CN109373106B

CN109373106B - Adjustable pipeline omnidirectional peeping device

Info

Publication number: CN109373106B
Application number: CN201811213159.6A
Authority: CN
Inventors: 谢春思; 隋先辉; 李军玲; 周勇; 张翼飞
Original assignee: PLA Dalian Naval Academy
Current assignee: PLA Dalian Naval Academy
Priority date: 2018-10-18
Filing date: 2018-10-18
Publication date: 2021-01-12
Anticipated expiration: 2038-10-18
Also published as: CN109373106A

Abstract

The invention provides an adjustable omnidirectional pipeline peeping device, which is characterized in that: the crawling mechanism comprises a crawling mechanism (1), a camera system (2) and a detection controller (3), wherein the crawling mechanism (1) consists of a box body (11), a speed reducing mechanism (12) and a traveling wheel (13); compared with the prior art, the invention has the beneficial effects that: this patent is for satisfying the diagnostic nondestructive test equipment of the internal state detection of different bore pipelines, and adjustable pipeline qxcomm technology surveys video crawl detector, can high accuracy, accurately accomplish the internal state detection diagnosis of different bore pipelines, can accomplish the internal state detection of different bore pipelines without hindrance and losslessly to the concrete information of the internal state defect state of detected object is accurately acquireed, great improvement the detection efficiency of pipeline internal state.

Description

Adjustable pipeline omnidirectional peeping device

Technical Field

The invention belongs to the technical field of nondestructive testing, and particularly relates to an adjustable pipeline omnidirectional peeping device.

Background

In steel mills, chemical plants, gas plants, nuclear power plants, shipbuilding factories and other hundreds of industrial units, pipelines are important and even only material transmission channels, and the quality of the internal state of the pipelines is directly related to the transmission quality and capacity, so that the benefit of the industrial units is directly influenced. How to finish the internal state detection and diagnosis of pipelines with different calibers well, quickly, accurately and at low cost is a difficult problem in the design and development process of nondestructive detection equipment.

At present, detection instruments sold in the market at home and abroad are mainly divided into an ultrasonic detector and an endoscope detector, the ultrasonic detector mainly adopts an ultrasonic technology for detection, and the detection precision and accuracy are low; the latter mainly utilizes the circular main soft insertion pipe to detect the interior of the pipeline, has relatively weak detection capability and cannot better adapt to the detection requirements of pipelines with different calibers.

Disclosure of Invention

In order to overcome the problems of poor adaptability, inconvenient use, weak detection capability and the like of the traditional detection instrument, the invention provides an adjustable pipeline omnidirectional peering device, which adopts the technical scheme that: an adjustable pipeline omnidirectional peering device comprises a crawling mechanism, a camera system and a detection controller, wherein the crawling mechanism consists of a box body, a speed reducing mechanism and a travelling wheel; the speed reducing mechanism is arranged in the box body, the travelling wheels are arranged outside the box body, and the box body is also provided with a supporting hole, a signal cable connector and an internal signal cable; the crawling mechanism is electrically connected with the detection controller through a signal cable connector, and the camera system is electrically connected with the crawling mechanism through an internal signal cable; the camera system is connected with a supporting hole on a box body of the crawling mechanism in a mode that a lifting positioning pin is matched with a lifting locking nut or a parallel support is matched with a set screw.

