Bolt detection device, bolt detection method, equipment and storage medium

Abstract

The invention provides a bolt detection device, a bolt detection method, equipment and a storage medium. A bolt detection device is used for detecting a blade mold, the blade mold is used for preparing a wind power blade, a blade root of the wind power blade is used for being fastened to a first end wall of the blade mold through a bolt, the bolt detection device comprises a visual module, a distance measurement module and a detection module, and the visual module is used for collecting a first image of the first end wall; identifying the bolt hole and the bolt in the first image to obtain identification information; the distance measurement module is used for carrying out distance measurement detection on a plurality of detection areas in the first end wall to obtain distance information between the bolt detection device and each detection area, and the plurality of detection areas are in one-to-one correspondence with a plurality of bolt holes in the first end wall; and the detection module is used for obtaining a detection result of the bolt fastened on the first end wall according to the identification information and the distance information. According to the invention, the efficiency of detecting whether the bolt is taken out before the blade mold is opened can be improved, and missing detection is reduced or avoided.

Description

Technical Field

[0001] This disclosure relates to the field of wind power equipment manufacturing technology, and in particular to a bolt detection device, bolt detection method, equipment, and storage medium. Background Technology

[0002] Wind turbine generators are electrical equipment that converts wind energy into electrical energy. Wind turbine blades are a key component of wind turbine generators. Wind turbine blades are manufactured using blade molds. During the manufacturing process, a preparation material needs to be laid on the inner surface of the blade mold beforehand. The mold is then closed, and bolts are used to secure the blade root. All bolts must be removed before the mold is opened; otherwise, it can lead to mold deformation, equipment damage, or even safety accidents. Currently, the detection of whether bolts have been removed before mold opening relies mainly on manual inspection, which is inefficient and carries a high risk of missed detections. Summary of the Invention

[0003] This application provides a bolt detection device, bolt detection method, equipment, and storage medium, which can solve the technical problems of low detection efficiency and high risk of missed detection in related technologies, which rely on manual inspection to check whether bolts are removed before the blade mold is opened.

[0004] One embodiment of this application provides a bolt detection device for detecting a blade mold used to manufacture wind turbine blades. The blade root of the wind turbine blade is fastened to the first end wall of the blade mold by bolts. The bolt detection device includes: The vision module is used to acquire a first image of the first end wall, identify the bolt holes and bolts in the first image, and obtain identification information; The ranging module is used to measure the distance between multiple detection areas in the first end wall and obtain the distance information between the bolt detection device and each detection area. The multiple detection areas correspond one-to-one with the multiple bolt holes in the first end wall. The detection module is connected to the vision module and the ranging module respectively. The detection module is used to obtain the detection results of the bolts fastened to the first end wall based on the recognition information and the spacing information.

[0005] In some embodiments, the bolt detection device further includes: The first moving module includes a first guide component, a first driving component, and a bracket. The bracket is slidably connected to the first guide component, and the first driving component is used to drive the bracket to move along a first direction. The vision module and the ranging module are mounted on the bracket.

[0006] In some embodiments, the bracket further includes a connector extending along a second direction; The vision module is connected to the middle of the connector, and the two ranging modules are connected to the two ends of the connector along the second direction, respectively. The first and second directions intersect.

[0007] In some embodiments, the first guiding component includes: A first guide rail and a second guide rail are arranged opposite to each other along a second direction; The lead screw is positioned between the first guide rail and the second guide rail; The middle part of the connecting seat is slidably connected to the lead screw, and the two ends of the connecting seat along the second direction are slidably connected to the first guide rail and the second guide rail, respectively.

[0008] In some embodiments, the bolt detection device further includes: The support frame includes a third guide rail, a fourth guide rail, a third drive component, and a fourth drive component. The third guide rail extends along a first direction, the fourth guide rail extends along a second direction and is movably connected to the third guide rail, the third drive component is used to drive the fourth guide rail to move along the first direction, a first moving module is movably connected to the fourth guide rail, and the fourth drive component is used to drive the first moving module to move along the second direction. The first and second directions intersect.

[0009] In some embodiments, the plurality of detection areas includes a first detection area, and the detection module includes: The first judgment unit is used to generate a detection result of unremoved bolts in the first detection area when the identification information corresponding to the first detection area is that bolts are installed and the spacing information is less than the first preset threshold. The second judgment unit is used to generate a detection result of the bolts removed in the first detection area when the identification information corresponding to the first detection area is that no bolts are installed and the spacing information is greater than or equal to the first preset threshold.

