Valve seat abnormality detection method, device, and electronic device

Abstract

The application is suitable for the field of precision detection technology, and provides a valve seat abnormality detection method, device and electronic equipment, including: acquiring a theoretical three-dimensional model of a to-be-detected valve seat; performing light scanning on the to-be-detected valve seat to obtain actual profile space information of the to-be-detected valve seat; reconstructing a surface shape of the to-be-detected valve seat according to the actual profile space information of the to-be-detected valve seat; performing alignment processing on the theoretical three-dimensional model of the to-be-detected valve seat and the reconstructed surface shape of the to-be-detected valve seat; after the alignment processing, comparing an actual sealing surface with a theoretical sealing surface of the theoretical three-dimensional model to obtain a comparison result, and judging whether the actual sealing surface is abnormal according to the comparison result. Through the above method, it is beneficial to quickly and accurately judge whether the actual sealing surface is abnormal.

Description

Technical Field

[0001] This application belongs to the field of precision testing technology, and in particular relates to valve seat abnormality detection methods, devices, electronic equipment, computer-readable storage media, and computer program products. Background Technology

[0002] In traditional industrial sectors, especially in process systems such as petroleum, chemical, and power plants, valves (or gate valves) are crucial shut-off valves, and their sealing performance is vital for effectively cutting off the medium. The sealing performance of a gate valve primarily depends on the tight fit between the valve plate and the valve seat sealing surfaces. The flatness of the valve seat sealing surface directly affects the valve's sealing quality; therefore, accurate measurement of the valve seat sealing surface is particularly important.

[0003] However, existing methods for measuring valve seat sealing surfaces mostly rely on manual operation and experience, which has some limitations. First, manual measurement requires a high standard of skill and experience from the operator, making it difficult to achieve high precision. Second, for some large-diameter gate valves, due to their special structure, traditional measuring tools are difficult to adapt, resulting in a complex and inefficient measurement process.

[0004] Therefore, a new method is needed to solve the above-mentioned technical problems. Summary of the Invention

[0005] This application provides a valve seat anomaly detection method, apparatus, and electronic device, which can solve the problem of low efficiency and accuracy when measuring valve seats using existing methods.

[0006] In a first aspect, embodiments of this application provide a valve seat anomaly detection method, including:

[0007] Obtain a theoretical three-dimensional model of the valve seat to be tested, wherein the theoretical three-dimensional model includes a theoretical sealing surface;

[0008] The valve seat under test is optically scanned to obtain the actual contour spatial information of the valve seat under test;

[0009] Based on the actual contour space information of the valve seat to be tested, the surface shape of the valve seat to be tested is reconstructed, and the surface shape includes the actual sealing surface of the valve seat to be tested.

[0010] The theoretical three-dimensional model of the valve seat under test is aligned with the reconstructed surface shape of the valve seat under test.

[0011] After alignment, the actual sealing surface is compared with the theoretical sealing surface of the theoretical three-dimensional model to obtain a comparison result. Based on the comparison result, it is determined whether the actual sealing surface is abnormal.

[0012] The valve seat under test is optically scanned, and its surface shape is reconstructed based on the actual contour space information obtained from the optical scan. This surface shape is then aligned with its theoretical 3D model. After alignment, the actual sealing surface included in the valve seat's surface shape is compared with the corresponding theoretical sealing surface in the 3D model. Finally, the comparison result is used to determine whether the actual sealing surface is abnormal. Since the actual contour space information of the valve seat does not require manual measurement, and the alignment of the valve seat's surface shape with the theoretical 3D model and the determination of the theoretical sealing surface also do not require manual measurement, reliance on personal experience is reduced, thus improving the efficiency and accuracy of valve seat anomaly detection. Furthermore, because the anomaly judgment is performed by first aligning the surface shape of the valve seat with its theoretical 3D model before comparing the actual sealing surface with the theoretical sealing surface—rather than directly comparing the actual sealing surface with the theoretical sealing surface—the accuracy of the comparison results is improved, thereby enhancing the accuracy of the judgment on whether the actual sealing surface is abnormal.

[0013] Secondly, embodiments of this application provide a valve seat abnormality detection device, comprising:

[0014] The theoretical 3D model acquisition module is used to acquire the theoretical 3D model of the valve seat to be tested, wherein the theoretical 3D model includes the theoretical sealing surface;

[0015] The scanning module is used to perform optical scanning on the valve seat under test to obtain the actual contour spatial information of the valve seat under test;

[0016] The surface shape reconstruction module is used to reconstruct the surface shape of the valve seat under test based on the actual contour space information of the valve seat under test, wherein the surface shape includes the actual sealing surface of the valve seat under test.

[0017] The alignment module is used to align the theoretical three-dimensional model of the valve seat under test with the reconstructed surface shape of the valve seat under test.

[0018] The anomaly detection module is used to compare the actual sealing surface with the theoretical sealing surface of the theoretical three-dimensional model after alignment processing, obtain the comparison result, and determine whether the actual sealing surface is abnormal based on the comparison result.

[0019] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.

[0020] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0021] Fifthly, embodiments of this application provide a computer program product that, when run on an electronic device, causes the electronic device to execute the method described in the first aspect above.

[0022] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0024] Figure 1 This is a schematic flowchart of a valve seat anomaly detection method provided in an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of the mid-section of a cross-section of a valve seat under test provided in an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of the sealing surface in a cross-section of a valve seat under test provided in an embodiment of this application;

[0027] Figure 4 This is a schematic diagram illustrating the solution of the sum of the unit gravity deformation compensation value and the runout deviation value provided in an embodiment of this application;

[0028] Figure 5 This is a schematic diagram of the structure of a valve seat abnormality detection device provided in another embodiment of this application;

[0029] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0030] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0031] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0032] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0033] Furthermore, in the description of this application and the appended claims, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0034] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0035] Valves are important control components in fluid control systems. They mainly control the flow of fluids (liquids or gases) through the sealing surfaces of the valve disc (or valve core) and the valve seat. The flatness of the valve seat sealing surface directly affects the sealing quality of the valve.

[0036] Currently, the sealing surface of the valve seat is mainly measured manually. However, since manual operation relies heavily on personal experience, this method of measuring the sealing surface of the valve seat manually is inefficient and its accuracy is difficult to guarantee.

[0037] To improve the measurement efficiency and accuracy of the valve seat sealing surface, this application provides a valve seat anomaly detection method.

[0038] In this method, the valve seat under test is optically scanned, and the actual contour space information obtained by the optical scan is fitted to obtain the surface shape and actual sealing surface of the valve seat under test. Then, the surface shape of the valve seat under test is aligned with the theoretical three-dimensional model of the valve seat under test to compare the actual sealing surface of the valve seat under test with the theoretical sealing surface of the theoretical three-dimensional model. Finally, the actual sealing surface is judged to be abnormal based on the comparison result.

[0039] The valve seat anomaly detection method provided in the embodiments of this application is described below with reference to the accompanying drawings.

