CN117783166A - Hull flaw detection system and method - Google Patents
Hull flaw detection system and method Download PDFInfo
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Abstract
The system comprises a radiation module, a development module, a first image collector, a second image collector and a processing module; the processing module controls the radiation module and the imaging module to move according to the space coordinates of the target point to be detected and the acquired image of the position to be detected, so that the geometric center of the radiation surface of the radiation source on the surface of the ship body coincides with the target point to be detected, and the geometric center of the imaging plate is aligned with the target point to be detected. The method is applied to the system. The automatic adjusting device can automatically adjust the radiation module and the imaging module, so that the radiation source, the imaging plate and the target point to be detected are automatically aligned, manual adjustment is not needed, the manual labor intensity can be reduced, the alignment accuracy is improved, and the hull flaw detection accuracy is further improved.
Description
Technical Field
The disclosure relates to the technical field of hull flaw detection, in particular to a hull flaw detection system and method.
Background
In the hull detection process, fixed point flaw detection is required for the hull, the specific practice is to mark the target point to be detected on the hull, then flaw detection is carried out on the hull by using nondestructive flaw detection devices such as magnetism, x-rays, r-rays or ultrasonic waves, and the like, the radioactive flaw detection devices such as x-rays and the like generally comprise a radioactive source and a display plate, the radioactive source and the display plate are respectively arranged on the inner side and the outer side of the target point to be detected of the hull when in use, the x-rays are emitted to the target point through the radioactive source, and the x-rays penetrate through the hull to display images of the target point to be detected of the hull at the display plate for workers to observe and judge the damage condition of the hull.
In the use process of the radioactive flaw detection device, the target point to be detected is required to be positioned at the geometric center position of the radiation surface formed by the radiation source on the surface of the ship body, and the geometric center of the imaging plate on the other surface is required to be aligned with the target point to be detected, so that the target point to be detected is positioned at the center position of the imaged image, and the accuracy of ship body flaw detection is improved. The radioactive flaw detection device mainly relies on manual adjustment of the postures of a radioactive source and a display plate to meet the requirements in the practical application process, and the mode has the following defects:
the manual adjustment of the postures of the radioactive source and the imaging plate is time-consuming and labor-consuming, and mainly depends on human eyes to judge whether the adjustment is in place, so that the adjustment precision is low, and the target point to be measured after imaging cannot be ensured to be positioned at the center of an imaging image. Especially, when adjusting the radioactive source, because the object of coincidence alignment is the imaging surface of the radioactive source on the surface of the hull, the object does not have an entity, effective reference cannot be performed, and because the surface of the hull is mostly an arc surface, the uncertainty of the shape of the imaging surface is further increased, on the other hand, the radioactive source has the characteristic of radioactivity, an operator can not open the radioactive source to radiate x rays for reference when adjusting, so that the operator is very difficult to adjust the radioactive source, and the operator can only subjectively predict the radiation surface on the surface of the hull for adjustment, so that the phenomenon that the target point to be measured deviates from the geometric center of the radiation surface by a larger distance is very easy to occur, and the accuracy of the final hull flaw detection result is affected.
Disclosure of Invention
In order to solve the problems of the prior art, the disclosure is directed to a hull flaw detection system and a hull flaw detection method. The automatic adjusting device can automatically adjust the radiation module and the imaging module, so that the radiation source, the imaging plate and the target point to be detected are automatically aligned, manual adjustment is not needed, the manual labor intensity can be reduced, the alignment accuracy is improved, and the hull flaw detection accuracy is further improved.
The hull flaw detection system of the present disclosure includes:
the movable radiation module comprises a radiation source, a first lifting adjusting mechanism and a first pitch angle adjusting mechanism, wherein the first lifting adjusting mechanism and the first pitch angle adjusting mechanism are in linkage with the radiation source, the first lifting adjusting mechanism is used for adjusting the height of the radiation source, and the first pitch angle adjusting mechanism is used for adjusting the emergent angle of the radiation source;
the movable imaging module comprises an imaging plate, a second lifting adjusting mechanism and a second pitch angle adjusting mechanism, wherein the second lifting adjusting mechanism and the second pitch angle adjusting mechanism are in linkage with the imaging plate, the second lifting adjusting mechanism is used for adjusting the height of the imaging plate, and the second pitch angle adjusting mechanism is used for adjusting the inclination angle of the imaging plate;
the first image collector is arranged on the radiation module and is connected with the radiation source;
the second image collector is arranged on the imaging module and is connected with the imaging plate;
the processing module is respectively connected with the radiation module, the imaging module, the first image collector and the second image collector in a signal way;
defining a space rectangular coordinate system, taking the direction parallel to the surface of the target point to be detected as an x direction, taking the direction vertical to the x direction on a horizontal plane as a y direction, taking the height direction of the ship body as a z direction, and obtaining the space coordinate (x 1 ,y 1 ,z 1 )；
The first image collector and the second image collector respectively collect images of the inner surface and the outer surface of the part to be detected of the ship body and input the images into the processing module;
the processing module controls the radiation module and the imaging module to move according to the space coordinates of the target point to be detected and the acquired image of the position to be detected, so that the geometric center of the radiation surface of the radiation source on the surface of the ship body coincides with the target point to be detected, and the geometric center of the imaging plate is aligned with the target point to be detected.
