Three-dimensional detection device for detecting defects of inner wall of steel pipe

Abstract

The utility model relates to the technical field of steel pipe production, and aims to solve the technical problems of false detection and missing detection. In order to solve the technical problem, the utility model provides the three-dimensional detection device for detecting the defects of the inner wall of the steel pipe. According to the utility model, a laser is connected to a connecting frame body; the two visual assemblies are arranged at intervals in the length direction of the connecting frame body. A predetermined included angle is formed between the 2D camera of the visual assembly and the axis of the connecting frame body; the 2D cameras and the lasers are arranged in one-to-one correspondence, and the lasers are located on the front sides of the 2D cameras; 360-degree shooting of the inner wall of the steel pipe is achieved through the two 2D cameras; the light source is used for providing ambient light required by photographing for the 2D camera; a driving piece of the supporting assembly is connected with the connecting frame body, and an opening and closing supporting piece is movably connected with the connecting frame body; the driving piece drives the opening and closing supporting piece to be opened and closed so as to be supported in the steel pipe. According to the utility model, false detection and missing detection are avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of steel pipe production, in particular to a three-dimensional detection device for detecting inner wall defects of steel pipes. Background Art

[0002] During the production of small-diameter pipe materials, it is necessary to detect surface defects (such as protrusions, depressions, scratches) on their inner walls. The traditional detection method for inner wall defects of small-diameter pipe materials relies on two-dimensional vision. This detection method requires a large number of defect samples to be labeled, and defect detection is carried out through deep learning.

[0003] However, it has the following problems:

[0004] 1. It relies on image features for learning, but the scale oxide on the pipe wall and the texture of the pipe itself during the pipe production process will cause great interference to defect detection, resulting in false detection and missed detection.

[0005] 2. It is unable to extract the depth information of the inner wall of the steel pipe and can only rely on 2D images to judge whether there are defects. It can only detect relatively obvious protrusions or depressions, and shallower protrusions and depressions cannot be detected.

[0006] 3. There are detection blind spots, resulting in missed detection.

[0007] It can be seen that the traditional detection device has problems of false detection and missed detection. Summary of the Utility Model

[0008] Therefore, the technical problem to be solved by the utility model is to overcome the above problems existing in the prior art.

[0009] To solve the above technical problems, the utility model provides a three-dimensional detection device for detecting inner wall defects of steel pipes, including:

[0010] A connecting frame body that moves in the steel pipe;

[0011] At least two lasers, respectively connected to the connecting frame body;

[0012] At least two vision components, spaced along the length direction of the connecting frame body; the vision component includes a 2D camera and a light source; the 2D camera forms a predetermined angle with the axis of the connecting frame body; the 2D camera is arranged in one-to-one correspondence with the laser, and the laser is located in front of the 2D camera; the 2D cameras of at least two vision components realize 360-degree shooting of the inner wall of the steel pipe; the light source is used to provide ambient light required for the 2D camera to take pictures;

[0013] The support assembly includes a driving member and a plurality of openable and closable support members; the driving member is connected to the connecting frame body, and the support members are movably connected to the connecting frame body; the driving member is configured to drive the support members to open and close to support in the steel pipe; the free end of the support member is in rolling connection with the inner wall of the steel pipe.

[0014] In an embodiment of the present invention, the viewing ranges of at least two 2D cameras have an overlapping part.

[0015] In an embodiment of the present invention, the 2D cameras of at least one vision component shoot forward, and the 2D cameras of at least one vision component shoot backward.

[0016] In an embodiment of the present invention, the predetermined angle is 8° - 12°.

[0017] In an embodiment of the present invention, there are two support assemblies, and the two support assemblies are symmetrically arranged front and back on the connecting frame body.

[0018] In an embodiment of the present invention, the two support assemblies share one driving member.

[0019] In an embodiment of the present invention, the driving member is a telescopic cylinder, the output end of the telescopic cylinder is hinged to the support member, and the support member is hinged to the connecting frame body.

[0020] In an embodiment of the present invention, a roller is movably connected to the free end of the support member.

