Detection method and detection device for impingement hole of pipeline

Abstract

The invention relates to a method and a device for detecting an impact hole of a pipeline. The method for detecting the impact hole of the pipeline comprises the following steps: acquiring a three-dimensional profile of the pipeline from a three-dimensional measuring device; acquiring an image of the pipeline from the two-dimensional imaging device, the image of the pipeline including the impingement hole; contour detection is conducted on the image of the pipeline, and the two-dimensional contour of the impact hole is determined; and according to the three-dimensional contour of the pipeline, the two-dimensional contour of the impact hole, the pose of the three-dimensional measuring device and the pose of the two-dimensional imaging device, determining geometric information of the impact hole on the pipeline.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of pipeline detection, and in particular, to a method for detecting an impact hole of a pipeline and a detection device. BACKGROUND

[0002] In an aero-engine, when the temperature of a low-pressure turbine unit body casing structure is too high, excessive expansion occurs, which leads to a large gap between the low-pressure turbine blade tip and the casing, and airflow flows out of the gap, resulting in a decrease in turbine power. By controlling the amount of cooling air bleed at the impact hole of a pipeline (e.g., a low-pressure turbine gap active control pipeline) connected to the low-pressure turbine unit body, the gap between the low-pressure turbine blade tip and the casing can be adjusted. Therefore, the positional accuracy of the impact hole of the pipeline after processing and assembly is extremely important.

[0003] In related technologies, the position of the impact hole of the pipeline is detected only by using images or by using sound waves and the like. The above position detection has problems such as low accuracy, large amount of detection data, and difficulty in processing. SUMMARY

[0004] In related technologies, when the position of the impact hole of the pipeline is detected, there are problems such as low accuracy, large amount of detection data, and difficulty in processing, and rapid and accurate detection of the position of the impact hole cannot be achieved.

[0005] In view of this, the present disclosure provides a method for detecting an impact hole of a pipeline, which can rapidly and accurately detect the impact hole of the pipeline.

[0006] According to one aspect of the present disclosure, a method for detecting an impact hole of a pipeline is provided, comprising:

[0007] acquiring a three-dimensional profile of the pipeline from a three-dimensional measuring device;

[0008] acquiring an image of the pipeline from a two-dimensional imaging device, the image of the pipeline including the impact hole;

[0009] performing contour detection on the image of the pipeline to determine a two-dimensional contour of the impact hole;

[0010] determining geometric information of the impact hole on the pipeline according to the three-dimensional profile of the pipeline, the two-dimensional contour of the impact hole, a pose of the three-dimensional measuring device, and a pose of the two-dimensional imaging device.

[0011] In some embodiments, determining the geometric information of the impact hole on the pipeline according to the three-dimensional profile of the pipeline, the two-dimensional contour of the impact hole, the pose of the three-dimensional measuring device, and the pose of the two-dimensional imaging device comprises:

[0012] convert the three-dimensional profile of the pipeline and the two-dimensional profile of the impact hole to a same coordinate system according to the pose of the three-dimensional measuring device and the pose of the two-dimensional imaging device;

[0013] determine an imaging center of the two-dimensional imaging device according to the pose of the two-dimensional imaging device and the calibration information;

[0014] determine geometric information of the impact hole on the pipeline according to the three-dimensional profile of the pipeline, the two-dimensional profile of the impact hole, and the imaging center of the two-dimensional imaging device.

[0015] In some embodiments, determining the geometric information of the impact hole on the pipeline according to the three-dimensional profile of the pipeline, the two-dimensional profile of the impact hole, and the imaging center of the two-dimensional imaging device comprises:

[0016] generate a conic surface with the imaging center as an apex according to the two-dimensional profile of the impact hole and the imaging center of the two-dimensional imaging device, the conic surface intersecting the two-dimensional profile of the impact hole;

[0017] determine the geometric information of the impact hole on the pipeline according to an intersection curve of the conic surface and the three-dimensional profile of the pipeline, the geometric information comprising a geometric profile.

[0018] In some embodiments, determining the geometric information of the impact hole on the pipeline according to the three-dimensional profile of the pipeline, the two-dimensional profile of the impact hole, and the imaging center of the two-dimensional imaging device comprises:

[0019] determine a two-dimensional center point of the impact hole according to the two-dimensional profile of the impact hole;

[0020] generate a ray with the imaging center as an apex according to the two-dimensional center point of the impact hole and the imaging center of the two-dimensional imaging device, the ray intersecting the two-dimensional center point of the impact hole;

[0021] determine the geometric information of the impact hole on the pipeline according to an intersection point of the ray and the three-dimensional profile of the pipeline, the geometric information comprising a geometric center.

[0022] In some embodiments, a first position where the three-dimensional measuring device measures the three-dimensional profile of the pipeline is the same as a second position where the two-dimensional imaging device generates the image of the pipeline.

[0023] In some embodiments, the first position and the second position are both end effectors of a same mechanical arm.

[0024] In some embodiments, the pose of the three-dimensional measuring device and the pose of the two-dimensional imaging device are determined according to a pose matrix of the robotic arm.

[0025] In some embodiments, acquiring the three-dimensional profile of the pipe from the three-dimensional measuring device comprises: acquiring the three-dimensional profile of the pipe from a three-dimensional optical scanning sensor and / or a contact sensor.

[0026] In some embodiments, acquiring the three-dimensional profile of the pipe from the three-dimensional measuring device comprises:

[0027] acquiring the overall profile of the pipe from the three-dimensional optical scanning sensor;

[0028] acquiring the three-dimensional coordinates of the interface feature of the pipe from the contact sensor;

[0029] determining the three-dimensional profile of the pipe according to the overall profile of the pipe and the three-dimensional coordinates of the interface feature.

[0030] In some embodiments, the three-dimensional profile of the pipe comprises at least one of a spatial position, a geometric shape, and a boundary edge of the pipe.

[0031] In some embodiments, the pipe is a low-pressure turbine gap active control pipe.

[0032] In some embodiments, the detecting the two-dimensional profile of the impingement hole by contour detection on the image of the pipe comprises: detecting the two-dimensional profile of the impingement hole by contour detection on the image of the pipe through a contour detection operator.

[0033] In some embodiments, the detecting method further comprises:

[0034] performing at least one of a grayscale transformation, a filtering process, a hole filling, and a distortion removal process on the image of the pipe before the contour detection.

[0035] According to another aspect of the present disclosure, there is provided a detecting device of an impingement hole of a pipe, comprising:

[0036] a first acquiring module configured to acquire a three-dimensional profile of a pipe from a three-dimensional measuring device;

[0037] a second acquiring module configured to acquire an image of the pipe from a two-dimensional imaging device, the image of the pipe comprising an impingement hole;

[0038] a contour detection module configured to detect a two-dimensional profile of the impingement hole by contour detection on the image of the pipe;

[0039] The determining module is configured to determine the geometric information of the impact hole on the pipeline according to the three-dimensional profile of the pipeline, the two-dimensional profile of the impact hole, the pose of the three-dimensional measuring device, and the pose of the two-dimensional imaging device.

[0040] In some embodiments, the detection device further comprises:

[0041] The preprocessing module is configured to perform at least one of gray scale transformation, filtering processing, hole filling, and distortion removal processing on the image of the pipeline before profile detection.

[0042] According to still another aspect of the present disclosure, there is provided a detection device for an impact hole of a pipeline, comprising:

[0043] a memory; and

[0044] a processor coupled to the memory, the processor being configured to execute a detection method as described above based on instructions stored in the memory.

[0045] In some embodiments, the detection device further comprises:

[0046] a three-dimensional measuring device configured to acquire a three-dimensional profile of the pipeline;

[0047] a two-dimensional imaging device configured to acquire an image of the pipeline.

[0048] According to still another aspect of the present disclosure, there is provided a computer readable storage medium, wherein the computer readable storage medium stores computer instructions, and the instructions, when executed by a processor, implement a detection method as described above.

[0049] According to still another aspect of the present disclosure, there is provided a computer program product, wherein the computer program product stores computer instructions, and the instructions, when executed by a processor, implement a detection method as described above.

[0050] The detection method of the present disclosure can quickly and accurately detect the impact hole of the pipeline by combining the three-dimensional profile and the image of the pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0051] The accompanying drawings, which form a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0052] The present disclosure can be understood more readily by reference to the following detailed description, taken in connection with the accompanying drawings, and wherein:

[0053] Figure 1 is a flowchart illustrating a detection method for an impact hole of a pipeline according to some embodiments of the present disclosure;

[0054] Figure 2is a schematic diagram showing a mechanical arm according to some embodiments of the present disclosure;

[0055] Figure 3 is a flow chart showing specific steps of determining geometric information of a percussion hole on a pipeline according to some embodiments of the present disclosure;

[0056] Figure 4 is a schematic diagram showing determination of geometric information of a percussion hole on a pipeline according to some embodiments of the present disclosure;

[0057] Figure 5 is a schematic diagram showing determination of geometric information of a percussion hole on a pipeline according to some other embodiments of the present disclosure;

[0058] Figure 6 is a block diagram showing a detection device of a percussion hole of a pipeline according to some embodiments of the present disclosure;

[0059] Figure 7 is a block diagram showing a detection device of a percussion hole of a pipeline according to some other embodiments of the present disclosure;

[0060] Figure 8 is a block diagram showing a detection device of a percussion hole of a pipeline according to some further embodiments of the present disclosure;

[0061] Figure 9 is a block diagram showing a computer system for implementing some embodiments of the present disclosure.

[0062] It should be understood that the dimensions of the various portions shown in the drawings are chosen for purposes of illustration only and are not intended to be limiting. Furthermore, like or similar reference numerals are intended to refer to like or similar components. DETAILED DESCRIPTION

[0063] Various embodiments of the present disclosure will now be described in detail with reference to the drawings. The description of the embodiments is merely illustrative in nature and is in no way intended to limit the disclosure, its application or uses. The disclosure can take many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the disclosure to those skilled in the art. It should be noted that the relative

[0064] The terms "first", "second", and similar terms in the present disclosure do not denote any order, quantity, or importance, but are used to distinguish different parts. The terms "comprises", "comprising", and similar terms are intended to encompass the elements listed after the terms in the word, but do not exclude other elements.

[0065] All the terms used in the present disclosure, including technical terms or scientific terms, have the same meanings as those understood by a person of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that the terms defined in general dictionaries should be interpreted in the same meaning as their meanings in the context of the relevant art, and should not be interpreted in an idealized or extremely formalized sense, unless otherwise specifically defined herein.

[0066] Techniques, methods, and devices known to those of ordinary skill in the relevant art can not be discussed in detail, but should be considered part of the specification where appropriate.

[0067] In the conventional impact hole detection method, a large amount of detection data needs to be processed, and the detection accuracy is poor and the efficiency is low.

[0068] Therefore, the present disclosure provides a pipe impact hole detection method, which can use less detection data to quickly and accurately detect the impact hole of the pipe.

[0069] First, in combination with Figure 1 Some embodiments of the pipe impact hole detection method in the present disclosure are described. Figure 1 is a flow chart showing the pipe impact hole detection method according to some embodiments of the present disclosure. As Figure 1 shown, the pipe impact hole detection method includes steps S1 to S4.

[0070] In step S1, the three-dimensional profile of the pipe is obtained from the three-dimensional measuring device. The three-dimensional profile includes at least one of the spatial position, the geometric shape, and the boundary edge of the pipe.

[0071] In some embodiments, the three-dimensional measuring device includes a three-dimensional optical scanning sensor and / or a contact sensor. In step S1, obtaining the three-dimensional profile of the pipe from the three-dimensional measuring device includes obtaining the three-dimensional profile of the pipe from the three-dimensional optical scanning sensor and / or the contact sensor.

[0072] The three-dimensional optical scanning sensor can quickly obtain the point cloud information of the three-dimensional profile of the pipe, improving the detection speed. The contact sensor can touch the pipe, and the measurement accuracy of the contact sensor is higher than that of the three-dimensional optical scanning sensor, but the measurement efficiency is lower than that of the three-dimensional optical scanning sensor.

[0073] To further utilize the advantages of the three-dimensional optical scanning sensor and the contact sensor, in some embodiments, the acquiring, at step S1, the three-dimensional profile of the pipeline from the three-dimensional measuring device comprises: acquiring, from the three-dimensional optical scanning sensor, the overall profile of the pipeline; acquiring, from the contact sensor, the three-dimensional coordinates of the interface feature of the pipeline; and determining the three-dimensional profile of the pipeline according to the overall profile of the pipeline and the three-dimensional coordinates of the interface feature.

[0074] In the above process, the overall profile of the pipeline can be quickly acquired by the three-dimensional optical scanning sensor, and the accurate three-dimensional coordinate information of the interface feature of the pipeline can be acquired by the contact sensor. The interface feature of the pipeline is, for example, a part of the characteristic points or characteristic regions of the pipeline. By combining the overall profile of the pipeline and the three-dimensional coordinate information of the interface feature, the three-dimensional profile of the pipeline can be determined, for example, the overall profile of the pipeline can be corrected according to the three-dimensional coordinate information of the interface feature.

[0075] In some embodiments, the pipeline for which the impact hole detection is performed is a low-pressure turbine gap active control pipeline. By accurately detecting the position of the impact hole of the low-pressure turbine gap active control pipeline, the amount of cooling air bleed at the impact hole of the low-pressure turbine gap active control pipeline can be more accurately controlled to adjust the clearance between the low-pressure turbine blade tip and the casing by cooling the low-pressure turbine, thereby improving the power of the turbine.

[0076] At step S2, an image of the pipeline is acquired from a two-dimensional imaging device, wherein the image of the pipeline includes the impact hole.

[0077] The two-dimensional imaging device described above can be, for example, an industrial camera sensor. By shooting the pipeline with the impact hole side through the industrial camera sensor, the image of the pipeline is acquired, wherein the image of the pipeline includes the impact hole. For example, the impact hole can be imaged at a right angle so that the profile of the impact hole in the image of the pipeline is larger, improving the efficiency of profile detection in subsequent processing, thereby improving the detection efficiency.

[0078] In some embodiments, the first position at which the three-dimensional measuring device measures the three-dimensional profile of the pipeline is the same as the second position at which the two-dimensional imaging device generates the image of the pipeline, in other words, the two-dimensional imaging device can be in the same position as the three-dimensional measuring device when the two-dimensional imaging device is running.

[0079] Specifically, the above configuration can be achieved by alternately using the three-dimensional measuring device and the two-dimensional imaging device at the end of the mechanical arm.

[0080] Figure 2 is a schematic diagram showing a mechanical arm according to some embodiments of the present disclosure. As Figure 2As shown, the end effector of the robot arm can alternately use the two-dimensional imaging device 21 and the three-dimensional measuring device 22. Therefore, the first position and the second position can both be the end effector of the same robot arm.

[0081] The unified operating position of the above devices can ensure that the poses of the devices are completely the same when the devices are operating, and can improve the efficiency of subsequent determination of the geometric information of the impact hole on the pipeline. For example, the image of the pipeline obtained from the two-dimensional imaging device and the three-dimensional profile of the pipeline obtained from the three-dimensional measuring device can be directly in the same coordinate system, thereby omitting the step of coordinate system conversion and avoiding errors caused by coordinate system conversion, and the efficiency and accuracy of impact hole detection can be further improved.

[0082] In addition, the use of the three-dimensional measuring device and the two-dimensional imaging device respectively can be lower in cost under the condition of meeting the measurement accuracy requirement, which is helpful for cost saving.

[0083] In step S3, the image of the pipeline is profiled to determine the two-dimensional profile of the impact hole.

[0084] In some embodiments, the step S3 of profiling the image of the pipeline to determine the two-dimensional profile of the impact hole comprises: profiling the image of the pipeline by a profile detection operator to determine the two-dimensional profile of the impact hole.

[0085] Since the image of the pipeline has the impact hole, the profile detection operator is used to detect the profile of the impact hole in the image to determine the two-dimensional profile of the impact hole. By processing only the image of the pipeline, the detection data required to be used can be reduced, and the detection efficiency can be improved.

[0086] In some embodiments, the detection method of the present disclosure further comprises: at least one of gray scale transformation, filtering processing, hole filling and distortion removal processing is performed on the image of the pipeline before the profile detection.

[0087] For example, the image of the pipeline can be subjected to distortion removal processing according to the parameter matrix and the distortion coefficient of the two-dimensional imaging device, so as to reduce the interference caused by the two-dimensional imaging device itself and improve the data accuracy. For another example, the image of the pipeline can also be subjected to gray scale transformation and filtering processing, and the texture can be removed by hole filling to optimize the image data of the pipeline.

[0088] In step S4, the geometric information of the impact hole on the pipeline is determined according to the three-dimensional profile of the pipeline, the two-dimensional profile of the impact hole, the pose of the three-dimensional measuring device and the pose of the two-dimensional imaging device.

[0089] In some embodiments using a robot arm, the pose of the three-dimensional measuring device and the pose of the two-dimensional imaging device are determined according to a pose matrix of the robot arm. The kinematic model parameters of all robot arms are known at the factory, and the motion information of the robot arm can be directly read by the robot arm console. The pose matrix of the robot arm can be calculated by the above information.

[0090] The specific embodiments of step S4 will be described below. Figure 3 The specific embodiments of step S4 will be described below. Figure 3 is a flowchart showing specific steps of determining the geometric information of the impact hole on the pipeline according to some embodiments of the present disclosure.

[0091] As shown in Figure 3 In some embodiments, step S4 of determining the geometric information of the impact hole on the pipeline according to the three-dimensional profile of the pipeline, the two-dimensional profile of the impact hole, the pose of the three-dimensional measuring device, and the pose of the two-dimensional imaging device includes steps S41 to S43.

[0092] In step S41, the three-dimensional profile of the pipeline and the two-dimensional profile of the impact hole are converted to the same coordinate system according to the pose of the three-dimensional measuring device and the pose of the two-dimensional imaging device.

[0093] According to the pose of the three-dimensional measuring device and the pose of the two-dimensional imaging device, a conversion matrix between the measurement coordinate system of the three-dimensional measuring device and the measurement coordinate system of the two-dimensional imaging device can be determined. The conversion can be, for example, converting the three-dimensional profile of the pipeline into the same coordinate system as the two-dimensional profile of the impact hole by the conversion matrix; or converting the two-dimensional profile of the impact hole into the same coordinate system as the three-dimensional profile of the pipeline by the conversion matrix.

[0094] In some embodiments using a robot arm, the three-dimensional profile of the pipeline and the two-dimensional profile of the impact hole can also be converted into the robot arm coordinate system with the robot arm origin as the origin according to the pose matrix of the robot arm, the pose of the three-dimensional measuring device, and the pose of the two-dimensional imaging device. The conversion can be performed when the pose of the three-dimensional measuring device and the pose of the two-dimensional imaging device are determined according to the pose matrix of the robot arm, further improving the detection efficiency.

[0095] In step S42, the imaging center of the two-dimensional imaging device is determined according to the pose of the two-dimensional imaging device and the calibration information.

[0096] For example, the imaging center of the two-dimensional imaging device can be the optical center of the industrial camera sensor. The three-dimensional coordinate information of the imaging center of the two-dimensional imaging device can be determined by the pose information of the two-dimensional imaging device and the built-in calibration information.

[0097] The distance between the imaging center and the pipeline can affect the two-dimensional contour of the impact hole in the pipeline image. For example, the closer the pipeline is to the imaging center, the larger the impact hole will be in the generated pipeline image. In other words, given that the two-dimensional contour of the impact hole is known in the image, the farther the pipeline is from the imaging center, the larger the actual impact hole will be.

[0098] In some embodiments, the imaging axis of the two-dimensional imaging device may be further determined, such as the optical axis of an industrial camera sensor, to further improve the detection accuracy.

[0099] In step S43, the geometric information of the impact hole on the pipeline is determined based on the three-dimensional contour of the pipeline, the two-dimensional contour of the impact hole, and the imaging center of the two-dimensional imaging device.

[0100] The geometric information in step S43 may include the geometric profile of the impact hole and the geometric center of the impact hole.

[0101] The following will combine Figure 4 This section explains how to determine the geometric profile of an impact hole in a pipeline. Figure 4 This is a schematic diagram illustrating the determination of the geometric information of the impact hole in the pipeline according to some embodiments of the present disclosure.

[0102] like Figure 4 As shown, in some embodiments, determining the geometric information of the impact hole on the pipeline based on the three-dimensional contour 44 of the pipeline, the two-dimensional contour 41 of the impact hole, and the imaging center 42 of the two-dimensional imaging device includes: generating a conical surface 43 with the imaging center 42 as the vertex based on the two-dimensional contour 41 of the impact hole and the imaging center 42 of the two-dimensional imaging device, the conical surface 43 intersecting with the two-dimensional contour 41 of the impact hole; and determining the geometric information of the impact hole on the pipeline based on the intersection curve 45 of the conical surface 43 and the three-dimensional contour 44 of the pipeline, the geometric information including the geometric contour.

[0103] In the above embodiment, the conical surface 43 is designed based on the aforementioned principle of the two-dimensional imaging device. Since the two-dimensional contour of the impact hole in the pipeline image is related to the distance between the pipeline and the imaging center, the conical surface 43, with the imaging center 41 as the vertex and passing through the two-dimensional contour 42 of the impact hole, represents the set of possible locations of the impact hole. In other words, only the impact hole located on this conical surface 43 can match the two-dimensional contour of the impact hole in the pipeline image after being captured by the two-dimensional imaging device.

[0104] Similarly, the three-dimensional profile 44 of the pipeline is also a set of possible locations for impact holes. Therefore, the geometric profile of the impact hole on the pipeline can be determined based on the intersection curve 45 of the conical surface 43 and the three-dimensional profile 44 of the pipeline.

[0105] The above text introduced some examples of how to determine the geometric profile of impact holes in pipelines. The following will combine... Figure 5 This section describes how to determine the geometric center of the impact hole in the pipeline. Figure 5 This is a schematic diagram illustrating the determination of the geometric information of the impact hole in the pipeline according to other embodiments of this disclosure.

[0106] like Figure 5 As shown, in some other embodiments, determining the geometric information of the impact hole on the pipeline based on the three-dimensional contour 44 of the pipeline, the two-dimensional contour 41 of the impact hole, and the imaging center 42 of the two-dimensional imaging device includes: determining the two-dimensional center point 51 of the impact hole based on the two-dimensional contour 41 of the impact hole; generating a ray 53 with the imaging center 42 as its vertex based on the two-dimensional center point 51 of the impact hole and the imaging center 42 of the two-dimensional imaging device, the ray intersecting the two-dimensional center point 51 of the impact hole; and determining the geometric information of the impact hole on the pipeline based on the intersection point 55 of the ray and the three-dimensional contour of the pipeline, the geometric information including the geometric center.

[0107] Similar to the foregoing embodiments, in some other embodiments of this disclosure, the two-dimensional center point of the impact hole can be determined first by the two-dimensional outline of the impact hole, for example, the pixel center point of the two-dimensional outline of the impact hole can be determined as the two-dimensional center point of the impact hole.

[0108] Based on the same principle as the aforementioned embodiments, with the imaging center as the vertex, the ray passing through the two-dimensional center point of the impact hole represents the set of possible locations where the center of the impact hole may exist. The intersection point of this ray with the three-dimensional contour of the pipeline is the geometric center of the impact hole on the pipeline.

[0109] The method for detecting impact holes in pipelines described above can quickly and accurately detect impact holes using relatively little testing data. Furthermore, it can eliminate interference during the testing process, further improving the accuracy of the detection.

[0110] Based on the above Figures 1 to 5 The method for detecting impact holes in pipelines proposed in this disclosure is introduced below. Figures 6 to 8 This disclosure introduces a device for detecting impact holes in pipelines.

[0111] Figure 6 This is a block diagram illustrating a device for detecting impact holes in a pipeline according to some embodiments of the present disclosure. Figure 6As shown, the detection device 6 includes a first acquisition module 60, configured to acquire the three-dimensional contour of the pipeline from a three-dimensional measuring device; a second acquisition module 62, configured to acquire an image of the pipeline from a two-dimensional imaging device, the image of the pipeline including the impact hole; a contour detection module 64, configured to perform contour detection on the image of the pipeline to determine the two-dimensional contour of the impact hole; and a determination module 66, configured to determine the geometric information of the impact hole on the pipeline based on the three-dimensional contour of the pipeline, the two-dimensional contour of the impact hole, the pose of the three-dimensional measuring device, and the pose of the two-dimensional imaging device.

[0112] The first acquisition module 60 of the detection device can be used to perform Figure 1 Step S1 in the process. The second acquisition module 62 of the detection device can be used to perform... Figure 1 Step S2. The contour detection module 64 of the detection device can be used to perform... Figure 1 Step S3. The determination module 66 of the detection device can be used to perform... Figure 1 Step S4 in the process.

[0113] Figure 7 This is a block diagram illustrating a device for detecting impact holes in a pipeline according to other embodiments of this disclosure. Figure 7 As shown, the detection device 7 in some other embodiments of this disclosure is... Figure 6 Based on the detection device 6, it also includes a preprocessing module 63, configured to perform at least one of grayscale transformation, filtering, hole filling and distortion removal on the pipeline image before performing contour detection.

[0114] Figure 8 This is a block diagram illustrating a device for detecting impact holes in a pipeline according to some embodiments of the present disclosure. Figure 8 As shown, the detection device 8 includes: a memory 81; and a processor 82 coupled to the memory 81, the processor 82 being configured to execute the detection method as described in any of the embodiments above based on instructions stored in the memory.

[0115] The pipe impact hole detection device described above can quickly and accurately detect impact holes using less detection data. Simultaneously, it can eliminate interference during the detection process, further improving detection accuracy.

[0116] In some embodiments, the detection apparatus may further include a three-dimensional measuring device and a two-dimensional imaging device. The three-dimensional measuring device is configured to acquire the three-dimensional contour of the pipeline, and the two-dimensional imaging device is configured to acquire an image of the pipeline.

[0117] Figure 9 This is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure.

[0118] like Figure 9As shown, computer system 9 can be represented in the form of a general computing device. Computer system 9 includes memory 91, processor 92, and bus 90 connecting different system components.

[0119] The memory 91 can be various forms of computer-readable storage media, such as system memory, non-volatile storage media, etc. System memory may store, for example, an operating system, application programs, a bootloader, and other programs. System memory may include volatile storage media, such as random access memory (RAM) and / or cache memory. Non-volatile storage media may store, for example, instructions for executing corresponding embodiments of the detection method. Non-volatile storage media include, but are not limited to, disk storage, optical storage, flash memory, etc.

[0120] Processor 92 can be implemented using a general-purpose processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA) or other programmable logic devices, discrete hardware components such as discrete gates or transistors. Accordingly, each module can be implemented by executing instructions in the central processing unit (CPU) memory to perform the corresponding steps, or by implementing dedicated circuits to perform the corresponding steps.

[0121] Bus 90 can use any of the various bus architectures. For example, bus architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MCA) bus, and the Peripheral Component Interconnect (PCI) bus.

[0122] The computer system 9 may also include an input / output interface 93, a network interface 94, and a storage interface 95. These interfaces 93, 94, and 95, as well as the memory 91 and processor 92, can be connected via a bus 90. The input / output interface 93 provides a connection interface for input / output devices such as a monitor, mouse, and keyboard. The network interface 94 provides a connection interface for various networked devices. The storage interface 95 provides a connection interface for external storage devices such as floppy disks, USB flash drives, and SD cards.

[0123] According to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product that, when run on a computer, causes the computer to implement the detection method described in any of the foregoing embodiments. The computer program product includes a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts.

[0124] Various embodiments of this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0125] While specific embodiments of this disclosure have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments or equivalent substitutions can be made to some technical features without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A method for detecting impact holes in a pipeline, comprising: Obtain the three-dimensional profile of the pipeline from a three-dimensional measuring device; An image of a pipeline is acquired from a two-dimensional imaging device, the image of the pipeline including impact holes; Contour detection is performed on the image of the pipeline to determine the two-dimensional contour of the impact hole; The geometric information of the impact hole on the pipeline is determined based on the three-dimensional profile of the pipeline, the two-dimensional profile of the impact hole, the pose of the three-dimensional measuring device, and the pose of the two-dimensional imaging device.

2. The detection method according to claim 1, wherein, Based on the three-dimensional contour of the pipeline, the two-dimensional contour of the impact hole, the pose of the three-dimensional measuring device, and the pose of the two-dimensional imaging device, the geometric information of the impact hole on the pipeline is determined, including: Based on the pose of the three-dimensional measuring device and the pose of the two-dimensional imaging device, the three-dimensional contour of the pipeline and the two-dimensional contour of the impact hole are transformed to the same coordinate system. The imaging center of the two-dimensional imaging device is determined based on the pose and calibration information of the two-dimensional imaging device. The geometric information of the impact hole on the pipeline is determined based on the three-dimensional contour of the pipeline, the two-dimensional contour of the impact hole, and the imaging center of the two-dimensional imaging device.

3. The detection method according to claim 2, wherein, Determining the geometric information of the impact hole on the pipeline based on the three-dimensional contour of the pipeline, the two-dimensional contour of the impact hole, and the imaging center of the two-dimensional imaging device includes: Based on the two-dimensional contour of the impact hole and the imaging center of the two-dimensional imaging device, a conical surface with the imaging center as the vertex is generated, and the conical surface intersects with the two-dimensional contour of the impact hole. The geometric information of the impact hole on the pipeline is determined based on the intersection curve of the conical surface and the three-dimensional profile of the pipeline, and the geometric information includes the geometric profile.

4. The detection method according to claim 2, wherein, Determining the geometric information of the impact hole on the pipeline based on the three-dimensional contour of the pipeline, the two-dimensional contour of the impact hole, and the imaging center of the two-dimensional imaging device includes: Based on the two-dimensional contour of the impact hole, determine the two-dimensional center point of the impact hole; Based on the two-dimensional center point of the impact hole and the imaging center of the two-dimensional imaging device, a ray is generated with the imaging center as the vertex, and the ray intersects with the two-dimensional center point of the impact hole. The geometric information of the impact hole on the pipeline is determined based on the intersection point of the ray and the three-dimensional contour of the pipeline, and the geometric information includes the geometric center.

5. The detection method according to claim 2, wherein, The first position of the three-dimensional measuring device when measuring the three-dimensional contour of the pipeline is the same as the second position of the two-dimensional imaging device when generating the image of the pipeline.

6. The detection method according to claim 5, wherein, Both the first position and the second position are the end effector of the same robotic arm.

7. The detection method according to claim 6, wherein, The poses of the three-dimensional measuring device and the two-dimensional imaging device are determined based on the pose matrix of the robotic arm.

8. The detection method according to claim 1, wherein, Obtaining the three-dimensional profile of the pipeline from a three-dimensional measuring device includes: The three-dimensional profile of the pipeline is obtained from a three-dimensional optical scanning sensor and / or a contact sensor.

9. The detection method according to claim 1, wherein, Obtaining the three-dimensional profile of the pipeline from a three-dimensional measuring device includes: The overall outline of the pipeline is obtained from a three-dimensional optical scanning sensor; The three-dimensional coordinates of the interface features of the pipeline are obtained from the contact sensor; The three-dimensional contour of the pipeline is determined based on the overall contour of the pipeline and the three-dimensional coordinates of the interface features.

10. The detection method according to claim 1, wherein, The three-dimensional profile of the pipeline includes at least one of the following: the spatial location, geometry, and boundary edges of the pipeline.

11. The detection method according to claim 1, wherein, The pipeline in question is a low-pressure turbine clearance active control pipeline.

12. The detection method according to claim 1, wherein, Performing contour detection on the image of the pipeline to determine the two-dimensional contour of the impact hole includes: The contour detection operator is used to perform contour detection on the image of the pipeline to determine the two-dimensional contour of the impact hole.

13. The detection method according to claim 1, further comprising: Before performing contour detection, the image of the pipeline is subjected to at least one of the following: grayscale transformation, filtering, hole filling, and distortion correction.

14. A device for detecting impact holes in a pipeline, comprising: The first acquisition module is configured to acquire the three-dimensional contour of the pipeline from the three-dimensional measuring device; The second acquisition module is configured to acquire an image of the pipeline from a two-dimensional imaging device, the image of the pipeline including an impact hole; The contour detection module is configured to perform contour detection on the image of the pipeline to determine the two-dimensional contour of the impact hole; The determination module is configured to determine the geometric information of the impact hole on the pipeline based on the three-dimensional contour of the pipeline, the two-dimensional contour of the impact hole, the pose of the three-dimensional measuring device, and the pose of the two-dimensional imaging device.

15. The detection device according to claim 14, further comprising: The preprocessing module is configured to perform at least one of the following on the image of the pipeline before contour detection: grayscale transformation, filtering, hole filling, and distortion correction.

16. A device for detecting impact holes in a pipeline, comprising: Memory; and A processor coupled to the memory, the processor being configured to execute the detection method according to any one of claims 1 to 13 based on instructions stored in the memory.

17. The detection device according to claim 16, further comprising: A three-dimensional measuring device configured to acquire the three-dimensional profile of a pipeline; A two-dimensional imaging device configured to acquire images of a pipeline.

18. A computer-readable storage medium, wherein, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the detection method according to any one of claims 1 to 13.

19. A computer program product, wherein, The computer program product stores computer instructions, which, when executed by a processor, implement the detection method according to any one of claims 1 to 13.

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