Carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology

Abstract

The utility model discloses a carbon steel pressure-bearing equipment inspection device based on a stereoscopic vision structured light technology, which comprises a vehicle frame provided with a mechanical arm; one end of the mechanical arm is rotationally connected with the frame, and the other end of the mechanical arm is provided with a stereoscopic vision structure light module; the stereoscopic vision structured light module comprises two cameras and a structured light projector; walking assemblies are arranged on the two sides of the vehicle frame, permanent magnets are arranged on the walking assemblies, and the permanent magnets provide attraction force to firmly attract the vehicle frame to the surface of the pressure container. The device can replace manpower to arrive at a specified position, acquire required data and then analyze the data so as to complete macroscopic inspection and detection of the pressure-bearing equipment, so that the inspection requirement can be met, and meanwhile, the inspection safety is ensured.

Description

Technical Field

[0001] This utility model belongs to the field of equipment inspection technology, specifically relating to an inspection device for carbon steel pressure equipment based on stereoscopic vision structured light technology. Background Technology

[0002] The statements herein provide only background information related to this invention and do not necessarily constitute prior art.

[0003] Special equipment represents a country's economic level and is a crucial foundation of the national economy. Accidents involving it can cause personal injury and significant property damage. Pressure equipment accounts for about a quarter of all special equipment, representing a huge quantity. To ensure the safety of people's lives and property and promote social and economic development, relevant regulations stipulate that the manufacturing and usage conditions of pressure equipment must be inspected.

[0004] In the manufacturing, supervision, and periodic inspection of pressure equipment, macroscopic inspection is a key component. Macroscopic inspection includes structural inspection, visual inspection, and geometric dimensional inspection, primarily achieved through visual inspection and the use of relevant dimensional measuring tools. However, sometimes the pressure equipment to be inspected is located in areas difficult for personnel to access, or the inspection environment poses a significant risk of personal injury. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a carbon steel pressure equipment inspection device based on stereoscopic vision structured light technology. This device can replace human labor to reach the designated location, collect the required data, and then analyze the data to complete the macroscopic inspection and testing of the pressure equipment, which can meet the inspection requirements while ensuring inspection safety.

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution:

[0007] The present invention provides a carbon steel pressure vessel inspection device based on stereoscopic vision structured light technology, comprising: a frame, on which a robotic arm is mounted; one end of the robotic arm is rotatably connected to the frame, and the other end is provided with a stereoscopic vision structured light module; the stereoscopic vision structured light module includes two cameras and a structured light projector; walking components are provided on both sides of the frame, and permanent magnets are provided on the walking components, which provide attraction to firmly attach the frame to the surface of the pressure vessel.

[0008] In at least one embodiment, the robotic arm specifically includes a first bracket, a second bracket, and a mounting bracket that are rotatably connected in sequence; the first bracket is rotatably connected to the vehicle frame.

[0009] In at least one embodiment, a joint drive device is provided at the connection between the frame and the first bracket, the first bracket and the second bracket, and the second bracket and the mounting bracket; the joint drive device consists of a motor and a reducer, which respectively drive the movement and suspension of the first bracket, the second bracket and the mounting bracket.

[0010] In at least one embodiment, the stereo vision structured light module is fixedly mounted on the mounting bracket.

[0011] In at least one embodiment, the two cameras are symmetrically arranged on the mounting bracket, and a structured light projector is fixedly installed between the two cameras.

[0012] In at least one embodiment, the walking assembly has two sets, which respectively drive the drive wheels on both sides of the frame to rotate.

[0013] In at least one embodiment, the walking assembly includes a drive motor disposed on one side of the frame, the drive motor being connected to a gearbox, the output shaft of the gearbox driving a drive wheel on one side of the frame to rotate.

[0014] In at least one embodiment, driven wheels are also provided on both sides of the frame, and a drive chain is provided between the driven wheels and the drive wheels; a plurality of permanent magnets are evenly distributed on the drive chain.

[0015] In at least one embodiment, a communication control module is provided inside the vehicle frame; the communication control module is an integrated circuit board of a wireless communication module and a microcontroller.

[0016] In at least one embodiment, a data analysis control terminal is further included; the data analysis control terminal is wirelessly connected to the communication control module.

[0017] The beneficial effects of the above-described technical solution of this utility model are as follows:

[0018] This invention discloses an inspection device for carbon steel pressure-bearing equipment based on stereoscopic vision structured light technology. A robotic arm adjusts the stereoscopic vision structured light module to a suitable shooting position, and a structured light projector projects coded structured light images. Two cameras simultaneously capture images of the part to be inspected, obtaining image data that serves as the raw data for inspecting the carbon steel pressure-bearing equipment. Permanent magnets on the walking assembly provide attraction, firmly attaching the frame to the surface of the carbon steel pressure-bearing equipment. This ensures the entire device can move perpendicular to the container surface, reaching locations difficult for humans to access for structured light image acquisition. Furthermore, acquiring image data remotely avoids the risk of personal injury from the inspection environment, ensuring the safety of macroscopic inspection of the carbon steel pressure-bearing equipment. Attached Figure Description

[0019] The accompanying drawings, which form part of this specification, are used to provide a further understanding of this utility model. The illustrative embodiments of this utility model and their descriptions are used to explain this utility model and do not constitute an improper limitation of this utility model.

