In-service runner overflowing surface defect scanning step length self-adaption method and related device

Abstract

The invention discloses an in-service runner overflowing surface defect scanning step length self-adaption method and a related device. The method comprises the steps that the distance d between a current node and a target node is calculated; determining the maximum scanning basic distance according to the distance d between the current node and the target node, and determining the minimum scanning basic distance according to the basic distance and the shooting angle; and calculating the scanning step length of the flow passing surface defect of the in-service rotating wheel according to the maximum scanning basic distance and the minimum scanning basic distance. The method and the related device can adaptively adjust the scanning step length of the flow passing surface defect of the in-service rotating wheel.

Description

Technical Field

[0001] This invention belongs to the field of robot path planning technology, and relates to an adaptive method and related device for scanning defect step size of in-service rotary wheel flow surface. Background Technology

[0002] When using an articulated arm to carry a laser scanner for defect scanning of the runner's flow surface, manually teaching the scanning path is cumbersome, labor-intensive, and difficult to implement on-site. Using the articulated arm path dynamic programming algorithm (RRT) for scanning path planning results in a fixed step size that cannot adapt to changes in the runner's flow surface curvature, making it difficult to complete a full scan. To improve scanning efficiency while ensuring a complete scan of the flow surface, an adaptive step size method for defect scanning of in-service runner flow surfaces is proposed. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an adaptive method and related apparatus for scanning step size of defects on the flow surface of an in-service runner. This method and related apparatus can adaptively adjust the scanning step size of defects on the flow surface of an in-service runner.

[0004] To achieve the above objectives, this invention discloses an adaptive method for scanning the defect step size of the flow surface of an in-service turbine runner, comprising:

[0005] Calculate the distance d between the current node and the target node;

[0006] The maximum basic scanning distance is determined based on the distance d between the current node and the target node, and the minimum basic scanning distance is determined based on the basic distance and the shooting angle.

[0007] The scanning step length of the defects on the flow surface of the in-service runner is calculated based on the maximum and minimum basic scanning distances.

[0008] A further improvement of the adaptive step size method for scanning defects on the flow surface of an in-service runner described in this invention is as follows:

[0009] Furthermore, the distance d between the current node and the target node is calculated as follows:

[0010]

[0011] Where x1, y1, z1 are the positions of the current node, and x2, y2, z2 are the positions of the target node.

[0012] Furthermore, the maximum basic scan distance is less than or equal to the distance d between the current node and the target node.

[0013] Furthermore, let the basic laser scanning distance range be (L) min L max), where L max For the maximum basic scanning distance, L min The minimum basic scanning distance; the laser scanning shooting angle range is (θ) min θ max ), θ max For the maximum scanning angle, θ min For the minimum scanning angle, the i-th value L in the basic range of laser scanning distances is... i for:

[0014]

[0015] Where i = 1, 2, 3, ..., n is the number of equal parts;

[0016] The j-th value θ within the laser scanning shooting angle range j for:

[0017]

[0018] Where j = 1, 2, 3, ..., m is the number of equal parts.

[0019] Furthermore, the i-th value L in the basic distance range of laser scanning i and the j-th value θ within the laser scanning shooting angle range j The corresponding minimum scanning imaging step size S ij for:

[0020]

[0021] Where n is obtained by adding 1 to d in equal fractions according to the maximum scanning imaging step size, m = n + 1.

[0022] Furthermore, the scanning step size for defects on the flow surface of the in-service runner is a random value between half of the maximum scanning imaging step size and the minimum scanning step size.

[0023] This invention discloses an adaptive system for scanning the defect step size of the flow surface of an in-service turbine runner, comprising:

[0024] The first calculation module is used to calculate the distance d between the current node and the target node;

[0025] The determination module is used to determine the maximum basic scanning distance based on the distance d between the current node and the target node, and to determine the minimum basic scanning distance based on the basic distance and the shooting angle;

[0026] The second calculation module is used to calculate the scanning step length of the defects on the flow surface of the in-service runner based on the maximum and minimum scanning basic distances.

