Duct piece detection system

Abstract

The utility model discloses a duct piece detection system, which relates to the technical field of shield duct piece manufacture and adopts a terminal, a positioning mechanism, a base frame, a tracking component and a duct piece detection component, and the arranged terminal is used for controlling a sliding module to drive the tracking component and the duct piece detection component to slide above a placement space along a guide piece. According to the invention, the segment detection part collects the first space coordinates of at least three positioning positions, and the terminal can establish a basic coordinate system of the placement space according to all the collected first space coordinates, and can control the segment detection part to drive the tracking part to enter and scan the placement space. According to the duct piece detection device and the duct piece detection method, the current position of the duct piece to be detected in the basic coordinate system is determined, the duct piece to be detected placed at the current position is detected, the duct piece to be detected can be rapidly detected through cooperation of the arranged duct piece detection component and the tracking component during use, repeated detection can be avoided, the duct piece detection efficiency is improved, and industrial application is facilitated.

Description

Technical Field

[0001] This utility model relates to the field of shield tunnel segment manufacturing technology, and in particular to a segment inspection system. Background Technology

[0002] With the rapid development of industrial automation and intelligent manufacturing, the segment inspection system, as a key link in the quality control of precast segment manufacturing, has undergone a transformation in its technological development from manual inspection to automated inspection. Early segment inspection mainly relied on manual visual inspection, which was inefficient and easily affected by human factors, making it difficult to guarantee the accuracy and consistency of the inspection results.

[0003] With advancements in computer vision and robotics, tunnel segment inspection systems are evolving towards automation. By integrating technologies such as image acquisition, laser scanning, and robotic arms, automated inspection of tunnel segments has been achieved. This transformation not only improves inspection efficiency but also significantly enhances the accuracy and reliability of the inspection process.

[0004] Although existing segment inspection systems have made some progress in automation and accuracy, some shortcomings still exist. However, the inspection speed and accuracy of some systems in these technologies have not yet met the requirements of industrial production, especially on high-efficiency production lines where repetitive inspections occur, hindering industrial application. Utility Model Content

[0005] The main purpose of this invention is to propose a segment inspection system, which aims to solve the technical problem that the inspection speed and accuracy of some related systems have not yet met the requirements of industrial production, especially in high-efficiency production lines where there is repeated inspection, which is not conducive to industrial application.

[0006] To achieve the above objectives, this utility model proposes a segment inspection system, comprising:

[0007] terminal;

[0008] The positioning mechanism includes a terminal installed outside the positioning mechanism, a placement space for placing the tube segment to be tested is formed inside the positioning mechanism, and positioning positions are formed on the positioning mechanism at intervals along the circumference and surrounding the outer periphery of the placement space.

[0009] A base frame surrounds the outer periphery of the positioning mechanism and extends upward beyond the top of the positioning mechanism. A guide is provided at the top of the base frame, and a sliding module is slidably engaged with the guide. The sliding module is located above the placement space.

[0010] A tracking component, the tracking component being mounted on the sliding module and communicatively connected to the terminal; and,

[0011] A segment detection component is communicatively connected to the terminal. The segment detection component and the tracking component are installed alternately on the sliding module. The terminal can control the sliding module to drive the tracking component and the segment detection component to slide along the guide above the placement space, so that the segment detection component can collect the first spatial coordinates of at least three positioning positions, and the terminal can establish the basic coordinate system of the placement space based on all the collected first spatial coordinates.

[0012] The terminal can also control the segment detection component to drive the tracking component into and scan the placement space to determine the current position of the segment to be detected in the basic coordinate system, and detect the segment to be detected placed at the current position.

[0013] In one embodiment, there are two guide members, which are spaced apart on both sides of the placement space, and each guide member is slidably fitted with a sliding drive member.

[0014] The sliding module includes:

[0015] A connecting beam is horizontally positioned above the placement space, and both ends of the connecting beam are respectively connected to the sliding drive component on the corresponding side. A first slide rail is provided on the connecting beam along the extension direction of the connecting beam.

[0016] A first slide block is slidably engaged with a first slide rail. The segment detection component is mounted on the first slide block, and the first slide block can drive the segment detection component to slide along the first slide rail.

