Abrasion in-service detection method and device based on linear laser reamer three-dimensional reconstruction

Abstract

The invention discloses a wear in-service detection method and device based on linear laser reamer three-dimensional reconstruction, and relates to the technical field of dredging. The method comprises the steps that in the rotating process of a to-be-detected reamer subjected to dredging abrasion, a reflection image of the line laser on the to-be-detected reamer is obtained while the line laser is projected to the to-be-detected reamer; determining a two-dimensional coordinate of each projection point projected on the to-be-detected reamer according to the reflection image of the to-be-detected reamer, and performing three-dimensional reconstruction on the two-dimensional coordinate of each projection point to obtain a wear point cloud corresponding to the to-be-detected reamer; and after the abrasion point cloud corresponding to the to-be-tested reamer and the initial point cloud corresponding to the initial reamer which is not abraded are aligned, the abrasion value of the to-be-tested reamer relative to the initial reamer is determined according to the abrasion value of each point in the abrasion point cloud on the basis of each point in the initial point cloud. According to the technical scheme, on the basis that the reamer is not disassembled, abrasion detection of the reamer to be detected is achieved, and the field applicability of abrasion detection is improved.

Description

Technical Field

[0001] The present invention relates to the field of dredging technology, and in particular to a method and apparatus for in-service wear detection based on three-dimensional reconstruction of a line laser cutter. Background Technology

[0002] Dredging cutter suction dredgers are key construction equipment in modern water conservancy and port engineering, widely used in channel dredging, river silt removal, and land reclamation. Their performance directly affects the progress and quality of the entire project. The cutter head at the bow of the dredging cutter suction dredger, as the main cutting component, bears the heavy responsibility of breaking and loosening underwater soil during construction. It operates under high abrasiveness, high impact intensity, and complex geological environments, making it highly susceptible to wear. Severe wear of the cutter head not only significantly reduces construction efficiency and dredging quality but may also lead to structural imbalances, increased mechanical vibration, and other safety hazards, even resulting in equipment failure and economic losses. Therefore, accurately assessing the wear condition of the cutter head is crucial for ensuring the safe and efficient operation of dredging equipment.

[0003] In existing technologies, manual visual inspection or disassembly measurement is usually required, which is not only inefficient and has limited detection accuracy, but also difficult to adapt to the actual problems of complex cutter structures.

[0004] Therefore, this application proposes a method and apparatus for in-service wear detection based on three-dimensional reconstruction of a line laser reamer. Summary of the Invention

[0005] This invention provides a method and apparatus for in-service wear detection based on three-dimensional reconstruction of a line laser reamer, so as to realize wear detection of the reamer under test without disassembling the reamer, thereby improving the field applicability of wear detection.

[0006] In a first aspect, embodiments of the present invention provide a wear detection method in service based on three-dimensional reconstruction of a line laser reamer, comprising: During the rotation of the cutter head after dredging wear, a line laser is projected onto the cutter head while simultaneously acquiring an image of the line laser reflected from the cutter head. The two-dimensional coordinates of each projection point on the auger under test are determined based on the reflected image of the auger under test. The wear point cloud corresponding to the auger under test is obtained by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point. After aligning the wear point cloud corresponding to the cutter under test with the initial point cloud corresponding to the initial cutter without wear, the wear value of the cutter under test compared to the initial cutter is determined based on the wear value of each point in the wear point cloud and the wear value of each point in the initial point cloud.

[0007] The technical solution of this invention provides a wear detection method for in-service dredgers based on three-dimensional reconstruction using a line laser, comprising: during the rotation of a dredger that has undergone dredging wear, simultaneously projecting a line laser onto the dredger and acquiring a reflection image of the line laser on the dredger; determining the two-dimensional coordinates of each projection point on the dredger under test based on the reflection image of the dredger under test; obtaining a wear point cloud corresponding to the dredger under test by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point; aligning the wear point cloud corresponding to the dredger under test with the initial point cloud corresponding to an unworn dredger; and determining the wear value of the dredger under test compared to the initial dredger based on the wear values ​​of each point in the wear point cloud and the wear values ​​of each point in the initial point cloud. The above technical solution involves laser full coverage of the cutter head under test during its rotation after dredging wear, achieving rapid coverage of multiple parts of the cutter head. By acquiring the reflection image of the line laser on the cutter head, a complete image of the cutter head is obtained, and the two-dimensional coordinates of each projection point on the cutter head are determined. Then, three-dimensional reconstruction is performed on these two-dimensional coordinates to determine the three-dimensional coordinates of each projection point, thus constructing a wear point cloud corresponding to the cutter head. After aligning the wear point cloud of the cutter head with the initial point cloud of the unworn cutter head, the wear value of the cutter head compared to the initial cutter head is determined based on the wear values ​​of each point in the wear point cloud relative to the initial point cloud. This allows for wear detection of the cutter head without disassembling it, improving the field applicability of wear detection.

[0008] Further, determining the two-dimensional coordinates of each projection point on the auger under test based on the reflected image of the auger under test includes: The two-dimensional coordinates of each projection point are determined based on the position information of each projection point projected on the reamer in the reflected image.

[0009] Further, by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point, the wear point cloud corresponding to the unseen reamer is obtained, including: for each projection point, based on the angle between the laser of the projected laser and the image acquisition device that acquires the reflected image, the distance between the laser and the image acquisition device, the two-dimensional coordinates of the projection point, and the distance between the image acquisition device and the imaging plane of the image acquisition device, the projection height from the imaging plane of the image acquisition device to the projection point and the length distance of the projection point on the imaging plane of the image acquisition device are determined, and then the projection height from the imaging plane of the image acquisition device to the projection point and the length distance of the projection point on the imaging plane of the image acquisition device are transformed by a transformation matrix to obtain the wear point cloud corresponding to the projection point.

[0010] Furthermore, before aligning the worn point cloud corresponding to the tested reamer with the initial point cloud corresponding to the unworn reamer, the process further includes: During the initial reamer's rotation, a line laser is projected onto the initial reamer while simultaneously acquiring an image of the line laser reflected from the initial reamer. The two-dimensional coordinates of each projection point projected onto the initial auger are determined based on the reflected image of the initial auger. The initial point cloud corresponding to the initial auger is obtained by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point.

[0011] Further, determining the wear value of the tested auger relative to the initial auger based on the wear values ​​of each point in the wear point cloud and the wear values ​​of each point in the initial point cloud includes: The wear value of each point in the wear point cloud is determined based on the difference between the depth value of each point in the wear point cloud and the depth value of the corresponding point in the initial point cloud. The maximum wear value is defined as the wear value of the tested auger compared to the initial auger.

[0012] Furthermore, it also includes: The wear rate of the auger under test is determined based on the wear value of the auger under test compared to the initial auger and the usage time of the auger under test.

