CN111624209B - Bolt hole thread surface defect recognition device, method and image processing method - Google Patents
Bolt hole thread surface defect recognition device, method and image processing method Download PDFInfo
- Publication number
- CN111624209B CN111624209B CN202010512169.0A CN202010512169A CN111624209B CN 111624209 B CN111624209 B CN 111624209B CN 202010512169 A CN202010512169 A CN 202010512169A CN 111624209 B CN111624209 B CN 111624209B
- Authority
- CN
- China
- Prior art keywords
- bolt hole
- rotating motor
- controller
- linear camera
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007547 defect Effects 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000003672 processing method Methods 0.000 title claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims description 65
- 238000004590 computer program Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 abstract description 4
- 239000007788 liquid Substances 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 230000002349 favourable effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 239000000835 fiber Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001902 propagating effect Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
-
- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C17/00—Monitoring; Testing ; Maintaining
- G21C17/003—Remote inspection of vessels, e.g. pressure vessels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Physics & Mathematics (AREA)
- Immunology (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Biochemistry (AREA)
- Analytical Chemistry (AREA)
- Plasma & Fusion (AREA)
- High Energy & Nuclear Physics (AREA)
- General Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The disclosure belongs to the technical field of nuclear power maintenance, and particularly relates to a device and a method for identifying defects of a threaded surface of a bolt hole and an image processing method. The thread surface defect recognition device of the bolt hole of the embodiment of the disclosure adopts the linear camera to collect images, only scans a row of thread images at a time, can effectively reduce cylindrical distortion generated in the process of recognizing a cylindrical curved surface structure, and can effectively increase the shooting object distance of the linear camera through the structures of the light source, the plane reflecting mirror and the plane lens, is favorable for keeping consistent object distance when the linear camera shoots each time, and further effectively reduces distortion generated by collecting images. In addition, the outer cover can effectively prevent sundries or liquid from polluting the linear camera, the light source and the plane reflecting mirror, so that the service life of the device is effectively prolonged, and noise points of a shot image are further reduced.
Description
Technical Field
The invention belongs to the technical field of nuclear power maintenance, and particularly relates to a device and a method for identifying defects of a threaded surface of a bolt hole and an image processing method.
Background
The video inspection of the bolt hole of the reactor pressure vessel is necessary to work during the overhaul of the nuclear power station, and aims to inspect whether the screw thread has defects, rust and adhesion impurities, provide basis for maintenance and repair of the bolt hole, and create conditions for smooth screwing-in and screwing-out of the main bolt so as to avoid the occurrence of bolt seizure. Meanwhile, as some parts of the bolt hole structure of the reactor pressure vessel cannot be directly and visually inspected and the working position is high in irradiation dose, how to efficiently, accurately and completely acquire the thread image of the bolt hole of the reactor pressure vessel during the overhaul of the nuclear power station is a problem to be solved.
Disclosure of Invention
In order to overcome the problems in the related art, a device and a method for identifying the defects of the threaded surface of a bolt hole and an image processing method are provided.
According to an aspect of the embodiment of the present disclosure, there is provided a screw surface defect recognition device of a bolt hole, including a linear camera, a light source, a plane mirror, and a housing;
The outer cover can be inserted into a bolt hole to be detected, a cavity is formed in the outer cover, the linear camera is arranged at the upper end in the cavity, and the plane reflecting mirror is arranged at the lower end in the cavity;
the light sensitive surface of the linear camera is opposite to the light reflecting surface of the plane reflecting mirror;
The lateral surface of the outer cover comprises a plane lens, and the two side surfaces of the plane lens are planes;
The light source is arranged in the cavity, light rays emitted by the light source can penetrate through the plane lens to irradiate the inner wall of the bolt hole, light rays reflected by the inner wall of the bolt hole can penetrate through the plane lens to irradiate on the plane reflecting mirror and reflect on the light sensitive surface of the linear camera through the plane reflecting mirror.
