CN106123956A - Room automatic detection device and method in a kind of closing based on image real-time acquisition and simulation comparison technology - Google Patents

Abstract

The invention discloses a kind of based on image real-time acquisition and room automatic detection device and method in the closing of simulation comparison technology, this device includes magnetic force crawl device (3), location and range finder module (5), turn to and transmission module (4) and image acquisition and lighting module (6), data acquisition and process integration module (2), power supply (7) and computer simulation comparison and control system (1)；This device is by controlling the coordination of 2 motor speeds, the advance of dolly can be completed, retreat, turn left and right-hand rotation action, compared to prior art, there is less volume and higher motility, it is possible to be applicable to detect the semiclosed or inspection work of closure power system device inner chamber that hole is less.This detection method combines image capture module and achieves the Real-time Collection of room image in closing, and utilizes computer simulation modeled images to compare, and quickly finds close interior room defect or fall into foreign body, has higher detection efficiency and accuracy in detection.

Description

An automatic detection of closed inner chamber based on real-time image acquisition and analog comparison technology Device and method

technical field

The invention belongs to the field of automatic detection, in particular to an automatic detection device and method for a closed inner room based on real-time image acquisition and analog comparison technology.

Background technique

In order to ensure the safe and stable operation of electric power production, it is necessary to carry out planned inspection and maintenance of electric power equipment on a regular basis. Due to the limitation of the detection environment and detection conditions, it often consumes a lot of manpower and maintenance in the maintenance of some electric power operation equipment. After the material resources, there are still detection blind spots, which bring security risks to the equipment.

For example, in the inspection of the decompression plate in the closed runner room under the top cover during C repair of the hydropower plant, the endoscope (hose plus probe) is often used to break the vacuum above the decompression plate without uncovering the top cover. The inner hole of the valve or the pressure relief hole under the runner chamber is inserted into the closed inner chamber under the top cover for observation. Since the endoscope hose is manually operated, the length and angle of the probe insertion cannot be controlled, so it is difficult to determine the detection probe. Because of the specific location in the inner chamber, the position observed by the probe cannot be accurately positioned and characterized. Even if foreign objects and defects are observed, it is impossible to effectively guide personnel for maintenance. In addition, there are large observation blind spots. Similarly, in the regular maintenance of thermal power plants, many headers are also the key objects of maintenance. At present, most of them cut open the hand hole doors reserved in advance on the headers, and use endoscopes to extend into the hand holes for inspection. In addition to the problems encountered, because some headers do not have a single entrance and exit, the detection work cannot be completed as required when testing the inner wall of headers such as tee connections.

After searching the prior art, it is found that the Chinese patent "Permanent Magnet Adsorption Wheeled Iron Wall Crawling Robot" (application number 201120479233.6) proposes a robot device that uses a permanent magnet with a certain gap to achieve adsorption to the iron wall. The Chinese patent "Wheeled permanent magnet adsorption pipeline crawling robot" (application number 200710053422.5) proposes a pipeline crawling robot composed of a four-wheel drive trolley and a permanent magnet adsorption mechanism. The four wheels are synchronously driven, and the permanent magnet adsorption mechanism can be adjusted by adjusting the bolt Change the distance between the adsorption mechanism and the surface of the pipeline to realize the adjustment of the magnetic force. These two methods both use individually controlled permanent magnet adsorption devices. The former has non-adjustable magnetic force, while the latter is improved on the basis of the former, and the magnetic force can be adjusted. However, the structures of both are relatively complicated, and the scope of use is greatly limited.

The electromagnet crawling mechanism proposed by the Chinese patent "Electromagnet crawling mechanism" (application number 97219169.0) can control the presence and size of magnetic force, and overcome the contradiction between the crawling robot's adsorption and movement, but the added electromagnetic control circuit makes the mechanism more complex and reduces the reliability of the mechanism.

The Chinese patent "Crawler-type permanent magnet crawling mechanism" (application number 00200795.9) proposes a crawler-type permanent magnet crawling mechanism, which uses multiple permanent magnet units to make a crawler mechanism, which has a certain carrying capacity and is also relatively compact in structure. , but because the track is in direct contact with the working surface, it brings a large running resistance, and the steering is not very flexible. At the same time, the wear of the permanent magnet track is serious, which reduces the service life of the equipment.

Contents of the invention

The purpose of the present invention is to provide an automatic detection device and method for a closed inner chamber based on real-time image acquisition and analog comparison technology, which can realize real-time acquisition of images of the closed inner chamber, and quickly find defects or foreign objects in the closed inner chamber. It is convenient for maintenance personnel to find system faults without opening the closed inner chamber and formulate a reasonable maintenance plan to ensure safe and reliable operation.