[0017] A truss, the truss and the connecting beam being spaced apart from the sliding drive member, the truss spanning across the placement space, and a second slide rail spanning across the placement space being provided at the top of the truss; and,

[0018] The second slide block is slidably engaged with the second slide rail. The tracking component is mounted on the second slide block. The second slide block can drive the tracking component to slide along the second slide rail, and the second slide block moves synchronously with the first slide block.

[0019] In one embodiment, the segment detection component includes:

[0020] The base is slidably engaged with the sliding module;

[0021] A lifting motion module, wherein the tracking component and the lifting motion module are spaced apart on the base, and the bottom of the lifting motion module is the mounting end; the lifting motion module is communicatively connected to the terminal; and,

[0022] A detection module is installed on the mounting end and is communicatively connected to the terminal.

[0023] The terminal can also control the lifting motion module to drive the detection module to move down into the placement space, and when the detection module enters the placement space, control the detection module to perform detection operations on the tube segment to be detected.

[0024] In one embodiment, the detection module includes:

[0025] A connector, one end of which is detachably connected to the mounting end, and the other end of the connector has a mounting base that can swing around the connector;

[0026] An image acquisition device, the image acquisition device being mounted on the mounting base; and,

[0027] A spherical laser cage is arranged around the outer periphery of the image acquisition device and connected to the mounting base. The terminal can control the spherical laser cage to emit a grid-shaped detection laser towards the tube segment to be inspected to scan each surface of the tube segment to be inspected, and simultaneously control the image acquisition device to follow and acquire image data of the corresponding surfaces scanned by the laser.

[0028] In one embodiment, the lifting motion module includes:

[0029] A sliding seat is mounted on the base, and a vertically arranged slide rail is formed on the sliding seat. A drive gear is arranged in the slide rail, and the drive gear is connected to the output shaft of the walking drive component. The walking drive component is communicatively connected to the terminal.

[0030] A sliding column, which slidably engages with the sliding seat, and a spur rack is formed on one side of the sliding column corresponding to the sliding seat, capable of meshing with the drive gear. The terminal can control the walking drive component to drive the drive gear to rotate, thereby causing the sliding column to move up and down along the sliding seat via the spur rack; and...

[0031] A multi-joint robotic arm is mounted on the bottom of the slide column. The multi-joint robotic arm is communicatively connected to the terminal, and the end of the multi-joint robotic arm away from the slide column forms the mounting end.

[0032] In one embodiment, the tracking component includes a rotating frame and a capture device. The rotating frame is mounted on the base, and the capture device is mounted on the rotating frame. The capture device is communicatively connected to the terminal. The capture device is positioned facing the placement space, and the rotating frame is used to drive the capture device to rotate. The capture device can capture the current scanning area of ​​the laser to determine the current position of the image acquisition device.

[0033] In one embodiment, the positioning mechanism includes:

[0034] Multiple first support bases are distributed circumferentially at intervals around the outer periphery of the placement space;

[0035] A connecting plate, wherein the connecting plates are sequentially connected and disposed on the top of each of the first support bases and are joined end to end to form the placement space, and the top surface of the connecting plate has a plurality of positioning positions distributed circumferentially at intervals around the outer periphery of the placement space; and,

[0036] Multiple positioning posts are provided, with the number of positioning posts matching the number of positioning positions and arranged in a one-to-one correspondence. The terminal can establish a basic coordinate system of the detection space when controlling the tracking component to capture at least three of the positioning positions.

[0037] In one embodiment, a plurality of positioning posts are spaced apart on the connecting plate in an inward-outward direction to form at least two positioning rings surrounding the placement space. Each positioning post includes a first post and a second post. The top surface of the first post is lower than the top surface of the second post. The first post and the second post on the same positioning ring are staggered, and the first post and the second post on any two adjacent positioning rings are misaligned.

[0038] In one embodiment, at least two recessed sections are formed on the connecting plate, the at least two recessed sections are spaced apart and distributed relative to each other along the circumference of the placement space, and at least two first columns and second columns are installed on each recessed section.

[0039] In one embodiment, the segment inspection system further includes a calibration component disposed outside the placement space, and the terminal can control the segment inspection component to scan the calibration component and calibrate the segment inspection component.