In one possible implementation, the housing includes a camera mounting housing and a bottom housing;
The camera mounting cover is of a cylindrical structure, an opening is formed in the bottom end of the camera mounting cover, and the bottom cover can be covered and buckled at the opening, so that a cavity is formed between the inner wall of the camera mounting cover and the upper end of the bottom cover in a surrounding mode.
In one possible implementation manner, the device for identifying the defect of the threaded surface of the bolt hole further comprises a first bracket, wherein the first bracket is connected to the upper end of the bottom cover, and the plane mirror is arranged on the upper surface of the first bracket.
In one possible implementation, the first support is capable of adjusting the position of the planar mirror.
In one possible implementation manner, the device for identifying the defect of the threaded surface of the bolt hole further comprises a second bracket, the second bracket is connected to the upper end of the bottom cover, and the light source is arranged on the second bracket.
In one possible implementation, the second bracket is capable of adjusting the position of the light source.
In one possible implementation, the housing further includes a first interface;
The linear camera and the light source are connected with a power supply through the first interface.
In one possible implementation, the housing further includes a second interface;
The linear camera is connected with the upper computer through the second interface.
In one possible implementation, the device for identifying the defect of the threaded surface of the bolt hole further comprises a brightness adjusting switch;
The brightness adjusting switch is arranged on the outer side of the outer cover and connected with the light source for adjusting the brightness of the light source.
In one possible implementation manner, the device for identifying the defect of the threaded surface of the bolt hole further comprises a lifting motor, a rotating motor and a controller;
The lifting motor is connected with the rotating motor, and the rotating motor is connected with the outer cover;
the lifting motor can drive the rotating motor and the outer cover to move in the vertical direction when being driven;
the rotating motor can drive the outer cover to rotate in the horizontal direction when being driven;
the controller is respectively connected with the lifting motor, the rotating motor and the linear camera;
the controller can drive the lifting motor or the rotating motor to work;
The controller is also capable of triggering the linear camera to take an image.
In one possible implementation of the present invention,
The controller can acquire a displacement signal for indicating the displacement of the lifting motor in the vertical direction from the lifting motor;
the controller is further capable of acquiring an angular displacement signal from the rotating electrical machine for indicating the rotating electrical machine at a rotation angle;
The controller controls the lifting motor to stop working under the condition that the acquired displacement signal meets one of a plurality of first preset conditions, and controls the rotating motor to start working after controlling the lifting motor to stop working, wherein the plurality of first preset conditions are different from each other;
The controller controls the rotating motor to stop working under the condition that the acquired angular displacement signal meets one of a plurality of second preset conditions, controls the linear camera to execute shooting after controlling the rotating motor to stop working, and controls the rotating motor to start working after controlling the linear camera to execute shooting, and when the angular displacement signal acquired by the controller meets one of the second preset conditions, the rotating motor rotates by a preset angle and does not rotate for a whole circle, the second preset conditions are different from each other, and the linear camera shoots and executes shooting once and then transmits a shot image to a connected upper computer;
And the controller controls the rotating motor to stop working under the condition that the acquired angular displacement signal meets a third preset condition, and controls the lifting motor to start working after controlling the rotating motor to stop working, and the rotating motor rotates for a whole circle when the acquired angular displacement signal meets the third preset condition.
According to another aspect of the embodiments of the present disclosure, there is provided a method for identifying a defect of a threaded surface of a bolt hole, the method being applied to the controller described above, the method including
The controller obtains a displacement signal used for indicating the displacement of the lifting motor in the vertical direction from the lifting motor;
the controller obtains an angular displacement signal for indicating the rotation angle of the rotating motor from the rotating motor;
The controller controls the lifting motor to stop working under the condition that the acquired displacement signal meets one of a plurality of first preset conditions, and controls the rotating motor to start working after controlling the lifting motor to stop working, wherein the plurality of first preset conditions are different from each other;
The controller controls the rotating motor to stop working under the condition that the acquired angular displacement signal meets one of a plurality of second preset conditions, controls the linear camera to execute shooting after controlling the rotating motor to stop working, and controls the rotating motor to start working after controlling the linear camera to execute shooting, and when the angular displacement signal acquired by the controller meets one of the second preset conditions, the rotating motor does not rotate for one circle, and the second preset conditions are different from each other;
And the controller controls the rotating motor to stop working under the condition that the acquired angular displacement signal meets a third preset condition, and controls the lifting motor to start working after controlling the rotating motor to stop working, and the rotating motor rotates for one circle when the acquired angular displacement signal meets the third preset condition.
