CN105136820A - Pipeline defect detection robot based on annular laser three-dimensional scanning - Google Patents
Pipeline defect detection robot based on annular laser three-dimensional scanning Download PDFInfo
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- CN105136820A CN105136820A CN201510569011.6A CN201510569011A CN105136820A CN 105136820 A CN105136820 A CN 105136820A CN 201510569011 A CN201510569011 A CN 201510569011A CN 105136820 A CN105136820 A CN 105136820A
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Abstract
The invention provides a pipeline defect detection robot based on annular laser three-dimensional scanning. The pipeline defect detection robot comprises a laser source, a CCD camera, a rack main body, a parallelogram mechanism and the like, wherein the laser source sleeves one end of a hollow cavity formed in a first connection piece; the CCD camera sleeves the other end of the hollow cavity formed in the first connection piece; the first connection piece is fixed at one end of the rack main body; a supporting piece is arranged at the other end of the rack main body; a driving motor is mounted on the supporting piece; an output shaft of the driving motor is equipped with a driving gear of a speed-changing gear transmission pair; a screw rod in a spiral transmission pair is connected with a rotary shaft of a driven gear of the speed-changing gear transmission pair; a nut slide block in the spiral transmission pair is mounted on the rack main body; the nut slide block is connected with a movable piece in the parallelogram mechanism; a frame connection rod in the parallelogram mechanism is hinged onto the rack main body; a caterpillar band travelling part is connected with a connection rod of the parallelogram mechanism. With the adoption of the pipeline defect detection robot based on the annular laser three-dimensional scanning, the accuracy of laser detection can be improved and the robot is self-adaptive for pipelines of different diameters.
Description
Technical field
The present invention is a kind of defect inspection robot based on loop laser 3-D scanning, belongs to the innovative technology of the defect inspection robot based on loop laser 3-D scanning.
Background technology
Defect inspection robot is a kind of specialized robot developed for the detection of inner-walls of duct, and it combines intelligent mobile carrier technology and loop laser 3-D scanning modeling technique, vision detection technology.In the non-structural pipeline environment complicated and changeable that this kind of robot can enter less than people, manpower is limit, by the pick-up unit carried, on-line checkingi is carried out to the pipeline in work, to ensure the safety of pipeline and unblocked to work.When particularly selectively detecting for the special pipeline of spanning of river, railway, road or the significant points of buried pipeline, detecting robot of pipe has unique advantage.
The pipe detection mode of current main flow adopts wheeled or caterpillar type robot to rely on gravity to be attached to duct bottom walking, carry video camera, lighting device and miscellaneous equipment, shooting obtain pipe interior image more in addition naked eyes judge, determine pipe interior defect type, size and position, the method accuracy rate and precision are all not high and be difficult to realize Aulomatizeted Detect.
Summary of the invention
The object of the invention is to consider the problems referred to above and a kind of defect inspection robot based on loop laser 3-D scanning is provided.The present invention can not only improve the accuracy of laser detection, simultaneously can the pipeline of self-adaptation different-diameter.
Technical scheme of the present invention is: the defect inspection robot based on loop laser 3-D scanning of the present invention, include lasing light emitter, first web member, CCD camera, frame main body, support member, drive motor, variable gearing is secondary, worm drive are secondary, nut slider, parallel-crank mechanism and crawler travel parts, wherein lasing light emitter is sleeved on one end of hollow cavity set by the first web member, CCD camera is sleeved on the other end of hollow cavity set by the first web member, first web member is fixed on one end of frame main body, support member is installed in the other end of frame main body, drive motor is arranged on support member, the output shaft of drive motor is provided with the driving gear of variable gearing pair, screw mandrel in worm drive pair is connected with the rotating shaft of the follower gear of variable gearing pair, nut slider in worm drive pair is arranged in frame main body, and nut slider is connected with the movement parts in parallel-crank mechanism, in parallel-crank mechanism, side link hinge is contained in frame main body, crawler travel parts are connected with the connecting rod of parallel-crank mechanism.