[0027] Furthermore, let the basic laser scanning distance range be (L)min L max ), where L max For the maximum basic scanning distance, L min The minimum basic scanning distance; the laser scanning shooting angle range is (θ) min θ max ), θ max For the maximum scanning angle, θ min For the minimum scanning angle, the i-th value L in the basic range of laser scanning distances is... i for:

[0028]

[0029] Where i = 1, 2, 3, ..., n is the number of equal parts;

[0030] The j-th value θ within the laser scanning shooting angle range j for:

[0031]

[0032] Where j = 1, 2, 3, ..., m is the number of equal parts.

[0033] The present invention discloses a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the adaptive method for scanning the defect step size of the in-service runner flow surface.

[0034] The present invention discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the adaptive method for scanning the defect step size of the in-service runner flow surface.

[0035] The present invention has the following beneficial effects:

[0036] The adaptive scanning step size method and related device for defects in the flow surface of in-service runners described in this invention calculates the distance d between the current node and the target node, and determines the maximum basic scanning distance based on this distance. The minimum basic scanning distance is determined based on the basic distance and the shooting angle. The scanning step size for defects in the flow surface of in-service runners is calculated based on the maximum and minimum basic scanning distances. This method is highly practical, as it can explore space flexibly and smoothly while avoiding path accuracy problems caused by excessively large step sizes. Attached Figure Description

[0037] The accompanying drawings, which form part of this specification, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0038] Figure 1 This is a flowchart of the method of the present invention. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] In the description of this invention, it should be understood that the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0041] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0042] It should also be further understood that the term "and / or" as used in this specification and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes such combinations. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Additionally, the character " / " in this invention generally indicates that the preceding and following objects have an "or" relationship.

[0043] It should be understood that although terms such as first, second, third, etc., may be used in the embodiments of the present invention to describe the preset range, these preset ranges should not be limited to these terms. These terms are only used to distinguish the preset ranges from one another. For example, without departing from the scope of the embodiments of the present invention, the first preset range may also be referred to as the second preset range, and similarly, the second preset range may also be referred to as the first preset range.

[0044] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0046] The accompanying drawings illustrate various structural schematic diagrams according to embodiments disclosed in this invention. These drawings are not to scale, and some details have been enlarged for clarity, and some details may have been omitted. The shapes of the various regions and layers shown in the drawings, as well as their relative sizes and positional relationships, are merely exemplary and may deviate from reality due to manufacturing tolerances or technical limitations. Furthermore, those skilled in the art can design regions / layers with different shapes, sizes, and relative positions as needed.

[0047] Example 1

[0048] refer to Figure 1 The adaptive method for scanning the defect step size of the in-service runner flow surface as described in this invention includes the following steps:

[0049] The scanning direction of the runner flow surface is planned on the runner theoretical model, that is: scanning from the runner outlet towards the inlet;

[0050] Based on the imaging parameters of the laser scanner (basic distance, shooting angle, scanning range), the maximum scanning imaging step length is calculated on the basis of the existing rotary model. That is, within the range of the basic imaging distance and scanning angle of the scanner, the maximum scanning imaging step length is equal to twice the scanning range radius.

[0051] The adaptive step size in the RRT algorithm, which involves adaptively adjusting the step size based on the impeller flow space, is as follows:

[0052] 1) Scan segmentation settings

[0053] Let the current node position be Pcurrent = (x1, y1, z1), and the target node position be Ptarget = (x2, y2, z2). Calculate the distance d from the current node Pcurrent to the target node Ptarget using the Euclidean distance formula:

[0054]

[0055] When the distance d is greater than the maximum scanning imaging step size, the image is first divided into equal segments according to the maximum scanning imaging step size, i.e., divided into segments equal to the distance d divided by the maximum scanning imaging step size + 1, and then the step size is adjusted segment by segment. When the distance d is less than the maximum scanning imaging step size, the step size is adjusted according to the distance d.

[0056] 2) Calculate the maximum and minimum scan step sizes.

[0057] The maximum scanning step size does not exceed the segment distance, and the minimum scanning step size is calculated based on the basic distance and the shooting angle. The calculation method is to establish a matching table based on the relationship between the basic distance and the shooting angle, and determine the minimum scanning step size based on the table values, as shown in Table 1.

[0058] Table 1

[0059]

[0060]

[0061] The basic laser scanning distance range is the range formed by the maximum and minimum basic scanning distances, i.e., (L... min L max The laser scanning imaging angle range is the range formed by the maximum scanning angle and the minimum scanning angle, i.e., (θ). min θ max ).