According to another aspect of the embodiments of the present disclosure, there is provided an image processing method, which is applied to a host computer, the method including:
The upper computer sequentially receives a plurality of images from the linear camera;
each time the upper computer receives an image, one coordinate in a pre-stored coordinate set is sequentially corresponding to the image;
And the upper computer splices the images into a panoramic image according to the images and the coordinates corresponding to the images.
In one possible implementation, the method further includes:
The upper computer displays the spliced panoramic image;
And the upper computer displays coordinates of one or more selected areas in the panoramic image when the one or more selected areas are selected.
According to another aspect of the disclosed embodiments, there is provided a non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.
The method and the device have the advantages that the linear camera is adopted to collect images, only one column of threaded images is scanned at a time, cylindrical distortion generated in the process of identifying the cylindrical curved surface structure can be effectively reduced, and the shooting object distance of the linear camera can be effectively increased through the structures of the light source, the plane reflecting mirror and the plane lens, the object distance can be kept consistent when the linear camera shoots each time, and distortion generated by the collected images is further effectively reduced. In addition, the outer cover can effectively prevent sundries or liquid from polluting the linear camera, the light source and the plane reflecting mirror, so that the service life of the device is effectively prolonged, and noise points of a shot image are reduced.
Drawings
Fig. 1 is a partial cross-sectional view of a threaded surface defect recognition device for a bolt hole according to an exemplary embodiment.
Fig. 2 is a schematic view of a device for identifying a defect in a threaded surface of a bolt hole according to an exemplary embodiment.
Fig. 3 is a flowchart illustrating a method of identifying a thread surface defect of a bolt hole according to an exemplary embodiment.
Fig. 4 is a flowchart illustrating a method of identifying a thread surface defect of a bolt hole according to an exemplary embodiment.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
Fig. 1 is a partial cross-sectional view of a threaded surface defect recognition device for a bolt hole according to an exemplary embodiment. As shown in fig. 1, the screw surface defect recognition device of the bolt hole may include a linear camera 7, a light source 8, a plane mirror 11, and a housing 2.
In the embodiments of the present disclosure, the photosensitive elements of the photosensitive surface of the image sensor of the linear camera may be arranged in a linear manner. The light source may be, for example, an LED (light emitting Diode) or other component that may emit light, and the light source may be, for example, a strip, and the type and shape of the light source are not limited in the embodiments of the present disclosure.
As an example of the present embodiment, the outer diameter size of the housing 2 may be smaller than the bolt hole 4 to be measured, so that the housing 2 can be inserted into the bolt hole 4 to be measured, and the housing may be, for example, a cylindrical structure or any other shape, and the shape of the housing is not limited in the embodiment of the present disclosure as long as the housing can be inserted into the bolt hole to be measured. The housing 2 may have a cavity inside, wherein the cavity may be represented as a closed space isolated from an external space, and the linear camera 7, the light source 8, and the plane mirror 11 may be disposed in the cavity.
The linear camera 7 may be disposed at an upper end in the cavity, the plane mirror 11 may be disposed at a lower end in the cavity, and the light sensing surface of the linear camera 7 may be opposite to the light reflecting surface of the plane mirror 11.
The sides of the housing 2 may include a planar lens 3, and in the practice of the present disclosure, both side surfaces of the planar lens 3 may be planar.
The light emitted from the light source 8 can be irradiated to the inner wall of the bolt hole 4 through the planar lens 3, and the light reflected by the inner wall of the bolt hole 4 can be irradiated to the planar mirror 11 through the planar lens 3 and reflected to the light sensing surface of the linear camera 7 through the planar mirror 11.
