CN218630573U - Control circuit board for pipeline welding seam detection robot - Google Patents

Abstract

The utility model discloses a control circuit board for pipeline welding seam inspection robot, which comprises a support plate, a data processing module, a data storage module, an image acquisition control module, a drive control module, a power supply control module and an illumination control module; the image acquisition control module, the driving control module, the power supply control module and the illumination control module are all electrically connected with the data processing module; the data storage module is electrically connected with the data processing module; the carrier plate is internally provided with a plurality of layers of connecting circuits; the image acquisition control module, the driving control module, the power supply control module and the illumination control module are fixed on the edge of the upper surface of the support plate, and the output interfaces face the direction of the outer periphery of the support plate; the data storage module is arranged on the lower surface of the carrier plate; the data processing module is arranged on the upper surface of the support plate; the utility model provides a control integrated circuit's among the prior art function hardware and circuit walk the easy conflict of line, be difficult to the technical problem of adaptation pipeline welding seam detection robot's control demand.

Description

Control circuit board for pipeline welding seam detection robot

Technical Field

The utility model relates to a pipeline robot field, concretely relates to a control circuit board for pipeline welding seam inspection robot.

Background

With the increase of the industrial level, the welding technology has been widely applied to important fields of equipment manufacturing, metallurgical industry, aerospace and the like. In the application field of metal pipelines, the butt joint position of the pipeline often needs welding treatment, the welding is particularly important in industrial pipeline installation, the stability of the working state when the welding quality determines the transportation medium in the pipeline directly influences the safety and the energy efficiency of the pipeline. During welding, the welding part has inevitable defects such as air holes, incomplete fusion, incomplete penetration and the like under the influence of production equipment and processes, once the welding defect is not found in advance, the leakage or leakage phenomenon of a medium can be caused, the production benefit is greatly influenced, the environment can be polluted, and more serious safety accidents can be even caused.

The welded industrial pipeline needs to be tested for weld quality before being put into use. The weld inspection of the pipeline is not only performed after the installation of the industrial pipeline, but also needs to be performed again before the industrial pipeline is put into use. However, since the welding quality of the welded joint is difficult to observe directly after the pipeline is welded, the quality of the welded joint is detected by using a conventional radiographic inspection method, an ultrasonic inspection method, a penetration inspection method and the like, and a large amount of manpower and material resources are consumed.

Aiming at the detection of a small-diameter metal weld joint with the diameter of 3~8 inches of a pipeline, a method which is commonly adopted at present is to use a cable camera, manually operate the cable camera to stretch into the pipeline, namely an industrial endoscope, the industrial endoscope enters the pipeline from the manually operated wired camera, and the internal environment scanned by an outside-pipe worker is subjected to manual defect judgment through a transmitted image.

The difficulty of detection of operation in the tube of the industrial endoscope is high, and due to the characteristic of a wired camera, if the cable is a flexible cable, the distance of the cable extending into the tube is limited, and the cable is difficult to scan the environment in the tube in a surrounding mode, and if the cable is a rigid bendable cable, the cable is difficult to pass through a bend, a T-shaped tube and the like. And every pipeline all needs artificial operation to send the line to get into the pipeline, judges the welding seam position by the manual work again and then carries out quality testing, can consume great manpower and time cost, and efficiency is lower. Especially when detecting the pipeline welding seam in batches, manual operation's efficiency can more reduce and improved great false retrieval rate.

Due to these characteristics, the detection result is often related to the experience of the operator, and different operators are prone to large errors. After a large number of welding seam images are obtained, detection personnel need to identify the welding seam defect images under the assistance of a computer, and long-time and multi-batch detection work causes visual fatigue of human eyes, so that missed detection and false detection are caused.

Due to the defects, when the industrial endoscope is used, links of entering the inside of the pipeline and detecting different defects in the pipeline from the industrial endoscope are completed by operators, the influence of manual interference is large, the detection efficiency is very unstable, the detection efficiency is low, and the false detection rate is high.

Therefore, if the welding seam of the inner wall of the pipeline can be automatically identified and detected, and the detection result is directly output, the frequency of high false detection rate and high missing detection rate caused by manual operation errors can be greatly reduced.

Aiming at automatic identification of welding seams and detection of the welding seams, applicants invent a welding seam detection method suitable for cleaning the interior of a pipeline, wherein the welding seams in the pipeline are automatically identified, panoramic images of the welding seams are collected after the welding seams are identified, and the collected welding seam images are input into a welding seam abnormal condition target detection model for detection and detection results are output.

This method of identifying and detecting welds needs to be accomplished by relying on a mechanical structure that can be advanced electrically for weld detection into the interior of the pipe. Therefore, the applicant discloses a pipeline weld joint detection robot which can be matched with a background control end to identify and detect weld joints in a pipeline, so as to realize the above weld joint detection method suitable for cleaning the interior of the pipeline, and further identify and detect the interior weld joints of the pipeline to be detected, and the pipeline weld joint detection robot comprises a machine body, an image acquisition mechanism, an illumination mechanism, a driving mechanism and a control mechanism; the image acquisition mechanism is used for identifying and detecting the welding seam inside the pipeline; under the electric drive, the driving mechanism can drive the machine body to advance or retreat along the inner wall of the pipeline; the lighting mechanism is used for supplementing light to the environment in the pipeline when the image acquisition mechanism shoots and records the images of the inner wall of the pipeline; the mechanisms need to be controlled by the control mechanism to perform behavior control and signal transmission, so that the mechanisms are matched with each other, and meanwhile, the acquired and processed data are transmitted to the background control end to perform data storage and output detection results.

