Automatic detection method for full coverage of inner wall of variable-diameter steel pipe

Abstract

The invention discloses a variable-diameter steel pipe inner wall full-coverage automatic detection method, which comprises the following steps: adjusting each camera on a camera module to an initial site after a pipe climbing device enters a pipe, shooting the inner wall of a variable-diameter steel pipe by the camera module in the process that the pipe climbing device moves back and forth along the pipe, and adjusting each camera site of the camera module in the shooting process, and 360-degree shooting of the inner wall of the reducing steel pipe is completed. According to the invention, the detection requirements of different pipe diameters in the large-pipe-diameter steel pipe can be met, the detection precision and the detection speed can be ensured while the stability is ensured, and the 360-degree full-coverage full-automatic detection requirements of the inner wall of the pipe are met.

Description

Technical Field

[0001] This invention relates to the field of steel pipe inner wall inspection, and more specifically, to an automatic inspection method for full coverage of the inner wall of variable diameter steel pipes, which is particularly suitable for the inspection of surface defects on the inner wall of large diameter steel pipes. Background Technology

[0002] Large-diameter steel pipes are mainly used for high-pressure transportation of natural gas, oil, and other substances. Their applications are extensive, extending beyond long-distance high-pressure oil and gas pipelines to include the transport of ores, grains, oil, and coal using gas or liquid as propulsion. In engineering construction, they are used in submarine tunnels, submarine piling, breakwaters, and offshore oil platforms. In other fields, they are used in high-pressure vessels and machine casings. During the rolling, forming, and welding processes of raw materials, defects such as folds, peeling, scratches, and dents are easily generated. Currently, the surface quality inspection of steel pipes relies entirely on manual visual inspection. This method primarily relies on the inspector's naked eye observation, supplemented by flashlights or high-intensity lights when necessary. For the inner wall surface quality inspection, inspectors need to use a sliding trolley to drill into the pipe for visual inspection. The smallest outer diameter of the produced steel pipes can reach 508mm; for such small-diameter pipes, visual inspection of the inner surface through drilling is extremely difficult. Manual visual inspection is a labor-intensive method that demands a high level of experience and work ethic from inspectors. Each steel pipe requires visual inspection, but the varying skill levels of different inspectors, coupled with the heavy workload and potential fatigue, lead to inconsistent detection rates of surface defects and a significant risk of missed defects. Currently, this traditional method of manual visual inspection is severely impacting steel pipe production efficiency and finished product quality, necessitating the addition of specialized equipment for detecting internal surface defects in finished products.

[0003] Due to the limited space, high speed, and high precision of defect detection, the requirements for the detection system are very high. It is crucial to ensure the production rhythm while rationally arranging the detection equipment in a confined space and coordinating it with a reasonable and scientific detection process.

[0004] Currently, among the technologies for visual inspection of defects in pipe inner walls, scanning imaging technology can complete the identification of defects in pipe inner walls, but there is little research on full coverage, high precision, automation, and how to ensure stability.

[0005] Chinese patent application CN102323274A discloses a method and system for detecting the inner wall of steel pipes based on panoramic imaging technology. This method can locate defects in steel pipes and accurately reproduce the condition of the inner wall. However, this technology is mainly applicable to relatively small pipe diameters and relies on internal monitoring and manual external observation. It cannot achieve large-diameter pipes or fully automated and stable detection, nor can it be fully automated. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide an automatic detection method for the full coverage of the inner wall of variable-diameter steel pipes. This method can meet the production schedule while adapting to the requirements of highly stable and full-coverage imaging detection of the inner wall of steel pipes with different diameters, and quickly achieve 360-degree full-coverage fully automatic detection of the inner wall of steel pipes.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] This invention provides an automatic detection method for the full coverage of the inner wall of a variable diameter steel pipe, comprising the following steps:

[0009] S1, After the climbing device enters the pipe, adjust each camera on the camera module to the initial position;

[0010] S2, after the camera module is adjusted to the correct position, the camera is triggered to take pictures. The pipe climbing device moves back and forth in units of its own length. The pipe climbing device moves forward to the beginning of the pipe and adjusts the camera module to complete the picture of the beginning of the pipe.