[0040] Figure 1 A flowchart illustrating a valve seat anomaly detection method according to an embodiment of this application is shown. This method can be applied to electronic devices, and is described in detail below:

[0041] S11, Obtain the theoretical three-dimensional model of the valve seat to be tested, including the theoretical sealing surface.

[0042] The valve seat to be tested is the valve seat whose sealing surface needs to be measured. For example, if the valve seat needs to be tested for pass rate after it is manufactured, the manufactured valve seat can be used as the valve seat to be tested; for example, if the valve seat has been used for a period of time, and it is necessary to determine whether the sealing surface of the valve seat is abnormal, the valve seat can be used as the valve seat to be tested.

[0043] The theoretical 3D model of the valve seat under test refers to a 3D model constructed based on idealized geometry and mathematical principles. This theoretical 3D model includes the geometry of the valve seat, which guides its manufacturing. Optionally, the theoretical 3D model may also include information such as dimensions, tolerances, materials, and processing requirements.

[0044] In this embodiment, the electronic device supports the parsing of mainstream 3D computer-aided design (CAD) formats and engineering drawings (such as Drawing Exchange Format (DXF) drawings). When a theoretical 3D model (or engineering drawing) in CAD format is imported, the electronic device can display the theoretical 3D model and perform parsing of it.

[0045] S12, perform optical scanning on the valve seat to be tested to obtain the actual contour spatial information of the valve seat to be tested.

[0046] Specifically, the physical entity of the valve seat under test is optically scanned to obtain a point cloud dataset of the valve seat's inner wall contour, side guide rail contour, and inlet / outlet pipe contour, as well as its features such as shape, size, and surface features. This point cloud dataset is the actual contour spatial information of the valve seat under test.

[0047] S13, based on the actual contour space information of the valve seat to be tested, reconstruct the surface shape of the valve seat to be tested, the surface shape including the actual sealing surface of the valve seat to be tested.

[0048] The surface shape of the valve seat under test reflects its external contour.

[0049] In this context, the actual sealing surface of the valve seat under test refers to the sealing surface of the physical entity's valve seat. In this embodiment, for distinction, the sealing surface extracted from the physical entity's valve seat under test is referred to as the actual sealing surface, while the sealing surface subsequently extracted from the theoretical three-dimensional model of the valve seat under test is referred to as the theoretical sealing surface. (Reference) Figure 2 , Figure 2 A cross-sectional schematic diagram of a valve seat under test is shown. The surface circled by the dashed line in this cross-section is the sealing surface, i.e. Figure 2 In the diagram, the areas indicated by A and B. When Figure 2 When the cross-sectional view is a cross-sectional view of the surface shape, the areas indicated by A and B are the actual sealing surfaces.

[0050] In this embodiment, when reconstructing the surface shape of the valve seat under test, a smoothing filter can be used to eliminate noise interference and unwanted points in the actual contour spatial information (or point cloud dataset) of the valve seat under test. Then, the surface shape of the valve seat is reconstructed based on the point cloud data after noise interference elimination. Optionally, if the point cloud data is obtained by multiple optical scans of the valve seat under test, spatial point cloud registration is required before reconstructing the surface shape of the valve seat. This involves aligning point cloud data acquired from multiple different perspectives or at different times to the same coordinate system to improve the accuracy of the reconstructed valve seat surface shape.

[0051] S14, Align the theoretical three-dimensional model of the valve seat under test with the reconstructed surface shape of the valve seat under test.

[0052] The theoretical sealing surface refers to the sealing surface on the theoretical three-dimensional model.

[0053] In this embodiment, corresponding corner points or edge points can be found in the theoretical 3D model and surface shape, and then the theoretical 3D model and surface shape can be aligned using the found corner points or edge points as a reference. Alternatively, corresponding faces and / or lines can be found in the theoretical 3D model and surface shape, and then the theoretical 3D model and surface shape can be aligned using the found faces and / or lines as a reference.

[0054] Optionally, when aligning the theoretical 3D model and the surface shape based on faces and lines, the above-mentioned alignment process of the theoretical 3D model of the valve seat under test with the reconstructed surface shape of the valve seat under test includes:

[0055] A1. Extract the theoretical dividing surface and the theoretical inlet and outlet pipeline centerline from the theoretical three-dimensional model of the valve seat to be tested.

[0056] Specifically, the theoretical dividing facet can be extracted from the theoretical three-dimensional model based on its relative position, size, and shape. The theoretical inlet and outlet pipes can also be extracted from the theoretical three-dimensional model based on their relative position, size, and shape. Then, the corresponding central axis can be determined from the theoretical inlet and outlet pipes to obtain the central axis of the theoretical inlet and outlet pipes.

[0057] In this embodiment of the application, for the purpose of distinction, the mid-plane extracted from the theoretical three-dimensional model is called the theoretical mid-plane, and the central axis of the inlet and outlet pipeline extracted from the theoretical three-dimensional model is called the theoretical central axis of the inlet and outlet pipeline. Subsequently, the mid-plane and the central axis of the inlet and outlet pipeline extracted from the surface shape of the reconstructed valve seat to be tested are respectively called the actual mid-plane and the actual central axis of the inlet and outlet pipeline.

[0058] refer to Figure 3 , Figure 3 A cross-sectional schematic diagram of a valve seat under test is shown. The plane corresponding to part C of this cross-section is the mid-plane of the valve seat under test. If this cross-section is a cross-sectional view of a theoretical 3D model, the plane corresponding to part C is the theoretical mid-plane. The line corresponding to part D of this cross-section is the central axis of the inlet and outlet pipes of the valve seat under test. Figure 3 In this context, the center plane of the valve seat is perpendicular to the center axis of the inlet and outlet pipes. However, in practice, the center plane of the valve seat is not necessarily perpendicular to the center axis of the inlet and outlet pipes, and this is not a limitation here.

[0059] A2. Extract the actual split surface and the actual inlet / outlet pipeline centerline from the reconstructed surface shape of the valve seat to be tested.

[0060] The process of extracting the actual mid-plane and the centerline of the actual inlet and outlet pipelines is similar to the process of extracting the theoretical mid-plane and the theoretical inlet and outlet pipeline centerline, and will not be described in detail here.

[0061] A3. The theoretical midpoint and the actual midpoint are taken as the first group, and the theoretical inlet and outlet pipeline centerline and the actual inlet and outlet pipeline centerline are taken as the second group. The first group and the second group are both subject to coincidence constraints, so as to achieve the alignment of the theoretical three-dimensional model of the valve seat to be tested with the reconstructed surface shape of the valve seat to be tested.

[0062] Specifically, considering that the pipes of the valve seat usually do not wear (the wear is usually on the sealing surface), that is, the relationship between the central axis of the inlet and outlet pipes of the valve seat and the split plane usually does not change, therefore, constraining the theoretical split plane with the actual split plane, and constraining the central axis of the theoretical inlet and outlet pipes with the central axis of the actual inlet and outlet pipes, is equivalent to aligning the theoretical three-dimensional model of the valve seat under test with the reconstructed surface shape of the valve seat under test.