[0040] The technical solution of this utility model employs a terminal, a positioning mechanism, a base frame, a tracking component, and a segment detection component. In use, the terminal controls a sliding module to move the tracking component and the segment detection component along a guide above the placement space. This allows the segment detection component to collect first spatial coordinates from at least three positioning positions. The terminal can then establish a basic coordinate system for the placement space based on all the collected first spatial coordinates. Simultaneously, the terminal can control the segment detection component to move the tracking component into and scan the placement space to determine the current position of the segment to be detected in the basic coordinate system and detect the segment placed at that position. This allows the utility model to achieve rapid detection of the segment by utilizing the cooperation of the segment detection component and the tracking component. Furthermore, during the detection process, the tracking component moves with the segment detection component in real time and tracks and determines the current detection position of the segment to be detected. This avoids repeated detections, improves segment detection efficiency, and facilitates industrial application. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the structure of the segment inspection system provided by this utility model;

[0043] Figure 2 Another structural schematic diagram of the segment inspection system provided by this utility model;

[0044] Figure 3 for Figure 2 The diagram below shows the structure of the segment inspection mechanism.

[0045] Figure 4 for Figure 3 An enlarged structural diagram of part A in the example;

[0046] Figure 5 for Figure 2 A schematic diagram of the structure of the segment inspection component shown in the example;

[0047] Figure 6 for Figure 5 The example in the diagram shows the structure of the positioning mechanism;

[0048] Figure 7 for Figure 6The example shows a schematic diagram of the detection module.

[0049] Figure 8 The diagram shows a structural schematic of some specific embodiments of this utility model.

[0050] Explanation of icon numbers:

[0051] 1000 Terminal; 2000 Positioning Mechanism; 2100 Placement Space; 3000 Segment Inspection Mechanism; 3100 Segment Inspection Component; 3200 Tracking Component; 4000 Base Frame; 4100 Guide Component; 4200 Sliding Module; 3110 Base; 3120 Lifting Motion Module; 3130 Inspection Module; 3131 Connector; 3132 Image Acquisition Component; 3133 Spherical Laser Cage; 3121 Sliding Seat; 3122 Drive Gear; 3123 Sliding Column; 3124 1. Multi-joint robotic arm; 3125. Spur rack; 3126. Walking drive component; 3210. Rotating frame; 3220. Capture device; 2100. First support base; 2200. Connecting plate; 2300. Positioning column; 2310. First column; 2320. Second column; 2400. Lower section; 4210. Sliding drive component; 4220. Connecting beam; 4230. First slide rail; 4240. First slide block; 4250. Truss; 4260. Second slide rail; 4270. Second slide block; 5000. Calibration component.

[0052] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0053] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0054] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0055] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0056] This utility model proposes a segment capture device.

[0057] Please see Figures 1 to 8 In one embodiment of this utility model, the segment inspection system includes:

[0058] Terminal 1000;

[0059] The positioning mechanism 2000 and the terminal 1000 are installed outside the positioning mechanism 2000. The positioning mechanism 2000 has a placement space 2100 for placing the tube segment to be tested. The positioning mechanism 2000 has positioning positions that are distributed circumferentially and surround the placement space 2100.

[0060] The base frame 4000 surrounds the outer periphery of the positioning mechanism 2000 and extends upward beyond the top of the positioning mechanism 2000. A guide member 4100 is provided on the top of the base frame 4000. A sliding module 4200 is slidably engaged with the guide member 4100. The sliding module 4200 is located above the placement space 2100.

[0061] Tracking component 3200 is mounted on sliding module 4200 and is communicatively connected to terminal 1000; and,

[0062] The segment detection component 3100 is communicatively connected to the terminal 1000. The segment detection component 3100 and the tracking component 3200 are installed at intervals on the sliding module 4200. The terminal 1000 can control the sliding module 4200 to drive the tracking component 3200 and the segment detection component 3100 to slide along the guide 4100 above the placement space 2100, so that the segment detection component 3100 can collect the first spatial coordinates of at least three positioning positions, and the terminal 1000 can establish the basic coordinate system of the placement space 2100 based on all the collected first spatial coordinates.