The pipeline welding seam detection robot integrally adopts a vertically arranged structure, the control mechanism is fixed at the upper end of the machine body, when the pipeline welding seam detection robot performs welding seam detection work in a pipeline, a control integrated circuit bearing each module in the control mechanism calls and cooperates functions of each part of the control integrated circuit to complete detection work, and control integrated circuits such as ESP32CAM (electronic stability program) and raspberry pie which are packaged and sold in the market at present are packaged, but the control integrated circuit in the prior art has a camera module and other developable pins at the same time, but still has the following problems:

firstly, the control circuit board packaged on the market has less functional hardware, and the hardware and the circuit structure can not simultaneously meet the functional requirements of visual image detection, drive control, image acquisition control, acceleration alarm, electric quantity alarm, wireless control, storage, image transmission and the like.

However, if these functional requirements are to be met, circuit module units such as a data processing module, a data storage module, an image acquisition control module, a driving control module, an illumination control module, a power supply control module, etc. need to be further integrated and arranged in the control circuit; the data processing module can be an editable electronic circuit element or a program-controlled electronic element and is used for executing data acquisition, conversion processing and transmission control; the data storage module can adopt a common storage medium unit circuit to realize the storage function of data; the image acquisition control module can adopt a common camera driving control unit circuit and is used for controlling the opening and closing of the image acquisition device and the transmission of image acquisition data; the drive control module can adopt a drive control circuit corresponding to a common power component (such as a motor and the like) and is used for controlling the on-off of the drive component to execute work; the illumination control module can adopt an illumination driving circuit of a common illumination device (such as an LED illumination device) to control the on-off work of the illumination device; the power supply control module can adopt a common voltage transformation circuit or an electric control circuit to control the on-off of power supply circuits of other circuit modules. Although these circuit module units are commonly used as unit design circuits in the prior art, if they are integrated on the same circuit board and lack of a better circuit planning design, the wiring conflicts among some circuits are easily caused, which brings inconvenience to circuit integration and wiring.

Secondly, functional requirements of the welding seam detection robot during working cause that more pins are needed for secondary development of the universal control circuit board, and wires are used for connecting other circuit modules or function execution components, and if the layout of each circuit module unit is unreasonable, wiring is easy to be complex and the circuit is easy to conflict.

Third, it has the straight pipeline to wait to detect the pipeline, the curved pipeline, T type pipeline, the welding seam detects the robot work time and need carry out 1.5 times turning radius 90 degrees and turn to the turn, this just makes the maximum dimension of robot restricted, then the size of restriction control circuit board, if will integrate a plurality of circuit module unit of above-mentioned different functions, and if the overall arrangement of each circuit module unit sets up unreasonablely, it is great to lead to the control circuit board occupation size of integrated form easily, and then cause the corresponding increase of fuselage size of pipeline welding seam robot, and then be difficult to satisfy intraductal limit space's requirement.

Therefore, on the premise that the control integrated circuit in the prior art cannot meet the actual working requirement of the welding seam detection robot, the invention needs to invent the control integrated circuit aiming at the functional characteristic requirement of welding seam detection and adapting to the inner space of the pipeline with the pipe diameter of 1~3 inches.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a control circuit board for pipeline welding seam inspection robot to solve because the easy conflict of line is walked to control integrated circuit's among the prior art functional hardware and circuit, be difficult to the technical problem of adaptation pipeline welding seam inspection robot's control demand.

In order to solve the technical problem, the utility model discloses a following technical scheme:

a control circuit board for a pipeline welding seam detection robot comprises a carrier board 401, a data processing module 402, a data storage module 403, an image acquisition control module, a driving control module 406, a power supply control module and an illumination control module 409; the image acquisition control module, the driving control module 406, the power supply control module and the illumination control module 409 are all electrically connected with the data processing module 402; the data storage module 403 is electrically connected with the data processing module 402;

the carrier board 401 has a plurality of layers of connection circuits therein, which are used for electrically connecting each module mounted on the surface of the carrier board 401;

the image acquisition control module is fixed on the edge of the upper surface of the carrier plate 401, and the output interfaces face the peripheral direction of the carrier plate 401;

the driving control module 406 is installed at one side edge of the upper surface of the carrier plate 401, and the output interfaces all face the direction of the outer periphery of the carrier plate 401;

the power supply control module is positioned at the opposite side of the driving control module 406 and is installed at the other side edge of the upper surface of the carrier plate 401;

the lighting control module 409 is mounted on the edge of the upper surface side of the carrier plate 401;

the data storage module 403 is mounted on the lower surface of the carrier plate 401;

the data processing module 402 is mounted on the upper surface of the carrier plate 401;

preferably, the image acquisition control module comprises a camera control module 404 and a rotation driving motor control module 405, the camera control module 404 is fixed on the edge of the end of the upper surface of the carrier plate 401 along the side line of the carrier plate 401, and output interfaces face the peripheral direction of the carrier plate 401 and are sockets; the rotation driving motor control module 405 is fixed to the edge of the upper surface of the carrier 401, and has a plug-in end.

Preferably, the driving control module 406 is provided with two motor interfaces, the two motor interfaces are adjacent and installed on one side edge of the upper surface of the carrier plate 401, and the output interfaces face the outer peripheral direction of the carrier plate 401.

Preferably, the power supply control module includes a storage battery connection module 407 and a charging module 408, the storage battery connection module 407 and the charging module 408 are both fixed to the other side edge of the upper surface of the carrier plate 401, and the installation positions of the storage battery connection module 407 and the charging module 408 are adjacent.

The storage battery connection module 407 is used for connecting a storage battery of the pipeline welding seam detection robot, and the charging module 408 is used for assuming a wired data transmission function of the control circuit board and a charging function of the storage battery.

Preferably, the control circuit board further includes an abnormal operation alarm module 410, and the abnormal operation alarm module 410 includes a sensor module and a buzzer, and is mounted on the upper surface of the carrier board 401 near the driving control module 406.

