CN202083644U - Steel tube inner wall test system based on panoramic imaging technology - Google Patents
Steel tube inner wall test system based on panoramic imaging technology Download PDFInfo
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- CN202083644U CN202083644U CN2011201750933U CN201120175093U CN202083644U CN 202083644 U CN202083644 U CN 202083644U CN 2011201750933 U CN2011201750933 U CN 2011201750933U CN 201120175093 U CN201120175093 U CN 201120175093U CN 202083644 U CN202083644 U CN 202083644U
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Abstract
The utility model discloses a steel tube inner wall test system based on a panoramic imaging technology. A charge couple device (CCD)/ complementary metal-oxide semiconductor (CMOS) photosensitive component is arranged in a camera box in a steel tube to be tested; a panoramic annular lens (PAL) is arranged on the CCD/CMOS photosensitive component; light-emitting diode (LED) lamps are respectively arranged on the four corners on the outer side of the camera box which are close to the CCD/CMOS photosensitive component; a rechargeable battery or an LED charging circuit board is arranged in the camera box; a driving device with a roller is arranged on the outer side of the camera box which is away from the CCD/CMOS photosensitive component; the data cable of the PAL is connected with the field programmable gate array (FPGA) of an in-laid panoramic video image processing system through a GigE gigabit Ethernet port; and the control cable of a driving motor is connected with a motor control unit. A driving mechanism drives the camera to shoot pictures deep in the steel tube in real time, and the pictures are displayed on a computer for observation and detection; and simultaneously, the embedded image processing system comprising a digital signal processor (DSP) and the field programmable gate array (FPGA) divides the work and cooperates, so that the image processing speed is high, the real-time response is good and the real-time monitoring is particularly applicable to.
Description
Technical field
The utility model relates to a kind of steel pipe inwall detection system, especially relates to a kind of steel pipe inwall detection system based on panoramic imaging techniques.
Background technology
For being applied to weldless steel tube, the nuclear power pipe of industries such as oil, rock gas as conveyance conduit, not only when dispatching from the factory, need detect the steel pipe inwall, to judge whether steel pipe inwall position has defectives such as crackle, gauffer, and in use, because the long-term accumulation of mechanical friction, fluid erosion effect may cause steel pipe inner wall trench, corrosion hole etc.If can not in time find these defectives and processing at once, may cause major accident, cause the heavy losses of personnel, property.
Steel pipe inwall detection technique has traditional method of inspection at present, advances in the steel pipe by luminous irradiations such as torches, judges observation by detecting human eye then, perhaps takes the sampling observation method.The external light source irradiation of, pipe range less for caliber steel pipe long or that shape is crooked is difficult to guarantee irradiation distance, and the observed distance of testing staff is always limited, simultaneously since head need must be dangerous to exist near steel tube place.Therefore classic method can't guarantee the steel pipe internal-surface quality, and detection efficiency is low, poor reliability.Now along with the development of photoelectric technology, the development of steel pipe inwall detection technique rapidly, camera also occurs and put in the equipment that the steel pipe inwall detects, utility model patent as 200520031724.2, but its camera manually is advanced in the steel pipe by the people, the length that detects steel pipe depends on the length of the axis of thrust, be not suitable for measuring than long tube, and manual working efficient is low, do not carry out subsequent image processing yet, can not position defective, can not have certain false drop rate fully with steel pipe inwall situation true reappearance.
Summary of the invention
In order to overcome disadvantages of background technology, the purpose of this utility model is to provide a kind of steel pipe inwall detection system based on panoramic imaging techniques, can position steel tube defect, can be fully with steel pipe inwall situation true reappearance.
The technical solution adopted in the utility model is:
One, based on the steel pipe inwall detection method of panoramic imaging techniques:
Form CCD/CMOS panoramic shooting head by PAL panoramic annular lens and CCD/CMOS photosensory assembly, move to the steel pipe inwall by the driving mechanism drive, provide light source by the LED lamp, utilize panoramic imaging techniques that the scene of steel pipe inwall is imaged on the CCD/CMOS photosensory assembly, be transferred to embedded full-view video image disposal system by data line, panoramic picture launched and shows export on digital lcd.