[0011] S3, after the camera module is adjusted to the correct position, the pipe climbing device moves from the beginning of the pipe to the end of the pipe to complete the shooting from the beginning to the end of the pipe;

[0012] S4. After the pipe climbing device reaches the end of the pipe, it returns to its own length and then moves to the end of the pipe, and adjusts the camera module to complete the shooting at the end of the pipe.

[0013] S5, after the camera module is adjusted to the correct position, the climbing device returns to the beginning of the pipe to complete the shooting from the end of the pipe to the beginning of the pipe;

[0014] S6, after the camera module completes 360° imaging of the inner wall of the variable diameter steel pipe, the pipe climbing device returns to its position.

[0015] Preferably, the process of step S1 is as follows:

[0016] S11, the pipe climbing device starts after receiving the pipe entry signal, and at the same time, the reel of the pipe climbing device follows the movement of the pipe climbing device in a follow-up manner.

[0017] S12, after the pipe climbing device advances to 1 / 2 of its own length and enters the pipe and unfolds into place, the pipe climbing device is fully entered into the pipe and in place;

[0018] S13, each camera on the camera module rotates to be evenly distributed around the steel pipe axis in a 360° rotation, and each camera on the camera module reaches its initial position.

[0019] Preferably, the process of step S2 is as follows:

[0020] S21, the controller of the pipe climbing device sends a signal to the camera module to trigger the camera to take pictures, and the reel follows the movement of the pipe climbing device.

[0021] S22, the pipe-climbing device advances to its own length and enters the position;

[0022] S23, the three cameras at the rear of the camera module rotate 30° counterclockwise;

[0023] S24, after the camera module is adjusted to the correct position, the pipe climbing device retracts to the beginning of the pipe and is in position, and then the camera module completes the shooting at the beginning of the pipe.

[0024] Preferably, the process of step S3 is as follows:

[0025] S31, after completing the shooting at the beginning of the pipe, the three cameras at the rear of the camera module rotate 30° counterclockwise.

[0026] S32, after the camera module is adjusted to the correct position, the pipe climbing device moves from the beginning of the pipe to the end of the pipe and then takes position. The camera module then completes the shooting from the beginning to the end of the pipe.

[0027] Preferably, the process of step S4 is as follows:

[0028] S41, after the pipe climbing device reaches the end of the pipe, the three cameras at the front end and the three cameras at the rear end of the camera module all rotate 30° counterclockwise.

[0029] S42, after the camera module is adjusted to the correct position, the climbing device returns to its own length and is in position;

[0030] S43, the three cameras at the front of the camera module rotate 30° counterclockwise;

[0031] S44, after the camera module is adjusted to the correct position, the pipe climbing device moves to the end of the pipe and is in position, and then the camera module completes the shooting at the end of the pipe.

[0032] Preferably, step S5 is as follows:

[0033] S51, after completing the shooting at the end of the pipe, the three cameras at the front of the camera module rotate 30° counterclockwise.

[0034] S52, after the camera module is adjusted to the correct position, the pipe climbing device returns to the beginning of the pipe and is in position, completing the shooting from the end of the pipe to the beginning of the pipe.

[0035] Preferably, step S6 is as follows:

[0036] S61, after the camera module completes 360° shooting of the inner wall of the variable diameter steel pipe, the controller of the pipe climbing device sends a signal to the camera module to stop shooting.

[0037] S62, after the pipe climbing device retracts to 95% of its initial deployment and is in position, the pipe climbing device exits the pipe and enters the guide groove of the auxiliary equipment;

[0038] S63, the pipe climbing device stops after returning to the beginning of the pipe, the auxiliary equipment guide groove extends a stop block to lock the pipe climbing device, and the pipe climbing device retracts to the initial position.

[0039] Preferably, during steps S1 to S6:

[0040] After the climbing device has reached its position, the climbing device's attitude is detected using an angle sensor.