[0063] The terminal 1000 can also control the segment detection component 3100 to drive the tracking component 3200 to enter and scan the placement space 2100, so as to determine the current position of the segment to be detected in the basic coordinate system, and detect the segment to be detected placed at the current position.

[0064] In this embodiment, by employing a terminal 1000, a positioning mechanism 2000, a base frame 4000, a tracking component 3200, and a segment detection component 3100, during use, the terminal 1000 controls the sliding module 4200 to drive the tracking component 3200 and the segment detection component 3100 to slide along the guide member 4100 above the placement space 2100. This allows the segment detection component 3100 to collect first spatial coordinates at least three positioning positions, and the terminal 1000 can establish a basic coordinate system of the placement space 2100 based on all the collected first spatial coordinates. Simultaneously, the terminal 1000 can also control the segment detection component 3100 to drive the tracking component... The component 3200 enters and scans the placement space 2100 to determine the current position of the tube segment to be inspected in the basic coordinate system, and detects the tube segment to be inspected placed at the current position. This allows the present invention to achieve rapid detection of the tube segment to be inspected by utilizing the cooperation between the tube segment detection component 3100 and the tracking component 3200. At the same time, during the inspection process, the tracking component 3200 can follow the tube segment detection component 3100 in real time and track and determine the current detection position of the tube segment to be inspected. This avoids repeated inspections in specific implementations, improves tube segment inspection efficiency, and facilitates industrial application.

[0065] It should be specifically and clearly stated that, in this embodiment, in specific use, multiple positioning positions spaced circumferentially around the periphery of the placement space 2100 can be first set on the positioning mechanism 2000. The terminal 1000 controls the segment detection mechanism 3000 to scan the positioning mechanism 2000 and the segment to be detected, obtaining the first spatial coordinates corresponding to at least three positioning positions. At the same time, the terminal 1000 establishes a basic coordinate system of the placement space 2100 based on the multiple first spatial coordinates. After establishing the basic coordinate system, the segment detection mechanism 3000 scans the segment to be detected placed in the placement space 2100 to determine the current position of the segment. After determining the current position of the segment, the segment detection device performs detection on the segment to be detected. This enables the function of detecting only the segment to be detected during the detection process, effectively avoiding the defect that the detection accuracy of the segment to be detected is affected by the presence of other structures during the detection process.

[0066] More specifically, when the terminal 1000 controls the segment detection component 3100 and the tracking component 3200 in the segment detection mechanism 3000 to perform detection operations on the segment to be detected, the terminal 1000 can control the segment detection component 3100 to drive the tracking component 3200 to scan and detect the segment to be detected. During scanning and detection, since the tracking component 3200 moves synchronously with the segment detection component 3100, the present invention can instantly determine the current detection position of the segment detection component 3100 on the segment to be detected, and thus determine whether each surface on the segment to be detected has been detected. This avoids repeated detection of the segment to be detected and ensures the detection efficiency of the segment to be detected.

[0067] It should be further emphasized and clarified that, in this embodiment, when the segment inspection component 3100 is used to inspect the segment to be inspected, it can be to perform image acquisition or laser scanning on the segment to be inspected.

[0068] In one embodiment, there are two guide members 4100, which are distributed at intervals on both sides of the placement space 2100, and each guide member 4100 is slidably fitted with a sliding drive member 4210.

[0069] The sliding module 4200 includes:

[0070] A connecting beam 4220 is horizontally positioned above the placement space 2100, and both ends of the connecting beam 4220 are respectively connected to the corresponding sliding drive component 4210. A first slide rail 4230 is provided on the connecting beam 4220 along the extension direction of the connecting beam 4220.

[0071] The first slide block 4240 is slidably engaged with the first slide rail 4230. The segment detection component 3100 is installed on the first slide block 4240. The first slide block 4240 can drive the segment detection component 3100 to slide along the first slide rail 4230.