Described embedded full-view video image disposal system is primary processor with DSP, and FPGA is a coprocessor, and DSP control whole system operation flow process is sent system initialization to FPGA, images acquired, and read-write SDRAM instructs, and supervises the running status of FPGA in real time; FPGA links to each other with band CCD/CMOS panoramic shooting head by video input interface GigE gigabit Ethernet mouth, be responsible for the raw image data pre-service, after the acquisition that reception DSP sends, to the real-time conversion of carrying out color space of the raw image data that collects, under master control logic, write SDRAM, after treating that an image frame grabber is finished, DSP sends read command, view data is read, by adopting the data communication mechanism of multi-level buffer, adopt look-up table with image stretching, and show output in real time by video interface.
Two,, following two kinds of detection systems are arranged based on the steel pipe inwall detection system of panoramic imaging techniques:
1) a kind of detection system:
In tested steel pipe, the CCD/CMOS photosensory assembly is installed in the camera box, the PAL panoramic annular lens is installed on it, on four jiaos outside the camera box of CCD/CMOS photosensory assembly, the LED lamp is housed respectively, rechargeable battery or LED charging circuit plate are installed in the camera box, the camera box outside away from the CCD/CMOS photosensory assembly is connected with an end of first driving arm, the other end of first driving arm is connected with an end of electric machine support, the other end of electric machine support is connected with first driving arm through the second driving arm connection box, the both sides of first driving arm are connected with engaged wheel separately through separately spring, drive motor is installed in the electric machine support, on the drive motor projecting shaft transmission gear is installed, transmission gear drives second driving arm and rotates, the both sides of second driving arm are connected with driving wheel separately through separately spring, the cable that the data line of panoramic shooting head and the control line of drive motor are formed passes from second driving arm, the data line of panoramic shooting head is connected with the FPGA of embedded full-view video image disposal system by GigE gigabit Ethernet mouth, and the control line of drive motor is connected with motor control unit.
The arm processor of the control circuit of described drive motor is connected with motor I/O control, position feedback unit, keyboard and led driver respectively, motor I/O control is connected with motor control unit, motor control unit is connected with drive motor, and motor keyboard and led driver show with charactron and be connected.
2) another kind of detection system:
In tested steel pipe, the CCD/CMOS photosensory assembly is installed in the camera box, the PAL panoramic annular lens is installed on it, on four jiaos outside the camera box of CCD/CMOS photosensory assembly, the LED lamp is housed respectively, rechargeable battery or LED charging circuit plate are installed in the camera box, the camera box outside away from the CCD/CMOS photosensory assembly is connected with cable is slotting soon, the cable segmentation push rod of pegging graft soon, the segmentation push rod is equipped with roller outward, the cable of the data line of panoramic shooting head passes from second driving arm, and the data line of panoramic shooting head is connected with the FPGA of embedded full-view video image disposal system by GigE gigabit Ethernet mouth.
The beneficial effect that these 7 utility models have is:
The camera that drives panoramic annular lens by driving mechanism can advance to the steel pipe depths flexibly, steel pipe inwall scene is taken in real time and shows on computers, can observe the crackle or the defective of tube wall very easily.Measure by the camera of changing different sizes, the steel pipe inwall that driving mechanism can be applied to different tube diameters,
All can more than the caliber.The testing staff only need just can observe detection by graphoscope, overcome the high problem of labour intensity height, false drop rate of traditional detection method, by selecting to use high-resolution digital camera, the video that obtains is clear, image resolution ratio is high, therefore the inwall detection is respond well, and the embedded image disposal system that is made of DSP and FPGA is shared out the work and helped one another simultaneously, and image processing speed is fast, real-time response is good, is particularly suitable for real-time monitoring.
Description of drawings
Fig. 1 is that diameter of steel tube in the utility model is greater than the mechanical hook-up synoptic diagram of 100mm.
Fig. 2 is that diameter of steel tube in the utility model is less than the mechanical hook-up synoptic diagram of 100mm.
Fig. 3 is the circuit for controlling motor synoptic diagram in the utility model.
Fig. 4 is a lighting circuit schematic diagram of the present utility model.
Fig. 5 is embedded full-view video image handling principle figure.
