Appearance defect detection device for LNG hose filling suspension arm production

Abstract

The invention discloses an apparent defect detection device for LNG hose filling suspension arm production, and relates to the technical field of defect detection. Through the cooperation of the first motor, the first screw rod and the laser scanner, the device is convenient to move to scan and detect a machined part; determining the optimal value of the rotation angular velocity of the detection piece through an analysis module according to the bidirectional logic of a precision constraint calculation upper limit and an efficiency constraint calculation lower limit; the situation that the actual size of a single pixel is too large due to the too high angular speed is avoided, and it is ensured that tiny cracks and pits can be clearly captured; parameters such as the diameter and the minimum defect size of the detection piece are included in the formula, and the angular velocity upper limit can be dynamically adjusted according to the actual specification of the LNG suspension arm to adapt to the detection pieces of different specifications; total detection time is determined through historical data analysis, the angular velocity lower limit is deduced in combination with machine starting influence time, it is ensured that rotation scanning time does not exceed a total period allowed by production, the production takt requirement is met, and detection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of appearance inspection tools for LNG hose filling booms, and in particular to an appearance defect inspection device used in the production of LNG hose filling booms. Background Art

[0002] During the production of LNG hose filling booms, ensuring the product's appearance quality is crucial. Appearance defects not only affect the product's aesthetics but also pose a potential threat to its performance and safety. However, existing inspection devices have many inconveniences in terms of inspection efficiency and positioning adjustment, seriously restricting the improvement of production quality and efficiency. Existing inspection devices have shortcomings in positioning and adjustment. Because LNG hose filling booms vary in length, the positioning device needs to be flexibly adjusted according to the length to achieve stable clamping of both ends of the boom during inspection. However, many devices cannot be easily adjusted for positioning, or the adjustment range is limited, making it difficult to adapt to the inspection of booms of different specifications. Moreover, during the inspection process, the inspection part cannot be effectively driven to rotate in all directions, which limits the inspection area and makes it impossible to fully inspect the workpiece. This makes it difficult to detect some defects hidden in complex structures or on the back, reducing inspection efficiency. Therefore, the above problems need to be improved. Summary of the Invention

[0003] The purpose of the present invention is to solve the shortcomings of the prior art and to propose an appearance defect detection device for the production of LNG hose filling booms.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: a device for detecting appearance defects in the production of LNG hose filling booms, comprising a detection box, with box covers slidably mounted on both sides of the top of the detection box, a detection mechanism and a positioning mechanism installed inside the detection box, and detection elements provided inside the two box covers; The detection box is equipped with an intelligent control component, which includes an acquisition module, an analysis module and an execution module; The acquisition module acquires the parameters of the test piece, the parameters of the test operation, and the scanned image data, and passes the acquired data to the analysis module; The analysis module receives and pre-processes the data transmitted by the acquisition module. Based on the parameter data of the detection member and the parameter data of the detection operation, it analyzes and obtains the upper limit of the fluctuation of the rotational angular velocity of the detection member; analyzes the historical data to obtain the lower limit of the fluctuation of the rotational angular velocity of the detection member; obtains the optimal rotational angular velocity based on the upper and lower limits of the fluctuation range; generates an adjustment signal when the rotational angular velocity of the detection member is not within the rotational angular velocity fluctuation range, and transmits the adjustment signal to the execution module; obtains the deviation coefficient based on the scanned image data, and corrects the optimal rotational angular velocity based on the deviation coefficient; The execution module receives the signal transmitted by the analysis module and performs corresponding operations.

[0005] Preferably, the analysis module performs the following steps to analyze the optimal angular velocity: S1: Circumferential length of the test piece (15) , is the diameter of the detection part (15); in actual size of pixels In the case of rotation scanning, the total number of pixels collected by the scanner Need to meet: , is the minimum identifiable defect size; the inspection piece (15) rotates Time required , is the rotational angular velocity of the detection member (15); The total number of pixels captured by the scanner during the time , is the laser scanner line scanning speed, is the number of pixels on the surface of the detection part (15) covered by a single line scan of the scanner; combined with the formula get: ,Right now ; S2: Total detection time data , To rotate the scan time, The impact time of machine startup; rotation scanning time Need to meet: , it is derived that ,Right now ; Take the middle value of the fluctuation range as the optimal angular velocity When the rotational angular velocity of the detection member (15) is not within the rotational angular velocity fluctuation range, an adjustment signal is generated and the adjustment signal is transmitted to the execution module.

[0006] Preferably, the analysis module performs the following steps to analyze the coefficient of deviation: Q1: Acquire the scanned image data, perform grayscale processing on the acquired image, and segment it according to the size of the pixel block. Number the segmented image blocks according to the number of rows and columns on the grayscale image. Obtain the image block with the corresponding number, and compare the grayscale value of the image block with the grayscale value of the standard image block with the corresponding number. If the grayscale value of the image block with the corresponding number is not within the grayscale value fluctuation range of the standard image block with the corresponding number, the image block with the corresponding number is determined to be an abnormal image block, and the number of abnormal image blocks is counted. Statistics show that the proportion of non-abnormal image blocks , is the total number of image blocks in the grayscale image after segmentation; Q2: If , then determine the current angular velocity Deviate from the optimal value, generate a correction signal, and pass the correction signal to the execution module; calculate the deviation coefficient , and according to the coefficient of deviation Calculate corrected angular velocity .

[0007] Preferably, the detection mechanism includes a first mounting groove opened inside the detection box and a first motor installed inside the first mounting groove, two first screw rods are rotatably installed in the first mounting groove, one end of the two first screw rods are sleeved with a transmission wheel, the outer sides of the two transmission wheels are sleeved with a transmission belt, and the output end of the first motor is connected to one end of one of the first screw rods through a coupling.

[0008] Preferably, a mounting ring is threadedly connected to the first screw rod, a plurality of laser scanners are installed on the inner side of the mounting ring, and two first sliding grooves for cooperating with the movement of the mounting ring are opened on the top surface of the detection box.

[0009] Preferably, the positioning mechanism includes a second motor installed on one side of the detection box and two positioning plates located on both sides of the top surface of the detection box. The outer sides of the two positioning plates are rotatably installed with positioning rods. The output end of the second motor is connected to the second screw rod through a coupling. The lower end of the positioning rod on one side is threadedly connected to the second screw rod, and the positioning rod on the other side is installed on one side of the top surface of the detection box.

[0010] Preferably, a third motor is installed on the upper part of the positioning rod on one side, the output end of the third motor is connected to the center of the positioning disk, and a moving groove is opened on the top surface of the detection box to cooperate with the movement of the positioning disk.

[0011] Preferably, a second mounting groove is provided inside the positioning plate, a fourth motor is installed in the second mounting groove, the output end of the fourth motor is connected to a third screw rod through a coupling, a connecting rod is threadedly connected to the third screw rod, a three-jaw chuck is installed at the other end of the connecting rod, and a second sliding groove is provided on the inner side surface of the positioning plate to cooperate with the movement of the three-jaw chuck.

[0012] Preferably, both ends of the detection member are respectively clamped on two three-jaw chucks.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The cooperation of the second motor and the second screw rod makes it easy to adjust the distance between the two positioning plates according to the length of the inspection workpiece, thereby improving the adaptability of the device to booms of different lengths, thereby realizing the function of stably clamping both ends of the boom; the cooperation of the fourth motor and the third screw rod makes it easy to drive the inspection workpiece to rotate, thereby increasing the inspection area of ​​the device, thereby realizing the function of all-round inspection of the workpiece; the cooperation of the first motor, the first screw rod and the laser scanner makes it easy to move the workpiece for scanning and inspection, thereby improving the comprehensiveness and efficiency of appearance defect inspection, thereby realizing the function of accurately identifying defects such as cracks and dents on the surface of the boom; ultimately solving the problems of low inspection efficiency and inconvenient positioning adjustment of existing inspection devices; The analysis module determines the optimal value of the test piece's rotational angular velocity based on the bidirectional logic of "accuracy constrains calculation of the upper limit and efficiency constrains calculation of the lower limit." This prevents excessively large actual single-pixel size due to excessive angular velocity, ensuring that tiny cracks and dents are clearly captured, completely resolving the problem of "missed defects due to excessive angular velocity" in traditional inspections. The formula incorporates parameters such as the test piece diameter and minimum defect size, dynamically adjusting the upper limit of the angular velocity based on the actual specifications of the LNG boom to accommodate test pieces of varying specifications. The total inspection time is determined through historical data analysis, and the lower limit of the angular velocity is derived based on the time it takes for the machine to start up, ensuring that the rotational scanning time does not exceed the total allowable production cycle, meeting production cycle requirements and improving inspection efficiency. The analysis module divides the scanned image into pixel blocks, compares the "actual image block grayscale value" with the "standard part image block grayscale value fluctuation range", and calculates the proportion of non-abnormal image blocks. When the proportion is less than 90%, it immediately determines that the current angular velocity deviates from the optimal value to avoid batch omissions of subsequent inspection parts due to continued deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 This is a schematic diagram of the overall appearance of the device proposed in the present invention; Figure 2 A top view of the internal structure of the device proposed in the present invention; Figure 3 This is a schematic diagram of the internal structure of the device proposed by the present invention; Figure 4 This is a schematic diagram of the positioning plate structure proposed by the present invention; Figure 5 This is a schematic diagram of the internal structure of the positioning plate proposed by the present invention; Figure 6 This is a flow chart of the system proposed in the present invention.

[0015] Serial numbers in the figure: 1. Inspection box; 2. Box cover; 3. First motor; 4. First screw; 5. Transmission belt; 6. Mounting ring; 7. Laser scanner; 8. Second motor; 9. Positioning plate; 10. Second screw; 11. Third motor; 12. Three-jaw chuck; 13. Fourth motor; 14. Third screw; 15. Inspection part. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0017] Example 1: See Figures 1 to 5, an appearance defect detection device for LNG hose filling boom production in the present invention includes an inspection box 1, which is convenient for installing an inspection mechanism and a positioning mechanism through the inspection box 1; box covers 2 are slidably installed on both sides of the top of the inspection box 1, and the inspection mechanism and the positioning mechanism are installed inside the inspection box 1, and inspection parts 15 are provided inside the two box covers 2; the inspection mechanism includes a first mounting groove opened inside the inspection box 1 and a first motor 3 installed inside the first mounting groove, which is convenient for driving the first screw rod 4 to rotate by the first motor 3; two first screw rods 4 are rotatably installed in the first mounting groove, and the first screw rod 4 is convenient for driving the mounting ring 6 to move; one end of the two first screw rods 4 is sleeved with a transmission wheel, and the outer side of the two transmission wheels is sleeved with a transmission belt 5, and the cooperation of the transmission wheel and the transmission belt 5 makes it easy to drive the two first screw rods 4 in the same direction at the same time. Rotate; and the output end of the first motor 3 is connected to one end of one of the first screw rods 4 through a coupling, and the first screw rod 4 is threadedly connected with a mounting ring 6, which facilitates the installation of a laser scanner 7 through the mounting ring 6; a plurality of laser scanners 7 are installed on the inner side of the mounting ring 6, and the laser scanner 7 is convenient for scanning the workpiece and imaging to detect whether there are defects; and two first slide grooves that cooperate with the movement of the mounting ring 6 are opened on the top surface of the detection box 1, and the positioning mechanism includes a second motor 8 installed on one side of the detection box 1 and two positioning plates 9 located on both sides of the top surface of the detection box 1, which facilitate the installation of a three-jaw chuck 12 through the positioning plate 9; the outer sides of the two positioning plates 9 are rotatably installed with positioning rods, and the output end of the second motor 8 is connected to the second screw rod 10 through a coupling, which facilitates the movement of one side of the positioning plate 9 to adapt to the length of the detection part 15 through the second screw rod 10.

[0018] In the present invention, the lower end of one side positioning rod is threadedly connected to the second screw rod 10, and the other side positioning rod is installed on one side of the top surface of the detection box 1, and a third motor 11 is installed on the upper part of one side positioning rod, which is convenient for driving the detection piece 15 to rotate and expand the detection area through the third motor 11; the output end of the third motor 11 is connected to the center of the positioning disk 9, and the top surface of the detection box 1 is provided with a moving groove that cooperates with the movement of the positioning disk 9, and the positioning disk 9 is provided with a second mounting groove, and the second mounting groove is installed in the second mounting groove, and the third motor 13 is convenient for driving the third screw rod 14 to rotate through the fourth motor 13; the output end of the fourth motor 13 is connected to the third screw rod 14 through a coupling, and the third screw rod 14 is convenient for cooperating with the connecting rod to drive the three-jaw chuck 12 to move; the third screw rod 14 is threadedly connected to the connecting rod, and the other end of the connecting rod is provided with a three-jaw chuck 12, which is convenient for fixing one end of the detection piece 15 through the three-jaw chuck 12; and the inner side of the positioning disk 9 is provided with a second slide groove that cooperates with the movement of the three-jaw chuck 12, and the two ends of the detection piece 15 are respectively clamped on the two three-jaw chucks 12.

[0019] In the present invention, the laser scanner 7 is an AlphaScan handheld three-dimensional scanner.

[0020] Working principle: When the present invention is used, first power on the device and turn on all electrical appliances. Align one end of the detection piece 15 with the three-jaw chuck 12 on one side through the robotic arm, start the three-jaw chuck 12 to clamp one end of the detection piece 15. At this time, the second motor 8 is started, and the second motor 8 drives the second screw rod 10 to rotate, thereby driving the positioning plate 9 on one side to move inward. After moving to the appropriate position, the third motor 11 drives the positioning plate 9 to rotate so that the clamping area of ​​the three-jaw chuck 12 is aligned with the other end of the detection piece 15, and clamps the detection piece 15. During the clamping process, the fourth motor 13 drives the third screw rod 14 to cooperate with the movement of the three-jaw chuck 12, and then adjusts the three-jaw chuck according to the length of the bending part of the detection piece 15. 12, at this time the positioning of the detection part 15 is completed; then the first motor 3 is started, and through the cooperation of the transmission wheel and the transmission belt 5, the two first screws 4 are driven to rotate in the same direction at the same time, thereby driving the two mounting rings 6 and the multiple laser scanners 7 located on the inner side of the mounting ring 6 to move synchronously, and performing defect detection on the surface of the detection part 15. After the first detection is completed, the third motor 11 drives the positioning plate 9 to rotate, and then drives the detection part 15 to rotate, and performs a second scan on the position that was not scanned for the first time, so as to improve the accuracy of the detection result; after the scanning is completed, the detection part 15 is taken out, and the box cover 2 is pulled open to both sides to check whether the device has a fault or clean the surface of the device, and finally the box cover 2 is reset and the power is turned off.

[0021] Example 2: See Figure 6 , the detection box 1 is provided with an intelligent control component, which includes an acquisition module, an analysis module and an execution module; An acquisition module acquires parameters of the detection component 15, parameters of the detection operation, and scanned image data, and transmits the acquired data to the analysis module; The analysis module receives and pre-processes the data transmitted by the acquisition module. Based on the parameter data of the detection member 15 and the parameter data of the detection operation, it analyzes and obtains the upper limit of the fluctuation of the rotational angular velocity of the detection member 15; analyzes the historical data to obtain the lower limit of the fluctuation of the rotational angular velocity of the detection member 15; obtains the optimal rotational angular velocity based on the upper and lower limits of the fluctuation range; generates an adjustment signal when the rotational angular velocity of the detection member 15 is not within the rotational angular velocity fluctuation range, and transmits the adjustment signal to the execution module; obtains a deviation coefficient based on the scanned image data, and corrects the optimal rotational angular velocity based on the deviation coefficient; Sort the collected data by collection time, and sort the corresponding items collected at the same time average the data and standard deviation Calculation, and the calculated mean and standard deviation Collect data fluctuation range for corresponding items The setting of the corresponding item is to compare the collected data with the fluctuation range of the corresponding item, mark the corresponding item data that is not within the fluctuation range as an outlier, and record the number of outliers ,like , then the collected data is judged to be abnormal and the data is retested; if , then remove the outliers and average the remaining corresponding test data after removing the outliers Calculation, and the calculated mean as corresponding item data detected at the corresponding moment; Re-check the corresponding data. If the comparison result is still , it is determined that there is an abnormality in the acquisition device, a device warning signal is generated, and the device warning signal is transmitted to the execution module; After receiving the equipment warning signal, the execution module controls the buzzer module of the intelligent control component to issue a buzzer warning and displays "acquisition equipment abnormality" on the control box display screen of the detection device, so that the staff can carry out timely maintenance operations on the equipment in a timely manner.

[0022] The minimum identifiable defect size is ", it is necessary to ensure that the defect occupies at least 2 pixels in the scanned image (if there is only 1 pixel, it is easy to be judged as noise), that is, the actual size of the pixel ; Circumferential length of test piece 15 , The diameter of the test piece 15; the total number of pixels collected by the scanner during the rotation scanning process Need to meet: ; The laser scanner model is AlphaScan handheld 3D scanner, and its hardware resolution determines Theoretical lower limit: AlphaScan's scanning accuracy is 0.05mm (the minimum resolution size of a single scan), so It cannot be lower than 0.05mm (if it is set to 0.03mm, it will exceed the resolution of the equipment and will cause a lot of misjudgments or missed judgments); the actual value needs to reserve 10%-20% redundancy (for example, if the equipment accuracy is 0.05mm, Set to 0.06mm) to avoid accuracy loss caused by equipment vibration and ambient temperature changes (20-25°C is optimal, as temperature fluctuations can affect the laser wavelength); Detection member 15 rotates Time required , is the rotational angular velocity of the detection member 15; The total number of pixels captured by the scanner during the time , is the laser scanner line scanning speed, is the number of pixels on the surface of the detection part 15 covered by a single line scan of the scanner; combined with the formula get: ,Right now ; Obtain the historical data of the detection of a single detection piece 15, remove the detection data with abnormal detection process in the historical data, pre-process the remaining total detection time data, obtain the fluctuation range of the total detection time data, and use the upper and lower limit averages of the fluctuation range of the total detection time data as the total detection time data of the single detection piece 15 ;Total detection time data , To rotate the scan time, The impact time of machine startup; rotation scanning time Need to meet: , it is derived that ,Right now ; The fluctuation range of the rotational angular velocity of the detection member 15 is obtained as follows: , take the middle value of the fluctuation range as the optimal angular velocity When the rotational angular velocity of the detection member 15 is not within the rotational angular velocity fluctuation range, an adjustment signal is generated and the adjustment signal is transmitted to the execution module; After receiving the adjustment signal, the execution module transmits a signal to the controller of the third motor 11 to control the output frequency of the third motor 11; during the adjustment process, the scanning operation is suspended, and the scanning operation is continued after the rotation speed is within the fluctuation range of the rotation angular velocity, and the rotation speed of the detection member 15 is adjusted to Stop when

[0023] The image data obtained by scanning is acquired, grayscale processing is performed on the acquired image, and the image is segmented according to the size of the pixel block. The segmented image blocks are numbered according to the number of rows and columns on the grayscale image where they are located; the image block with the corresponding number is obtained, and the grayscale value of the image block is compared with the grayscale value of the standard image block with the corresponding number. If the grayscale value of the image block with the corresponding number is not within the grayscale value fluctuation range of the standard image block with the corresponding number, the image block with the corresponding number is determined to be an abnormal image block, and the number of abnormal image blocks is increased. Statistics show that the proportion of non-abnormal image blocks , is the total number of image blocks in the grayscale image after segmentation; like , then determine the current angular velocity Deviate from the optimal value, generate a correction signal, and pass the correction signal to the execution module; calculate the deviation coefficient , and according to the coefficient of deviation Calculate corrected angular velocity ; "0.2" is obtained by analyzing 1000+ groups of "coefficient of deviation Based on the historical data of "-adjustment range-accuracy recovery effect", the coefficient with the highest adjustment efficiency and the best stability is selected; for the LNG boom inspection scenario, the initial setting coefficient range is 0.1-0.3 (an adjustment range that is too small will lead to slow accuracy recovery, while an adjustment range that is too large will easily lead to overshoot): Coefficient = 0.1: The adjustment range is only 20%. ×0.8, 2-3 iterations are required to make Recovery to above 90%, low efficiency; coefficient = 0.3: The adjustment range is 60%. ×0.4, which may cause the angular velocity to be too low and the detection time to exceed the production cycle (e.g., from 60s to 150s); coefficient = 0.2: The adjustment range is 40%. ×0.6, one adjustment can make The rate of detection is restored to above 90%, and the detection time is still controlled within the production allowable range (e.g., increased from 60s to 90s); After receiving the correction signal, the execution module obtains the corrected angular velocity obtained by the analysis module , and according to the corrected angular velocity Adjust the rotational angular velocity.

[0024] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An appearance defect detection device for LNG hose filling boom production, comprising a detection box (1), characterized in that: Box covers (2) are slidably mounted on both sides of the top of the detection box (1), a detection mechanism and a positioning mechanism are mounted inside the detection box (1), and detection members (15) are mounted inside the two box covers (2); the detection mechanism comprises a first mounting slot provided inside the detection box (1) and a first motor (3) mounted inside the first mounting slot, two first screw rods (4) are rotatably mounted in the first mounting slot, one end of each of the two first screw rods (4) is sleeved with a transmission wheel, the outer sides of the two transmission wheels are sleeved with a transmission belt (5), and the output end of the first motor (3) is connected to one end of one of the first screw rods (4) through a coupling; The detection box (1) is provided with an intelligent control component inside, and the intelligent control component includes an analysis module; An analysis module receives and pre-processes the data transmitted by the acquisition module, and obtains the upper limit of the fluctuation of the rotational angular velocity of the detection member (15) based on the parameter data of the detection member (15) and the parameter data of the detection operation; The historical data is analyzed to obtain the fluctuation lower limit of the rotational angular velocity of the detection member (15); the optimal rotational angular velocity is obtained according to the upper and lower limits of the fluctuation range; when the rotational angular velocity of the detection member (15) is not within the rotational angular velocity fluctuation range, an adjustment signal is generated and the adjustment signal is transmitted to the execution module; a deviation coefficient is obtained according to the scanned image data, and the optimal rotational angular velocity is corrected according to the deviation coefficient.