For example, the plane lens 3 may be parallel to the inner wall of the bolt hole 4, so that the plane lens 3 not only can ensure the tightness of the cavity, but also can reduce the refraction of the reflected light on the inner wall of the bolt hole 4, the reflecting surface of the plane mirror 11 may form an included angle of 45 degrees with the plane lens 3, and the light sensitive surface of the linear camera 7 may be perpendicular to the plane mirror 11, so that the light reflected by the inner wall of the bolt hole 4 can irradiate onto the plane mirror 11 through the plane lens 3 and reflect and irradiate onto the light sensitive surface of the linear camera 7 through the plane mirror 11, and the structure is simple, so that the shooting object distance of the linear camera 7 can be effectively increased. The plane lens, the plane mirror, and the linear camera photosurface may be provided at any relative positions, as long as the linear camera can capture the inner wall of the bolt hole through the plane mirror.
The embodiment of the disclosure adopts the linear camera to collect images, only scans a column of threaded images at a time, can effectively reduce cylindrical distortion generated in the identification process of a cylindrical curved surface structure, and can effectively increase the shooting object distance of the linear camera through the structures of the light source, the plane reflector and the plane lens, is beneficial to keeping consistent object distance when the linear camera shoots each time, and further effectively reduces distortion generated by the collected images. In addition, the outer cover can effectively prevent sundries or liquid from polluting the linear camera, the light source and the plane reflecting mirror, so that the service life of the device is effectively prolonged, and noise points of a shot image are reduced.
In a possible implementation manner, the outer cover 2 may include a camera mounting cover 21 and a bottom cover 22, where the camera mounting cover 21 may be a cylindrical structure, the bottom end of the camera mounting cover 21 may be provided with an opening, and the bottom cover 22 may be covered at the opening, so that a cavity is enclosed between the inner wall of the camera mounting cover 21 and the upper end of the bottom cover 22. In this way, the bottom cover 22 can be disassembled as needed to adjust and repair components inside the cavity.
In one possible implementation, the device for identifying the defect of the threaded surface of the bolt hole 4 may further include a first bracket 10, the first bracket 10 may be connected to the upper end of the bottom cover 22, and the plane mirror 11 is disposed on the upper surface of the first bracket 10. The position of the plane mirror 11 can be adjusted by the first bracket 10, for example, the position of the plane mirror 11 in the vertical direction can be adjusted by the first bracket 10, the included angle between the plane mirror 11 and the plane lens 3 can be adjusted by the first bracket 10, and the distance between the plane mirror 11 and the plane lens 3 can be adjusted by the first bracket 10.
In a possible implementation, the device for identifying the defects of the threaded surface of the bolt hole 4 may further comprise a second bracket (not shown in the figure), which may be connected to the upper end of the bottom cover 22, and on which the light source 8 may be arranged. The second bracket is capable of adjusting the position of the light source 8. For example, the position of the light source 8 in the vertical direction can be adjusted by the second bracket, the included angle between the light source 8 and the planar lens 3 can be adjusted by the second bracket, and the distance between the light source 8 and the planar lens 3 can be adjusted by the second bracket.
In a possible implementation, the housing 2 may further comprise a first interface 1, and the power cord of the linear camera 7 may be connected to a power source (not shown in the figure) through the first interface 1, and the power cord of the light source 8 may also be connected to the power source through the first interface 1.
In a possible implementation, the housing 2 further comprises a second interface 6, and the data line of the linear camera 7 can be connected with an upper computer through the second interface 6. The image photographed by the linear camera 7 each time can be output to an upper computer through a data line.