[0063] In this embodiment, after the coincidence constraint is completed (that is, after aligning the theoretical three-dimensional model of the valve seat to be tested with the reconstructed surface shape of the valve seat to be tested), it is equivalent to making the theoretical three-dimensional model and the surface shape of the valve seat to be tested on the same coordinate system, which is beneficial to improving the comparison results obtained by comparing the actual sealing surface with the theoretical sealing surface.

[0064] That is, by aligning the theoretical bisecting surface with the actual bisecting surface, and by constraining the central axis of the theoretical inlet and outlet pipes with the central axis of the actual inlet and outlet pipes, the theoretical three-dimensional model of the valve seat under test and the reconstructed surface shape of the valve seat under test can be aligned. This helps to improve the accuracy of the alignment, and thus helps to improve the accuracy of the subsequent comparison results.

[0065] Optionally, after A2 above, extracting the actual split surface and the actual inlet / outlet pipeline centerline from the actual contour spatial information of the valve seat to be measured, the method further includes:

[0066] B1. Determine the angle between the actual split surface and the actual sealing surface.

[0067] B2. If the included angle is greater than the preset included angle threshold, the actual sealing surface is determined to be abnormal.

[0068] Specifically, determine the normal of the actual split surface (assumed to be the first normal), and determine the normal of the actual sealing surface (assumed to be the second normal). Calculate the angle formed by the first normal and the second normal, which is the angle between the actual split surface and the actual sealing surface.

[0069] In this embodiment, considering that the actual sealing surface is usually parallel to the actual split surface, when it is determined that the angle between the actual sealing surface and the actual split surface is greater than a preset angle threshold, it indicates that the actual sealing surface is tilted and the tilt is large. A large tilt in the actual sealing surface may not be able to effectively contact the valve disc (or valve core), resulting in poor valve sealing. Therefore, determining that the actual sealing surface is abnormal when the angle between the actual sealing surface and the actual split surface is greater than the preset angle threshold is beneficial for timely detection of abnormal actual sealing surfaces in the valve seat under test.

[0070] S15. After alignment, compare the actual sealing surface with the theoretical sealing surface of the theoretical three-dimensional model to obtain the comparison result. Based on the comparison result, determine whether the actual sealing surface is abnormal.

[0071] Specifically, using the theoretical sealing surface as a reference standard, if the actual sealing surface is found to differ significantly from the theoretical sealing surface, the actual sealing surface is determined to be abnormal; otherwise, the actual sealing surface is determined to be normal.

[0072] In this embodiment, the valve seat under test is optically scanned, and its surface shape is reconstructed based on the actual contour space information obtained from the optical scan. Then, the surface shape of the valve seat is aligned with its theoretical three-dimensional model. After alignment, the actual sealing surface included in the surface shape of the valve seat is compared with the theoretical sealing surface corresponding to the theoretical three-dimensional model. Finally, the comparison result is used to determine whether the actual sealing surface is abnormal. Since the actual contour space information of the valve seat under test does not require manual measurement, and the alignment of the surface shape with the theoretical three-dimensional model and the determination of the theoretical sealing surface also do not require manual measurement, reliance on personal experience is reduced, thereby improving the efficiency and accuracy of valve seat anomaly detection. Furthermore, since the anomaly judgment is performed by first aligning the surface shape of the valve seat under test with its theoretical three-dimensional model before comparing the actual sealing surface with the theoretical sealing surface (rather than directly comparing the actual sealing surface with the theoretical sealing surface), the accuracy of the comparison result is improved, thus improving the accuracy of the judgment on whether the actual sealing surface is abnormal.

[0073] In some embodiments, considering that the valve seat under test has a certain depth structure, an optical scanning device can be inserted into the valve seat under test for optical scanning to improve the accuracy of the obtained actual contour space information. However, when the optical scanning device is inserted into the valve seat under test for measurement, the support of the optical scanning device may be affected by the gravity of the optical scanning device, causing the position of the optical scanning device to deform. After the position deformation, the scanning information collected by the optical scanning device will be deformed. Therefore, it is necessary to compensate for the collected scanning information. At this time, in S12 above, the valve seat under test is optically scanned to obtain the actual contour space information of the valve seat under test, including:

[0074] C1. The valve seat to be tested is optically scanned by an optical scanning device mounted on the support to obtain the initial contour space information of the valve seat to be tested, wherein the support extends into the valve seat to be tested.

[0075] Specifically, the optical scanning device can be fixedly mounted on the support to ensure its stability during the optical scanning process, thereby improving the accuracy of the initial contour spatial information obtained by the optical scanning. When the portion of the support on which the optical scanning device is fixed extends into the valve seat under test, the optical scanning device also extends into the valve seat under test, thus enabling the optical scanning device to perform optical scanning on the interior of the valve seat under test from within the valve seat itself.

[0076] Optionally, when the scanning range of a single optical scan by the optical scanning device is smaller than the internal contour range of the valve seat under test, the internal contour range of the valve seat under test can be divided into regions, and the initial contour space information corresponding to these regions can be obtained by adjusting the scanning range of the optical scanning device. Then, the initial contour space information of each region can be stitched together to obtain the initial contour space information corresponding to the valve seat under test.

[0077] Optionally, when the scanning range of a single optical scan by the optical scanning device is smaller than the internal contour range of the valve seat under test, multiple optical scanning devices with different scanning ranges can be set in the support. Then, the multiple optical scanning devices are used to perform optical scans on the internal contour of the valve seat under test respectively to obtain the initial contour space information obtained by the multiple optical scanning devices. Finally, the initial contour space information obtained by each optical scanning device after optical scan is stitched together to obtain the initial contour space information corresponding to the valve seat under test.

[0078] C2. Collect N pairs of scanning information of the valve seat under test using the aforementioned optical scanning device, wherein N is greater than or equal to 1, and each pair of scanning information is the scanning information of two symmetrical positions of the valve seat under test in the horizontal direction.

[0079] It should be noted that when the same optical scanning device acquires scanning information from two symmetrical points on the valve seat under test in the horizontal direction, the two scanning information corresponding to these two points are affected by the same magnitude of influence, but in opposite directions. This influence includes gravity and motion fluctuations.

[0080] C3. Determine the current pose of the aforementioned support components.

[0081] The current position of the support component can reflect whether the support component is currently in a vertical, horizontal, or tilted state.

[0082] Specifically, the current position of the support can be determined by information input by the user, or by detection equipment such as a level or plumb line; no limitation is made here.

[0083] C4. Determine the compensation value based on the current pose of the support component, the N pairs of scan information collected, and the N pairs of standard information corresponding to the N pairs of scan information.

[0084] The standard information of the aforementioned location point refers to the theoretical information corresponding to that location point, such as the information obtained without being affected (e.g., by gravitational deformation).