Preferably, the control circuit board further includes a main switch module 411, the main switch module 411 is electrically connected to the data processing module 402, the main switch module 411 has a switch lever 413, and the switch lever 413 is located on a side of the main switch module 411 facing the outside of the carrier 401.

Preferably, a socket base for a wireless power amplification antenna is reserved on the carrier plate 401, and is used for accessing antennas with different power amplification factors.

Therefore, the strength of the wireless control signal can be improved to a certain extent, and the problem that the wireless control signal is weak when the control circuit board sold in the prior art enters the limited closed space is solved.

The technical scheme of the utility model following beneficial effect has:

1. the utility model discloses a control circuit board is to the control module that pipeline welding seam inspection robot self needs, solve the present package in the control circuit board function singleness that sells in the function, the not high problem of commonality, but provide the integration that has realized a plurality of functional module of secondary development, image acquisition has been integrated, welding seam discernment and detection, drive control, the operation is unusual to report to the police, the data storage, modules such as data transmission, but secondary development, but each partial function exclusive use, also can a plurality of cross coordination, very high flexibility has, the application scope of secondary development is wider.

2. The utility model discloses a control circuit board adopts the socket to replace the pin to the mounted position of each mechanism in the pipeline welding seam detection robot, and 4 layers of connecting circuit are adopted in the control circuit support plate, and every part functional module such as camera socket, driving motor socket, rotary driving motor socket, data line socket, acceleration sensor, master switch is installed to the upside paster on the support plate surface, and storage card base functional module is installed to the downside paster; the control circuit board is compact and simple in layout, does not interfere with each other, does not conflict with the wiring, and can be adapted to a pipeline welding line detection robot; the functional module for secondary development uses the socket, compared with the mode that pins are connected into the wires, the problems that the control circuit board packaged on the market at present is large in size, multiple in pins and difficult to develop for the second time are structurally solved; and the spatial position layout of each circuit module unit on the carrier plate is compact and reasonable, the overall size of the circuit board is greatly reduced, and the use environment of narrow spaces such as in a pipeline is more easily met.

Drawings

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, in which:

fig. 1 is a top surface layout of the control circuit board of the present invention.

Fig. 2 is a bottom surface layout diagram of the control circuit board of the present invention.

Fig. 3 is the utility model discloses a pipeline welding seam inspection robot southeast axonometric drawing.

Figure 4 is the utility model discloses a pipeline welding seam inspection robot northwest axonometric drawing.

Description of reference numerals: 100. a body of the machine body; 103. installing a shell; 104. a chassis; 200. an image acquisition mechanism; 201. a holder; 202. a circumferential camera; 203. an axial camera; 204. a steering engine; 300. a drive mechanism; 302. a driving wheel; 303. a driven wheel; 304. a crawler belt; 305. engaging teeth; 306. inducing teeth; 307. a projection; 400. a control mechanism; 401. a carrier plate; 402. a data processing module; 403. a data storage module; 404. a camera control module; 405. a rotation drive motor control module; 406. a drive control module; 407. a battery connection module; 408. a charging module; 409. a lighting control module; 410. an abnormal operation alarm module; 411. a master switch module; 412. a charging indicator light; 413. a switch deflector rod; 500. an illumination mechanism; 501. a light mounting hole; 600. a power supply mechanism; 603. and a battery cover plate.

Detailed Description

In order to better understand the purpose, structure and function of the present invention, the following figures are combined to describe the control circuit board for the pipeline welding seam inspection robot in further detail.

The utility model discloses a control circuit board can be but is not limited to and is applied to a single-stage pipeline welding seam inspection robot, as shown in fig. 3 and 4, single-stage pipeline welding seam inspection robot includes fuselage body 100, image acquisition mechanism 200, lighting mechanism 500, actuating mechanism 300, power supply mechanism 600 and control mechanism 400; the image acquisition mechanism 200, the driving mechanism 300, the illumination mechanism 500, the power supply mechanism 600 and the control mechanism 400 are all mounted on the body 100.

The fuselage body 100 comprises a mounting shell 103 and a chassis 104, wherein the chassis 104 is detachably connected with the bottom of the mounting shell 103; the mounting housing 103 is configured to provide a mounting location while also protecting the components mounted within the mounting housing 103 and on the chassis 104.

The image acquisition mechanism 200 comprises a rotation driving device, a holder 201, a circumferential camera 202 and an axial camera 203.

The rotary driving device is fixedly connected with the front end of the machine body 100 and comprises a rotary driving motor and a steering engine 204; the output end of the rotary driving motor is provided with a rotating shaft, the rotating shaft can be driven by the rotary driving motor to rotate, and the rotary driving device can drive the circumferential camera 202 to rotate; the steering engine 204 is rotationally connected with a rotating shaft of a rotary driving motor, and the rotary driving motor can drive the steering engine 204 to rotate when running; the holder 201 is fixedly connected with the steering engine 204, and the holder 201 can rotate under the driving of the steering engine 204.

Because steering wheel 204 among the prior art is 260 at the biggest rotation angle in the ultimate dimension, is difficult to satisfy 360 turnover demands, consequently when concrete implementation, steering wheel 204 still includes gear drive, gear drive includes 2 meshed gears, and one of them gear is connected with the pivot rotation of rotary drive motor, and another gear and cloud platform 201 fixed connection, the gear diameter of being connected with the rotary drive motor pivot rotation is less than the gear diameter with cloud platform 201 fixed connection, and the gear ratio of two gears is 13:9, the rotation angle of the steering engine 204 can be increased by driving the large gear to be driven by the rotation of the small gear, 375-degree turnover output is obtained, and the steering engine 204 can rotate 360 degrees.