The adjustable pipeline omnidirectional peering video crawling detector can meet the detection requirements of pipelines with different calibers, and a box body is a base body of the whole detector, bears and installs other parts and is mainly provided with and fixes a speed reducing mechanism; the camera system is mainly used for installing and fixing a front-view camera lens, a side-view camera lens, a front-view illumination LED lamp and a side-view illumination LED lamp, realizing 360-degree detection of the side-view camera lens along the radial direction of a pipeline, simultaneously ensuring that the side-view illumination LED lamp and the side-view camera lens are synchronous, and providing illumination requirements in the lateral detection process; the front-view camera lens, the side-view camera lens, the front-view illumination LED lamp and the side-view illumination LED lamp are respectively used for the forward and side detection of the pipeline and the illumination required in the detection process; the forward-looking camera lens can carry out all-dimensional scanning on the wall of the pipe to be detected, carry out macroscopic inspection, determine whether the inner wall of the steel pipe has defects and determine the position of the inner wall; an image acquisition system is arranged in the forward-looking camera lens to convert an optical image of an object scene on a target surface of an image sensor through the imaging of an optical lens into an electric signal by an optical signal, the electric signal is transmitted to a detection controller through a signal cable, and the detection controller is sent to a computer system for data analysis and judgment after reprocessing; the front-view lighting LED lamp and the side-view lighting LED lamp of the LED lighting system are sealed and protected by toughened glass; the lifting locking nut and the lifting positioning pin are mainly used for adjusting the height of the rotary camera system according to the caliber requirement of the pipeline to enable the rotary camera system to be positioned at the central position of the detected pipeline, the lifting positioning pin is used for adjusting the height, and the lifting locking nut is used for fixing the height position adjusted by the lifting positioning pin; the internal signal cable is used for signal transmission of each part of the forward-looking camera lens, the side-looking camera lens, the forward-looking illumination LED lamp, the side-looking illumination LED lamp and the rotary camera system; the signal cable electric connector is used for connecting a power supply required by the crawling detector and a signal data cable for signal transmission, and the height of the rotary camera system is changed by adjusting the positions of the lifting locking nut and the lifting positioning pin, so that the rotary camera system is always positioned at the central position of a detected pipeline.

In order to meet the detection requirement of a large-diameter pipeline, a mode of matching a parallel support and a fastening screw is mainly adopted, so that the height adjustment range of the rotary camera system can reach hundreds of millimeters, the parallel support is used for adjusting the height position of the rotary camera system, and the fastening screw of the parallel support is used for fixing the adjusted height position; the camera shooting system consists of a rotating mechanism and a camera shooting mechanism, and the camera shooting mechanism consists of a camera shooting lens and an illuminating LED lamp; the rotating mechanism consists of a rotating body and a rotating body, one end of the rotating body is connected with the rotating body through a rotating shaft, and the camera lens and the lighting LED lamp are arranged at the other end of the rotating body in the axial direction; the rotating machine body comprises a second driving motor, a conductive slip ring, a driving gear and a driven gear; the driving motor II drives a driving gear, the driving gear drives a driven gear, the driven gear drives the rotating body to rotate at a constant speed by 360 degrees through a rotating shaft, the electric signals of the camera module and the light source are provided through a conductive sliding ring, and the rotating body is used for installing, connecting and fixing other parts of the system.

Furthermore, the travelling wheels are specifically aviation rubber wheels, and the aviation rubber wheels are made of polyurethane materials and used for omni-directionally observing the movement of the video crawling probe in the pipeline, so that the inner surface of the crawling probe is not damaged when the crawling probe moves in the pipeline; the aviation rubber wheel adopts the holding screw to realize the fixed of aviation rubber wheel.

Furthermore, the speed reducing mechanism consists of a driving motor I, a driving shaft, a synchronous wheel, a synchronous belt and a bevel gear transmission mechanism, wherein the synchronous belt is a steel wire synchronous belt, so that the reliability and the stability are ensured; the bevel gear transmission mechanism adopts a planetary speed reducing mechanism for speed reduction, and is designed into a spiral bevel gear mechanism for reversing to finish torque conversion, the intersection angle between two shafts of the bevel gear is equal to 90 degrees, and a 1:1 synchronizing wheel drives a driving shaft to move forward and backward through the rotation of a synchronous belt, so that the stability and reliability of the output torque of front and rear wheels are ensured, and the forward and backward movement of the crawler is solved; the synchronous belt is used for power transmission between the front driving wheel and the rear driving wheel, the front driving wheel is a driving wheel, the rear driving wheel is a driven wheel, the front/rear synchronous wheel and the front/rear driving wheel are respectively used for connecting the driving/driven wheel and a wheel shaft of the driving/driven wheel, and the support hole is used for installing and fixedly connecting the parallel support and a parallel support fastening screw.

