seat insertion rod mounting groove and a placement seat screw hole, the second placement seat slider has a second placement seat insertion groove, one end of the second placement seat insertion rod is movably inserted into the second placement seat insertion rod mounting groove, the other end of the second placement seat insertion rod is movably inserted into the second placement seat insertion groove, and a placement seat screw is installed in the placement seat screw hole by threaded connection, one end of the placement seat screw is fixed in the second placement seat insertion rod.

[0013] A method for using a machine vision-based pipe inspection device includes the machine vision-based pipe inspection device and the following steps: Step 1: Adjust the position of the pipe mounting plate according to the length of the pipe. When adjusting, tighten the mounting plate screw. Under the action of the threaded connection between the mounting plate screw hole and the mounting plate screw, the mounting plate screw will move upward, driving the mounting plate limit rod upward, so that the anti-slip pad is away from the base. Then you can move the pipe mounting plate to the desired position. After that, tighten the mounting plate screw in the opposite direction, so that the mounting plate screw moves downward, and the anti-slip pad is pressed tightly against the top of the base. Step 2: Select and install a suitable first pipe placement seat. Move the first lever to fully retract the first placement seat plug rod into the first placement seat plug rod mounting slot. The first spring is then compressed, causing the first placement seat slider to insert into the first placement seat slide groove. After insertion, the first placement seat plug groove is aligned with the first placement seat plug rod mounting groove. Then release the first lever, and the first spring returns to its original state, pushing one end of the first placement seat plug rod into the first placement seat plug groove. Step 3: Select and install a suitable second pipe placement seat, screw on the placement seat screw, and under the threaded connection between the placement seat screw and the placement seat screw hole, make the second placement seat plug rod fully retract into the second placement seat plug rod mounting groove. Insert the second placement seat slider into the second placement seat slide groove. After insertion, the second placement seat plug groove and the second placement seat plug rod mounting groove are aligned. Tighten the placement seat screw in the opposite direction, and the placement seat screw will insert one end of the second placement seat plug rod into the second placement seat plug groove. Step 4: Perform the first inspection on the pipe. Place the pipe in the inner ring of the first pipe placement seat, with one end of the pipe against the stop plate. Turn on the axial supplement light and let it shine through the stop plate onto the pipe. At the same time, turn on the axial industrial camera to measure and inspect the inner and outer diameters of the pipe. Turn on the radial supplement light and move the radial industrial camera along the radial industrial camera mounting seat to directly above the pipe. Turn on the radial industrial camera to inspect the part of the pipe facing the radial industrial camera. At the same time, turn on the second servo motor to drive the lead screw to rotate. Under the action of the threaded connection between the lead screw hole and the lead screw, the industrial camera slider slides in the industrial camera slide rail, moving from one end of the industrial camera slide rail to the other end, thereby realizing the inspection of the part of the pipe facing the radial industrial camera. Step 5: Flip the pipe over. The first servo motor is powered on and drives the rotating shaft to rotate 180 degrees. The rotating shaft drives the first pipe placement seat to rotate. The first pipe placement seat flips the pipe onto the second pipe placement seat. The first servo motor drives the rotating shaft to rotate 180 degrees in the opposite direction, so that the first pipe placement seat moves back to its original position. Step Six: Move the radial industrial camera along the radial industrial camera mounting base to directly above the pipe. Then, turn on the second servo motor to rotate the lead screw again, causing the industrial camera slider to move from one end of the industrial camera slide rail to the other end, thereby enabling the inspection of the other side of the pipe and achieving complete inspection of the pipe.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention proposes a machine vision-based pipe inspection device and method. The device adjusts the position of the pipe mounting plate according to the pipe length, selects and installs suitable first and second pipe placement seats on the pipe base, and then places the pipe in the inner ring of the first pipe placement seat. A radial industrial camera performs a first outer wall inspection, and an axial industrial camera performs inner and outer diameter inspections. The pipe is then flipped using a pipe flipping component, and a radial industrial camera performs a second outer wall inspection. This achieves automated pipe size inspection without manual intervention, enabling rapid batch inspection and meeting the real-time inspection needs of production lines, significantly improving inspection efficiency. Using a high-resolution industrial camera, the coefficient of variation for both outer diameter and wall thickness is less than 0.3%, with a range controlled within 0.06 mm, demonstrating significantly higher measurement accuracy than traditional manual inspection and contact measurement methods. The non-contact machine vision inspection method avoids potential damage to the pipe caused by traditional contact measurements, making it suitable for various surface quality inspections, especially for applications requiring high precision and non-destructive testing. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Schematic diagram of the cross-sectional structure at point AA; Figure 3 for Figure 2 Enlarged schematic diagram of the structure at point B; Figure 4 for Figure 1 Schematic diagram of the cross-sectional structure at the CC section; Figure 5 for Figure 4 Enlarged schematic diagram of the structure at point D; Figure 6 This is a schematic diagram of the pipe flipping assembly structure; Figure 7 for Figure 6 Schematic diagram of the cross-sectional structure at the middle EE section; Figure 8 for Figure 7 Enlarged schematic diagram of the structure at point F; Figure 9 This is a schematic diagram of the structure of the first pipe placement seat; Figure 10 A schematic diagram of the installation state of the first and second pipe placement seats; Figure 11 for Figure 10 Schematic diagram of the cross-sectional structure at the middle GG point; Figure 12 for Figure 11 Enlarged schematic diagram of the structure at point H.