The specific rotation mode that the steering engine 204 drives the holder 201 to rotate 360 degrees is that the steering engine 204 rotates 360 degrees for 5 times, and rotates 72 degrees every time, and further, when the circumferential camera 202 shoots a weld seam panoramic image, 5 photos are shot along with the rotation of the steering engine 204, and then the 5 photos are synthesized into the weld seam panoramic image.

The circumferential camera 202 is rotationally connected with a rotary driving motor through a holder 201, and the rotating center line of the rotating shaft is superposed with the center line of the pipeline to be measured; the circumferential camera 202 is used for recording color video streams of the appearance of the inner wall of the pipeline, the circumferential camera 202 can be driven by the holder 201 to take 360-degree rotation shooting by taking a rotating shaft as a center, a track surface formed by rotating the circumferential camera 202 by 360 degrees is parallel to the section of the pipeline, and the circumferential camera 202 is used for collecting a panoramic image of a welding seam after the pipeline welding seam detection robot identifies the welding seam; the initial position of the holder 201 is that the lens of the circumferential camera 202 faces downwards, the holder 201 returns to the initial position after one process of work, when the pipeline welding line robot automatically detects a welding line, the robot automatically stops, then the holder 201 starts to rotate to shoot, and the welding line in the pipe is identified and the quality is detected.

The cloud deck 201 adopts a unique flat cable arrangement, namely, a flat cable with a fixed length, so that the interference between the flat cable of the camera and a robot is avoided.

Axial camera 203 fixed mounting is in the rear end of fuselage body 100 for real time monitoring records the pipeline internal image at pipeline welding seam inspection robot rear, can conveniently control the return route of pipeline welding seam inspection robot when being in improper operating condition in the pipeline like this, can use axial camera 203 axial to observe the pipeline inner wall condition (for example judge whether there is foreign matter or unusual in the pipeline) and real-time position record and preserve with video form in pipeline welding seam inspection robot inspection work simultaneously, in order to supply the follow-up inspection of operator, can be better monitor the pipeline internal condition.

The driving mechanism 300 is fixedly connected with the body 100, and under the condition of electric driving, the driving mechanism 300 can drive the body 100 to advance or retreat along the inner wall of the pipeline; actuating mechanism 300 includes driving motor, action wheel 302 and follows driving wheel 303, driving motor is fixed in chassis 104 surface, and driving motor's output rotates with action wheel 302 to be connected, and when driving motor rotated, can drive action wheel 302 and rotate, and then drive fuselage body 100 and take place the displacement, from driving wheel 303 can be when fuselage body 100 takes place the displacement, driven the rotation of taking place by fuselage body 100 drive, supplementary fuselage body 100 takes place the displacement, is favorable to fuselage body 100 steady removal. The driving motors are double motors which are symmetrically distributed on the chassis 104 of the body 100 and respectively drive the driving wheels 302 on the two sides of the body 100 to rotate at the same time.

The peripheries of the driving wheel 302 and the driven wheel 303 are sleeved with a crawler 304, so that the driving wheel 302 and the driven wheel 303 are in transmission connection, the surface of the driving wheel 302 is provided with meshing teeth 305, and the surface of the driven wheel 303 is provided with inducing teeth 306; when the driving wheel 302 rotates, the caterpillar 304 can be driven to transmit, the caterpillar 304 further drives the driven wheel 303 to rotate, and the auxiliary machine body 100 is assisted to displace, so that the friction force between the driving mechanism 300 and the pipe wall can be increased, and the operation is more stable; in addition, the driven wheel 303 serves to guide and support the track 304, and the guide teeth 306 on the surface of the driven wheel 303 serve to align the track 304 and prevent the track 304 from falling off when the body 100 is turned or rolled.

The crawler 304 is a rubber crawler 304, and the surface of the rubber crawler 304 contacting with the inner wall of the pipe is provided with a protrusion 307, so that the friction between the crawler 304 and the inner wall of the pipe can be increased, the robot can be more stable when moving forwards or backwards, and meanwhile, the protrusion 307 can also improve the firmness of the crawler 304 and prolong the service life.

Illumination mechanism 500 and fuselage body 100 fixed connection for when circumference camera 202 shoots and records a video to the pipeline inner wall, carry out the light filling to the environment in the pipeline, guarantee that the image material illumination of shooing and recording is even, improve data processing module 402's processing speed and discernment rate of accuracy. Specifically, a plurality of light mounting holes 501 are formed in the mounting shell 103, and the illumination mechanism 500 extends out of the light mounting holes 501 to illuminate the interior of the pipeline; the light mounting hole 501 at the fixed position enables light and the camera to form a certain angle, so that the circumferential camera 202 has a better lighting effect when being photographed, and further can photograph clearer images.

Control mechanism 400 and fuselage body 100 fixed connection, just control mechanism 400 is fixed in the upper end of fuselage body 100, control mechanism 400 is connected with image acquisition mechanism 200, actuating mechanism 300, lighting mechanism 500 and power supply mechanism 600 electricity respectively, control mechanism 400 is used for and carries out behavioral control to image acquisition mechanism 200, actuating mechanism 300, lighting mechanism 500 and power supply mechanism 600 through the control circuit board that this application file disclosed.

Power supply mechanism 600 is located fuselage body 100 bottom, can make like this power supply mechanism 600 and control mechanism 400 other mechanisms that can produce heat between the certain distance of interval, more is favorable to each spare part to dispel the heat, makes pipeline welding seam robot can carry out the operation smoothly.

Power supply mechanism 600 includes battery and battery compartment, and the battery is installed in the battery compartment, power supply mechanism 600 is used for providing the power for image acquisition mechanism 200, actuating mechanism 300 and control mechanism 400, makes each mechanism normal operating, can be applicable to the pipeline of structure complicacy or the long pipeline in the welding seam discernment and the detection of pipe length, can make pipeline welding seam detection robot not receive the restriction of external power cord length, more flexibility. The battery compartment has a battery cover plate 603; the battery cover plate 603 is provided with a storage battery replacing interface, so that the storage battery can be conveniently replaced and maintained. The storage battery adopts convenient detachable rechargeable battery, inserts pipeline welding seam inspection robot through toggle switch, is controlled it by toggle switch and is supplied power for pipeline welding seam inspection robot when using.