Furthermore, the side of rotator still is provided with looks sideways at camera lens and looks sideways at illumination LED lamp. The side-looking camera lens can carry out more detailed and accurate inspection on the wall of the pipe to be inspected.

Furthermore, a control panel of the detection controller is provided with a power switch, a speed adjusting knob, a forward button, a backward button, a rotary switch, a forward/side view switch, a power electric connector, an electric quantity indicator lamp, a signal electric connector and a coaxial connector; the power switch is a complete machine power supply operation switch for the adjustable pipeline omnidirectional peering video crawling detector; the speed adjusting knob is used for controlling the running speed of the speed reducing mechanism; the forward button and the backward button are used for controlling the forward or backward movement direction of the deceleration system; the rotary switch is used for controlling the motion of side-view camera shooting of the camera shooting system in a pipeline side direction within 360 degrees; the front/side view button switch is used for selecting and controlling front view and side view camera shooting; the power supply electric connector is used for connecting an external 220V power supply, provides a power supply required by the outside when the lithium battery arranged in the detection controller is charged, and controls power supply through the power switch when the lithium battery is used for the detection controller to work; the electric quantity indicator light is used for indicating the electric quantity monitoring of the lithium battery; the signal electric connector is used for connecting the detection controller with a signal data cable of the video crawling detector; the coaxial cable connector is used for sending image signals processed by the signal circuit board in the detection controller to the host through the coaxial cable for image acquisition and data analysis.

Compared with the prior art, the invention has the beneficial effects that: this patent is for satisfying the diagnostic nondestructive test equipment of the internal state detection of different bore pipelines, and adjustable pipeline qxcomm technology surveys video crawl detector, can high accuracy, accurately accomplish the internal state detection diagnosis of different bore pipelines, can accomplish the internal state detection of different bore pipelines without hindrance and losslessly to the concrete information of the internal state defect state of detected object is accurately acquireed, great improvement the detection efficiency of pipeline internal state.

Drawings

Fig. 1 is a schematic structural view of a small-bore pipeline peeping device of the present invention.

Fig. 2 is a schematic structural view of the small-caliber pipeline peeping device of the present invention.

Fig. 3 is a schematic structural diagram of the large-diameter pipeline peeping device.

Fig. 4 is a schematic structural view of the speed reducing mechanism of the present invention.

Fig. 5 is a schematic diagram of the configuration of the camera system of the present invention.

Fig. 6 is a schematic diagram of a control panel structure of the probing controller according to the present invention.

Wherein: 1 crawling mechanism, 2 camera system, 3 detection controller, 4 lifting positioning pin, 5 lifting locking nut, 6 parallel bracket, 7 set screw, 11 box body, 12 speed reducing mechanism, 13 walking wheel, 21 rotating mechanism, 22 camera mechanism, 31 power switch, 32 speed adjusting knob, 33 forward button, 34 backward button, 35 rotating switch, 36 forward/side view switch, 37 power electric connector, 38 electric quantity indicator light, 39 signal electric connector, 40 coaxial connector, 111 support hole, 112 signal cable connector, 113 internal signal cable, 121 drive motor I, 122 drive shaft, 123 synchronous wheel, 124 synchronous belt, 125 bevel gear transmission mechanism, 211 rotating body, 212 rotating body, 213 drive motor II, 214 conductive slip ring, 215 driving gear, 216 driven gear, 221 camera lens, 222 lighting LED lamp, 223 side-view camera lens, 224 side-view lighting LED lamp.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution:

an adjustable pipeline omnidirectional peering device comprises a crawling mechanism 1, a camera system 2 and a detection controller 3, wherein the crawling mechanism 1 consists of a box body 11, a speed reducing mechanism 12 and traveling wheels 13; the speed reducing mechanism 12 is arranged inside the box body 11, the travelling wheels 13 are arranged outside the box body 11, and the box body 11 is also provided with a support hole 111, a signal cable connector 112 and an internal signal cable 113; the crawling mechanism 1 is electrically connected with the detection controller 3 through a signal cable connector 112, and the camera system 2 is electrically connected with the crawling mechanism 1 through an internal signal cable 113; the camera system 2 is connected with a support hole 111 on a box body 11 of the crawling mechanism 1 in a mode that a lifting positioning pin 4 is matched with a lifting locking nut 5 or a parallel bracket 6 is matched with a set screw 7.