[0041] When the deflection angle of the climbing device exceeds 2°, the camera rotation mechanism adjusts the deflection angle; otherwise, it maintains the angular position.

[0042] Preferably, during steps S1 to S6:

[0043] During the adjustment process of the camera module, the encoder detects whether the camera has been adjusted to the correct position.

[0044] The beneficial effects of this invention are as follows:

[0045] 1. In response to the adaptive detection requirements of 2D / 3D online detection systems for defects on the inner surface of variable-diameter large pipes, the automatic detection method for full coverage of the inner wall of variable-diameter steel pipes of the present invention can meet the production rhythm while adapting to the requirements of highly stable and full-coverage imaging detection inside different pipe diameters, and quickly realize the evaluation of the performance of the detection system. It has achieved good results in actual testing.

[0046] 2. This invention can meet the testing requirements of different pipe diameters inside large-diameter steel pipes. While ensuring stability, it can also guarantee the accuracy and speed of testing, achieving 360-degree full coverage and fully automatic testing of the inner wall of the pipe. Attached Figure Description

[0047] Figure 1 This is a flowchart illustrating the automatic detection method for the inner wall of variable diameter steel pipes that fully covers the pipes according to the present invention.

[0048] Figure 2 This is a control flowchart of the pipe climbing device of the present invention for pipe entry;

[0049] Figure 3 This is a control flowchart of the pipe climbing device of the present invention for completing the shooting at the beginning of the pipe;

[0050] Figure 4 This is a control flowchart of the pipe climbing device of the present invention, taken from the beginning to the end of the pipe.

[0051] Figure 5This is a control flowchart of the pipe-climbing device of the present invention for taking pictures at the end of the pipe;

[0052] Figure 6 This is a control flowchart of the pipe climbing device of the present invention, taken from the end of the pipe to the beginning of the pipe;

[0053] Figure 7 This is a control flowchart of the pipe climbing device returning to its original position according to the present invention;

[0054] Figure 8 This is a schematic diagram of the configuration of each camera on the climbing device of the present invention;

[0055] Figure 9 This is a schematic diagram of the camera module of the pipe-climbing device of the present invention. Detailed Implementation

[0056] To better understand the above-mentioned technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0057] This invention addresses the adaptive detection requirements of 2D / 3D online detection systems for internal surface defects in variable-diameter large pipes. It proposes an automatic detection method for full coverage of the inner wall of variable-diameter steel pipes, which can meet the production schedule while adapting to the requirements of highly stable and full-coverage imaging detection inside different pipe diameters. It also enables rapid evaluation of the detection system's performance and has achieved good results in actual testing.

[0058] This invention provides an automatic detection method for the full coverage of the inner wall of a variable-diameter steel pipe, mainly utilizing a pipe-climbing device. This device includes a controller, camera module, tripod support, motor and driver, walking mechanism, tilt sensor, and encoder. The device is also equipped with auxiliary equipment and a reel. The auxiliary equipment includes a PLC controller, a three-degree-of-freedom adjustment mechanism, guide grooves, and stops. Combined with... Figure 1 The camera module of the pipe-climbing device shown consists of a 3D camera 1, a TOF photoelectric switch 2, and a gimbal 3. The three cameras form a group, and each camera is responsible for capturing a 30° area inside the pipe. Six cameras are arranged at the front and rear of the pipe-climbing device to capture a 180° area. The positions of the three front cameras and the three rear cameras can be adjusted through the camera rotation mechanism. During the process of the pipe-climbing device moving from the beginning to the end of the pipe, it completes the capture of a 180° area inside the pipe wall. During the return process, the positions of each camera are rotated to complete the capture of another 180° area inside the pipe wall. Thus, the task of capturing the entire inner wall of the pipe is completed.

[0059] When the pipe climbing device is used to inspect the inner wall of the pipe, in order to demonstrate the visualization and accuracy of its 360-degree panoramic shooting function, an experiment is conducted using a rotation process. The cross-section of the steel pipe is set with 12 points similar to a clock, with a total of six camera positions. Each camera rotates 30 degrees each time. Following a certain workflow, 360° panoramic shooting can be completed. Rotating the positions of the two sets of cameras back and forth for a period of time, based on the length of the pipe climbing device itself, completes the shooting of the blind areas at both ends. It is necessary to follow the established process to avoid missing any shots.