Preferably, the center of the first image collector is aligned in the x-direction with the center of the radiation source, and the center of the second image collector is aligned in the x-direction with the geometric center of the visualization plate;
the processing module controls the movement of the radiation module according to the space coordinates of the target point to be detected and the acquired image of the position to be detected, so that the geometric center of the radiation surface of the radiation source on the surface of the hull coincides with the target point to be detected, and the processing module comprises the following steps:
according to imaging requirements, moving the radiation module to a certain interval of a target point to be detected of the ship body;
according to the space coordinates of the target point to be detected, the radioactive source is adjusted to a corresponding height through a first lifting adjusting mechanism, so that the target point to be detected appears in an imaging picture of the first image collector;
the first image collector images the target point to be detected and inputs the target point to be detected into the processing module, the processing module extracts the target point to be detected in the imaging image, obtains the point position coordinates of the target point to be detected in the imaging image, and records the point position coordinates as first target point coordinates (x i1 ,y i1 ) The processing module obtains the coordinates of the center point of the imaging image, and marks the coordinates as the first center point coordinates (x c1 ,y c1 ) The processing module controls the radiation module to move in the x direction according to the difference value of the first target point coordinate and the first central point coordinate in the x direction, so that the center of the first image collector is aligned with the target point to be detected in the x direction, and the center of the radiation source is aligned with the target point to be detected in the x direction;
the processing module is used for processing the target point according to the space coordinate (x 1 ,y 1 ,z 1 ) The method comprises the steps of obtaining the height h and the pitch angle theta of a radioactive source, obtaining the linear distance l between the radioactive source and a target point to be detected and the flatness parameter r of a ship body part to be detected, adjusting the first lifting adjusting mechanism and the first pitch angle adjusting mechanism according to the obtained height h and the pitch angle theta, and adjusting the posture of the radioactive source to meet the obtained height h and the pitch angle theta.
Preferably, the processing module is configured to determine the spatial coordinates (x 1 ,y 1 ,z 1 ) Radiation source and object to be measuredThe linear spacing l of the punctuation and the flatness parameter r of the ship body to-be-measured part are obtained, and the obtaining of the height h and the pitch angle theta of the radioactive source comprises the following steps:
collecting a plurality of groups of sample data, wherein the sample data comprise geometric center coordinates of a radiation surface of a radiation source on the surface of a ship body, linear spacing between the radiation source and the geometric center of the radiation surface, flatness parameters of an imaging part of the ship body, and heights and pitch angles of the radiation source under the same space rectangular coordinate system;
constructing a multi-layer perceptron regression model, taking the sample data as training data of the multi-layer perceptron regression model, training to obtain the multi-layer perceptron regression model taking the geometric center coordinates of the radioactive source on the radiation surface of the ship body, the linear distance between the radioactive source and the geometric center of the radiation surface and the flatness parameters of the imaging part of the ship body as inputs and taking the height and pitch angle of the radioactive source as outputs;
the spatial coordinates (x 1 ,y 1 ,z 1 ) And inputting the linear distance l between the radioactive source and the target point to be detected and the flatness parameter r of the ship body to be detected into the obtained multi-layer sensor regression model to obtain the corresponding height h and pitch angle theta of the radioactive source.
Preferably, the simulated radiation simulation is performed after the height h and pitch angle θ of the radiation source are obtained, and the spatial coordinates (x 1 ,y 1 ,z 1 ) And the geometric center of the radiation surface is taken as a simulated radiation point, and the simulated radiation point and the space coordinate (x 1 ,y 1 ,z 1 ) And if the distance difference between the two radioactive sources is smaller than or equal to a preset threshold value, controlling the radioactive sources to move according to the obtained height h and pitch angle theta, and if not, sending out a human intervention prompt.
Preferably, the processing module controls the motion of the imaging module according to the spatial coordinates of the target point to be detected and the acquired image of the part to be detected, and the alignment of the geometric center of the imaging plate with the target point to be detected includes:
according to imaging requirements, moving the imaging module to a certain distance between target points to be detected of the ship body;
according to the space coordinates of the target point to be detected, the imaging plate is adjusted to a corresponding height through a second lifting adjusting mechanism, so that the target point to be detected appears in an imaging picture of a second image collector;
the second image collector images the target point to be detected and inputs the target point to be detected into the processing module, the processing module extracts the target point to be detected in the imaging image, obtains the point position coordinates of the target point to be detected in the imaging image, and records the point position coordinates as second target point coordinates (x i2 ,y i2 ) The processing module obtains the coordinates of the center point of the imaging image, and marks the coordinates as the coordinates (x c2 ,y c2 ) And the processing module controls the imaging module to move according to the difference value between the second target point coordinate and the second center point coordinate in the x direction and the y direction so as to align the geometric center of the imaging plate with the target point to be detected.
Preferably, the radiation module comprises a first chassis and a first travelling wheel arranged at the bottom of the first chassis, the first lifting adjusting mechanism comprises a first lifting motor linked with the radiation source, and the first pitch angle adjusting mechanism comprises a first rotating motor linked with the radiation source.
Preferably, the imaging module comprises a second chassis and a second travelling wheel arranged at the bottom of the second chassis, the second lifting adjusting mechanism comprises a second lifting motor linked with the imaging plate, and the second pitch angle adjusting mechanism comprises a second rotating motor linked with the imaging plate.
The hull flaw detection method disclosed by the invention is applied to the hull flaw detection system, and comprises the following steps of:
defining a space rectangular coordinate system, taking the direction parallel to the surface of the target point to be detected as an x direction, taking the direction vertical to the x direction on a horizontal plane as a y direction, taking the height direction of the ship body as a z direction, and obtaining the space coordinate (x 1 ,y 1 ,z 1 )；
The first image collector and the second image collector respectively collect images of the inner surface and the outer surface of the ship body part to be detected and input the images into the processing module;
the processing module controls the movement of the radiation module and the imaging module according to the space coordinates of the target point to be detected and the acquired image of the position to be detected, so that the geometric center of the radiation source on the radiation surface of the hull coincides with the target point to be detected, and the geometric center of the imaging plate is aligned with the target point to be detected.