[0013] Secondly, embodiments of the present invention also provide a wear detection device in service based on three-dimensional reconstruction of a line laser reamer, comprising: The acquisition module is used to acquire the reflection image of the line laser on the cutter head under test while projecting a line laser onto the cutter head under test during its rotation after dredging wear; The determination module is used to determine the two-dimensional coordinates of each projection point projected on the auger under test based on the reflected image of the auger under test, and to obtain the wear point cloud corresponding to the auger under test by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point. The detection module is used to align the wear point cloud corresponding to the cutter under test with the initial point cloud corresponding to the initial cutter without wear, and then determine the wear value of the cutter under test compared to the initial cutter based on the wear value of each point in the wear point cloud and the wear value of each point in the initial point cloud.

[0014] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising: At least one processor; and a memory communicatively connected to said at least one processor; The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the wear detection method based on three-dimensional reconstruction of a line laser reamer as described in any of the first aspects.

[0015] Fourthly, embodiments of the present invention also provide an in-service wear detection system based on three-dimensional reconstruction of a line laser auger, comprising: two vertically arranged wear detection devices and the electronic device described in the third aspect. The wear detection devices include a laser device and an image acquisition device. The wear detection devices are used to, during the rotation of the auger, simultaneously project a laser onto the auger using the laser device and acquire multiple frames of laser reflection images on the auger using the image acquisition device.

[0016] Fifthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the wear detection method in service based on three-dimensional reconstruction of a line laser reamer as described in any of the first aspects.

[0017] Sixthly, this application provides a computer program product including computer instructions that, when executed on a computer, cause the computer to perform the wear detection method based on three-dimensional reconstruction of a line laser reamer as provided in the first aspect.

[0018] It should be noted that the aforementioned computer instructions may be stored, in whole or in part, on a computer-readable storage medium. This computer-readable storage medium may be packaged together with the processor of the wear detection device based on three-dimensional reconstruction of a line laser reamer, or it may be packaged separately from the processor of the wear detection device based on three-dimensional reconstruction of a line laser reamer; this application does not impose any limitations on this.

[0019] The descriptions of the second, third, fourth, fifth, and sixth aspects in this application can be referenced to the detailed description of the first aspect; and the beneficial effects of the descriptions of the second, third, fourth, fifth, and sixth aspects can be referenced to the analysis of the beneficial effects of the first aspect, which will not be repeated here.

[0020] In this application, the name of the aforementioned wear detection device based on three-dimensional reconstruction of a line laser reamer does not limit the device or functional module itself. In actual implementation, these devices or functional modules may appear under other names. As long as the function of each device or functional module is similar to that of this application, it falls within the scope of the claims of this application and its equivalents.

[0021] These or other aspects of this application will become more readily apparent in the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A flowchart of an in-service wear detection method based on three-dimensional reconstruction of a line laser reamer, provided as an embodiment of the present invention; Figure 2 A schematic diagram of an in-service wear detection system based on three-dimensional reconstruction of a line laser reamer, provided in an embodiment of the present invention; Figure 3 A schematic diagram of the wear detection device provided in an embodiment of the present invention; Figure 4 A flowchart of another wear detection method in service based on three-dimensional reconstruction of a line laser reamer provided in an embodiment of the present invention; Figure 5 A schematic diagram showing the installation of the laser and image acquisition device; Figure 6 This is a schematic diagram of the structure of an in-service wear detection device based on three-dimensional reconstruction of a line laser reamer, provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0025] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0026] The terms "first" and "second," etc., used in the specification and drawings of this application are used to distinguish different objects or to distinguish different treatments of the same object, rather than to describe a specific order of objects.

[0027] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0028] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc. Moreover, embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0029] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0030] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0031] The cutter head of a dredging cutter suction dredger typically consists of multiple spatial components, characterized by irregular shapes, complex stresses, and compact parts. The cutter head surface has numerous obstructions and irregular curved surfaces, making it difficult to accurately obtain wear information using traditional contact or simple geometric measurements. Furthermore, the cutter head operates in an underwater environment, limiting inspection conditions and making it impossible to obtain wear information directly without disassembly.

[0032] Therefore, this application proposes an in-service wear detection method based on three-dimensional reconstruction of line laser cutter cutters to realize wear detection of cutters used in dredging cutter suction vessels.

[0033] The in-service wear detection method based on three-dimensional reconstruction of a line laser reamer, as proposed in this application, will be described in detail below with reference to illustrations and embodiments.

[0034] Figure 1This is a flowchart illustrating an in-service wear detection method based on three-dimensional reconstruction of a line laser cutter head, provided by an embodiment of the present invention. This embodiment is applicable to situations requiring wear detection of cutter heads used in dredging cutter suction dredgers. The method can be executed by an in-service wear detection device based on three-dimensional reconstruction of a line laser cutter head. Figure 1 As shown, the specific steps include the following: Step 110: During the rotation of the cutter head under test after dredging and wear, a line laser is projected onto the cutter head under test while simultaneously acquiring the reflection image of the line laser on the cutter head under test.

[0035] Figure 2 This is a schematic diagram of a dredging cutter wear detection system provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the wear detection system for dredging cutterheads includes two vertically arranged wear detection devices ( Figure 2 4) and electronic devices ( Figure 2 (Not shown), the reamer under test is positioned relative to two vertically arranged wear detection devices ( Figure 2 The relative positions of (2) and (3) are shown. The first wear detection device is vertically positioned. Figure 2 2) and second wear detection equipment ( Figure 2 In section 3), the first wear detection equipment ( Figure 2 (2) Used to cover the upper part of the cutter head of the reamer, for laser coverage and reflection image acquisition of the upper part of the cutter head, second wear detection equipment ( Figure 2 3) Used to cover the edge of the blade teeth, for laser coverage and reflection image acquisition of the edge of the blade teeth.

[0036] Figure 3 This is a schematic diagram of the wear detection device provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the wear detection equipment includes a laser emitting device ( Figure 3 (2-1) and image acquisition device ( Figure 3 (2-4) The relative angle between the laser emitting device and the image acquisition device is 30°-60°, for example, it can be 45°. During the rotation of the auger under test, the laser emitting device projects a line laser onto the surface of the auger under test, and the image acquisition device acquires the reflection image of the line laser on the auger under test.

[0037] The auger under test is fixed in one position during the testing process. Therefore, the line laser projected onto the surface of the auger by the laser emitting devices of the two wear detection devices set perpendicular to the auger under test can provide full laser coverage of the auger under test. The image acquisition devices of the two wear detection devices set perpendicular to the auger under test can acquire the reflection image of the line laser covering the auger under test, and together they can form a complete image of the auger under test.

