CN117571725B - Visual field adjustable visual sense sensing device - Google Patents
Visual field adjustable visual sense sensing device Download PDFInfo
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- CN117571725B CN117571725B CN202410067643.1A CN202410067643A CN117571725B CN 117571725 B CN117571725 B CN 117571725B CN 202410067643 A CN202410067643 A CN 202410067643A CN 117571725 B CN117571725 B CN 117571725B
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- 230000000007 visual effect Effects 0.000 title claims abstract description 42
- 239000003208 petroleum Substances 0.000 claims abstract description 37
- 238000003466 welding Methods 0.000 claims abstract description 24
- 238000004804 winding Methods 0.000 claims description 19
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 9
- 230000000694 effects Effects 0.000 abstract description 4
- 238000007493 shaping process Methods 0.000 abstract description 3
- 238000001514 detection method Methods 0.000 description 19
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- 230000005484 gravity Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The application relates to a visual field adjustable visual sensing device which is used for being rotatably arranged on a petroleum pipeline robot so as to rotate and detect an internal welding line around the axis of a petroleum pipeline, and comprises an installation tool, a support frame and a mounting frame, wherein the mounting frame is slidably connected to the support frame, and the sliding direction of the mounting frame is perpendicular to the axis of the petroleum pipeline; the camera light source module is arranged on the mounting frame and is used for shooting an internal welding line and transmitting an image to the processor; the adjusting component is arranged on the supporting frame and connected with the mounting frame to drive the mounting frame to slide. The camera light source module has the effect of being convenient for adjust the shaping field of view of camera light source module according to the internal diameter of survey petroleum pipeline.
Description
Technical Field
The present application relates to the field of visual sensing devices, and in particular, to a visual field adjustable visual sensing device.
Background
At present, a petroleum pipeline robot is often used for detecting the quality of welding seams inside a petroleum pipeline, and a visual sensing device is a core component for detecting the welding seams. Conventional vision sensing devices typically include a mounting fixture and a camera light source module integrated on the mounting fixture. The camera light source module is electrically connected with the processor to shoot the internal weld and transmit the image to the external terminal equipment. However, the camera light source module is usually fixed on the installation tool, and cannot be adaptively adjusted according to the inner diameter of the petroleum pipeline, so that the camera light source module cannot obtain an optimal forming view field when the inner diameter of the petroleum pipeline to be measured changes, the arrangement mode easily causes lower detection precision of an internal welding line, and potential safety hazards easily occur.
Disclosure of Invention
In order to facilitate adjusting the forming field of vision of the vision sensing device according to the internal diameter of the petroleum pipeline to be measured and improve detection precision, the application provides a vision sensing device with adjustable field of vision.
The visual field adjustable visual sensing device adopts the following technical scheme:
a visual field adjustable visual sensing device is used for being rotatably arranged on a petroleum pipeline robot to rotatably detect internal welding seams around the axis of a petroleum pipeline, and comprises
The mounting tool comprises a support frame and a mounting frame which is connected to the support frame in a sliding manner, wherein the sliding direction of the mounting frame is perpendicular to the axis of the petroleum pipeline;
the camera light source module is arranged on the mounting frame and is used for shooting an internal welding line and transmitting an image to the processor;
the laser sensor module is used for measuring the size of a welding line, the mounting frame is provided with two camera light source modules positioned at two ends of the supporting frame, and the camera light source modules and the laser sensor modules are respectively arranged on the mounting frame and are arranged at an included angle of 180 degrees;
the adjusting component is arranged on the supporting frame and connected with the mounting frame to drive the mounting frame to slide, the two adjusting components are arranged to be used for respectively adjusting the camera light source module and the forming view field of the laser sensor module, the two adjusting components are distributed on two opposite sides of the supporting frame, the middle opening of each mounting frame is provided with a bracket extending towards the middle of the supporting frame, the camera light source module and the laser sensor module are fixed in the bracket, and the camera light source module does not exceed the upper surface of the mounting frame, which is provided with an opening.