The hull flaw detection system and method disclosed by the disclosure have the advantages that:
1. according to the method, the height and the pitching angle of the radioactive source and the imaging plate can be controlled and regulated according to the space coordinates of the target point to be detected and the image acquired by the image acquisition device, so that the geometric center of the radioactive source on the radioactive surface of the hull coincides with the target point to be detected, and meanwhile, the geometric center of the imaging plate is aligned with the target point to be detected, and further, the target point to be detected is positioned at the center of the flaw detection image during flaw detection, so that the flaw detection accuracy is ensured;
2. aiming at the characteristics that an overlapping alignment object of a radioactive source is an imaging surface of the radioactive source on the surface of a ship body, the method has no entity and is influenced by radian of the surface of the ship body, and accurate calculation cannot be performed, a machine learning algorithm is adopted to construct a prediction model, so that the height and pitch angle of the radioactive source can be predicted according to the space coordinates of a target point to be detected, the linear distance between the radioactive source and the target point to be detected and the flatness parameters of a part to be detected of the ship body, and the height and pitch angle of the radioactive source are controlled according to the prediction result, so that the geometric center of the radioactive source on the surface of the ship body overlaps with the target point to be detected, automatic alignment and overlapping of the radioactive source can be realized, manual calculation adjustment is not needed, and flaw detection efficiency and accuracy are improved;
3. after the height and the pitch angle of the radioactive source are obtained, the simulation radiation simulation is carried out in advance, whether the geometric center of the imaging surface in the simulation model coincides with the target point to be detected or is close to the target point to be detected is judged, if so, the radioactive source is adjusted to the corresponding height and the pitch angle to carry out real radiation, otherwise, a human intervention prompt is sent out, and an operator is prompted to carry out human intervention.
Drawings
FIG. 1 is a block diagram of a hull inspection system according to the present embodiment;
FIG. 2 is a schematic view of the structure of the radiation module according to the present embodiment;
FIG. 3 is a schematic diagram of the structure of the developing module according to the present embodiment;
fig. 4 is a schematic view of a use state of the hull flaw detection system according to the present embodiment.
Reference numerals illustrate: 1-radiation module, 11-radiation source, 2-display module, 21-display board, 3-first image collector, 4-second image collector, 5-processing module, 6-hull.
Detailed Description
As shown in fig. 1-4, a hull inspection system according to the present disclosure includes:
the movable radiation module 1 comprises a radiation source 11, a first lifting adjusting mechanism and a second pitching angle adjusting mechanism, wherein the first lifting adjusting mechanism and the second pitching angle adjusting mechanism are in linkage with the radiation source 11, the first lifting adjusting mechanism is used for adjusting the height of the radiation source 11, the first pitching angle adjusting mechanism is used for adjusting the emergent angle of the radiation source 11, and concretely, as shown in fig. 2, the radiation module 1 comprises a first underframe and a first travelling wheel arranged at the bottom of the first underframe, the first lifting adjusting mechanism comprises a first lifting motor in linkage with the radiation source 11, the first pitching angle adjusting mechanism comprises a first rotating motor in linkage with the radiation source 11, the first underframe is a hollowed frame body, a shell is formed in the bottom of the hollow frame body, and a travelling motor can be accommodated in the shell, and is in linkage with four first travelling wheels at the bottom of the walking motor for driving the radiation module 1 to walk.
The radiation module 1 comprises a lifting table, wherein the lifting table is connected with a first chassis through a cross rod mechanism, so that the lifting table can slide up and down relative to the first chassis, a first lifting motor is linked with the lifting table through a worm gear mechanism and is used for driving the lifting table to slide up and down through forward and reverse rotation of the motor, and lifting height adjustment is achieved.
The first pitch angle adjustment mechanism comprises a shell and a rotating seat rotationally connected with the shell, the end face of the rotating seat is exposed out of the shell, the radioactive source 11 is arranged at the end face of the rotating seat, the first rotating motor is a servo motor, the first rotating motor is linked with the rotating seat through a reduction gear set, the rotating seat can be driven to rotate through the first rotating motor, and then the radioactive source 11 is driven to rotate, so that pitch angle adjustment of the radioactive source 11 is achieved.
The movable imaging module 2 comprises an imaging plate 21, a second lifting adjusting mechanism and a second pitch angle adjusting mechanism, wherein the second lifting adjusting mechanism and the second pitch angle adjusting mechanism are in linkage with the imaging plate 21, the imaging module 2 comprises a second underframe and a second travelling wheel arranged at the bottom of the second underframe, the second lifting adjusting mechanism comprises a second lifting motor in linkage with the imaging plate 21, and the second pitch angle adjusting mechanism comprises a second rotating motor in linkage with the imaging plate 21. The second travelling wheel and the second lifting mechanism are similar to the first travelling wheel and the first lifting mechanism, and can be understood with reference to the above description, and are not repeated here.
The second pitch angle adjustment mechanism comprises a supporting frame, a fixing frame and a rotating shaft, wherein the supporting frame is arranged on the lifting frame, the fixing frame is connected with the supporting frame, the fixing frame is adapted to the imaging plate 21, the imaging plate 21 is embedded in the fixing frame, the rotating shaft is rotationally connected with the supporting frame, the rotating shaft is further connected with the fixing frame, the imaging plate 21 on the fixing frame can rotate along with the rotating shaft, and the second rotating motor is linked with the rotating shaft and used for driving the rotating shaft to rotate so as to drive the imaging plate 21 to rotate, and the pitch angle of the imaging plate 21 is adjusted.