[0038] Specifically, during the rotation of the cutterhead under test, which has undergone dredging wear, under the control of a rotating power unit or a dredging cutter suction dredger, a line laser can be projected onto the cutterhead under test by the laser emitting device included in the two wear detection devices, so that the line laser can achieve full laser coverage of the cutterhead under test. Furthermore, the reflection image of the line laser covering the cutterhead under test can be obtained by the image acquisition device included in the two wear detection devices.

[0039] It should be noted that rotating the reamer under test at a low speed, and controlling the rotation speed to within 5-10 rpm, can help ensure full laser coverage of the reamer under test, ensuring that the line laser can cover all critical areas of the reamer under test.

[0040] In this embodiment of the invention, during the rotation of the cutter head under test after dredging and wear, a line laser is used to achieve full laser coverage of the cutter head under test. By acquiring the reflection image of the line laser on the cutter head under test, a complete image of the cutter head under test can be obtained.

[0041] Step 120: Determine the two-dimensional coordinates of each projection point on the auger under test based on the reflected image of the auger under test, and obtain the wear point cloud corresponding to the auger under test by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point.

[0042] Specifically, after acquiring the reflected image of the auger under test, the two-dimensional coordinates of each projection point in each reflected image can be determined. These two-dimensional coordinates are based on the image coordinate system. Then, three-dimensional reconstruction can be performed on the two-dimensional coordinates of each projection point. Specifically, the two-dimensional coordinates of each projection point can be reconstructed based on the positional relationship between the laser device, the image acquisition device, and the auger under test, resulting in the three-dimensional coordinates corresponding to each projection point. This yields a three-dimensional point cloud corresponding to the auger under test, which can be referred to as the wear point cloud of the auger under test.

[0043] In this embodiment of the invention, the three-dimensional coordinates of each projection point projected on the auger under test are reconstructed in three dimensions by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point projected on the auger under test, thereby constructing the wear point cloud corresponding to the auger under test.

[0044] Step 130: After aligning the wear point cloud corresponding to the cutter under test with the initial point cloud corresponding to the initial cutter without wear, determine the wear value of the cutter under test compared to the initial cutter based on the wear value of each point in the wear point cloud and the wear value of each point in the initial point cloud.

[0045] The initial reamer can be understood as an unused reamer that has not been worn. The initial point cloud of the initial reamer can also be determined in the same way as the reamer under test.

[0046] Specifically, the reamer includes a cutter head and multiple cutting teeth. By aligning the cutter head and each cutting tooth in the wear point cloud of the reamer under test with the cutter head and each cutting tooth in the initial point cloud of the initial reamer, the corresponding point in the initial point cloud for each point in the wear point cloud can be determined. Therefore, by comparing each point in the wear point cloud with the corresponding point in the initial point cloud, the wear value of each point in the wear point cloud based on each point in the initial point cloud can be determined, thus realizing wear detection of the reamer under test. Specifically, the Euclidean distance between each point in the wear point cloud and the corresponding point in the initial point cloud can be calculated, and the Euclidean distance can be determined as the wear value of each point in the wear point cloud based on the corresponding point in the initial point cloud.

[0047] Furthermore, the wear average value of each point in the wear point cloud can be calculated based on the wear value of the corresponding point in the initial point cloud, and the wear average value can be determined as the wear value of the cutter under test compared with the initial cutter.

[0048] In practical applications, the wear value at each point can be compared with a first wear threshold. If the wear value at any point exceeds the first wear threshold, the dredging cutter head is determined to have reached its replacement limit, and the cutter head can be replaced on the dredging cutter suction dredger. Alternatively, the average wear value can be compared with a second wear threshold. If the average wear value exceeds the second wear threshold, the dredging cutter head is determined to have reached its replacement limit, and the cutter head can be replaced on the dredging cutter suction dredger.

[0049] In this embodiment of the invention, after aligning the wear point cloud corresponding to the cutter under test with the initial point cloud corresponding to the initial cutter that has not undergone wear, the wear value of the cutter under test compared to the initial cutter is determined based on the wear value of each point in the wear point cloud based on the wear value of each point in the initial point cloud, thereby realizing the wear detection of the cutter under test.

[0050] The wear detection method for in-service dredgers based on three-dimensional reconstruction using line laser provided in this invention includes: during the rotation of a dredger that has undergone dredging wear, simultaneously projecting a line laser onto the dredger and acquiring a reflection image of the line laser on the dredger; determining the two-dimensional coordinates of each projection point on the dredger under test based on the reflection image of the dredger under test; obtaining a wear point cloud corresponding to the dredger under test by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point; aligning the wear point cloud corresponding to the dredger under test with the initial point cloud corresponding to an unworn dredger; and determining the wear value of the dredger under test compared to the initial dredger based on the wear values ​​of each point in the wear point cloud and the wear values ​​of each point in the initial point cloud. The above technical solution involves laser full coverage of the cutter head under test during its rotation after dredging wear, achieving rapid coverage of multiple parts of the cutter head. By acquiring the reflection image of the line laser on the cutter head, a complete image of the cutter head is obtained, and the two-dimensional coordinates of each projection point on the cutter head are determined. Then, three-dimensional reconstruction is performed on these two-dimensional coordinates to determine the three-dimensional coordinates of each projection point, thus constructing a wear point cloud corresponding to the cutter head. After aligning the wear point cloud of the cutter head with the initial point cloud of the unworn cutter head, the wear value of the cutter head compared to the initial cutter head is determined based on the wear values ​​of each point in the wear point cloud relative to the initial point cloud. This allows for wear detection of the cutter head without disassembling it, improving the field applicability of wear detection.

[0051] Figure 4 This is a flowchart of another in-service wear detection method based on three-dimensional reconstruction of a line laser reamer, provided as an embodiment of the present invention. This embodiment is a specific modification based on the above embodiments. Figure 4 As shown, in this embodiment, the method may further include: Step 410: During the rotation of the cutter head under test after dredging and wear, a line laser is projected onto the cutter head under test while simultaneously acquiring the reflection image of the line laser on the cutter head under test.

[0052] The cutter head under test is a cutter head that has experienced dredging wear. During maintenance shutdowns of the dredging cutter suction dredger, the cutter head is removed from the hull and installed on a designated rotary power unit. This rotary power unit is a laboratory-grade turntable (diameter adapted to the cutter head size, load capacity >500kg), equipped with a precision drive motor to simulate the rotation of the cutter head during operation on the dredging cutter suction dredger. Two vertically positioned wear detection devices are installed... On the turntable support, the reamer under test is opposite to two vertically set wear detection devices.