In one possible implementation, the threaded surface defect recognition device of the bolt hole may further include a brightness adjustment switch (not shown) that may be disposed outside the housing and connected to the light source, and that may be used to adjust the brightness of the light source. For example, the brightness adjusting switch may be connected in parallel between the light source and the power source, the brightness adjusting switch may include a sliding variable resistor, and the brightness of the light source may be adjusted by sliding the sliding handle, and the type and connection manner of the brightness adjusting switch are not limited in the embodiments of the present disclosure, so long as the brightness adjusting switch may adjust the brightness of the light source.
Fig. 2 is a schematic view of a device for identifying a defect in a threaded surface of a bolt hole according to an exemplary embodiment. As shown in fig. 2, the device for identifying the defect of the screw surface of the bolt hole can further comprise a lifting motor 12, a rotating motor 13 and a controller, wherein the lifting motor 12 is connected with the rotating motor 13, the rotating motor 13 is connected with the outer cover, the lifting motor 12 can drive the rotating motor 13 to move along with the outer cover in the vertical direction when being driven, the rotating motor 13 can drive the outer cover to rotate in the horizontal direction when being driven, the controller is respectively connected with the lifting motor 12, the rotating motor 13 and the linear camera, the controller can drive the lifting motor 12 or the rotating motor 13 to work, and the controller can trigger the linear camera to shoot images.
In the embodiment of the present disclosure, the controller may be represented as a final execution unit for performing information processing and program running, and the controller may be, for example, a CPU (central processing unit ) or a single chip microcomputer, etc., and the type of the controller in the embodiment of the present disclosure is not limited.
For example, the lifting motor 12 may be connected to the linear guide 14 through a decelerator (not shown), the slider 15 of the linear guide 14 may be rigidly connected to the rotary motor 13 and the linear camera, and the lifting motor 12 may drive the rotary motor 13 and the linear camera to move in a vertical direction. The rotating motor 13 can be connected with the linear camera through a speed reducer, the rotating motor 13 can drive the linear camera to rotate in the horizontal direction, the controller can be respectively connected with the lifting motor 12, the rotating motor 13 and the linear camera, the controller can drive the lifting motor 12 or the rotating motor 13 to work, and the controller can trigger the linear camera to shoot images. In this way, the controller can operate the lifting motor 12 and the rotating motor 13 to convey the linear camera to any position of the bolt hole.
In one possible implementation, the rotating motor may rotate around a preset axis with the linear camera, so that it may be ensured that the object distance of the linear camera is kept consistent at each shooting.
In one possible implementation manner, the controller can obtain a displacement signal for indicating the displacement of the lifting motor in the vertical direction from the lifting motor, the controller can also obtain an angular displacement signal for indicating the rotation angle of the rotating motor from the rotating motor, the controller controls the lifting motor to stop working when the obtained displacement signal meets one of a plurality of first preset conditions, controls the rotating motor to start working after the lifting motor is controlled to stop working, controls the rotating motor to be mutually different when the obtained angular displacement signal meets one of a plurality of second preset conditions, controls the rotating motor to stop working when the obtained angular displacement signal meets one of a plurality of second preset conditions, controls the linear camera to execute shooting after the obtained angular displacement signal is controlled to stop working, controls the rotating motor to start working when the obtained angular displacement signal meets one of a plurality of second preset conditions, controls the rotating motor to rotate by a whole circle, and transmits an image to a connected upper computer after the linear camera is controlled to perform shooting after the first preset condition, and controls the rotating motor to stop working when the obtained angular displacement signal meets the first preset condition and the rotation signal is controlled to stop working after the first preset condition is met.
For example, the lifting motor and the rotating motor may be provided with encoders, the controller may acquire a displacement signal indicating an amount of displacement of the lifting motor in the vertical direction from the encoder of the lifting motor, and the controller may acquire an angular displacement signal indicating an angle of rotation of the rotating motor from the encoder of the rotating motor.