A first image collector 3, which is arranged on the radiation module 1 and is connected with a radiation source 11,
a second image collector 4 disposed on the imaging module 2 and connected to the imaging plate 21;
and the processing module 5 is respectively connected with the radiation module 1, the imaging module 2, the first image collector 3 and the second image collector 4 in a signal way.
Specifically, the first image collector 3 and the second image collector 4 are both industrial CCD cameras, the center of the first image collector 3 is aligned with the center of the radiation source 11 in the x-direction, and the center of the second image collector 4 is aligned with the geometric center of the imaging plate 21 in the x-direction, so that the superposition and alignment of the radiation source 11 and the imaging plate 21 can be assisted by the images collected by the first image collector 3 and the second image collector 4. The processing module 5 may be an element with an arithmetic processing capability, such as an MCU or a CPU, and the processing module 5 is configured to control the postures of the radiation module 1 and the imaging module 2 according to the image and various parameters acquired by the image collector, so that the positions of the radiation source 11 and the imaging plate 21 meet the requirement of damage detection, and the specific process is as follows:
defining a space rectangular coordinate system, taking the direction parallel to the surface of the target point to be detected as an x direction, taking the direction vertical to the x direction on a horizontal plane as a y direction, taking the height direction of the ship body as a z direction, and obtaining the space coordinate (x 1 ,y 1 ,z 1 ) In the actual operation process, before the flaw detection starts, an operator marks the inner and outer opposite sides of the position of the target point to be detected according to the position of the flaw detection, pigment coating with larger color difference with the ship body can be used for marking, and a mode of sticking a sticker and a marker can be adopted to mark the target point to be detected. In a specific embodiment, as shown in fig. 4, the bottom angle of the hull at the lower left corner may be selected as the origin of the space rectangular coordinate system, and the distances between the target point to be measured and the origin in the x, y, and z directions are determined by manual measurement, so that the space coordinates of the target point to be measured in the constructed space rectangular coordinate system may be obtained.
The first image collector 3 and the second image collector 4 respectively collect images of the inner surface and the outer surface of the part to be detected of the ship body and input the images into the processing module 5;
the processing module 5 controls the movement of the radiation module 1 and the imaging module 2 according to the space coordinates of the target point to be detected and the acquired image of the position to be detected, so that the geometric center of the radiation surface of the radiation source 11 on the surface of the hull coincides with the target point to be detected, and the geometric center of the imaging plate 21 is aligned with the target point to be detected.
Specifically, to meet the above flaw detection requirement, it is required to solve the problem that the radiation surface of the radiation source 11 on the hull surface coincides with the target point to be detected on the outer side surface, and the geometric center of the imaging plate 21 aligns with the target point to be detected on the inner side surface, because the influence of the radiation source 11 on the flaw detection image is large, in this embodiment, the posture adjustment of the radiation source 11 is preferentially considered, and then the pitch angle of the imaging plate 21 is adjusted to be consistent with the radiation source 11, so as to ensure that the exit angle of the radiation source 11 is perpendicular to the plate surface of the imaging plate 21, and further the final imaging effect is good.
Parameters considered to influence the radiation surface of the radiation source 11 on the hull surface include: the space between the radioactive source 11 and the target point to be measured (i.e. the center point of the radioactive surface) of the ship body, the height and pitch angle of the radioactive source 11, and the flatness parameter of the imaging part of the ship body, wherein the flatness parameter of the imaging part of the ship body adopts radian, i.e. the longitudinal section of the ship body forms radian, and if the imaging part is a plane, the flatness parameter is 0.
The solution idea of this embodiment is as follows:
firstly, the number of parameters to be adjusted should be reduced as much as possible, for the radiation source 11, there is generally a recommended imaging distance, that is, according to the parameters of the radiation source 11, it is recommended to place the radiation source 11 at a certain distance from the target point, so that the radiation source 11 can stably image the target to be measured, therefore, in this embodiment, according to the imaging requirement, the radiation module 1 is moved to a certain distance from the target point to be measured on the hull, the certain distance is selected by itself according to the parameters of the radiation source 11, so that the radiation ray of the radiation source 11 can cover the area to be detected, and this step can be performed by manual movement of an operator, or by introducing a laser ranging device, etc., and driving the radiation module 1 to automatically move through a travelling mechanism.
After defining the distance between the radiation module 1 and the target point to be measured on the hull, that is, defining the vertical distance between the radiation source 11 and the imaging surface, the height and pitch angle of the radiation source 11 need to be adjusted to make the geometric center of the imaging surface coincide with the target point to be measured, and this embodiment is implemented according to the following steps:
analyzing the characteristics of the emission light and imaging plane of the radiation source 11, and determining the coordinates (x 1 ,y 1 ,z 1 ) As shown in fig. 4, the radiation source 11 is generally located outside the target point to be measured and is lower than the target point to be measured in the height direction, and emits light to the target point to be measured at an upward angle, in the actual analysis, the radiation source 11 is represented by a geometric center point of an emitting surface of the radiation source 11, coordinates of the radiation source 11 in an x direction are the same as those of the target point to be measured, coordinates in a y direction are different from those of the target point to be measured, and coordinates in a z direction are generally smaller than those of the target point to be measured.