Fig. 6 is system works flow process figure.
Among the figure: 1, CCD/CMOS photosensory assembly, 2, the LED lamp, 3, rechargeable battery, 4, the camera box, 5, engaged wheel, 6, electric machine support, 7, drive motor, 8, transmission gear, 9, driving wheel, 10, LED lamp charging circuit plate, 11, steel pipe, 12, digital display tube, 13, motor control unit, 14, arm processor, 15, the PAL panoramic annular lens, 16, cable inserts soon, 17, segmentation push rod, 18, roller, 19, cable.
Embodiment
Below in conjunction with drawings and Examples the utility model is further described.
As shown in Figure 1, panoramic shooting head with CCD/CMOS photosensory assembly 1 and PAL panoramic annular lens 15 compositions in tested steel pipe 11 is installed in the camera box 4, on four jiaos of camera box 4 outsides of close CCD/CMOS photosensory assembly 1 LED lamp 2 is housed respectively, rechargeable battery 3 or LED charging circuit plate 10 are installed in the camera box 4, camera box 4 outsides away from CCD/CMOS photosensory assembly 1 are connected with an end of first driving arm, the other end of first driving arm is connected with an end of electric machine support 6, the other end of electric machine support 6 is connected with first driving arm through the second driving arm connection box, the both sides of first driving arm are connected with engaged wheel separately through separately spring, drive motor 7 is installed in the electric machine support 6, on drive motor 7 projecting shafts transmission gear is installed, transmission gear drives second driving arm and rotates, the both sides of second driving arm are connected with driving wheel separately through separately spring, the cable 19 that the data line of panoramic shooting head and the control line of drive motor are formed passes from second driving arm, the data line of panoramic shooting head is connected with the FPGA of embedded full-view video image disposal system by GigE gigabit Ethernet mouth, and the control line of drive motor is connected with motor control unit.The surface of described driving wheel and engaged wheel is a spiral fashion.For guaranteeing best picture quality, described photosensory assembly CCD/CMOS is that digital face is examined exposed frame and lined by line scan, and resolution is 1280X960.
As shown in Figure 3, the arm processor 14 of the control circuit of described drive motor is connected with motor I/O control, position feedback unit, keyboard and led driver respectively, motor I/O control is connected with motor control unit 13, motor control unit 13 is connected with drive motor 7, and motor keyboard and led driver show with charactron and be connected.Motor control unit 13 accepts that control command that arm processor 14 sends is come the start and stop of controlling and driving motor 7, advances, retreated, speed governing, the HALL sensor feedback of drive motor is to motor control unit, motor control unit output drive motor tach signal is given the position and speed feedback unit, thereby regulate the motor stabilizing operation, motor I/O control is for manually control motor start and stop, moves forward and backward.The certain algorithm computation of arm processor 14 logical position and speed feedback unit acquired informations processes goes out the physical location when front motor, is presented at above the digital display tube 12 through keyboard and led driver.
As shown in Figure 2, in tested steel pipe 11, CCD/CMOS photosensory assembly 1 is installed in the camera box 4, PAL panoramic annular lens 15 is installed on it, on four jiaos of camera box 4 outsides of close CCD/CMOS photosensory assembly 1 LED lamp 2 is housed respectively, rechargeable battery 3 or LED charging circuit plate 10 are installed in the camera box 4, inserting 16 away from camera box 4 outsides of CCD/CMOS photosensory assembly 1 soon with cable is connected, cable is inserted 16 soon and is connect segmentation push rod 17, the segmentation push rod 17 outer rollers 18 that are equipped with, the cable 19 of the data line of panoramic shooting head passes from second driving arm, and the data line of panoramic shooting head is connected with the FPGA of embedded full-view video image disposal system by GigE gigabit Ethernet mouth.
As shown in Figure 4, LED lamp charging circuit plate 10 gives rechargeable battery 3 chargings, power supply is provided also can for simultaneously the LED lamp.
