Imaging device for pipeline detection robot

Abstract

The utility model relates to an imaging device for a pipeline detection robot, which comprises a cylindrical shell, a camera is arranged at the front end of the shell, a lens is arranged in the camera, a sensor is arranged on the circumferential surface of the shell, and the sensor and the camera are respectively in electric connection or communication connection with an external control end. During implementation, the lens is responsible for detecting the inner surface of the pipeline, the camera is responsible for transmitting detected image data to the control end, and the control end carries out data analysis. The sensor is responsible for feeding back to the control end in real time whether the camera enters the pipeline or whether the camera leaves the pipeline. And the control end receives the position information of the camera fed back by the sensor and performs unified control on the camera and the vehicle body of the pipeline detection robot.

Description

Technical Field

[0001] The utility model relates to the field of pipeline control of a pipeline detection robot, in particular to an imaging device used for the pipeline detection robot. Background Art

[0002] At present, pipeline inspection robots are often used in the market to inspect the quality of the inner surface of pipelines. They are mainly divided into wired and wireless in terms of control and data transmission, and are mainly used for signal transmission and control of pipeline inspection robots during a certain stroke. However, whether it is wired or wireless transmission, existing pipeline inspection robots have major problems, mainly as follows: (A) Robots using wireless communication are greatly affected by environmental factors in robot remote control, data feedback, and command sending, and data is unstable, communication is delayed, and control response is slow. Although robots using wireless communication are indeed more flexible in control, they also require higher communication stability. (B) Although wired control has better stability in data transmission and remote control, it also leads to lower flexibility of robots. In addition, most of the existing wired technical solutions still use manual wire retraction and release, which easily leads to low efficiency of pipeline inspection robots in detecting the inside of pipelines. (C) There are also some pipeline inspection robots that use automatic wire harness retraction and release devices, but there are still many problems, such as uneven distribution of wire harnesses, constant changes in coil radius, etc., which lead to inconsistent robot running speed and coil retraction and release speed, resulting in unstable operation.

[0003] Since the pipeline inspection robot is small, it is impossible to install a controller and power supply equipment on it. The use of wireless devices cannot adapt to various complex pipeline inspection environments. The imaging equipment used for pipeline inspection robots is prone to low efficiency and poor performance such as unstable signal transmission. Therefore, it is particularly urgent to design an imaging device that can meet the needs of pipeline inspection robots to adapt to various inspection environments with high performance, can easily realize information transmission, match the operation of pipeline inspection robots, is compact and better adaptable to various inspection environments. Utility Model Content

[0004] In response to the above-mentioned technical problems in the related technology, the utility model proposes an imaging device for a pipeline inspection robot, which can overcome the above-mentioned shortcomings of the prior art, and can be operated more flexibly while achieving higher communication stability of the robot, and at the same time achieves that the running speed of the robot in the pipeline is completely consistent with the automatic retraction and extension speed of the pipeline.

[0005] In order to achieve the above technical objectives, the technical solution of the utility model is implemented as follows:

[0006] The imaging device for a pipeline inspection robot involved in the utility model comprises a cylindrical shell, a camera is provided at the front end of the shell, a lens is provided inside the camera, a sensor is provided on the circumferential surface of the shell, and the sensor and the camera are respectively electrically connected or communicatively connected to an external control end. During implementation, the lens is responsible for detecting the inner surface of the pipeline, and the camera is responsible for transmitting the detected image data to the control end, which performs data analysis. The sensor is responsible for providing real-time feedback to the control end - whether the camera has entered the interior of the pipeline, or whether the camera has left the pipeline. The control end receives the position information of the camera fed back by the sensor, and uniformly controls the camera and the body of the pipeline inspection robot.

[0007] Furthermore, the front end of the shell and the rear end of the camera are detachably connected or fixedly connected.