An automatic detection device for a closed inner room based on real-time image acquisition and analog comparison technology, including a magnetic crawler 3, a positioning and ranging module 5, a steering and transmission module 4, an image acquisition and lighting module 6, and an integrated data acquisition and processing module 2. Power supply 7 and computer simulation comparison and control system 1;

The positioning and ranging module, steering and transmission module, image acquisition and lighting module are all installed on the magnetic crawler, and the positioning and ranging module, steering and transmission module, image acquisition and lighting module are all processed and integrated through data processing. The module is connected with the computer control system, and the data processing and integration module is powered by the power supply;

The computer simulation comparison and control system models the closed inner chamber, extracts the model image from the model according to the position information of the magnetic crawler, compares the image collected in real time with the closed inner chamber model image, and locates the closed inner chamber defects or foreign objects.

The computer simulation comparison and control system uses 3ds max software to build a closed chamber model to be detected, and imports the image information corresponding to the closed chamber model collected by the data acquisition and processing module into unity3d software to obtain the closed chamber model corresponding to the current position The image is compared with the image of the closed inner chamber model and the image collected in real time.

Described magnetic crawler 4 comprises by front wheel 31, rear wheel 32, front and rear wheel transmission module 33 and two rear wheel drive motors 34, front wheel 31 and rear wheel 32 are connected by front and rear wheel transmission module 33, two rear wheels respectively Driven by two rear wheel drive motors, the front and rear wheels are made with permanent magnets.

The steering and transmission module includes a Z-axis direction motor and an X-axis direction motor. The Z-axis direction motor is installed in the magnetic crawler, the X-axis direction motor is installed in the steering gear transmission module, and the steering and transmission module is installed on the magnetic crawler. The front end of the device is driven by a motor in the direction of the Z axis.

The image acquisition and lighting module is movably arranged at the front end of the steering and transmission module, including a CCD image acquisition camera and LED lighting sources, and the image acquisition and lighting module is driven by an X-axis direction motor.

The positioning and ranging module includes a laser displacement sensor fixedly installed along the X, Y, and Z directions of the magnetic crawler and an angle-adjustable laser displacement sensor.

The magnetic crawler adopts wear-resistant rubber wheels.

An automatic detection method for a closed inner room based on real-time image acquisition and analog comparison technology, using the above-mentioned device, using the image acquisition and lighting module to collect images of the closed inner room in real time, and uploading the images to the data acquisition and processing module in real time, computer The simulation comparison and control system controls the steering gear transmission module and drives the magnetic crawler, image acquisition and lighting modules based on the closed inner room image obtained by the data acquisition and processing module and the position information of the magnetic crawler. The image of the inner room is located and extracted by the data acquisition and processing module. The computer simulation comparison and control system model the closed inner room, and extract the model image from the model according to the position information of the magnetic crawler. Using the real-time collected image Compared with the image of the closed inner chamber model, the automatic detection of the closed inner chamber is completed.

The Harris algorithm is used to extract the model image from the closed inner chamber model according to the position of the magnetic crawler obtained by the data acquisition and processing system and the position and direction parameters of the image acquisition and lighting module.

Beneficial effect

The present invention provides an automatic detection device and method for a closed inner room based on real-time image acquisition and analog comparison technology, including a magnetic crawler 3, a positioning and ranging module 5, a steering and transmission module 4, and an image acquisition and lighting module 6 , data acquisition and processing integration module 2, power supply 7 and computer simulation comparison and control system 1; the positioning and ranging module, steering and transmission module, image acquisition and lighting module are all installed on the magnetic crawler, and the positioning And distance measuring module, steering and transmission module, image acquisition and lighting module are all connected with computer control system through data processing and integration module, and data processing and integration module is powered by power supply; The chamber is modeled, and the model image is extracted from the model according to the position information of the magnetic crawler, and the image collected in real time is compared with the image of the closed inner chamber model to locate the defect or foreign object in the closed inner chamber. The device can complete the forward, backward, left and right turns of the trolley through the coordinated control of the speed of the two motors. Compared with the existing magnetic crawler, this driving structure has smaller volume and stronger It is flexible and can be applied to the inspection of the inner cavity of semi-closed or closed power system equipment with small inspection holes, such as the inspection of the runner chamber under the top cover of a hydropower plant. The detection method combines image acquisition and simulation comparison technology to realize real-time acquisition of closed inner chamber images, and extracts the initial image from the model image, and compares the initial image with the real-time image to quickly and accurately find defects in the closed inner chamber or fall into foreign objects, so that maintenance personnel can find system faults and formulate reasonable maintenance plans without opening the closed inner chamber, which has high detection efficiency and detection accuracy; it can effectively shorten the maintenance period of the power plant and improve maintenance efficiency. Ensure the safe and reliable operation of power production.

