Vision-based in-pipe defect detection device

Abstract

The invention belongs to the field of pipeline detection devices, and discloses a vision-based in-pipe defect detection device, which is characterized in that a first repeater body and a plurality of second repeater bodies are arranged; a control end of a worker on the ground can perform signal transmission with the second repeater bodies, the first repeater body and the control module in sequence through wireless signals, so that the control module controls a walking assembly on a lower vehicle body to move or receives data from a detector and a rear-view camera. According to the invention, the second repeater bodies are arranged at intervals, so that the device can detect the length of a pipeline of about hundreds of meters, and a winder and a cable do not need to be carried, that is, compared with a data transmission mode of the cable, the scheme is more convenient to use and easier to carry during long-distance detection.

Description

Technical Field

[0001] This invention belongs to the technical field of pipeline inspection devices, specifically relating to a vision-based device for detecting internal defects in pipes. Background Technology

[0002] Drainage pipe networks are a vital infrastructure for urban operations, primarily ensuring basic public needs by collecting and discharging rainwater and sewage, thus maintaining environmental sanitation. However, with daily use and external factors such as settlement and vibration, pipes may suffer damage or breakage, causing sewage and rainwater to overflow and impacting the roadbed beneath the buried pipes. While non-destructive testing equipment can detect pipe damage on the ground, it remains difficult to accurately assess the extent of the damage, often requiring visual inspection through excavation. To accurately locate pipe damage and minimize excavation, detection vehicles are typically placed inside the pipes at locations such as storm drains. These vehicles move around, probing the pipes to confirm the actual defects, minimizing damage to the road surface and ground, and reducing excavation work.

[0003] Existing probe vehicles typically have cables connected to their rear ends, and cable reels and mobile power supplies are installed on the ground. These cables transmit power, control signals, and video signals between the probe vehicle and ground control equipment, enabling wired control of the probe vehicle to move a considerable distance within the pipeline.

[0004] However, the location of the rainwater inlet may be far from the pipe defect, requiring a long cable, which is inconvenient to carry and the cable winding and unwinding process is cumbersome. In addition, the cable will be contaminated and corroded when it hangs in the pipe, and the cable needs to be wound and cleaned at the same time during the recovery process, which makes the operation more complicated and labor-intensive, and not conducive to practical use. Summary of the Invention

[0005] The present invention aims to provide a vision-based device for detecting defects inside pipes, in order to solve the problem mentioned above that long cables are inconvenient to carry, recycle and use.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a vision-based pipe defect detection device, comprising... The inspection vehicle includes a lower body, an upper compartment, detectors, and a rear-view camera. The side wall of the lower body is equipped with a walking component, and the lower body contains a control module and a first mobile power supply. The upper compartment is installed on the lower body, the detector is installed on the outer wall of the upper compartment, and the rear-view camera is installed on the side of the upper compartment away from the detector. The signal extension mechanism includes a mounting box, a first repeater body, a second repeater body, and an emission unit. The mounting box is fixed inside the upper compartment. The end of the mounting box away from the detector has an opening. The first repeater body is fixed inside the mounting box. Multiple second repeater bodies are movably arranged inside the mounting box. The emission unit is used to control the second repeater bodies to detach from the mounting box from the opening. A second mobile power supply is provided inside both the first repeater body and the second repeater bodies. The support assembly includes a first electric telescopic rod and a pressure block. The first electric telescopic rod is installed on the second repeater body, and the pressure block is fixed to the end of the first electric telescopic rod. The auxiliary mechanism consists of two sets symmetrically arranged around the upper carriage, and the auxiliary mechanism can abut against the inner wall of the pipeline.