By adopting the technical scheme, the adjustable visual sensing device is rotationally arranged on the petroleum pipeline robot, so that the camera light source module and the laser sensor module can rotate for one circle to shoot the whole circle of welding line, the shooting detection distance is shortened, the welding line quality is comprehensively detected, and the detection precision is improved; the laser sensor module is used for emitting laser beams, receiving laser particles reflected by the welding lines to measure the size of the welding lines, the detection precision is high, and the laser sensor is also used for rotating and shooting the welding lines, so that the internal welding lines can be monitored comprehensively; the camera light source module and the laser sensor module are arranged at an included angle of 180 degrees, the camera light source module and the laser sensor module can be effectively prevented from shielding the forming vision of each other, the forming vision of the maximum range is facilitated to be obtained respectively, the detection precision is improved, the mounting frame which is in sliding connection with the support frame is arranged, the adjusting assembly which drives the mounting frame to slide is arranged, the camera light source module is adjusted to rotate the shooting radius through adjusting the extending height of the mounting frame, the purpose of adjusting the forming vision of the camera light source according to the measured petroleum pipelines with different inner diameters is achieved, the detection precision is improved, the adjusting assembly is used for independently controlling the adjustment of the camera light source module and the laser sensor module, the distance between the camera light source module, the laser sensor module and the internal welding seam is convenient to be adjusted independently, and the optimal forming vision is obtained respectively.
Preferably, sliding rods are arranged at four corners of the mounting frame, the sliding rods are inserted in a supporting plate formed by outwards extending the top of the supporting frame in a sliding mode, and supporting springs sleeved on the sliding rods are further arranged between the mounting frame and the supporting frame.
Through adopting above-mentioned technical scheme, realize sliding connection and cover on the slide bar through the slide bar that sets up in four corners department and establish supporting spring, can the mounting bracket provide holding power, can effectively reduce the probability that the mounting bracket appears moving down under the action of gravity, when pulling the mounting bracket downwardly moving, the mounting bracket compresses tightly supporting spring gradually, can realize the slow moving down of mounting bracket, when driving the mounting bracket upwardly moving, the mounting bracket is rebound gradually under supporting spring's restoring force effect for the mounting bracket stretches out the regulation of height more convenient.
Preferably, the adjusting component comprises a winding roller around which the guy rope is wound and a locking piece which is fixed with the winding roller and used for driving the winding roller to rotate, wherein the far end of the guy rope is connected with the bottom of the mounting frame, and the mounting frame is used for gradually winding along with the guy rope so as to gradually slide downwards.
Through adopting above-mentioned technical scheme, through driving the forward or reverse rotation of coiling gyro wheel, can control the winding or the returning of traction rope on the coiling gyro wheel, when the traction rope is coiled on the coiling gyro wheel, can stimulate the mounting bracket and move down gradually, when the traction rope returns on the coiling gyro wheel for the mounting bracket moves up gradually.
Preferably, the adjusting component is integrated between two parallel arrangement's otic placodes, and arbitrary otic placode with the connecting plate that outwards extends and form on the support frame is connected fixedly, the locking piece is including rotating the setting arbitrary ratchet on the otic placode and rotating the setting and be in pawl on the otic placode, the pawl with be provided with the torsional spring in the pivot between the otic placode.
By adopting the technical scheme, the lug plate is arranged, so that the installation of the adjusting component and the supporting frame is convenient, the ratchet wheel and pawl locking piece is used, when the ratchet wheel rotates once, the pawl clamps the next saw tooth of the ratchet wheel, the slow adjustment of the movement of the mounting frame is facilitated, and the device can be suitable for the condition that the inner diameter change of the petroleum pipeline to be measured is small; when the mounting frame is required to extend upwards, the deflector rod is manually pulled out, the pawl is unlocked to the ratchet wheel, and then the ratchet wheel is reversely regulated to rotate; the ratchet pawl locking piece is fixed for the non-returnable, and is provided with the torsional spring between clamping jaw and otic placode, can effectively reduce the vision sensing device at this application, the probability that the adjusting part appears not hard up.