[0020] Figure 1 This is a schematic diagram of a carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology according to this utility model;

[0021] Figure 2 This is a schematic diagram of the inspection process of a carbon steel pressure equipment inspection device based on stereoscopic vision structured light technology according to this utility model;

[0022] In the diagram: 1. Drive chain; 2. Drive wheel; 3. Drive motor; 4. Gearbox; 5. Permanent magnet; 6. Frame; 7. Communication control module; 8. Robotic arm; 9. Joint drive device; 10. Camera A; 11. Structured light projector; 12. Camera B; 13. Data analysis and control terminal.

[0023] The distances or dimensions between parts have been exaggerated to show their positions; the diagram is for illustrative purposes only. Detailed Implementation

[0024] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0025] As described in the background section, the purpose of this utility model is to overcome the shortcomings of the prior art and provide a carbon steel pressure equipment inspection device based on stereoscopic vision structured light technology. This device can replace human labor to reach the designated location, collect the required data, and then analyze the data to complete the macroscopic inspection and testing of the pressure equipment, which can meet the inspection requirements while ensuring inspection safety.

[0026] Example 1

[0027] like Figure 1As shown, this embodiment discloses an inspection device for carbon steel pressure-bearing equipment based on stereoscopic vision structured light technology, including: a frame 6, on which a robotic arm 8 is mounted. One end of the robotic arm 8 is rotatably connected to the frame 6, and the other end is equipped with a stereoscopic vision structured light module. The robotic arm 8 adjusts the stereoscopic vision structured light module to a suitable shooting position. The stereoscopic vision structured light module includes two cameras—Camera A 10 and Camera B 12—and a structured light projector 11. The structured light projector 11 projects coded structured light images, and Camera A 10 and Camera B 12 simultaneously capture images corresponding to the parts to be inspected, obtaining image data. These images will serve as the raw data for inspecting the carbon steel pressure-bearing equipment. Walking components are mounted on both sides of the frame 6, and permanent magnets 5 are mounted on the walking components. The permanent magnets 5 provide attraction, firmly adhering the frame 6 to the surface of the carbon steel pressure-bearing equipment, thereby ensuring that the entire device can move perpendicular to the container surface and reach positions difficult for humans to access for structured light image acquisition.

[0028] In this embodiment, the robotic arm 8 specifically includes a first support, a second support, and a mounting base that are rotatably connected in sequence. The first support is rotatably connected to the frame 6. Joint drive devices 9 are provided at the connections between the frame 6 and the first support, the first support and the second support, and the second support and the mounting base. That is, the robotic arm 8 of this device has three joints, each with a separate joint drive device 9. Each joint drive device 9 consists of a motor and a reducer, driving the movement and hovering of the first support, the second support, and the mounting base, respectively. The stereo vision structured light module is fixedly mounted on the mounting base. Camera A 10 and Camera B 12 are symmetrically arranged on the mounting base, and a structured light projector 11 is fixedly mounted between Camera A 10 and Camera B 12. The three joint drive devices 9 control the three joints of the robotic arm 8, providing a sufficiently large range of motion for the stereo vision structured light module. This allows for flexible adjustment of its shooting position, ensuring that the target to be detected is within the optimal focal length range of Camera A 10, Camera B 12, and the projector during each data acquisition, thus guaranteeing the quality of the acquired data.

[0029] In this embodiment, there are two sets of walking components, which drive the drive wheels 2 on both sides of the frame 6 to rotate, thereby driving the entire device to a designated position. Each set of walking components includes a drive motor 3 located on one side of the frame 6. The drive motor 3 is connected to a gearbox 4, and the output shaft of the gearbox 4 drives the drive wheel 2 on one side of the frame 6 to rotate. Driven wheels are also provided on both sides of the frame 6. A drive chain 1 is provided between the driven wheel on the same side and the drive wheel 2. Several permanent magnets 5 are evenly distributed on the drive chain 1 to provide magnetic attraction, adsorbing the entire device onto the surface of the carbon steel pressure equipment. The drive motor 3 outputs sufficient power to the drive wheel 2 through the gearbox 4. The drive wheel 2 drives the drive chain 1 to move. The friction between the drive chain 1 and the surface of the carbon steel pressure equipment provides power for the entire device, enabling the entire device to move forward and backward. By controlling the drive wheel 2 on one side by the two sets of walking components, the device can also be steered, making the movement of the device more flexible.

[0030] In this embodiment, the device also includes a data analysis and control terminal 13 and a communication control module 7. The communication control module 7 is located inside the frame 6 and integrates a wireless communication module, a microcontroller, etc., on a circuit board. It is connected to the data analysis and control terminal 13, the joint drive device 9, the stereo vision structured light module, and the walking component via wireless communication. It can receive control signals transmitted from the data analysis and control terminal 13 and convert the corresponding signals into electrical signals and send them to the joint drive device 9, the stereo vision structured light module, or the walking component to realize the adjustment of the robotic arm 8, the acquisition of image data from the camera and the structured light projector 11, or the movement of the device. It can also receive image data captured by camera A 10 and camera B 12 and transmit it back to the data analysis and control terminal 13.