[0010] In some embodiments, the vision module is further configured to identify bolt holes and bolts in the first image to obtain identification information for each detection area and confidence level corresponding to each identification information; The detection module includes: The third judgment unit is used to generate a detection result of unremoved bolts in the first detection area when the identification information corresponding to the first detection area is that no bolts are installed and the confidence level is lower than the second preset threshold, and the spacing information is less than the first preset threshold. The fourth judgment unit is used to generate a detection result of the bolts removed in the first detection area when the identification information corresponding to the first detection area is that no bolts are installed and the confidence level is lower than the second preset threshold, and the spacing information is greater than or equal to the first preset threshold.

[0011] One embodiment of this application provides a bolt detection method for detecting a blade mold used to manufacture wind turbine blades. The blade root of the wind turbine blade is fastened to the first end wall of the blade mold by bolts. The bolt detection method includes: A first image of the first end wall is acquired, and the bolt holes and bolts in the first image are identified to obtain identification information; Distance measurement is performed on multiple detection areas in the first end wall to obtain the distance information between the distance measurement module and each detection area. The multiple detection areas correspond one-to-one with the multiple bolt holes in the first end wall. Based on the identification information and spacing information, the detection results of the bolts fastened to the first end wall are obtained.

[0012] In some embodiments, the plurality of detection areas includes a first detection area; obtaining the detection result of the bolt fastened to the first end wall based on the identification information and spacing information includes: If the identification information corresponding to the first detection area is that bolts are installed and the spacing information is less than the first preset threshold, a detection result is generated for the first detection area where bolts have not been removed. If the identification information corresponding to the first detection area is that no bolts are installed and the spacing information is greater than or equal to the first preset threshold, a detection result of bolts removed in the first detection area is generated.

[0013] In some embodiments, a first image of the first end wall is acquired, and bolt holes and bolts in the first image are identified to obtain identification information including: The first image of the first detection area is acquired and displayed. The bolt holes and bolts in the first image are identified to obtain the identification information of the corresponding first detection area and the confidence level corresponding to the identification information. Based on the identification information and spacing information, the detection results of the bolts fastened to the first end wall include: If the identification information corresponding to the first detection area is that no bolts are installed and the confidence level is lower than the second preset threshold, and the spacing information is less than the first preset threshold, a detection result of no bolts being removed in the first detection area is generated. If the identification information corresponding to the first detection area is that no bolts are installed and the confidence level is lower than the second preset threshold, and the spacing information is greater than or equal to the first preset threshold, then a detection result of bolts removed in the first detection area is generated.

[0014] One embodiment of this application provides a bolt detection device, which includes: a processor and a memory storing computer program instructions; The processor executes computer program instructions to implement the bolt detection method described above.

[0015] One embodiment of this application provides a computer storage medium storing computer program instructions, which, when executed by a processor, implement the bolt detection method described above.

[0016] The bolt detection device, method, equipment, and storage medium provided in this application utilize a vision module to generate identification information and a distance measurement module to generate spacing information. This allows the detection module to obtain the detection results of bolts fastened to the first end wall based on the identification and spacing information, improving the accuracy and robustness of the detection results and enabling precise identification of unremoved bolts in complex environments. This eliminates the need for manual inspection, improves bolt detection efficiency, increases the production efficiency of wind turbine blades, and enhances the safety of blade mold use. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural schematic diagram of the bolt detection device and blade mold provided in some embodiments of this application; Figure 2 This is a partial three-dimensional structural schematic diagram of the bolt detection device provided in some embodiments of this application; Figure 3 This is a partial three-dimensional structural schematic diagram of the bolt detection device provided in some embodiments of this application; Figure 4 This is a partial planar structural schematic diagram of the bolt detection device provided in some embodiments of this application; Figure 5 This is a three-dimensional structural schematic diagram of the bolt detection device provided in some embodiments of this application. Figure 6 This is a schematic diagram of the module structure of the detection module provided in some embodiments of this application.