[0007] The principle and effects of this technical solution: 1. By using a first repeater and multiple second repeater units, the control unit of the ground personnel can wirelessly transmit signals sequentially to the multiple second repeater units, the first repeater unit, and the control module. The control module then controls the movement of the vehicle's traveling components or receives data from detectors and rear-view cameras. By deploying multiple second repeater units at intervals, the device can detect pipe lengths of up to hundreds of meters without requiring cable reels or cables. Compared to cable-based data transmission, this solution is more convenient and easier to carry for long-distance detection. Furthermore, the wireless transmission method allows the detection vehicle to travel greater distances while avoiding... 2. By installing first electric telescopic rods on the upper and lower sides of the second repeater body, the second repeater body located at the opening can move the pressure block through the first electric telescopic rods on both sides, so that the pressure block on the upper and lower sides abuts against the upper and lower inner walls of the pipe respectively. At this time, the second repeater body is stable inside the pipe. Then, the limiting effect of the emission unit on the second repeater body located at the opening is released. At this time, the detection vehicle body continues to move forward, and the second repeater body separates from the mounting box, thereby playing the role of a relay for signal transmission and reception in a fixed position. In addition, the setting of the support component can also ensure that the height of the second repeater body corresponds to the height of the mounting box, so as to avoid the situation that the second repeater body falls into the pipe after detaching from the mounting box, which would make it difficult for the second repeater body to correspond with the mounting box during subsequent retrieval, and also avoids the situation that the second repeater body is damaged by falling.

[0008] 3. The first mobile power supply can power electronic devices such as detectors, rearview cameras, and control modules, while the second mobile power supply can power the first or second repeater body and the first electric telescopic pole.

[0009] 4. The pressure block is designed so that the first electric telescopic rod can press the pressure block tightly against the arc-shaped wall of the pipe by applying pressure. The pressure block has a higher coefficient of friction, and its stability is stronger after it comes into contact with the inner wall of the pipe. The opening design can prevent the pressure block from interfering with the installation box when it extends up and down.

[0010] 5. The rear-view camera allows the inspection vehicle to be retrieved without turning around. When it moves to the location of the second repeater body, the position of the inspection vehicle can be adjusted by the auxiliary mechanism to align the installation box with the position of the second repeater body. The second repeater body is then stored in the emission unit through linear movement. The first electric telescopic rod is retracted at the opening of the installation box to completely release the pipeline from the support of the second repeater body. The auxiliary mechanisms on both sides are deployed simultaneously to position the inspection vehicle directly below the pipeline axis, ensuring the correct placement of the second repeater body.

[0011] The invention is further configured such that: the emission unit includes a power component and an elastic limiting component; the power component includes a first electric guide rail and a push plate; the first electric guide rail is fixed to the inner wall of the mounting box; the push plate is installed at the drive end of the first electric guide rail; the push plate can abut against the side wall of the second repeater body adjacent to the first repeater body; a limiting plate is also fixed on the inner wall of the mounting box; the limiting plate is adjacent to the first electric guide rail; the side wall of the second repeater body has a sliding groove; the sliding groove can slide with the first electric guide rail and the limiting plate; a limiting hole is opened on the limiting plate; a second electric telescopic rod is provided in the limiting hole; the elastic limiting component is installed in the second repeater body; and the elastic limiting component can extend through the sliding groove into the limiting hole; the second electric telescopic rod can drive the elastic limiting component away from the limiting hole.

[0012] The principle and effect of this technical solution: The push plate is moved by the first electric guide rail, which can simultaneously push multiple second repeater bodies close to the opening of the mounting box, aligning the second repeater bodies inside the mounting box with the opening of the mounting box, so as to achieve the effect of gradually placing the second repeater bodies into the pipeline. The sliding cooperation between the slide groove, the first electric guide rail, and the limiting plate allows the second repeater bodies to be guided by the limiting plate and the first electric guide rail. The limiting plate can also help support the position of the second repeater bodies to prevent them from falling directly out of the mounting box when they are at the opening. After the upper and lower pressure blocks on the second repeater bodies at the opening abut against the upper and lower sides of the pipeline, the elastic limiting component is moved away from the limiting hole by the second electric telescopic rod. At this time, if the inspection vehicle continues to move forward, the second repeater bodies can be disengaged from the limiting plate and the mounting box.

