Multifunctional and multi-adaptive pipeline inner wall visual inspection device

Abstract

The utility model discloses a multifunctional and multi-adaptive pipeline inner wall visual inspection device, which comprises a measuring mechanism, the measuring mechanism comprises an arranged robot, a linear module connected with a sixth shaft of the robot, a support connected with the bottom face of a shell of the linear module, a camera connected with the position of a sliding block of the linear module, a light source connected with the support and a conical mirror connected with the support. By means of the measuring mechanism, the 360-degree view range can be shot at the same time in the mode of vision and the conical mirror, a conical picture is restored into a plane picture through an algorithm, the inner wall of a pipeline in the view range can be evenly brightened in the mode of coaxial parallel light sources and the conical mirror, view blind areas are reduced, and the measurement accuracy is improved. Through the robot, the linear module, the vision and the conical mirror, automatic zooming is realized, and the device is suitable for detection of pipelines with different inner diameters and different depths.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline detection, in particular to a multifunctional and multi-adaptable pipeline inner wall visual detection device. Background Art

[0002] In existing technologies, only the appearance and defects of the outside of the pipeline are inspected. With the development of industry, people's requirements for equipment quality are getting higher and higher. The defect detection and anti-rust coating inspection of metal pipelines have also evolved from only inspecting the outside to inspecting both the inside and the outside. The external inspection method of pipelines is simple, and there are many mature inspection methods. However, there are difficulties in inspecting defects and paint spraying inside pipelines. Difficulty 1: The inner diameter of the pipeline is small, and it cannot be directly detected by the human eye or equipment; Difficulty 2: The inside of the pipe is very deep, and it is difficult for ordinary light sources to evenly illuminate the inner wall of the pipeline; Difficulty 3: The inner wall of the pipeline requires 360° all-round inspection, which is difficult for general visual systems to detect completely. In addition, there is image distortion, which affects the inspection accuracy; Difficulty 4: For different pipelines, the inner diameter and depth will also vary accordingly, and the corresponding camera focal length will also be different. Utility Model Content

[0003] Therefore, the purpose of the present invention is to provide a multifunctional and adaptable visual inspection device for the inner wall of a pipeline. Through the setting of the measuring mechanism, the 360° field of view can be captured simultaneously by adopting the method of vision + conical mirror, and the conical image can be restored to a flat image through the algorithm. The inner wall of the pipeline within the field of view can be evenly illuminated by the method of coaxial parallel light source + conical mirror, reducing the blind spot of the field of view. Automatic zoom is achieved through the robot + linear module + vision + conical mirror, which is suitable for the inspection of pipelines with different inner diameters and different depths.

[0004] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solution: a multifunctional and multi-adaptable pipeline inner wall visual inspection device, comprising:

[0005] The measuring mechanism includes a set robot, a linear module connected to the sixth axis of the robot, a bracket connected to the bottom surface of the linear module housing, a camera connected to the position of the linear module slider, a light source connected to the bracket, and a conical mirror connected to the bracket.

[0006] As a preferred solution of the multifunctional and multi-adaptable pipeline inner wall visual inspection device described in the utility model, it also includes a pipeline, and the robot drives the measuring mechanism to enter the inner center of the pipeline.

[0007] As a preferred solution of the multifunctional and multi-adaptable pipeline inner wall visual inspection device described in the present invention, the light source includes a first light and a second light.

[0008] As a preferred solution of the multifunctional and multi-adaptable pipeline inner wall visual inspection device described in the utility model, a hole is opened in the middle position of the light source, and the hole is used for the up and down movement of the camera lens.

[0009] As a preferred solution of the multifunctional and multi-adaptable pipeline inner wall visual inspection device described in the utility model, the conical mirror is coaxially distributed with the lens of the camera.

[0010] As a preferred solution of the multifunctional and multi-adaptable pipeline inner wall visual inspection device described in the utility model, the conical mirror is used to reflect the light emitted by the light source.

[0011] Compared with the prior art, the advantages of the present invention are:

[0012] 1. The vision + conical mirror method can simultaneously capture a 360° field of view (except for those blocked by the bracket), and the conical image can be restored to a flat image through an algorithm.

[0013] 2. The coaxial parallel light source + conical mirror method can evenly illuminate the inner wall of the pipe within the field of view, reducing blind spots.

[0014] 3. Through the robot + linear module + vision + conical mirror, automatic zoom is achieved to adapt to the inspection of pipes with different inner diameters and depths. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive labor. Among them:

[0016] Figure 1 It is a structural diagram of the utility model;

[0017] Figure 2 This is a distribution structure diagram of the first light and the second light of the present invention.

[0018] In the figure: 1. Robot; 2. Linear module; 3. Camera; 4. Light source; 5. Bracket; 6. Conical mirror; 7. Pipe; 8. First light; 9. Second light. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0020] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. People skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific implementation methods disclosed below.