Preferably, a guide roller for guiding the guy rope is rotatably arranged between the two ear plates, and the guide roller is used for realizing the steering of the guy rope from vertical to horizontal.
Through adopting above-mentioned technical scheme, set up the guide roller that leads to the guy rope for ratchet pawl locking spare is more laborsaving to the pulling and the coiling of guy rope, and ensures that the mounting bracket pulls along the direction of perpendicular to measured petroleum pipeline axis, is favorable to camera light source module atress even, reduces the probability that leads to colliding with to camera light source module.
Preferably, the bottom of the supporting plate is provided with a semi-ring sleeve, each sliding rod is arranged in the semi-ring sleeve in a sliding mode, the semi-ring sleeve is provided with a guide hole with the extending direction being the same as the sliding direction of the sliding rod, the side wall of the semi-ring sleeve is marked with indication scales, and the sliding rod is provided with a pin shaft in a penetrating mode, and the pin shaft is used for being inserted into the guide hole to conduct guiding.
Through adopting above-mentioned technical scheme, when the mounting bracket slides, the slide bar also slides in the semi-ring sleeve to the axis of round pin axle 47 also slides along the guiding hole, is convenient for control the height-adjusting who indicates the scale display mounting bracket near the guiding hole through the slip of round pin axle 47, and the measuring personnel of being convenient for obtain the distance that needs to adjust the mounting bracket and stretch out or retract according to the instruction scale of last time, the internal diameter of last time by the petroleum pipeline, the internal diameter of this time petroleum pipeline that awaits measuring.
Preferably, the support frame is also provided with an inclination sensor.
Through adopting above-mentioned technical scheme, inclination sensor is used for carrying out real-time supervision to this application vision sensing device pivoted inclination, is favorable to the treater to learn the position that this application vision sensing device rotated.
In summary, the present application includes at least one of the following beneficial technical effects:
1. according to the visual field adjustable type camera light source shooting device, the visual field adjustable type visual sensing device is rotationally arranged on the petroleum pipeline robot, so that the internal welding line can be shot in a rotating mode, the mounting frame which is connected with the support frame in a sliding mode is arranged on the support frame, the camera light source module is mounted on the mounting frame, when the adjusting assembly drives the mounting frame to move up and down, the shooting radius of the camera light source rotation shooting can be adjusted, the shooting radius is adaptively adjusted according to the inner diameter of a petroleum pipeline to be detected, the camera light source module can obtain the best forming visual field in different pipeline inner diameters, and the detection precision is improved;
2. the winding roller around which the traction rope is wound and the ratchet wheel and pawl locking piece for driving the winding roller to rotate are arranged, and the supporting spring is arranged between the mounting frame and the supporting frame, so that the mounting frame can slowly move downwards and slowly lift back, and the operation is convenient;
3. through camera light source module and laser sensor module setting up at 180 contained angles, be convenient for can effectively avoid camera light source module and laser sensor module to shielding each other to each other's shaping field of vision, be favorable to respectively obtaining the shaping field of vision of maximum scope, be favorable to improving detection precision.
Drawings
FIG. 1 is a schematic view of the installation of the visual sensing device of the present application on a tube shaft.
Fig. 2 is a schematic structural view of the adjusting component after being hidden.
Fig. 3 is a schematic view of a mounting structure of the camera light source module as an example.
Fig. 4 is a schematic structural view of the support frame of the present application.
Fig. 5 is a schematic structural view of the adjustment assembly.