[0062] Let Li be any distance in the basic range of laser scanning distances, i = 1, 2, 3…; θj be any angle in the range of laser scanning shooting angles, j = 1, 2, 3….

[0063] n is the number of equal parts;

[0064] m is the number of equal parts;

[0065] Regarding the values ​​of m and n, n is determined by adding 1 to the distance d in equal fractions according to the maximum scanning imaging step size, and m is determined by m = n + 1.

[0066] 3) Calculate the new node coordinates

[0067] The distance-based adaptive step size calculation uses a method of randomly selecting values ​​within the range of the maximum and minimum scan step sizes to determine the step size, denoted as step. The coordinates of the new node (x3, y3, z3) are calculated as follows. The step value is a random value within the range of half the maximum scan step size and the minimum scan step size.

[0068]

[0069] During each expansion, the step size is controlled by an adaptive step size. This allows the method to explore the space flexibly and smoothly, while avoiding path accuracy issues caused by excessively large step sizes.

[0070] Example 2

[0071] The in-service runner flow surface defect scanning step size adaptive system of the present invention includes:

[0072] The first calculation module is used to calculate the distance d between the current node and the target node;

[0073] The determination module is used to determine the maximum basic scanning distance based on the distance d between the current node and the target node, and to determine the minimum basic scanning distance based on the basic distance and the shooting angle;

[0074] The second calculation module is used to calculate the scanning step length of the defects on the flow surface of the in-service runner based on the maximum and minimum scanning basic distances.

[0075] In this embodiment, the basic laser scanning distance range is set to (L). min L max ), where L max For the maximum basic scanning distance, L min The minimum basic scanning distance; the laser scanning shooting angle range is (θ) min θ max ), θ max For the maximum scanning angle, θ min For the minimum scanning angle, the i-th value L in the basic range of laser scanning distances is... i for:

[0076]

[0077] Where i = 1, 2, 3, ..., n is the number of equal parts;

[0078] The j-th value θ within the laser scanning shooting angle range j for:

[0079]

[0080] Where j = 1, 2, 3, ..., m is the number of equal parts.

[0081] The module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional modules in each embodiment of this application can be integrated into a single processor, exist as separate physical entities, or be integrated into a single module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0082] Example 3

[0083] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of an adaptive scanning step size method for defects on the flow surface of an in-service runner. For example, the method includes: calculating the distance *d* between the current node and the target node; determining a maximum basic scanning distance based on the distance *d* between the current node and the target node; determining a minimum basic scanning distance based on the basic distance and the shooting angle; and calculating the scanning step size for defects on the flow surface of the in-service runner based on the maximum and minimum basic scanning distances. Let the range of the laser scanning basic distance be (L...). min L max ), where L max For the maximum basic scanning distance, L min The minimum basic scanning distance; the laser scanning shooting angle range is (θ) miR θ max ), θ max For the maximum scanning angle, θ min For the minimum scanning angle, the i-th value L in the basic range of laser scanning distances is... i for: Where i = 1, 2, 3, ..., n is the number of equal parts; θ is the j-th value within the laser scanning shooting angle range. j for: Where j = 1, 2, 3…, and m is the number of equal parts. The memory may include main memory, such as high-speed random access memory, or it may also include non-volatile memory, such as at least one disk storage device. The processor, network interface, and memory are interconnected via an internal bus, which can be an industry-standard architecture bus, a peripheral component interconnection standard bus, an extended industry-standard architecture bus, etc. The bus can be divided into address bus, data bus, control bus, etc. The memory is used to store programs; specifically, the program may include program code, which includes computer operation instructions. The memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0084] Example 4