[0018] Explanation of icon numbers: 100. Bolt inspection device; 1. Vision module; 2. Distance measuring module; 3. Detection module; 31. First judgment unit; 32. Second judgment unit; 33. Third judgment unit; 34. Fourth judgment unit; 4. First moving module; 41. First guide assembly; 411. First guide rail; 412. Second guide rail; 413. Lead screw; 42. First driving component; 43. Bracket; 431. Connecting seat; 4311. First connecting plate; 44. Mounting plate; 441. Mounting hole; 5. Support frame; 51. Third guide rail; 52. Fourth guide rail; 53. Third drive component; 54. Fourth drive component; 200. Blade mold; 201. First end wall; X, first direction; Y, second direction; Z, third direction. Detailed Implementation

[0019] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0020] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only one embodiment of this disclosure, and not all embodiments.

[0021] Please see Figure 1 and Figure 2 This application provides a bolt detection device 100, which is used to detect a blade mold 200. The blade mold 200 is used to manufacture wind turbine blades, and the root of the wind turbine blade is fastened to the first end wall 201 of the blade mold 200 by bolts. The bolt detection device 100 includes a vision module 1, a ranging module 2, and a detection module 3. The vision module 1 is used to acquire a first image of the first end wall 201, identify the bolt holes and bolts in the first image, and obtain identification information. The ranging module 2 is used to perform ranging detection on multiple detection areas in the first end wall 201 to obtain the distance information between the bolt detection device 100 and each detection area. The multiple detection areas correspond one-to-one with multiple bolt holes in the first end wall 201. The detection module 3 is signal-connected to the vision module 1 and the ranging module 2, and is used to obtain the detection result of the bolts fastened to the first end wall 201 based on the identification information and the distance information.

[0022] A wind turbine generator set consists of multiple wind turbine blades. Each blade includes a blade root, a blade body, and a blade tip. The blade root is the part that connects the wind turbine blade to the hub of the wind turbine generator set. The blade root needs to bear all the forces and torques generated by the blade.

[0023] The blade mold 200 is a specialized tooling for producing wind turbine blades. The blade mold 200 includes a first cover 202 and a second cover 203 that fit together. When the first cover 202 and the second cover 203 are closed, they form a complete cavity for the wind turbine blade. In the closed state, the first cover 202 and the second cover 203 have a first end wall 201 with multiple bolt holes. Bolts are inserted into these bolt holes from the side of the first end wall 201 facing away from the cavity, securing the first end wall 201 to the root of the wind turbine blade. After the wind turbine blade is manufactured, the bolts are removed, the first cover 202 and the second cover 203 are opened, and the wind turbine blade is removed.

[0024] The bolt detection device 100 is used to detect whether the bolts fastened on the blade mold 200 have been removed. The bolt detection device 100 can be spaced apart from the blade mold 200 and face the first end wall 201, so that the vision module 1 can acquire an image including the first end wall 201, and the ranging module 2 can detect the distance from itself to the first end wall 201. Optionally, the blade mold 200 extends along a third direction Z, the first end wall 201 is the end wall of the blade mold 200 along the third direction Z, and the bolt detection device 100 is spaced apart from the first end wall 201 along the third direction Z.

[0025] The vision module 1 is used to acquire a first image of the first end wall 201, identify the bolt holes and bolts in the first image, and obtain identification information. The vision module 1 may include a camera unit, a supplementary lighting unit, an image processing unit, and an image recognition unit. The camera unit can capture images using CCD (charge-coupled device) technology, CMOS (metal-oxide-semiconductor) technology, etc. The supplementary lighting unit provides ambient light for the camera unit. The image processing unit performs image processing on the images captured by the camera unit, including but not limited to image synthesis, sharpness adjustment, contrast adjustment, and geometric transformation. The image recognition unit can identify the bolt holes and bolts in the acquired first image based on feature extraction technology, generating identification information, which may include bolt hole information, bolt information, bolt hole or bolt position information, size information, etc. Feature extraction can be based on color histograms, texture features, shape features, etc. Feature extraction can also be based on a model trained by deep learning. Optionally, the image processing unit has adaptive threshold segmentation and edge enhancement functions to reduce the impact of bolt head reflection on identification.

[0026] When the vision module 1 inspects the blade mold 200, it can capture an image showing the first end wall 201 as the first image using the camera unit. It can also capture multiple images showing any area to be tested within the first end wall 201 as the first image. Alternatively, it can capture multiple images showing all or part of the first end wall 201, and the image processing unit will synthesize and stitch these multiple images to obtain the first image.