As can be seen from the above, to adjust the alignment between the radiation source 11 and the target point to be measured, the radiation source 11 and the target point to be measured are aligned in the x-direction, and in this embodiment, the machine vision is adopted to perform the alignment in the x-direction, which is as follows:
the radiation module 1 is moved to a position close to the target point to be measured, then the height of the radiation source 11 is adjusted to be close to the position of the target point to be measured through the first lifting adjusting mechanism according to the space coordinate of the target point to be measured, as the radiation source 11 is connected with the first image collector 3, the first image collector 3 can synchronously lift along with the radiation source 11, after the radiation source 11 is adjusted to be close to the position of the target point to be measured, the target point to be measured appears in the imaging view field of the first image collector 3, the position of the target point to be measured is imaged by the first image collector 3 and is input into the processing module 5, the processing module 5 extracts the target point to be measured in the imaging image, as mentioned above, the target point to be measured is usually marked by adopting pigment with larger color difference with the surface of the ship body, so that in the imaging image, the existing machine vision algorithm is easy to extract the target point to be measured and the point position coordinates thereof, such as: converting an imaging image into a gray level image, extracting edges of the gray level image, and then passingThe target point to be detected in the imaging image can be extracted through morphological expansion, gaussian filtering, closing operation and morphological corrosion, the point position coordinates of the image of the target point to be detected in the imaging image can be calculated and recorded as the first target point coordinates (x i1 ,y i1 ). The processing module 5 may directly acquire the coordinates of the center point of the imaging image through OpenCV software, and record the coordinates as the first center point coordinates (x c1 ,y c1 ) The processing module 5 is configured to determine the first target point coordinates (x i1 ,y i1 ) With the first center point coordinate (x c1 ,y c1 ) The difference in the x-direction controls the radiation module 1 to move in the x-direction to align the center of the first image collector 3 with the target point to be measured in the x-direction, and further aligns the center of the radiation source 11 with the target point to be measured in the x-direction, by aligning a first target point coordinate (x i1 ,y i1 ) With the first center point coordinate (x c1 ,y c1 ) The difference in the x direction is taken as the displacement of the radiation module 1 in the x direction, the processing module 5 controls the travelling motor to further control the first travelling wheel to rotate, so that the radiation module 1 moves by the corresponding displacement in the x direction, the target point to be measured is positioned at the midpoint of the imaging image in the x direction, namely, the center of the lens of the first image collector 3 is aligned with the target point to be measured in the x direction, and because the center of the first image collector 3 is aligned with the center of the radiation source 11 in the x direction, the center of the radiation source 11 is also aligned with the target point to be measured in the x direction at the moment.
Then the height and the pitching angle of the radioactive source 11 are adjusted according to the spatial coordinates (x 1 ,y 1 ,z 1 ) The method comprises the steps of obtaining the height h and the pitch angle theta of a radioactive source 11, obtaining the linear distance l between the radioactive source 11 and a target point to be measured and the flatness parameter r of a ship body part to be measured, adjusting the first lifting adjusting mechanism and the first pitch angle adjusting mechanism according to the obtained height h and the pitch angle theta, and adjusting the posture of the radioactive source 11 to meet the obtained height h and the pitch angle theta.
Specifically, the linear distance l between the radioactive source 11 and the target point to be measured, the flatness parameter r of the ship body to be measured, the height h of the radioactive source 11 and the pitch angle θ all influence the position of the radioactive source 11 on the surface of the ship body, and further influence the position of the geometric center of the radioactive surface. In this embodiment, the problem is simplified, the linear distance l between the radioactive source 11 and the target point to be measured is set according to the imaging requirement, the flatness parameter r of the position to be measured of the hull can be obtained according to the specification parameter or actual measurement of the hull, the space coordinates of the target point to be measured are taken as the known quantity, and the height h and the pitch angle θ of the corresponding radioactive source 11 are reversely deduced by the three parameters, which is as follows:
collecting a plurality of groups of sample data, wherein the sample data comprise geometric center coordinates of a radiation surface of the radiation source 11 on the surface of the hull, linear spacing between the radiation source 11 and the geometric center of the radiation surface, flatness parameters of an imaging part of the hull, and heights and pitch angles of the radiation source 11 under the same space rectangular coordinate system; in this step, the sample data may be collected data related to the actual radiation, or a simulated radiation simulation model may be used, for example, a simulated radiation test may be performed by using a simulated radiation software such as ZEMAX, tracePro, lightTootls, so that a sufficient amount of sample data is collected, and preferably, since the radiation source 11 has radioactivity, in this embodiment, the manner in which the sample data is collected in the simulated radiation test is more suitable.
Constructing a multi-layer perceptron regression model, taking the sample data as training data of the multi-layer perceptron regression model, training to obtain the multi-layer perceptron regression model taking the geometric center coordinates of the radioactive source 11 on the radiation surface of the ship body, the linear distance between the radioactive source 11 and the geometric center of the radiation surface and the flatness parameters of the ship body imaging part as inputs and taking the height and pitch angle of the radioactive source 11 as outputs;
the spatial coordinates (x 1 ,y 1 ,z 1 ) The linear distance l between the radioactive source 11 and the target point to be measured and the flatness parameter r of the ship body part to be measured are input into the obtained multi-layer sensor regression model,the corresponding height h and pitch angle θ of the radiation source 11 are obtained.
Illustratively, a multi-layer perceptron (MLP) is used as the regression model:
input characteristics: x= [ x ] 1 ,y 1 ,z 1 ,l,r]；
Output target: y= [ h, θ ];
and (3) model: MLP (x) = [ h, θ ];
loss function: l (x, y) = (h-h') 2 +(θ-θ′) 2 ；
Where h 'and θ' are the predicted output values of the model for the input feature x.