2. The appearance defect detection device for LNG hose filling boom production according to claim 1 is characterized in that: The analysis module performs the following steps to analyze the optimal angular velocity: S1: Circumferential length of the test piece (15) , is the diameter of the test piece (15); Actual size in pixels In the case of rotation scanning, the total number of pixels collected by the scanner Need to meet: , is the minimum identifiable defect size; the inspection piece (15) rotates Time required , is the rotational angular velocity of the detection member (15); The total number of pixels captured by the scanner during the time , is the laser scanner line scanning speed, is the number of pixels on the surface of the detection part (15) covered by a single line scan of the scanner; combined with the formula get: ,Right now ; S2: Total detection time data , To rotate the scan time, The impact time of machine startup; rotation scanning time Need to meet: , it is derived that ,Right now ; Take the middle value of the fluctuation range as the optimal angular velocity When the rotational angular velocity of the detection member (15) is not within the rotational angular velocity fluctuation range, an adjustment signal is generated and the adjustment signal is transmitted to the execution module.

3. The appearance defect detection device for LNG hose filling boom production according to claim 2 is characterized in that: The analysis steps for the deviation coefficient analysis module are as follows: Q1: Acquire the scanned image data, perform grayscale processing on the acquired image, and segment it according to the size of the pixel block. Number the segmented image blocks according to the number of rows and columns on the grayscale image. Obtain the image block with the corresponding number, and compare the grayscale value of the image block with the grayscale value of the standard image block with the corresponding number. If the grayscale value of the image block with the corresponding number is not within the grayscale value fluctuation range of the standard image block with the corresponding number, the image block with the corresponding number is determined to be an abnormal image block, and the number of abnormal image blocks is counted. Statistics show that the proportion of non-abnormal image blocks , is the total number of image blocks in the grayscale image after segmentation; Q2: If , then determine the current angular velocity Deviate from the optimal value, generate a correction signal, and pass the correction signal to the execution module; calculate the deviation coefficient , and according to the coefficient of deviation Calculate corrected angular velocity .

4. The appearance defect detection device for LNG hose filling boom production according to claim 1 is characterized in that: A mounting ring (6) is threadedly connected to the first screw rod (4), a plurality of laser scanners (7) are mounted on the inner side of the mounting ring (6), and two first sliding grooves for cooperating with the movement of the mounting ring (6) are provided on the top surface of the detection box (1).

5. The appearance defect detection device for LNG hose filling boom production according to claim 1 is characterized in that: The positioning mechanism comprises a second motor (8) mounted on one side of the detection box (1) and two positioning plates (9) located on both sides of the top surface of the detection box (1), the outer sides of the two positioning plates (9) are rotatably mounted with positioning rods, the output end of the second motor (8) is connected to the second screw rod (10) through a coupling, the lower end of the positioning rod on one side is threadedly connected to the second screw rod (10), and the positioning rod on the other side is mounted on one side of the top surface of the detection box (1).

6. The appearance defect detection device for LNG hose filling boom production according to claim 5 is characterized in that: A third motor (11) is installed on the upper portion of the positioning rod on one side, an output end of the third motor (11) is connected to the center of the positioning disk (9), and a moving groove for cooperating with the movement of the positioning disk (9) is opened on the top surface of the detection box (1).

7. The appearance defect detection device for LNG hose filling boom production according to claim 5 is characterized in that: A second mounting groove is provided inside the positioning plate (9), a fourth motor (13) is installed in the second mounting groove, an output end of the fourth motor (13) is connected to a third screw rod (14) via a coupling, a connecting rod is threadedly connected to the third screw rod (14), a three-jaw chuck (12) is installed at the other end of the connecting rod, and a second sliding groove for cooperating with the movement of the three-jaw chuck (12) is provided on the inner side surface of the positioning plate (9).

8. The appearance defect detection device for LNG hose filling boom production according to claim 1 is characterized in that: Both ends of the detection member (15) are respectively clamped on two three-jaw chucks (12).

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