[0027] The first end wall 201 is divided into multiple detection zones, each corresponding to a bolt hole. The ranging module 2 can perform ranging detection on multiple detection zones based on pre-set coordinate information, or it can generate detection zones based on the position information of the bolt holes or bolts identified by the vision module 1, and then perform ranging detection on each zone. The ranging module 2 can measure the distance from the detection module 3 to the detection zone using infrared, laser, or acoustic methods, and generate distance information. Optionally, the ranging module 2 and the detection zone to be measured are spaced apart along the third direction Z, and the distance information generated by the ranging module 2 is the distance between the ranging module 2 and the detection zone along the third direction Z. Optionally, the ranging module 2 uses sliding window filtering to eliminate transient interference.

[0028] The detection module 3 is connected to both the vision module 1 and the ranging module 2 via signals, which can be wireless or wired. The detection module 3 receives recognition information generated by the vision module 1 and spacing information generated by the ranging module 2. It then matches the recognition information and spacing information corresponding to the same detection area, determining whether bolts have been removed from that area, and generating detection results for the bolts fastened to the first end wall 201. The detection results may include bolt detection information for each detection area, such as whether bolts have been removed, and the location information of any bolts that have not been removed. This detection result allows staff to quickly determine whether there are any bolts that have not been removed and their locations.

[0029] For example, vision module 1 is an industrial camera, which includes an 8mm fixed-focus shooting unit and a ring LED fill light unit. The frame rate of vision module 1 is set to 10fps. The ranging module 2 uses a laser ranging sensor with a measurement range of 0-500mm. Multiple laser ranging sensors are installed in a 3×4 array around the vision module 1. The spacing between adjacent laser ranging sensors matches the bolt holes distributed on the first end face. The detection module 3 uses the NVIDIA Jetson AGX Xavier embedded platform, which integrates the CUDA-accelerated YOLOv8 model and distance analysis algorithm.

[0030] In this application, by setting a vision module 1 to generate recognition information and a ranging module 2 to generate spacing information, the detection module 3 can obtain the detection results of the bolts fastened to the first end wall 201 based on the recognition information and spacing information, thereby improving the accuracy and robustness of the detection results and enabling accurate identification of unremoved bolts in complex environments. This eliminates the need for manual inspection, improves bolt detection efficiency, increases the production efficiency of wind turbine blades, and enhances the safety of the blade mold 200.

[0031] Please refer to the following: Figure 3In some embodiments, the bolt detection device 100 further includes a first moving module 4, which includes a first guide component 41, a first driving component 42, and a bracket 43. The bracket 43 is slidably connected to the first guide component 41, and the first driving component 42 is used to drive the bracket 43 to move along a first direction X. The vision module 1 and the ranging module 2 are disposed on the bracket 43.

[0032] The first moving module 4 can drive the vision module 1 and the ranging module 2 to move, thereby adjusting the position of the vision module 1 and the ranging module 2 relative to the first end wall 201, reducing the distortion of the first image captured by the vision module 1, and ensuring that the distance information measured by the ranging module 2 is accurate.

[0033] The first driving component 42 can be a servo motor, stepper motor, linear motor, etc. The first driving component 42 drives the bracket 43 to move along the first guide assembly 41, that is, along the first direction X. The bracket 43 drives the vision module 1 and the ranging module 2 mounted on it to move together along the first direction X. The first direction X intersects with the third direction Z. Optionally, the detection module 3 is also mounted on the bracket 43, with the first direction X perpendicular to the third direction Z.

[0034] In some embodiments, the bracket 43 further includes a connecting seat 431, which extends along the second direction Y; the vision module 1 is connected to the middle of the connecting seat 431, and the two ranging modules 2 are respectively connected to the two ends of the connecting seat 431 along the second direction Y, intersecting the first direction X and the second direction Y.