[0008] Furthermore, an external thread is provided on the circumferential surface of the front end of the shell, the camera is also cylindrical and has a corresponding internal thread on the rear end, and the rear end of the camera is threadedly connected to the front end of the shell.

[0009] Furthermore, the front end of the shell is snap-connected to the rear end of the camera.

[0010] Further, preferably, the front end of the shell is provided with a plurality of snap holes or snap buckles, and the rear end of the camera is provided with a plurality of snap blocks or snap hooks, and the two are snap-connected through their respective snap holes or snap buckles, snap blocks or snap hook structures.

[0011] Furthermore, the lens is located at the radial center of the camera.

[0012] Furthermore, the rear end of the shell is detachably or fixedly connected to the front end of the existing vehicle body. The specific connection method depends on actual needs. The shell can be directly sleeved on the vehicle body, or can be threaded or snap-connected to the vehicle body; the shell can also be directly fixedly connected to the vehicle body to form an integrated structure.

[0013] Furthermore, a butt joint tube is provided at the rear end of the shell, the butt joint tube is provided with an external thread, and the front end of the vehicle body is provided with a corresponding internal thread; or conversely, the butt joint tube is provided with an internal thread, and the front end of the vehicle body is provided with a corresponding external thread; during implementation, the shell is threadedly connected to the front end of the vehicle body through the butt joint tube.

[0014] Furthermore, the rear end of the housing is snap-connected to the front end of the vehicle body. Preferably, the principle is similar to the snap-connection between the housing and the camera, and can be realized by existing technology.

[0015] Furthermore, the sensor is preferably an infrared laser sensor.

[0016] Furthermore, the camera is provided with a plurality of light sources, which can be LED light sources or other illuminants capable of emitting light to assist the lens in taking pictures.

[0017] Furthermore, the imaging device is further provided with a plurality of fastening holes.

[0018] Further, preferably, the camera, the housing, and the docking tube are all provided with a plurality of fastening holes.

[0019] The beneficial effects achieved by this design are: this product has a simple structure and is easy to maintain. When used with a pipeline inspection robot that adopts wired or wireless communication, the communication stability in remote control, data feedback, and command sending is high, and the flexibility is not affected by factors such as the constantly changing radius during the pipeline retraction and release process. When used with the control of the upper computer, it is more flexible and convenient to use and can adapt to complex inspection environments such as various types of pipelines such as metal, concrete, and plastic.

[0020] This product uses the high-definition camera at the front end of the pipeline robot to obtain real-time images of the inner surface of the pipeline, and analyzes and determines the quality analysis results of the inner surface of the pipeline through target area extraction and image defect tracking detection algorithm. It mainly detects scratches, pits, peeling, roller marks and other defects on the inner surface of the pipeline.

[0021] The light source, camera and lens of this product are synchronized. The lens collects images and automatically obtains images of the inner surface of the pipeline. The camera then transmits data to the control end through the sensor. The control end analyzes the defect detection results to solve the problem that long steel pipes cannot be observed manually. It adapts to different pipe diameters and uses one camera to detect different pipe diameters to avoid workers frequently changing lenses. Using the existing deep vision detection algorithm, it can easily realize defect classification and tracking, real-time detection and positioning of defect positions, and automatically generate detection reports to guide production and manufacturing. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The utility model is further described in detail below with reference to the accompanying drawings.

[0023] Figure 1 The imaging device of the present invention is a stereoscopic Figure 1 .

[0024] Figure 2 The imaging device of the present invention is a stereoscopic Figure 2 .

[0025] Figure 3 The imaging device of the present invention is a stereoscopic Figure 3 .

[0026] Figure 4 It is a side view and a front view of the imaging device described in the embodiment of the utility model.

[0027] Figure 5 It is a top view of the imaging device described in the embodiment of the utility model.

[0028] Figure 6 It is a schematic diagram of a specific embodiment of the camera described in the embodiment of the utility model.

