Bolt hole thread surface defect recognition device, method and image processing method

Abstract

The present disclosure belongs to the field of nuclear power maintenance technology, and specifically relates to a thread surface defect recognition device, method and image processing method for bolt holes. The thread surface defect recognition device for bolt holes of the present embodiment adopts a linear camera to collect images, and only scans one column of thread images at a time, which can effectively reduce the cylindrical distortion generated in the process of recognizing cylindrical curved surface structures. In addition, the present embodiment can effectively increase the shooting object distance of the linear camera through the structure of the light source, plane reflector and plane lens, and is conducive to keeping the object distance consistent each time the linear camera shoots, further effectively reducing the distortion generated by the collected image. In addition, the outer cover can effectively prevent debris or liquid from contaminating the linear camera, light source and plane reflector, thereby effectively increasing the service life of the device and further reducing the noise points of the captured image.

Description

Technical Field

[0001] The invention belongs to the technical field of nuclear power maintenance, and in particular relates to a device and method for identifying thread surface defects of a bolt hole, and an image processing method. Background Art

[0002] Video inspection of reactor pressure vessel bolt holes is a must during nuclear power plant overhauls. The purpose is to check whether the threads are defective, rusted, or adhered to impurities, provide a basis for the maintenance and repair of the bolt holes, and create conditions for the main bolts to be screwed in and out smoothly to avoid bolts being stuck. At the same time, due to the structural limitations of the reactor pressure vessel bolt holes, some parts cannot be directly visually inspected, and the working position is subject to a high radiation dose. Therefore, during the overhaul of nuclear power plants, how to efficiently, accurately, and completely obtain the thread images of the reactor pressure vessel bolt holes has become an urgent problem to be solved. Summary of the invention

[0003] In order to overcome the problems existing in the related art, a device, method and image processing method for identifying thread surface defects of a bolt hole are provided.

[0004] According to one aspect of an embodiment of the present disclosure, there is provided a device for identifying thread surface defects of a bolt hole, the device comprising: a linear camera, a light source, a plane reflector, and an outer cover;

[0005] The outer cover can be inserted into the bolt hole to be measured, the inner part of the outer cover has a cavity, the linear camera is arranged at the upper end of the cavity, and the plane reflector is arranged at the lower end of the cavity;

[0006] The light-sensitive surface of the linear camera is opposite to the light-reflecting surface of the plane reflector;

[0007] The side surface of the outer cover includes a plane lens, and the two side surfaces of the plane lens are planes;

[0008] The light source is arranged in the cavity, and the light emitted by the light source can be irradiated to the inner wall of the bolt hole through the plane lens. The light reflected by the inner wall of the bolt hole can be irradiated to the plane reflector through the plane lens, and then reflected to the photosensitive surface of the linear camera by the plane reflector.

[0009] In a possible implementation, the outer cover includes a camera mounting cover and a bottom cover;

[0010] The camera mounting cover is a cylindrical structure, and an opening is provided at the bottom end of the camera mounting cover. The bottom cover can be buckled at the opening, so that a cavity is enclosed between the inner wall of the camera mounting cover and the upper end of the bottom cover.

[0011] In a possible implementation, the thread surface defect identification device of the bolt hole further includes a first bracket, the first bracket is connected to the upper end of the bottom cover, and the plane reflector is arranged on the upper surface of the first bracket.

[0012] In a possible implementation manner, the first bracket is capable of adjusting the position of the plane reflector.

[0013] In a possible implementation, the device for identifying threaded surface defects of a bolt hole further includes a second bracket, the second bracket is connected to the upper end of the bottom cover, and the light source is disposed on the second bracket.

[0014] In a possible implementation manner, the second bracket is capable of adjusting the position of the light source.

[0015] In a possible implementation, the housing further includes a first interface;

[0016] The linear camera and the light source are connected to a power source through the first interface.

[0017] In a possible implementation, the housing further includes a second interface;

[0018] The linear camera is connected to the host computer via the second interface.

[0019] In a possible implementation, the bolt hole thread surface defect identification device further includes a brightness adjustment switch;

[0020] The brightness adjustment switch is arranged outside the outer cover and connected to the light source, and is used to adjust the brightness of the light source.

[0021] In a possible implementation, the bolt hole thread surface defect identification device further includes a lifting motor, a rotating motor and a controller;

[0022] The lifting motor is connected to the rotating motor, and the rotating motor is connected to the outer cover;

[0023] The lifting motor can drive the rotating motor and the outer cover to move in the vertical direction when driven;

[0024] The rotating motor can drive the outer cover to rotate in a horizontal direction when driven;

[0025] The controller is connected to the lifting motor, the rotating motor and the linear camera respectively;

[0026] The controller can drive the lifting motor or the rotating motor to work;

[0027] The controller can also trigger the linear camera to capture an image.

[0028] In one possible implementation,

[0029] The controller is capable of acquiring a displacement signal indicating the displacement amount of the lifting motor in the vertical direction from the lifting motor;

[0030] The controller is also capable of acquiring an angular displacement signal indicating a rotation angle of the rotating motor from the rotating motor;

[0031] The controller controls the lifting motor to stop working when the acquired displacement signal satisfies 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;

[0032] The controller controls the rotary motor to stop working when the acquired angular displacement signal satisfies one of the plurality of second preset conditions, controls the linear camera to perform shooting after controlling the rotary motor to stop working, and controls the rotary motor to start working after controlling the linear camera to perform shooting, when the acquired angular displacement signal satisfies one of the second preset conditions, the rotary motor rotates by a preset angle and does not rotate a full circle, each second preset condition is different from each other, and after the linear camera performs one shooting, the captured image is transmitted to the connected host computer;

[0033] When the angular displacement signal obtained by the controller meets the third preset condition, the controller controls the rotating motor to stop working, and after controlling the rotating motor to stop working, controls the lifting motor to start working. When the angular displacement signal obtained by the controller meets the third preset condition, the rotating motor rotates a full circle.

[0034] According to another aspect of the embodiment of the present disclosure, a method for identifying thread surface defects of a bolt hole is provided. The method is applied to the above-mentioned controller. The method includes:

[0035] The controller obtains a displacement signal from the lifting motor for indicating the displacement amount of the lifting motor in the vertical direction;

[0036] The controller obtains an angular displacement signal indicating a rotation angle of the rotating motor from the rotating motor;

[0037] The controller controls the lifting motor to stop working when the acquired displacement signal satisfies 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;

[0038] The controller controls the rotating motor to stop working when the acquired angular displacement signal satisfies one of the plurality of second preset conditions, controls the linear camera to perform shooting after controlling the rotating motor to stop working, and controls the rotating motor to start working after controlling the linear camera to perform shooting, and when the acquired angular displacement signal satisfies one of the second preset conditions, the rotating motor does not rotate one circle, and the second preset conditions are different from each other;

[0039] When the angular displacement signal obtained by the controller meets the third preset condition, the controller controls the rotating motor to stop working, and after controlling the rotating motor to stop working, controls the lifting motor to start working. When the angular displacement signal obtained by the controller meets the third preset condition, the rotating motor rotates one circle.

[0040] According to another aspect of an embodiment of the present disclosure, there is provided an image processing method, which is applied to a host computer and includes:

[0041] The host computer receives a plurality of images from the linear camera in sequence;

[0042] Each time the host computer receives an image, it sequentially matches one coordinate in the pre-stored coordinate set with the image;

[0043] The host computer stitches the images into a panoramic image according to the images and the coordinates corresponding to the images.

[0044] In a possible implementation, the method further includes:

[0045] The host computer displays the stitched panoramic image;

[0046] When one or more areas in the panoramic image are selected, the host computer displays the coordinates of the one or more selected areas.

[0047] According to another aspect of an embodiment of the present disclosure, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, and the computer program instructions implement the above method when executed by a processor.

[0048] The beneficial effects of the present invention are as follows: the disclosed embodiment uses a linear camera to collect images, and only scans one row of thread images at a time, which can effectively reduce the cylindrical distortion generated in the process of recognizing cylindrical curved surface structures, and the disclosed embodiment can effectively increase the shooting object distance of the linear camera through the structure of the light source, the plane reflector and the plane lens, and is conducive to the linear camera to keep the object distance consistent each time it shoots, further effectively reducing the distortion generated by the collected image. In addition, the outer cover can effectively prevent debris or liquid from contaminating the linear camera, the light source and the plane reflector, thereby effectively increasing the service life of the device and reducing the noise points of the captured image. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 The figure is a partial cross-sectional view of a device for identifying thread surface defects of a bolt hole according to an exemplary embodiment.

[0050] Figure 2 The figure is a schematic diagram of a device for identifying thread surface defects of a bolt hole according to an exemplary embodiment.

[0051] Figure 3 The present invention is a flow chart of a method for identifying thread surface defects of a bolt hole according to an exemplary embodiment.

[0052] Figure 4 The present invention is a flow chart of a method for identifying thread surface defects of a bolt hole according to an exemplary embodiment. DETAILED DESCRIPTION

[0053] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0054] Figure 1 FIG. 1 is a partial cross-sectional view of a device for identifying thread surface defects of a bolt hole according to an exemplary embodiment. Figure 1 As shown, the device for identifying thread surface defects of a bolt hole may include: a linear camera 7 , a light source 8 , a plane reflector 11 and an outer cover 2 .

[0055] In the embodiment of the present disclosure, the photosensitive elements of the photosensitive surface of the image sensor of the linear camera can be arranged linearly. The light source can be, for example, a component that can emit light, such as an LED (Light Emitting Diode), and the light source can be, for example, in the shape of a long strip. The embodiment of the present disclosure does not limit the type and shape of the light source.

[0056] As an example of this embodiment, the outer diameter of the outer cover 2 can be smaller than the bolt hole 4 to be measured, so that the outer cover 2 can be inserted into the bolt hole 4 to be measured. The outer cover can be, for example, a cylindrical structure or any other shape. The embodiment of the present disclosure does not limit the shape of the outer cover, as long as the outer cover can be inserted into the bolt hole to be measured. The outer cover 2 can have a cavity inside, wherein the cavity can be represented as a closed space isolated from the external space, and the linear camera 7, the light source 8 and the plane reflector 11 can be arranged in the cavity.

[0057] The linear camera 7 may be disposed at the upper end of the cavity, the plane reflector 11 may be disposed at the lower end of the cavity, and the light-sensitive surface of the linear camera 7 may be opposite to the light-reflecting surface of the plane reflector 11 .

[0058] The side surface of the outer cover 2 may include a plane lens 3. In the embodiment of the present disclosure, both side surfaces of the plane lens 3 may be planes.

[0059] The light emitted by the light source 8 can pass through the plane lens 3 to illuminate the inner wall of the bolt hole 4 , and the light reflected by the inner wall of the bolt hole 4 can pass through the plane lens 3 to illuminate the plane reflector 11 , and be reflected by the plane reflector 11 to the photosensitive surface of the linear camera 7 .

[0060] For example, the plane lens 3 can be parallel to the inner wall of the bolt hole 4, so that the plane lens 3 can not only ensure the airtightness of the cavity, but also reduce the refraction of the light reflected from the inner wall of the bolt hole 4. The reflective surface of the plane reflector 11 can be at a 45-degree angle with the plane lens 3, and the photosensitive surface of the linear camera 7 can be perpendicular to the plane reflector 11; in this way, the light reflected by the inner wall of the bolt hole 4 can be irradiated onto the plane reflector 11 through the plane lens 3, and then reflected by the plane reflector 11 to the photosensitive surface of the linear camera 7. The structure is simple and can effectively increase the shooting object distance of the linear camera 7. It should be noted that the plane lens, the plane reflector and the photosensitive surface of the linear camera can also be set to any relative position, as long as the linear camera can shoot the inner wall of the bolt hole through the plane reflector.

[0061] The disclosed embodiment uses a linear camera to capture images, and only scans one row of thread images at a time, which can effectively reduce the cylindrical distortion generated in the process of recognizing cylindrical curved surface structures. In addition, the disclosed embodiment can effectively increase the shooting object distance of the linear camera through the structure of the light source, plane reflector and plane lens, and is conducive to keeping the object distance consistent each time the linear camera shoots, further effectively reducing the distortion generated by the captured image. In addition, the outer cover can effectively prevent debris or liquid from contaminating the linear camera, light source and plane reflector, thereby effectively increasing the service life of the device and reducing the noise points of the captured image.

[0062] In a possible implementation, the outer cover 2 may include a camera mounting cover 21 and a bottom cover 22, wherein the camera mounting cover 21 may be a cylindrical structure, an opening may be provided at the bottom end of the camera mounting cover 21, and the bottom cover 22 may be buckled 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 may be disassembled as needed to adjust and repair the components inside the cavity.

[0063] In a possible implementation, the thread surface defect identification device of the bolt hole 4 may further include a first bracket 10, which may be connected to the upper end of the bottom cover 22, and the plane reflector 11 is arranged on the upper surface of the first bracket 10. The position of the plane reflector 11 may be adjusted by the first bracket 10, for example, the position of the plane reflector 11 in the vertical direction may be adjusted by the first bracket 10; the angle between the plane reflector 11 and the plane lens 3 may also be adjusted by the first bracket 10; and the distance between the plane reflector 11 and the plane lens 3 may also be adjusted by the first bracket 10.

[0064] In a possible implementation, the thread surface defect identification device of the bolt hole 4 may further include a second bracket (not shown in the figure), which may be connected to the upper end of the bottom cover 22, and the light source 8 may be arranged on the second bracket. The second bracket can adjust the position of the light source 8. For example, the position of the light source 8 in the vertical direction may be adjusted by the second bracket; the angle between the light source 8 and the plane lens 3 may also be adjusted by the second bracket; and the distance between the light source 8 and the plane lens 3 may also be adjusted by the second bracket.

[0065] In a possible implementation, the outer cover 2 may further include a first interface 1 ; a power cord of the linear camera 7 may pass through the first interface 1 to be connected to a power source (not shown in the figure), and a power cord of the light source 8 may also be connected to a power source through the first interface 1 .

[0066] In a possible implementation, the housing 2 further includes a second interface 6; the data line of the linear camera 7 can be connected to the host computer through the second interface 6. The image captured by the linear camera 7 each time can be output to the host computer through the data line.

[0067] In a possible implementation, the thread surface defect identification device of the bolt hole may further include a brightness adjustment switch (not shown in the figure); the brightness adjustment switch may be arranged outside the outer cover and connected to the light source, and the brightness adjustment switch may be used to adjust the brightness of the light source. For example, the brightness adjustment switch may be connected in parallel between the light source and the power supply, and the brightness adjustment switch may include a sliding variable resistor, and the brightness of the light source may be adjusted by sliding the sliding handle. The embodiment of the present disclosure does not limit the type and connection method of the brightness adjustment switch, as long as the brightness adjustment switch can adjust the brightness of the light source.

[0068] Figure 2 FIG. 1 is a schematic diagram of a device for identifying thread surface defects of a bolt hole according to an exemplary embodiment. Figure 2 As shown, the threaded surface defect identification device of the bolt hole can also include a lifting motor 12, a rotating motor 13 and a controller; the lifting motor 12 is connected to the rotating motor 13, and the rotating motor 13 is connected to the outer cover; when the lifting motor 12 is driven, it can drive the rotating motor 13 and the outer cover to move in the vertical direction; when the rotating motor 13 is driven, it can drive the outer cover to rotate in the horizontal direction; the controller is respectively connected to 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; the controller can also trigger the linear camera to capture images.

[0069] In the embodiment of the present disclosure, the controller can be represented as the final execution unit for information processing and program running. The controller can be, for example, a CPU (central processing unit) or a single-chip microcomputer, etc. The type of the controller in the embodiment of the present disclosure is not limited.

[0070] For example, the lifting motor 12 can be connected to the linear guide 14 through a reducer (not shown in the figure), the slider 15 of the linear guide 14 can be rigidly connected to the rotating motor 13 and the linear camera, and the lifting motor 12 can drive the rotating motor 13 and the linear camera to move in the vertical direction. The rotating motor 13 can be connected to the linear camera through a reducer, and the rotating motor 13 can drive the linear camera to rotate in the horizontal direction. The controller can be connected to the lifting motor 12, the rotating motor 13 and the linear camera respectively; the controller can drive the lifting motor 12 or the rotating motor 13 to work; the controller can also trigger the linear camera to capture an image. In this way, the controller can transport the linear camera to any position of the bolt hole through the operation of the lifting motor 12 and the rotating motor 13.

[0071] In a possible implementation, the rotary motor can carry the linear camera to rotate around a preset axis, so that the object distance of the linear camera can be kept consistent during each shooting.

[0072] In a possible implementation, the controller can obtain a displacement signal indicating the displacement amount of the lifting motor in the vertical direction from the lifting motor; the controller can also obtain an angular displacement signal indicating the rotation angle of the rotating motor from the rotating motor; when the displacement signal obtained satisfies one of a plurality of first preset conditions, the controller controls the lifting motor to stop working, and after controlling the lifting motor to stop working, controls the rotating motor to start working, and the plurality of first preset conditions are different from each other; when the angular displacement signal obtained satisfies one of a plurality of second preset conditions, the controller controls the rotating motor to stop working, and after controlling the rotating motor to stop working, controls the linear camera to perform shooting, and after controlling the linear camera to perform shooting, controls the rotating motor to start working, when the angular displacement signal obtained by the controller satisfies one of the second preset conditions, the rotating motor rotates by a preset angle and does not rotate a full circle, the second preset conditions are different from each other, and after the linear camera performs one shooting, the captured image is transmitted to a connected host computer; when the angular displacement signal obtained by the controller satisfies a third preset condition, the controller controls the rotating motor to stop working, and after controlling the rotating motor to stop working, controls the lifting motor to start working, and when the angular displacement signal obtained by the controller satisfies the third preset condition, the rotating motor rotates one circle.

[0073] For example, the lifting motor and the rotating motor can be provided with encoders, and the controller can obtain a displacement signal indicating the vertical displacement of the lifting motor from the encoder of the lifting motor; the controller can obtain an angular displacement signal indicating the rotation angle of the rotating motor from the encoder of the rotating motor.

[0074] The controller can pre-store multiple first preset conditions, wherein the multiple first preset conditions are different from each other. When the acquired displacement signal satisfies one of the multiple first preset conditions (for example, the multiple first preset conditions can be multiple first numerical values, and the controller can judge that the displacement signal satisfies one of the multiple first preset conditions when the numerical value of the displacement signal is equal to one of the multiple first numerical values), the controller can control the lifting motor to stop working, and after controlling the lifting motor to stop working, control the rotating motor to start working, wherein it can be set that the displacement signal generated every time the lifting motor moves a preset distance meets a first preset condition, and the size of the preset distance can be set according to the need to shoot the threaded hole, which is not limited in this regard in the embodiments of the present disclosure.

[0075] The disclosed embodiment controls the operation of the lifting motor and the rotating motor according to the feedback signal of the displacement at the output end of the lifting motor, so that the lifting motor can be promptly controlled to stop working when the lifting motor actually moves to the required distance, and the rotating motor can be controlled to drive the image acquisition device to rotate, so that the actual movement of the lifting motor and the rotating motor is consistent with the shooting requirements. This effectively reduces the compression, stretching and defect of the image and improves the accuracy of the captured image.

[0076] In a possible implementation, when the displacement signal obtained by the controller satisfies one of the first preset conditions among multiple first preset conditions, the controller can control the lifting motor to stop working, and can control the rotating motor to start working after the lifting motor is controlled to stop working for a first preset time, wherein the first preset time can be greater than or equal to the time required for the lifting motor to stop moving from being controlled to stop working. In this way, the rotating motor can be controlled to start rotating after the lifting motor actually stops moving, thereby effectively reducing the occurrence of image blurring and other phenomena caused by motor shaking. It should be noted that the size of the first preset time can be determined based on 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 time.

[0077] The controller may also pre-store a plurality of second preset conditions, wherein the plurality of second preset conditions are different from each other. When the angular displacement signal obtained by the controller satisfies one of the plurality of second preset conditions (for example, the plurality of second preset conditions may be a plurality of second numerical values, and the controller may judge that the displacement signal satisfies one of the plurality of second preset conditions when the numerical value of the displacement signal is equal to one of the plurality of second numerical values), the controller may control the rotary motor to stop working, and after controlling the rotary motor to stop working, control the linear camera to perform shooting, and after controlling the linear camera to perform shooting, control the rotary motor to continue working, and after the linear camera performs one shooting, the captured image may be transmitted to the connected host computer. Among them, it may be set that the angular displacement signal generated each time the rotary motor rotates a preset angle and does not rotate a full circle satisfies a second preset condition, and the size of the preset angle may be set according to the need to shoot the threaded hole, and the embodiments of the present disclosure do not limit this.

[0078] The disclosed embodiment can simultaneously trigger the image sensor exposure according to the feedback signal of the rotating motor, so that the image acquisition device can be timely controlled to acquire images every time the rotating motor actually rotates to the required angle, so that the actual rotation angle of the rotating motor and the shooting action of the image acquisition device are consistent with the shooting requirements, further effectively reducing the compression, stretching and defect of the image, and improving the accuracy of the captured image.

[0079] In a possible implementation, when the acquired angular displacement signal satisfies one of the second preset conditions in multiple second preset conditions, the controller can control the rotary motor to stop working, and after controlling the rotary motor to stop working for a second preset time, control the linear camera to perform shooting, and after controlling the linear camera to perform shooting for a third preset time, control the rotary motor to continue working, wherein the second preset time can be greater than or equal to the time from the rotary motor being controlled to stop working to the time it stops moving, and the third preset time can be greater than or equal to the time required for the linear camera to shoot once. In this way, the linear camera can be controlled to start shooting after the rotary motor actually stops moving, and the rotary motor can be controlled to rotate after the linear camera actually finishes shooting, thereby effectively reducing the occurrence of image blur and other phenomena caused by motor shaking.

[0080] When the angular displacement signal obtained by the controller meets the third preset condition, the controller can control the rotating motor to stop working, and after controlling the rotating motor to stop working, control the lifting motor to start working. When the angular displacement signal obtained by the controller meets the third preset condition, the rotating motor rotates a full circle. In this way, after the rotating motor actually rotates a full circle, the rotating motor can be promptly controlled to stop rotating, and the lifting motor can be controlled to continue to move longitudinally.

[0081] Figure 3 FIG. 1 is a flow chart showing a method for identifying thread surface defects of a bolt hole according to an exemplary embodiment. Figure 3 As shown, the method may include:

[0082] Step 300, the controller obtains a displacement signal indicating a displacement amount of the lifting motor in a vertical direction from the lifting motor;

[0083] Step 301, the controller obtains an angular displacement signal indicating a rotation angle of the rotating motor from the rotating motor;

[0084] Step 302, the controller controls the lifting motor to stop working when the acquired displacement signal satisfies 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;

[0085] Step 303: when the angular displacement signal obtained by the controller satisfies one of the second preset conditions among the plurality of second preset conditions, the controller controls the rotary motor to stop working, controls the linear camera to perform shooting after controlling the rotary motor to stop working, and controls the rotary motor to start working after controlling the linear camera to perform shooting, when the angular displacement signal obtained by the controller satisfies one of the second preset conditions, the rotary motor rotates by a preset angle and does not rotate a full circle, and the second preset conditions are different from each other;

[0086] Step 304: When the angular displacement signal obtained by the controller satisfies the third preset condition, the controller controls the rotating motor to stop working, and after controlling the rotating motor to stop working, controls the lifting motor to start working. When the angular displacement signal obtained by the controller satisfies the third preset condition, the rotating motor rotates a full circle.

[0087] It should be noted that the description of the above method has been elaborated in detail in the description of the above device, and will not be repeated here.

[0088] Figure 4 The flowchart of a method for identifying thread surface defects of a bolt hole according to an exemplary embodiment is shown. The method can be applied to a host computer, which can be a computer device such as a desktop computer, a laptop computer or a server. The embodiment of the present disclosure does not limit the type of the host computer. Figure 4 As shown, the method may include:

[0089] Step 400, the host computer receives multiple images from the above-mentioned cameras in sequence;

[0090] Step 401, each time the host computer receives an image, it sequentially matches one coordinate in the pre-stored coordinate set with the image;

[0091] Step 402: the host computer stitches the images into a panoramic image according to the images and the coordinates corresponding to the images.

[0092] For example, the host computer may pre-store a coordinate set {(x1, y1), (x2, y2), (x3, y3), (x4, y4)}, which may include multiple coordinates arranged according to a preset moving trajectory of the linear camera. The host computer may receive multiple images b1, b2, b3, and b4 from the linear camera. The host computer corresponds each received image to a coordinate according to the order in which the images are received and the order in which the coordinates in the coordinate set are arranged. For example, b1 corresponds to (x1, y1), b2 corresponds to (x2, y2), b3 corresponds to (x3, y3), and b4 corresponds to (x4, y4).

[0093] In a possible implementation, the method may further include:

[0094] The host computer displays the stitched panoramic image;

[0095] When one or more areas in the panoramic image are selected, the host computer displays the coordinates of the one or more selected areas.

[0096] Continuing with the above example, the host computer can stitch images b1, b2, b3, and b4 into a panoramic image based on the corresponding relationship that b1 corresponds to (x1, y1), b2 corresponds to (x2, y2), b3 corresponds to (x3, y3), and b4 corresponds to (x4, y4), and can display the panoramic image. When maintenance personnel find defects in the panoramic image, they can select one or more areas where the defects are located in the interactive section of the panoramic image, such as b1. When the host computer detects that one or more areas in the interactive section of the panoramic image are selected, it can display the coordinates corresponding to the one or more areas, such as the coordinates (x1, y1) corresponding to b1.

[0097] In this way, when the maintenance personnel identify the defects in the panoramic image, they can obtain the coordinates corresponding to the defects, which is helpful for the maintenance personnel to quickly find the actual position of the defect in the bolt hole according to the coordinates corresponding to the defect.

[0098] The present disclosure may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0099] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, 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 disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the above. The computer-readable storage medium used herein is not to be interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0100] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0101] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of the computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit may execute the computer-readable program instructions, thereby implementing various aspects of the present disclosure.

[0102] Various aspects of the present disclosure are described herein with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of boxes in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0103] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0104] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0105] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of the module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0106] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A device for identifying thread surface defects of a bolt hole, characterized in that: The thread surface defect recognition device of the bolt hole comprises: a linear camera, a light source, a plane reflector and an outer cover; The outer cover can be inserted into the bolt hole to be measured, the inner part of the outer cover has a cavity, the linear camera is arranged at the upper end of the cavity, and the plane reflector is arranged at the lower end of the cavity; The light-sensitive surface of the linear camera is opposite to the light-reflecting surface of the plane reflector; The side surface of the outer cover includes a plane lens, and the two side surfaces of the plane lens are planes; The light source is arranged in the cavity, and the light emitted by the light source can be irradiated to the inner wall of the bolt hole through the plane lens, and the light reflected by the inner wall of the bolt hole can be irradiated to the plane reflector through the plane lens, and then reflected to the photosensitive surface of the linear camera by the plane reflector; The outer cover includes a camera mounting cover and a bottom cover; The camera mounting cover is a cylindrical structure, and an opening is provided at the bottom end of the camera mounting cover, and the bottom cover can be buckled at the opening, so that a cavity is enclosed between the inner wall of the camera mounting cover and the upper end of the bottom cover; The thread surface defect identification device of the bolt hole also includes a lifting motor, a rotating motor and a controller; The lifting motor is connected to the rotating motor, and the rotating motor is connected to the outer cover; The lifting motor can drive the rotating motor and the outer cover to move in the vertical direction when driven; The rotating motor can drive the outer cover to rotate in a horizontal direction when driven; The controller is connected to the lifting motor, the rotating motor and the linear camera respectively; The controller can drive the lifting motor or the rotating motor to work; The controller can also trigger the linear camera to capture an image; The controller is capable of acquiring a displacement signal indicating the displacement amount of the lifting motor in the vertical direction from the lifting motor; The controller is also capable of acquiring an angular displacement signal indicating a rotation angle of the rotating motor from the rotating motor; The controller controls the lifting motor to stop working when the acquired displacement signal satisfies 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 rotary motor to stop working when the acquired angular displacement signal satisfies one of the plurality of second preset conditions, controls the linear camera to perform shooting after controlling the rotary motor to stop working, and controls the rotary motor to start working after controlling the linear camera to perform shooting, when the acquired angular displacement signal satisfies one of the second preset conditions, the rotary motor rotates by a preset angle and does not rotate a full circle, each second preset condition is different from each other, and after the linear camera performs one shooting, the captured image is transmitted to the connected host computer; When the angular displacement signal obtained by the controller meets the third preset condition, the controller controls the rotating motor to stop working, and after controlling the rotating motor to stop working, controls the lifting motor to start working. When the angular displacement signal obtained by the controller meets the third preset condition, the rotating motor rotates a full circle.

2. The device for identifying thread surface defects of a bolt hole according to claim 1, characterized in that: The thread surface defect identification device of the bolt hole also includes a first bracket, the first bracket is connected to the upper end of the bottom cover, and the plane reflector is arranged on the upper surface of the first bracket.

3. The device for identifying thread surface defects of a bolt hole according to claim 2, characterized in that: The first bracket is capable of adjusting the position of the plane reflector.

4. The device for identifying thread surface defects of a bolt hole according to claim 1, characterized in that: The thread surface defect identification device of the bolt hole also includes 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.

5. The device for identifying thread surface defects of a bolt hole according to claim 4, characterized in that: The second bracket is capable of adjusting the position of the light source.

6. The device for identifying thread surface defects of a bolt hole according to claim 1, characterized in that: The housing further comprises a first interface; The linear camera and the light source are connected to a power source through the first interface.

7. The device for identifying thread surface defects of a bolt hole according to claim 1, characterized in that: The housing further comprises a second interface; The linear camera is connected to the host computer via the second interface.

8. The device for identifying thread surface defects of a bolt hole according to claim 1, characterized in that: The thread surface defect identification device of the bolt hole also includes a brightness adjustment switch; The brightness adjustment switch is arranged outside the outer cover and connected to the light source, and is used to adjust the brightness of the light source.

9. A method for identifying thread surface defects of a bolt hole, the method being applied to a controller as claimed in any one of claims 1 to 8, characterized in that: The method comprises: The controller obtains a displacement signal from the lifting motor for indicating the displacement amount of the lifting motor in the vertical direction; The controller obtains an angular displacement signal indicating a rotation angle of the rotating motor from the rotating motor; The controller controls the lifting motor to stop working when the acquired displacement signal satisfies 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 rotary motor to stop working when the acquired angular displacement signal satisfies one of the plurality of second preset conditions, controls the linear camera to perform shooting after controlling the rotary motor to stop working, and controls the rotary motor to start working after controlling the linear camera to perform shooting, and when the acquired angular displacement signal satisfies one of the second preset conditions, the rotary motor rotates by a preset angle and does not rotate a full circle, and the second preset conditions are different from each other; When the angular displacement signal obtained by the controller meets the third preset condition, the controller controls the rotating motor to stop working, and after controlling the rotating motor to stop working, controls the lifting motor to start working. When the angular displacement signal obtained by the controller meets the third preset condition, the rotating motor rotates a full circle.

10. An image processing method, the method being applied to a host computer, characterized in that: The method comprises: The host computer sequentially receives a plurality of images from the linear camera according to any one of claims 1 to 8; Each time the host computer receives an image, it sequentially matches one coordinate in the pre-stored coordinate set with the image; The host computer stitches the images into a panoramic image according to the images and the coordinates corresponding to the images.

11. The method according to claim 10, characterized in that The method further comprises: The host computer displays the stitched panoramic image; When one or more areas in the panoramic image are selected, the host computer displays the coordinates of the one or more selected areas.

12. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method of claim 9 is implemented.

13. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to claim 10 or 11 is implemented.

Images