[0031] The data analysis and control terminal 13 sends control commands and transmits data via wireless communication technology, sending instructions to the communication control module 7 of the remote device. At the same time, it can receive data collected by the remote device and analyze and process the received image data using existing technologies or software, including but not limited to camera calibration, image phase decoding, image filtering, stereo correction, parallax calculation, 3D reconstruction, point cloud denoising, and 3D measurement. By processing and analyzing 2D images and 3D point cloud data, the geometric dimension inspection of the pressure vessel can be completed.

[0032] In this embodiment, the data analysis and control terminal 13 adopts the Yanyu C5750S-C6 industrial computer. The industrial computer sends control commands to the communication control module 7 through wireless communication technology, thereby controlling the operation of the drive motor 3, the joint drive device 9, the A camera 10 and the B camera 12, and the structured light projector 11.

[0033] It should be noted that the data processing and instruction issuance of the data analysis and control terminal 13, and the process of the communication control module 7 controlling each component / module to execute instructions can all be implemented by existing technologies or software, and will not be elaborated here.

[0034] In this embodiment, the specific working principle of a carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology is as follows:

[0035] (1) The operator places the device on the surface of the carbon steel pressure-bearing equipment to be tested, and the permanent magnet 5 provides attraction to firmly attach the frame to the surface of the carbon steel pressure-bearing equipment.

[0036] (2) The drive motor 3 outputs sufficient power to the drive wheel 2 through the gearbox 4. The drive wheel 2 drives the drive chain 1 to move. The friction between the drive chain 1 and the carbon steel pressure equipment surface provides power for the entire device, enabling the entire device to move to the position to be tested.

[0037] (3) The three joint drive devices 9 control the three joints of the robotic arm 8 respectively so that the first support, the second support and the mounting support are adjusted to a suitable posture and suspended. At this time, the target to be detected is within the optimal focal length range of the A camera 10, the B camera 12 and the structured light projector 11.

[0038] (4) The structured light projector 11 of the stereo vision light structure module projects the coded structured light image, and the A camera 10 and B camera 12 simultaneously capture the corresponding image.

[0039] (5) The collected image data is transmitted to the data analysis and control terminal 13 for appearance evaluation and geometric dimension analysis.

[0040] Among them, the movement of the drive motor 3, the adjustment of the position of the robotic arm by the joint drive device 9, the projection of the coded structured light image by the structured light projector 11, the shooting by the A camera 10 and the B camera 12, and the transmission of image data are all controlled by the Yanyu C5750S-C6 industrial computer to realize the action.

[0041] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology, characterized in that, include: A vehicle frame, on which a robotic arm is mounted; one end of the robotic arm is rotatably connected to the vehicle frame, and the other end is equipped with a stereoscopic vision structured light module; The stereo vision structured light module includes two cameras and a structured light projector; walking components are provided on both sides of the vehicle frame, and permanent magnets are provided on the walking components. The permanent magnets provide attraction to firmly attach the vehicle frame to the surface of the pressure vessel; a communication control module is provided inside the vehicle frame; the communication control module is an integrated circuit board of a wireless communication module and a microcontroller. The aforementioned carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology also includes a data analysis and control terminal; the communication control module is connected to the data analysis and control terminal, two cameras, and a structured light projector via wireless communication; the structured light projector is used to project coded structured light images onto the surface of the pressure-bearing equipment, and the two cameras are used to synchronously acquire images of the parts to be inspected on which coded structured light images have been projected.

2. The carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology as described in claim 1, characterized in that, The robotic arm specifically includes a first bracket, a second bracket, and a mounting bracket that are rotatably connected in sequence; the first bracket is rotatably connected to the vehicle frame.

3. The carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology as described in claim 2, characterized in that, Joint drive devices are provided at the connection points between the frame and the first bracket, the first bracket and the second bracket, and the second bracket and the mounting bracket; the joint drive devices consist of a motor and a reducer, which drive the movement and suspension of the first bracket, the second bracket and the mounting bracket respectively.

4. The carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology as described in claim 2, characterized in that, The stereo vision structured light module is fixedly installed on the mounting bracket.

5. The carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology as described in claim 4, characterized in that, The two cameras are symmetrically arranged on the mounting bracket, and a structured light projector is fixedly installed between the two cameras.

6. The carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology as described in claim 1, characterized in that, The walking assembly consists of two sets, which respectively drive the drive wheels on both sides of the frame to rotate.

7. The carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology as described in claim 6, characterized in that, The walking assembly includes a drive motor mounted on one side of the frame, the drive motor being connected to a gearbox, and the output shaft of the gearbox driving a drive wheel on one side of the frame to rotate.

8. The carbon steel pressure-bearing equipment inspection device based on stereoscopic vision structured light technology as described in claim 1, characterized in that, Driven wheels are also provided on both sides of the frame, and a drive chain is provided between the driven wheels and the drive wheels; a number of permanent magnets are evenly distributed on the drive chain.

Images