[0053] In practical applications, laser emitting equipment and image acquisition equipment can be fixed on a mounting platform. The platform ensures a precise and stable relative position between the two devices. Furthermore, the platform design must consider the geometry of the reamer and the operating environment, supporting multi-angle adjustments to cover the entire reamer area. The mounting platform features a modular design, consisting of a magnetic base, a universal adjustment mechanism, and a quick-locking device. The magnetic base firmly attaches to the reamer bracket, allowing for installation without disassembly. The universal adjustment mechanism allows the laser emitting and image acquisition equipment to freely adjust their angles in three-dimensional space, ensuring the optimal measurement perspective. The quick-locking device immediately secures the device after adjustment, preventing vibration from affecting measurement accuracy. The platform surface is coated with a special anti-corrosion coating to resist seawater corrosion and biofouling.

[0054] On the other hand, without disassembling the cutterhead, the front of the dredging cutter suction dredger can be raised to expose the cutterhead under test above the water surface for wear testing in a dry environment. The cutterhead is rotated at low speed by the drive motor of the dredging cutter suction dredger. Two vertically positioned wear detection devices are mounted on the bridge of the dredging cutter suction dredger, opposite the cutterhead under test. The two vertically positioned wear detection devices cover different areas of the cutterhead under test. The stability and adjustability of the bridge ensure that the laser emitting device and the image acquisition device can be accurately aligned with the cutterhead under test.

[0055] Specifically, considering the possibility of sediment residue on the cutter head under test, a preliminary cleaning can be performed beforehand to ensure clear laser emission. During the low-speed rotation of the cutter head under test, which has undergone dredging wear, controlled by the rotary power unit or the drive motor of the dredging cutter suction dredger, a line laser can be projected onto the cutter head using the laser emitting devices included in the two wear detection devices. This ensures full laser coverage of the cutter head. Furthermore, the image acquisition devices included in the two wear detection devices can acquire images of the reflected line laser light covering the cutter head. Multiple frames can be acquired to ensure coverage of the same area; for example, 50 frames can be acquired at a frame rate of 60fps to capture potential subtle deformations.

[0056] The acquisition frequency of the reflected images can be adjusted according to the rotation speed of the cutter under test. For example, 10-5 frames of reflected images can be acquired per second.

[0057] The laser emitting device is the core of the wear detection equipment, used to emit a laser beam onto the surface of the reamer. Depending on the detection requirements, the laser emitting device can adopt a line laser mode to improve detection accuracy. The laser wavelength can be 650nm and the power can be 50mW to adapt to suitable air environments. The image acquisition device needs to have high resolution and high frame rate to ensure clear acquisition of laser reflection images in dynamic environments. Furthermore, the image acquisition device can be equipped with a waterproof housing and optical filters to adapt to problems such as turbidity and light scattering in near-water operations. The resolution of the image acquisition device can be 1920×1080, and the frame rate can be 60fps.

[0058] Of course, after obtaining the reflection image, it can be preprocessed. Specifically, Gaussian filtering combined with median filtering can be used to remove residual noise from the reflection image. Brightness equalization can also be performed on the reflection image to address uneven lighting.

[0059] In this embodiment of the invention, during the rotation of the cutter head under test after dredging and wear, a line laser is used to achieve full laser coverage of the cutter head under test. By acquiring the reflection image of the line laser on the cutter head under test, a complete image of the cutter head under test can be obtained.

[0060] Step 420: Determine the two-dimensional coordinates of each projection point projected on the auger under test based on the reflected image of the auger under test.

[0061] In one implementation, step 420 may specifically include: The two-dimensional coordinates of each projection point are determined based on the position information of each projection point projected on the reamer in the reflected image.

[0062] Specifically, after obtaining the reflected image of the auger to be tested, the coordinates of the reference point can be determined in the reflected image. Specifically, any point in the reflected image can be used as the reference point to determine the reference coordinates corresponding to the reference point. Secondly, the position information of each projection point in the reflected image can be determined. Then, the position information of each projection point relative to the reference point can be determined based on the position of each projection point in the reflected image. The position information of each projection point relative to the reference point is then determined as the two-dimensional coordinates of each projection point.

[0063] In this embodiment of the invention, after obtaining the reflected image of the reamer to be tested, the two-dimensional coordinates of each projection point in the reflected image are determined by using any point in the reflected image as a reference point.

[0064] Step 430: By performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point, the wear point cloud corresponding to the auger to be tested is obtained.

[0065] In one implementation, step 430 may specifically include: For each projection point, after determining the projection height from the imaging plane of the image acquisition device to the projection point and the length distance of the projection point on the imaging plane of the image acquisition device based on the angle between the laser of the projected laser and the image acquisition device for acquiring the reflected image, the distance between the laser and the image acquisition device, the two-dimensional coordinates of the projection point, and the distance between the image acquisition device and the imaging plane of the image acquisition device, the projection height from the imaging plane of the image acquisition device to the projection point and the length distance of the projection point on the imaging plane of the image acquisition device are transformed by a transformation matrix to obtain the wear point cloud corresponding to the projection point.

[0066] Figure 5 This is a schematic diagram of the installation of the laser and image acquisition device, based on... Figure 5 The laser and image acquisition device shown ( Figure 5 A central camera can determine the wear point cloud corresponding to each projection point. For each projection point, the angle α between the laser of the projected laser and the image acquisition device for acquiring the reflected image, the distance d between the laser and the image acquisition device, and the two-dimensional coordinates of the projection point are determined. And the distance f between the image acquisition device and the imaging plane of the image acquisition device, according to d The projection height D from the imaging plane of the image acquisition device to the projection point and the length H of the projection point on the imaging plane of the image acquisition device can be determined by f, thus determining the projection height D from the imaging plane of the image acquisition device to the projection point. It can also be determined Furthermore, the projection height D from the imaging plane of the image acquisition device to the projection point and the length H of the projection point on the imaging plane of the image acquisition device can be transformed by the transformation matrix T to obtain the wear point cloud (X,Y,Z) corresponding to the projection point, and then (X,Y,Z) = (0,D,H)×T can be determined.

[0067] In this embodiment of the invention, the three-dimensional coordinates of each projection point projected on the auger under test are reconstructed in three dimensions by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point projected on the auger under test, thereby constructing the wear point cloud corresponding to the auger under test.

[0068] Step 440: Align the wear point cloud corresponding to the reamer under test with the initial point cloud corresponding to the initial reamer that has not undergone wear.

[0069] In one embodiment, before performing step 440, the method further includes: During the rotation of the initial cutter, a line laser is projected onto the initial cutter while simultaneously acquiring the reflection image of the line laser on the initial cutter; the two-dimensional coordinates of each projection point projected onto the initial cutter are determined based on the reflection image of the initial cutter; and the initial point cloud corresponding to the initial cutter is obtained by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point.

[0070] The initial cutter can be understood as an unused cutter.