Reference numerals illustrate: 01. a tube shaft; 02. a slip ring; 1. installing a tool; 11. a support frame; 111. a fixing ring; 112. a support plate; 113. a mounting plate; 12. a mounting frame; 121. an opening; 122. a bracket; 123. a cross plate; 124. a fixing plate; 13. a slide bar; 14. a support spring; 2. a camera light source module; 21. detecting a camera; 22. an illumination light source; 3. a laser sensor module; 4. an adjustment assembly; 41. a rope; 42. a winding roller; 43. a locking member; 431. a ratchet wheel; 432. a pawl; 433. a torsion spring; 434. a deflector rod; 435. a knob; 44. ear plates; 441. a fixed shaft; 45. a guide roller; 46. a half ring sleeve; 461. a guide hole; 47. and a pin shaft.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-5.
The embodiment of the application discloses a visual field adjustable visual sensing device. Referring to fig. 1, the vision sensing device with adjustable vision is used to be rotatably arranged on a pipe shaft 01 of the petroleum pipeline robot to rotatably detect an internal weld around the axis of the petroleum pipeline.
Referring to fig. 1, the visual field adjustable visual sensing device comprises an installation tool 1, a camera light source module 2 for detecting the color of a welding line, a laser sensor module 3 for detecting the forming size of the welding line and an adjusting component 4. The installation fixture 1 comprises a supporting frame 11 which is rotatably arranged on a pipe shaft 01 and an installation frame 12 which is slidably connected to the supporting frame 11, wherein the sliding direction of the installation frame 12 is perpendicular to the axis of the petroleum pipeline. The adjusting component 4 is arranged on the supporting frame 11 and is connected with the mounting frame 12 to drive the mounting frame 12 to slide up and down, and the radius of rotation detection of the camera light source module 2 and the laser sensor module 3 is adjusted by adjusting the extending height of the mounting frame 12 so as to carry out adaptive adjustment according to the detected petroleum pipelines with different inner diameters, thereby adjusting the purpose of forming the visual field of the camera light source module 2.
Referring to fig. 2, the mounting frame 12 is provided in two, and the camera light source module 2 and the laser sensor module 3 are respectively provided on the mounting frame 12. Specifically, the middle part of the mounting frame 12 is provided with an opening 121, and a bracket 122 extending towards the middle of the supporting frame 11 is installed at the position of the opening 121, and the camera light source module 2 and the laser sensor module 3 are fixed in the bracket 122 and clamped by the opening 121, so that the camera light source module 2 and the laser sensor module 3 are fixed on the mounting frame 12. The fixed camera light source module 2 and the laser sensor module 3 do not protrude beyond the upper surface of the mounting frame 12 where the opening 121 is formed.
Referring to fig. 2 and 3, the camera light source module 2 includes a detection camera 21 and an illumination light source 22 for illuminating the detection camera 21. Four illumination light sources 22 are arranged around the circumference of the detection camera 21, the mounting frame 12 is provided with four cross plates 123, each illumination light source 22 is respectively fixed between two cross plates 123, and a fixing plate 124 for mounting the detection camera 21 is fixed between the four illumination light sources 22. The detection camera 21 is used to rotationally capture the color and shape of the internal weld, and transmit the generated image signal to a processor via a built-in image sensor, and the processor processes the image signal and outputs it to the terminal device. The laser sensor module 3 includes a laser ranging sensor that emits laser pulses toward the target (inner weld), and the laser pulses are scattered in all directions after being reflected by the target. After part of scattered light returns to the laser ranging sensor and is received by an optical system inside the laser ranging sensor, an optical signal can be formed by imaging on the optical sensor with an internal amplifying function, and the optical signal is converted into a corresponding electric signal. The laser ranging sensor transmits the electric signal to the processor, and the processor compares the electric signal to generate the accurate size of the welding seam at the measured position, which can be up to millimeter level, and has higher detection precision.