[0029] Figure 7 It is a schematic diagram of the use of the imaging device described in an embodiment of the utility model assembled into a pipeline inspection robot (an implementation method in which the shell is sleeved on the front end of the vehicle body).

[0030] Figure 8 It is a schematic diagram of the use of the imaging device described in an embodiment of the utility model assembled into a pipeline inspection robot (an implementation method in which the shell is inserted into the front end of the vehicle body).

[0031] In the figure: 1. camera; 2. lens; 3. sensor; 4. housing; 5. docking tube; 6. fastening hole; 7. light source; 8. vehicle body. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only a part of the embodiments of the utility model, not all of the embodiments. Any modifications, equivalent substitutions, improvements, etc. made by ordinary technicians in this field within the spirit and principles of the utility model should be included in the protection scope of the utility model and belong to the protection scope of the utility model.

[0033] like Figure 1-8 As shown, in order to facilitate understanding of the above technical solution of the present invention, the above technical solution of the present invention is described in detail below through specific usage methods.

[0034] In specific use, the imaging device described in the utility model includes a cylindrical shell 4, a camera 1 is provided at the front end of the shell 4, a lens 2 is provided in the camera 1, and a sensor 3 is provided on the circumferential surface of the shell 4. The sensor 3 and the camera 1 are respectively electrically connected or communicatively connected to the external control end. During implementation, the lens 2 is responsible for detecting the inner surface of the pipeline, and the camera 1 is responsible for transmitting the detected image data to the control end, which performs data analysis. The sensor 3 is responsible for real-time feedback to the control end - whether the camera 1 has entered the interior of the pipeline, or whether the camera 1 has left the pipeline. The control end receives the position information of the camera 1 fed back by the sensor 3, and uniformly controls the camera 1 and the body 8 of the pipeline detection robot.

[0035] In a specific embodiment, the front end of the housing 4 is detachably connected or fixedly connected to the rear end of the camera 1 .

[0036] In a specific embodiment, the front circumferential surface of the shell 4 is provided with an external thread, the camera 1 is also cylindrical and has a corresponding internal thread at the rear end, and the rear end of the camera 1 is threadedly connected to the front end of the shell 4.

[0037] In a specific embodiment, the front end of the housing 4 is snap-connected to the rear end of the camera 1 .

[0038] In a specific embodiment, preferably, the shell 4 is provided with a plurality of snap holes or snap buckles at the front end, and the camera 1 is provided with a plurality of snap blocks or snap hooks at the rear end, and the two are snap-connected through their respective snap holes or snap buckles, snap blocks or snap hook structures.

[0039] In a specific embodiment, the lens 2 is located at the radial center of the camera 1 .

[0040] In a specific embodiment, the rear end of the housing 4 is detachably connected or fixedly connected to the front end of the existing vehicle body 8. The specific connection method depends on actual needs. The housing 4 can be directly sleeved on the vehicle body 8, or can be threaded or snap-connected to the vehicle body 8; the housing 4 can also be directly fixedly connected to the vehicle body 8 to form an integrated structure.

[0041] In a specific embodiment, the shell 4 is provided with a docking tube 5 at the rear end, the docking tube 5 is provided with an external thread, and the front end of the vehicle body 8 is provided with a corresponding internal thread; or conversely, the docking tube 5 is provided with an internal thread, and the front end of the vehicle body 8 is provided with a corresponding external thread; during implementation, the shell 4 is threadedly connected to the front end of the vehicle body 8 through the docking tube 5.

[0042] In a specific embodiment, the rear end of the housing 4 is snap-connected to the front end of the vehicle body 8. Preferably, the principle is similar to the snap-connection between the housing 4 and the camera 1, and can be realized by existing technology.

[0043] In a specific embodiment, the sensor 3 is preferably an infrared laser sensor.

[0044] In a specific embodiment, the camera 1 is provided with a plurality of light sources 7. The light sources 7 may be LED light sources, or other light sources that can emit light to assist the lens in taking pictures.