[0013] The invention is further configured such that: the elastic limiting component includes a plug plate, a pressure plate, and a spring; a movable cavity is provided inside the second repeater body; the pressure plate is slidably fitted into the movable cavity; the plug plate is slidably inserted into the second repeater body and connected to the pressure plate; the spring is installed in the movable cavity and located on the side of the pressure plate away from the plug plate; the plug plate can be inserted into the limiting hole; the side of the plug plate near the detector has a guide surface; and the second electric telescopic rod can abut against the plug plate.

[0014] The principle and effect of this technical solution: The spring force drives the pressure plate, which in turn drives the insert plate to approach the limiting hole. When the second repeater body slides to correspond with the limiting hole, the insert plate will automatically insert into the limiting hole, thus preventing the second repeater body from uncontrollably detaching from the inspection vehicle during its movement. The insert plate of the second repeater body in the mounting box that does not correspond to the limiting hole can be stored in the movable cavity to make way for the first electric guide rail or the limiting plate. The guide surface makes it easier for the insert plate to enter the limiting hole. During retrieval, the insert plate can be driven by pressing to compress the pressure plate and spring, making way for the limiting plate, thus facilitating retrieval.

[0015] The invention is further configured such that: the side wall of the mounting box has a clearance groove, the pressure block can move in the clearance groove, the clearance groove is connected to the opening, and the projection of the opening on the horizontal plane is located outside the projection of the upper carriage on the horizontal plane.

[0016] The principle and effect of this technical solution: The setting of the clearance groove allows the pressure block to not occupy the space inside the installation box when it is stored, that is, to make way for the pressure block to save internal space. By making the opening located outside the upper compartment, the lifting and lowering of the upper and lower pressure blocks of the second repeater body located at the opening will not be interfered with by the behavior of the upper compartment.

[0017] The present invention is further configured such that: the side wall of the first repeater body has a first connector, and the two sides of the second repeater body are respectively provided with a second connector and a second connector seat, and the second connector seat can be slidably inserted into the first connector and the second connector.

[0018] The principle and effect of this technical solution: By setting up the first connector, the second connector, and the second connector, when multiple second repeater bodies are installed in the installation box, the first repeater body and multiple second repeater bodies can be connected in series through the connection between the first connector and the second connector and the second connector, thereby enabling unified charging and data transmission.

[0019] The invention is further configured such that: a lifting mechanism is provided on the lower body, and the upper carriage is connected to the lifting mechanism.

[0020] The principle and effect of this technical solution: By setting up the lifting mechanism, the height of the upper carriage inside the pipeline can be controlled to adjust the height of the detector to a suitable visual observation height. At the same time, it can drive the installation box to rise to a position close to the pipeline axis, so that the extension length of the electric telescopic rods on both sides of the second repeater body is more uniform, so as to avoid the situation where the required extension length on one side is larger and the actual extension length on the other side is smaller, resulting in a large extension length exceeding the stroke of the electric telescopic rod.

[0021] The present invention is further configured such that: the auxiliary mechanism includes a first support arm, a second support arm, a second electric guide rail and a drive block, the second electric guide rail is fixed to the outer wall of the upper carriage, the drive block is installed on the drive end of the second electric guide rail, the first support arm is rotatably installed on the outer wall of the upper carriage, one end of the second support arm is rotatably connected to the arm body of the first support arm, the other end of the second support arm is rotatably connected to the drive block, and a support wheel is installed at the end of the first support arm.