Referring to fig. 2, in order to reduce the probability that the camera light source module 2 and the laser sensor module 3 block each other's forming field of view, the mounting frame 12 is slidably disposed at two ends of the supporting frame 11, so that the camera light source module 2 and the laser sensor module 3 are disposed at an included angle of 180 °, which is beneficial to obtaining the forming field of view in the maximum range, and is beneficial to improving the detection accuracy. Preferably, the adjusting component 4 is also provided with two adjusting components for respectively controlling the adjustment of the camera light source module 2 and the laser sensor module 3, so that the distances among the camera light source module 2, the laser sensor module 3 and the internal welding seam can be adjusted independently, and the optimal forming view can be obtained.
Referring to fig. 2 and 4, the supporting frame 11 is a rectangular frame, fixing rings 111 are formed at the middle parts of both sides of the supporting frame 11, and bearings are arranged in the fixing rings 111 to realize rotational connection with the pipe shaft 01. The mounting bracket 12 slides and sets up the tip at support frame 11, and both ends all extend to both sides level and are formed with backup pad 112, and the four corners department of mounting bracket 12 is fixed with along the slide bar 13 that extends perpendicular to petroleum pipeline axis direction, and slide bar 13 sliding connection is equipped with supporting spring 14 on backup pad 112 and the outside cover of slide bar 13. The supporting spring 14 can provide the holding power by the mounting bracket 12, can effectively reduce the probability that the mounting bracket 12 appears moving down under the action of gravity, and when pulling mounting bracket 12 downwardly moving, mounting bracket 12 compresses tightly the supporting spring 14 gradually, can realize the slow downwardly moving of mounting bracket 12, and when driving mounting bracket 12 upwardly moving, mounting bracket 12 kick-backs gradually under the restoring force effect of supporting spring 14 for mounting bracket 12 stretches out the regulation of height more convenient.
Referring to fig. 1 and 5, the adjustment assembly 4 includes a winding roller 42 around which a lanyard 41 is wound, and a locking member 43 rotatably disposed between lugs 44, the distal end of the lanyard 41 being connected to the bottom of the mounting frame 12. By driving the winding roller 42 to rotate in the forward direction or the reverse direction, the winding or the returning of the traction rope 41 on the winding roller 42 can be controlled, when the traction rope 41 is wound on the winding roller 42, the mounting frame 12 can be pulled to gradually move downwards, and when the traction rope 41 is returned on the winding roller 42, the mounting frame 12 is made to gradually move upwards.
Specifically, the adjusting assembly 4 is integrated between two parallel ear plates 44, the supporting frame 11 is integrally formed with a mounting plate 113 extending outwards and having an extending direction perpendicular to the sliding direction of the mounting frame 12, and any one of the ear plates 44 is attached to the mounting plate 113 and fixed by using screws. The two are connected by a fixed shaft 441. The locking member 43 includes a ratchet 431 rotatably provided inside any one of the lugs 44, and a pawl 432 rotatably connected inside the same lug 44 for locking the ratchet 431. And the connection part of the pawl 432 and the lug plate 44 is provided with a torsion spring 433, so that the pawl 432 can be clamped with the ratchet 431 under the action of the restoring force of the torsion spring 433 after each rotation of the ratchet 431. When the ratchet wheel 431 is rotated once, the pawl 432 clamps the next saw tooth of the ratchet wheel 431, so that the slow adjustment of the movement of the mounting frame 12 is facilitated, and the device can be suitable for the condition that the inner diameter of a petroleum pipeline to be tested is small in change.
In order to facilitate the rotation of the ratchet 431, a knob 435 connected to the ratchet 431 is rotatably connected to the mounting plate 113. A deflector rod 434 is fixed on the pawl 432, when the control mounting frame 12 is required to slide upwards, the deflector rod 434 is directly stirred to lift the pawl 432, and the locking of the pawl 432 and the ratchet wheel 431 is released, so that the mounting frame 12 gradually rebounds under the action of the restoring force of the supporting spring 14 until the mounting frame 12 moves to a set height.