[0021] In an embodiment of the present invention, the roller is made of a soft rubber material.

[0022] In an embodiment of the present invention, the present application further includes a laser housing, and the laser housing covers the laser; the laser housing is provided with an emission port for the laser emitted by the laser.

[0023] In an embodiment of the present invention, a transparent camera protection housing is provided on the 2D camera and on its front side.

[0024] The above technical solution of the present invention has the following advantages compared with the prior art:

[0025] The three-dimensional detection device for detecting defects on the inner wall of a steel pipe according to the present invention realizes a full-range detection of 360° of the inner wall of the steel pipe, and can judge the type of the defect, the position of the defect and quantify the defect, avoiding missed detection and misdetection. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to make the content of the present invention easier to be clearly understood, the following further details the present invention according to the specific embodiments of the present invention in combination with the drawings, wherein:

[0027] Figure 1 It is a schematic structural diagram of a three-dimensional detection device for detecting defects on the inner wall of a steel pipe in a preferred embodiment of the present utility model;

[0028] Figure 2 It is a schematic structural diagram of a three-dimensional detection device for detecting defects on the inner wall of a steel pipe in a preferred embodiment of the present utility model (excluding the camera protective cover);

[0029] Figure 3 is Figure 2 an enlarged view of part A of

[0030] Figure 4 is Figure 2 the front view of

[0031] Figure 5 is Figure 1 an exploded view of the three-dimensional detection device for detecting defects on the inner wall of a steel pipe of

[0032] Figure 6 is Figure 1 an exploded view of a part of the structure of the three-dimensional detection device for detecting defects on the inner wall of a steel pipe of

[0033] Explanation of reference numerals in the drawings of the specification: 100, connecting frame body; 110, second connecting ear;

[0034] 200, laser;

[0035] 300, laser fixing member; 310, fixing seat; 320, connecting plate; 330, connecting block;

[0036] 400, vision component; 410, 2D camera; 411, camera protective cover; 420, light source;

[0037] 500, support component; 510, driving member; 520, opening and closing support member; 521, roller; 530, connecting seat; 531, first connecting ear; 540, connecting rod;

[0038] 600, laser cover; 610, emission port;

[0039] 700, clamp. Detailed implementation manners

[0040] The present utility model will be further described below in conjunction with the drawings and specific embodiments, so that those skilled in the art can better understand the present utility model and be able to implement it, but the embodiments given are not intended to limit the present utility model.

[0041] Refer to Figures 1 to 6As shown in the figure, an embodiment of the present utility model provides a three-dimensional detection device for detecting defects on the inner wall of a steel pipe, which includes a connecting frame body 100, at least two (for example, two) lasers 200, at least two (for example, two) vision components 400, and a support component 500.

[0042] The connecting frame body 100 moves in the steel pipe; the connecting frame body 100 ensures the strength of the entire device and improves the structural stability of the present device.

[0043] At least two lasers 200 are connected to the front and rear ends of the connecting frame body 100; in some embodiments, the lasers 200 are connected to the connecting frame body 100 through laser fixing members 300. The laser fixing members 300 include a fixing seat 310, a connecting plate 320, and a connecting block 330. The connecting plate 320 connects the fixing seat 310 to the connecting frame body 100 through the connecting block 330, and the fixing seat 310 is provided with mounting holes for mounting the lasers 200; thus, the lasers 200 are mounted on the connecting frame body 100 through the laser fixing members 300.

[0044] At least two vision components 400 are arranged at intervals along the length direction of the connecting frame body 100; the vision components 400 include a 2D camera 410 and a light source 420; the 2D camera 410 forms a predetermined angle α with the axis of the connecting frame body 100; the 2D camera 410 is arranged in one-to-one correspondence with the laser 200, and the laser 200 is located on the front side of the 2D camera 410 (the front side of the 2D camera 410 is the end where the laser 200 is located at the end where the lens of the 2D camera 410 collects light); the 2D cameras 410 of at least two vision components 400 are used to take 360-degree pictures of the inner wall of the steel pipe, that is, the visual fields of the two 2D cameras 410 cover the entire circumferential direction (360°) of the steel pipe. For example, one 2D camera 410 is responsible for detecting defects on the right half of the inner wall of the steel pipe, and the other 2D camera 410 is responsible for detecting defects on the left half of the inner wall of the steel pipe. The light source 420 is arranged at the front end of the 2D camera 410, and the light source 420 is used to provide ambient light required for the 2D camera 410 to take pictures;