[0072] A truss 4250, which is spaced apart from the connecting beam 4220 and mounted on the sliding drive member 4210, spans across the placement space 2100, and a second slide rail 4260 spanning across the placement space 2100 is provided at the top of the truss 4250; and,

[0073] The second slide block 4270 is slidably engaged with the second slide rail 4260. The tracking component 3200 is mounted on the second slide block 4270. The second slide block 4270 can drive the tracking component 3200 to slide along the second slide rail 4260, and the second slide block 4270 moves synchronously with the first slide block 4240.

[0074] In this embodiment, a base frame 4000 is set around the periphery of the positioning mechanism 2000, and the base frame 4000 extends upward beyond the top of the positioning mechanism 2000. A guide member 4100 is set on the top of the base frame 4000, and a sliding module 4200 is slidably fitted on the guide member 4100. The segment detection mechanism 3000 is installed on the sliding module 4200. In practical use, the sliding module 4200 can drive the segment detection mechanism 3000 to slide automatically along the guide member 4100, and the segment detection component 3100 can slide along the sliding module 4200. Thus, the present invention has the function of automatically adjusting the position of the segment detection mechanism 3000 during use, so that the segment detection component 3100 can stop at any position above the placement space 2100.

[0075] It should be specifically and clearly stated that, in this embodiment, the sliding module 4200 of the example slides along the sliding direction of the guide 4100 in the first direction, which extends along the extension direction of the placement space 2100, while the tube segment detection component 3100 slides along the sliding direction of the sliding module 4200 in the second direction, which is a direction that spans across the placement space 2100.

[0076] In some preferred embodiments, the segment detection component 3100 includes:

[0077] Base 3110, base 3110 is mounted on sliding module 4200;

[0078] The lifting motion module 3120, the tracking component 3200, and the lifting motion module are spaced apart on the base 3110, with the bottom of the lifting motion module 3120 serving as the mounting end. The lifting motion module 3120 is communicatively connected to the terminal 1000; and...

[0079] The detection module 3130 is installed on the installation end and is communicatively connected to the terminal 1000.

[0080] The terminal 1000 can also control the lifting motion module 3120 to drive the detection module 3130 to move down into the placement space 2100, and when the detection module 3130 enters the placement space 2100, it controls the detection module 3130 to perform detection operations on the tube segment to be detected.

[0081] In this embodiment, by setting up a base 3110, a lifting motion module 3120, and a detection module 3130, the base 3110 is installed on the sliding module 4200 during use, so that the lifting motion module 3120 and the tracking component 3200 are installed at intervals on the base 3110. At the same time, the lifting motion module 3120 can drive the detection module 3130 installed on its mounting end to descend into the placement space 2100. When the detection module 3130 enters the placement space 2100, it is controlled to perform detection operations on the tube segment to be detected. Thus, this utility model allows the detection module 3130 to enter the placement space 2100 from any position above the placement space 2100 and perform detection operations on the tube segment to be detected, effectively improving the flexibility and adaptability of the tube segment detection system.

[0082] It should be specifically and clearly stated that, in this embodiment, the example lifting motion module 3120, in actual use, enables the lifting motion module 3120 itself to have a lifting function. Specifically, the lifting motion module 3120 includes:

[0083] The sliding seat 3121 is mounted on the base 3110, and a vertically arranged slide rail is formed on the sliding seat 3121. A drive gear 3122 is arranged in the slide rail. The drive gear 3122 is connected to the output shaft of the walking drive component 3126. The walking drive component 3126 is communicatively connected to the terminal 1000.

[0084] The sliding column 3123 is slidably engaged with the sliding seat 3121, and a spur rack 3125 is formed on the side of the sliding column 3123 corresponding to the sliding seat, which can mesh with the drive gear 3122. The terminal 1000 can control the walking drive member 3126 to drive the drive gear 3122 to rotate, so as to drive the sliding column 3123 to move up and down along the sliding seat 3121 through the spur rack 3125; and,

[0085] A multi-joint robotic arm 3124 is mounted on the bottom of a slide column 3123. The multi-joint robotic arm 3124 is communicatively connected to a terminal 1000, and the end of the multi-joint robotic arm 3124 away from the slide column 3123 forms a mounting end.

[0086] In this embodiment, by setting up a sliding seat 3121, a sliding column 3123, and a multi-joint robotic arm 3124, the sliding column 3123 is used to drive the multi-joint robotic arm 3124 and the detection module 3130 installed on the mounting end of the multi-joint robotic arm 3124 to descend, so that the present invention can enable the detection module 3130 to rise and fall autonomously during use.