[0021] Next, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, cross-sectional views of device structures may be partially enlarged and not to scale when describing the embodiments of the present invention. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0023] The utility model provides a multifunctional and adaptable visual inspection device for the inner wall of a pipeline. Through the setting of the measuring mechanism, the vision + conical mirror method can simultaneously capture a 360° field of view, and the cone image is restored to a flat image through an algorithm. The inner wall of the pipeline within the field of view can be evenly illuminated by the coaxial parallel light source + conical mirror method, reducing the blind spot of the field of view. Automatic zoom is achieved through the robot + linear module + vision + conical mirror, which is suitable for the inspection of pipelines with different inner diameters and different depths.

[0024] Figure 1-Figure 2 The figure shows the overall structure of an embodiment of a multifunctional and adaptable pipeline inner wall visual inspection device of the present invention. Figure 1-2 , the main structure of this embodiment includes: a measuring mechanism.

[0025] Specifically, the measuring mechanism includes a robot 1, a linear module 2 connected to the sixth axis of the robot 1, a bracket 5 connected to the bottom surface of the outer shell of the linear module 2, a camera 3 connected to the slider position of the linear module 2, a light source 4 connected to the bracket 5, and a conical mirror 6 connected to the bracket 5; the light output direction of the light source 4 is set vertically downward along the length direction of the bracket, and the central axis of the conical mirror 6 is set vertically upward along the length direction of the bracket.

[0026] During specific use, the robot 1 enters the inner center of the pipe 7 with the measuring mechanism, and the light source 4 reflects the first light 8 outward through the conical mirror 6 to evenly illuminate the inner wall of the pipe 7. At this time, the image of the inner wall of the pipe 7 is reflected by the second light 9 through the conical mirror 6 to the lens of the camera 3. The camera 3 can now collect the entire field of view except for the obstruction of the bracket 5. After taking pictures, it is determined whether there are defects or spraying leaks. After the picture is taken, the robot 1 maintains the current position unchanged, and the end of the robot rotates a certain angle with the camera 3 to avoid the field of view obstruction caused by the bracket 5 and takes pictures again. Through multiple pictures + algorithm, Original, it can clearly identify the visual features of the inner wall of the pipe 7 and make a judgment. When the inner diameter of the pipe 7 becomes larger or smaller, since the conical mirror 6 is fixed to the base of the linear module 2 through the bracket 5, the camera 3 is fixed on the slide of the linear module 2 and can slide up and down. The distance between the lens of the camera 3 and the conical mirror 6 is adjusted according to the inner diameter of the pipe 7 to achieve the zoom function. The light source 4 ensures uniform lighting and effect by adjusting the brightness. The robot 1 brings the entire measuring mechanism to adjust the movement distance along the axis of the pipe 7 according to the depth of the pipe 7, so that it can adapt to the detection of pipes 7 with different inner diameters and different depths.

[0027] While the present invention has been described above with reference to specific embodiments, various modifications may be made and equivalent components may be substituted without departing from the scope of the present invention. In particular, as long as no structural conflicts exist, the various features of the embodiments disclosed herein may be combined with one another in any manner, and the omission of an exhaustive description of these combinations in this specification is solely for the sake of space and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. A multifunctional and adaptable pipeline inner wall visual inspection device, characterized in that: include: A measuring mechanism comprises a robot (1), a linear module (2) connected to a sixth axis of the robot (1), a bracket (5) connected to a bottom surface of a housing of the linear module (2), a camera (3) connected to a slider position of the linear module (2), a light source (4) connected to the bracket (5), and a conical mirror (6) connected to the bracket (5).

2. The multifunctional and adaptable pipeline inner wall visual inspection device according to claim 1 is characterized in that: It also includes a pipeline (7), and the robot (1) drives the measuring mechanism into the inner center of the pipeline (7).

3. The multifunctional and adaptable pipeline inner wall visual inspection device according to claim 2 is characterized in that: The light emitting direction of the light source (4) is arranged vertically downward along the length direction of the bracket, and the central axis of the conical mirror (6) is arranged vertically upward along the length direction of the bracket.

4. The multifunctional and adaptable pipeline inner wall visual inspection device according to claim 3 is characterized in that: A hole is provided in the middle of the light source (4), and the hole is used for the upward and downward movement of the camera (3) lens.

5. The multifunctional and adaptable pipeline inner wall visual inspection device according to claim 4 is characterized in that: The conical mirror (6) and the lens of the camera (3) are coaxially distributed.

6. The multifunctional and adaptable pipeline inner wall visual inspection device according to claim 5, characterized in that: The conical mirror (6) is used to reflect light emitted by the light source (4).

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