The controller may pre-store a plurality of first preset conditions, where the plurality of first preset conditions are different from each other, and when the obtained displacement signal meets one of the plurality of first preset conditions (for example, the plurality of first preset conditions may be a plurality of first numerical values, and when the numerical value of the displacement signal is equal to one of the plurality of first numerical values, the controller may determine that the displacement signal meets one of the plurality of first preset conditions), may control the lifting motor to stop working, and after controlling the lifting motor to stop working, control the rotating motor to start working, where when each time the lifting motor is able to move by a preset distance, the generated displacement signal meets one of the first preset conditions, and the magnitude of the preset distance may be set according to the requirement of the shooting threaded hole.
According to the embodiment of the disclosure, the work of the lifting motor and the rotating motor is controlled according to the feedback signal of the displacement of the output end of the lifting motor, so that the lifting motor can be timely controlled to stop working when the lifting motor actually moves to a required distance, and the rotating motor is controlled to drive the image acquisition equipment to rotate, so that the actual actions of the lifting motor and the rotating motor are consistent with shooting requirements. Therefore, compression, stretching and defect of the image are effectively reduced, and the accuracy of the shot image is improved.
In one possible implementation manner, the controller may control the lifting motor to stop working when the acquired displacement signal meets one of a plurality of first preset conditions, and may control the rotating motor to start working after controlling the lifting motor to stop working for a first preset period of time, where the first preset period of time may be greater than or equal to a period of time required for the lifting motor to stop working from being controlled to stopping movement. Therefore, after the lifting motor is actually stopped, the rotating motor is controlled to start rotating, and the phenomena of image blurring and the like caused by motor shake are effectively reduced. It should be noted that, the size of the first preset duration may be determined according to experience or the movement speed of the lifting motor, and the embodiment of the present disclosure does not limit the size of the first preset duration.
The controller may also pre-store a plurality of second preset conditions, where the plurality of second preset conditions are different from each other, and when the obtained angular displacement signal meets one of the plurality of second preset conditions (for example, the plurality of second preset conditions may be a plurality of second values, and when the value of the displacement signal is equal to one of the plurality of second values, the controller may determine that the displacement signal meets one of the plurality of second preset conditions), may control the rotating motor to stop working, control the linear camera to perform shooting after controlling the rotating motor to stop working, and control the rotating motor to continue working after controlling the linear camera to perform shooting, and after performing primary shooting, the linear camera may transmit the shot image to the connected upper computer. Wherein, can set up the rotating electrical machines and rotate when predetermining the angle and not rotating the whole week, the angular displacement signal that produces satisfies a second and predetermines the condition, and the size of predetermineeing the angle can be set up according to shooting screw hole's needs, and this is not limited to this embodiment of the disclosure.
According to the embodiment of the disclosure, the image sensor is triggered to expose according to the feedback signal of the rotating motor, so that the image acquisition device can be controlled to acquire images in time when the rotating motor rotates at the required angle in practice, and the actual rotation angle of the rotating motor and the shooting action of the image acquisition device are consistent with shooting requirements. Further effectively reducing compression, stretching and defect of the image and improving the accuracy of shooting the image.
In one possible implementation manner, the controller may control the rotating electric machine to stop working under a condition that the acquired angular displacement signal meets one of a plurality of second preset conditions, and after controlling the rotating electric machine to stop working for a second preset period of time, control the linear camera to perform shooting, and after controlling the linear camera to perform shooting for a third preset period of time, control the rotating electric machine to continue working, where the second preset period of time may be greater than or equal to a period of time from when the rotating electric machine is controlled to stop working to when the rotating electric machine stops moving, and the third preset period of time may be greater than or equal to a required period of time for the linear camera to shoot. Therefore, after the rotating motor is actually stopped, the linear camera is controlled to start shooting, and after the actual shooting of the linear camera is finished, the rotating motor is controlled to rotate, so that the phenomena of image blurring and the like caused by motor shake are effectively reduced.
The controller can control the rotating motor to stop working under the condition that the acquired angular displacement signal meets a third preset condition, and control the lifting motor to start working after controlling the rotating motor to stop working, and the controller rotates the rotating motor for a whole circle when the acquired angular displacement signal meets the third preset condition. Therefore, after the rotating motor actually rotates for the whole circle, the rotating motor can be timely controlled to stop rotating, and the lifting motor is controlled to continuously longitudinally move.