[0022] The principle and effect of this technical solution: The first support arm, the second support arm, and the drive block constitute a crank-slider mechanism. By sliding the drive block along the second electric guide rail, the second support arm can be controlled to move the end of the first support arm closer to or away from the upper carriage, that is, to drive the support wheel to abut against the inner wall of the pipe. By changing the abutment angle between the support wheel and the inner wall of the pipe, as well as the abutment force (the continuous movement of the drive block will cause the first support arm to rotate further, and when it cannot rotate, the abutment force will increase), the testing vehicle can be assisted in steering, position adjustment, and other tasks. It can also be simultaneously deployed through the auxiliary mechanisms on both sides to position the testing vehicle directly below the pipe axis, so as to ensure the position of the second repeater body of the testing vehicle.

[0023] The invention is further configured such that an auxiliary mechanism is provided on the top of the upper carriage.

[0024] The principle and effect of this technical solution: By abutting against the top of the inner wall of the pipeline through the auxiliary mechanism set at the top, the pressure between the inspection vehicle and the bottom surface of the pipeline can be increased by the pressure, which increases the friction of the walking components, so as to avoid slippage and other situations that would cause insufficient friction of the inspection vehicle and prevent it from moving normally.

[0025] The invention is further configured such that: a roller is installed on the side wall of the second repeater body, and the roller can abut against the top surface of the inner side of the mounting box or the bottom surface of the inner side of the mounting box.

[0026] The principle and effect of this technical solution: By setting up rollers, the friction of the second repeater body when entering and exiting the installation box can be reduced, making it easier to recycle the second repeater body, and the second electric guide rail can more easily put the second repeater body into the push plate. Attached Figure Description

[0027] Figure 1 This is the front view of the present invention; Figure 2 for Figure 1 Top view of the structure; Figure 3 for Figure 1 Exploded isometric view of the mounting box in the middle; Figure 4 for Figure 3 Cross-sectional view of the mounting box in the middle; Figure 5 for Figure 3 Back structure diagram of the second repeater body; Figure 6 for Figure 3 Enlarged cross-sectional view of the main body of the second repeater; Figure 7 for Figure 1 Axonometric structural diagram of the lower and middle sections of the car body; Figure 8 for Figure 1 Axonometric view of the detector. Detailed Implementation

[0028] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments: The reference numerals in the accompanying drawings include: 110. Lower body; 120. Upper carriage; 130. Detector; 140. Rearview camera; 150. Walking assembly; 160. Lifting mechanism; 210. Mounting box; 211. Opening; 212. Relief groove; 220. First repeater body; 230. Second repeater body; 231. Slide groove; 232. Movable cavity; 233. Second connector; 234. Second connector seat; 235. Roller; 310. First electric telescopic rod; 320. Pressure block; 410. First electric guide rail; 420. Push plate; 430. Limiting plate; 431. Limiting hole; 440. Second electric telescopic rod; 510. Insert plate; 520. Pressure plate; 530. Spring; 610. First support arm; 620. Second support arm; 630. Second electric guide rail; 640. Drive block; 650. Support wheel.

[0029] As attached Figure 1-8As shown, this invention discloses a vision-based in-pipe defect detection device, including a detection vehicle, a signal extension mechanism, a support assembly, and an auxiliary mechanism. The detection vehicle includes a lower body 110, an upper body 120, a detector 130, and a rear-view camera 140. A walking assembly 150 (commonly a motor that drives the moving wheels to rotate) is installed on the side wall of the lower body 110. A control module and a first mobile power supply are installed inside the lower body 110. The control module, also called a control unit, is used to manage and control the equipment. The electronic or logical functional unit that operates the system can receive signals, process information, and output instructions. These are commonly used electronic components, which will only be briefly described here. A lifting mechanism 160 is installed on the lower body 110, and the upper carriage 120 is connected to the lifting mechanism 160. In this design, the lifting mechanism 160 can be a scissor hinge with a push structure (usually a hydraulic push rod). The push structure moves one end of the scissor hinge, thereby opening or closing the scissor hinge to control the distance between the upper carriage 120 and the lower body 110. A detector 130 is installed on the outer wall of the upper carriage 120, and a rearview camera 140 is installed on the side of the upper carriage 120 away from the detector 130. The detector 130 is a vision sensor with a multi-axis moving structure. It monitors and records the situation inside the pipeline and transmits the information to the ground control terminal. The detector 130 is equipped with a lighting lamp, as detailed in the attached diagram. Figure 8 As shown, the components that control the rotation of the vision sensor can be located inside the upper compartment 120 and inside the vision sensor, thereby achieving angle control in two axes. In conjunction with the upper lifting mechanism 160, this enables three-axis position control of the vision sensor.