As shown in Figure 5, embedded full-view video image disposal system constitutes with DSP+FPGA, and DSP is as primary processor, and FPGA is as coprocessor.DSP sends order to the FPGA initialization system, FPGA links to each other with the GigE gigabit Ethernet mouth of CCD/CMOS camera, obtain original ring-type panoramic video data storage in SDRAM, FPGA at first carries out the image pre-service to a frame ring-type panoramic video: 1) image is carried out color space and change, image is changed the required YCbCr space of the panoramic picture method of development from original BAYER form special trip, and in real time Y component and CbCr component are write among the SDRAM 2) image is carried out medium filtering carry out filtering, remove and disturb and noise; Carrying out the figure image intensifying then adopts γ to proofread and correct, the linear broadening point processing of contrast strengthens, the spatial domain sharpening that adopts Laplce to calculate for projecting edge is at last handled, expand into the cylinder panorama video data and under master control logic, be stored among the SDRAM, FPGA sends look-at-me to DSP after handling frame full-view video image data, DSP receives look-at-me and begins to read the panoramic video data of handling well and leave in the exterior storage register, DSP adopts look-up table to carry out calculation process according to customer requirements to the cylinder panorama video in the outside storage register, defective hole to the existence of steel pipe inwall, crackle, gauffer is analyzed, determine the defective of steel duct according to the difference of major parameter defective gray scale, and be presented on the LCD by video interface.
As shown in Figure 6, the whole system operation flow process is as follows:
1. entire mechanism is installed in steel duct, it is correct to confirm that hardware devices such as motor, camera, computing machine connect;
2. the startup arm processor starts drive motor, drives entire mechanism and advances along the steel pipe inwall under driving wheel and engaged wheel drive, perhaps manually promotes the segmentation push rod, and entire mechanism supports lower edge steel pipe inwall at roller and advances;
3. the colleague of system motion begins images acquired or video, and stores and show by embedded panoramic picture disposal system;
4. when collecting crackle or defective, on digital display tube, demonstrate physical location, (at the pipe of caliber) greater than 100mm.
Claims (3)
1. steel pipe inwall detection system based on panoramic imaging techniques, it is characterized in that: in tested steel pipe (11), CCD/CMOS photosensory assembly (1) is installed in the camera box (4), PAL panoramic annular lens (15) is installed on it, on four jiaos outside the camera box (4) of CCD/CMOS photosensory assembly (1), LED lamp (2) is housed respectively, rechargeable battery (3) or LED charging circuit plate (10) are installed in the camera box (4), camera box (4) outside away from CCD/CMOS photosensory assembly (1) is connected with an end of first driving arm, the other end of first driving arm is connected with an end of electric machine support (6), the other end of electric machine support (6) is connected with first driving arm through the second driving arm connection box, the both sides of first driving arm are connected with engaged wheel separately through separately spring, drive motor (7) is installed in the electric machine support (6), on drive motor (7) projecting shaft transmission gear is installed, transmission gear drives second driving arm and rotates, the both sides of second driving arm are connected with driving wheel separately through separately spring, the cable (19) that the data line of panoramic shooting head and the control line of drive motor are formed passes from second driving arm, the data line of panoramic shooting head is connected with the FPGA of embedded full-view video image disposal system by GigE gigabit Ethernet mouth, and the control line of drive motor is connected with motor control unit.
2. a kind of steel pipe inwall detection system according to claim 1 based on panoramic imaging techniques, it is characterized in that: the arm processor of the control circuit of described drive motor (14) is connected with motor I/O control, position feedback unit, keyboard and led driver respectively, motor I/O control is connected with motor control unit (13), motor control unit (13) is connected with drive motor (7), and motor keyboard and led driver show with charactron and be connected.