[0060] This invention provides an automatic detection method for the full coverage of the inner wall of a variable diameter steel pipe, comprising the following steps:

[0061] S1, After the climbing device enters the pipe, adjust each camera on the camera module to the initial position;

[0062] Combination Figure 2 As shown, this process is the pipe entry process of the pipe climbing device, and the specific process is as follows:

[0063] S11, the pipe climbing device starts after receiving the pipe entry signal, and at the same time, the reel of the pipe climbing device follows the movement of the pipe climbing device in a follow-up manner.

[0064] After receiving the pipe entry signal from the auxiliary equipment, the pipe climbing device starts. At the same time, the auxiliary equipment sends a start signal to the reel. The reel of the pipe climbing device follows the pipe climbing device in a follow-up manner, which can minimize the impact of the dragging friction.

[0065] S12, after the pipe climbing device advances to 1 / 2 of its own length and enters the pipe and unfolds into place, the pipe climbing device is fully entered into the pipe and in place;

[0066] Because errors in the pipeline manufacturing process may prevent the pipe-climbing device from entering the pipeline even after unfolding the wheel system according to the predetermined pipe diameter, the device first unfolds to 80% of the required displacement. This step is performed during the pre-start preparation. After the pipe-climbing device is halfway into the pipeline and in position, a "halfway in" signal is sent to the auxiliary equipment, along with a stop signal to the reel. The X-axis of the three-degree-of-freedom adjustment mechanism of the auxiliary equipment needs to be adjusted to 100% unfolding. After a 0.5-second delay, the pipe-climbing device then unfolds to 100% of the required displacement. Once the pipe-climbing device is fully inside the pipeline, the two TOF photoelectric switches at the rear of the device output a high level to confirm that the device is in position.

[0067] S13, each camera on the camera module rotates to be evenly distributed around the steel pipe axis in 360°, and each camera on the camera module reaches its initial position;

[0068] Each camera on the camera module is rotated to be evenly distributed around the steel pipe axis in a 360° rotation. Each camera reaches its initial position. In a specific embodiment, the positions of the three rear cameras are (12, 4, 8), and the positions of the three front cameras are (1, 5, 9).

[0069] S2, after the camera module is adjusted to the correct position, the camera is triggered to take pictures. The pipe climbing device moves back and forth in units of its own length and adjusts the camera module to complete the picture of the beginning of the pipe.

[0070] Combination Figure 3 As shown, this process involves filming the beginning of the pipeline. The specific steps are as follows:

[0071] S21, the controller of the pipe climbing device sends a signal to the camera module to trigger the camera to take pictures, and the reel follows the movement of the pipe climbing device.

[0072] Because the climbing device cannot capture images of both ends of the pipe due to its own length, it needs to take an extra round trip from the beginning to the end of the pipe, using its own length as a reference. After the climbing device is fully inside the pipe and the camera module is adjusted to the initial position, the controller of the climbing device sends a signal to the camera module to trigger the camera to take pictures. At the same time, the controller sends a start detection flag to the auxiliary equipment and sends a forward signal to the reel, which follows the movement of the climbing device.

[0073] S22, the climbing device advances to its own length (e.g., 1.5m) and enters its position;

[0074] S23, the three cameras at the rear of the camera module are rotated 30° counterclockwise to position (1, 5, 9);

[0075] S24, after the camera module is adjusted to the correct position, the pipe climbing device retracts to the beginning of the pipe and is in position, and then the camera module completes the shooting at the beginning of the pipe.

[0076] After the camera module is adjusted into position, the pipe-climbing device retreats to the beginning of the pipe. The TOF photoelectric switch at the rear of the pipe-climbing device outputs a high level to confirm that the device is in position, and the camera module completes the imaging at the beginning of the pipe. During this process, the pipe-climbing device must send start detection flags, end detection status, camera rotation status, and pipe-climbing device start-up status information to the PLC so that the PLC can send start and stop signals to the reel and monitor the operating status of the pipe-climbing device.

