Flatness detection equipment and detection system

Abstract

The utility model provides flatness detection equipment and a flatness detection system. The flatness detection equipment comprises a wall climbing mechanism; the detection mechanism comprises at least two detection cameras, and part of detection ranges of every two adjacent detection cameras are overlapped; the control mechanism comprises a path planning module and an image processing module, the path planning module is connected with the wall climbing mechanism, and the image processing module is connected with the detection mechanism. The wall climbing mechanism moves on the to-be-detected wall surface, the detection mechanism on the wall climbing mechanism detects the flatness of the wall surface in the moving path range of the wall climbing mechanism, and based on the fact that two adjacent detection cameras have overlapped detection ranges, detection leakage points generated due to limitation of the visual angles of the cameras and the detection path can be avoided, and meanwhile, the detection accuracy is improved. And on the basis of the arrangement of a path planning module in the control mechanism, the comprehensiveness of wall surface detection of the equipment is further improved, so that the equipment has the advantages of high detection precision, comprehensive detection range, high automation degree, flexibility in use, high controllability and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of detection equipment, and particularly refers to a flatness detection equipment and a detection system. Background Art

[0002] In the contemporary shipbuilding and maintenance industries, it is crucial to ensure that the flatness of the ship's surface meets high standards. The quality of flatness is directly related to the ship's navigation performance, structural safety, and service life. Currently, the flatness detection of the ship's surface mainly relies on visual inspection using a 1-meter or 3-meter straightedge as the detection tool, but this method has exposed many problems in practice, bringing great inconvenience to the detection and management of the ship's surface flatness.

[0003] Existing conventional detection equipment usually relies on a single camera for detection, and the planning of the detection path depends on alarm block control. This method has a fatal flaw, that is, the gaps on adjacent detection paths may lead to detection blind spots. Especially on non-planar structures, due to the limitations of the camera's perspective and the detection path, some subtle bumps or gaps may be missed, and these undetected defects may develop into bigger problems during the ship's operation, affecting the safety and durability of the ship. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the utility model is to overcome the problem of detection blind spots in the prior art, and provide a flatness detection equipment and a detection system.

[0005] To solve the above technical problem, the utility model provides a flatness detection equipment, which includes: a wall-climbing mechanism; a detection mechanism connected to the wall-climbing mechanism, including at least two detection cameras, and partial detection ranges of adjacent two detection cameras are overlapped; a control mechanism including a path planning module and an image processing module, wherein the path planning module is connected to the wall-climbing mechanism, and the image processing module is connected to the detection mechanism.

[0006] In an embodiment of the utility model, it further includes a marking mechanism connected to the wall-climbing mechanism, which includes a marking bottle, a connecting pipeline, and a nozzle. Two ends of the connecting pipeline are respectively communicated with the marking bottle and the nozzle, and a control valve is arranged on the marking bottle, and the control valve is connected to the image processing module.

[0007] In an embodiment of the utility model, the control mechanism further includes a warning module connected to the image processing module and the control valve.

[0008] In an embodiment of the present utility model, the detection mechanism includes a plurality of detection cameras, and the plurality of detection cameras are symmetrically arranged on both sides of the wall-climbing mechanism.

[0009] In an embodiment of the present utility model, the wall-climbing mechanism includes a vehicle body, a floating component, and a wheel set. A driving component is provided inside the vehicle body. The floating component is connected to the chassis of the vehicle body, and the wheel set is connected to the floating component and moves along the wall surface to be detected through the floating component.

[0010] In an embodiment of the present utility model, the floating component includes a first floating frame and a second floating frame. The wheel set includes two front wheels and two rear wheels. The two front wheels are connected to both sides of the first floating frame, and the two rear wheels are connected to both sides of the second floating frame. The first floating frame and the second floating frame respectively rotate around the rotation center line so that the front wheels and the rear wheels can both fit the wall surface to be detected.

[0011] In an embodiment of the present utility model, the wall-climbing mechanism is further provided with a handle, and the handle is connected to one side of the vehicle body.