[0087] Of course, to further ensure the motion accuracy of the detection module 3130 when entering the placement space 2100, a multi-joint robotic arm 3124 is installed at the bottom of the sliding column 3123, and the detection module 3130 is installed on the mounting end of the multi-joint robotic arm 3124. This allows the present invention to drive the detection module 3130 to move through the multi-joint robotic arm 3124, thereby realizing the function of adjusting the position of the detection module 3130 within the placement space 2100. At the same time, since the multi-joint robotic arm 3124 has autonomous movement capabilities, in specific use, the present invention can also achieve real-time scanning of the tube segment to be detected by the multi-joint robotic arm 3124, the sliding column 3123, and the sliding module 4200, thereby enabling the terminal 1000 to establish an overall model of the tube segment to be detected, which is convenient for subsequent operations.

[0088] It should be specifically and clearly stated that, in this embodiment, the walking drive 3126 is preferably a servo motor or a stepper motor, and the multi-joint robotic arm 3124 is preferably a seven-degree-of-freedom robotic arm.

[0089] Of course, in some exemplary embodiments, the detection module 3130 includes:

[0090] The connector 3131 has one end detachably connected to the mounting end, and the other end of the connector 3131 has a mounting base that can swing around the connector 3131.

[0091] Image acquisition component 3132, image acquisition component 3132 is mounted on the mounting base; and,

[0092] A spherical laser cage 3133 is arranged around the outer periphery of the image acquisition unit 3132 and is connected to the mounting base. The terminal 1000 can control the spherical laser cage to emit a grid-shaped detection laser towards the tube to be inspected to scan each surface of the tube to be inspected, and simultaneously control the image acquisition unit 3132 to follow and acquire image data of the corresponding surfaces scanned by the laser.

[0093] In this embodiment, by setting up a connector 3131, an image acquisition unit 3132, and a spherical laser cage 3133, the spherical laser cage 3133 emits a grid-shaped laser beam onto the tube segment to be tested. At the same time, the image acquisition unit 3132 scans the area through which the grid-shaped laser beam passes, thereby realizing the function of real-time image acquisition of the surface of the tube segment to be tested. This allows the present invention to instantly judge the surface quality of the tube segment to be tested based on the acquired image and accurately output the detection results of each position on the tube segment to be tested.

[0094] It can be further explained that, in this embodiment, since the surface of the tube segment to be inspected is scanned by a grid-shaped laser emitted by a spherical laser cage 3133, and the image acquisition device 3132 follows and acquires images during the scanning, the image acquisition device 3132 actually acquires a combined image of the surface of the tube segment to be inspected and the laser beam irradiating the surface of the tube segment to be inspected. Since the image acquisition device 3132 and the spherical laser cage 3133 are both installed on the connector 3131 and move synchronously, this utility model can, in specific use, use the terminal 1000 to determine the material and the extension of the laser beam in the image acquired by the image acquisition device 3132, and thus determine whether there are quality problems such as cracks, pinholes and bulges on the surface of the tube segment to be inspected in the image.

[0095] It should be specifically and clearly stated that, in this embodiment, the example image acquisition device 3132 is preferably a CCD vision camera.

[0096] In one embodiment, the segment inspection system further includes a calibration component 5000 disposed outside the placement space 2100, and the terminal 1000 can control the segment inspection component 3100 to scan the calibration component 5000 and calibrate the segment inspection component 3100.

[0097] In this embodiment, by setting a calibration component 5000, the present invention can use the calibration component 5000 to calibrate the segment detection component 3100 during use, thereby improving the detection accuracy of the segment detection component 3100.

[0098] Of course, in the exemplary embodiment, the frame surrounds the outer periphery of the positioning mechanism 2000, and the top of the frame extends above the positioning mechanism 2000, and the top of the frame is provided with a guide rail.

[0099] Sliding drive component 4210, which slides in conjunction with the guide rail;

[0100] Truss 4250 is mounted on sliding drive 4210. Truss 4250 spans above placement space 2100, and a slide rail spans above placement space 2100 at the top of truss 4250. Sliding drive 4210 can drive truss 4250 to slide along the guide rail.