[0077] S3, after the camera module is adjusted to the correct position, the pipe climbing device moves from the beginning of the pipe to the end of the pipe to complete the shooting from the beginning to the end of the pipe;

[0078] Combination Figure 4 As shown, this process involves filming from the beginning to the end of the pipe. The specific process is as follows:

[0079] S31, after completing the shooting at the beginning of the pipeline, the three cameras at the rear of the camera module rotate 30° counterclockwise to positions (2, 6, 10), while the three cameras at the front remain at positions (1, 5, 9); during the adjustment of the camera module, the camera rotation status information is sent to the auxiliary equipment;

[0080] S32, after the camera module is adjusted to the correct position, the pipe climbing device moves from the beginning of the pipe to the end of the pipe and then takes position. The camera module then completes the shooting from the beginning to the end of the pipe.

[0081] After the camera module is positioned, the pipe-climbing device moves from the beginning to the end of the pipe. A high-level output from the TOF photoelectric switch at the front end of the device confirms its positioning, and the camera module completes the imaging from the beginning to the end of the pipe. Once the camera module is in position, it sends a status message to the auxiliary equipment and a forward signal to the reel, which then follows the movement of the pipe-climbing device. After the device has moved from the beginning to the end of the pipe, its control system sends a stop message to the auxiliary equipment and a stop signal to the reel.

[0082] S4. After the pipe climbing device reaches the end of the pipe, it returns to its own length and then moves to the end of the pipe, and adjusts the camera module to complete the shooting at the end of the pipe.

[0083] Combination Figure 5 As shown, this process involves filming the end of the pipe. The specific steps are as follows:

[0084] S41, after the pipe-climbing device reaches the end of the pipe, the three cameras at the front end and the three cameras at the rear end of the camera module all rotate 30° counterclockwise. At this time, the three front-end cameras are at positions (2, 6, 10), and the three rear-end cameras are at positions (3, 7, 11). When the camera module is adjusted, the camera rotation status information is sent to the auxiliary equipment as a retraction signal.

[0085] S42, after the camera module is adjusted to the correct position, the climbing device returns to its own length and is in position;

[0086] After the camera module is adjusted to its correct position, the climbing device returns to its original length, and the two TOF photoelectric switches at the rear of the climbing device output a high level to confirm that the climbing device is in position. After the camera module is adjusted to its correct position, a start status information is sent to the auxiliary equipment, and a forward signal is given to the reel, causing the reel to follow the climbing device's movement. After the climbing device returns to its original length, a stop information is sent to the auxiliary equipment, giving the cable reel a stop signal.

[0087] S43, the three cameras at the front of the camera module rotate 30° counterclockwise to position (3,7,11). After the camera module is adjusted into position, the start status information is sent to the auxiliary equipment, and the reel advance signal is given.

[0088] S44, after the camera module is adjusted to the correct position, the pipe climbing device moves to the end of the pipe and is in position, and then the camera module completes the shooting at the end of the pipe.

[0089] After the camera module is adjusted into position, the pipe-climbing device moves to the end of the pipe. The TOF photoelectric switch at the front end of the pipe-climbing device outputs a high level to confirm that the pipe-climbing device is in position, and the camera module completes the shooting at the end of the pipe.

[0090] After the pipe-climbing device reaches the end of the pipe and is in position, it sends a stop message to the auxiliary equipment and sends a stop signal to the reel.

[0091] S5, after the camera module is adjusted to the correct position, the climbing device returns to the beginning of the pipe to complete the shooting from the end of the pipe to the beginning of the pipe;

[0092] Combination Figure 6 As shown, this process involves filming from the end of the pipe to the beginning of the pipe. The specific process is as follows:

[0093] S51, after completing the shooting at the end of the pipe, the three cameras at the front of the camera module rotate 30° counterclockwise to the (2,6,10) position; while the camera module is being adjusted, the camera rotation status information is sent to the auxiliary equipment;

[0094] S52, after the camera module is adjusted to the correct position, the pipe climbing device returns to the beginning of the pipe and is in position, completing the shooting from the end of the pipe to the beginning of the pipe.