Lasing light emitter of the present invention, the first web member, CCD camera composition image capturing system; Drive motor drives variable gearing secondary motion, follower gear and the screw mandrel of variable gearing pair are coaxially installed, it is secondary that screw mandrel and nut slider form worm drive, nut slider is connected with parallel-crank mechanism, and crawler travel parts and parallel-crank mechanism form the tripod robot of self-adapting pipe diameter; Image capturing system is fixed on frame main body composition defect inspection robot, and compared with prior art, tool has the following advantages in the present invention:
1) the present invention uses telescopic tripodia dolly to replace two traditional sufficient dollies, dolly is sailed more steady at pipeline internal, avoid advancing of inner-walls of duct crack or foreign materials away dolly, improve the accuracy of laser detection, simultaneously can the pipeline of self-adaptation different-diameter;
2) present invention uses the structured light such as taper laser and replace natural light, reduce different pipe material and environment to the impact of light source, make scanning obtaining information more accurate;
3) present invention uses the method for laser three-dimensional scanning reconstruction model, synthesize the profile of pipe interior by methods such as arithmetic synthesis, and then accurately judge the position at defect place.
The present invention is that a kind of design is ingenious, function admirable, the convenient and practical defect inspection robot based on loop laser 3-D scanning.
Accompanying drawing explanation
Fig. 1 is the composition schematic diagram of image capturing system of the present invention;
Fig. 2 is the structural representation of defects detection machine people of the present invention;
Fig. 3 is the distribution schematic diagram at the present invention's three groups of crawler travel parts 120 degree of angles, interval each other;
Fig. 4 is the motion schematic diagram of parallel-crank mechanism in the present invention.
Embodiment
Embodiment:
Structural representation of the present invention is as Fig. 1, 2, 3, shown in 4, the defect inspection robot based on loop laser 3-D scanning of the present invention, includes lasing light emitter 1, first web member 2, CCD camera 3, frame main body 5, support member 6, drive motor 7, variable gearing is secondary, worm drive are secondary, nut slider 10, parallel-crank mechanism 11 and crawler travel parts 12, wherein lasing light emitter 1 is sleeved on one end of hollow cavity set by the first web member 2, CCD camera 3 is sleeved on the other end of hollow cavity set by the first web member 2, first web member 2 is fixed on one end of frame main body 5, support member 6 is installed in the other end of frame main body 5, drive motor 7 is arranged on support member 6, the output shaft of drive motor 7 is provided with the driving gear of variable gearing pair, screw mandrel 9 in worm drive pair is connected with the rotating shaft of the follower gear 8 of variable gearing pair, nut slider 10 in worm drive pair is arranged in frame main body 5, and nut slider 10 is connected with the movement parts in parallel-crank mechanism 11, in parallel-crank mechanism 11, side link hinge is contained in frame main body 5, crawler travel parts 12 are connected with the connecting rod of parallel-crank mechanism 11.In addition, for guaranteeing the motion of above-mentioned nut slider 10 freely, frame main body 5 is provided with the groove for nut slider 10 movement, and the nut slider 10 be connected with parallel-crank mechanism 11 can move along groove.
In the present embodiment, above-mentioned first web member 2 is hollow sleeve, and hollow sleeve inwall is the face of cylinder.
In the present embodiment, in hollow cavity set by above-mentioned first web member 2, be provided with the reflection conical surface.Lasing light emitter 1 is dot laser, and dot laser and the reflection conical surface combine toroid laser generator, and the toroid laser projection that toroid laser generator is launched forms hot spot at the inwall of tested pipeline; CCD camera gathers light spot image, can the contour curve in the multiple cross section of Real-time Obtaining pipe interior.
In the present embodiment, above-mentioned first web member 2 is fixed in frame main body 5 by the second web member 4.
In the present embodiment, the hollow cavity that above-mentioned frame main body 5 is made, support member 6 is directly sleeved in the hollow cavity set by frame main body 5.