[0016] In the diagram: 1. Frame; 2. Base; 3. Pipe mounting plate; 4. Pipe flipping assembly; 41. Pipe base; 42. First servo motor; 43. Rotating shaft; 44. First pipe placement seat; 45. Second pipe placement seat; 46. First placement seat slide groove; 47. First placement seat slider; 48. First placement seat connector rod mounting groove; 49. First placement seat connector rod; 410. First spring; 411. First lever window; 412. First lever; 413. Second placement seat slide groove; 414. Second placement seat slider; 415. Second placement seat connector rod mounting groove; 416. Second placement seat connector rod. 417. Second placement seat insertion slot; 418. Placement seat screw hole; 419. Placement seat screw; 420. Pipe; 5. Radial industrial camera mounting seat; 6. Radial industrial camera; 7. Stop plate; 8. Axial industrial camera mounting seat; 9. Axial industrial camera; 10. Radial fill light; 11. Industrial camera slide rail; 12. Industrial camera slider; 13. Lead screw hole; 14. Lead screw; 15. Second servo motor; 16. Axial fill light; 17. Mounting plate slide groove; 18. Mounting plate slider; 19. Mounting plate limit rod mounting groove; 20. Mounting plate limit rod; 21. Anti-slip pad; 22. Mounting plate screw hole; 23. Mounting plate screw; 24. Detailed Implementation

[0017] 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.

[0018] Example 1: Please refer to Figures 1 to 12 This invention provides a technical solution: a pipe inspection device based on machine vision, comprising: a frame 1, a base 2 fixed on the frame 1, two sets of pipe mounting plates 3 slidably connected to the base 2, a pipe flipping assembly 4 disposed on the pipe mounting plate 3, a pipe 5 disposed on the pipe flipping assembly 4, a radial industrial camera mounting seat 6 movably connected to the frame 1, a radial industrial camera 7 movably connected to the radial industrial camera mounting seat 6, a stop plate 8 fixed to the top of the base 2, an axial industrial camera mounting seat 9 fixed to the end of the frame 1 away from the stop plate 8, and an axial industrial camera 10 fixed to the axial industrial camera mounting seat 9.

[0019] Adjust the position of the pipe mounting plate 3 according to the pipe length, select and install the appropriate first pipe placement seat 44 and second pipe placement seat 45 on the pipe base 41, then place the pipe 5 in the inner ring of the first pipe placement seat 44, perform the first outer wall inspection of the pipe 5 through the radial industrial camera 7, and perform the inner and outer diameter inspection of the pipe 5 through the axial industrial camera 10. Then, flip the pipe 5 through the pipe flipping assembly 4, and perform the second outer wall inspection of the pipe 5 through the radial industrial camera 7.

[0020] Example 2: Based on Example 1, in order to adjust the position of the pipe mounting plate 3, mounting plate grooves 18 are provided on both symmetrical end faces of the base 2. The pipe mounting plate 3 has an "n"-shaped plate structure. Mounting plate sliders 19 are fixed on the inner sides of both side plates of the pipe mounting plate 3, and the mounting plate sliders 19 are slidably connected in the mounting plate grooves 18. Mounting plate limit rod mounting grooves 20 and mounting plate screw holes 23 are provided on the horizontal plate of the pipe mounting plate 3, and the mounting plate limit rod is installed... Both the groove 20 and the mounting plate screw hole 23 are circular holes. The mounting plate screw 24 is installed in the mounting plate screw hole 23 by threaded connection. The mounting plate limiting rod 21 is movably inserted into the mounting plate limiting rod mounting groove 20. The mounting plate limiting rod 21 is a circular rod with a diameter equal to the inner wall diameter of the mounting plate limiting rod mounting groove 20. The top end of the mounting plate limiting rod 21 is fixed to the bottom end of the mounting plate screw 24, and the bottom end of the mounting plate limiting rod 21 is fixed with an anti-slip pad 22.

[0021] During adjustment, tighten the mounting plate screw 24. Under the threaded connection between the mounting plate screw hole 23 and the mounting plate screw 24, the mounting plate screw 24 moves upward, causing the mounting plate limit rod 21 to move upward, moving the anti-slip pad 22 away from the base 2. Then, the pipe mounting plate 3 can be moved to the desired position. After moving the pipe mounting plate 3 to the desired position, tighten the mounting plate screw 24 in the opposite direction, causing the mounting plate screw 24 to move downward, pressing the anti-slip pad 22 tightly against the top of the base 2. The anti-slip pad 22 generates a large friction force between the anti-slip pad 22 and the base 2, thus making the pipe mounting plate 3 firmly connected to the base 2, preventing accidental movement during the inspection process.

[0022] Example 3: Based on Example 2, in order to realize the installation of the first pipe placement seat 44 and the second pipe placement seat 45, the pipe flipping assembly 4 includes: a pipe base 41, a rotating shaft 43, a first pipe placement seat 44, and a second pipe placement seat 45. A first servo motor 42 is fixed on the pipe base 41, and the drive shaft of the first servo motor 42 is rotatably inserted into the pipe base 41. A rotating shaft 43 is fixed on the drive shaft of the first servo motor 42. The rotating shaft 43 has a circular rod structure, and the first pipe placement seat 44 is movably connected to the rotating shaft 43. The second pipe placement seat 45 is movably connected to the pipe base 41. The first pipe placement seat 44 and the second pipe placement seat 45 are connected to each other. Each of the two pipe placement seats 45 is provided with several sets. Both the first pipe placement seat 44 and the second pipe placement seat 45 are semi-annular plate structures. The outer rings of both the first pipe placement seat 44 and the second pipe placement seat 45 are rectangular, and the inner rings of both are circular. A first placement seat groove 46 is provided on the rotating shaft 43. A first placement seat slider 47 is fixed on the first pipe placement seat 44 and movably inserted into the first placement seat groove 46. A first placement seat insertion rod mounting groove 48 is provided on the rotating shaft 43, and a first placement seat insertion groove 410 is provided on the first placement seat slider 47. The first placement seat insertion rod mounting groove 48... One end of the first placement seat insertion rod 49 is movably inserted into the first placement seat insertion groove 410. A first spring 411 is fixed between the end of the first placement seat insertion rod 49 extending into the first placement seat insertion rod mounting groove 48 and the inner wall of the first placement seat insertion rod mounting groove 48. A first lever window 412 is provided on the rotating shaft 43, and a first lever 413 is slidably connected in the first lever window 412. One end of the first lever 413 extends into the first placement seat insertion rod mounting groove 48 and is fixed to the first placement seat insertion rod 49. A second placement seat sliding groove 414 is provided on the pipe base 41, and the bottom end of the second pipe placement seat 45... A second placement seat slider 415 is fixedly provided and movably inserted into a second placement seat groove 414. A second placement seat insertion rod mounting groove 416 and a placement seat screw hole 419 are provided on the pipe base 41. A second placement seat insertion groove 418 is provided on the second placement seat slider 415. One end of a second placement seat insertion rod 417 is movably inserted into the second placement seat insertion rod mounting groove 416, and the other end of the second placement seat insertion rod 417 is movably inserted into the second placement seat insertion groove 418. A placement seat screw 420 is installed in the placement seat screw hole 419 by threaded connection, and one end of the placement seat screw 420 is fixed in the second placement seat insertion rod 417.

[0023] Move the first lever 413 to fully retract the first placement seat insertion rod 49 into the first placement seat insertion rod mounting groove 48. This compresses the first spring 411, causing the first placement seat slider 47 to insert into the first placement seat sliding groove 46. After insertion, the first placement seat insertion groove 410 aligns with the first placement seat insertion rod mounting groove 48. Then release the first lever 413, and the first spring 411 returns to its original position, pushing one end of the first placement seat insertion rod 49 into the first placement seat insertion groove 410. This limits the first placement seat slider 47 within the first placement seat sliding groove 46, thus achieving the installation of the first pipe placement seat 44 and the rotating shaft 43. Tighten the placement seat screw 420 to... Under the threaded connection between the mounting screw 420 and the mounting screw hole 419, the second mounting plug rod 417 is fully retracted into the second mounting plug rod mounting groove 416. The second mounting slider 415 is inserted into the second mounting groove 414. After insertion, the second mounting plug groove 418 is aligned with the second mounting plug rod mounting groove 416. By twisting the mounting screw 420 in the opposite direction, the mounting screw 420 inserts one end of the second mounting plug rod 417 into the second mounting plug groove 418, thereby limiting the second mounting slider 415 in the second mounting groove 414, thus realizing the installation of the second pipe mounting seat 45 onto the pipe base 41.

[0024] Example 4: Based on Example 3, in order to enable the radial industrial camera mounting base 6 to move, an industrial camera slide rail 12 is fixed to the top of the frame 1, and an industrial camera slider 13 is slidably connected in the industrial camera slide rail 12. The radial industrial camera mounting base 6 has an "n"-shaped plate structure, and the industrial camera slider 13 is fixed to the bottom end of the side rod of the radial industrial camera mounting base 6. A lead screw 15 is rotatably connected to the industrial camera slide rail 12, and a lead screw hole 14 is opened on the industrial camera slider 13. The lead screw 15 is rotatably inserted into the lead screw hole 14, and a threaded connection is provided between the lead screw hole 14 and the lead screw 15. A second servo motor 16 is fixed to one end of the industrial camera slide rail 12, and the drive shaft of the second servo motor 16 is fixed to one end of the lead screw 15.

[0025] The second servo motor 16 is turned on and drives the lead screw 15 to rotate. Under the action of the threaded connection between the lead screw hole 14 and the lead screw 15, the industrial camera slider 13 slides in the industrial camera slide rail 12 and moves from one end of the industrial camera slide rail 12 to the other end. The movement of the industrial camera slider 13 drives the radial industrial camera mounting base 6 to move.

[0026] Example 5: Based on Example 4, in order to achieve the flipping of the pipe 5, a first servo motor 42 is fixed on the pipe base 41, the drive shaft of the first servo motor 42 is rotatably inserted into the pipe base 41, a rotating shaft 43 is fixed on the drive shaft of the first servo motor 42, the rotating shaft 43 has a circular rod structure, a first pipe placement seat 44 is movably connected to the rotating shaft 43, and a second pipe placement seat 45 is movably connected to the pipe base 41.

[0027] When the first servo motor 42 is powered on, it drives the rotating shaft 43 to rotate 180 degrees. The rotating shaft 43 drives the first pipe placement seat 44 to rotate, and the first pipe placement seat 44 flips the pipe 5 onto the second pipe placement seat 45, thus realizing the flipping of the pipe 5.

[0028] Example 6: Based on Example 5, in order to provide supplementary lighting for detection, a radial supplementary light 11 is fixed on the frame 1, and an axial supplementary light 17 is movably inserted into the stop plate 8.

[0029] Radial fill light 11 is fixed on the frame 1, and axial fill light 17 is inserted into the stop plate 8. The stop plate 8 is made of high-transmittance glass, and the light emitted by the axial fill light 17 can pass through the stop plate 8. In addition, external threads are opened on the radial industrial camera 7 and the axial industrial camera 10. A bowl-shaped light source can be installed on the axial industrial camera 10 through the threaded connection. The radial fill light 11, the axial fill light 17 and the bowl-shaped light source can provide supplementary lighting for the detection.

[0030] In actual use, the position of the pipe mounting plate 3 is adjusted according to the pipe length, and a suitable first pipe placement seat 44 and second pipe placement seat 45 are selected and installed on the pipe base 41. Then, the pipe 5 is placed in the inner ring of the first pipe placement seat 44. The outer wall of the pipe 5 is inspected for the first time by the radial industrial camera 7, and the inner and outer diameters of the pipe 5 are inspected by the axial industrial camera 10. Then, the pipe 5 is flipped over by the pipe flipping assembly 4. After flipping, the outer wall of the pipe 5 is inspected for the second time by the radial industrial camera 7.

[0031] 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 pipe inspection device based on machine vision, comprising: The frame (1) is characterized in that: a base (2) is fixed on the frame (1), two sets of pipe mounting plates (3) are slidably connected on the base (2), a pipe flipping assembly (4) is provided on the pipe mounting plate (3), a pipe (5) is provided on the pipe flipping assembly (4), a radial industrial camera mounting seat (6) is movably connected on the frame (1), a radial industrial camera (7) is movably connected on the radial industrial camera mounting seat (6), a stop plate (8) is fixed at the top of the base (2), an axial industrial camera mounting seat (9) is fixed at the end of the frame (1) away from the stop plate (8), and an axial industrial camera (10) is fixed on the axial industrial camera mounting seat (9).

2. The pipe inspection device based on machine vision according to claim 1, characterized in that: The base (2) has mounting plate grooves (18) on both symmetrical end faces. The pipe mounting plate (3) has an "n" shaped plate structure. The inner sides of the two side plates of the pipe mounting plate (3) are fixed with mounting plate sliders (19), which are slidably connected in the mounting plate grooves (18).

3. The pipe inspection device based on machine vision according to claim 2, characterized in that: The pipe mounting plate (3) has a mounting plate limiting rod mounting groove (20) and a mounting plate screw hole (23) on its horizontal plate. Both the mounting plate limiting rod mounting groove (20) and the mounting plate screw hole (23) are round holes. The mounting plate screw (24) is installed in the mounting plate screw hole (23) by threaded connection. The mounting plate limiting rod (21) is movably inserted in the mounting plate limiting rod mounting groove (20). The mounting plate limiting rod (21) is round and its diameter is equal to the inner wall diameter of the mounting plate limiting rod mounting groove (20). The top end of the mounting plate limiting rod (21) is fixed to the bottom end of the mounting plate screw (24). The bottom end of the mounting plate limiting rod (21) is fixed with an anti-slip pad (22).

4. The pipe inspection device based on machine vision according to claim 1, characterized in that: The top of the frame (1) is fixed with an industrial camera slide rail (12), and an industrial camera slider (13) is slidably connected in the industrial camera slide rail (12). The radial industrial camera mounting base (6) has an "n" shaped plate structure, and the industrial camera slider (13) is fixed at the bottom of the side rod of the radial industrial camera mounting base (6).

5. The pipe inspection device based on machine vision according to claim 4, characterized in that: A lead screw (15) is rotatably connected to the industrial camera slide rail (12). A lead screw hole (14) is opened on the industrial camera slider (13). The lead screw (15) is rotatably inserted into the lead screw hole (14). A threaded connection is provided between the lead screw hole (14) and the lead screw (15). A second servo motor (16) is fixed to one end of the industrial camera slide rail (12). The drive shaft of the second servo motor (16) is fixed to one end of the lead screw (15).

6. The pipe inspection device based on machine vision according to claim 1, characterized in that: A radial fill light (11) is fixed on the frame (1), and an axial fill light (17) is movably inserted into the stop plate (8).

7. The pipe inspection device based on machine vision according to claim 1, characterized in that: The pipe flipping assembly (4) includes: a pipe base (41), a rotating shaft (43), a first pipe placement seat (44), and a second pipe placement seat (45). A first servo motor (42) is fixed on the pipe base (41), and the drive shaft of the first servo motor (42) is rotatably inserted into the pipe base (41). A rotating shaft (43) is fixed on the drive shaft of the first servo motor (42). The rotating shaft (43) has a circular rod structure, and a second pipe placement seat (45) is movably connected to the rotating shaft (45). A pipe placement seat (44) is provided, and a second pipe placement seat (45) is movably connected to the pipe base (41). Several sets of the first pipe placement seat (44) and the second pipe placement seat (45) are provided. The first pipe placement seat (44) and the second pipe placement seat (45) are both semi-circular plate structures. The outer rings of the first pipe placement seat (44) and the second pipe placement seat (45) are both rectangular, and the inner rings of the first pipe placement seat (44) and the second pipe placement seat (45) are both circular.

8. The pipe inspection device based on machine vision according to claim 7, characterized in that: The rotating shaft (43) is provided with a first placement seat groove (46), and a first placement seat slider (47) is fixed on the first pipe placement seat (44). The first placement seat slider (47) is movably inserted into the first placement seat groove (46). The rotating shaft (43) is provided with a first placement seat insertion rod mounting groove (48), and a first placement seat insertion groove (410) is provided on the first placement seat slider (47). One end of the first placement seat insertion rod (49) is movably inserted into the first placement seat insertion rod mounting groove (48). The other end of the first placement seat is movably inserted into the first placement seat insertion slot (410). The first placement seat insertion rod (49) is inserted into the first placement seat insertion rod mounting slot (48) and a first spring (411) is fixed between the end of the first placement seat insertion rod (49) and the inner wall of the first placement seat insertion rod mounting slot (48). A first lever window (412) is opened on the rotating shaft (43). A first lever (413) is slidably connected in the first lever window (412). One end of the first lever (413) is inserted into the first placement seat insertion rod mounting slot (48) and fixed on the first placement seat insertion rod (49).

9. A pipe inspection device based on machine vision according to claim 7, characterized in that: The pipe base (41) is provided with a second placement seat groove (414), and the bottom end of the second pipe placement seat (45) is fixed with a second placement seat slider (415). The second placement seat slider (415) is movably inserted into the second placement seat groove (414). The pipe base (41) is provided with a second placement seat insertion rod mounting groove (416) and a placement seat screw hole (419). The second placement seat slider (415) is provided with a second placement seat insertion groove (418). One end of the second placement seat insertion rod (417) is movably inserted into the second placement seat insertion rod mounting groove (416), and the other end of the second placement seat insertion rod (417) is movably inserted into the second placement seat insertion groove (418). A placement seat screw (420) is installed in the placement seat screw hole (419) by threaded connection, and one end of the placement seat screw (420) is fixed in the second placement seat insertion rod (417).