[0030] The signal extension mechanism includes a mounting box 210, a first repeater body 220, a second repeater body 230, and an emission unit. In this solution, both the first repeater body 220 and the second repeater body 230 are wireless repeaters, mainly used to extend wireless signals so that the ground control terminal can remotely transmit and receive signals from the control module via wireless signals. In this solution, the main improvement is to the external structure of the repeater, without adjusting the working principle of the repeater. Therefore, the working principle of the repeater will only be briefly described here.

[0031] The mounting box 210 is fixed inside the upper compartment 120. The end of the mounting box 210 away from the detector 130 has an opening 211. The first repeater body 220 is fixed inside the mounting box 210. Multiple second repeater bodies 230 are movably arranged inside the mounting box 210. The discharge unit is used to control the second repeater bodies 230 to detach from the mounting box 210 from the opening 211. A second mobile power supply is provided inside both the first repeater body 220 and the second repeater body 230. The side wall of the first repeater body 220 has a first connector. The two sides of the second repeater body 230 are respectively provided with a second connector 233 and a second connector 234. The second connector 234 can be slidably inserted into the first connector and the second connector 233. The side wall of the mounting box 210 has a clearance groove 212, and the pressure block 320 can move within the clearance groove 212. The clearance groove 212 is connected to the opening 211. The projection of the opening 211 on the horizontal plane is located outside the projection of the upper carriage 120 on the horizontal plane. The side wall of the second repeater body 230 is equipped with a roller 235, which can abut against the top surface or the bottom surface of the inner side of the mounting box 210. The pressure block 320 is as shown in the attached figure. Figure 3 Appendix Figure 5 As shown, it is arc-shaped, and the two ends of the pressure block 320 have rubber strips, which abut against the inner wall of the pipe.

[0032] By configuring the first connector, the second connector 233, and the second connector 234, when all the second repeater bodies 230 are installed in the mounting box 210, the first repeater body 220 is connected in series with the second repeater body 230 through the first connector, and the second repeater body 230 is connected in series with other second repeater bodies 230 through the second connector 233. This achieves a unified power supply and charging effect for charging the second mobile power bank. Hall switches can also be installed on the second connector 233 and the first connector to control the operating state of each second repeater body 230. For example, in this solution, four second repeater bodies 230 are configured as A, B, C, D, and E. A is closest to the first repeater body 220, and D is the farthest. When all of A, B, C, and D are in operation, the Hall switches on A, B, C, and D control that only D is in operation. Data received on D can be transmitted to the first repeater body 220 through the second connector 233, the second connector 234, and the first connector. Signals from the first repeater body 220 can also be transmitted to the control terminal on the road through D. After D is in operation, the Hall switch on the second connector 233 on C is activated, and C is in operation while A, B, and C remain in standby mode. This process continues, ensuring that the first repeater body 220 is always in operation. Therefore, this scheme effectively reduces the energy consumption of unoperated second repeaters.

[0033] The control terminal is usually a mobile computer such as a tablet computer. Through the pre-set program and wireless signal connection to the device, the worker can control the device and receive data through the program on the mobile computer.