[0101] Sliding seat 3121, sliding seat 3121 slidingly engages with slide rail; and,

[0102] The tracking component 3200 is mounted on the sliding base 3121 and is positioned facing the placement space 2100. The tracking component 3200 is communicatively connected to the terminal 1000. The sliding base 3121 drives the tracking component 3200 to slide automatically along the slide rail above the placement space 2100.

[0103] The tracking component 3200 can capture and obtain the second spatial coordinates of the cut-off position of each dividing light of the tube segment to be tested when the dividing light is cut off. The tracking component 3200 can transmit all the second spatial coordinates to the terminal 1000 so that the terminal 1000 can map all the second spatial coordinates onto the basic coordinate system to determine the placement position of the tube segment to be tested.

[0104] In one embodiment, the tracking component 3200 includes a rotating frame 3210 and a catcher 3220. The rotating frame 3210 is mounted on a sliding seat 3121, and the catcher 3220 is mounted on the rotating frame 3210. The catcher 3220 is communicatively connected to the terminal 1000. The catcher 3220 is positioned facing the placement space 2100, and the rotating frame 3210 is used to drive the catcher 3220 to rotate. The catcher 3220 can capture and obtain the second spatial coordinates of the cutoff position of each cutoff light of the tube segment to be tested when the segment to be tested cuts off the dividing light. The tracking component 3200 can transmit all the second spatial coordinates to the terminal 1000 so that the terminal 1000 can map all the second spatial coordinates onto the basic coordinate system to determine the placement position of the tube segment to be tested.

[0105] It should be specifically and clearly stated that, in this embodiment, the example capture device 3220 is preferably a device or apparatus in the prior art capable of realizing light capture and position measurement functions. In this embodiment, it is only applied and its own structure has not been improved. Therefore, it will not be described in detail here. Of course, in the exemplary embodiment, in order to record the movement of the truss 4250 driven by the sliding drive member 4210, in specific implementation, a plurality of equidistantly distributed positioning blocks are also provided on one side of the frame where the guide rail is set. In specific operation, the set capture device 3220 can be used to capture the positioning blocks in real time to achieve the purpose of quickly determining the specific position of the truss 4250.

[0106] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A segment inspection system, characterized in that, include: terminal; The positioning mechanism includes a terminal installed outside the positioning mechanism, a placement space for placing the tube segment to be tested is formed inside the positioning mechanism, and positioning positions are formed on the positioning mechanism at intervals along the circumference and surrounding the outer periphery of the placement space. A base frame surrounds the outer periphery of the positioning mechanism and extends upward beyond the top of the positioning mechanism. A guide is provided at the top of the base frame, and a sliding module is slidably engaged with the guide. The sliding module is located above the placement space. A tracking component is mounted on the sliding module and is communicatively connected to the terminal. as well as, A segment detection component is communicatively connected to the terminal. The segment detection component and the tracking component are installed alternately on the sliding module. The terminal can control the sliding module to drive the tracking component and the segment detection component to slide along the guide above the placement space, so that the segment detection component can collect the first spatial coordinates of at least three positioning positions, and the terminal can establish the basic coordinate system of the placement space based on all the collected first spatial coordinates. The terminal can also control the segment detection component to drive the tracking component into and scan the placement space to determine the current position of the segment to be detected in the basic coordinate system, and detect the segment to be detected placed at the current position.

2. The segment inspection system as described in claim 1, characterized in that, The number of guide members is two, and the two guide members are distributed at intervals on both sides of the placement space, and each guide member is slidably engaged with a sliding drive member; The sliding module includes: A connecting beam is horizontally positioned above the placement space, and both ends of the connecting beam are respectively connected to the sliding drive component on the corresponding side. A first slide rail is provided on the connecting beam along the extension direction of the connecting beam. A first slide block is slidably engaged with a first slide rail. The segment detection component is mounted on the first slide block, and the first slide block can drive the segment detection component to slide along the first slide rail. A truss, the truss and the connecting beam being spaced apart from the sliding drive member, the truss spanning across the placement space, and a second slide rail spanning across the placement space being provided at the top of the truss; and, The second slide block is slidably engaged with the second slide rail. The tracking component is mounted on the second slide block. The second slide block can drive the tracking component to slide along the second slide rail, and the second slide block moves synchronously with the first slide block.