10. A method of using the machine vision-based pipe inspection device according to any one of claims 1-9, characterized in that: The method includes the following steps: Step 1: Adjust the position of the pipe mounting plate (3) according to the length of the pipe (5). When adjusting, screw the mounting plate screw (24). Under the action of the threaded connection between the mounting plate screw hole (23) and the mounting plate screw (24), the mounting plate screw (24) moves upward, which drives the mounting plate limit rod (21) to move upward, so that the anti-slip pad (22) moves away from the base (2). Then you can move the pipe mounting plate (3). After moving the pipe mounting plate (3) to the required position, screw the mounting plate screw (24) in the opposite direction, so that the mounting plate screw (24) moves downward, and the anti-slip pad (22) is pressed on the top of the base (2). Step 2: Select and install a suitable first pipe placement seat (44), move the first lever (413) to make the first placement seat plug rod (49) fully retract into the first placement seat plug rod mounting groove (48), then the first spring (411) is compressed, causing the first placement seat slider (47) to insert into the first placement seat slide groove (46). After insertion, the first placement seat plug groove (410) is aligned with the first placement seat plug rod mounting groove (48). Then release the first lever (413), and the first spring (411) returns to its original state, pushing one end of the first placement seat plug rod (49) into the first placement seat plug groove (410). Step 3: Select and install a suitable second pipe placement seat (45), screw the placement seat screw (420), and under the threaded connection between the placement seat screw (420) and the placement seat screw hole (419), make the second placement seat plug rod (417) fully retract into the second placement seat plug rod mounting groove (416), insert the second placement seat slider (415) into the second placement seat sliding groove (414), and after insertion, the second placement seat plug groove (418) and the second placement seat plug rod mounting groove (416) are aligned. Tighten the placement seat screw (420) in the opposite direction, and the placement seat screw (420) will insert one end of the second placement seat plug rod (417) into the second placement seat plug groove (418); Step 4: Perform the first inspection on the pipe (5). Place the pipe (5) in the inner ring of the first pipe placement seat (44), so that one end of the pipe (5) rests against the stop plate (8). Turn on the axial supplement light (17) and let the light from the axial supplement light (17) shine through the stop plate (8) onto the pipe (5). At the same time, turn on the axial industrial camera (10) to measure and inspect the inner and outer diameters of the pipe (5). Turn on the radial supplement light (11) and move the radial industrial camera (7) so that the radial industrial camera (7) moves along the radial industrial camera mounting position. When the mounting (6) moves to the top of the pipe (5), the radial industrial camera (7) is turned on to inspect the part of the pipe (5) facing the radial industrial camera (7). At the same time, the second servo motor (16) is turned on to drive the lead screw (15) to rotate. Under the action of the threaded connection between the lead screw hole (14) and the lead screw (15), the industrial camera slider (13) slides in the industrial camera slide rail (12) and moves from one end of the industrial camera slide rail (12) to the other end, thereby realizing the inspection of the part of the pipe (5) facing the radial industrial camera (7). Step 5: Flip the pipe (5). The first servo motor (42) is powered on and drives the rotating shaft (43) to rotate 180 degrees. The rotating shaft (43) drives the first pipe placement seat (44) to rotate. The first pipe placement seat (44) flips the pipe (5) onto the second pipe placement seat (45). The first servo motor (42) drives the rotating shaft (43) to rotate 180 degrees in the opposite direction, so that the first pipe placement seat (44) moves back to its original position. Step 6: Move the radial industrial camera (7) so that it moves along the radial industrial camera mounting base (6) to directly above the pipe (5). The second servo motor (16) is turned on and drives the lead screw (15) to rotate again, so that the industrial camera slider (13) moves from one end of the industrial camera slide rail (12) to the other end, thereby realizing the detection of the other side of the pipe (5) and thus realizing the complete detection of the pipe (5).

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