[0012] In an embodiment of the present utility model, the detection mechanism further includes an extension frame and a connecting frame. The extension frame extends parallel to the wall surface to be detected, and the connecting frame is connected to the extension end of the extension frame. At least two detection cameras are respectively connected to the connecting frame.

[0013] In an embodiment of the present utility model, the detection mechanism further includes at least two mounting plates. The at least two mounting plates are spaced and connected to the connecting frame, and at least two detection cameras are respectively rotatably connected to the corresponding mounting plates.

[0014] The present utility model further provides a detection system, which includes the above-mentioned flatness detection device.

[0015] The above technical solution of the present utility model has the following advantages compared with the prior art:

[0016] For the flatness detection device and the detection system of the present utility model, the wall-climbing mechanism moves on the wall surface to be detected. During this process, the detection mechanism thereon detects the flatness of the wall surface within its moving path range. Based on the fact that the adjacent two detection cameras have overlapping detection ranges, it is possible to avoid detection blind spots caused by the camera viewing angle and detection path limitations. At the same time, based on the setting of the path planning module in the control mechanism, the comprehensiveness of the wall surface detection by this device is further improved. Compared with the conventional detection technology, this application has the advantages of high detection accuracy, comprehensive detection range, high degree of automation, flexible use, and high controllability. Description of the Drawings

[0017] In order to make the content of the present utility model easier to be clearly understood, the following further details the present utility model according to the specific embodiments of the present utility model and in conjunction with the accompanying drawings.

[0018] Figure 1 It is a schematic three-dimensional structure diagram of the flatness detection device in the preferred embodiment of the present utility model;

[0019] Figure 2 is Figure 1 a side view of the flatness detection device shown;

[0020] Figure 3 is Figure 1 a schematic three-dimensional structure diagram of the wall-climbing mechanism in the flatness detection device shown;

[0021] Figure 4 is Figure 1 a schematic diagram of the detection range of the flatness detection device in the working state shown.

[0022] Explanation of the reference numerals in the drawings of the specification: 100, wall-climbing mechanism; 110, vehicle body; 120, floating assembly; 121, first floating frame; 122, second floating frame; 130, wheel set; 131, front wheel; 132, rear wheel; 200, detection mechanism; 210, detection camera; 220, extension frame; 230, connecting frame; 240, mounting plate; 250, detection area; 300, marking mechanism; 310, marking bottle; 320, connecting pipeline; 330, nozzle. Specific Embodiments

[0023] The following further illustrates the present utility model in conjunction with the accompanying 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 examples given are not intended to limit the present utility model.

[0024] Embodiment 1

[0025] Referring to Figure 1 and Figure 2 shown, this embodiment provides a flatness detection device, which includes: a wall-climbing mechanism 100; a detection mechanism 200, the detection mechanism 200 is connected to the wall-climbing mechanism 100, and it includes at least two detection cameras 210, and partial detection areas 250 of adjacent two detection cameras 210 are overlapped and arranged; a control mechanism, the control mechanism includes a path planning module and an image processing module, wherein, the path planning module is connected to the wall-climbing mechanism 100, and the image processing module is connected to the detection mechanism 200. It should be noted that the path planning module in this application includes global path planning technology.

[0026] The flatness detection device described in this embodiment moves on the wall surface to be detected through the wall-climbing mechanism 100. During this process, the detection mechanism 200 thereon detects the flatness of the wall surface within its moving path. Based on the fact that the adjacent two detection cameras 210 have overlapping detection areas 250, it is possible to avoid detection blind spots caused by camera viewing angles and detection path limitations. At the same time, based on the setting of the path planning module in the control mechanism, the comprehensiveness of the wall surface detection by this device is further improved. Compared with conventional detection technologies, this application has the advantages of high detection accuracy, comprehensive detection area, high automation, flexible use, and high controllability.