Fig. 3 is a flowchart illustrating a method of identifying a thread surface defect of a bolt hole according to an exemplary embodiment. As shown in fig. 3, the method may include:
Step 300, the controller obtains a displacement signal for indicating the displacement of the lifting motor in the vertical direction from the lifting motor;
Step 301, the controller obtains an angular displacement signal for indicating the rotating motor at a rotating angle from the rotating motor;
Step 302, the controller controls the lifting motor to stop working under the condition that the acquired displacement signal meets one of a plurality of first preset conditions, and controls the rotating motor to start working after controlling the lifting motor to stop working, wherein the plurality of first preset conditions are different from each other;
Step 303, the controller controls the rotating motor to stop working under the condition that the acquired angular displacement signal meets one of a plurality of second preset conditions, controls the linear camera to execute shooting after controlling the rotating motor to stop working, and controls the rotating motor to start working after controlling the linear camera to execute shooting, and when the angular displacement signal acquired by the controller meets one of the second preset conditions, the rotating motor rotates by a preset angle and does not rotate for a whole circle, wherein the second preset conditions are different from each other;
And step 304, the controller controls the rotating motor to stop working under the condition that the acquired angular displacement signal meets a third preset condition, and controls the lifting motor to start working after controlling the rotating motor to stop working, and the controller rotates the rotating motor for a whole circle when the acquired angular displacement signal meets the third preset condition.
It should be noted that, the description of the above method has been described in detail in the description of the above apparatus, and will not be repeated here.
Fig. 4 is a flowchart illustrating a method of identifying a thread surface defect of a bolt hole according to an exemplary embodiment. The method can be applied to an upper computer, and the upper computer can be computer equipment such as a desktop computer, a notebook computer or a server, and the type of the upper computer is not limited in the embodiment of the disclosure. As shown in fig. 4, the method may include:
Step 400, the upper computer sequentially receives a plurality of images from the camera;
Step 401, when the upper computer receives an image, sequentially corresponding one coordinate in a pre-stored coordinate set to the image;
In step 402, the upper computer splices the images into a panorama according to the images and coordinates corresponding to the images.
For example, the upper computer may pre-store a coordinate set { (x 1, y 1), (x 2, y 2), (x 3, y 3), (x 4, y 4) }, where the coordinate set may include a plurality of coordinates arranged according to a preset movement track of the linear camera, the upper computer may receive a plurality of images b1, b2, b3, b4 from the linear camera, and the upper computer corresponds each received image to one coordinate according to an order of receiving the images and an arrangement order of the coordinates in the coordinate set, for example, b1 corresponds to (x 1, y 1), b2 corresponds to (x 2, y 2), b3 corresponds to (x 3, y 3), and b4 corresponds to (x 4, y 4).
In one possible implementation, the method may further include:
The upper computer displays the spliced panoramic image;
And the upper computer displays coordinates of one or more selected areas in the panoramic image when the one or more selected areas are selected.
For example, the upper computer may splice the images b1, b2, b3, and b4 into a panorama according to the correspondence relationship of b1 correspondence (x 1, y 1), b2 correspondence (x 2, y 2), b3 correspondence (x 3, y 3), and b4 correspondence (x 4, y 4), and may display the panorama, when the service personnel find that a defect occurs in the panorama, one or more regions where the defect is located may be selected in the interaction section of the panorama, for example, b1, and the upper computer may display coordinates corresponding to the one or more regions, for example, coordinates (x 1, y 1) corresponding to b1, when detecting that one or more regions in the interaction section of the panorama are selected.
Therefore, when the defects of the panorama are identified, the overhauling staff can obtain the coordinates corresponding to the defects, and the overhauling staff can find the actual positions of the defects in the bolt holes according to the coordinates corresponding to the defects.