[0071] The initial reamer is mounted at the same angle as the reamer under test on the turntable. Both wear detection devices maintain the same mounting angle on the turntable when performing wear detection on both the initial and under-test reamers. Based on similar steps, during the rotation of the initial reamer, a line laser is projected onto it while simultaneously acquiring the reflected image of the line laser on the initial reamer. Furthermore, after acquiring the reflected image, it can be preprocessed to remove residual noise and perform brightness equalization.

[0072] Furthermore, based on similar steps described above, firstly, any point in the reflected image of the initial auger can be used as a reference point to determine the reference coordinates corresponding to the reference point. Secondly, the position information of each projection point in the reflected image of the initial auger can be determined. Then, based on the position information of each projection point in the reflected image of the initial auger... The position information of each projection point relative to the reference point is determined in the image, and this position information is then used to define the two-dimensional coordinates of each projection point. Three-dimensional reconstruction is then performed on the two-dimensional coordinates of each projection point to obtain the initial point cloud corresponding to the initial cutter.

[0073] It should be noted that, generally speaking, cutter heads that are not installed on the dredging cutter suction dredger and are not in use can be identified as initial cutter heads, and the initial point cloud corresponding to the initial cutter head can be determined. Cutter heads that have been installed on the dredging cutter suction dredger and used for a period of time can be identified as cutter heads to be tested, and the wear point cloud corresponding to the cutter heads to be tested can be determined.

[0074] Specifically, the installation positions of the cutterhead under test and the initial point cloud are consistent, as are the installation positions of the two wear detection devices included in the cutterhead wear detection system, in order to obtain an accurate correspondence between the wear point cloud and the initial point cloud. After determining the wear point cloud corresponding to the cutterhead under test and the initial point cloud corresponding to the initial cutterhead, the wear point cloud and the initial point cloud need to be aligned to determine the point in the initial point cloud corresponding to each point in the wear point cloud.

[0075] In practical applications, preset points can be set on the cutter, and the corresponding wear preset points can be determined in the wear point cloud. The corresponding initial preset points can be determined in the initial point cloud. By setting the wear preset points and the initial preset points, the point clouds of the wear point cloud and the initial point cloud can be aligned.

[0076] In this embodiment of the invention, point cloud alignment is achieved between the wear point cloud corresponding to the unsoldered cutter under test and the initial point cloud corresponding to the initial unsoldered cutter.

[0077] Step 450: Determine the wear value of the cutter under test compared to the initial cutter based on the wear values ​​of each point in the wear point cloud and the wear values ​​of each point in the initial point cloud.

[0078] In one implementation, step 450 may specifically include: Based on the difference between the depth values ​​of each point in the wear point cloud and the corresponding depth values ​​of the points in the initial point cloud, the wear value of each point in the wear point cloud based on each point in the initial point cloud is determined; the maximum wear value is determined as the wear value of the cutter under test compared to the initial cutter.

[0079] The position information of each projection point relative to the reference point is determined in the image, and this position information is then used to define the two-dimensional coordinates of each projection point. Three-dimensional reconstruction is then performed on the two-dimensional coordinates of each projection point to obtain the initial point cloud corresponding to the initial cutter.

[0080] It should be noted that, generally speaking, cutter heads that are not installed on the dredging cutter suction dredger and are not in use can be identified as initial cutter heads, and the initial point cloud corresponding to the initial cutter head can be determined. Cutter heads that have been installed on the dredging cutter suction dredger and used for a period of time can be identified as cutter heads to be tested, and the wear point cloud corresponding to the cutter heads to be tested can be determined.

[0081] Specifically, the installation positions of the cutterhead under test and the initial point cloud are consistent, as are the installation positions of the two wear detection devices included in the cutterhead wear detection system, in order to obtain an accurate correspondence between the wear point cloud and the initial point cloud. After determining the wear point cloud corresponding to the cutterhead under test and the initial point cloud corresponding to the initial cutterhead, the wear point cloud and the initial point cloud need to be aligned to determine the point in the initial point cloud corresponding to each point in the wear point cloud.

[0082] In practical applications, preset points can be set on the cutter, and the corresponding wear preset points can be determined in the wear point cloud. The corresponding initial preset points can be determined in the initial point cloud. By setting the wear preset points and the initial preset points, the point clouds of the wear point cloud and the initial point cloud can be aligned.

[0083] In this embodiment of the invention, point cloud alignment is achieved between the wear point cloud corresponding to the unsoldered cutter under test and the initial point cloud corresponding to the initial unsoldered cutter.

[0084] Step 450: Determine the wear value of the cutter under test compared to the initial cutter based on the wear values ​​of each point in the wear point cloud and the wear values ​​of each point in the initial point cloud.

[0085] In one implementation, step 450 may specifically include: Based on the difference between the depth values ​​of each point in the wear point cloud and the corresponding depth values ​​of the points in the initial point cloud, the wear value of each point in the wear point cloud based on each point in the initial point cloud is determined; the maximum wear value is determined as the wear value of the cutter under test compared to the initial cutter.

[0086] Specifically, firstly, the depth value of each point in the wear point cloud can be determined, as can the depth value of each point in the initial point cloud. Secondly, the difference between the depth value of each point in the wear point cloud and the depth value of the corresponding point in the initial point cloud can be determined. Since each point in the wear point cloud and the corresponding point in the initial point cloud are corresponding points of entities with the same two-dimensional coordinates, the degree of wear of each point in the wear point cloud relative to the corresponding point in the initial point cloud can be determined by the difference in depth value reflected by the difference in their depth coordinates.

[0087] In addition, the Euclidean distance difference between the midpoint of the wear point cloud and the corresponding point in the initial point cloud can be determined, and the Euclidean distance difference can be determined as the wear value of the midpoint of the wear point cloud based on the midpoint of the initial point cloud, thereby realizing the determination of the wear value of each point in the wear point cloud based on each point in the initial point cloud.

[0088] Of course, after determining the wear value of each point in the wear point cloud based on the wear value of each point in the initial point cloud, the wear values ​​can be compared, and the maximum wear value can be determined as the wear value of the cutter under test compared with the initial cutter, thus realizing the wear detection of the cutter under test.

[0089] In practical applications, a wear distribution heatmap and a wear report can be constructed based on the wear values ​​of each point in the initial point cloud. Furthermore, a color gradient can be used to represent the magnitude of the wear value in the wear distribution heatmap, and the wear report can include the wear values ​​of each region of the cutter under test, where the wear value of each region is the maximum wear value of each region. For example, as shown in Table 1, the wear report can store the wear depth values ​​of each part of the cutter in the wear point cloud, the initial depth values ​​in the initial point cloud, and the difference between the wear depth values ​​in the wear point cloud and the initial depth values ​​in the initial point cloud. It can also store the wear depth values ​​of the entire cutter in the wear point cloud, the initial depth values ​​in the initial point cloud, and the difference between the wear depth values ​​in the wear point cloud and the initial depth values ​​in the initial point cloud.