In the present embodiment, above-mentioned drive motor 7 is stepper drive motors.
In the present embodiment, above-mentioned parallel-crank mechanism 11 includes the first side link 13, second side link 15, connecting rod 16, connecting link 14, wherein one end of the first side link 13 and the second side link 15 is hinged in frame main body 5, the two ends of connecting rod 16 are hinged with the other end of the first side link 13 and the second side link 15 respectively, one end of connecting link 14 is connected with the first side link 13 or the second side link 15, the other end of connecting link 14 is connected with nut slider 10, and crawler travel parts 12 are connected with the connecting rod 16 in parallel-crank mechanism 11.
In the present embodiment, one end of above-mentioned connecting link 14 is connected to the junction of the first side link 13 and connecting rod 16.Or one end of connecting link 14 is connected to the junction of the second side link 15 and connecting rod 16.
In the present embodiment, above-mentioned crawler travel parts 12 are provided with three groups, three groups of crawler travel parts 12 120 degree, interval angle distributions each other; Parallel-crank mechanism 11 is also corresponding is provided with three groups, and three groups of crawler travel parts 12 are connected with the connecting rod 16 in three groups of parallel-crank mechanisms 11.
In the present embodiment, above-mentioned nut slider 10 includes nut and slide block, and nut and screw mandrel 9 form worm drive pair, and slide block is connected with nut.
Principle of work of the present invention is as follows: when defect inspection robot carries out site work, operating personnel manipulates and starts drive motor 7, drive motor 7 drives connected variable gearing secondary motion, follower gear 8 in variable gearing pair drives connected screw mandrel 9 to rotate, screw mandrel 9 rotates and makes to produce rectilinear motion with the nut of its composition worm drive pair, the slide block be connected with nut moves in groove, and then drive connecting link 14 to move, parallel-crank mechanism 11 is deformed, in deformation process, crawler travel parts 12 and frame main body 5 are apart from more and more far away, when three groups of crawler travel parts 12 touch inner-walls of duct simultaneously, defect inspection robot is fixed on pipeline center, now operating personnel starts the motor internal of three groups of crawler travel parts 12 simultaneously, allow defect inspection robot heart mobile operating in the duct, complete detection.Change the rotating of drive motor 7, the direction of linear movement output can be changed, to realize the opening and closing of three groups of crawler travel parts 12, form tripodia self-adapting pipe diameter dolly, be called for short tripodia dolly.CCD camera gathers light spot image, can the contour curve in the multiple cross section of Real-time Obtaining pipe interior; The present invention, by the analytical calculation of visual processes software, can realize the three-dimensional reconstruction to pipe interior profile.
The present invention may be used for the fully-automated synthesis of gas pipe line, oil pipeline, underground blow-off line defect, can form autonomous detection device.The visual processes software Halcon that the present invention adopts, is computer vision process storehouse leading in industry, can identifies object fast, accurately.Tripodia dolly of the present invention moves at inner-walls of duct, has from seeking center, stable current function, and can according to pipeline different-diameter size generation self-adaptation hypertonic.
The present invention adopts laser imaging system, can significantly improve imaging effect.Three-dimensional model can visual defects position more intuitively, easy to use.Automatic Pipeline laser detection, the present invention belongs to top standard at home, applied widely, has good market outlook.
In addition, the present invention is by exerting a force to three feets, each one-tenth 120 degree of angles between each feet, tightly be supported on inner-walls of duct, can be stable current in the pipeline of vertical or wide-angle tilt, utilize tripod structure and the shockproof mechanism of self uniqueness, collocation vision collecting system, effectively can avoid the obstruction that in pipeline, foreign matter or defect are brought to pipe detection, detection or other operations are carried out smoothly.The present invention is as the carrier of acquisition system, and the project organization of its uniqueness can make loop laser generator and CCD camera be in pipeline center position, is convenient to scanning and the detection of laser, and data reduction when making transmission pipeline detect three-dimensional modeling after data is more easy.And compared with the dolly of common lorry or pedrail, after the present invention matches with pipeline, when running into foreign matter or defect of pipeline in pipeline, its vehicle body is more stable, not easily shake, make to be in stable state during laser scanning data, improve the degree of accuracy that acquisition system collects information significantly, allowing tiny flaw detect becomes possibility.