The present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical encoding device, punch cards or intra-groove protrusion structures such as those having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as SMALLTALK, C ++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the technical improvement of the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (13)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010512169.0A CN111624209B (en) | 2020-06-08 | 2020-06-08 | Bolt hole thread surface defect recognition device, method and image processing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010512169.0A CN111624209B (en) | 2020-06-08 | 2020-06-08 | Bolt hole thread surface defect recognition device, method and image processing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111624209A CN111624209A (en) | 2020-09-04 |
| CN111624209B true CN111624209B (en) | 2025-02-14 |
Family
ID=72258240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010512169.0A Active CN111624209B (en) | 2020-06-08 | 2020-06-08 | Bolt hole thread surface defect recognition device, method and image processing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111624209B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212514315U (en) * | 2020-06-08 | 2021-02-09 | 中核武汉核电运行技术股份有限公司 | Threaded surface defect recognition device for bolt hole |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3996728B2 (en) * | 2000-03-08 | 2007-10-24 | 株式会社日立製作所 | Surface inspection apparatus and method |
| JP5869817B2 (en) * | 2011-09-28 | 2016-02-24 | 株式会社日立ハイテクノロジーズ | Defect inspection method and defect inspection apparatus |
| JP6371044B2 (en) * | 2013-08-31 | 2018-08-08 | 国立大学法人豊橋技術科学大学 | Surface defect inspection apparatus and surface defect inspection method |
| CN107084994B (en) * | 2017-06-22 | 2023-08-11 | 山东明佳科技有限公司 | Transparent container opening crack detection system and method |
| CN110687130A (en) * | 2019-09-27 | 2020-01-14 | 天津大学 | Automatic detection method for inner wall defects of micro-holes |
-
2020
- 2020-06-08 CN CN202010512169.0A patent/CN111624209B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212514315U (en) * | 2020-06-08 | 2021-02-09 | 中核武汉核电运行技术股份有限公司 | Threaded surface defect recognition device for bolt hole |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111624209A (en) | 2020-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230214979A1 (en) | Systems and methods for inspecting pipelines using a robotic imaging system | |
| CN107170499B (en) | A kind of nuclear fuel detection device and method | |
| TW449848B (en) | Apparatus and method for inspecting defects on wafer periphery | |
| KR101438640B1 (en) | Apparatus and method for controlliing sun visor | |
| CN104061878B (en) | shape measuring apparatus | |
| JP6865046B2 (en) | Methods and devices for automatically identifying points of interest in depth measurement of visible objects | |
| CN104007122A (en) | Cylindrical object lateral surface detection device and method based on turntable type assembly line | |
| CN204131634U (en) | The robot surveillance of tool image identification and automatically patrol path setting | |
| CN108534994A (en) | Device and method for testing uniformity of large-diameter uniform light source | |
| CN111263030A (en) | Image pickup apparatus and cleaning control method thereof | |
| CN111624209B (en) | Bolt hole thread surface defect recognition device, method and image processing method | |
| KR20170133113A (en) | Method and apparatus of detecting particles on upper surface of glass, and method of irradiating incident light | |
| CN104155675A (en) | Radiation source positioning and imaging device | |
| US10636273B2 (en) | Coordinate measuring device | |
| CN212514315U (en) | Threaded surface defect recognition device for bolt hole | |
| WO2020240918A1 (en) | Work supporting system, work supporting method and program | |
| CN111104812B (en) | Two-dimensional code recognition device and two-dimensional code detection equipment | |
| KR102041408B1 (en) | Flare test system of camera module | |
| CN216840534U (en) | An image matching adjustment device for scaffold safety analysis technology | |
| US20230001584A1 (en) | Robot, method of capture image, electronic device, and computer-readable storage medium | |
| CN109211915B (en) | Inspection apparatus | |
| JP5332767B2 (en) | Origin detection method, origin detection apparatus, and surveillance camera apparatus | |
| CN102565066A (en) | Rod detection equipment with shading piece | |
| JP5457283B2 (en) | Imaging device | |
| JP2013076631A (en) | Nuclear power plant inspection apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |