• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Welding inspection equipment for inspection of weld seams (16) in pipes that allows obtaining more reliable data and prevents the inspector from moving until the installation of the pipes because the equipment comprises a collection device that moves through the pipes to obtain precise images of the welding cords (16) and can send said images to a receiving terminal (10) in which 3d models of the welding cords are generated. It comprises cameras (1) symmetrically arranged with respect to a plane perpendicular to the axis of the weld bead and a lighting system. It also comprises displacement elements and a positioning system so that the operator keeps the equipment in a correct position with respect to the axis of the welding bead (16). It also has a first control unit (11) and batteries to allow portability. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2599962A2
    申请号:ES201531161
    申请日:2015-08-04
    公开日:2017-02-06
    发明作者:Manuel RODRÍGUEZ MARTÍN；Pablo RODRÍGUEZ GONZÁLVEZ；Susana LAGÜELA LÓPEZ；Diego GONZÁLEZ-AGUILERA
    申请人:Universidad de Salamanca；
    IPC主号:
    专利说明:

    WELDING INSPECTION EQUIPMENT OBJECT OF THE INVENTION
    The present invention is part of the technical field of welding inspection equipment.
    The described equipment is portable and autonomous and allows remote inspection and registration of three-dimensional photogrammetric models corresponding to welds in order to perform a detailed analysis of the geometry of the remote welding bead. BACKGROUND OF THE INVENTION
    A large number of welds are used in gas pipeline projects and their geographical extension means that the transport of inspection personnel implies a high cost.
    Due to the high safety requirements defined to avoid gas leaks and pressure losses, quality inspection work on welding is demanding and involves a significant investment within the project.
    The difficulty of visual inspection of welds lies in taking measurements in areas of complex geometry or difficult accessibility. Different advanced techniques are known in the state of the art to assess the quality of welds and / or detect and measure cracks and other defects more accurately than with commonly used tools for visual detection.
    Some of these techniques are for example ultrasound, electrical resistance, laser, 2D stereo image or cameras that scan the weld. Imaging techniques are also known that allow the study of propagation and crack behavior such as digital image correlation techniques. DESCRIPTION OF THE INVENTION
    The present invention describes a portable and autonomous welding inspection equipment that allows data to be obtained on welding seams in pipes or pipes at a distance, without having to go to the inspection site. This greatly facilitates the work of welding control in pipe installations that in many cases have difficult access.
    The use of this equipment allows an on-site inspection by an operator while the inspector himself can perform the visual inspection from his office or office from a 3D model automatically generated from the images obtained by the cameras on the road .
    The equipment allows to obtain photogrammetric three-dimensional models automatically and to carry out a detailed analysis of the geometry of the cord. It is especially intended for use in the inspection of welding of gas and other conduits of similar dimensions (between 16 "and 40" approximately).
    The equipment can also be used to create a database with all the weld data of an engineering project. This makes it easy for users to consult if they want to carry out subsequent reviews or breakdown investigation.
    The equipment comprises at least one pick-up device that travels throughout the weld bead from which information is to be obtained. In said capture device there are two cameras responsible for taking pictures of the welding bead, lighting means so that the images taken by the cameras are clear and a positioning system that allows the operator to maintain the correct position of the device pickup with respect to the axis of the weld bead.
    The positioning system preferably comprises a laser projector to project a laser light line on the axis of the weld bead. The operator moves the pickup device over the weld bead keeping the laser line on the axis of the bead at all times. The positioning system is preferably arranged on the front face and on the rear face of the pickup device.
    When the operator has aligned the laser light line with the axis of the weld bead, move the pickup device around the perimeter of the pipe section following the weld bead.
    The cameras are preferably equipped with macro lenses and capture convergent images towards the center of the weld bead while the operator moves the pickup device through the pipe. With these photographs the control unit reconstructs the point cloud models to obtain the 3D model of the welding bead.
    The displacement of the pickup device on the pipe can be carried out comfortably thanks to some wheels, arranged in said pickup device. The movement of the wheels is controlled by an odometer that is linked to a control unit of the equipment that sends a signal to take pictures every certain distance traveled. In this way, the pairs of photographs taken are equidistant from each other along the entire length of the weld bead.
    The images taken are stored in a memory that is also part of the equipment. Additionally these images can be sent to a receiving terminal, which is also part of the equipment. Generally, the receiving terminal is provided by the welding inspector who receives the data directly from the capture device. Preferably, a telematic data transmission protocol is used. The inspector has the photographic shots ready for the photogrammetric reconstruction of the weld bead.
    Preferably, the communication between the pick-up device and the receiving terminal is carried out in real time by wireless communication with real-time data transmission. DESCRIPTION OF THE DRAWINGS
    To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, according to a preferred example of practical implementation thereof, a set of drawings is attached as an integral part of said description. where, for illustrative and non-limiting purposes, the following has been represented:
    Figure 1.- Shows a perspective view of the capture device that moves along the perimeter of the weld bead.
    Figure 2.- Shows a perspective view from a different angle of the capture device of Figure 1.
    Figure 3.- Shows a view of the welding inspection equipment with the pick-up device and the receiving terminal. PREFERRED EMBODIMENT OF THE INVENTION
    An example of embodiment of the present invention is described below with the aid of Figures 1 to 3.
    Welding inspection equipment allows close range photogrammetry with macro and microscopic lens to inspect weld seams in pipes.
    The inspection team comprises means of emission-reception with: -a first means of emission-reception that is in a capture device
    (15) portable said pickup device (15) being configured to be displaced around the welding bead (16) in the pipe, and
    - a second transmission-reception means that is in a receiving terminal (10) and that is linked to the first transmission-reception means.
    The emission-reception means allow the exchange of information between the collection device (15) that is operated by a person located in the facility to be inspected and between the receiving terminal (10) that is in the possession of the inspector who may be working from Your own office. Preferably, the first transmission-reception medium and the second transmission-reception medium are linked to each other by wireless communication.
    The pick-up device (15) is manually moved by means of an operator completely following the welding bead (16) until a 360 ° travel is made around the pipe. Said collection device (15) comprises at least one frame
    (6) in which there are cameras (1) for taking pictures of the weld bead (16), displacement elements to allow displacement on the pipeline to be inspected, a lighting system to ensure the good quality of the images taken by the cameras (1) and work in conditions of absence of light, a first control unit (11) that manages the cameras (1) and the images taken by them and a battery (13). Preferably the collection device (15) comprises two chambers (1).
    The chambers (1) are at least two and are arranged symmetrically with respect to a plane intended to be perpendicular to the axis of the weld bead (16). Preferably the cameras (1) carry macro lenses to obtain images with greater precision and resolution. The angle between the fixed focus and optimized axes to obtain the best quality of the photogrammetric model is between 10º and 20º, preferably 15º. Also, the capture device (15) comprises a first communication element in communication with a memory and a control system to be able to send the captured images. The cameras (1) are attached to the frame (6) by means of supports (7) that allow adapting the inclination of the cameras (1).
    The receiving terminal (10) can comprise a second control unit configured to receive the images of the cameras and generate a 3D model of the welding bead (16) from the images of the cameras (1) received in the second means of issuing reception
    The collection device (15) also comprises, as indicated above, displacement elements configured to allow movement of the collection device (15) over the pipes. In an exemplary embodiment as shown in the figures, the displacement elements are high roughness wheels (3). As can be seen, for example, in Figure 3, the axle of the wheels (3) is intended to be perpendicular to the axis of the weld bead (16). The wheels (3) must be permanently in contact with the pipe, as well as have a sufficient roughness to fix the collection device (15) and that it can only move in a degree of freedom through the perimeter of the section of the pipe, avoiding any accidental lateral displacement due to the operator's pulse.
    For the collection device (15) to be portable and autonomous, it comprises at least one battery (13). As previously described, the capture device (15) comprises a first control unit (11) and may have a memory for storing the images. Likewise, the pick-up device (15) comprises a first communication element for sending the images and data captured during welding inspection from the first control unit (11).
    A receiving terminal (10) with a second communication element linked to the first communication element is also part of the inspection equipment. Said receiving terminal (10) can be for example a tablet or a computer. The inspector can be in any location, such as in his own office, and receive all the images at the time they are taken by the capture device (15) (controlled by an operator who is in the place of the installation to check).
    Preferably, to allow portability of the inspection equipment, the first communication element and the second communication element are wireless transmitters and receivers. The receiving terminal (10) can also send data to the capture device (15) to control image quality parameters, the distance at which the images are taken from each other, etc. depending on the needs or parameters determined by the inspector.
    The collection device (15) additionally comprises a positioning system with at least one laser projector (1). Preferably, the positioning system comprises two laser projectors (2) located on the front and back sides of the frame (6) each projecting a straight line of laser light intended to be placed on the axis of the welding bead (16). Preferably, a laser projector (2) is arranged at the front of the pick-up device (15) and another at the rear to avoid any misalignment during work. The operator only has to place the straight line of laser light in a manner that matches the welding bead (16) in both the front and rear positions. Once aligned by both positions, the roughness of the wheels (3) prevents any movement other than work.
    To control the feed of the pick-up device (15) along the welding bead (16), the equipment can comprise in the pick-up device (15) itself an odometer (4) that measures the angular distance traveled. Preferably the odometer (4) is connected to the cameras through the first control unit (11) so that the cameras take a picture every certain distance traveled.
    The collection device (15) preferably comprises, as shown in Figure 1, a plurality of translucent panels (9) attached to the frame (6) arranged so as to cover at least partially said frame (6). The objective of the translucent panels (9) is to avoid, under high lighting conditions, reflections on the weld bead (16), which would degrade the final result. The equipment also comprises a lighting system that is included in the collection device (15) and which comprises a plurality of LEDS (14). The LEDS (14) are arranged on the inside face of the frame (6), oriented so that when placing the pick-up device (15) in the pipe, they illuminate the welding bead (16) of the pipe. The purpose of said LEDS (14) is to illuminate the welding bead (16) in a homogeneous way in conditions of absence of light.
    Preferably the housing (6) has an arched configuration, designed so that the center of the arc is aligned with the welding bead (16) when the pickup device (15) moves along said welding bead (16) . The diameter of the arch marks the separation between the wheels (3).
    The welding inspection equipment described is of high precision since it incorporates a photogrammetric system that improves the accuracy of the measurements taken with respect to traditional manual methods.
    Additionally, the equipment of the present invention allows automated image capture since the linear movement of the capture device is processed by the control unit (11) to manage the optimum shooting time of the cameras (1). In addition, the equipment allows the 3D geometry of the weld bead (16) to be obtained without the need for artificial external patterns and / or cards.
    The equipment is simple to operate since the operator only needs to follow the positioning system during the image taking and indicate the beginning and the end. In addition, the handling of the pick-up device (15) can be conveniently done by both right-handed and left-handed operators, and the design of the pick-up device (15) is designed to be used in pipes of different diameters.
    Other additional advantages provided by the equipment of the present invention are a low cost of the collection device, a reduction in the cost of the inspection since the inspector does not have to travel to the place of the installation to be checked. The equipment is portable and autonomous and does not need any external power or data connection. further
    5 allows all three-dimensional welding models to be stored in the memory or in a database of the receiving terminal for future revisions.
    The emission-reception means of the pick-up device (15) and the receiving terminal
    (10) allow two-way communication so that the inspector in your
    10 office, far from the inspection area itself, can, for example, select the parameters that are best suited for taking pictures. In this way the inspector can control the distance at which the images are taken, the resolution of the images, the lighting in each area of the pipes, etc. The images taken with the capture device (15) are sent to the mobile terminal (10) by means of said images.
    15 means of emission-reception.
    权利要求:
    Claims (10)
    [1]

    1.-Welding inspection equipment for inspection of weld seams (16) in pipes characterized in that it comprises emission-reception means with a first emission-reception means found in a pick-up device (15) and with a second transmission-reception medium that is in a receiving terminal
    (10) and which is linked to the first means of transmission-reception, and the device for
    pick-up (15) comprises a frame (6) in which there are: -at least two chambers (1), -a travel elements, -a lighting system configured to illuminate the welding bead (16) during the taking of images with the cameras (1), -a first control unit (11) that manages the shots of the cameras (1) and the images taken, -at least one battery.
    [2]
    2. Welding inspection equipment according to claim 1 characterized in that the first emission-reception means and the second emission-reception means are linked to each other by wireless communication.
    [3]
    3. Welding inspection equipment according to claim 1, characterized in that the displacement elements of the collection device (15) comprise wheels
    (3) .
    [4]
    4. Welding inspection equipment according to claim 1, characterized in that the acquisition device (15) additionally comprises a positioning system with at least one laser projector (2) projecting a straight line of laser light intended to be placed on the Welding bead shaft (16).
    [5]
    5. Welding inspection equipment according to claim 1 characterized in that the collection device (15) additionally comprises an odometer (4).
    [6]
    6. Welding inspection equipment according to claim 1 characterized in that the odometer (4) is connected to the chambers (1) through the control unit (11) of
    so that the cameras (1) take a picture every certain distance traveled.
    [7]
    7. Welding inspection equipment according to claim 1, characterized in that it additionally comprises a memory unit for storing the 5 images taken by the cameras (1).
    [8]
    8. Welding inspection equipment according to claim 1 characterized in that the chambers (1) comprise macro objectives.
    10. Welding inspection equipment according to claim 1, characterized in that the lighting system comprises a plurality of LEDs (14) connected to the frame (6).
    [10]
    10. Welding inspection equipment according to claim 1 characterized in that the chambers (1) are oriented with a degree of inclination between them between 10 ° and 20 °.
    [11]
    11. Welding inspection equipment according to claim 1 characterized in that the collection device (15) additionally comprises a plurality of translucent panels 20 (9) attached to the frame (6).
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    同族专利:
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    CN110132977A|2019-04-26|2019-08-16|嘉兴市建设工程质量检测有限公司|A kind of Steel Structure Weld detection device|US5245409A|1991-11-27|1993-09-14|Arvin Industries, Inc.|Tube seam weld inspection device|
    JPH08267269A|1995-03-30|1996-10-15|Matsushita Electric Ind Co Ltd|Welding inspection method and instrument therefor|
    DE59711313D1|1996-10-10|2004-03-25|Elpatronic Ag Bergdietikon|Method and arrangement for optical weld inspection|
    GB0915141D0|2009-08-28|2009-10-07|Shawcor Ltd|Method and apparatus for external pipeline weld inspection|CN110158425A|2019-06-27|2019-08-23|湖州华科建设工程质量检测有限公司|A kind of road pipe detection ring shake detector|
    法律状态:
    2017-11-28| FG2A| Definitive protection|Ref document number: 2599962 Country of ref document: ES Kind code of ref document: B1 Effective date: 20171128 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201531161A|ES2599962B1|2015-08-04|2015-08-04|WELDING INSPECTION EQUIPMENT|ES201531161A| ES2599962B1|2015-08-04|2015-08-04|WELDING INSPECTION EQUIPMENT|
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