[0095] After the camera module is adjusted into position, the climbing device returns to the beginning of the pipe. The TOF photoelectric switch at the front end of the climbing device outputs a high level to confirm that the climbing device is in position, thus completing the shooting from the end of the pipe to the beginning of the pipe.

[0096] After the camera module is adjusted to the correct position, the startup status information is sent to the auxiliary equipment, and a reel back signal is given.

[0097] S6, after the camera module completes 360° imaging of the inner wall of the variable diameter steel pipe, the pipe climbing device returns to its position.

[0098] Combination Figure 7 As shown, this step is the repositioning process of the pipe climbing device, as detailed below:

[0099] S61, after the camera module completes 360° imaging of the inner wall of the variable diameter steel pipe, the controller of the pipe climbing device sends a signal to the camera module to stop imaging; at the same time, the controller sends a stop detection flag to the auxiliary equipment, and sends a stop signal to the reel after the camera module stops imaging.

[0100] S62, after the pipe climbing device retracts to 95% of its initial deployment and is in position, the pipe climbing device exits the pipe and enters the guide groove of the auxiliary equipment;

[0101] After the camera module stops shooting, the PLC of the auxiliary equipment sends a retraction command to the pipe climbing device controller. After the pipe climbing device retracts to 95% of its initial unfolded amount and is in position, the PLC of the auxiliary equipment sends a pipe exit command to the pipe climbing device controller. The pipe climbing device exits the pipe. When the TFC photoelectric switch outputs a high level, the pipe climbing device enters the guide groove of the auxiliary equipment.

[0102] After the PLC of the auxiliary equipment sends the pipe delivery command to the pipe climbing device controller, it sends a reel retraction signal.

[0103] S63, the pipe climbing device stops after returning to the beginning of the pipe, the auxiliary equipment guide groove extends a stop block to lock the pipe climbing device, and the pipe climbing device retracts to the initial position.

[0104] When the pipe climbing device returns to the beginning of the pipe, and the TFC photoelectric switch outputs a high level, the auxiliary equipment PLC sends a command to the controller of the pipe climbing device and sends a stop signal to the reel. The guide groove of the auxiliary equipment extends a stop block to lock the pipe climbing device, and the pipe climbing device retracts to its initial position.

[0105] During the above process, after the climbing device reaches its designated position, an tilt sensor detects its attitude. If the deflection angle exceeds 2°, the camera rotation mechanism adjusts the deflection angle; otherwise, it maintains the angular position. Additionally, to ensure each camera in the camera module is properly adjusted, after each camera rotates, an encoder detects the rotation angle of the camera pan-tilt unit to determine if the camera is correctly positioned.

[0106] Example

[0107] Combination Figure 8 As shown in the figure, the automatic detection method for full coverage of the inner wall of the variable diameter steel pipe in this embodiment is as follows:

[0108] (1) Adjustment of the climbing device posture: The triangular support of the climbing device is deployed. The force between the wheels of the walking mechanism and the inner wall determines whether the climbing device is fully deployed, ensuring that the three cameras at the front and rear are evenly distributed around the steel pipe axis in 360 degrees and that the cameras reach the set initial position.

[0109] (2) Movement of the pipe climbing device: The pipe climbing device moves back and forth along the pipe, and the camera starts taking pictures;

[0110] (3) The movement process inside the pipe of the pipe climbing device is as follows:

[0111] a. The robot moves to the starting position, with head cameras at positions 1, 5, and 9; and tail cameras at positions 12, 4, and 8. (See below) Figure 8 As shown in Type 1.

[0112] b. The climbing device advances its own length, capturing images of positions 12, 4, and 8 at the rear, at a speed of 300 mm / s, for approximately 5 seconds. The climbing device itself is 1431 mm long. After reaching the target position, the three rear cameras rotate to positions 1, 5, and 9. (See below) Figure 8 As shown in Type 2.