[0090] Furthermore, a wear threshold can be set; for example, a wear threshold of 3mm can be set. If the wear value in any area exceeds the wear threshold, or the overall wear value exceeds the wear threshold, the cutter is deemed ready for replacement. At this point, a maintenance recommendation report can be generated. If the wear value on the upper part of the cutter head exceeds the wear threshold, or the overall wear value exceeds the wear threshold, the maintenance recommendation report can include a recommendation to replace the cutter. If the wear value at the edge of the cutter teeth exceeds the wear threshold, the maintenance recommendation can be to replace the cutter teeth.

[0091] In this embodiment of the invention, the wear level of the auger is quantified by comparing the wear values ​​before and after use.

[0092] Step 460: Determine the wear rate of the auger under test based on the wear value of the auger under test compared to the initial auger and the usage time of the auger under test.

[0093] Wear rate can be understood as the amount of wear per unit time.

[0094] Specifically, after determining the wear values ​​of each region of the tested auger compared to the corresponding region of the initial auger, the wear rate of each region of the tested auger can be determined by the ratio of the wear value of each region of the tested auger compared to the corresponding region of the initial auger to the usage time of the tested auger. Alternatively, the overall wear rate of the tested auger can be determined by the ratio of the overall wear value of the tested auger compared to the overall wear value of the initial auger to the usage time of the tested auger, thus quantifying the wear rate.

[0095] Furthermore, a wear rate threshold can be set; for example, it can be set to 0.005 mm / hour. If the wear rate in any area exceeds the threshold, or the overall wear rate exceeds the threshold, the cutter is deemed ready for replacement. In this case, a maintenance recommendation report can be generated. If the wear rate on the upper part of the cutter head exceeds the threshold, or the overall wear rate exceeds the threshold, the maintenance recommendation report can include a recommendation to replace the cutter. If the wear rate at the edge of the cutter teeth exceeds the threshold, the maintenance recommendation can be to replace the cutter teeth.

[0096] In practical applications, the wear pattern can also be determined based on the wear value of each area of ​​the cutter under test compared to the corresponding area of ​​the initial cutter. For example, when the wear value of the cutter edge is significantly greater than that of other areas, the wear pattern can be determined to be high-impact geology.

[0097] In addition, the remaining life of the cutter head under test can be predicted by combining the geological type of the dredging cutter suction dredger. If the dredging cutter suction dredger continues to operate in geological conditions consistent with the historical working geological type of the cutter head under test, the remaining life can be determined as (initial thickness - current average depth) / wear rate.

[0098] In this embodiment of the invention, the wear rate of the auger under test is determined based on the wear value of the auger under test compared to the initial auger and the usage time of the auger under test, thereby quantifying the wear efficiency of the auger under test.

[0099] The wear detection method for in-service dredgers based on three-dimensional reconstruction using line laser provided in this invention includes: during the rotation of a dredger under test that has undergone dredging wear, simultaneously projecting a line laser onto the dredger and acquiring a reflection image of the line laser on the dredger; determining the two-dimensional coordinates of each projection point on the dredger under test based on the reflection image; obtaining a wear point cloud corresponding to the dredger under test by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point; aligning the wear point cloud corresponding to the dredger under test with the initial point cloud corresponding to an unworn dredger; determining the wear value of the dredger under test compared to the initial dredger based on the wear values ​​of each point in the wear point cloud and the wear value of each point in the initial point cloud; and determining the wear rate of the dredger under test based on the wear value of the dredger under test compared to the initial dredger and the service time of the dredger under test. The above technical solution involves laser full coverage of the cutter head under test during its rotation after dredging wear, achieving rapid coverage of multiple parts of the cutter head. By acquiring the reflection image of the line laser on the cutter head, a complete image of the cutter head is obtained, and the two-dimensional coordinates of each projection point on the cutter head are determined. Then, three-dimensional reconstruction is performed on these two-dimensional coordinates to determine the three-dimensional coordinates of each projection point, thus constructing a wear point cloud corresponding to the cutter head. Furthermore, based on the principle of laser triangulation, the three-dimensional information of the cutter head surface is accurately determined, overcoming the shortcomings of traditional methods in terms of accuracy. After aligning the wear point cloud corresponding to the cutter head with the initial point cloud corresponding to the unworn initial cutter head, the wear value of the cutter head compared to the initial cutter head is determined based on the wear values ​​of each point in the wear point cloud and the points in the initial point cloud. This allows for wear detection of the cutter head without disassembling it, improving the field applicability of wear detection. Furthermore, the wear rate of the cutter under test can be determined based on its wear value compared to the initial cutter and its usage time, thus quantifying the wear efficiency of the cutter. Moreover, real-time detection of the cutter wear value and wear rate enables real-time monitoring of the cutter wear condition, providing data support for intelligent maintenance of dredging equipment.

[0100] Figure 6 This is a schematic diagram of a wear detection device for in-service cutterheads based on three-dimensional reconstruction using a line laser, provided by an embodiment of the present invention. This device is applicable to situations requiring wear detection of cutterheads used in dredging suction dredgers. The device can be implemented through software and / or hardware and is generally integrated into electronic devices, such as computer equipment.

[0101] like Figure 6 As shown, the device includes: The acquisition module 610 is used to acquire the reflection image of the line laser on the cutter while projecting a line laser onto the cutter during the rotation of the cutter after dredging wear; The determination module 620 is used to determine the two-dimensional coordinates of each projection point projected on the auger under test based on the reflected image of the auger under test, and to obtain the wear point cloud corresponding to the auger under test by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point. The detection module 630 is used to align the wear point cloud corresponding to the cutter under test with the initial point cloud corresponding to the initial cutter without wear, and then determine the wear value of the cutter under test compared to the initial cutter based on the wear value of each point in the wear point cloud and the wear value of each point in the initial point cloud.

[0102] The wear detection device based on three-dimensional reconstruction of a line laser cutter provided in this embodiment acquires the reflected image of the line laser on the cutter while it is rotating after dredging wear. The device determines the two-dimensional coordinates of each projection point on the cutter based on the reflected image. By performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point, a wear point cloud corresponding to the cutter is obtained. After aligning the wear point cloud of the cutter with the initial point cloud of an unworn cutter, the wear value of the cutter compared to the initial cutter is determined based on the wear values ​​of each point in the wear point cloud and the wear values ​​of each point in the initial point cloud. The above technical solution involves laser full coverage of the cutter head under test during its rotation after dredging wear, achieving rapid coverage of multiple parts of the cutter head. By acquiring the reflection image of the line laser on the cutter head, a complete image of the cutter head is obtained, and the two-dimensional coordinates of each projection point on the cutter head are determined. Then, three-dimensional reconstruction is performed on these two-dimensional coordinates to determine the three-dimensional coordinates of each projection point, thus constructing a wear point cloud corresponding to the cutter head. After aligning the wear point cloud of the cutter head with the initial point cloud of the unworn cutter head, the wear value of the cutter head compared to the initial cutter head is determined based on the wear values ​​of each point in the wear point cloud relative to the initial point cloud. This allows for wear detection of the cutter head without disassembling it, improving the field applicability of wear detection.