In this application the front end of the body 100 refers to the front end of the pipeline welding seam detection robot in the advancing direction, and the rear end of the body 100 refers to the other end opposite to the front end of the body 100.

For the single-stage pipeline weld joint detection robot, the control integrated circuit in the control mechanism 400, which carries each module, calls and cooperates functions of each part of the control integrated circuit to complete detection work, and although the control integrated circuits packaged and sold in the current market, such as ESP32CAM, raspberry pie, and the like, have camera modules and other developable pins, the hardware and the circuit structure cannot simultaneously meet the functional requirements of visual image detection, drive control, image acquisition control, acceleration alarm, electric quantity alarm, wireless control, storage, image transmission, and the like; moreover, the secondary development of the universal control circuit board needs more pins and leads to the connection of other circuit modules or function execution parts by using wires due to the functional requirements of the welding seam detection robot during working, so that the wiring is complex and the circuits are easy to conflict; in addition, the pipeline to be detected comprises a straight pipeline, a bent pipeline and a T-shaped pipeline, when the welding line detection robot works, the welding line detection robot needs to turn over and bend for 90 degrees at a turning radius of 1.5 times, so that the maximum size of the robot is limited, the size of a control circuit board is further limited, and the structural size of the control circuit board which can be purchased is difficult to meet the requirement of the limiting space in the pipeline.

As shown in FIG. 1 and FIG. 2, based on the technical problem that above will solve, the utility model discloses a control circuit board for pipeline welding seam inspection robot, the utility model provides a because the control integrated circuit's among the prior art function hardware and walk the line and be difficult to the technical problem of adaptation pipeline welding seam inspection robot's control demand.

The control circuit board comprises a carrier board 401, a data processing module 402, a data storage module 403, an image acquisition control module, a driving control module 406, a power supply control module and an illumination control module 409; the image acquisition control module, the driving control module 406, the power supply control module and the illumination control module 409 are all electrically connected with the data processing module 402; the data storage module 403 is electrically connected to the data processing module 402.

The carrier board 401 has a plurality of layers of connection circuits therein for electrically connecting the modules mounted on the surface of the carrier board 401.

The image acquisition control module comprises a camera control module 404 and a rotary driving motor control module 405, the camera control module 404 is fixed on the edge of the end part of the upper surface of the carrier plate 401 along the side line of the carrier plate 401, and output interfaces face the peripheral side direction of the carrier plate 401 and are sockets; the control module 405 of the rotation driving motor is fixed on the edge of the upper surface side of the carrier plate 401 and has three connection plugging ends, and the rotation driving motor is plugged with the three connection plugging ends through a wire to realize the control of the rotation driving motor; the image acquisition control module is used for executing an image acquisition program, and comprises an image source file recorded by the circumferential camera 202, a shot welding line image source file and an image source file of the environment inside the pipeline recorded by the axial camera 203.

The driving control module 406 is used for executing a motor driving control program, including signal receiving, processing and execution of motor driving control, and a signal execution pin is directly connected with the driving mechanism 300 to realize forward transmission, reverse rotation and speed regulation of two driving paths of motors, so as to realize functions of advancing, retreating, stopping, speed regulation and the like of the welding seam detection robot; the drive control module 406 is provided with two motor interfaces aiming at the installation positions of the dual-drive motor on the chassis 104, the two motor interfaces are adjacent and are installed at one side edge of the upper surface of the carrier plate 401, and the output interfaces face the peripheral direction of the carrier plate 401, so that the wiring distance can be reduced, and the crossing of wires is prevented; the output interface of the motor is a socket.

The power supply control module is used for controlling wired data transmission of the circuit board and charging functions of the power supply, and meanwhile, the power supply control module can also supply power to all functional areas of the control circuit board.

The power supply control module is used for controlling the on and off of a power supply, is located on the opposite side of the driving control module 406, and is installed on the other side edge of the upper surface of the carrier plate 401, and includes a storage battery connection module 407 and a charging module 408, the storage battery connection module 407 and the charging module 408 are both fixed on the other side edge of the upper surface of the carrier plate 401, and the storage battery connection module 407 is adjacent to the installation position of the charging module 408.

The storage battery connecting module 407 is a main power supply port of the control circuit board, the interface connected with the storage battery is a socket, and a 3.7V storage battery direct-insertion mode is adopted to directly connect a storage battery power supply to the welding seam detection robot; the charging module 408 undertakes the wired data transmission of the control circuit board and the charging function of the power supply; the charging module 408 has a charging indicator lamp 412, and the charging indicator lamp 412 can realize a charging prompt function, and when the data line is accessed, the charging module enters a charging mode, a red prompt lamp of the control circuit board is turned on, and the control circuit board is turned off when the electric quantity is full.

Preferably, the charging module 408 further has a program downloading module, which is used for downloading the control program of the pipeline weld detecting robot and transmitting the downloaded program to the data processing module 402.

The data storage module 403 is mounted on the lower surface of the carrier board 401 and is configured to implement a data storage function of the entire control circuit board, including image information and weld image information acquired by the image acquisition mechanism 200 and execution record information generated by other modules when executing a control program.

The illumination control module 409 is mounted on the edge of the upper surface side of the carrier plate 401 and used for controlling the switch of an illumination mechanism 500 mounted on the pipeline welding seam detection robot, and the illumination control module 409 is provided with two wiring plug-in ends which are respectively plugged with corresponding wiring ends of the illumination mechanism 500.