[0113] c. The climbing device retracts its own length and begins to return to its original length, taking images of positions 1, 5, and 9 at the tail. After reaching the target position, the three tail cameras rotate 30 degrees to positions 2, 6, and 10 o'clock. (See below) Figure 8 As shown in Type 3.

[0114] d. The climbing device advances to the terminal and performs 90-degree shots at the beginning, 180-degree shots in the middle, and 90-degree shots at the end. Upon reaching the terminal, the head camera and the tail camera rotate simultaneously. The head camera positions are 2, 6, and 10, and the tail camera positions are 3, 7, and 11. (See below) Figure 8 As shown in Type 4.

[0115] e. The climbing device retracts its own length, taking images from head cameras at positions 2, 6, and 10. Upon reaching the target position, the head cameras rotate to positions 3, 7, and 11. (See below) Figure 8 As shown in Type 5.

[0116] f. The climbing device advances to the terminal and captures images from head cameras at positions 3, 7, and 11. After reaching the target position, the head cameras rotate to positions 12, 4, and 8. (See below) Figure 8 As shown in Type 6.

[0117] g. The climbing device returns to the starting point and performs 90-degree shots at the beginning, 180-degree shots in the middle, and 90-degree shots at the end. After reaching the target position, the cameras reset to positions 1, 5, and 9 for the head cameras and positions 12, 4, and 8 for the tail cameras. See below. Figure 8 As shown in Type 6.

[0118] The working principle of blind spot coverage detection in the above process is as follows:

[0119] 1) After the pipe climbing device moves to the beginning and end of the pipe, it completes 180° shooting in the middle and 90° shooting at both ends;

[0120] 2) The camera rotates 30° and travels back and forth along the length of the climbing device to complete a 180° shot at the terminal. The shooting task is completed by the three cameras at the front end.

[0121] 3) The camera rotates 30°, and the pipe-climbing device travels from the end of the pipe to the beginning of the pipe to complete the 180° shot in the middle and the 90° shots at both ends;

[0122] 4) The camera rotates 30° and travels back and forth along the length of the climbing device to complete a 180° shot at the beginning of the pipe. The shooting task is completed by three cameras at the rear.

[0123] In summary, by using the method of the present invention, the detection requirements of different pipe diameters inside large-diameter steel pipes can be met, ensuring stability while guaranteeing detection accuracy and speed, and achieving 360-degree full coverage and fully automatic detection of the inner wall of the pipe.

[0124] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any variations or modifications to the above embodiments that are within the spirit and essence of the present invention will fall within the scope of the claims of the present invention.

Claims

1. A method for automatically detecting full coverage of the inner wall of a variable-diameter steel pipe, characterized by, The method comprises the following steps: S1, after the pipe climbing device enters the pipe, adjusting each camera on the camera module to the initial position; S2, after the camera module is adjusted to the position, triggering the camera to shoot, the pipe climbing device performs the to-and-fro action in the unit of the length of the pipe climbing device, the pipe climbing device advances to the starting end of the pipe, and the camera module is adjusted, so that the shooting of the starting end of the pipe is completed; S3, after the camera module is adjusted to the position, the pipe climbing device travels from the starting end of the pipe to the ending end of the pipe, so that the shooting from the starting end of the pipe to the ending end of the pipe is completed; S4, after the pipe climbing device reaches the ending end of the pipe, the pipe climbing device returns to the length of the pipe climbing device, then advances to the ending end of the pipe, and the camera module is adjusted, so that the shooting of the ending end of the pipe is completed; S5, after the camera module is adjusted to the position, the pipe climbing device returns to the starting end of the pipe, so that the shooting from the ending end of the pipe to the starting end of the pipe is completed; S6, after the camera module completes the 360° shooting of the inner wall of the variable-diameter steel pipe, the pipe climbing device is returned to the initial position.