Adopt vision processing algorithm, line laser structured light sensor is in fact two-dimensional coordinate sensing system, need during measurement to be driven by the servo control mechanism of precision to scan testee, it utilizes two-dimensional coordinate sensor to carry out the principle of three-dimensional measurement, wherein line laser structured light sensor provides the coordinate figure in x, y direction, and z coordinate is provided by elaborate servo mechanism.Synthesized the reflection relation namely setting up camera review coordinate system and two-dimentional relative spatial co-ordinates by vision algorithm, thus form 3-D view.
The present invention is owing to adopting toroid laser, and the image collected directly can not adopt conventional two dimensional image synthetic method.Therefore, the circular laser image collected first is carried out affined transformation computing by native system, and x-y image affined transformation is obtained r-θ image, and now image becomes straight line by circle.Then the algorithm of two dimensional image compositing 3 d images is adopted to obtain r-θ-z three-dimensional planar to r-θ image.
In r-θ-z three-dimensional system of coordinate, flaw height becomes more obvious.Native system is by calculating the three-dimensional gradient of each consecutive point in r direction, and the maximum place of gradient is catastrophe point, and multiple related mutation point can calculate lug volume after forming Sudden change region, adopts volume as threshold value, can obtain the size of defect system.By three-dimensional filtering algorithm, too small defect can be filtered, and select volume to be greater than the defect of threshold value, volume and position are kept in array, for judging that defect type provides foundation.Position and the type of defect can be obtained with this three-dimensional gradient determining method.
After obtaining defective locations, the present invention carries out three-dimensional affine transformation to r-θ-z three-dimensional planar, obtains the face of cylinder in x-y-z space coordinates.Thus defect can be shown intuitively.
After the true forward travel distance of acquisition dolly, the face of cylinder is demarcated, finally obtains defect actual position.
Claims (10)
1. the defect inspection robot based on loop laser 3-D scanning, it is characterized in that including lasing light emitter, first web member, CCD camera, frame main body, support member, drive motor, variable gearing is secondary, worm drive are secondary, nut slider, parallel-crank mechanism and crawler travel parts, wherein lasing light emitter is sleeved on one end of hollow cavity set by the first web member, CCD camera is sleeved on the other end of hollow cavity set by the first web member, first web member is fixed on one end of frame main body, support member is installed in the other end of frame main body, drive motor is arranged on support member, the output shaft of drive motor is provided with the driving gear of variable gearing pair, screw mandrel in worm drive pair is connected with the rotating shaft of the follower gear of variable gearing pair, nut slider in worm drive pair is arranged in frame main body, and nut slider is connected with the movement parts in parallel-crank mechanism, in parallel-crank mechanism, side link hinge is contained in frame main body, crawler travel parts are connected with the connecting rod of parallel-crank mechanism.
2. the defect inspection robot based on loop laser 3-D scanning according to claim 1, it is characterized in that above-mentioned first web member is hollow sleeve, hollow sleeve inwall is the face of cylinder.
3. the defect inspection robot based on loop laser 3-D scanning according to claim 1, is characterized in that being provided with the reflection conical surface in hollow cavity set by above-mentioned first web member, and the reflection conical surface and lasing light emitter form annular laser generator.
4. the defect inspection robot based on loop laser 3-D scanning according to claim 1, is characterized in that above-mentioned first web member is fixed in frame main body by the second web member.
5. the defect inspection robot based on loop laser 3-D scanning according to claim 1, it is characterized in that above-mentioned frame main body has made hollow cavity, support member is directly sleeved in the hollow cavity set by frame main body.