[0103] Based on the above embodiments, module 620 is specifically used for: Based on the position information of each projection point projected on the reamer in the reflected image, the two-dimensional coordinates of each projection point are determined. For each projection point, based on the angle between the laser of the projected laser and the image acquisition device acquiring the reflected image, the distance between the laser and the image acquisition device, the two-dimensional coordinates of the projection point, and the distance between the image acquisition device and the imaging plane of the image acquisition device, the projection height from the imaging plane of the image acquisition device to the projection point and the length distance of the projection point on the imaging plane of the image acquisition device are determined. Then, the projection height from the imaging plane of the image acquisition device to the projection point and the length distance of the projection point on the imaging plane of the image acquisition device are transformed by a transformation matrix to obtain the wear point cloud corresponding to the projection point.

[0104] Based on the above embodiments, the device further includes: The execution module is configured to, before aligning the worn point cloud corresponding to the auger under test with the initial point cloud corresponding to the unworn initial auger, simultaneously project a line laser onto the initial auger during the rotation of the initial auger and acquire the reflection image of the line laser on the initial auger; determine the two-dimensional coordinates of each projection point projected on the initial auger based on the reflection image of the initial auger; and obtain the initial point cloud corresponding to the initial auger by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point.

[0105] Based on the above embodiments, the detection module 630 is specifically used for: Based on the difference between the depth values ​​of each point in the wear point cloud and the corresponding depth values ​​of the points in the initial point cloud, the wear value of each point in the wear point cloud based on each point in the initial point cloud is determined; the maximum wear value is determined as the wear value of the cutter under test compared to the initial cutter.

[0106] Based on the above embodiments, the device further includes: The wear rate detection module is used to determine the wear rate of the auger under test based on the wear value of the auger under test compared with the initial auger and the usage time of the auger under test.

[0107] The wear in-service detection device based on three-dimensional reconstruction of a line laser reamer provided in this embodiment of the invention can execute the wear in-service detection method based on three-dimensional reconstruction of a line laser reamer provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the wear in-service detection method based on three-dimensional reconstruction of a line laser reamer.

[0108] It is worth noting that in the above embodiments of the wear detection device in service based on three-dimensional reconstruction of a line laser reamer, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0109] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Figure 7 A block diagram of an exemplary electronic device 7 suitable for implementing embodiments of the present invention is shown. Figure 7 The electronic device 7 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0110] like Figure 7 As shown, the electronic device 7 is represented in the form of a general-purpose computing electronic device. The components of the electronic device 7 may include, but are not limited to: one or more processors or processing units 16, system memory 28, and bus 18 connecting different system components (including system memory 28 and processing unit 16).

[0111] Bus 18 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0112] Electronic device 7 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by electronic device 7, including volatile and non-volatile media, removable and non-removable media.

[0113] System memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. Electronic device 7 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 34 may be used to read and write non-removable, non-volatile magnetic media (… Figure 7 Not shown; usually referred to as a "hard drive"). Although Figure 7As not shown, disk drives for reading and writing to removable non-volatile disks (e.g., "floppy disks") and optical disc drives for reading and writing to removable non-volatile optical discs (e.g., CD-ROMs, DVD-ROMs, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 via one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of the present invention.

[0114] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. Program modules 42 typically perform the functions and / or methods described in the embodiments of the present invention.

[0115] Electronic device 7 can also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), and with one or more devices that enable a user to interact with electronic device 7, and / or with any device that enables electronic device 7 to communicate with one or more other computing devices (e.g., network card, modem, etc.). This communication can be performed through input / output (I / O) interface 22. Furthermore, electronic device 7 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) through network adapter 20. Figure 7 As shown, network adapter 20 communicates with other modules of electronic device 7 via bus 18. It should be understood that, although... Figure 7 Not shown, it can be combined with electronic device 7 to use other hardware and / or software modules, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0116] Processing unit 16 executes various functional applications and page displays by running programs stored in system memory 28, such as implementing the wear detection method in service based on three-dimensional reconstruction of a line laser reamer provided in this embodiment of the invention, which includes: During the rotation of the cutter head after dredging wear, a line laser is projected onto the cutter head while simultaneously acquiring an image of the line laser reflected from the cutter head. The two-dimensional coordinates of each projection point on the auger under test are determined based on the reflected image of the auger under test. The wear point cloud corresponding to the auger under test is obtained by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point. After aligning the wear point cloud corresponding to the cutter under test with the initial point cloud corresponding to the initial cutter without wear, the wear value of the cutter under test compared to the initial cutter is determined based on the wear value of each point in the wear point cloud and the wear value of each point in the initial point cloud.

[0117] Of course, those skilled in the art will understand that the processor can also implement the technical solution of the wear detection method based on three-dimensional reconstruction of a line laser reamer provided in any embodiment of the present invention.

[0118] This invention provides a wear detection system for dredging cutterheads, such as... Figure 2 As shown, the wear detection system for dredging cutterheads includes two vertically arranged wear detection devices and the aforementioned electronic equipment. The wear detection devices include a laser device and an image acquisition device. The wear detection devices are used to project laser light onto the cutterhead during its rotation based on the laser device, while simultaneously acquiring multiple frames of laser reflection images on the cutterhead based on the image acquisition device.

[0119] In practical applications, the wear detection system for dredging cutterheads also includes a rotating shaft ( Figure 2 4) and drive motor ( Figure 2 (5) The rotating shaft is used to connect the drive motor and the cutter head. The wear detection system for the dredging cutter head also includes a heat dissipation device ( Figure 3 2-2), signal transceiver equipment ( Figure 3 2-3) and power supply equipment ( Figure 3 (Not shown) The heat dissipation device is used to dissipate heat from the laser emitting device and the image acquisition device to ensure that the device temperature of the laser emitting device and the image acquisition device does not exceed the temperature threshold. The signal transceiver device is used to send data to the electronic equipment. The power supply device is used to supply power to the system.

[0120] The dredging cutter wear detection system provided in this embodiment of the invention can execute the wear detection method based on three-dimensional reconstruction of line laser cutter provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the wear detection method based on three-dimensional reconstruction of line laser cutter.