[0035] The vision module 1 is located in the middle of the connecting base 431. Two ranging modules 2 are respectively connected to the two ends of the connecting base 431 along the second direction Y. This allows the ranging modules 2 at both ends of the vision module 1 to measure the distance to the detection area corresponding to the bolt hole when the center of the vision module 1 is on the same straight line as the center of any bolt hole. This provides the distance between the two ranging modules 2 and the opposite sides of the bolt hole along the second direction Y, improving the accuracy of determining whether there are unremoved bolts in the detection area using the ranging modules 2. Optionally, the first direction X, the second direction Y, and the third direction Z are all perpendicular to each other.

[0036] In some embodiments, at least one ranging module 2 is connected to the middle of the connecting base 431. Thus, when the shooting center of the vision module 1 is on the same straight line as the center of any bolt hole, at least three ranging modules 2 can perform ranging detection on multiple areas along the second direction Y of the detection area corresponding to the bolt hole, improving the accuracy of determining whether there are unremoved bolts in the detection area using the ranging modules 2.

[0037] In some embodiments, the distance between the two ranging modules 2 located at both ends of the connecting seat 431 along the second direction Y is less than the diameter of the bolt cap and greater than the diameter of the bolt hole. It has been ensured that when the shooting center of the vision module 1 is on the same straight line as the center of any bolt hole, the action points of the two ranging modules 2 located at both ends of the connecting seat 431 along the second direction Y are located on the same bolt cap or on the periphery of the same bolt hole.

[0038] In some embodiments, the first moving module 4 drives the connecting seat 431 to move according to the recognition result, so that the shooting center of the vision module 1 and the center of the bolt hole corresponding to the recognition result are on the same straight line.

[0039] In some embodiments, the first guide assembly 41 includes a first guide rail 411 and a second guide rail 412 disposed opposite to each other along the second direction Y, and a lead screw 413 disposed between the first guide rail 411 and the second guide rail 412; the middle part of the connecting seat 431 is slidably connected to the lead screw 413, and the two ends of the connecting seat 431 along the second direction Y are respectively slidably connected to the first guide rail 411 and the second guide rail 412.

[0040] The first driving member 42 drives the connecting seat 431 to move along the lead screw 413, that is, to move along the first direction X. The two ends of the connecting seat 431 along the second direction Y are respectively slidably connected to the first guide rail 411 and the second guide rail 412 to ensure that the connecting seat 431 moves stably along the first direction X.

[0041] Please refer to the following: Figure 4 In some embodiments, the first moving module 4 further includes a mounting plate 44 with mounting holes 441. The mounting plate 44 is spaced apart from the first end wall 201 along a third direction Z. A first guide component 41 and a first drive component 42 are disposed on the side of the mounting plate 44 away from the first end wall 201. A vision module 1 and a ranging module 2 are disposed on the side of the mounting plate 44 near the first end wall 201. A portion of the connecting seat 431 passes through the mounting holes 441 to connect the lead screw 413 and the vision module 1 and the ranging module 2. The connecting seat 431 includes a first connecting plate 4311 located on the side of the mounting plate 44 near the first end wall 201, a second connecting plate located on the side of the mounting plate 44 away from the first end wall 201, and a plurality of connecting posts connecting the first connecting plate and the second connecting plate. The second connecting plate is slidably connected to the lead screw 413, and the opposite ends of the second connecting plate are respectively connected to the first guide rail 411 and the second guide rail 412. The middle part of the first connecting plate 4311 is connected to the vision module 1, and the viewfinder of the vision module 1 is away from the mounting holes. Two ranging modules 2 are connected to the two ends of the first connecting plate 4311, and the projection of the ranging module 2 along the third direction Z is located on the mounting plate. Multiple connecting posts pass through the mounting hole 441 and are spaced apart along the second direction Y.

[0042] Please see Figure 5In some embodiments, the bolt detection device 100 further includes a support frame 5, which includes a third guide rail 51, a fourth guide rail 52, a third drive member 53, and a fourth drive member 54. The third guide rail 51 extends along a first direction X, and the fourth guide rail 52 extends along a second direction Y and is movably connected to the third guide rail 51. The third drive member 53 is used to drive the fourth guide rail 52 to move along the first direction X. The first moving module 4 is movably connected to the fourth guide rail 52, and the fourth drive member 54 is used to drive the first moving module 4 to move along the second direction Y.

[0043] The support frame 5 can be fixed to the ground. The support frame 5 can support the first movable component and can also move the first movable component.

[0044] The third drive unit 53 and the fourth drive unit 54 can be servo motors, stepper motors, linear motors, etc. The third drive unit 53 drives the fourth guide rail 52 to move along the third guide rail 51, i.e., along the first direction X. The fourth drive unit 54 drives the first moving module 4 to move along the fourth guide rail 52, i.e., along the second direction Y. Through the third guide rail 51, the fourth guide rail 52, the third drive unit 53, and the fourth drive unit 54, the relative position of the first moving component and the first end wall 201 can be adjusted along the first direction X and the second direction Y, allowing for the detection of multiple detection areas on the first end wall 201. The third drive unit 53 and the fourth drive unit 54 can perform large-stroke movements, while the first drive unit 42 can perform small-stroke fine adjustments.

[0045] Optionally, the first end wall 201 is circular, and multiple bolt holes are spaced apart circumferentially along the first end wall 201. The vision module 1 and the ranging module 2 are driven to move clockwise or counterclockwise along the circumference of the first end wall 201 by the third driving member 53 and the fourth driving member 54 to detect whether there are unremoved bolts in the multiple bolt holes.

[0046] In some embodiments, the detection module 3 includes a first judgment unit 31 and a second judgment unit 32. The first judgment unit 31 is used to generate a detection result that the bolts in the first detection area have not been removed when the identification information corresponding to the first detection area is that bolts are installed and the spacing information is less than a first preset threshold. The second judgment unit 32 is used to generate a detection result that the bolts in the first detection area have been removed when the identification information corresponding to the first detection area is that no bolts are installed and the spacing information is greater than or equal to the first preset threshold.

[0047] The first preset threshold is a pre-set value, which can be the distance from the ranging module 2 along the third direction Z to the first end wall 201. When a bolt is present in the detection area, the bolt protrudes towards the ranging module 2 relative to the first end wall 201. The distance information detected by the ranging module 2 is the distance from the ranging module 2 to the bolt surface, and the distance information is less than the first preset threshold. When no bolt is present in the detection area, the distance information detected by the ranging module 2 is the distance from the ranging module 2 to the first end wall 201 or the distance from the ranging module 2 to the bolt hole, and the distance information is equal to or greater than the first preset threshold.

[0048] For the same detection area, if the recognition information generated by the vision module 1 indicates that bolts are installed and the spacing information generated by the ranging module 2 is less than the first preset threshold, it indicates that there are unremoved bolts in the detection area, and a detection result of unremoved bolts in the detection area is generated; if the recognition information generated by the vision module 1 indicates that no bolts are installed and the spacing information generated by the ranging module 2 is greater than or equal to the first preset threshold, it indicates that bolts in the detection area have been removed, and a detection result of removed bolts in the detection area is generated.

[0049] In some embodiments, the vision module 1 is further configured to identify bolt holes and bolts in the first image to obtain identification information for each detection area and confidence level corresponding to each identification information; Detection module 3 includes: The third judgment unit 33 is used to generate a detection result of unremoved bolts in the first detection area when the identification information corresponding to the first detection area is that no bolts are installed and the confidence level is lower than the second preset threshold, and the spacing information is less than the first preset threshold. The fourth judgment unit 34 is used to generate a detection result of the bolts removed in the first detection area when the identification information corresponding to the first detection area is that no bolts are installed and the confidence level is lower than the second preset threshold, and the spacing information is greater than or equal to the first preset threshold.

[0050] The confidence score is generated by the image recognition unit to measure the certainty of the generated recognition information. A higher confidence score indicates higher accuracy, while a lower confidence score indicates lower accuracy. The second preset threshold is a pre-set value; a confidence score below the second preset threshold indicates low accuracy of the recognition information.

[0051] For the same detection area, if the recognition information generated by vision module 1 indicates that no bolts are installed and the confidence level is less than the second preset threshold, then the spacing information is used to determine whether there are unremoved bolts in the detection area. If the spacing information generated by ranging module 2 is less than the first preset threshold, then there are unremoved bolts in the detection area, and a detection result indicating that the bolts in the detection area have not been removed is generated; if the spacing information generated by ranging module 2 is greater than or equal to the first preset threshold, then there are removed bolts in the detection area, and a detection result indicating that the bolts in the detection area have been removed is generated.

[0052] The accuracy of the detection results can be improved by introducing confidence levels to generate detection results.