[0085] A computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of an adaptive scanning step size method for defects on the flow surface of an in-service runner. For example, the method includes: calculating the distance *d* between the current node and the target node; determining a maximum basic scanning distance based on the distance *d* between the current node and the target node; determining a minimum basic scanning distance based on the basic distance and the shooting angle; and calculating the scanning step size for defects on the flow surface of the in-service runner based on the maximum and minimum basic scanning distances. Let the range of the laser scanning basic distance be (L...). min L max ), where L max For the maximum basic scanning distance, L min The minimum basic scanning distance; the laser scanning shooting angle range is (θ) min θ max ), θ max For the maximum scanning angle, θ min For the minimum scanning angle, the i-th value L in the basic range of laser scanning distances is... i for: Where i = 1, 2, 3, ..., n is the number of equal parts; θ is the j-th value within the laser scanning shooting angle range. j for: Where j = 1, 2, 3…, and m is the number of equal parts. Specifically, the computer-readable storage medium includes, but is not limited to, volatile memory and / or non-volatile memory. The volatile memory may include random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include read-only memory (ROM), hard disk, flash memory, optical disk, magnetic disk, etc.

[0086] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0087] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0088] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0089] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0090] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and disclosure of the invention. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0091] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

[0092] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any simple modifications, alterations, or equivalent structural changes made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. An adaptive method for scanning the defect step size of the flow surface of an in-service turbine, characterized in that, include: Calculate the distance d between the current node and the target node; The maximum basic scanning distance is determined based on the distance d between the current node and the target node, and the minimum basic scanning distance is determined based on the basic distance and the shooting angle. The scanning step length of the defects on the flow surface of the in-service runner is calculated based on the maximum and minimum basic scanning distances.

2. The adaptive scanning step size method for defects in the flow surface of an in-service runner according to claim 1, characterized in that, The distance d from the current node to the target node is calculated as follows: Where x1, y1, z1 are the positions of the current node, and x2, y2, z2 are the positions of the target node.

3. The adaptive scanning step size method for defects in the flow surface of an in-service runner according to claim 1, characterized in that, The maximum basic scan distance is less than or equal to the distance d between the current node and the target node.

4. The adaptive scanning step size method for defects in the flow surface of an in-service runner according to claim 1, characterized in that, ... The basic distance range for laser scanning is (L) min L max ), where L max For the maximum basic scanning distance, L min The minimum basic scanning distance; the laser scanning shooting angle range is (θ) min θ max ), θ max For the maximum scanning angle, θ min For the minimum scanning angle, the i-th value L in the basic range of laser scanning distances is... i for: Where i = 1, 2, 3, ..., n is the number of equal parts; The j-th value θ within the laser scanning shooting angle range j for: Where j = 1, 2, 3, ..., m is the number of equal parts.

5. The adaptive scanning step size method for defects in the flow surface of an in-service runner according to claim 4, characterized in that, Then the i-th value L in the basic distance range of laser scanning i and the j-th value θ within the laser scanning shooting angle range j The corresponding minimum scanning imaging step size S ij for: Where n is obtained by adding 1 to d in equal fractions according to the maximum scanning imaging step size, m = n + 1.

6. The adaptive scanning step size method for defects in the flow surface of an in-service runner according to claim 1, characterized in that, The scanning step size for defects on the flow surface of in-service runners is a random value between half of the maximum scanning imaging step size and the minimum scanning step size.

7. An adaptive system for scanning the defect step size of the flow surface of an in-service turbine runner, characterized in that, include: The first calculation module is used to calculate the distance d between the current node and the target node; The determination module is used to determine the maximum basic scanning distance based on the distance d between the current node and the target node, and to determine the minimum basic scanning distance based on the basic distance and the shooting angle; The second calculation module is used to calculate the scanning step length of the defects on the flow surface of the in-service runner based on the maximum and minimum scanning basic distances.

8. The adaptive scanning step size system for defects in the flow surface of an in-service runner according to claim 7, characterized in that, it is set that... The basic distance range for laser scanning is (L) min L max ), where L max For the maximum basic scanning distance, L min The minimum basic scanning distance; the laser scanning shooting angle range is (θ) min θ max ), θ max For the maximum scanning angle, θ min For the minimum scanning angle, the i-th value L in the basic range of laser scanning distances is... i for: Where i = 1, 2, 3, ..., n is the number of equal parts; The j-th value θ within the laser scanning shooting angle range j for: Where j = 1, 2, 3, ..., m is the number of equal parts.

9. A computer 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 steps of the adaptive method for scanning the defect step size of the in-service runner flow surface as described in any one of claims 1-6.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the adaptive method for scanning the defect step size of the in-service runner flow surface as described in any one of claims 1-6.

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