A thickness measurement method and device based on water-immersed ultrasonic wave

Abstract

The application provides a thickness measurement method and device based on water immersion ultrasonic waves. The method comprises: obtaining a target standard template blade; the target standard template blade is consistent with the type of a turbine blade to be measured; performing laser reflection calibration on the target standard template blade to obtain first positioning data; performing height compensation on the first positioning data to obtain second positioning data; performing ultrasonic data collection on the target standard template blade according to the second positioning data to obtain ultrasonic data; obtaining target positioning data according to the ultrasonic data and a preset standard condition; and performing thickness measurement on the turbine blade to be measured according to the target positioning data to obtain a thickness measurement result of the turbine blade. The application can improve the thickness measurement precision and detection efficiency.

Description

Technical Field

[0001] This invention relates to the field of thickness measurement technology, and also to a thickness measurement method and apparatus based on water immersion ultrasonic waves. Background Technology

[0002] Steam turbines are core power components in energy equipment such as thermal power generation and nuclear power. Their blades, as the key carriers of steam energy conversion, operate for extended periods in extreme environments of high temperature, high pressure, and high-speed steam erosion, while also enduring cyclic fatigue loads and media corrosion (such as high-temperature oxidation, steam erosion, and stress corrosion cracking). The uniformity and integrity of the blade wall thickness directly determine the turbine's operating efficiency, safety, and service life. If the blade wall thickness is reduced to a critical value due to corrosion, erosion, or fatigue, it may lead to blade breakage, unit shutdown, and other major safety accidents, causing enormous economic losses and safety hazards.

[0003] Water immersion ultrasonic thickness measurement, using water as the coupling medium, offers significant advantages such as stable coupling, non-contact and wear-free operation, high detection accuracy, suitability for complex free-form surfaces, and automated inspection, making it the mainstream technology for high-precision thickness measurement of turbine blades. However, turbine blades are mostly complex three-dimensional free-form surfaces (such as twisted blades and variable cross-section blades). The core technical challenge of water immersion ultrasonic thickness measurement lies in ensuring that the probe's acoustic beam is strictly perpendicular to the normal of the blade surface at the measured point (the angular deviation must be controlled within 0.5 degrees), and that the probe's focal point is precisely aligned with the measured point. Otherwise, ultrasonic echo distortion and acoustic energy attenuation will occur, resulting in significant thickness measurement errors (errors can exceed ±0.1 mm). Traditional positioning methods (such as manual alignment and purely mechanical coordinate teaching) cannot reliably meet these requirements, leading to inaccurate thickness measurement results and hindering the large-scale, high-precision application of water immersion ultrasonic thickness measurement technology in turbine blade inspection. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a thickness measurement method and device based on water immersion ultrasonic waves, so as to improve the accuracy of thickness measurement.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] A first aspect of the present invention provides a thickness measurement method based on water immersion ultrasonic waves, comprising:

[0007] Obtain the target standard template blade; the target standard template blade is of the same type as the turbine blade to be tested.

[0008] Laser reflection calibration is performed on the target standard template blade to obtain the first positioning data;

[0009] The first positioning data is height-compensated to obtain the second positioning data;

[0010] Ultrasonic data is acquired by performing ultrasonic data acquisition on the target standard template blade according to the second positioning data;

[0011] Based on the ultrasonic data and preset standard conditions, target positioning data is obtained;

[0012] The thickness of the turbine blade under test is measured based on the target positioning data to obtain the thickness measurement result of the turbine blade.

[0013] Optionally, obtain the target standard template blade, including:

[0014] Obtain the three-dimensional model and measurement point parameters of the first standard template blade;

[0015] The first standard template blade is marked with measuring points according to the three-dimensional model and the measuring point parameters to obtain the second standard template blade.

[0016] Lenses are attached to the measuring points on the second standard template blade to obtain the target standard template blade.

[0017] Optionally, laser reflection calibration is performed on the target standard template blade to obtain first positioning data, including:

[0018] Obtain preset pose determination conditions;

[0019] Laser reflection data is obtained by reflecting laser light off the target standard template blade using a laser reflection device.

[0020] Based on the laser reflection data and the preset pose judgment conditions, the first positioning data is obtained.

[0021] Optionally, height compensation is performed on the first positioning data to obtain second positioning data, including:

[0022] pass The total positioning error is obtained; where, This represents the total positioning error. R is the diameter of the laser spot, and R is the radius of curvature of the surface at the measuring point on the blade. To preset the installation height difference, Due to installation deviation, , , Positioning error;

[0023] The first positioning data is corrected based on the total positioning error to obtain corrected first positioning data;

[0024] The first positioning data is adjusted for height compensation based on the preset installation height difference to obtain the second positioning data.