[0053] The second aspect also provides a bolt detection method for inspecting blade molds used in the fabrication of wind turbine blades. The root of the wind turbine blade is fastened to the first end wall of the blade mold using bolts. The bolt detection method includes: S100: Acquire a first image of the first end wall, identify the bolt holes and bolts in the first image, and obtain identification information; S200, distance measurement is performed on multiple detection areas in the first end wall to obtain the distance information between the bolt detection device and each detection area. The multiple detection areas correspond one-to-one with the multiple bolt holes in the first end wall. S300 obtains the detection results of the bolts fastened to the first end wall based on the identification information and spacing information.

[0054] By setting up a vision module to generate recognition information and a ranging module to generate spacing information, the detection module can obtain the detection results of bolts fastened to the first end wall based on the recognition and spacing information. This improves the accuracy and robustness of the detection results and enables accurate identification of unremoved bolts in complex environments. It eliminates the need for manual inspection, improves bolt detection efficiency, increases the production efficiency of wind turbine blades, and enhances the safety of blade mold use.

[0055] In some embodiments, S300 includes: S310, if the identification information corresponding to the first detection area is that bolts are installed and the spacing information is less than the first preset threshold, generate a detection result for the first detection area where bolts have not been removed; S320, if the identification information corresponding to the first detection area is that no bolts are installed and the spacing information is greater than or equal to the first preset threshold, generate the detection result that the bolts in the first detection area have been removed.

[0056] In some embodiments, S100 includes: S110, acquire and display the first image of the first detection area; S120, identify the bolt holes and bolts in the first image to obtain the identification information corresponding to the first detection area and the confidence level corresponding to the identification information; The S300 also includes: S330, if the identification information corresponding to the first detection area is that no bolts are installed and the confidence level is lower than the second preset threshold, and the spacing information is less than the first preset threshold, then generate the detection result of no bolts removed in the first detection area; S340, if the identification information corresponding to the first detection area is that no bolts are installed and the confidence level is lower than the second preset threshold, and the spacing information is greater than or equal to the first preset threshold, then the detection result of the bolts removed in the first detection area is generated.

[0057] The confidence score is generated by the image recognition unit to measure the certainty of the generated recognition information. A higher confidence score indicates higher accuracy, while a lower confidence score indicates lower accuracy. The second preset threshold is a pre-set value; a confidence score below the second preset threshold indicates low accuracy of the recognition information.

[0058] The accuracy of the detection results can be improved by introducing confidence levels to generate detection results.

[0059] In some embodiments, the bolt detection method further includes: If the inspection result indicates that the bolts have been removed, a mold opening command is sent to the blade mold to open the blade mold. If the test result indicates that the bolts have not been removed, a mold closing command is sent to the blade mold to restrict the blade mold from opening.

[0060] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

Claims

1. A bolt detection device characterized by, The bolt detection device is used for detecting a blade mold, the blade mold is used for preparing a wind power blade, a blade root of the wind power blade is used for being fastened with a first end wall of the blade mold through a bolt, and the bolt detection device comprises: a vision module, used for collecting a first image of the first end wall, identifying a bolt hole and a bolt in the first image, and obtaining identification information; a distance measurement module, used for performing distance measurement detection on a plurality of detection areas in the first end wall, and obtaining distance information of the bolt detection device and each detection area; a detection module, in signal connection with the vision module and the distance measurement module, used for obtaining a detection result of a bolt fastened to the first end wall according to the identification information and the distance information.

2. The bolt inspection apparatus according to claim 1, characterized by The bolt detection device further comprises: a first movement module, comprising a first guide assembly, a first driving member and a support, the support being in sliding connection with the first guide assembly, and the first driving member being used for driving the support to move in a first direction; the vision module and the distance measurement module are arranged on the support.

3. The bolt inspection apparatus of claim 2, wherein The support further comprises a connecting seat, and the connecting seat extends in a second direction; the vision module is connected with a middle part of the connecting seat, two distance measurement modules are respectively connected with two ends of the connecting seat in the second direction, and the first direction intersects with the second direction.

4. The bolt inspection apparatus of claim 3, wherein The first guide assembly comprises: a first guide rail and a second guide rail arranged oppositely in the second direction; a screw rod arranged between the first guide rail and the second guide rail; a middle part of the connecting seat is in sliding connection with the screw rod, and two ends of the connecting seat in the second direction are respectively in sliding connection with the first guide rail and the second guide rail.