Description of drawings

Fig. 1 is the functional block diagram of the closed inner chamber automatic detection device based on image real-time acquisition technology of the present invention;

Fig. 2 is a schematic diagram of each component of the automatic detection device of the present invention;

Fig. 3 is a schematic diagram of a magnetic crawler and a steering gear of the present invention;

Fig. 4 is a control flow chart of the closed inner chamber automatic detection device of the present invention;

Figure 5 is a schematic diagram of on-site detection application in a closed inner chamber;

Fig. 6 is a schematic diagram of the principle of virtual 3D chamber model detection image positioning;

Description of symbols: 1-, computer control system, 2-data acquisition and processing module, 3-magnetic crawler, 4-steering gear transmission module, 5-positioning and ranging module, 6-image acquisition and lighting module, 7-power supply , 31-front wheel, 32-rear wheel, 33-front and rear wheel transmission, 34-rear wheel drive motor, 35-wear-resistant rubber wheel, 41-Z axis direction motor, 42-X axis direction motor.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in Figures 1-3, an automatic detection device for a closed inner room based on real-time image acquisition and analog comparison technology, including a magnetic crawler 3, a positioning and ranging module 5, a steering and transmission module 4, and image acquisition and lighting Module 6, data acquisition and processing integration module 2, power supply 7 and computer simulation comparison and control system 1;

The positioning and ranging module, steering and transmission module, image acquisition and lighting module are all installed on the magnetic crawler, and the positioning and ranging module, steering and transmission module, image acquisition and lighting module are all processed and integrated through data processing. The module is connected with the computer control system, and the data processing and integration module is powered by the power supply;

The computer simulation comparison and control system models the closed inner chamber, extracts the model image from the model according to the position information of the magnetic crawler, compares the image collected in real time with the closed inner chamber model image, and locates the closed inner chamber defects or foreign objects.

The computer simulation comparison and control system uses 3ds max software to build a closed chamber model to be detected, and imports the image information corresponding to the closed chamber model collected by the data acquisition and processing module into unity3d software to obtain the closed chamber model corresponding to the current position The image is compared with the image of the closed inner chamber model and the image collected in real time.

Described magnetic crawler 4 comprises by front wheel 31, rear wheel 32, front and rear wheel transmission module 33 and two rear wheel drive motors 34, front wheel 31 and rear wheel 32 are connected by front and rear wheel transmission module 33, two rear wheels respectively Driven by two rear wheel drive motors, the front and rear wheels are made of permanent magnets, and all wheels are made of wear-resistant rubber wheels 35, that is, the outer layer of the wheels is covered with wear-resistant and non-slip rubber, which can be equipped with a detection device to complete when the inclination angle is less than Crawling work on the surface of ferromagnetic materials at 55 degrees.

The positioning and ranging module includes three laser displacement sensors with fixed directions (along x, y, and z directions respectively) and one adjustable laser displacement sensor. The fixed laser displacement sensor is used to locate the position of the crawler in the closed inner chamber; the adjustable laser displacement sensor fine-tunes the angle within 10 degrees, and is used to calibrate the relative position of defects or foreign objects in the collected images.

The image acquisition and lighting device includes a CCD image acquisition camera and an LED lighting source for real-time image acquisition of the enclosed inner chamber.

The steering and transmission device includes 2 sets of miniature brushless DC motors, which can control the image acquisition and lighting modules to rotate 360 degrees around the z axis and 180 degrees around the x axis (coordinate axes are shown in Figure 3), through synchronous control It can realize real-time acquisition of scene images with a 180-degree viewing angle.

The data acquisition and processing module includes a magnetic crawler action control module, a positioning and ranging displacement sensor data acquisition module, an image acquisition data processing module, and a steering motor action control module. The data is interactively communicated with the PC control system through the RS232 interface.

The computer control system includes a data acquisition and processing system and an operation control system for each motor, which can control the actions of each motor and complete the interactive communication with the data acquisition and processing integrated module.

As shown in Figure 4, an automatic detection method for a closed inner room based on real-time image acquisition and analog comparison technology uses image acquisition and lighting modules to collect images of the closed inner room in real time, and uploads the images to the data acquisition and processing module in real time. The computer simulation comparison and control system controls the steering gear transmission module and drives the magnetic crawler and image acquisition and lighting modules based on the closed inner room image obtained by the data acquisition and processing module and the position information of the magnetic crawler. The closed inner room image is located and extracted by the data acquisition and processing module, the computer simulation comparison and control system model the closed inner room, and the model image is extracted from the model based on the position information of the magnetic crawler. The image is compared with the image of the closed inner chamber model to complete the automatic detection of the closed inner chamber.

First, the crawler carries the image acquisition and lighting module into the closed inner chamber from the detection hole, and locates the magnetic crawler according to the position parameters in three directions collected by the laser displacement sensor, so that it can be determined according to the viewing angle parameters of the image acquisition device. The relative position of the detected parts is convenient for maintenance personnel to find problems in time and formulate treatment plans.