Preferably, a guide roller 45 for guiding and supporting the rope 41 is rotatably provided between the two lugs 44. Specifically, the guide roller 45 is rotatably coupled to the fixed shaft 441 between the two lugs 44. The guide roller 45 is used for realizing the steering of the traction rope 41 from vertical to horizontal, is convenient for pull and wind more laborsaving to the traction rope 41, and ensures that the mounting bracket 12 pulls along the direction perpendicular to the axis of the petroleum pipeline to be tested, ensures that the stress of the camera light source module 2 is even, and simultaneously reduces the probability of leading the camera light source module 2 to collide.
In order to facilitate the detection personnel to know the adjustment heights of the camera light source module 2 and the laser sensor module 3, a semi-ring sleeve 46 is arranged at the bottom of the supporting plate 112, each sliding rod 13 is slidably arranged in the semi-ring sleeve 46, a guide hole 461 with the extending direction being the same as the sliding direction of the sliding rod 13 is formed in the semi-ring sleeve 46, indication scales are marked on the side wall of the semi-ring sleeve 46, and a pin shaft 47 for being inserted into the guide hole 461 to guide is arranged on the sliding rod 13. When the mounting frame 12 slides, the slide bar 13 also slides in the semi-ring sleeve 46, so that the pin shaft 47 also slides along the axis of the guide hole 461, the adjustment height of the mounting frame 12 is conveniently displayed by the sliding of the pin shaft 47 against the indication scale near the guide hole 461, and the detection personnel can conveniently obtain the distance required to adjust the extension or retraction of the mounting frame 12 according to the last indication scale, the inner diameter of the petroleum pipeline to be detected last time and the inner diameter of the petroleum pipeline to be detected this time.
Referring to fig. 1, since the vision-adjustable vision sensing device of the present application is rotatably disposed on a tube shaft 01, in order to realize conversion from rotation to rest of a transmission cable of a camera light source module 2 and a transmission cable of a laser sensor, a slip ring 02 is sleeved outside the tube shaft 01, and a signal transmission cable and a power supply cable of the camera light source module 2 and the laser sensor module 3 are connected to a processor and a power supply module of the petroleum pipeline robot through the slip ring 02. In order to reduce the probability of the slip ring 02 being wetted and short-circuited, a slip ring cable cover (not shown) is provided on the outside of the slip ring 02.
Drive vision sensing device pivoted drive structure with adjustable this application's field of view drives camera light source module 2 and laser sensor module 3 rotation with lower rotational speed, still installs on installation frock 1 and is used for carrying out real-time supervision's inclination sensor (not shown in the figure) to this application vision sensing device pivoted inclination, is favorable to the treater to learn the position that this application vision sensing device rotated.
The implementation principle of the visual field adjustable visual sensing device in the embodiment of the application is as follows: when detecting the internal welding seam, the visual field adjustable visual sensing device rotates for one circle to detect the welding seam of the whole circle. When the detected petroleum pipeline with larger inner diameter needs to be detected, the extending height of the mounting frame 12 at the moment is obtained through observing the indication scale corresponding to the pin shaft 47, then the extending height of the mounting frame 12 needs to be controlled according to the difference value between the inner diameter of the detected petroleum pipeline and the inner diameter of the next detected petroleum pipeline, and then the knob 435 is rotated, so that the ratchet 431 drives the winding roller 42 to drive the traction rope 41 to wind, the sliding rod 13 and the mounting frame 12 are pulled to slide downwards, and the supporting spring 14 is compressed in the sliding process of the sliding rod 13 and the mounting frame 12. When the detected petroleum pipeline with smaller inner diameter needs to be detected, the shift lever 434 is manually shifted, the ratchet 431 is unlocked by the pawl 432, the control knob 435 is controlled in the adjusting process and the indication scale corresponding to the pin shaft 47 is gradually observed, and when the corresponding indication scale is reached, the shift lever 434 is loosened, so that the pawl 432 is locked with the ratchet 431, and the rapid adjustment of the forming vision of the camera light source module 2 and the laser sensor module 3 is realized.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.