The adjustable pipeline omnidirectional peering video crawling detector can meet the requirements of pipelines with different calibers, a basic schematic diagram of the omnidirectional peering small-caliber video crawling detector is shown in fig. 1, the crawling detector is in a horizontal initial position and is a basis for height adjustment of a rotary camera system, and the adjustable pipeline omnidirectional peering video crawling detector consists of a box body 11, a forward-looking camera lens 221, a side-looking camera lens 223, a forward-looking lighting LED lamp 222, a lifting locking nut 5, a lifting positioning pin 4, an aviation rubber wheel 8, an internal signal cable 113 and a signal cable electric connector 112. The box body 11 is a base body of the whole detector, bears and installs other components and mainly installs and fixes the speed reducing mechanism 12; the camera system 2 is mainly used for installing and fixing a front-view camera lens 221, a side-view camera lens 222, a front-view illumination LED lamp 223 and a side-view illumination LED lamp 224, realizing the detection of the side-view camera lens 224 along the radial direction of the pipeline by 360 degrees, simultaneously ensuring that the side-view illumination LED lamp 224 and the side-view camera lens 223 are kept synchronous, and providing the illumination requirement in the lateral detection process; the front-view camera lens 221, the side-view camera lens 223, the front-view illumination LED lamp 222 and the side-view illumination LED lamp 224 are respectively used for illumination required in the forward and side detection and detection processes of the pipeline; the forward-looking camera lens 221 can carry out all-dimensional scanning on the wall of the pipe to be detected, carry out macroscopic inspection, determine whether the inner wall of the steel pipe has defects and determine the position of the inner wall; an image acquisition system is arranged in the forward-looking camera lens 221 to convert an optical image of an object scene on a target surface of an image sensor through the imaging of an optical lens into an electric signal by an optical signal, the electric signal is transmitted to the detection controller 3 through a signal cable, and the detection controller 3 sends the processed image to a computer system for data analysis and judgment; the front-view illumination LED lamp 222 and the side-view illumination LED lamp 224 of the LED illumination system are sealed and protected by toughened glass; the lifting locking nut 5 and the lifting positioning pin 4 are mainly used for adjusting the height of the rotary camera system 2 according to the caliber requirement of the pipeline to enable the rotary camera system to be positioned at the central position of the detected pipeline, the lifting positioning pin 4 is used for adjusting the height, and the lifting locking nut 5 is used for fixing the height position adjusted by the lifting positioning pin 4; the internal signal cable 113 is used for signal transmission of the front-view camera lens 221, the side-view camera lens 223, the front-view illumination LED lamp 222, the side-view illumination LED lamp 224 and each component of the rotary camera system 2; the signal cable electric connector 112 is used for connecting a power supply required by the crawling detector and a signal data cable for signal transmission.

Fig. 2 shows an adjustment schematic diagram of a small-caliber video crawling detector for omnidirectional peering, the composition of which is completely the same as that of fig. 1, and only for clearly expressing the adjustment change of the height position of the rotary camera system, the height of the rotary camera system 2 is changed by adjusting the positions of a lifting lock nut 5 and a lifting positioning pin 4, so that the rotary camera system is always positioned at the central position of a detected pipeline.