3. The segment inspection system as described in claim 2, characterized in that, The segment detection component includes: The base is slidably engaged with the sliding module; A lifting motion module, wherein the tracking component and the lifting motion module are spaced apart on the base, and the bottom of the lifting motion module is the mounting end; the lifting motion module is communicatively connected to the terminal; and, A detection module is installed on the mounting end and is communicatively connected to the terminal. The terminal can also control the lifting motion module to drive the detection module to move down into the placement space, and when the detection module enters the placement space, control the detection module to perform detection operations on the tube segment to be detected.

4. The segment inspection system as described in claim 3, characterized in that, The detection module includes: A connector, one end of which is detachably connected to the mounting end, and the other end of the connector has a mounting base that can swing around the connector; An image acquisition device, the image acquisition device being mounted on the mounting base; and, A spherical laser cage is arranged around the outer periphery of the image acquisition device and connected to the mounting base. The terminal can control the spherical laser cage to emit a grid-shaped detection laser towards the tube segment to be inspected to scan each surface of the tube segment to be inspected, and simultaneously control the image acquisition device to follow and acquire image data of the corresponding surfaces scanned by the laser.

5. The segment inspection system as described in claim 4, characterized in that, The lifting motion module includes: A sliding seat is mounted on the base, and a vertically arranged slide rail is formed on the sliding seat. A drive gear is arranged in the slide rail, and the drive gear is connected to the output shaft of the walking drive component. The walking drive component is communicatively connected to the terminal. A sliding column, which slidably engages with the sliding seat, and a spur rack is formed on one side of the sliding column corresponding to the sliding seat, capable of meshing with the drive gear. The terminal can control the walking drive component to drive the drive gear to rotate, thereby causing the sliding column to move up and down along the sliding seat via the spur rack; and... A multi-joint robotic arm is mounted on the bottom of the slide column. The multi-joint robotic arm is communicatively connected to the terminal, and the end of the multi-joint robotic arm away from the slide column forms the mounting end.

6. The segment inspection system as described in claim 4, characterized in that, The tracking component includes a rotating frame and a capture device. The rotating frame is mounted on the base, and the capture device is mounted on the rotating frame. The capture device is communicatively connected to the terminal. The capture device is positioned facing the placement space, and the rotating frame is used to drive the capture device to rotate. The capture device can capture the current scanning area of ​​the laser to determine the current position of the image acquisition device.

7. The segment inspection system as described in any one of claims 1 to 6, characterized in that, The positioning mechanism includes: Multiple first support bases are distributed circumferentially at intervals around the outer periphery of the placement space; A connecting plate, wherein the connecting plates are sequentially connected and disposed on the top of each of the first support bases and are joined end to end to form the placement space, and the top surface of the connecting plate has a plurality of positioning positions distributed circumferentially at intervals around the outer periphery of the placement space; and, Multiple positioning posts are provided, with the number of positioning posts matching the number of positioning positions and arranged in a one-to-one correspondence. The terminal can establish a basic coordinate system of the detection space when controlling the tracking component to capture at least three of the positioning positions.

8. The segment inspection system as described in claim 7, characterized in that, Multiple positioning posts are spaced apart on the connecting plate from the inside out to form at least two positioning rings surrounding the placement space. Each positioning post includes a first post and a second post. The top surface of the first post is lower than the top surface of the second post. The first post and the second post on the same positioning ring are staggered, and the first post and the second post on any two adjacent positioning rings are misaligned.

9. The segment inspection system as described in claim 8, characterized in that, The connecting plate has at least two recessed sections, which are spaced apart and relatively distributed along the circumference of the placement space, and each recessed section is equipped with at least two first columns and two second columns.

10. The segment inspection system according to any one of claims 1 to 6, characterized in that, The segment inspection system also includes a calibration component located outside the placement space. The terminal can control the segment inspection component to scan the calibration component and calibrate the segment inspection component.

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