[0027] See Figure 3 As shown, the wall-climbing mechanism 100 in this embodiment includes a vehicle body 110, a floating component 120, and a wheel set 130. A driving component is provided inside the vehicle body 110. The floating component 120 is connected to the chassis of the vehicle body 110, and the wheel set 130 is connected to the floating component 120 and moves along the wall surface to be detected by means of the floating component 120. Among them, the vehicle body 110 is used to protect the driving component inside it and at the same time provide an installation platform for the floating component 120 and the wheel set 130. The floating component 120 is used to ensure that the wheel set 130 can always be in contact with the wall surface to be detected, so that it can always maintain stable contact with the ground during movement and avoid detection errors caused by the shaking of the vehicle body 110 on the wall surface.

[0028] Furthermore, the floating component 120 in this embodiment includes a first floating frame 121 and a second floating frame 122. The wheel set 130 includes two front wheels 131 and two rear wheels 132. The two front wheels 131 are connected to both sides of the first floating frame 121, and the two rear wheels 132 are connected to both sides of the second floating frame 122. The first floating frame 121 and the second floating frame 122 rotate around the rotation center line respectively, so that the front wheels 131 and the rear wheels 132 can both be in contact with the wall surface to be detected. Based on the above structural settings, the front wheels 131 and the rear wheels 132 in this application can adaptively adjust according to the road surface they move on, thereby ensuring the stability of the vehicle body 110 during movement. Specifically, the rotation center line in this embodiment runs through the center of the chassis of the vehicle body 110 along the length direction of the vehicle body and extends along the moving direction of the vehicle body 110. In other embodiments, the first floating frame 121 and the second floating frame 122 can also be set as structures with elastic adjustment functions in the height of the vehicle body 110, thereby further improving the stability of the vehicle body 110. The present utility model does not make specific limitations on this. In addition, the wall-climbing mechanism 100 in this embodiment is also provided with a handle, and the handle is connected to one side of the vehicle body 110 to facilitate the handling and transfer of this device.

[0029] In this embodiment, three detection cameras 210 are provided. The three detection cameras 210 are symmetrically arranged on both sides of the wall-climbing mechanism 100 along the width direction of the device. Refer to Figure 4 As shown, there are overlapping parts in the detection areas 250 of the three cameras, which can ensure that there are no undetected points between the three detection cameras 210, thus realizing a complete and comprehensive detection process for the wall surface to be detected. In other embodiments, the number or position of the detection cameras 210 can be set according to the actual situation of the actual surface to be detected, and the present utility model does not make specific restrictions on this.

[0030] Refer to Figure 1 As shown, the device further includes a marking mechanism 300. The marking mechanism 300 is connected to the wall-climbing mechanism 100 and includes a marking bottle 310, a connecting pipeline 320 and a nozzle 330. The two ends of the connecting pipeline 320 are respectively communicated with the marking bottle 310 and the nozzle 330. A control valve is provided on the marking bottle 310, and the control valve is connected to the image processing module. Based on this, after the detection camera 210 transmits the captured information to the image processing module, it can analyze whether the wall surface to be detected meets the standards. If there are unqualified positions in the detection, the marking mechanism 300 can spray and mark this place for subsequent repair and adjustment.

[0031] Further, the control mechanism further includes a warning module. The warning module is connected to the image processing module and the control valve. Specifically, the warning module in this embodiment is preferably an optoelectronic alarm, thus realizing the effect of real-time alarm reminder for the defective parts.

[0032] The detection mechanism 200 in this embodiment further includes an extension frame 220 and a connecting frame 230. The extension frame 220 extends parallel to the wall surface to be detected, and the connecting frame 230 is connected to the extension end of the extension frame 220. At least two detection cameras 210 are respectively connected to the connecting frame 230. Among them, the extension frame 220 can provide an avoidance space for the installation of the detection camera 210, and can also ensure that the distance between the detection camera 210 and the wall surface to be detected does not deviate greatly, thereby improving the detection quality. Further, the detection mechanism 200 further includes at least two mounting plates 240. At least two mounting plates 240 are spaced and connected to the connecting frame 230, and at least two detection cameras 210 are respectively rotatably connected to the corresponding mounting plates 240, thereby improving the detection area 250 and the flexibility of use of this application.