[0034] The emission unit includes a power assembly and a flexible limiting assembly. The power assembly includes a first electric guide rail 410 and a push plate 420. The first electric guide rail 410 is fixed to the inner wall of the mounting box 210. The push plate 420 is mounted on the drive end of the first electric guide rail 410. The push plate 420 can abut against the side wall of the second repeater body 230 adjacent to the first repeater body 220. A limiting plate 430 is also fixed on the inner wall of the mounting box 210. The limiting plate 430 is adjacent to the first electric guide rail 410. The side wall of the second repeater body 230 has a sliding groove 231, which can slide with the first electric guide rail 410 and the limiting plate 430. The limiting plate 430 has a limiting hole 431, and a second electric telescopic rod 440 is provided in the limiting hole 431. The elastic limiting component is installed in the second repeater body 230, and the elastic limiting component can extend through the sliding groove 231 into the limiting hole 431. The second electric telescopic rod 440 can drive the elastic limiting component away from the limiting hole 431.

[0035] The elastic limiting assembly includes a plug plate 510, a pressure plate 520, and a spring 530. A movable cavity 232 is provided inside the second repeater body 230. The pressure plate 520 is slidably fitted in the movable cavity 232. The plug plate 510 is slidably inserted into the second repeater body 230 and is connected to the pressure plate 520. The spring 530 is installed in the movable cavity 232 and is located on the side of the pressure plate 520 away from the plug plate 510. The plug plate 510 can be inserted into the limiting hole 431. The side of the plug plate 510 near the detector 130 has a guide surface. The second electric telescopic rod 440 can abut against the plug plate 510.

[0036] The support assembly includes a first electric telescopic rod 310 and a pressure block 320. The first electric telescopic rod 310 is installed on the second repeater body 230, and the pressure block 320 is fixed to the end of the first electric telescopic rod 310. The first electric telescopic rod 310 is a multi-stage telescopic rod with a high extension ratio. It is an existing component structure, which will only be briefly described here.

[0037] Two sets of auxiliary mechanisms are symmetrically arranged around the upper carriage 120. These auxiliary mechanisms can abut against the inner wall of the pipe. An auxiliary mechanism is also provided on the outer wall of the upper carriage 120. The auxiliary mechanism includes a first support arm 610, a second support arm 620, a second electric guide rail 630, and a drive block 640. The second electric guide rail 630 is fixed to the outer wall of the upper carriage 120, and the drive block 640 is installed on the drive end of the second electric guide rail 630. The first support arm 610 is rotatably mounted on the outer wall of the upper carriage 120. One end of the second support arm 620 is rotatably connected to the arm body of the first support arm 610, and the other end of the second support arm 620 is rotatably connected to the drive block 640. A support wheel 650 is installed at the end of the first support arm 610. An auxiliary mechanism is also provided on the top of the upper carriage 120.

[0038] Since there is usually a height difference between the wellhead of the rainwater well and the overflow pipe or other pipe openings, the inspection vehicle in this solution can be hoisted into the pipe opening using a box-type hoisting method. A movable door is set on one side of the box. After the box is moved to the pipe opening, the movable door is opened by pulling the rope. Then, the inspection vehicle is moved into the pipe by the traveling component 150, while the box remains in the same position. When retrieving, after the inspection vehicle moves into the box, the rope controlling the movable door is released to close the box. Then, the box is hoisted to the ground. Traditional inspection vehicles with cables are hoisted into the pipe using a telescopic hoisting method.

[0039] The parts of the device not covered herein are the same as or can be implemented using existing technologies.

[0040] Among them, insert and sliding insert are mating bodies with holes, the cross section of the shaft or rod matches the hole, and the shaft or rod can slide relative to the hole. Threaded insert is a hole with threads, the shaft or rod is threaded, and the shaft or rod is connected to the mating body by screwing. Detachable installation can be by bolt thread connection or bolt and nut connection, etc., depending on what can be actually achieved.