6. the defect inspection robot based on loop laser 3-D scanning according to claim 1, is characterized in that above-mentioned drive motor is stepper drive motors.
7. the defect inspection robot based on loop laser 3-D scanning according to any one of claim 1 to 6, it is characterized in that above-mentioned parallel-crank mechanism includes the first side link, second side link, connecting rod, connecting link, wherein one end of the first side link and the second side link is hinged in frame main body, the two ends of connecting rod are hinged with the other end of the first side link and the second side link respectively, one end of connecting link is connected with the first side link or the second side link, the other end of connecting link is connected with nut slider, crawler travel parts are connected with the connecting rod in parallel-crank mechanism.
8. the defect inspection robot based on loop laser 3-D scanning according to claim 7, is characterized in that one end of above-mentioned connecting link is connected to the junction of the first side link and connecting rod; Or one end of connecting link is connected to the junction of the second side link and connecting rod.
9. the defect inspection robot based on loop laser 3-D scanning according to claim 8, is characterized in that above-mentioned crawler travel parts are provided with three groups, three groups of crawler travel parts 120 degree, interval angle distributions each other; Parallel-crank mechanism is also corresponding is provided with three groups, and three groups of crawler travel parts are connected with the connecting rod in three groups of parallel-crank mechanisms.
10. the defect inspection robot based on loop laser 3-D scanning according to claim 8, is characterized in that above-mentioned nut slider includes nut and slide block, and it is secondary that nut and screw mandrel form worm drive, and slide block is connected with nut.
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| CN201510569011.6A CN105136820A (en) | 2015-09-09 | 2015-09-09 | Pipeline defect detection robot based on annular laser three-dimensional scanning |
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| CN201510569011.6A CN105136820A (en) | 2015-09-09 | 2015-09-09 | Pipeline defect detection robot based on annular laser three-dimensional scanning |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108154507A (en) * | 2017-12-29 | 2018-06-12 | 长春师范大学 | Screwed pipe foreign matter detection system |
| CN108267457A (en) * | 2017-12-15 | 2018-07-10 | 中国石油天然气第七建设有限公司 | Small-caliber pipeline inner ring seam laser video detecting device |
| CN108362644A (en) * | 2018-02-10 | 2018-08-03 | 浙江工业大学 | A kind of axis class, pipeline-like surface defects of parts detection device |
| CN108645914A (en) * | 2018-07-04 | 2018-10-12 | 安徽省特种设备检测院 | CNG gas storage well sleeves detecting system and the comprehensive probe of CNG gas storage well sleeves detection |
| CN110031864A (en) * | 2019-05-14 | 2019-07-19 | 北京恒通国盛环境管理有限公司 | A kind of pipe detection device |
| CN110454683A (en) * | 2018-05-08 | 2019-11-15 | 同人拓丰（北京）科技有限公司 | A kind of novel intelligent pipe detection device |
| CN112319849A (en) * | 2021-01-07 | 2021-02-05 | 北京天创凯睿科技有限公司 | Method for detecting surface damage of aircraft air inlet |
| CN114739303A (en) * | 2022-06-09 | 2022-07-12 | 国机传感科技有限公司 | Pipeline inner diameter sensing scanning device based on line laser |
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| CN108267457A (en) * | 2017-12-15 | 2018-07-10 | 中国石油天然气第七建设有限公司 | Small-caliber pipeline inner ring seam laser video detecting device |
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| CN110031864A (en) * | 2019-05-14 | 2019-07-19 | 北京恒通国盛环境管理有限公司 | A kind of pipe detection device |
| CN112319849A (en) * | 2021-01-07 | 2021-02-05 | 北京天创凯睿科技有限公司 | Method for detecting surface damage of aircraft air inlet |
| CN114739303A (en) * | 2022-06-09 | 2022-07-12 | 国机传感科技有限公司 | Pipeline inner diameter sensing scanning device based on line laser |
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Application publication date: 20151209 |