[0121] This invention provides a computer-readable storage medium storing a computer program thereon. When executed by a processor, the program implements, for example, the wear detection method based on three-dimensional reconstruction of a line laser reamer provided in this invention. The method includes: During the rotation of the cutter head after dredging wear, a line laser is projected onto the cutter head while simultaneously acquiring an image of the line laser reflected from the cutter head. The two-dimensional coordinates of each projection point on the auger under test are determined based on the reflected image of the auger under test. The wear point cloud corresponding to the auger under test is obtained by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point. After aligning the wear point cloud corresponding to the cutter under test with the initial point cloud corresponding to the initial cutter without wear, the wear value of the cutter under test compared to the initial cutter is determined based on the wear value of each point in the wear point cloud and the wear value of each point in the initial point cloud.

[0122] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0123] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0124] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0125] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0126] Those skilled in the art will understand that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby allowing them to be stored in a storage device for execution by a computing device, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0127] Furthermore, the acquisition, storage, use, and processing of data in the technical solution of this invention all comply with relevant laws and regulations.

[0128] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A method for detecting wear in service based on three-dimensional reconstruction using a line laser hinge, characterized in that, include: During the rotation of the cutter head under test after dredging and wear, a line laser is projected onto the cutter head under test while simultaneously acquiring the reflection image of the line laser on the cutter head under test; The two-dimensional coordinates of each projection point on the auger under test are determined based on the reflected image of the auger under test. The wear point cloud corresponding to the auger under test is obtained by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point. After aligning the wear point cloud corresponding to the cutter under test with the initial point cloud corresponding to the initial cutter without wear, the wear value of the cutter under test compared to the initial cutter is determined based on the wear value of each point in the wear point cloud and the wear value of each point in the initial point cloud.

2. The wear detection method for in-service sparse areas based on three-dimensional reconstruction using a line laser hinge according to claim 1, characterized in that, Determining the two-dimensional coordinates of each projection point on the auger under test based on the reflected image of the auger under test includes: The two-dimensional coordinates of each projection point are determined based on the position information of each projection point projected on the reamer in the reflected image.

3. The wear detection method for in-service sparse areas based on three-dimensional reconstruction using a line laser hinge according to claim 1, characterized in that, By performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point, the wear point cloud corresponding to the unseen auger is obtained, including: For each projection point, after determining the projection height from the imaging plane of the image acquisition device to the projection point and the length distance of the projection point on the imaging plane of the image acquisition device based on the angle between the laser of the projected laser and the image acquisition device for acquiring the reflected image, the distance between the laser and the image acquisition device, the two-dimensional coordinates of the projection point, and the distance between the image acquisition device and the imaging plane of the image acquisition device, the projection height from the imaging plane of the image acquisition device to the projection point and the length distance of the projection point on the imaging plane of the image acquisition device are transformed by a transformation matrix to obtain the wear point cloud corresponding to the projection point.

4. The wear detection method for in-service sparse areas based on three-dimensional reconstruction using a line laser hinge according to claim 1, characterized in that, Before aligning the worn point cloud corresponding to the unworn reamer under test with the initial point cloud corresponding to the unworn reamer, the method further includes: During the initial reamer's rotation, a line laser is projected onto the initial reamer while simultaneously acquiring an image of the line laser reflected from the initial reamer. The two-dimensional coordinates of each projection point projected onto the initial auger are determined based on the reflected image of the initial auger. The initial point cloud corresponding to the initial auger is obtained by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point.

5. The wear detection method for in-service sparse areas based on three-dimensional reconstruction using a line laser hinge according to claim 1, characterized in that, The wear value of the cutter under test compared to the initial cutter is determined based on the wear values ​​of each point in the wear point cloud and the wear values ​​of each point in the initial point cloud, including: The wear value of each point in the wear point cloud is determined based on the difference between the depth value of each point in the wear point cloud and the depth value of the corresponding point in the initial point cloud. The maximum wear value is defined as the wear value of the tested auger compared to the initial auger.

6. The wear detection method for in-service sparse areas based on three-dimensional reconstruction using a line laser hinge according to claim 1, characterized in that, Also includes: The wear rate of the auger under test is determined based on the wear value of the auger under test compared to the initial auger and the usage time of the auger under test.

7. A wear detection device for in-service applications based on three-dimensional reconstruction using a line laser hinge, characterized in that, include: The acquisition module is used to acquire the reflection image of the line laser on the cutter head under test while projecting a line laser onto the cutter head under test during its rotation after dredging wear; The determination module is used to determine the two-dimensional coordinates of each projection point projected on the auger under test based on the reflected image of the auger under test, and to obtain the wear point cloud corresponding to the auger under test by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point. The detection module is used to align the wear point cloud corresponding to the cutter under test with the initial point cloud corresponding to the initial cutter without wear, and then determine the wear value of the cutter under test compared to the initial cutter based on the wear value of each point in the wear point cloud and the wear value of each point in the initial point cloud.

8. The wear detection device for in-service sparse areas based on three-dimensional reconstruction using a line laser hinge according to claim 7, characterized in that, The determining module is specifically used for: Based on the position information of each projection point projected on the reamer in the reflected image, the two-dimensional coordinates of each projection point are determined. For each projection point, based on the angle between the laser of the projected laser and the image acquisition device acquiring the reflected image, the distance between the laser and the image acquisition device, the two-dimensional coordinates of the projection point, and the distance between the image acquisition device and the imaging plane of the image acquisition device, the projection height from the imaging plane of the image acquisition device to the projection point and the length distance of the projection point on the imaging plane of the image acquisition device are determined. Then, the projection height from the imaging plane of the image acquisition device to the projection point and the length distance of the projection point on the imaging plane of the image acquisition device are transformed by a transformation matrix to obtain the wear point cloud corresponding to the projection point.

9. The wear detection device for in-service sparse areas based on three-dimensional reconstruction using a line laser hinge according to claim 7, characterized in that, The device further includes: The execution module is configured to, before aligning the worn point cloud corresponding to the auger under test with the initial point cloud corresponding to the unworn initial auger, simultaneously project a line laser onto the initial auger during the rotation of the initial auger and acquire the reflection image of the line laser on the initial auger; determine the two-dimensional coordinates of each projection point projected on the initial auger based on the reflection image of the initial auger; and obtain the initial point cloud corresponding to the initial auger by performing three-dimensional reconstruction on the two-dimensional coordinates of each projection point.

10. The wear detection device for in-service sparse areas based on three-dimensional reconstruction using a line laser hinge according to claim 7, characterized in that, The detection module is specifically used for: After aligning the wear point cloud corresponding to the cutter under test with the initial point cloud corresponding to the initial cutter without wear, the wear value of each point in the wear point cloud based on each point in the initial point cloud is determined according to the difference between the depth value of each point in the wear point cloud and the depth value of the corresponding point in the initial point cloud. The maximum wear value is defined as the wear value of the tested auger compared to the initial auger.

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