To train this machine learning model, a labeled training dataset is prepared, comprising a set of input features (linear spacing between the geometric centers of the imaging plane's center point coordinates radial planes, flatness parameters of the hull's imaged parts) and corresponding output targets (height and pitch angle of the radiation source 11), and then the training dataset is used to optimize the parameters of the model so that the model can accurately predict the output targets.
More specifically, a deep learning framework such as Keras or TensorFlow is used to construct the above-described multi-layer perceptron model that contains 2 hidden layers, each containing 64 neurons. A ReLU (modified linear unit) was used as an activation function and a 20% Dropout layer was added after each hidden layer to prevent model overfitting. The last layer is an output layer with two neurons, the output layer using a linear activation function. The Mean Square Error (MSE) is used as a loss function and optimized with an Adam optimizer.
Through the steps, a model which can predict the height and the pitch angle of the radioactive source 11 based on the coordinates of the central point of the imaging surface, the linear distance between the geometric centers of the shooting surface and the flatness parameter of the imaging part of the ship body can be obtained, in the actual flaw detection process, the obtained first three parameters are input into the model through measurement, the corresponding model of the height and the pitch angle of the radioactive source 11 can be obtained through prediction, and then the first lifting adjusting mechanism and the first pitch angle adjusting mechanism are controlled to adjust the radioactive source 11 to the predicted height and pitch angle. The automatic adjustment of the height and pitch angle of the radioactive source 11 can be completed.
Further, since the height h and the pitch angle θ of the radiation source 11 are both parameters obtained by prediction, and may have errors due to factors such as model prediction accuracy, it is necessary to perform a simulated radiation simulation on the obtained parameters, specifically, to construct a simulated radiation simulation model using the above-described simulated radiation software, the simulated radiation model is set with reference to the actual radiation environment, and the spatial coordinates (x 1 ,y 1 ,z 1 ) And the geometric center of the radiation surface is taken as a simulated radiation point, and the simulated radiation point and the space coordinate (x 1 ,y 1 ,z 1 ) Whether the distance difference between the two is smaller than or equal to a preset threshold value is judged according to the allowable error of the radiographic inspection, if yes, the predicted height h and the pitch angle theta can meet the requirements of the flaw detection precision, the control radioactive source 11 moves according to the obtained height h and the pitch angle theta, if not, a human intervention prompt is sent, an operator is prompted to conduct human intervention adjustment, and in the step, the predicted height h and the pitch angle theta are usually subjected to fine adjustment.
The foregoing is an adjustment process of the radiation source 11, and meanwhile, the adjustment of the imaging plate 21 is required, the imaging plate 21 requires that the geometric center is aligned with the target point to be measured, the imaging plate 21 has a solid body, and the imaging plate 21 is a rectangular plate, the geometric center of which is easy to be determined, on the other hand, the elevation angle of the imaging plate 21 is consistent with the elevation angle of the radiation source 11, and the adjustment is performed along with the elevation angle θ of the radiation source 11 determined in the foregoing, so that the adjustment of the imaging plate 21 is simpler, and the following is specifically performed:
according to imaging requirements, moving the imaging module 2 to a certain distance between target points to be detected of the ship body;
according to the space coordinates of the target point to be detected, the imaging plate 21 is adjusted to a corresponding height by a second lifting adjusting mechanism, so that the target point to be detected appears in an imaging picture of the second image collector 4;
the second image collector 4 images the target point to be detected and inputs the target point to the processing module 5The processing module 5 extracts the target point to be detected in the imaging image, obtains the point position coordinates of the target point to be detected in the imaging image, and marks the point position coordinates as the second target point coordinates (x i2 ,y i2 ) The processing module 5 acquires the center point coordinates of the imaged image, noted as second center point coordinates (x c2 ,y c2 ) The processing module 5 controls the movement of the imaging module 2 according to the difference between the second target point coordinate and the second center point coordinate in the x-direction and the y-direction, specifically, as described above, the second target point coordinate (x i2 ,y i2 ) With the second center point coordinate (x c2 ,y c2 ) The difference in the x direction is taken as the displacement of the imaging module 2 in the x direction, the processing module 5 controls the travelling motor to further control the second travelling wheel to rotate, so that the imaging module 2 moves by the corresponding displacement in the x direction, the target point to be detected is positioned at the midpoint of the imaging image in the x direction, namely, the center of the lens of the second image collector 4 is aligned with the target point to be detected in the x direction, and the center of the imaging plate 21 is also aligned with the target point to be detected in the x direction at the moment because the center of the second image collector 4 is aligned with the center of the imaging plate 21 in the x direction. The alignment in the y direction is similar to the x direction, except that the second image collector 4 is usually located at a certain distance below the imaging plate 21, so that the distance difference between the lens center of the second image collector 4 and the geometric center of the imaging plate 21 needs to be measured in advance, after the center of the second image collector 4 is aligned with the target point to be measured in the y direction, the corresponding distance of the imaging plate 21 is adjusted downwards according to the distance difference measured in advance, so that the geometric center of the imaging plate 21 located right above the second image collector 4 moves downwards to be aligned with the target point to be measured, and the geometric center of the imaging plate 21 can be aligned with the target point to be measured.
Through the above process, the hull flaw detection system of the embodiment can control and adjust the heights and pitching angles of the radioactive source 11 and the imaging plate 21 according to the space coordinates of the target point to be detected and the image acquired by the image collector, so that the geometric center of the radioactive surface of the radioactive source 11 on the hull surface coincides with the target to be detected, and meanwhile, the geometric center of the imaging plate 21 is aligned with the target point to be detected, thereby ensuring that the target point to be detected is positioned at the center of the flaw detection image during flaw detection so as to ensure the accuracy of flaw detection;
aiming at the characteristics that the superposition alignment object of the radioactive source 11 is an imaging surface of the radioactive source 11 on the surface of the ship body, the superposition alignment object is not solid and is influenced by the radian of the surface of the ship body, and accurate calculation cannot be performed, a machine learning algorithm is adopted to construct a prediction model, so that the height and pitch angle of the radioactive source 11 can be predicted according to the space coordinates of a target point to be detected, the linear distance between the radioactive source 11 and the target point to be detected and the flatness parameter of a part to be detected of the ship body, and the height and pitch angle of the radioactive source 11 are controlled according to the prediction result, so that the geometric center of the radioactive surface of the radioactive source 11 on the surface of the ship body is superposed with the target point to be detected, automatic alignment superposition of the radioactive source 11 can be realized, manual calculation adjustment is not needed, and flaw detection efficiency and precision are improved;
after the height and pitch angle of the radioactive source 11 are obtained, the simulation radiation simulation is performed in advance, whether the geometric center of the imaging surface in the simulation model coincides with the target point to be detected or is close to the target point to be detected is judged, if so, the radioactive source 11 is adjusted to the corresponding height and pitch angle to perform real radiation, otherwise, a human intervention prompt is sent, and an operator is prompted to perform human intervention.
The embodiment also provides a hull flaw detection method, which is applied to the hull flaw detection system and comprises the following steps:
defining a space rectangular coordinate system, taking the direction parallel to the surface of the target point to be detected as an x direction, taking the direction vertical to the x direction on a horizontal plane as a y direction, taking the height direction of the ship body as a z direction, and obtaining the space coordinate (x 1 ,y 1 ,z 1 )；
The first image collector 3 and the second image collector 4 respectively collect images of the inner surface and the outer surface of the ship body part to be detected and input the images into the processing module 5;
the processing module 5 controls the movement of the radiation module 1 and the imaging module 2 according to the space coordinates of the target point to be detected and the acquired image of the position to be detected, so that the geometric center of the radiation surface of the radiation source 11 on the surface of the hull coincides with the target point to be detected, and the geometric center of the imaging plate 21 is aligned with the target point to be detected.
The hull flaw detection method of the present embodiment and the hull flaw detection system described above are based on the same inventive concept, and can be understood with reference to the above description, and will not be described again here.
The automatic adjustment of the radiation module 1 and the imaging module 2 can automatically align the radiation source 11, the imaging plate 21 and the target point to be measured, manual adjustment is not needed, the labor intensity can be reduced, the alignment accuracy is improved, and the hull flaw detection accuracy is further improved.
In the description of the present disclosure, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present disclosure and simplify the description, and without being otherwise described, these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be configured and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present disclosure.
It will be apparent to those skilled in the art from this disclosure that various other changes and modifications can be made which are within the scope of the invention as defined in the claims.
Claims (8)
1. A hull inspection system comprising:
the movable radiation module comprises a radiation source, a first lifting adjusting mechanism and a first pitch angle adjusting mechanism, wherein the first lifting adjusting mechanism and the first pitch angle adjusting mechanism are in linkage with the radiation source, the first lifting adjusting mechanism is used for adjusting the height of the radiation source, and the first pitch angle adjusting mechanism is used for adjusting the emergent angle of the radiation source;
the movable imaging module comprises an imaging plate, a second lifting adjusting mechanism and a second pitch angle adjusting mechanism, wherein the second lifting adjusting mechanism and the second pitch angle adjusting mechanism are in linkage with the imaging plate, the second lifting adjusting mechanism is used for adjusting the height of the imaging plate, and the second pitch angle adjusting mechanism is used for adjusting the inclination angle of the imaging plate;
the first image collector is arranged on the radiation module and is connected with the radiation source;
the second image collector is arranged on the imaging module and is connected with the imaging plate;
the processing module is respectively connected with the radiation module, the imaging module, the first image collector and the second image collector in a signal way;
defining a space rectangular coordinate system, taking the direction parallel to the surface of the target point to be detected as an x direction, taking the direction vertical to the x direction on a horizontal plane as a y direction, taking the height direction of the ship body as a z direction, and obtaining the space coordinate (x 1 ,y 1 ,z 1 )；
The first image collector and the second image collector respectively collect images of the inner surface and the outer surface of the part to be detected of the ship body and input the images into the processing module;
the processing module controls the radiation module and the imaging module to move according to the space coordinates of the target point to be detected and the acquired image of the position to be detected, so that the geometric center of the radiation surface of the radiation source on the surface of the ship body coincides with the target point to be detected, and the geometric center of the imaging plate is aligned with the target point to be detected.