The data processing module 402 is also used for data transmission with the background control end, has functions of data processing and transmission, and is an operation center of programs such as a driving control program, an image acquisition control program, an illumination control program, a data signal transmission connection program, pipeline weld joint identification and detection calculation.

In the present document, the short side of the carrier board 401 is referred to as the end of the carrier board 401, the long side of the carrier board 401 is referred to as the side of the carrier board 401, the upward surface of the carrier board 401 after the carrier board 401 is mounted on the duct inspection robot is the upper surface of the carrier board 401, and the downward surface of the carrier board 401 after the carrier board 401 is mounted on the duct inspection robot is the lower surface of the carrier board 401.

Preferably, the power supply control module further includes a voltage stabilizing module, an interface of the voltage stabilizing module is a socket, an electrical lead of the power supply mechanism 600 is directly connected to the voltage stabilizing module in an inserting manner, and then is electrically connected to the storage battery connection module 407, so that power supply can be performed to stabilize voltage, and the robot can operate stably.

Preferably, the control circuit board further includes an abnormal operation alarm module 410, and the abnormal operation alarm module 410 includes a sensor module and a buzzer, and is mounted on the upper surface of the carrier board 401 near the driving control module 406.

The sensor can judge whether the welding seam detection robot blocks according to the acceleration change signal and the motor rotation signal of the robot, and can give an alarm through the buzzer if the welding seam detection robot blocks so as to warn an operator.

Preferably, the control circuit board further comprises a main switch module 411, and the main switch module 411 is electrically connected with the data processing module 402 to control the operation and the closing of the circuit board, so as to open and close the welding seam detection robot; the main switch module 411 is located at the edge of the upper surface of the carrier 401 close to the power supply control module, and the switch shift lever 413 is located at one side of the main switch module 411 facing the outer side of the carrier 401, so that manual operation is facilitated.

Preferably, a socket base of the wireless power amplification antenna is reserved on the carrier plate 401 and is used for accessing antennas with different power amplification factors, so that the strength of a wireless control signal can be improved to a certain extent, and the problem that the wireless control signal packaged on a control circuit board enters a limited closed space is weak is solved.

Adopt the utility model discloses a control circuit board for pipeline welding seam inspection robot has following technological effect:

1. the utility model discloses a control module that control circuit board needs to pipeline welding seam inspection robot self, solve the present control circuit board function singleness of encapsulating in the function, the not high problem of commonality, but provide the integration that has realized a plurality of functional module of secondary development, image acquisition has integrateed, welding seam discernment and detection, drive control, the abnormal operation is reported to the police, data storage, modules such as data transmission, but secondary development, but each partial function exclusive use, also can a plurality of cross coordination, very high flexibility has, the application scope of secondary development is wider.

2. The utility model discloses a control circuit board adopts the socket to replace the pin to the mounted position of each mechanism in the pipeline welding seam detection robot, and 4 layers of connecting circuit are adopted in the control circuit support plate, and every part functional module such as camera socket, driving motor socket, rotary driving motor socket, data line socket, acceleration sensor, master switch is installed to the upside paster on the support plate surface, and storage card base functional module is installed to the downside paster; the layout of the control circuit board is compact and concise, the control circuit board does not interfere with each other, the wiring does not conflict, and the control circuit board can be adapted to a pipeline welding line detection robot; the functional module for secondary development uses the socket, compared with the mode that pins are connected into the wires, the problems that the control circuit board packaged on the market at present is large in size, multiple in pins and difficult to develop for the second time are structurally solved; and the spatial position layout of each circuit module unit on the carrier plate is compact and reasonable, the overall size of the circuit board is greatly reduced, and the use environment of narrow spaces such as in a pipeline is more easily met.

3. The utility model discloses a control circuit board structure has solved to a certain extent that the current encapsulation gets into the weak problem of wireless control signal in the limit enclosure space at the control circuit board of selling, reserves wireless power multiple amplification antenna socket base through control circuit board, can promote wireless control signal's intensity to a certain extent after inserting the antenna of different power amplification multiples.

Examples

The circuit structure of the welding seam detection robot control circuit board adopted by the embodiment has the size of 42 multiplied by 30 multiplied by 1.5mm, and 4 layers of circuits are arranged in the carrier plate; the control circuit board comprises a support plate, a data processing module, a data storage module, an image acquisition control module, a driving control module, a power supply control module, an illumination control module, an abnormal operation alarm module and a main switch module; the image acquisition control module, the driving control module, the power supply control module, the illumination control module, the abnormal operation alarm module and the main switch module are all electrically connected with the data processing module; the data storage module is electrically connected with the data processing module.

The support plate is a rectangular plate, and the four corners of the rectangular plate are provided with installation positioning holes for being fixedly installed with a machine body of the pipeline welding seam detection robot.

The image acquisition control module comprises a camera control module and a rotary driving motor control module, and is used for executing an image acquisition program and comprises an image source file recorded by the circumferential camera, a welding seam image source file shot by the circumferential camera and a pipeline internal environment image source file recorded by the axial camera.

The camera control module is fixed on the edge of the end part of the upper surface of the carrier plate along the edge line of the carrier plate, and output interfaces face to the peripheral direction of the carrier plate, wherein the output interfaces are jacks, and specifically an AFC01-S24FCA-00 interface base and an OV2640 camera are adopted; the AFC01-S24FCA-00 interface base and the OV2640 camera are combined to achieve an image obtaining function of the welding line detection robot, a signal sending pin of the AFC01-S24FCA-00 interface base is communicated with a corresponding interface in the data processing module, when the camera obtains an image, the image can be fed back to the data processing module, a series of calculations are conducted in the data processing module, recognition of a welding line in a pipeline is achieved, after the welding line in the pipeline is recognized, an instruction is sent to the rotating driving motor control module, the rotating driving motor drives the circumferential camera to rotate, and a panoramic image of the welding line in the pipeline is collected and transmitted back to the data processing center.