[0033] This embodiment further includes a regulation system. During the actual production and processing process, the operator can perform real-time regulation on the above structures through the regulation system, thereby improving the flexibility of use of this device, and can also perform parameter presetting through the regulation system, thereby improving the automation degree of this device.

[0034] Embodiment 2

[0035] This embodiment provides a detection system, which includes at least one of the above flatness detection devices.

[0036] In summary, for the flatness detection device and the detection system of the present utility model, the wall-climbing mechanism 100 moves on the wall to be detected. During this process, the detection mechanism 200 thereon detects the flatness of the wall within its moving path. Based on the fact that the adjacent two detection cameras 210 have overlapping detection areas 250, it is possible to avoid detection blind spots caused by the limitations of the camera viewing angle and the detection path. At the same time, based on the setting of the path planning module in the control mechanism, the comprehensiveness of the wall detection by this device is further improved. Compared with the conventional detection technology, this application has the advantages of high detection accuracy, comprehensive detection area 250, high automation degree, flexible use, and high controllability.

[0037] 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 the implementation manners here. And the obvious changes or modifications derived therefrom are still within the protection scope of the present utility model.

Claims

1. A flatness detection device, characterized in that: Comprising: A wall-climbing mechanism; A detection mechanism, which is connected to the wall-climbing mechanism and includes at least two detection cameras, and partial detection ranges of adjacent two of the detection cameras are overlapped and arranged; A control mechanism, which includes a path planning module and an image processing module. Among them, the path planning module is connected to the wall-climbing mechanism, and the image processing module is connected to the detection mechanism.

2. The flatness detection device according to claim 1, wherein: It further includes a marking mechanism, which is connected to the wall-climbing mechanism and includes a marking bottle, a connecting pipeline and a nozzle. Two ends of the connecting pipeline are respectively communicated with the marking bottle and the nozzle. A control valve is arranged on the marking bottle, and the control valve is connected to the image processing module.

3. The flatness detection device according to claim 2, wherein: The control mechanism further includes a warning module, and the warning module is connected to the image processing module and the control valve.

4. The flatness detection device according to claim 1, wherein: The detection mechanism includes a plurality of detection cameras, and the plurality of detection cameras are symmetrically arranged on both sides of the wall-climbing mechanism.

5. The flatness detection device according to claim 1, characterized in that: The wall-climbing mechanism includes a vehicle body, a floating assembly and a wheel set. A driving assembly is arranged inside the vehicle body. The floating assembly is connected to the chassis of the vehicle body, and the wheel set is connected to the floating assembly and moves along the wall surface to be detected through the floating assembly.

6. The flatness detection device according to claim 5, characterized in that: The floating assembly includes a first floating frame and a second floating frame. The wheel set includes two front wheels and two rear wheels. The two front wheels are connected to both sides of the first floating frame, and the two rear wheels are connected to both sides of the second floating frame. The first floating frame and the second floating frame respectively rotate around a rotation center line so that the front wheels and the rear wheels are both attached to the wall surface to be detected.

7. The flatness detection device according to claim 5, characterized in that: The wall-climbing mechanism is further provided with a handle, and the handle is connected to one side of the vehicle body.

8. The flatness detection device according to claim 1, characterized in that: The detection mechanism further includes an extension frame and a connecting frame. The extension frame extends parallel to the wall surface to be detected, the connecting frame is connected to the extension end of the extension frame, and at least two of the detection cameras are respectively connected to the connecting frame.

9. The flatness detection device according to claim 8, characterized in that: The detection mechanism further includes at least two mounting plates, the at least two mounting plates are connected to the connecting frame at intervals, and at least two of the detection cameras are respectively rotatably connected to the corresponding mounting plates.

10. A detection system, characterized in that: Including the flatness detection device according to any one of claims 1 to 9.

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