[0025] Optionally, ultrasonic data is acquired from the target standard template blade according to the second positioning data to obtain ultrasonic data, including:

[0026] Obtain the preset water immersion detection conditions;

[0027] Ultrasonic data is acquired by collecting ultrasonic data from the target standard template blade according to the preset water immersion detection conditions and the second positioning data.

[0028] Optionally, target positioning data is obtained based on the ultrasonic data and preset standard conditions, including:

[0029] Evaluation parameters are obtained based on the ultrasonic data;

[0030] Based on the comparison results between the evaluation parameters and the preset standard conditions, the second positioning data is adjusted to obtain the target positioning data.

[0031] Optionally, the thickness of the turbine blade under test is measured based on the target positioning data to obtain the thickness measurement result of the turbine blade, including:

[0032] The thickness of the turbine blade under test is measured based on the target positioning data to obtain thickness measurement data.

[0033] Based on the verification results of the thickness measurement data, the thickness measurement results of the turbine blades are obtained.

[0034] A second aspect of the present invention provides a thickness measuring device based on water immersion ultrasonic waves, comprising:

[0035] The acquisition module is used to acquire the target standard template blade; the target standard template blade is of the same type as the turbine blade to be tested.

[0036] The processing module is used to perform laser reflection calibration on the target standard template blade to obtain first positioning data; perform height compensation on the first positioning data to obtain second positioning data; perform ultrasonic data acquisition on the target standard template blade according to the second positioning data to obtain ultrasonic data; obtain target positioning data according to the ultrasonic data and preset standard conditions; and perform thickness measurement on the turbine blade under test according to the target positioning data to obtain the thickness measurement result of the turbine blade.

[0037] A third aspect of the present invention provides a computing device, comprising: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method described in the first aspect.

[0038] A fourth aspect of the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method as described in the first aspect.

[0039] The above-described solution of the present invention has at least the following beneficial effects:

[0040] The above-described solution of the present invention obtains a target standard template blade, the type of which is consistent with the turbine blade to be tested. Laser reflection calibration is performed on the target standard template blade to obtain first positioning data. Height compensation is applied to the first positioning data to obtain second positioning data. Ultrasonic data is acquired from the target standard template blade according to the second positioning data to obtain ultrasonic data. Based on the ultrasonic data and preset standard conditions, target positioning data is obtained. Finally, the thickness of the turbine blade to be tested is measured according to the target positioning data to obtain the thickness measurement result of the turbine blade. This method can improve the thickness measurement accuracy and detection efficiency, and is suitable for the automated detection requirements of batch turbine blades. Attached Figure Description

[0041] Figure 1 This is a schematic flowchart of the thickness measurement method based on water immersion ultrasonic waves in an embodiment of the present invention.

[0042] Figure 2 This is a schematic diagram of the thickness measuring device based on water immersion ultrasonic waves in an embodiment of the present invention. Detailed Implementation

[0043] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the invention and to fully convey the scope of the invention to those skilled in the art.

[0044] like Figure 1 As shown, an embodiment of the present invention proposes a thickness measurement method based on water immersion ultrasonic waves, comprising the following steps:

[0045] Step 101: Obtain the target standard template blade; the target standard template blade is of the same type as the turbine blade to be tested;

[0046] Step 102: Perform laser reflection calibration on the target standard template blade to obtain the first positioning data;

[0047] Step 103: Perform height compensation on the first positioning data to obtain the second positioning data;

[0048] Step 104: Acquire ultrasonic data of the target standard template blade according to the second positioning data to obtain ultrasonic data;

[0049] Step 105: Obtain target positioning data based on the ultrasonic data and preset standard conditions;

[0050] Step 106: Measure the thickness of the turbine blade to be tested based on the target positioning data to obtain the thickness measurement result of the turbine blade.

[0051] The thickness measurement method based on water immersion ultrasonic testing in this invention involves acquiring a target standard template blade, which is of the same type as the turbine blade to be tested. Laser reflection calibration is performed on the target standard template blade to obtain first positioning data. Height compensation is then applied to the first positioning data to obtain second positioning data. Ultrasonic data is acquired from the target standard template blade according to the second positioning data to obtain ultrasonic data. Based on the ultrasonic data and preset standard conditions, target positioning data is obtained. Finally, the thickness of the turbine blade to be tested is measured based on the target positioning data to obtain the thickness measurement result. This method can improve thickness measurement accuracy and detection efficiency, and is suitable for the automated detection needs of batch turbine blades.

[0052] In an optional embodiment of the present invention, step 101, obtaining the target standard template blade, may include:

[0053] Step 1011: Obtain the three-dimensional model and measurement point parameters of the first standard template blade;

[0054] Specifically, the first standard template blade is a blade of the same model and material as the turbine blade under test, free of defects and with uniform wall thickness. Using this blade as the reference template, standard positions for measurement points are provided for the blades under test, ensuring consistency in batch testing. The 3D model can be in CAD (Computer-Aided Design) format. Combining the 3D model with the turbine blade allows for a clear view of the surface contours of key areas such as the inlet edge, outlet edge, back arc, and inner arc, helping to determine measurement point parameters (number, spacing) and ensuring that measurement points cover critical areas of the blade that are prone to corrosion and erosion. The 3D model provides a theoretical coordinate reference for subsequent measurement point marking, facilitating accurate marking of standard measurement points on the template blade. It also provides key parameters such as the measurement point normal direction vector for subsequent steps (such as laser positioning and error correction). Planning measurement points based on a unified 3D model ensures consistent measurement point positions for all blades in batch testing, avoiding measurement point deviations caused by manual planning, and laying the foundation for standardized and large-scale testing.

[0055] The measurement point parameters include the number of measurement points, their distribution location, the spacing between adjacent measurement points, and the marking specifications. The number of measurement points can be set according to the blade size and required inspection accuracy, ensuring coverage of all critical areas. The distribution location of measurement points must clearly specify the critical areas of the blade to be marked, including: the steam inlet edge, the steam outlet edge, the back arc (convex surface of the blade), and the inner arc (concave surface of the blade). Other areas can be added based on the actual vulnerable parts of the blade. The spacing between adjacent measurement points can be set to 5 to 10 mm, and can be fine-tuned according to the complexity of the blade surface and the required inspection accuracy (reducing the spacing for high accuracy requirements, such as 3 to 5 mm; maintaining 5 to 10 mm for moderate accuracy requirements). The marking specifications must clearly define the size and style of the measurement point markings. These specifications may include: each measurement point marking being a dot with a diameter not exceeding 2 mm, and requiring clear, water-resistant markings that do not damage the blade surface and are compatible with subsequent reflective lens attachment (ensuring the lens accurately covers the measurement point).

[0056] Step 1012: Mark the measuring points on the first standard template blade according to the three-dimensional model and the measuring point parameters to obtain the second standard template blade;

[0057] Specifically, the first standard template blade is fixed on the inspection fixture, and the fixture positioning is adjusted to ensure that the blade reference plane is aligned with the robot arm's motion coordinate system (alignment error ≤ 0.02mm). Based on the 3D model and measurement point parameters, a thickness measuring fixture is used to mark standard measurement points in the key areas of the first standard template blade. Each measurement point is marked as a dot with a diameter not exceeding 2mm, serving as the reference point for batch inspection. After marking the measurement points on the first standard template blade, the second standard template blade is obtained, which includes the initial theoretical coordinates of each measurement point in the robot arm's coordinate system.

[0058] Step 1013: Attach lenses to the measuring points on the second standard template blade to obtain the target standard template blade.

[0059] Specifically, reflective lenses are attached to each measuring point on the second standard template blade to provide high-reflectivity target points for subsequent laser reflection positioning, ensuring that the laser can be accurately reflected back to the receiver, thereby achieving vertical correction of the probe's attitude. In practice, miniature reflective lenses can be picked up with tweezers, dipped in a small amount of special adhesive, and precisely attached to the center of each marked measuring point on the second standard template blade. Microscopic observation is used to adjust the lens orientation, ensuring that the lens surface is strictly parallel to the curved surface of the blade where the measuring point is located (parallelism error ≤ 0.05mm). After attachment, allow it to stand for 10 to 15 minutes to allow the adhesive to cure, preventing the lens from falling off or shifting during subsequent testing. Alternatively, an automated attachment device can be used to pick up the reflective lenses and attach them to the measuring points to save labor costs.

[0060] In an optional embodiment of the present invention, step 102, performing laser reflection calibration on the target standard template blade to obtain first positioning data, may include:

[0061] Step 1021: Obtain the preset pose judgment conditions;

[0062] Step 1022: The target standard template blade is subjected to laser reflection using a laser reflection device to obtain laser reflection data;

[0063] Step 1023: Obtain first positioning data based on the laser reflection data and the preset pose judgment conditions.

[0064] Specifically, the preset pose judgment condition in step 1021 is that the plane where the blade measuring point is located is orthogonal and perpendicular to the plane where the probe and laser are located. The purpose of obtaining the preset pose judgment condition is to provide a basis for determining the first positioning data and improve the accuracy of the first positioning data.

[0065] In practice, the immersion ultrasonic probe is fixed at the bottom of a special fixture, and the probe's posture is adjusted so that the probe's acoustic axis is perpendicular to the fixture's reference plane. The point laser emitter is fixed at the top of the fixture, above the probe's vertical center line. The laser optical axis is adjusted using a laser alignment instrument to ensure that the laser optical axis is strictly parallel to the probe's acoustic axis (parallelism error ≤ 0.01 mm / m). The fixture is leveled using a level to ensure that both the laser optical axis and the probe's acoustic axis are perpendicular to the test table surface, and the vertical installation height difference between the laser emitter and the probe is recorded.

[0066] The robotic arm drives the laser and probe fixture close to the first measurement point of the target standard template blade. The laser emitter and receiver are turned on, and the posture of the robotic arm is adjusted (rotating around the X, Y, and Z axes) so that the laser beam is reflected back to the laser receiver via a reflecting mirror (reflected light intensity ≥ 90% of incident light intensity). When the preset posture judgment condition is met, that is, when the plane where the blade measurement point is located is orthogonal and perpendicular to the plane where the probe and laser are located, the current posture of the robotic arm is locked, and the coarse positioning posture parameters of the measurement point are recorded, including the rotation angle of the robotic arm around the X, Y, and Z axes, as well as the coarse positioning coordinates of the measurement point (i.e., the spatial coordinates of the probe center). The above operation is repeated to complete the coarse positioning and vertical correction of all measurement points, and the coarse positioning posture set of all measurement points is obtained, that is, the first positioning data.

[0067] In an optional embodiment of the present invention, step 103, which involves performing height compensation on the first positioning data to obtain second positioning data, may include:

[0068] Step 1031, through The total positioning error is obtained; where, This represents the total positioning error. R is the diameter of the laser spot, and R is the radius of curvature of the surface at the measuring point on the blade. To preset the installation height difference, Due to installation deviation, , , This is the positioning error;

[0069] Step 1032: Correct the first positioning data according to the total positioning error to obtain corrected first positioning data;

[0070] Step 1033: Perform height compensation on the corrected first positioning data according to the preset installation height difference to obtain the second positioning data.

[0071] Specifically, the initial positioning data ensured that the probe's acoustic axis was strictly perpendicular to the normal of the measuring point (angle deviation ≤ 0.5 degrees). However, due to the vertical installation height difference between the laser emitter and the water immersion ultrasonic probe (i.e., the preset installation height difference), This resulted in the probe center not being aligned with the measurement point when the laser was aimed at it (the laser spot fell on the center of the reflecting mirror, while the probe was located below the laser). (There is a vertical deviation between the laser and the measuring point), so height difference compensation is needed to convert laser alignment into probe alignment, which provides a basis for subsequent ultrasonic fine-tuning and acquisition of target positioning data.

[0072] In practice, the total positioning error is calculated using the formula in step 1031. Among them, the preset installation height difference The vertical installation height difference between the laser emitter and the water immersion ultrasonic probe is given. The radius of curvature R of the surface at the measuring point on the blade is obtained through a three-dimensional model. Installation deviation is also considered. The installation angle deviation between the laser and the probe, , , The positioning error of the robotic arm is obtained from the robotic arm control system.

[0073] In step 1032, through , , The corrected first positioning data is obtained; among which, To correct the initial positioning data, i.e., the corrected coordinates of the measuring point, These are the coarse positioning coordinates of the measuring points in the first positioning data. This represents the total positioning error. , , The components of the normal direction vector at the measurement point are obtained through a three-dimensional model.

[0074] In step 1033, based on the preset installation height difference... Components of the normal direction vector of the measuring point , , Control the robotic arm to move a fixed distance along the normal direction of the measuring point (perpendicular to the blade surface). (The movement direction should be consistent with the normal direction to ensure that the probe moves closer to the measuring point after movement, eliminating vertical installation deviation); After the movement is completed, check the perpendicularity accuracy of the probe's acoustic axis and the normal of the measuring point again (angle deviation ≤ 0.5 degrees). After confirming that there are no errors, lock the current pose of the robotic arm and record the vertical positioning pose of the measuring point, i.e., the second positioning data. The second positioning data includes the second coordinates of the measuring point. It also includes the rotation angles of the robotic arm around the X, Y, and Z axes (the rotation angles are the same as those in the first positioning data), wherein the second coordinates of the measuring point are obtained through... , , get.

[0075] In an optional embodiment of the present invention, step 104, which involves acquiring ultrasonic data of the target standard template blade according to the second positioning data to obtain ultrasonic data, may include:

[0076] Step 1041: Obtain preset water immersion detection conditions;

[0077] Step 1042: Ultrasonic data is acquired on the target standard template blade according to the preset water immersion detection conditions and the second positioning data to obtain ultrasonic data.

[0078] Specifically, in step 1041, the preset water immersion detection conditions include a water temperature of 25±0.1°C and deionized water as the detection liquid. These preset water immersion detection conditions can be adjusted according to actual needs and application scenarios.

[0079] In step 1042, the robot arm pose (i.e., the rotation angle of the robot arm around the X, Y, and Z axes) in the second positioning data is used as the initial posture. Deionized water is injected into the water immersion detection tank according to the preset water immersion detection conditions, and the water temperature is adjusted to 25±0.1°. The water immersion thickness measurement system software is turned on, the ultrasonic signal acquisition device is started, and the ultrasonic echo signal of the measuring point is collected. The robot arm is controlled to drive the probe to move horizontally along the normal direction of the measuring point (perpendicular to the blade surface) with a micro-motion step (0.01mm). The distance between the probe and the measuring point is adjusted so that the reflected echo of the measuring point falls accurately at the focal point of the probe, and ultrasonic data can be obtained.

[0080] In an optional embodiment of the present invention, step 105, obtaining target positioning data based on the ultrasonic data and preset standard conditions, may include:

[0081] Step 1051: Obtain evaluation parameters based on the ultrasonic data;

[0082] Specifically, the evaluation parameters include echo amplitude and signal-to-noise ratio (SNR). In step 1042, the ultrasonic signal acquisition device converts the received echo signal (analog signal) into a digital signal and transmits it to the water immersion thickness measurement system software. The software analyzes the signal and automatically extracts the peak voltage of the echo signal. The signal intensity corresponding to this peak voltage is the echo amplitude. The SNR is determined by... We obtain, where SNR is the signal-to-noise ratio. The peak voltage (V) of the ultrasonic signal is acquired by the ultrasonic signal acquisition device. This is the attitude correction coefficient. The angle between the probe's acoustic axis and the normal to the measuring point. This is a correction factor for water layer thickness. The voltage is the effective value of the noise signal.

[0083] Step 1052: Based on the comparison results between the evaluation parameters and the preset standard conditions, adjust the second positioning data to obtain the target positioning data.

[0084] Specifically, the preset standard conditions include an echo amplitude of no less than 80% and a signal-to-noise ratio of no less than 40dB. When the echo amplitude and signal-to-noise ratio in the evaluation parameters are consistent with the preset standard conditions, the pose of the robotic arm is locked at this time and recorded as the final thickness measurement pose of that measuring point, i.e., the target positioning data. The above operation is repeated to complete the fine adjustment and locking of all measuring points, and finally form the target positioning data of each measuring point. When the evaluation parameters are inconsistent with the preset standard conditions, the blade attitude is fine-tuned (fine-tuning angle ≤ 0.1°) to optimize the echo signal quality until the echo amplitude and signal-to-noise ratio reach the preset standard conditions.

[0085] In an optional embodiment of the present invention, step 106, measuring the thickness of the turbine blade under test based on the target positioning data to obtain the thickness measurement result of the turbine blade, may include:

[0086] Step 1061: Measure the thickness of the turbine blade to be tested based on the target positioning data to obtain thickness measurement data;

[0087] Step 1062: Based on the verification results of the thickness measurement data, the thickness measurement results of the turbine blades are obtained.

[0088] Specifically, under the pose of the target positioning data, a water immersion ultrasonic thickness measurement system is used to emit ultrasonic pulses towards the turbine blade under test, and the round-trip propagation time of the ultrasonic pulses within the blade is collected; through The initial blade thickness was calculated; through The compensated sound velocity was calculated; through The target blade thickness was calculated; where, Let be the initial blade thickness at the i-th measuring point. The standard speed of sound (i.e., the standard speed of sound at 20°C). The round-trip propagation time of the ultrasonic pulse within the blade. To compensate for the speed of sound, It is a first-order temperature coefficient. This refers to the actual temperature of the blade. It is a second-order temperature coefficient. The deviation in sound velocity is caused by water temperature. , The speed of sound in water at the actual water temperature. The speed of sound in water at 25°C For water layer thickness, Let be the target blade thickness at the i-th measurement point.

[0089] After obtaining the target blade thickness, the robotic arm is controlled to return to the second positioning data at each measuring point, and the laser emitter is restarted to observe the landing point of the laser spot on the reflecting mirror. Microscopic observation is used to confirm whether the deviation between the center of the laser spot and the center of the reflecting mirror meets the verification standard (e.g., deviation not greater than 0.1 mm). If the deviation meets the verification standard, the target blade thickness is confirmed as valid, and the target blade thickness at all measuring points is used as the turbine blade thickness measurement result. If the deviation between the center of the laser spot and the center of the reflecting mirror does not meet the verification standard, steps 102 to 106 are repeated to update the first positioning data until the deviation between the center of the laser spot and the center of the reflecting mirror meets the verification standard.

[0090] A specific embodiment of the thickness measurement method based on water immersion ultrasonic waves according to this invention includes:

[0091] Step 111: Obtain the target standard template blade; the target standard template blade is of the same type as the turbine blade to be tested;

[0092] The first standard template blade, which is identical in model and material to the turbine blade under test, is marked with measuring points and fitted with lenses to obtain the target standard template blade.

[0093] Step 112: Perform laser reflection calibration on the target standard template blade to obtain the first positioning data;

[0094] The laser emitter emits light that is reflected back to the laser receiver via a reflective lens. When the preset pose judgment condition is met, that is, when the plane where the fixed blade measuring point is located is orthogonal and perpendicular to the plane where the probe and laser are located, the current pose of the robotic arm is locked and the coarse positioning pose parameters of the measuring point are recorded as the first positioning data.

[0095] Step 113: Perform height compensation on the first positioning data to obtain the second positioning data;

[0096] The first positioning data is corrected based on the calculated total positioning error, and then height compensation is performed to obtain the second positioning data.

[0097] Step 114: Acquire ultrasonic data of the target standard template blade according to the second positioning data to obtain ultrasonic data;

[0098] Ultrasonic data was collected from the target standard template blade according to the preset water immersion detection conditions and the second positioning data to obtain ultrasonic data, which was then used to calculate evaluation parameters.

[0099] Step 115: Obtain target positioning data based on the ultrasonic data and preset standard conditions;

[0100] Evaluation parameters are calculated based on ultrasonic data. Then, the second positioning data is adjusted based on the comparison between the evaluation parameters and preset standard conditions to obtain the target positioning data.

[0101] Step 116: Measure the thickness of the turbine blade to be tested based on the target positioning data to obtain the thickness measurement result of the turbine blade.

[0102] With the pose of the target positioning data, an immersion ultrasonic thickness measurement system is used to transmit ultrasonic pulses to the turbine blade under test and calculate the target blade thickness at each measuring point.

[0103] The thickness measurement method based on water immersion ultrasonic in this invention introduces complex formulas for sound velocity compensation, positioning error correction, and water layer thickness optimization. This ensures that the probe sound beam is strictly perpendicular to the normal of the blade measurement point and the focus is precisely aligned with the measurement point, significantly improving the thickness measurement accuracy and detection efficiency, and meeting the automated inspection needs of batch steam turbine blades.

[0104] like Figure 2 As shown, an embodiment of the present invention proposes a thickness measuring device 200 based on water immersion ultrasonic waves, comprising:

[0105] The acquisition module 201 is used to acquire the target standard template blade; the target standard template blade is of the same type as the turbine blade to be tested;

[0106] The processing module 202 is used to perform laser reflection calibration on the target standard template blade to obtain first positioning data; perform height compensation on the first positioning data to obtain second positioning data; perform ultrasonic data acquisition on the target standard template blade according to the second positioning data to obtain ultrasonic data; obtain target positioning data according to the ultrasonic data and preset standard conditions; and perform thickness measurement on the turbine blade under test according to the target positioning data to obtain the thickness measurement result of the turbine blade.

[0107] Optionally, obtain the target standard template blade, including:

[0108] Obtain the three-dimensional model and measurement point parameters of the first standard template blade;

[0109] The first standard template blade is marked with measuring points according to the three-dimensional model and the measuring point parameters to obtain the second standard template blade.

[0110] Lenses are attached to the measuring points on the second standard template blade to obtain the target standard template blade.

[0111] Optionally, laser reflection calibration is performed on the target standard template blade to obtain first positioning data, including:

[0112] Obtain preset pose determination conditions;

[0113] Laser reflection data is obtained by reflecting laser light off the target standard template blade using a laser reflection device.

[0114] Based on the laser reflection data and the preset pose judgment conditions, the first positioning data is obtained.

[0115] Optionally, height compensation is performed on the first positioning data to obtain second positioning data, including:

[0116] pass The total positioning error is obtained; where, This represents the total positioning error. R is the diameter of the laser spot, and R is the radius of curvature of the surface at the measuring point on the blade. To preset the installation height difference, Due to installation deviation, , , This is the positioning error;

[0117] The first positioning data is corrected based on the total positioning error to obtain corrected first positioning data;

[0118] The first positioning data is adjusted for height compensation based on the preset installation height difference to obtain the second positioning data.

[0119] Optionally, ultrasonic data is acquired from the target standard template blade according to the second positioning data to obtain ultrasonic data, including:

[0120] Obtain the preset water immersion detection conditions;

[0121] Ultrasonic data is acquired by collecting ultrasonic data from the target standard template blade according to the preset water immersion detection conditions and the second positioning data.

[0122] Optionally, target positioning data is obtained based on the ultrasonic data and preset standard conditions, including:

[0123] Evaluation parameters are obtained based on the ultrasonic data;

[0124] Based on the comparison results between the evaluation parameters and the preset standard conditions, the second positioning data is adjusted to obtain the target positioning data.

[0125] Optionally, the thickness of the turbine blade under test is measured based on the target positioning data to obtain the thickness measurement result of the turbine blade, including:

[0126] The thickness of the turbine blade under test is measured based on the target positioning data to obtain thickness measurement data.

[0127] Based on the verification results of the thickness measurement data, the thickness measurement results of the turbine blades are obtained.

[0128] The thickness measurement device based on water immersion ultrasonic testing in this invention acquires a target standard template blade, which is of the same type as the turbine blade to be tested. Laser reflection calibration is performed on the target standard template blade to obtain first positioning data. Height compensation is applied to the first positioning data to obtain second positioning data. Ultrasonic data is acquired from the target standard template blade according to the second positioning data to obtain ultrasonic data. Based on the ultrasonic data and preset standard conditions, target positioning data is obtained. Finally, the thickness of the turbine blade to be tested is measured based on the target positioning data to obtain the thickness measurement result. This device can improve thickness measurement accuracy and detection efficiency, and is suitable for the automated detection needs of batch turbine blades.

[0129] It should be noted that this device corresponds to the method described above, and all implementations in the method embodiments described above are applicable to the embodiments of this device and can achieve the same technical effect. Further details are omitted in this embodiment.

[0130] This invention also provides a computing device, including: a processor and a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method as described in any of the above embodiments. All implementations in the above method embodiments are applicable to the embodiments of this device and can achieve the same technical effects. Further details are omitted in this embodiment.

[0131] This invention also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method as described in any of the above embodiments. All implementations in the above method embodiments are applicable to the embodiments of this device and can achieve the same technical effects. Further details are omitted in this embodiment.

[0132] It should be noted that in the apparatus and method of the present invention, the components or steps can obviously be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of the present invention. Furthermore, the steps for performing the above series of processes can naturally be performed in the order described and in chronological order, but are not necessarily required to be performed in chronological order. Some steps can be performed in parallel, overlapping, or independently of each other.

[0133] It should be noted that in the above embodiments, the terms "comprising," "including," or any other variations thereof are 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 that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments described above is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0134] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A thickness measurement method based on water immersion ultrasonic waves, characterized in that, include: Obtain the target standard template blade; The target standard template blade is of the same type as the turbine blade to be tested. Laser reflection calibration is performed on the target standard template blade to obtain the first positioning data; The first positioning data is height-compensated to obtain the second positioning data; Ultrasonic data is acquired by performing ultrasonic data acquisition on the target standard template blade according to the second positioning data; Based on the ultrasonic data and preset standard conditions, target positioning data is obtained; The thickness of the turbine blade under test is measured based on the target positioning data to obtain the thickness measurement result of the turbine blade; The first positioning data is height-compensated to obtain the second positioning data, including: pass The total positioning error is obtained; where, This represents the total positioning error. R is the diameter of the laser spot, and R is the radius of curvature of the surface at the measuring point on the blade. The preset installation height difference refers to the vertical installation height difference between the laser emitter and the water immersion ultrasonic probe. The deviation refers to the installation angle deviation between the laser emitter and the water immersion ultrasonic probe. , , The positioning error is denoted as , and the robotic arm positioning error is denoted as , obtained by the robotic arm control system. Specifically, the immersion ultrasonic probe is fixed to the bottom of a dedicated fixture, and its attitude is adjusted so that its acoustic axis is perpendicular to the fixture's reference plane. The laser emitter is fixed to the top of the dedicated fixture, positioned above the vertical centerline of the immersion ultrasonic probe. The laser emitter's optical axis is adjusted using a laser alignment device to make it parallel to the acoustic axis of the immersion ultrasonic probe. The dedicated fixture is then leveled using a level instrument so that both the laser emitter's optical axis and the immersion ultrasonic probe's acoustic axis are perpendicular to the testing platform. The vertical installation height difference between the laser emitter and the immersion ultrasonic probe is recorded to obtain the preset installation height difference. ; The first positioning data is corrected based on the total positioning error to obtain corrected first positioning data; The first positioning data is adjusted for height compensation based on the preset installation height difference to obtain the second positioning data.

2. The thickness measurement method based on water immersion ultrasonic waves according to claim 1, characterized in that, Obtain the target standard template blade, including: Obtain the three-dimensional model and measurement point parameters of the first standard template blade; The first standard template blade is marked with measuring points according to the three-dimensional model and the measuring point parameters to obtain the second standard template blade. Lenses are attached to the measuring points on the second standard template blade to obtain the target standard template blade.

3. The thickness measurement method based on water immersion ultrasonic waves according to claim 1, characterized in that, Laser reflection calibration is performed on the target standard template blade to obtain first positioning data, including: Obtain preset pose determination conditions; Laser reflection data is obtained by reflecting laser light off the target standard template blade using a laser reflection device. Based on the laser reflection data and the preset pose judgment conditions, the first positioning data is obtained.

4. The thickness measurement method based on water immersion ultrasonic waves according to claim 1, characterized in that, Ultrasonic data is acquired by performing ultrasonic data acquisition on the target standard template blade according to the second positioning data, and the ultrasonic data includes: Obtain the preset water immersion detection conditions; Ultrasonic data is acquired by collecting ultrasonic data from the target standard template blade according to the preset water immersion detection conditions and the second positioning data.

5. The thickness measurement method based on water immersion ultrasonic waves according to claim 1, characterized in that, Based on the ultrasonic data and preset standard conditions, target positioning data is obtained, including: Evaluation parameters are obtained based on the ultrasonic data; Based on the comparison results between the evaluation parameters and the preset standard conditions, the second positioning data is adjusted to obtain the target positioning data.

6. The thickness measurement method based on water immersion ultrasonic waves according to claim 1, characterized in that, The thickness of the turbine blade under test is measured based on the target positioning data to obtain the thickness measurement result of the turbine blade, including: The thickness of the turbine blade under test is measured based on the target positioning data to obtain thickness measurement data. Based on the verification results of the thickness measurement data, the thickness measurement results of the turbine blades are obtained.

7. A thickness measuring device based on water immersion ultrasonic waves, characterized in that, include: The acquisition module is used to acquire the target standard template blade; The target standard template blade is of the same type as the turbine blade to be tested. The processing module is used to perform laser reflection calibration on the target standard template blade to obtain first positioning data; perform height compensation on the first positioning data to obtain second positioning data; perform ultrasonic data acquisition on the target standard template blade according to the second positioning data to obtain ultrasonic data; obtain target positioning data according to the ultrasonic data and preset standard conditions; and measure the thickness of the turbine blade under test according to the target positioning data to obtain the thickness measurement result of the turbine blade. The first positioning data is height-compensated to obtain the second positioning data, including: pass The total positioning error is obtained; where, This represents the total positioning error. R is the diameter of the laser spot, and R is the radius of curvature of the surface at the measuring point on the blade. The preset installation height difference refers to the vertical installation height difference between the laser emitter and the water immersion ultrasonic probe. The deviation refers to the installation angle deviation between the laser emitter and the water immersion ultrasonic probe. , , The positioning error is denoted as , and the robotic arm positioning error is denoted as , obtained by the robotic arm control system. Specifically, the immersion ultrasonic probe is fixed to the bottom of a dedicated fixture, and its attitude is adjusted so that its acoustic axis is perpendicular to the fixture's reference plane. The laser emitter is fixed to the top of the dedicated fixture, positioned above the vertical centerline of the immersion ultrasonic probe. The laser emitter's optical axis is adjusted using a laser alignment device to make it parallel to the acoustic axis of the immersion ultrasonic probe. The dedicated fixture is then leveled using a level instrument so that both the laser emitter's optical axis and the immersion ultrasonic probe's acoustic axis are perpendicular to the testing platform. The vertical installation height difference between the laser emitter and the immersion ultrasonic probe is recorded to obtain the preset installation height difference. ; The first positioning data is corrected based on the total positioning error to obtain corrected first positioning data; The first positioning data is adjusted for height compensation based on the preset installation height difference to obtain the second positioning data.

8. A computing device, characterized in that, include: A processor, a memory storing a computer program, wherein the computer program, when executed by the processor, performs the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The system stores instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1 to 6.

Images