3. a kind of steel pipe inwall detection system according to claim 1 based on panoramic imaging techniques, it is characterized in that: in tested steel pipe (11), CCD/CMOS photosensory assembly (1) is installed in the camera box (4), PAL panoramic annular lens (15) is installed on it, on four jiaos outside the camera box (4) of CCD/CMOS photosensory assembly (1), LED lamp (2) is housed respectively, rechargeable battery (3) or LED charging circuit plate (10) are installed in the camera box (4), inserting (16) away from camera box (4) outside of CCD/CMOS photosensory assembly (1) soon with cable is connected, cable is inserted (16) soon and is connect segmentation push rod (17), the outer roller (18) that is equipped with of segmentation push rod (17), the cable of the data line of panoramic shooting head (19) passes from second driving arm, and the data line of panoramic shooting head is connected with the FPGA of embedded full-view video image disposal system by GigE gigabit Ethernet mouth.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011201750933U CN202083644U (en) | 2011-05-26 | 2011-05-26 | Steel tube inner wall test system based on panoramic imaging technology |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011201750933U CN202083644U (en) | 2011-05-26 | 2011-05-26 | Steel tube inner wall test system based on panoramic imaging technology |
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| CN202083644U true CN202083644U (en) | 2011-12-21 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323274A (en) * | 2011-05-26 | 2012-01-18 | 杭州浙大精益机电技术工程有限公司 | Omnidirectional imaging-based method and system for detecting inner wall of steel pipe |
| CN103472065A (en) * | 2013-09-06 | 2013-12-25 | 鞍钢股份有限公司 | Steel plate surface image acquisition and data transmission method |
| CN106104262A (en) * | 2014-03-12 | 2016-11-09 | 杰富意钢铁株式会社 | The surface inspecting method of steel pipe, surface examining device, manufacture system, defect generating unit determine method and manufacture method |
| CN106767139A (en) * | 2017-01-16 | 2017-05-31 | 中国人民解放军军械工程学院 | Thorax recording apparatus are peeped in gun barrel detection |
| CN106989769A (en) * | 2017-05-28 | 2017-07-28 | 南昌理工学院 | A kind of sensing system and its detection method |
| CN108956610A (en) * | 2017-05-18 | 2018-12-07 | 南京原觉信息科技有限公司 | Industrial vision fault detection system and industrial vision method of detection |
| CN110296995A (en) * | 2019-06-27 | 2019-10-01 | 华东送变电工程有限公司 | Image acquisition device applied to power cable damage detection |
| CN116972779A (en) * | 2023-09-22 | 2023-10-31 | 山东高原油气装备有限公司 | Detection device with location centre gripping function for steel pipe production |
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2011
- 2011-05-26 CN CN2011201750933U patent/CN202083644U/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323274A (en) * | 2011-05-26 | 2012-01-18 | 杭州浙大精益机电技术工程有限公司 | Omnidirectional imaging-based method and system for detecting inner wall of steel pipe |
| CN103472065A (en) * | 2013-09-06 | 2013-12-25 | 鞍钢股份有限公司 | Steel plate surface image acquisition and data transmission method |
| CN106104262A (en) * | 2014-03-12 | 2016-11-09 | 杰富意钢铁株式会社 | The surface inspecting method of steel pipe, surface examining device, manufacture system, defect generating unit determine method and manufacture method |
| US10209199B2 (en) | 2014-03-12 | 2019-02-19 | Jfe Steel Corporation | Surface inspection method, surface inspection device, manufacturing system, method of identifying defect formed area, and manufacturing method of steel pipe |
| CN106767139A (en) * | 2017-01-16 | 2017-05-31 | 中国人民解放军军械工程学院 | Thorax recording apparatus are peeped in gun barrel detection |
| CN106767139B (en) * | 2017-01-16 | 2018-03-02 | 中国人民解放军军械工程学院 | Thorax recording apparatus is peeped in gun barrel detection |
| CN108956610A (en) * | 2017-05-18 | 2018-12-07 | 南京原觉信息科技有限公司 | Industrial vision fault detection system and industrial vision method of detection |
| CN108956610B (en) * | 2017-05-18 | 2020-09-15 | 南京原觉信息科技有限公司 | Industrial visual inspection system and industrial visual inspection method |
| CN106989769A (en) * | 2017-05-28 | 2017-07-28 | 南昌理工学院 | A kind of sensing system and its detection method |
| CN110296995A (en) * | 2019-06-27 | 2019-10-01 | 华东送变电工程有限公司 | Image acquisition device applied to power cable damage detection |
| CN116972779A (en) * | 2023-09-22 | 2023-10-31 | 山东高原油气装备有限公司 | Detection device with location centre gripping function for steel pipe production |
| CN116972779B (en) * | 2023-09-22 | 2023-12-08 | 山东高原油气装备有限公司 | Detection device with location centre gripping function for steel pipe production |
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