[0085] The compensation values ​​mentioned above are used to compensate for errors in the acquired scanning signal caused by deformation of the optical scanning device, and / or to compensate for errors in the acquired scanning signal caused by the vibration of the optical scanning device itself.

[0086] Optionally, the aforementioned compensation value can be the sum of the runout deviation value and the gravity deformation compensation value. Here, the runout deviation value refers to the amount of deviation of the surface of the mechanical parts of the optical scanning equipment relative to a reference axis or plane during rotation or vibration.

[0087] Specifically, considering that the optical scanning device is mounted on a support, when the support is vertically placed, the gravity of the optical scanning device will not act on the support. That is, the support will not undergo gravitational deformation. In other words, when the support is vertically placed, the initial contour space information acquired by the optical scanning device is not affected by gravitational deformation, but only by motion vibration. In this case, the initial contour space information does not require gravitational deformation compensation, but only motion vibration deviation compensation. Conversely, when the support is horizontally or tilted, the gravity of the optical scanning device will act on the support. That is, the support will undergo gravitational deformation, which in turn causes deformation in the position fixed to the optical scanning device. Therefore, when the support is not vertically placed (such as horizontally or tilted), the initial contour space information acquired by the optical scanning device will be affected by both gravitational deformation and motion vibration. In this case, the initial contour space information needs to be compensated for both gravitational deformation and motion vibration deviation.

[0088] In this embodiment of the application, considering that the collected scanning information is obtained after the standard information is subjected to gravitational deformation and runout deviation, the corresponding quantitative relationship can be constructed based on the collected scanning information, standard information, gravitational deformation compensation value and runout deviation value, and then the gravitational deformation compensation value and runout deviation value can be calculated based on the quantitative relationship.

[0089] For example, suppose the scan information of two horizontally symmetrical positions is y1 and y2, the standard information of these two positions is x1 and x2, the runout deviation values ​​are r1 and r2, and the gravity deformation compensation values ​​are g1 and g2, where r1 and r2 are numerically equal but opposite in sign, and g1 and g2 are also numerically equal but opposite in sign. Then the established equality relationship can be as follows:

[0090] y1=x1+r1+g1(1);

[0091] y2=x2+r2+g2(2);

[0092] As described above, when y1, y2, x1, and x2 are known, the compensation value can be calculated as (r1+g1) or (r2+g2).

[0093] C5. Based on the above compensation value, the initial contour space information is compensated to obtain the actual contour space information of the valve seat to be tested.

[0094] When dealing with the next unknown standard information location, the standard information corresponding to that location can be obtained by subtracting the calculated compensation value from the corresponding scan information. When the above compensation is performed on each location point of the valve seat under test, the initial contour space information can be compensated, thus obtaining the actual contour space information of the valve seat under test.

[0095] To describe the compensation process more clearly, the following explanation will take the compensation of the sealing surface of the valve seat under test as an example.

[0096] like Figure 4 As shown, Figure 4 A schematic diagram shows an optical scanning device performing optical scanning on the guide rail and the sealing surface, respectively. Figure 4 In the diagram, part E points to the guide rail of the valve seat under test, and part F points to the sealing surface of the valve seat under test.

[0097] When the optical scanning device scans the valve seat under test from top to bottom, it will first scan the guide rail of the valve seat under test, and then scan the sealing surface of the valve seat under test. Assuming that the optical scanning device moves a distance L1 when scanning the guide rail, and moves a distance L2 when scanning the sealing surface of the valve seat under test, within a distance L1, the optical scanning device collects three pairs of scanning information, assuming they are (y1, y2), (Y1, Y2), and (y1', y2'). Based on the above formulas (1) and (2), the following formula can be derived:

[0098] y1 = x1 + r1 + g1; y2 = x2 + r2 + g2;

[0099] Y1 = X1 + r1 + g1; Y2 = X2 + r2 + g2;

[0100] y1'=x1'+r1+g1; y2'=x2'+r2+g2;

[0101] y1+y2+Y1+Y2+y1'+y2'=x1+x2+X1+X2+x1'+x2'+6*(r1+g1);

[0102] ;

[0103] The unit compensation value P corresponding to the guide rail is: .

[0104] As the optical scanning device continues to scan the sealing surface, the compensation value corresponding to the sealing surface is (P*L2) because the distance the optical scanning device moves is L2. After the optical scanning device acquires the scanning information (i.e., the initial contour space information mentioned above), it subtracts (P*L2) from the initial contour space information, and the remaining information is the actual contour space information of the valve seat to be tested.

[0105] After aligning the surface shape of the valve seat under test with the theoretical three-dimensional model, the actual sealing surface is judged to be abnormal based on whether it is missing certain parts of the theoretical sealing surface. In some embodiments, in step S15 above, after alignment, the actual sealing surface is compared with the theoretical sealing surface of the theoretical three-dimensional model to obtain a comparison result. The abnormality of the actual sealing surface is judged based on the comparison result, including:

[0106] D1. After alignment, determine the position points corresponding to the actual sealing surfaces mentioned above, and determine the position points corresponding to the theoretical sealing surfaces of the theoretical three-dimensional model mentioned above.

[0107] The aforementioned location points can be represented using three-dimensional coordinate values. Specifically, after aligning the surface shape of the valve seat under test with the theoretical three-dimensional model, both the actual sealing surface and the theoretical sealing surface can be projected onto the same three-dimensional coordinate system to obtain the three-dimensional coordinate values ​​corresponding to the actual sealing surface and the theoretical sealing surface.

[0108] D2. If the position corresponding to the theoretical sealing surface is not exactly the same as the position corresponding to the actual sealing surface, then the actual sealing surface is determined to be abnormal.

[0109] Among them, the above-mentioned not being completely the same includes: the number of position points on the actual sealing surface is more or less than the number of position points on the theoretical sealing surface (such as when the actual sealing surface is partially missing, the number of its corresponding position points will be less than the number of position points on the theoretical sealing surface); the number of position points on the actual sealing surface is equal to the number of position points on the theoretical sealing surface, but the three-dimensional coordinate values ​​of the position points on the actual sealing surface are not completely the same as the three-dimensional coordinate values ​​of the position points on the theoretical sealing surface (such as when the actual sealing surface is concave or convex).

[0110] Optionally, an anomaly in the actual sealing surface can be determined only when the difference is significant. In this case, the aforementioned "not entirely the same" may further include: the number of location points on the actual sealing surface is equal to the number of location points on the theoretical sealing surface, but the difference between the three-dimensional coordinate values ​​of the location points on the actual sealing surface and the three-dimensional coordinate values ​​of the location points on the theoretical sealing surface is greater than a preset threshold for the degree of coordinate value difference. This degree of difference can be calculated as the sum of the absolute values ​​of the differences between the three-dimensional coordinate values ​​of the location points on the actual sealing surface and the three-dimensional coordinate values ​​of the location points on the theoretical sealing surface, calculated for the same corresponding location point.

[0111] In some embodiments, after determining whether the actual sealing surface is abnormal based on the comparison result in S15, the method further includes:

[0112] If the above-mentioned actual sealing surface is determined to be abnormal, then the area where the abnormality occurs on the above-mentioned actual sealing surface is marked.

[0113] The aforementioned abnormal identifiers include text identifiers, color identifiers, and other forms of identifiers, which are not limited here.

[0114] For example, when anomalies are identified by color, different colors can be used to indicate different types of anomaly areas. For instance, red can be used to indicate a tilted anomaly on the actual sealing surface, yellow to indicate a recessed anomaly, and orange to indicate a convex anomaly, and so on.

[0115] In this embodiment, abnormal areas of the actual sealing surface are marked, which is beneficial for users to view intuitively.

[0116] In some embodiments, considering that different optical scanning devices typically differ in size and function, a suitable optical scanning device can be selected based on the size of the valve seat under test to improve the accuracy of the final obtained actual contour space information. That is, S12 above, performing optical scanning on the valve seat under test to obtain the actual contour space information of the valve seat under test, includes:

[0117] E1. Obtain the dimensions of the valve seat to be tested.

[0118] Specifically, the size of the valve seat under test can be determined by measuring it, or by obtaining the model number of the valve seat under test.

[0119] E2. Determine the corresponding optical scanning equipment based on the dimensions of the valve seat to be tested.

[0120] Specifically, considering that the optical scanning device may extend into the interior of the valve seat under test for scanning, the size and function of different types of optical scanning devices can be determined first, and then the size and function of the optical scanning device can be matched with the size of the valve seat under test to determine the appropriate optical scanning device.

[0121] Optionally, E2, and the optical scanning device determined according to the dimensions of the valve seat to be tested, include:

[0122] E21. If the size of the valve seat to be tested is smaller than the first size threshold, the determined optical scanning device is the first optical scanning device, which includes a spectral confocal sensor that uses side-emitting light.

[0123] Among them, the spectral confocal sensor is a high-precision displacement measurement sensor. Side-emitting light means that the light emitted by the sensor is at an angle to the sensor's axis, rather than emitting light directly along the axis. This method allows the sensor to measure the surfaces of objects that are difficult to measure directly from above or in front, such as objects on their sides or slopes.

[0124] E22. If the size of the valve seat to be tested is not less than the first size threshold but less than the second size threshold, then the determined optical scanning device is the second optical scanning device, and the second optical scanning device includes the use of a type A line laser profile sensor.

[0125] E23. If the size of the valve seat to be tested is not less than the second size threshold but less than the third size threshold, then the determined optical scanning device is the third optical scanning device, which includes the use of a B-type line laser profile sensor.

[0126] Both the A-type and B-type line laser profile sensors operate based on the principle of laser triangulation, but the size of the A-type line laser profile sensor is smaller than that of the B-type line laser profile sensor.

[0127] In this embodiment, the size of the valve seat to be tested can be determined according to its model number, which is equivalent to selecting the corresponding optical scanning device based on the model number of the valve seat to be tested. For example, for valve seats with smaller dimensions, such as DN80, DN100, and DN150 valve seats, a side-emitting spectral confocal sensor can be used. After detecting the sealing surface, the spectral confocal sensor will move along the circular trajectory of the sealing surface to obtain the surface shape information of the sealing surface. For valve seats with medium dimensions, such as DN200 and DN250 valve seats, an A-type line laser profile sensor can be used. For valve seats with larger dimensions, such as DN300 and DN350 valve seats, a B-type line laser profile sensor can be used to scan the valve seat.

[0128] E3. The above-mentioned optical scanning device is used to perform optical scanning on the valve seat to be tested to obtain the actual contour spatial information of the valve seat to be tested.

[0129] In this embodiment, since the corresponding optical scanning device is selected according to the different dimensions of the valve seat to be tested, the selected optical scanning device is more compatible with the valve seat to be tested, which helps to improve the accuracy of the actual contour spatial information of the valve seat to be tested obtained subsequently.

[0130] In some embodiments, after E1 and obtaining the dimensions of the valve seat to be measured, the method further includes:

[0131] The number of optical scans is determined based on the dimensions of the valve seat to be tested.

[0132] Correspondingly, E3, through the aforementioned optical scanning device, performs optical scanning on the valve seat under test to obtain the actual contour spatial information of the valve seat under test, including:

[0133] The actual contour spatial information of the valve seat under test is obtained by performing optical scanning on the valve seat under test by the optical scanning device according to the number of optical scans described above.

[0134] Specifically, a parameter setting page can be displayed on the electronic device. On this page, the user can input the number of light scans as needed, or the electronic device can automatically obtain the corresponding number of scans based on the size of the valve seat to be tested.

[0135] In this embodiment of the application, after the optical scanning device performs optical scanning on the valve seat to be tested according to the set number of optical scans, the average value of the scanning information obtained from the multiple scans is calculated, and the average value of each scanning information is used as the actual contour space information of the valve seat to be tested.

[0136] Optionally, the number of scans can be increased when the size of the valve seat to be measured is larger, and vice versa. This is because the larger the size of the valve seat to be measured, the larger the area that needs to be scanned. The scanned information may be affected by gravitational deformation and motion run-off deviations. Therefore, by performing multiple scans and averaging the scanned information obtained from multiple scans, the random fluctuations in the scanned information can be smoothed out, making the scanned information more stable and thus improving the accuracy of the final actual contour space information.

[0137] In some embodiments, before E3 and the optical scanning device is used to perform optical scanning on the valve seat under test to obtain the actual contour space information of the valve seat under test, the method further includes:

[0138] F1. Obtain user requirements, which include at least one of the following: detection accuracy, detection speed, and data quality.

[0139] Among them, detection accuracy refers to the degree of closeness between the detection result and the true value, that is, the degree of closeness between the scanning information scanned by the optical scanning device and the true value.

[0140] The detection speed refers to the time required for the optical scanning device to complete one measurement, that is, the time required for the valve seat under test to complete one measurement.

[0141] Among them, data quality refers to the quality of the surface shape of the valve seat under test fitted based on the actual contour space information. When the fitting degree of the surface shape is good, it indicates that the data quality is high.

[0142] F2. Determine the scanning parameters of the optical scanning device based on the user requirements described above.

[0143] The scanning parameters include: scanning speed and / or data acquisition density. Scanning speed refers to the distance or area scanned by the optical scanning device per unit time, determining the time required for a complete scan. Data acquisition density refers to the number of data points acquired per unit length or area. When the user requirement includes "high data quality," the scanning parameters determined based on this requirement may include: decreasing the scanning speed and increasing the data acquisition density. When the user requirement includes "improving detection speed," the scanning parameters determined based on this requirement may include: increasing the scanning speed, and may also include: decreasing the data acquisition density.

[0144] Correspondingly, E3, through the aforementioned optical scanning device, performs optical scanning on the valve seat under test to obtain the actual contour spatial information of the valve seat under test, including:

[0145] The actual contour spatial information of the valve seat under test is obtained by performing optical scanning on the valve seat under test using the aforementioned optical scanning equipment and the aforementioned scanning parameters.

[0146] In this embodiment, since the scanning parameters determined according to user needs are combined when optically scanning the valve seat under test, the scanning process is more in line with user needs, thereby improving the user's experience.

[0147] In some embodiments, considering that the wear is more severe towards the lower part of the sealing surface of the valve seat under test, different scanning parameters can be set for different parts of the same valve seat under test to improve the accuracy of the obtained actual contour spatial information of the valve seat under test. In this case, before F2 above and determining the scanning parameters of the optical scanning device according to the user requirements, the method further includes:

[0148] Obtain the dimensions of the valve seat to be tested.

[0149] Correspondingly, F2, based on the aforementioned user requirements, determines the scanning parameters of the aforementioned optical scanning device, including:

[0150] Based on the dimensions of the valve seat to be tested and the user requirements, the scanning parameters of the optical scanning device are determined.

[0151] Specifically, when the size of the valve seat under test is relatively large (e.g., not smaller than a first size threshold but smaller than a second size threshold), two types of scanning parameters are set, one for scanning the upper half and the other for scanning the lower half of the same valve seat. The data quality obtained by scanning the lower half of the valve seat is higher than that obtained by scanning the upper half. When the size of the valve seat under test is relatively small, only one type of scanning parameter can be set.

[0152] Optionally, when the size of the valve seat under test is large (e.g., not less than the first size threshold but less than the second size threshold), the sealing surface of the valve seat under test is divided into an upper half and a lower half. For the upper half of the sealing surface of the valve seat under test, a first type of scanning parameters will be determined, while for the lower half of the sealing surface of the valve seat under test, a second type of scanning parameters will be determined. The scanning speed of the second type is less than that of the first type of scanning parameters, and / or the data acquisition density of the second type is greater than that of the first type of data acquisition density.

[0153] In this embodiment of the application, since the size of the valve seat to be tested is considered in addition to user requirements when determining the scanning parameters, it is beneficial to improve the accuracy of the determined scanning parameters.

[0154] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0155] Corresponding to the valve seat anomaly detection method described in the above embodiments, Figure 5 The diagram shows a structural block diagram of the valve seat abnormality detection device provided in the embodiments of this application. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0156] Reference Figure 5 The valve seat anomaly detection device 5 is used in electronic equipment and includes: a theoretical three-dimensional model acquisition module 51, a scanning module 52, a surface shape reconstruction module 53, an alignment module 54, and an anomaly judgment module 55. Among them:

[0157] The theoretical three-dimensional model acquisition module 51 is used to acquire the theoretical three-dimensional model of the valve seat to be tested, including the theoretical sealing surface.

[0158] The scanning module 52 is used to perform optical scanning on the valve seat to be tested to obtain the actual contour spatial information of the valve seat to be tested.

[0159] The surface shape reconstruction module 53 is used to reconstruct the surface shape of the valve seat under test based on the actual contour space information of the valve seat under test. The surface shape includes the actual sealing surface of the valve seat under test.

[0160] Alignment module 54 is used to align the theoretical three-dimensional model of the valve seat under test with the reconstructed surface shape of the valve seat under test.

[0161] The anomaly detection module 55 is used to compare the actual sealing surface with the theoretical sealing surface of the theoretical three-dimensional model after the alignment process, obtain the comparison result, and determine whether the actual sealing surface is abnormal based on the comparison result.

[0162] In this embodiment, the valve seat under test is optically scanned, and its surface shape is reconstructed based on the actual contour space information obtained from the optical scan. Then, the surface shape of the valve seat is aligned with its theoretical three-dimensional model. After alignment, the actual sealing surface included in the surface shape of the valve seat is compared with the theoretical sealing surface corresponding to the theoretical three-dimensional model. Finally, the comparison result is used to determine whether the actual sealing surface is abnormal. Since the actual contour space information of the valve seat under test does not require manual measurement, and the alignment of the surface shape with the theoretical three-dimensional model and the determination of the theoretical sealing surface also do not require manual measurement, reliance on personal experience is reduced, thereby improving the efficiency and accuracy of valve seat anomaly detection. Furthermore, since the anomaly judgment is performed by first aligning the surface shape of the valve seat under test with its theoretical three-dimensional model before comparing the actual sealing surface with the theoretical sealing surface (rather than directly comparing the actual sealing surface with the theoretical sealing surface), the accuracy of the comparison result is improved, thus improving the accuracy of the judgment on whether the actual sealing surface is abnormal.

[0163] Optionally, the scanning module 52 described above is specifically used for:

[0164] The valve seat under test is optically scanned by an optical scanning device mounted on the support member to obtain the initial contour space information of the valve seat under test, wherein the support member extends into the valve seat under test.

[0165] The above-mentioned optical scanning device collects N pairs of scanning information of the valve seat under test, wherein N is greater than or equal to 1, and each pair of scanning information is the scanning information of two position points of the valve seat under test that are symmetrical in the horizontal direction.

[0166] Determine the current pose of the aforementioned support components;

[0167] Based on the current pose of the aforementioned support component, the N pairs of scan information collected, and the N pairs of standard information corresponding to the aforementioned N pairs of scan information, the compensation value is determined.

[0168] The initial contour space information is compensated based on the above compensation value to obtain the actual contour space information of the valve seat to be tested.

[0169] Optionally, the alignment module 54 specifically includes:

[0170] The theoretical mid-plane extraction unit is used to extract the theoretical mid-plane and the theoretical inlet / outlet pipeline centerline from the theoretical three-dimensional model of the valve seat to be tested.

[0171] The actual mid-plane extraction unit is used to extract the actual mid-plane and the actual inlet / outlet pipeline centerline from the reconstructed surface shape of the valve seat to be tested.

[0172] The coincident constraint unit is used to group the theoretical midplane and the actual midplane as the first group, and to group the theoretical inlet and outlet pipeline centerlines and the actual inlet and outlet pipeline centerlines as the second group, and to impose coincident constraints on both the first group and the second group, so as to align the theoretical three-dimensional model of the valve seat under test with the reconstructed surface shape of the valve seat under test.

[0173] Optionally, the valve seat abnormality detection device 5 provided in this application embodiment further includes:

[0174] Angle determination module is used to determine the angle between the actual split surface and the actual sealing surface after extracting the actual split surface and the actual inlet / outlet pipeline centerline from the reconstructed surface shape of the valve seat to be tested.

[0175] The tilt detection module is used to determine that the actual sealing surface is abnormal when the included angle is greater than a preset included angle threshold.

[0176] Optionally, the above-mentioned anomaly detection module 55 includes:

[0177] The position point determination unit is used to determine the position point corresponding to the actual sealing surface after the alignment process, and to determine the position point corresponding to the theoretical sealing surface of the theoretical three-dimensional model.

[0178] An anomaly determination unit is used to determine that the actual sealing surface is abnormal if the position point corresponding to the theoretical sealing surface is not exactly the same as the position point corresponding to the actual sealing surface.

[0179] Optionally, the above-mentioned anomaly determination unit is specifically used for:

[0180] If the number of actual sealing surface locations is greater than or less than the number of theoretical sealing surface locations, then the actual sealing surface is determined to be abnormal.

[0181] or,

[0182] If the number of actual sealing surface location points is equal to the number of theoretical sealing surface location points, but the three-dimensional coordinate values ​​of the actual sealing surface location points are not exactly the same as the three-dimensional coordinate values ​​of the theoretical sealing surface location points, then the actual sealing surface is determined to be abnormal.

[0183] Optionally, the valve seat abnormality detection device 5 provided in this application embodiment further includes:

[0184] The anomaly identification module is used to identify the area of ​​the actual sealing surface that is abnormal if the actual sealing surface is determined to be abnormal after determining whether the actual sealing surface is abnormal based on the comparison results.

[0185] Optionally, the scanning module 52 includes:

[0186] The dimension acquisition unit of the valve seat to be tested is used to acquire the dimension of the valve seat to be tested.

[0187] The optical scanning device determination unit is used to determine the corresponding optical scanning device based on the dimensions of the valve seat to be tested.

[0188] The optical scanning unit is used to perform optical scanning on the valve seat under test using the aforementioned optical scanning device to obtain the actual contour spatial information of the valve seat under test.

[0189] Optionally, the aforementioned optical scanning device determining unit is specifically used for:

[0190] If the size of the valve seat to be tested is smaller than the first size threshold, then the determined optical scanning device is the first optical scanning device, which includes a spectral confocal sensor that uses side-emitting light.

[0191] If the size of the valve seat to be tested is not less than the first size threshold but less than the second size threshold, then the determined optical scanning device is the second optical scanning device, and the second optical scanning device includes the use of a type A line laser profile sensor;

[0192] If the size of the valve seat to be tested is not less than the second size threshold but less than the third size threshold, then the determined optical scanning device is the third optical scanning device, which includes the use of a B-type line laser profile sensor.

[0193] Optionally, the valve seat abnormality detection device 5 provided in this application embodiment further includes:

[0194] The optical scan count determination module is used to determine the number of optical scans based on the dimensions of the valve seat to be tested after obtaining the dimensions of the valve seat to be tested.

[0195] Correspondingly, the scanning module 52 described above is specifically used for:

[0196] The actual contour spatial information of the valve seat under test is obtained by performing optical scanning on the valve seat under test by the optical scanning device according to the number of optical scans described above.

[0197] Optionally, the valve seat abnormality detection device 5 provided in this application embodiment further includes:

[0198] The user requirement acquisition module is used to acquire user requirements before the actual contour space information of the valve seat under test is obtained by optical scanning of the valve seat under test by the optical scanning device. The user requirements include at least one of the following: detection accuracy, detection speed and data quality.

[0199] The scanning parameter determination module is used to determine the scanning parameters of the optical scanning device based on the user requirements mentioned above.

[0200] Correspondingly, the scanning module 52 described above is specifically used for:

[0201] The actual contour spatial information of the valve seat under test is obtained by performing optical scanning on the valve seat under test using the aforementioned optical scanning equipment and the aforementioned scanning parameters.

[0202] Optionally, the valve seat abnormality detection device 5 provided in this application embodiment further includes:

[0203] The dimension acquisition unit of the valve seat to be tested is used to acquire the dimension of the valve seat to be tested before determining the scanning parameters of the optical scanning device according to the user requirements.

[0204] Correspondingly, the scanning parameter determination module mentioned above is specifically used for:

[0205] Based on the dimensions of the valve seat to be tested and the user requirements, the scanning parameters of the optical scanning device are determined.

[0206] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0207] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 6 As shown, the electronic device 6 of this embodiment includes: at least one processor 60 ( Figure 6 The diagram shows only one processor, a memory 61, and a computer program 62 stored in the memory 61 and executable on the at least one processor 60, which, when executing the computer program 62, implements the steps in any of the above method embodiments.

[0208] The electronic device 6 can be a desktop computer, laptop, handheld computer, cloud server, or other computing device. This electronic device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will understand that... Figure 6 This is merely an example of electronic device 6 and does not constitute a limitation on electronic device 6. It may include more or fewer components than shown, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0209] The processor 60 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0210] In some embodiments, the memory 61 may be an internal storage unit of the electronic device 6, such as a hard disk or memory of the electronic device 6. In other embodiments, the memory 61 may be an external storage device of the electronic device 6, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the electronic device 6. Furthermore, the memory 61 may include both internal and external storage units of the electronic device 6. The memory 61 is used to store the operating system, applications, bootloader, data, and other programs, such as the program code of the computer program. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0211] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0212] This application also provides a network device, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor executes the computer program to implement the steps in any of the above method embodiments.

[0213] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the steps in the above-described method embodiments.

[0214] This application provides a computer program product that, when run on an electronic device, enables the electronic device to implement the steps described in the various method embodiments above.

[0215] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographic device / electronic device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0216] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0217] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0218] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0219] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0220] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for detecting valve seat abnormalities, characterized in that, include: Obtain a theoretical three-dimensional model of the valve seat to be tested, wherein the theoretical three-dimensional model includes a theoretical sealing surface; The valve seat under test is optically scanned to obtain the actual contour spatial information of the valve seat under test; Based on the actual contour space information of the valve seat to be tested, the surface shape of the valve seat to be tested is reconstructed, and the surface shape includes the actual sealing surface of the valve seat to be tested. The theoretical three-dimensional model of the valve seat under test is aligned with the reconstructed surface shape of the valve seat under test. After alignment, the actual sealing surface is compared with the theoretical sealing surface of the theoretical three-dimensional model to obtain a comparison result. Based on the comparison result, it is determined whether the actual sealing surface is abnormal. The process of aligning the theoretical three-dimensional model of the valve seat under test with the reconstructed surface shape of the valve seat under test includes: The theoretical mid-plane and the theoretical inlet and outlet pipeline centerlines are extracted from the theoretical three-dimensional model of the valve seat to be tested. Extract the actual split surface and the actual inlet / outlet pipeline centerline from the reconstructed surface shape of the valve seat under test; The theoretical mid-plane and the actual mid-plane are taken as the first group, and the theoretical inlet and outlet pipe centerline and the actual inlet and outlet pipe centerline are taken as the second group. Both the first group and the second group are subject to coincidence constraints to achieve the alignment of the theoretical three-dimensional model of the valve seat under test with the reconstructed surface shape of the valve seat under test. After alignment, the actual sealing surface is compared with the theoretical sealing surface of the theoretical three-dimensional model to obtain a comparison result. Based on the comparison result, it is determined whether the actual sealing surface is abnormal, including: After alignment, the position points corresponding to the actual sealing surface are determined, and the position points corresponding to the theoretical sealing surface of the theoretical three-dimensional model are determined. If the position point corresponding to the theoretical sealing surface is not exactly the same as the position point corresponding to the actual sealing surface, then the actual sealing surface is determined to be abnormal.

2. The valve seat anomaly detection method as described in claim 1, characterized in that, The step of performing optical scanning on the valve seat under test to obtain the actual contour spatial information of the valve seat under test includes: The valve seat under test is optically scanned by an optical scanning device mounted on a support member to obtain the initial contour spatial information of the valve seat under test, wherein the support member extends into the valve seat under test. The optical scanning device acquires N pairs of scanning information of the valve seat under test, wherein N is greater than or equal to 1, and each pair of scanning information is the scanning information of two position points of the valve seat under test that are symmetrical in the horizontal direction. Determine the current pose of the support member; The compensation value is determined based on the current pose of the support component, the N pairs of scan information collected, and the N pairs of standard information corresponding to the N pairs of scan information. The initial contour space information is compensated based on the compensation value to obtain the actual contour space information of the valve seat to be tested.

3. The valve seat anomaly detection method as described in claim 1, characterized in that, After extracting the actual split surface and the actual inlet / outlet pipe centerline from the reconstructed surface shape of the valve seat under test, the method further includes: Determine the angle between the actual split surface and the actual sealing surface; If the included angle is greater than a preset included angle threshold, the actual sealing surface is determined to be abnormal.

4. The valve seat anomaly detection method as described in claim 1, characterized in that, The determination that the actual sealing surface is abnormal includes: If the number of actual sealing surface location points is greater than or less than the number of theoretical sealing surface location points, then the actual sealing surface is determined to be abnormal. or, If the number of location points on the actual sealing surface is equal to the number of location points on the theoretical sealing surface, but the three-dimensional coordinate values ​​of the location points on the actual sealing surface are not exactly the same as the three-dimensional coordinate values ​​of the location points on the theoretical sealing surface, then the actual sealing surface is determined to be abnormal.

5. The valve seat anomaly detection method according to any one of claims 1 to 4, characterized in that, After determining whether the actual sealing surface is abnormal based on the comparison result, the method further includes: If the actual sealing surface is determined to be abnormal, the area where the abnormality occurs on the actual sealing surface is identified.

6. The valve seat anomaly detection method according to any one of claims 1 to 4, characterized in that, The step of performing optical scanning on the valve seat under test to obtain the actual contour spatial information of the valve seat under test includes: Obtain the dimensions of the valve seat to be tested; The corresponding optical scanning device is determined based on the dimensions of the valve seat to be tested. The actual contour spatial information of the valve seat under test is obtained by performing optical scanning on the valve seat under test using the optical scanning device.

7. The valve seat anomaly detection method as described in claim 6, characterized in that, The step of determining the corresponding optical scanning device based on the size of the valve seat to be tested includes: If the size of the valve seat to be tested is smaller than the first size threshold, then the determined optical scanning device is the first optical scanning device, which includes a spectral confocal sensor that uses side-emitting light; If the size of the valve seat to be tested is not less than the first size threshold but less than the second size threshold, then the determined optical scanning device is the second optical scanning device, and the second optical scanning device includes a type A line laser profile sensor; If the size of the valve seat to be tested is not less than the second size threshold but less than the third size threshold, then the determined optical scanning device is the third optical scanning device, which includes a B-type line laser profile sensor.

8. The valve seat anomaly detection method as described in claim 6, characterized in that, After obtaining the dimensions of the valve seat to be measured, the method further includes: The number of optical scans is determined based on the dimensions of the valve seat to be tested; The step of performing optical scanning on the valve seat under test using the optical scanning device to obtain the actual contour spatial information of the valve seat under test includes: The actual contour spatial information of the valve seat under test is obtained by performing optical scanning on the valve seat under test by the optical scanning device according to the number of optical scans.

9. The valve seat anomaly detection method as described in claim 6, characterized in that, Before performing optical scanning on the valve seat under test using the optical scanning device to obtain the actual contour spatial information of the valve seat under test, the method further includes: Obtain user requirements, which include at least one of the following: detection accuracy, detection speed, and data quality; The scanning parameters of the optical scanning device are determined based on the user's requirements; The step of performing optical scanning on the valve seat under test using the optical scanning device to obtain the actual contour spatial information of the valve seat under test includes: The actual contour spatial information of the valve seat under test is obtained by performing optical scanning on the valve seat under test using the optical scanning device with the scanning parameters.

10. The valve seat anomaly detection method as described in claim 9, characterized in that, Before determining the scanning parameters of the optical scanning device according to the user's requirements, the method further includes: Obtain the dimensions of the valve seat to be tested; Determining the scanning parameters of the optical scanning device according to the user's requirements includes: The scanning parameters of the optical scanning device are determined based on the size of the valve seat to be tested and the user's requirements.

11. A valve seat abnormality detection device, characterized in that, include: The theoretical 3D model acquisition module is used to acquire the theoretical 3D model of the valve seat to be tested, wherein the theoretical 3D model includes the theoretical sealing surface; The scanning module is used to perform optical scanning on the valve seat under test to obtain the actual contour spatial information of the valve seat under test; The surface shape reconstruction module is used to reconstruct the surface shape of the valve seat under test based on the actual contour space information of the valve seat under test, wherein the surface shape includes the actual sealing surface of the valve seat under test. The alignment module is used to align the theoretical three-dimensional model of the valve seat under test with the reconstructed surface shape of the valve seat under test. An anomaly detection module is used to compare the actual sealing surface with the theoretical sealing surface of the theoretical three-dimensional model after alignment processing, obtain a comparison result, and determine whether the actual sealing surface is abnormal based on the comparison result. The alignment module includes: The theoretical mid-plane extraction unit is used to extract the theoretical mid-plane and the theoretical inlet / outlet pipeline centerline from the theoretical three-dimensional model of the valve seat to be tested; The actual mid-plane extraction unit is used to extract the actual mid-plane and the actual inlet / outlet pipeline centerline from the reconstructed surface shape of the valve seat to be tested; The coincident constraint unit is used to group the theoretical mid-plane and the actual mid-plane as a first group, and to group the theoretical inlet and outlet pipe centerline and the actual inlet and outlet pipe centerline as a second group, and to perform coincident constraints on both the first group and the second group, so as to align the theoretical three-dimensional model of the valve seat under test with the reconstructed surface shape of the valve seat under test. The anomaly detection module includes: The position point determination unit is used to determine the position point corresponding to the actual sealing surface after the alignment process, and to determine the position point corresponding to the theoretical sealing surface of the theoretical three-dimensional model. An anomaly determination unit is used to determine that the actual sealing surface is abnormal if the position point corresponding to the theoretical sealing surface is not exactly the same as the position point corresponding to the actual sealing surface.

12. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 10.

13. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 10.

14. A computer program product, characterized in that, Includes a computer program, which, when run, causes the method as described in any one of claims 1 to 10 to be performed.

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