First, according to the factory installation drawings of the tested closed inner room, use 3ds max to build its internal three-dimensional structure model, and import the three-dimensional structural model into unity3d software, and then the crawler carries image acquisition and lighting devices into the closed inner room from the detection hole Among them, as shown in Figure 5, the magnetic crawler is positioned according to the position parameters A, B, and C in three directions collected by the laser displacement sensor, and the angle α between the center line of the image acquisition lens and the x, y axes and β, to locate the feature image collected by the current image lens; at the same time, according to the position parameters A, B, C in three directions, the angle α, β and the crawler structure parameters a, b, c, m, n, etc. , using the Harris algorithm in the unity3d virtual model to realize the positioning of the virtual perspective and the extraction of the feature image, as shown in Figure 6, the positioning and the extraction of the image both belong to the prior art. The actual image collected and the image called out from the virtual model are displayed on the control display interface in real time in split screens. At this time, once there is a defect or foreign object in the observed image, it is compared with the virtual image to find the specific defect in the virtual image. Position, that is, it can quickly and accurately locate the defects or foreign objects falling into the closed inner chamber, so that the maintenance personnel can formulate the treatment plan in time and carry out repair and cleaning, and troubleshoot the system without opening the closed inner chamber.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (9)

1. close interior room automatic detection device based on image real-time acquisition with simulation comparison technology for one kind, it is characterised in that include Magnetic force crawl device (3), location and range finder module (5), turn to and transmission module (4) and image acquisition and lighting module (6), number According to gathering and processing integration module (2), power supply (7) and computer simulation comparison and control system (1)；

Described location and range finder module, turn to and transmission module and image acquisition and lighting module are installed in magnetic force crawl device On, described location and range finder module, turn to and transmission module and image acquisition and lighting module are all processed with integrated by data Module is connected with computer control system, and data process and powered by power supply with integration module；

Room in closing is modeled by described computer simulation comparison and control system, and according to magnetic force crawl device positional information from Extraction model image in model, utilizes the image of Real-time Collection and closing interior room model image to compare, room in the closing of location Defect or foreign body.

Device the most according to claim 1, it is characterised in that described computer simulation comparison and control system use 3ds Room model in the closing that max software building is to be detected, in closing the image information correspondence that data acquisition and processing module gather Room model imports unity3d software, it is thus achieved that room model image in the closing that current location is corresponding, utilizes room model image in closing Compare with the image of Real-time Collection.

Device the most according to claim 2, it is characterised in that described magnetic force crawl device (4) includes by front-wheel (31), trailing wheel (32), front and back wheel transmission module (33) and two rear wheel drive motors (34), front-wheel (31) and trailing wheel (32) are passed by front and back wheel Dynamic model block (33) connects, and two trailing wheels are driven by two rear wheel drive motors respectively, and front wheels and rear wheels all uses permanent magnet to make.

Device the most according to claim 3, it is characterised in that described in turn to and transmission module includes Z-direction motor and X Direction of principal axis motor, described Z-direction motor is installed in magnetic force crawl device, and X-direction motor is arranged on and turns to machine transmission module In, turn to and transmission module is arranged on the front end of magnetic force crawl device, Z-direction motor drive.

Device the most according to claim 4, it is characterised in that described image acquisition and lighting module are movably arranged on and turn to And the front end of transmission module, including ccd image acquisition camera and LED illumination light source, described image acquisition and lighting module are by X Direction of principal axis motor drives.

6., according to the device described in any one of claim 1-5, described location and range finder module include along magnetic force crawl device X, Y, Z Three hard-wired laser displacement sensors in direction and the laser displacement sensor of 1 adjustable angle.

Device the most according to claim 6, it is characterised in that described magnetic force crawl device uses abrasive rubber wheel.

8. close interior room automatic testing method based on image real-time acquisition with simulation comparison technology for one kind, it is characterised in that use Device described in any one of claim 1-7, the image of room in utilizing image acquisition and lighting module Real-time Collection to close, and will Image is uploaded to data acquisition and procession module, computer simulation comparison and control system in real time according to data acquisition and procession mould Room image and magnetic force crawl device positional information in the closing that block obtains, be controlled the machine transmission module of turning to, climb magnetic force Row device and image acquisition and lighting module are driven, and in the closing collected, room image is carried out by data acquisition and procession module Room in closing is modeled by image feature location and extraction, computer simulation comparison and control system, and creeps according to magnetic force Device positional information extraction model image from model, utilizes the image of Real-time Collection and closing interior room model image to compare, Complete the automatic detection of room in closing.

Method the most according to claim 8, it is characterised in that use Harris algorithm according to data acquisition and processing system The position of the magnetic force crawl device position obtained and image acquisition and lighting module and directioin parameter, carry the model of room in closing Take model image.