Claims (7)
1. Visual field adjustable vision sensing device, its characterized in that: for rotate the setting on petroleum pipeline robot to rotate around petroleum pipeline's axis to inside welding seam and detect, include:
the mounting tool (1) comprises a support frame (11) and a mounting frame (12) which is connected to the support frame (11) in a sliding manner, wherein the sliding direction of the mounting frame (12) is perpendicular to the axis of the petroleum pipeline;
a camera light source module (2) mounted on the mounting frame (12) for photographing the interior weld and transmitting the image to the processor;
the laser sensor module (3) is used for measuring the size of a welding line, the mounting frame (12) is provided with two camera light source modules (2) and the laser sensor module (3) which are respectively arranged on the mounting frame (12) and are arranged at an included angle of 180 degrees;
the adjusting component (4) is arranged on the supporting frame (11) and connected with the mounting frame (12) to drive the mounting frame (12) to slide, the adjusting component (4) is provided with two forming fields of view for respectively adjusting the camera light source module (2) and the laser sensor module (3), the two adjusting components (4) are distributed on two opposite sides of the supporting frame (11), the middle opening (121) of the mounting frame (12) is provided with a bracket (122) extending in the middle of the supporting frame (11), and the camera light source module (2) and the laser sensor module (3) are fixed in the bracket (122) and do not exceed the upper surface of the opening (121) formed in the mounting frame (12).
2. The visual field adjustable visual sensing device of claim 1, wherein: slide bars (13) are installed at four corners of the mounting frame (12), the slide bars (13) are inserted in a sliding mode on a supporting plate (112) formed by outwards extending the top of the supporting frame (11), and supporting springs (14) sleeved on the slide bars (13) are further arranged between the mounting frame (12) and the supporting frame (11).
3. The visual field adjustable visual sensing device of claim 2, wherein: the adjusting component (4) comprises a winding roller (42) around which a traction rope (41) is wound and a locking piece (43) which is fixed with the winding roller (42) and used for driving the winding roller (42) to rotate, the distal end of the traction rope (41) is connected with the bottom of the mounting frame (12), and the mounting frame (12) is used for gradually winding along with the traction rope (41) to gradually slide downwards.
4. A visual field adjustable visual sensing apparatus according to claim 3, wherein: the adjusting component (4) is integrated between two parallel arrangement's otic placodes (44), and arbitrary otic placode (44) with outwards extend the connecting plate that forms on support frame (11) and be connected fixedly, locking piece (43) are including rotating ratchet (431) that set up on arbitrary otic placode (44) and rotating pawl (432) that set up on otic placode (44), pawl (432) with be provided with torsional spring (433) in the pivot between otic placode (44).
5. The visual field adjustable visual sensing device of claim 4, wherein: a guide roller (45) for guiding the guy rope (41) is also rotatably arranged between the two lug plates (44), and the guide roller (45) is used for realizing the steering of the guy rope (41) from vertical to horizontal.
6. The visual field adjustable visual sensing device of claim 2, wherein: the bottom of the supporting plate (112) is provided with a half-ring sleeve (46), each sliding rod (13) is arranged in the half-ring sleeve (46) in a sliding mode, the half-ring sleeve (46) is provided with a guide hole (461) extending in the same direction as the sliding direction of the sliding rod (13), the side wall of the half-ring sleeve (46) is marked with indication scales, and the sliding rod (13) is provided with a pin shaft (47) in a penetrating mode, and the pin shaft is used for being inserted into the guide hole (461) to conduct guiding.
7. The visual field adjustable visual sensing device of claim 1, wherein: and the supporting frame (11) is also provided with an inclination angle sensor.
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