[0041] The above descriptions are merely embodiments of the present invention, and common knowledge regarding specific technical solutions or characteristics is not elaborated upon here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A vision-based pipe defect detection device, characterized in that: include The inspection vehicle includes a lower body, an upper compartment, a detector, and a rear-view camera. The side wall of the lower body is equipped with a walking assembly, and the lower body is equipped with a control module and a first mobile power supply. The upper compartment is installed on the lower body, the detector is installed on the outer wall of the upper compartment, and the rear-view camera is installed on the side of the upper compartment away from the detector. The signal extension mechanism includes a mounting box, a first repeater body, a second repeater body, and an emission unit. The mounting box is fixed inside the upper compartment, and the end of the mounting box away from the detector has an opening. The first repeater body is fixed inside the mounting box, and multiple second repeater bodies are movably arranged inside the mounting box. The emission unit is used to control the second repeater bodies to detach from the mounting box from the opening. A second mobile power supply is provided inside both the first repeater body and the second repeater bodies. The support assembly includes a first electric telescopic rod and a pressure block, wherein the first electric telescopic rod is mounted on the second repeater body and the pressure block is fixed to the end of the first electric telescopic rod; The auxiliary mechanism is provided in two sets symmetrically with respect to the upper carriage, and the auxiliary mechanism can abut against the inner wall of the pipeline.

2. The vision-based pipe defect detection device as described in claim 1, characterized in that: The emission unit includes a power component and an elastic limiting component. The power component includes a first electric guide rail and a push plate. The first electric guide rail is fixed to the inner wall of the mounting box. The push plate is installed at the drive end of the first electric guide rail. The push plate can abut against the side wall of a second repeater body adjacent to the first repeater body. A limiting plate is also fixed on the inner wall of the mounting box. The limiting plate is adjacent to the first electric guide rail. The side wall of the second repeater body has a sliding groove. The sliding groove can slide with the first electric guide rail and the limiting plate. A limiting hole is opened on the limiting plate. A second electric telescopic rod is provided in the limiting hole. The elastic limiting component is installed in the second repeater body. The elastic limiting component can extend through the sliding groove into the limiting hole. The second electric telescopic rod can drive the elastic limiting component away from the limiting hole.

3. The vision-based pipe defect detection device as described in claim 2, characterized in that: The elastic limiting assembly includes a plug plate, a pressure plate, and a spring. The second repeater body has a movable cavity. The pressure plate is slidably fitted into the movable cavity. The plug plate is slidably inserted into the second repeater body and is connected to the pressure plate. The spring is installed in the movable cavity and is located on the side of the pressure plate away from the plug plate. The plug plate can be inserted into the limiting hole. The side of the plug plate near the detector has a guide surface. The second electric telescopic rod can abut against the plug plate.

4. The vision-based pipe defect detection device as described in claim 1, characterized in that: The side wall of the mounting box has a clearance groove, the pressure block can move in the clearance groove, the clearance groove is connected to the opening, and the projection of the opening on the horizontal plane is located outside the projection of the upper carriage on the horizontal plane.

5. The vision-based pipe defect detection device as described in claim 1, characterized in that: The first repeater body has a first connector on its side wall, and the second repeater body has a second connector and a second connector on each side. The second connector can be slidably inserted into the first connector and the second connector.

6. The vision-based pipe defect detection device as described in claim 1, characterized in that: The lower body is equipped with a lifting mechanism, and the upper carriage is connected to the lifting mechanism.

7. The vision-based pipe defect detection device as described in claim 1, characterized in that: The auxiliary mechanism includes a first support arm, a second support arm, a second electric guide rail, and a drive block. The second electric guide rail is fixed to the outer wall of the upper carriage. The drive block is installed on the drive end of the second electric guide rail. The first support arm is rotatably installed on the outer wall of the upper carriage. One end of the second support arm is rotatably connected to the arm body of the first support arm, and the other end of the second support arm is rotatably connected to the drive block. A support wheel is installed at the end of the first support arm.

8. The vision-based pipe defect detection device as described in claim 7, characterized in that: The auxiliary mechanism is also provided on the top of the upper compartment.

9. The vision-based pipe defect detection device as described in claim 2, characterized in that: The second repeater body is equipped with rollers on its side wall, and the rollers can abut against the top surface or the bottom surface of the inner side of the mounting box.

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