[0045] The support component 500 includes a driving member 510 and a plurality of openable and closable opening and closing support members 520; the driving member 510 is connected to the connecting frame body 100; the opening and closing support members 520 are movably connected to the connecting frame body 100; the opening and closing support members 520 are connected to the output end of the driving member 510, and the driving member 510 is configured to drive the opening and closing support members 520 to open and close to support in the steel pipe; the end of the opening and closing support member 520 is movably connected to the inner wall of the steel pipe (for example, rolling connection). After the opening and closing support members 520 are opened, the overall structure is kept stable, so that the whole set of devices of the present application is in the central position of the steel pipe, and the deviation range does not exceed 1 mm.

[0046] Specifically, the laser 200 in this embodiment emits laser light that hits the inner wall of the steel pipe to form a circular laser line. Then, the 2D camera 410 takes a picture of the laser line. By analyzing whether the laser line circle in the taken picture is round (for example, if there is a missing corner at a certain position of the laser line, it reflects that there is a bulge at that position of the steel pipe; if there is a protrusion at a certain position of the laser line, it reflects that there is a depression at that position of the steel pipe; and the depth of the corresponding defect can be analyzed through the degree of the missing corner and protrusion). And the two 2D cameras 410 installed at two tilt angles in this embodiment are such that the two 2D cameras 410 can respectively perform appearance shooting and analysis on the inner wall of the steel pipe from two viewing angle ranges. The two 2D cameras 410 cooperate to achieve a 360° viewing angle range shooting, so as to cover the entire surface of the inner wall of the steel pipe, thereby realizing a full-range detection of 360° of the inner wall of the steel pipe, eliminating detection blind spots, and solving the problem of missed detection. Moreover, the two 2D cameras 410 of this application are respectively responsible for detecting a part of the inner wall of the steel pipe. That is to say, the shooting viewing angle of the 2D camera 410 is relatively narrow, so the clarity of the pictures taken by it is higher. In addition, while the device moves in the steel pipe, the 2D camera 410 takes multiple pictures, so that a three-dimensional view of the inner wall of the steel pipe can be dynamically constructed through multiple pictures. It is not affected by mill scale and the texture of the pipe itself, so that the appearance defects of the inner wall of the steel pipe can be intuitively and quantitatively analyzed. Thus, it can be seen that this application realizes a full-range detection of 360° of the inner wall of the steel pipe, and can judge the type of the defect, the position of the defect, and quantify the defect, avoiding missed detection and misdetection.

[0047] Secondly, the two 2D cameras 410 installed obliquely can be spatially staggered with the laser 200. Thus, when taking pictures with the same clarity at the same position of the steel pipe, the object distance of the 2D camera 410 in this application is shorter than the object distance of the single wide-angle camera in the comparative example, so that the length of this device is shortened and the structure of this device is more compact.

[0048] Furthermore, the viewing ranges of at least two 2D cameras 410 have an overlapping part. Specifically, the viewing ranges of the two 2D cameras 410 in this application have an overlapping part, so as to avoid the situation that some parts cannot be photographed due to the change of the viewing range of the 2D camera 410 during long-term use, which affects the detection. Thus, it can be seen that this application ensures seamless overlap of the fields of view of the two 2D cameras 410 and eliminates blind spots.

[0049] Furthermore, the 2D camera 410 of at least one vision component 400 shoots towards the front end of this device, and the 2D camera 410 of at least one vision component 400 shoots towards the rear end of this device. That is, the lens of one 2D camera 410 collects light from the front end of this device, and the lens of the other 2D camera 410 collects light from the rear end of this device. Specifically, in this embodiment, while being able to achieve 360-degree shooting, the structural layout of this device is more compact.