[0045] In a specific embodiment, a plurality of fastening holes 6 are further provided on the imaging device.

[0046] In a specific embodiment, the camera 1 , the housing 4 , and the docking tube 5 are all provided with a plurality of fastening holes 6 .

[0047] Specific working steps: Turn on the cable power switch, and power on the camera 1, lens 2, sensor 3, and light source 7;

[0048] The control end sends a work instruction to the pipeline inspection robot, and its body 8 moves along the inner wall of the pipeline. The camera 1 is fixed at the front end of the body 8 and moves into the pipeline together, and starts to scan the inner wall of the pipeline. The camera 1 uses a 360° full angle, and only one camera is needed to scan the inner wall of the pipeline.

[0049] When the sensor 3 connected to the upper part of the camera 1 detects the inner wall of the pipeline, the upper computer sends a work instruction, the defect imaging device extends into the pipeline, and starts to scan the inner wall of the pipeline. The camera 1 adopts a large angle range, and only one camera is needed to scan the inner wall 360°;

[0050] After the operation is completed, the imaging device runs at a constant speed and stability in the pipeline, and the camera 1 always remains on the axis line to inspect the quality of the inner surface of the pipeline, and transmits the image back to the control end through the cable through the communication protocol, and finally the visual algorithm determines the quality of the inner wall;

[0051] When the sensor 3 connected to the upper part of the camera 1 detects the inner wall of the pipe, the light source 7 is triggered, and the camera 1 is turned on to automatically detect defects on the inner wall of the pipe. The detection image is sent to the visual workstation through the camera cable, and the results are calculated by the visual detection algorithm. The detection results are summarized and a detection log is generated.

[0052] To sum up, this product adopts the above-mentioned unique design. This product has a simple structure and is easy to maintain. Through the high-definition camera at the front end of the pipeline robot, it obtains real-time images of the inner surface of the pipeline. The quality analysis results of the inner surface of the pipeline are judged through target area extraction and image defect tracking detection algorithm analysis. It mainly detects scratches, pits, peeling, roller marks and other defects on the inner surface of the pipeline.

[0053] In the description of the present invention, it is necessary to understand that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

Claims

1. An imaging device for a pipeline inspection robot, characterized in that: It comprises a cylindrical shell (4), a camera (1) is provided at the front end of the shell (4), a lens (2) is provided inside the camera (1), a sensor (3) is provided on the circumferential surface of the shell (4), and the sensor (3) and the camera (1) are respectively electrically connected or communicatively connected to an external control terminal; The front circumferential surface of the housing (4) is provided with an external thread, the camera (1) is also cylindrical and has a corresponding internal thread at the rear end, and the rear end of the camera (1) is threadedly connected to the front end of the housing (4); The lens (2) is located at the radial center of the camera (1); The rear end of the shell (4) is provided with a butt joint pipe (5), the butt joint pipe (5) is provided with an external thread, and the front end of the vehicle body (8) is provided with a corresponding internal thread; or conversely, the butt joint pipe (5) is provided with an internal thread, and the front end of the vehicle body (8) is provided with a corresponding external thread; during implementation, the shell (4) is threadedly connected to the front end of the vehicle body (8) through the butt joint pipe (5); The lens (2) is responsible for detecting the inner surface of the pipeline, and the camera (1) is responsible for transmitting the detected image data to the control end, which performs data analysis; the sensor (3) is responsible for providing real-time feedback to the control end - whether the camera (1) has entered the interior of the pipeline, or whether the camera (1) has left the pipeline; the control end receives the position information of the camera (1) fed back by the sensor (3), and uniformly controls the camera (1) and the body (8) of the pipeline detection robot.

2. The imaging device according to claim 1, wherein: The sensor (3) is an infrared laser sensor.

3. The imaging device according to claim 1, wherein: The camera (1) is provided with a plurality of light sources (7).

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