In order to meet the detection requirement of a large-diameter pipeline, a mode that a parallel support 6 is matched with a fastening screw 7 is mainly adopted, so that the height adjustment range of the rotary camera system 2 can reach hundreds of millimeters, the parallel support 6 is used for adjusting the height position of the rotary camera system 2, and the parallel support fastening screw 7 is used for fixing the adjusted height position; the camera system 2 consists of a rotating mechanism 21 and a camera mechanism 22, and the camera mechanism 22 consists of a camera lens 221 and an illumination LED lamp 222; the rotating mechanism 21 is composed of a rotating body 211 and a rotating body 212, one end of the rotating body 211 is connected with the rotating body 212 through a rotating shaft, and the camera lens 221 and the illumination LED lamp 222 are arranged at the other end of the rotating body 211 in the axial direction; the rotating body 212 comprises a second driving motor 213, a conductive slip ring 214, a driving gear 215 and a driven gear 216; the driving gear 215 is driven by the driving motor two 213, the driven gear 216 is driven by the driving gear 215, the rotating body 211 is driven by the driven gear 216 through the rotating shaft to rotate at a constant speed of 360 degrees, the electrical signals of the camera module and the light source are provided through the conductive slip ring 214, and the rotating body 212 is used for installing, connecting and fixing other components of the system.

Further, the travelling wheels 13 are specifically aviation rubber wheels, and the aviation rubber wheels 8 are made of polyurethane materials and used for omni-directionally observing the movement of the video crawling probe in the pipeline, so that the inner surface of the crawling probe is not damaged when the crawling probe moves in the pipeline; the aviation rubber wheel adopts the holding screw to realize the fixed of aviation rubber wheel.

Further, the speed reducing mechanism 12 is composed of a first driving motor 121, a driving shaft 122, a synchronous wheel 123, a synchronous belt 124 and a bevel gear transmission mechanism 125, wherein the first driving motor 121 is a permanent magnet direct current brushless speed reducing motor, the bevel gear transmission mechanism 125 is specifically a planetary speed reducing mechanism, a crossing angle between two shafts of a bevel gear is equal to 90 degrees, and the synchronous belt 124 is specifically a steel wire synchronous belt. The first driving motor 121 is used for controlling the motion of the crawling detector, a permanent magnet direct current brushless speed reducing motor is selected, and the crawling detector has the advantages of being large in starting torque, small in size, light in weight, high in transmission efficiency and easy to control; the bevel gear transmission mechanism 125 adopts a planetary speed reducing mechanism for speed reduction, and is designed into a spiral bevel gear mechanism for reversing to finish torque conversion, the intersection angle between two shafts of the bevel gear is equal to 90 degrees, and the 1:1 synchronizing wheel 123 drives the driving shaft 122 to advance and retreat through the rotation of the synchronous belt 124, thereby not only ensuring the stability and reliability of the output torque of the front wheel and the rear wheel, but also solving the advancing and retreating of the creeper; the synchronous belt 124 is used for power transmission between the front/rear driving shafts 122, the front driving wheel is a driving wheel, the rear driving wheel is a driven wheel, and the reliability and the stability are ensured by adopting the steel wire synchronous belt 124; the front/rear synchronizing wheel 123 and the front/rear driving shaft 122 are respectively used for connecting the driving/driven wheel and the wheel shaft thereof, and the supporting hole 111 is used for installing and fixedly connecting the parallel bracket 6 and the parallel bracket fastening screw 7.

Further, a side view imaging lens 223 and a side view illumination LED lamp 224 are provided on the side surface of the rotating body 211. The side-looking camera lens 223 can perform more detailed and accurate inspection on the wall of the tube to be inspected.