[0050] Further, the predetermined included angle α is 8° - 12°. Specifically, the angle of the predetermined included angle α in the present application can have a better shooting perspective on the premise of satisfying 360-degree shooting, thereby improving the shooting clarity. In some embodiments, the predetermined included angles α of the two 2D cameras 410 are equal. That is to say, the optical axes of the two 2D cameras 410 are symmetrically deflected. In this way, the subsequent calculation, processing, and analysis of the taken photos are more convenient and simple.

[0051] Further, there are two support assemblies 500, and the two support assemblies 500 are symmetrically arranged on the connecting frame 100 front and back. Specifically, the two support assemblies 500 of this embodiment support the device from the front and back sides, thereby improving the stability of the present application.

[0052] Further, the two support assemblies 500 share a driving member 510. For example, the driving member 510 is a double-acting cylinder. Specifically, the double-acting cylinder can control the two support assemblies 500 to open and close synchronously, ensuring that the opening and closing angles of the two support assemblies 500 are the same, so that the device can be in the center position of the steel pipe, improving the detection accuracy and the stability of the device moving in the steel pipe.

[0053] Further, the present application further includes a moving component (not shown in the figure) and a clamp 700 connected to the tail end of the connecting frame 100; the moving component is connected to the connecting frame 100 through the clamp 700. The moving component drives the connecting frame 100 to move in the steel pipe. The moving component can be an existing structure capable of realizing translation, which is the prior art and will not be elaborated here.

[0054] Further, the driving member 510 is a telescopic cylinder, the output end of the telescopic cylinder is hinged to the opening and closing support member 520, and the opening and closing support member 520 is hinged to the connecting frame 100. In some embodiments, a connecting seat 530 is connected to the output end of the telescopic cylinder, and the connecting seat 530 is connected to the opening and closing support member 520 through a connecting rod 540. In some possible implementation manners, a first connecting ear 531 is provided on the connecting seat 530, the first connecting ear 531 is hinged to one end of the connecting rod 540, and the other end of the connecting rod 540 is hinged to the opening and closing support member 520. A second connecting ear 110 is provided on the connecting frame 100, and the second connecting ear 110 is hinged to the opening and closing support member 520 through a pin shaft. Specifically, in this embodiment, the telescopic cylinder is telescoped to realize the opening and closing of the opening and closing support member 520, with a simple structure, a compact layout, stable and reliable operation, and low cost.

[0055] Further, a roller 521 is movably connected to the free end of the opening and closing support member 520. Specifically, after the opening and closing support member 520 of this embodiment is opened, the roller 521 directly contacts the inner wall of the steel pipe; in this way, during the movement of the device in the steel pipe, the friction between the opening and closing support member 520 and the inner wall of the steel pipe can be reduced, making the movement smoother and reducing the wear on the inner wall of the steel pipe.

[0056] Furthermore, the roller 521 is made of a soft rubber material. The surface of the roller 521 should be smooth and clean. When selecting materials, strict control is carried out to ensure that the production process can guarantee the surface quality. Specifically, the roller 521 in this embodiment is elastic and can evenly disperse the pressure, reducing the local pressure on the inner wall of the steel pipe and preventing the steel pipe from being scratched when the present application moves inside the steel pipe.

[0057] Furthermore, the present application further includes a laser housing 600, and the laser housing 600 covers the laser 200; a emission port 610 for the laser of the laser 200 to emit is provided on the laser housing 600. Specifically, the laser housing 600 in this embodiment can protect the laser 200 and prevent the laser 200 from being affected by dust and affecting its operation.

[0058] Furthermore, a transparent camera protection housing 411 is provided on and in front of the 2D camera 410. In some embodiments, the camera protection housing 411 is made of glass. Specifically, the transparent camera protection housing 411 can protect the lens of the 2D camera 410 from dust; meanwhile, it does not affect the photographing field of view.