The control module of the rotary driving motor is fixed on the side edge of the upper surface of the carrier plate and is provided with three wiring insertion ends, and the rotary driving motor is inserted into the three wiring insertion ends through a wire to realize the control of the rotary driving motor.

The drive control module is provided with two motor interfaces, specifically a DRV8837DSGR module, aiming at the installation position of the dual-drive motor on the chassis, the two motor interfaces are adjacent and are arranged on one side edge of the upper surface of the carrier plate, and the output interfaces face the peripheral side direction of the carrier plate, so that the wiring distance can be reduced, and the crossing of wires is prevented; the output interface of the motor is a socket. The signal receiving pin of the DRV8837DSGR module is communicated with a corresponding interface in the data processing module, and the signal execution pin is directly connected with the driving motor so as to realize forward transmission, reverse rotation and speed regulation of the two driving motors and further realize the functions of advancing, retreating, stopping, speed regulation and the like of the welding seam detection robot.

The power supply control module is used for controlling wired data transmission of the circuit board and charging functions of the power supply, and meanwhile, the power supply control module can also supply power to all functional areas of the control circuit board. The power supply control module is positioned on the opposite side of the drive control module and is arranged on the edge of the other side of the upper surface of the carrier plate, and the power supply control module comprises a storage battery connecting module, a charging module and a charging indicator lamp.

The storage battery connecting module is a total power supply port of the control circuit board, an HDR-M-2.54 module is adopted, an interface connected with the storage battery is an insertion port, a 3.7V storage battery direct insertion mode is adopted, a storage battery power supply is directly connected to voltage stabilizing modules such as ME6217C33M5G, ME6211C28U4AG-N, ME6211C15U4AG-N and the like, and then power is supplied to each functional area of the control circuit board; the socket part adopts TYPE-C-31-M-31 and CH340E modules, the combination of the TYPE-C-31-M-31 and the CH340E modules undertakes the wired data transmission of the control circuit board and the charging function of the power supply, the signal transmission pin of the TYPE-C-31-M-31 and the CH340E modules is communicated with the corresponding interface in the data processing module, the rapid direct-plug charging and the program downloading of the welding seam detection robot power supply are realized, and the serial port monitoring and the like during the program operation in the data processing module are realized.

The charging module undertakes wired data transmission of the control circuit board and charging functions of a power supply, and adopts an LED-0603-R module; the LED-0603-R module can control the charging indicator lamp to realize a charging prompt function, and when the charging indicator lamp is connected to a data line, the charging indicator lamp enters a charging mode, a red prompt lamp of the control circuit board is turned on, and the red prompt lamp is turned off when the electric quantity is full.

The charging module is also provided with a program downloading module for downloading the control program of the pipeline welding seam detection robot and transmitting the downloaded program to the data processing module.

The power supply control module also comprises a voltage stabilizing module which adopts an ME6217C33M5G, ME6211C28U4AG-N, ME6211C15U4AG-N voltage stabilizing module for providing 3.3V, 2.8V and 1.5V; the interface of the voltage stabilizing module is a socket, and the electric lead of the power supply mechanism is directly connected into the voltage stabilizing module in an inserting mode and then electrically connected with the storage battery connecting module, so that power supply can be realized, the voltage is stable, and the robot can stably run.

The data storage module is arranged on the lower surface of the support plate and is used for realizing the data storage function of the whole control circuit board, including image information and welding seam image information acquired by the image acquisition mechanism and execution record information generated by other modules when executing a control program; the TF-01A module, the TF-01A module and the memory card are adopted to realize the storage function of the whole control circuit board, the signal receiving pins of the TF-01A module are communicated with corresponding interfaces in the data processing module, and weld images acquired by the image acquisition mechanism are mainly stored.

The illumination control module is arranged on the side edge of the upper surface of the support plate and used for controlling a switch of an illumination mechanism arranged on the pipeline welding seam detection robot, and the illumination control module is provided with two wiring plug-in ends which are respectively plugged with corresponding wiring ends of the illumination mechanism.

The data processing module is also used for data transmission with the background control end, has the functions of data processing and transmission, and is an operation center of programs such as a driving control program, an image acquisition control program, an illumination control program, a data signal transmission connection program, pipeline welding seam identification, detection calculation and the like. The data processing module adopts an ESP32S3MINI1 chip module, comprises a plurality of interfaces and realizes signal transmission with other modules.

The control circuit board further comprises an abnormal operation alarm module, the abnormal operation alarm module comprises a sensor module and a buzzer, the sensor can judge whether the welding seam detection robot is clamped or not according to the acceleration change signal and the motor rotation signal of the robot, and the alarm module can give an alarm through the buzzer if the welding seam detection robot is clamped so as to play a warning role for an operator.

The sensor module adopts a QMA7981 sensor module to detect the motion condition of the control integrated circuit in real time, and further detect the motion condition of the welding seam detection robot in real time; the buzzer adopts MLT-5020 and is used for bearing the sound alarm function, a signal receiving pin of the buzzer is communicated with a GPIO48 in the data processing module, and when the welding line detection robot is insufficient in electric quantity or is clamped, the buzzer can send out harsh sound to prompt an operator.

The control circuit board further comprises a main switch module, the main switch module is electrically connected with the data processing module, the operation and the closing of the control circuit board are achieved, and then the welding seam detection robot is turned on and turned off; the main switch module is located on the edge of the upper surface of the support plate close to the power supply control module, and the switch deflector rod is located on the side face of the main switch module, so that manual operation is facilitated.