Further, a power switch 31, a speed adjusting knob 32, a forward button 33, a backward button 34, a rotary switch 35, a forward/side view switch 36, a power electrical connector 37, a power indicator 38, a signal electrical connector 39, and a coaxial connector 40 are arranged on a control panel of the detection controller 3; the power switch 31 is a whole power supply operation switch for the adjustable pipeline omnidirectional peeking video crawling detector; the speed adjusting knob 32 is used for controlling the running speed of the speed reducing mechanism shown in FIG. 4; the forward button 33 and the backward button 34 are used for directional control of forward or backward movement of the deceleration system of fig. 4; the rotary switch 35 is used for controlling the motion of the side-view camera of the rotary camera system shown in fig. 5 in the 360-degree range of the pipeline side direction; the front/side view button switch 36 is used for selecting and controlling front and side view camera shooting; the power supply electric connector 37 is used for connecting an external 220V power supply, provides a power supply required by the outside when a lithium battery arranged in the detection controller shown in FIG. 6 is charged, and controls power supply through the power switch 31 when the lithium battery works; a charge indicator light 38 is used to indicate the charge monitoring of the lithium battery; the signal electric connector 39 is used for connecting the detection controller 3 with a signal data cable of the video crawling detector; the coaxial cable connector 40 is used for sending the image signal processed by the signal circuit board in the detection controller to the host computer through the coaxial cable for image acquisition and data analysis.

The invention has scientific property, applicability and reliability, and can finish the detection and diagnosis of the caliber of the pipeline from dozens of millimeters to hundreds of millimeters and the length of the pipeline reaches one hundred meters through field use. The practical application of users in different environments shows that the invention better solves the problem of field detection of a plurality of industrial units on the interiors of pipelines with different calibers, generates better invention benefit and obtains high praise of using units.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a pipeline qxcomm technology surveys device with adjustable which characterized in that: the crawling mechanism comprises a crawling mechanism (1), a camera system (2) and a detection controller (3), wherein the crawling mechanism (1) consists of a box body (11), a speed reducing mechanism (12) and a traveling wheel (13); the speed reducing mechanism (12) is arranged inside the box body (11), the travelling wheels (13) are arranged outside the box body (11), and the box body (11) is also provided with a support hole (111), a signal cable connector (112) and an internal signal cable (113); the crawling mechanism (1) is electrically connected with the detection controller (3) through a signal cable connector (112), and the camera system (2) is electrically connected with the crawling mechanism (1) through an internal signal cable (113); the camera system (2) is connected with a supporting hole (111) on a box body (11) of the crawling mechanism (1) in a mode that a lifting positioning pin (4) is matched with a lifting locking nut (5) or a parallel bracket (6) is matched with a set screw (7); the camera system (2) consists of a rotating mechanism (21) and a camera mechanism (22), and the camera mechanism (22) consists of a camera lens (221) and an illuminating LED lamp (222); the rotating mechanism (21) consists of a rotating body (211) and a rotating body (212), one end of the rotating body (211) is connected with the rotating body (212) through a rotating shaft, and the camera lens (221) and the lighting LED lamp (222) are arranged at the other end of the rotating body (211) in the axial direction; the rotating body (212) comprises a second driving motor (213), a conductive slip ring (214), a driving gear (215) and a driven gear (216); the side of the rotating body (211) is also provided with a side-view camera lens (223) and a side-view lighting LED lamp (224).

2. The adjustable omnidirectional line-up speculum arrangement of claim 1, wherein: the traveling wheels (13) are specifically aviation rubber wheels.

3. The adjustable omnidirectional line-up speculum arrangement of claim 1, wherein: the speed reducing mechanism (12) is composed of a first driving motor (121), a driving shaft (122), a synchronous wheel (123), a synchronous belt (124) and a bevel gear transmission mechanism (125), wherein the first driving motor (121) adopts a permanent magnet direct current brushless speed reducing motor, the bevel gear transmission mechanism (125) is a planetary speed reducing mechanism, the intersection angle between two shafts of a bevel gear is equal to 90 degrees, and the synchronous belt (124) is a steel wire synchronous belt.

4. The adjustable omnidirectional line-up speculum arrangement of claim 1, wherein: the control panel of the detection controller (3) is provided with a power switch (31), a speed adjusting knob (32), a forward button (33), a backward button (34), a rotary switch (35), a forward/side view switch (36), a power electric connector (37), an electric quantity indicator lamp (38), a signal electric connector (39) and a coaxial connector (40) which are electrically connected with the detection controller (3).