[0059] The present application supports three-dimensional topography detection: it can obtain depth information, and then capture the three-dimensional geometric information of the surface of the object to be measured through point cloud, height map or depth map, and can detect defects related to height (depth) (such as depressions, protrusions, scratch depth, thickness unevenness, etc.). The present application is also applicable to the defect detection of curved surfaces, edges and corners, and irregularly shaped objects.

[0060] The present application is not interfered by the surface color and illumination of the object to be measured: the present application judges whether there are defects by the shape of the aperture formed by the laser irradiating on the surface of the object to be measured, and then photographed by the 2D camera 410. Since the brightness of the laser is higher than that of the ambient light, it is not affected. It can be seen that the present application can resist illumination changes, and the detection result is not affected by the surface color, reflection or ambient illumination change of the object, especially suitable for highly reflective materials such as metals and glasses. Even in low light, strong light or shadow environments, it can still maintain high precision and achieve stable detection.

[0061] The present application can achieve detection with micron-level precision: the 2D camera 410 has a high resolution and can detect sub-millimeter-level defects (such as microcracks, micro depressions).

[0062] The present application can quantify defect parameters: physical parameters such as the depth, volume, and area of the defect, and the inner diameter of the steel pipe wall are measured through the photographed aperture photos, which is convenient for quality grading and process optimization.

[0063] The present application needs to be regularly maintained and worn parts need to be replaced, such as regularly adding grease (double-acting cylinders, rollers 521, etc.).

[0064] Obviously, the above embodiments are merely examples for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation manners here. And the obvious changes or modifications derived therefrom still fall within the protection scope of this utility model creation.

Claims

1. A three-dimensional detection device for detecting inner wall defects of steel pipes, characterized in that: Comprising: A connecting frame that moves within the steel pipe; At least two lasers, connected to the connecting frame; At least two vision components, spaced along the length direction of the connecting frame; the vision component includes a 2D camera and a light source; the 2D camera forms a predetermined angle with the axis of the connecting frame; the 2D cameras and the lasers are arranged in one-to-one correspondence, and the lasers are located on the front side of the 2D cameras; the 2D cameras of the at least two vision components are used to perform a 360-degree shooting of the inner wall of the steel pipe; the light source is used to provide ambient light required for the 2D camera to take pictures; A support component, including a driving member and a plurality of openable and closable support members; the driving member is connected to the connecting frame, and the support members are movably connected to the connecting frame; the driving member is configured to drive the support members to open and close to support within the steel pipe.

2. The three-dimensional detection device for detecting inner wall defects of steel pipes according to claim 1, wherein: The field of view ranges of the at least two 2D cameras have an overlapping part.

3. The three-dimensional detection device for detecting defects on the inner wall of a steel pipe according to claim 1, wherein: The 2D camera of at least one of the vision components shoots forward, and at least one of the vision components shoots backward.

4. The three-dimensional detection device for detecting defects on the inner wall of a steel pipe according to claim 1, characterized in that: The predetermined angle is 8° - 12°.

5. The three-dimensional detection device for detecting defects on the inner wall of a steel pipe according to claim 1, wherein: There are two support components, and the two support components are symmetrically arranged front and back on the connecting frame.

6. The three-dimensional detection device for detecting defects on the inner wall of a steel pipe according to claim 5, wherein: The two support components share one driving member.

7. The three-dimensional detection device for detecting inner wall defects of steel pipes according to claim 6, characterized in that: The driving member is a telescopic cylinder, the output end of the telescopic cylinder is hinged to the support member, and the support member is hinged to the connecting frame.

8. The three-dimensional detection device for detecting defects on the inner wall of a steel pipe according to claim 1, characterized in that: A roller is movably connected to the end of the support member.

9. The three-dimensional detection device for detecting inner wall defects of steel pipes according to claim 8, wherein: The roller is made of a soft rubber material.

10. The three-dimensional detection device for detecting inner wall defects of steel pipes according to claim 1, wherein: It further includes a laser housing that covers the laser; the laser housing is provided with an emission port for the laser of the laser to emit. And / or, a transparent camera protection housing is provided on and in front of the 2D camera.

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