2. The hull inspection system of claim 1 in which a center of said first image collector is aligned in an x-direction with a center of said radiation source and a center of said second image collector is aligned in an x-direction with a geometric center of said imaging plate;
the processing module controls the movement of the radiation module according to the space coordinates of the target point to be detected and the acquired image of the position to be detected, so that the geometric center of the radiation surface of the radiation source on the surface of the hull coincides with the target point to be detected, and the processing module comprises the following steps:
according to imaging requirements, moving the radiation module to a certain interval of a target point to be detected of the ship body;
according to the space coordinates of the target point to be detected, the radioactive source is adjusted to a corresponding height through a first lifting adjusting mechanism, so that the target point to be detected appears in an imaging picture of the first image collector;
the first image collector images the target point to be detected and inputs the target point to be detected into the processing module, the processing module extracts the target point to be detected in the imaging image, obtains the point position coordinates of the target point to be detected in the imaging image, and records the point position coordinates as first target point coordinates (x i1 ,y i1 ) The processing module obtains the coordinates of the center point of the imaging image, and marks the coordinates as the first center point coordinates (x c1 ,y c1 ) The processing module controls the radiation module to move in the x direction according to the difference value of the first target point coordinate and the first central point coordinate in the x direction, so that the center of the first image collector is aligned with the target point to be detected in the x direction, and the center of the radiation source is aligned with the target point to be detected in the x direction;
the processing module is used for processing the target point according to the space coordinate (x 1 ,y 1 ,z 1 ) The method comprises the steps of obtaining the height h and the pitch angle theta of a radioactive source, obtaining the linear distance l between the radioactive source and a target point to be detected and the flatness parameter r of a ship body part to be detected, adjusting the first lifting adjusting mechanism and the first pitch angle adjusting mechanism according to the obtained height h and the pitch angle theta, and adjusting the posture of the radioactive source to meet the obtained height h and the pitch angle theta.
3. The hull inspection system according to claim 2, wherein the processing module is configured to determine the position of the target point based on the spatial coordinates (x 1 ,y 1 ,z 1 ) The method for obtaining the height h and the pitch angle theta of the radioactive source comprises the following steps of:
collecting a plurality of groups of sample data, wherein the sample data comprise geometric center coordinates of a radiation surface of a radiation source on the surface of a ship body, linear spacing between the radiation source and the geometric center of the radiation surface, flatness parameters of an imaging part of the ship body, and heights and pitch angles of the radiation source under the same space rectangular coordinate system;
constructing a multi-layer perceptron regression model, taking the sample data as training data of the multi-layer perceptron regression model, training to obtain the multi-layer perceptron regression model taking the geometric center coordinates of the radioactive source on the radiation surface of the ship body, the linear distance between the radioactive source and the geometric center of the radiation surface and the flatness parameters of the imaging part of the ship body as inputs and taking the height and pitch angle of the radioactive source as outputs;
the spatial coordinates (x 1 ,y 1 ,z 1 ) And inputting the linear distance l between the radioactive source and the target point to be detected and the flatness parameter r of the ship body to be detected into the obtained multi-layer sensor regression model to obtain the corresponding height h and pitch angle theta of the radioactive source.
4. A hull inspection system according to claim 2 or 3, characterized in that after the height h and pitch angle θ of the radioactive source are obtained, a simulated radiation simulation is performed, and the spatial coordinates (x 1 ,y 1 ,z 1 ) And the geometric center of the radiation surface is taken as a simulated radiation point, and the simulated radiation point and the space coordinate (x 1 ,y 1 ,z 1 ) And if the distance difference between the two radioactive sources is smaller than or equal to a preset threshold value, controlling the radioactive sources to move according to the obtained height h and pitch angle theta, and if not, sending out a human intervention prompt.
5. The hull flaw detection system according to claim 2, wherein the processing module controlling the movement of the imaging module according to the spatial coordinates of the target point to be detected and the acquired image of the part to be detected, and aligning the geometric center of the imaging plate with the target point to be detected includes:
according to imaging requirements, moving the imaging module to a certain distance between target points to be detected of the ship body;
according to the space coordinates of the target point to be detected, the imaging plate is adjusted to a corresponding height through a second lifting adjusting mechanism, so that the target point to be detected appears in an imaging picture of a second image collector;
the second image collector images the target point to be detected and inputs the target point to be detected into the processing module, the processing module extracts the target point to be detected in the imaging image, obtains the point position coordinates of the target point to be detected in the imaging image, and records the point position coordinates as second target point coordinates (x i2 ,y i2 ) The processing module obtains the coordinates of the center point of the imaging image, and marks the coordinates as the coordinates (x c2 ,y c2 ) And the processing module controls the imaging module to move according to the difference value between the second target point coordinate and the second center point coordinate in the x direction and the y direction so as to align the geometric center of the imaging plate with the target point to be detected.
6. The hull inspection system of claim 1 in which said radiation module includes a first chassis and a first traveling wheel disposed at a bottom of said first chassis, said first lift adjustment mechanism includes a first lift motor in linkage with said radiation source, and said first pitch angle adjustment mechanism includes a first rotary motor in linkage with said radiation source.
7. The hull inspection system of claim 1 in which said imaging module includes a second chassis and a second road wheel disposed at a bottom of said second chassis, said second elevation adjustment mechanism includes a second elevation motor in linkage with said imaging plate, and said second pitch angle adjustment mechanism includes a second rotary motor in linkage with said imaging plate.
8. A ship body flaw detection method applied to the ship body flaw detection system as claimed in any one of claims 1 to 7, comprising the steps of:
defining a space rectangular coordinate system, taking the direction parallel to the surface of the target point to be detected as an x direction, taking the direction vertical to the x direction on a horizontal plane as a y direction, taking the height direction of the ship body as a z direction, and obtaining the space coordinate (x 1 ,y 1 ,z 1 )；
The first image collector and the second image collector respectively collect images of the inner surface and the outer surface of the ship body part to be detected and input the images into the processing module;
the processing module controls the movement of the radiation module and the imaging module according to the space coordinates of the target point to be detected and the acquired image of the position to be detected, so that the geometric center of the radiation source on the radiation surface of the hull coincides with the target point to be detected, and the geometric center of the imaging plate is aligned with the target point to be detected.
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