5. The bolt inspection apparatus of claim 2, wherein The bolt detection device further comprises: a support frame, comprising a third guide rail, a fourth guide rail, a third driving member and a fourth driving member, the third guide rail extending in a first direction, the fourth guide rail extending in a second direction and being movably connected with the third guide rail, the third driving member being used for driving the fourth guide rail to move in the first direction, the first movement module being movably connected with the fourth guide rail, and the fourth driving member being used for driving the first movement module to move in the second direction, the first direction intersecting with the second direction.

6. The bolt inspection apparatus of claim 1, wherein The plurality of detection areas comprise a first detection area, and the detection module comprises: a first judgment unit, used for generating the detection result that the first detection area is not disassembled from the bolt in a case that the identification information corresponding to the first detection area is installed with the bolt and the distance information is less than a first preset threshold value; a second judgment unit, used for generating the detection result that the first detection area is disassembled from the bolt in a case that the identification information corresponding to the first detection area is not installed with the bolt and the distance information is greater than or equal to the first preset threshold value.

7. The bolt inspection apparatus of claim 6, wherein The vision module is further used for identifying the bolt hole and the bolt in the first image, obtaining identification information corresponding to each detection area, and confidence degrees corresponding to each identification information; the detection module comprises: The third judging unit is configured to generate the detection result that the first detection area has not been disassembled from the bolt in a case that the identification information corresponding to the first detection area is not installed with the bolt, the confidence level is lower than the second preset threshold, and the distance information is less than the first preset threshold. The fourth judging unit is configured to generate the detection result that the first detection area has been disassembled from the bolt in a case that the identification information corresponding to the first detection area is not installed with the bolt, the confidence level is lower than the second preset threshold, and the distance information is greater than or equal to the first preset threshold.

8. A bolt inspection method characterized by, The bolt detection method is used for detecting a blade mold, the blade mold is used for manufacturing a wind power blade, a root of the wind power blade is fastened to a first end wall of the blade mold through a bolt, and the bolt detection method comprises: collecting a first image of the first end wall, identifying a bolt hole and a bolt in the first image, and obtaining identification information; performing distance detection on a plurality of detection areas in the first end wall to obtain distance information of a distance measuring module and each detection area, and the plurality of detection areas correspond to the plurality of bolt holes in the first end wall in a one-to-one manner; obtaining a detection result of the bolt fastened to the first end wall according to the identification information and the distance information.

9. The bolt inspection method according to claim 8, characterized by, The plurality of detection areas comprise a first detection area, and the detection result of the bolt fastened to the first end wall according to the identification information and the distance information comprises: generating the detection result that the first detection area has not been disassembled from the bolt in a case that the identification information corresponding to the first detection area is installed with the bolt and the distance information is less than a first preset threshold; generating the detection result that the first detection area has been disassembled from the bolt in a case that the identification information corresponding to the first detection area is not installed with the bolt and the distance information is greater than or equal to the first preset threshold.

10. The bolt inspection method according to claim 9, characterized by, The collecting of the first image of the first end wall, the identification of the bolt hole and the bolt in the first image, and the obtaining of the identification information comprise: collecting a first image of the first detection area; identifying the bolt hole and the bolt in the first image to obtain identification information corresponding to the first detection area and a confidence level corresponding to the identification information; The detection result of the bolt fastened to the first end wall according to the identification information and the distance information comprises: generating the detection result that the first detection area has not been disassembled from the bolt in a case that the identification information corresponding to the first detection area is not installed with the bolt, the confidence level is lower than a second preset threshold, and the distance information is less than the first preset threshold; generating the detection result that the first detection area has been disassembled from the bolt in a case that the identification information corresponding to the first detection area is not installed with the bolt, the confidence level is lower than the second preset threshold, and the distance information is greater than or equal to the first preset threshold.

11. A bolt inspection apparatus characterized by comprising: The bolt detection device comprises a processor and a memory storing computer program instructions; The processor executes the computer program instructions to implement the bolt detection method in any one of claims 8-10.

12. A computer storage medium, characterized in that The computer storage medium stores computer program instructions, and the computer program instructions are executed by the processor to implement the bolt detection method in any one of claims 8-10.

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