2. The automatic detection method for full coverage of the inner wall of a variable-diameter steel pipe according to claim 1, characterized in that: The process of the step S1 is as follows: S11, after the pipe climbing device receives the signal of entering the pipe, the pipe climbing device is started, and the reel of the pipe climbing device follows the action of the pipe climbing device in a follow-up mode; S12, after the pipe climbing device advances to the length of 1 / 2 of the pipe climbing device, enters the pipe, and is unfolded to the position, the pipe climbing device completely enters the pipe and is advanced to the position in the pipe; S13, each camera on the camera module is rotated to be uniformly distributed around the axis of the steel pipe by 360°, and each camera on the camera module reaches the initial position.

3. The automatic detection method for full coverage of the inner wall of a variable-diameter steel pipe according to claim 1, characterized in that: The process of the step S2 is as follows: S21, the controller of the pipe climbing device sends a signal to the camera module, triggers the camera to shoot, and the reel follows the action of the pipe climbing device; S22, the pipe climbing device advances to the length of the pipe climbing device and is positioned; S23, the three cameras at the rear end of the camera module are counterclockwise rotated by 30°; S24, after the camera module is adjusted to the position, the pipe climbing device is retreated to the starting end of the pipe and is positioned, and the camera module completes the shooting of the starting end of the pipe.

4. The automatic detection method for full coverage of the inner wall of a variable-diameter steel pipe according to claim 1, characterized in that: The process of the step S3 is as follows: S31, after the shooting of the starting end of the pipe is completed, the three cameras at the rear end of the camera module are counterclockwise rotated by 30°; S32, after the camera module is adjusted to the position, the pipe climbing device travels from the starting end of the pipe to the ending end of the pipe and is positioned, and the camera module completes the shooting from the starting end of the pipe to the ending end of the pipe.

5. The automatic detection method for full coverage of the inner wall of the variable-diameter steel pipe according to claim 1, characterized in that: The process of the step S4 is as follows: S41, after the pipe climbing device reaches the ending end of the pipe, the three cameras at the front end of the camera module and the three cameras at the rear end of the camera module are counterclockwise rotated by 30°; S42, after the camera module is adjusted to the position, the pipe climbing device returns to the length of the pipe climbing device and is positioned; S43, the three cameras at the front end of the camera module are counterclockwise rotated by 30°; S44, after the camera module is adjusted to the position, the pipe climbing device travels to the ending end of the pipe and is positioned, and the camera module completes the shooting of the ending end of the pipe.

6. The automatic detection method for full coverage of the inner wall of a variable-diameter steel pipe according to claim 1, characterized in that: The process of the step S5 is as follows: S51, after the shooting of the ending end of the pipe is completed, the three cameras at the front end of the camera module are counterclockwise rotated by 30°; S52, after the camera module is adjusted to the position, the pipe climbing device returns to the starting end of the pipe and is positioned, so that the shooting from the ending end of the pipe to the starting end of the pipe is completed.

7. The automatic detection method for full coverage of the inner wall of a variable-diameter steel pipe according to claim 1, characterized in that: The process of the step S6 is as follows: S61, after the camera module completes the 360° shooting of the inner wall of the variable-diameter steel pipe, the controller of the pipe climbing device sends a signal to the camera module to stop shooting; S62, after the pipe climbing device is retracted to 95% of the initial unfolding amount and is positioned, the pipe climbing device exits the pipe and enters the guide groove of the auxiliary equipment. S63, the pipe climbing device stops after returning to the starting end of the pipe, the auxiliary equipment guide slot extends the stopper to lock the pipe climbing device, and the pipe climbing device is retracted to the initial position.

8. The automatic detection method for full coverage of the inner wall of a variable-diameter steel pipe according to any one of claims 1 to 7, characterized in that: During the steps S1 to S6: After the pipe climbing device is in place, the inclination sensor is used to detect the running posture of the pipe climbing device; When the deflection angle of the pipe climbing device exceeds 2°, the camera rotating mechanism adjusts the deflection angle, otherwise the angle position is maintained.

9. The automatic detection method for full coverage of the inner wall of a variable-diameter steel pipe according to any one of claims 1 to 7, characterized in that: During the steps S1 to S6: During the adjustment of the camera module, the encoder is used to detect whether the camera is adjusted to the position.

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