The MSK12C02 module is used as a main power switch of the main switch module, is a toggle switch and is provided with two gears which are correspondingly switched on and off, so that the control circuit board is opened and closed, and the welding seam detection robot is further opened and closed.

The carrier plate is also reserved with a wireless power multiple amplification antenna socket base, and particularly, an antenna socket module is used for WiFi signal amplification and is used for accessing antennas with different power amplification factors, so that the strength of wireless control signals can be improved to a certain extent, and the problem that wireless control signals are weak when the control circuit board sold at present enters a limited closed space is solved.

The control circuit board adopted by the embodiment aims at the control module required by the pipeline welding seam detection robot, the problems that the existing packaged control circuit board is single in function and low in universality are solved functionally, the integration of a plurality of functional modules is realized, the modules such as image acquisition, welding seam identification and detection, drive control, abnormal operation alarm, data storage and storage, data transmission and the like are integrated, secondary development can be realized, each part of functions can be used independently, a plurality of functions can be matched in a cross mode, the flexibility is high, and the application range of the secondary development is wide; in the embodiment, the control circuit board adopts sockets to replace pins for the installation positions of all mechanisms in the pipeline weld joint detection robot, 4 layers of connecting circuits are adopted in the control circuit carrier plate, functional modules of a camera socket, a driving motor socket, a rotary driving motor socket, a data line socket, an acceleration sensor, a main switch and the like are installed on the upper side of the outer surface of the carrier plate in a surface-mounted manner, and functional modules of a storage card base are installed on the lower side of the outer surface of the carrier plate in a surface-mounted manner; the layout of the control circuit board is compact and concise, the control circuit board does not interfere with each other, the wiring does not conflict, and the control circuit board can be adapted to a pipeline welding line detection robot; the functional module for secondary development uses the socket, compared with the mode that pins are connected into the wires, the problems that the control circuit board packaged on the market at present is large in size, multiple in pins and difficult to develop for the second time are structurally solved; and the spatial position layout of each circuit module unit on the carrier plate is compact and reasonable, the overall size of the circuit board is greatly reduced, and the use environment of narrow spaces such as in a pipeline is more easily met.

It is to be understood that the present invention has been described with reference to certain embodiments, and that various changes or equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the invention. In light of the teachings of the present invention, these features and specific embodiments/examples can be modified to adapt to particular situations and materials without departing from the spirit and scope of the present invention. The embodiments/examples described herein are illustrative of some, but not all embodiments/examples of the invention. The components of embodiments of the present invention, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of specific embodiments/examples of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments/examples of the invention. Therefore, the present invention is not limited by the embodiments disclosed herein, and all other embodiments obtained by a person of ordinary skill in the art without any creative work belong to the protection scope of the present invention.

Claims (7)

1. A control circuit board for a pipeline welding seam detection robot comprises a carrier board (401), a data processing module (402), a data storage module (403), an image acquisition control module, a driving control module (406), a power supply control module and an illumination control module (409); the image acquisition control module, the drive control module (406), the power supply control module and the illumination control module (409) are all electrically connected with the data processing module (402); the data storage module (403) is electrically connected with the data processing module (402); the method is characterized in that:

the carrier board (401) is internally provided with a plurality of layers of connecting circuits for electrically connecting the modules arranged on the surface of the carrier board (401);

the image acquisition control module is fixed on the edge of the upper surface of the carrier plate (401), and the output interfaces face the peripheral direction of the carrier plate (401);

the drive control module (406) is arranged on one side edge of the upper surface of the carrier plate (401), and output interfaces face to the peripheral side direction of the carrier plate (401);

the power supply control module is positioned at the opposite side of the drive control module (406) and is arranged at the edge of the other side of the upper surface of the carrier plate (401);

the lighting control module (409) is arranged on the side edge of the upper surface of the carrier plate (401);

the data storage module (403) is arranged on the lower surface of the carrier plate (401);

the data processing module (402) is arranged on the upper surface of the carrier plate (401).

2. The control circuit board for the pipeline weld inspection robot according to claim 1, wherein the image acquisition control module comprises a camera control module (404) and a rotary driving motor control module (405), the camera control module (404) is fixed on the edge of the end part of the upper surface of the carrier plate (401) along the side line of the carrier plate (401), and the output interfaces are all towards the peripheral side direction of the carrier plate (401), and the output interfaces are sockets; the rotary driving motor control module (405) is fixed on the side edge of the upper surface of the carrier plate (401) and is provided with a plug-in end.

3. The control circuit board for the pipe weld inspection robot according to claim 1, wherein the driving control module (406) is provided with two motor interfaces which are adjacent and mounted on one side edge of the upper surface of the carrier plate (401), and the output interfaces are both towards the outer peripheral direction of the carrier plate (401).

4. The control circuit board for the pipe weld inspection robot according to claim 1, wherein the power supply control module includes a battery connection module (407) and a charging module (408), the battery connection module (407) and the charging module (408) are both fixed to the other side edge of the upper surface of the carrier plate (401), and the battery connection module (407) is adjacent to the mounting position of the charging module (408).

5. The control circuit board for the pipe weld inspection robot according to claim 1, further comprising an abnormal operation alarm module (410), wherein the abnormal operation alarm module (410) comprises a sensor module and a buzzer, and is mounted on an upper surface of the carrier plate (401) adjacent to the driving control module (406).

6. The control circuit board for the pipe weld inspection robot according to claim 1, further comprising a main switch module (411), wherein the main switch module (411) is electrically connected with the data processing module (402), the main switch module (411) is provided with a switch lever (413), and the switch lever (413) is positioned on one side of the main switch module (411) facing the outer side of the carrier plate (401).

7. The control circuit board for the pipeline weld inspection robot according to claim 1, wherein a socket base for wireless power amplification antenna is reserved on the carrier plate (401) and is used for connecting antennas with different power amplification factors.

Images