METHOD FOR DETECTING A LEAK IN A FLUID GUIDING ELEMENT OF A HEAT EXCHANGING DEVICE

Abstract

Method for detecting a leak in a fluid guiding element 16, 18 of a heat exchanging device 12, comprising the following steps: a) Acquiring a cloud of points 44 of the heat exchanging device 12 in a three-dimensional virtual space 48 using a 3D sensor 34, each of said points representing a surface point 46a on the outer surface of the heat exchanging device 12, b) Searching within the cloud of points 44 for structures 50 corresponding to tubes having a predefined outer diameter, c) Searching the obtained structures 50 for an area of interest 52 where the diameter or the direction of the tube changes, d) Once an area of interest 52 is found, determining an approach path 58 for approaching a sniffing probe 22 of a gas leak detector 24 to the area of interest 52 within the cloud of points 44, and e) Physically approaching the sniffing probe 22 to a testing area 20 of the heat exchanging device 12 automatically along the approach path 58, where the testing area 20 corresponds to the area of interest 52 within the cloud of points 44.

Claims

1-21. (canceled)

22. Method for detecting a leak in a fluid guiding element of a heat exchanging device, comprising the following steps: a) acquiring a cloud of points of the heat exchanging device in a three-dimensional virtual space using a 3D sensor, each of said points representing a surface point on the outer surface of the heat exchanging device, b) searching within the cloud of points for structures corresponding to tubes having a predefined outer diameter, c) searching the obtained structures for an area of interest where the diameter or the direction of the tube changes, d) once an area of interest is found, determining an approach path for approaching a sniffing probe of a gas leak detector to the area of interest within the cloud of points, and e) physically approaching the sniffing probe to a testing area of the heat exchanging device automatically along the approach path, where the testing area corresponds to the area of interest within the cloud of points.

23. Method according to claim 22, wherein the method is carried out automatically by a leak detection system comprising the gas leak detector.

24. Method according to claim 22, wherein said cloud of points in the three-dimensional virtual space is generated from image data obtained from at least two optical cameras of an imaging system.

25. Method according to claim 22, wherein the 3D sensor is an imaging system with at least one optical camera and at least one illumination device.

26. Method according to claim 22, wherein subsequent to step a), the cloud of points is compared with digital reference data of the structures to be searched of the heat exchanging device within the cloud of points.

27. Method according to claim 26, wherein said digital reference data is previously obtained CAD data of the heat exchanging device.

28. Method according to claim 26, wherein at least one search area within the cloud of points is selected based on the comparison with the reference data.

29. Method according to claim 28, wherein the selecting of the search area is carried out using position data of the position of the heat exchanging device within the cloud of points obtained through step b).

30. Method according to claim 26, wherein said reference data is generated by said 3D sensor from the same heat exchanging device or from a corresponding heat exchanging device of the same type.

31. Method according to claim 22, wherein step c) is carried out by following and analyzing those points within the cloud of points which correspond to the tube found according to step b).

32. Method according to claim 22, wherein according to step d), an ideal position of the sniffing probe for gas leak detection of the tube or testing area is calculated.

33. Method according to claim 22, wherein step d) comprises determining whether a determined approach path results in a collision of the sniffing probe with structures of the heat exchanging device, and comprises determining a further approach path, if a collision is expected for a previously determined approach path.

34. Method according to claim 22, wherein step d) is repeated until an approach path is determined for which no collision of the sniffing probe with structures of the heat exchanging device is expected.

35. Method according to claim 22, wherein step d) comprises using previously obtained and stored digital data, such as CAD data, of the sniffing probe and/or of a robot carrying out step e).

36. Method according to claim 22, wherein at least step e) is carried out by a robot.

37. Method according to claim 22, wherein at least one of steps a)-d) is carried out by a software algorithm of a leak detection system_comprising a leak detector and a robot.

38. Method according to claim 22, wherein step d) comprises generating a trajectory to be followed by a robot carrying the sniffing probe.

39. Method according to claim 22, wherein at least steps b)-d) are repeated for several regions of interest, and wherein step e) is subsequently carried out a respective number of times to subsequently approach the sniffing probe to respective testing areas corresponding to said areas of interest.

40. Method according to claim 22, wherein subsequent to step e) said method performs f) sniffing the testing region with the sniffing probe to perform leak detection on said tube within the testing area for identifying a possible leak of said fluid guiding structure.

41. Method according to claim 22, wherein said sniffing probe comprises a generally U-shaped sniffer tip with two distally extending sniffing arms.

42. Method according to claim 22, wherein said sniffing probe or a sniffing tip of said sniffing probe is automatically reconfigured, transformed or exchanged to another sniffing probe or tip once step d) determines that an approach path results in a collision of the sniffing probe with structures of the heat exchanging device.

Description

[0034] In the following, embodiments of the invention are described in more detail with references to the drawings, in which

[0035] FIG. 1 shows a schematic representation of a leak detection system and a heat exchanging device,

[0036] FIG. 2 shows a schematic representation of the cloud of points in virtual space acquired from the heat exchanging device according to FIG. 1,

[0037] FIG. 3 shows a schematic representation of a detail of a further heat exchanging device, and

[0038] FIG. 4 shows a schematic representation of the cloud of points in virtual space acquired from the heat exchanging device according to FIG. 3.

[0039] FIG. 1 shows a heat exchanging device 12 in the form of a refrigerator. The expression heat exchanging device as used in the present disclosure relates to systems or devices which comprise a heat exchanger, such as refrigerators, air conditioning systems, heat pumps, etc. The heat exchanging device comprises on its lower rear side 14 several fluid guiding elements 16, 18 in the form of tubes, which are welded on the rear side of the refrigerator during its manufacturing process. As part of a fully automated quality control, particular testing areas 20 need to be identified, in order to perform leak detection in the testing areas 20. A testing area 20 is considered to be an area of the heat exchanging device, where tubes are mounted or welded or soldered together, where a tube ends, where a tube is connected to another tube, or where tubes join or intersect with each other. In the embodiment shown in FIG. 1, a first fluid guiding element 16 is arranged vertically and a second fluid guiding element 18 is connected with one of its ends to the first fluid guiding element 16. The area where the tubes 16, 18 are connected, is considered a testing area 20, and shown in FIG. 1 by a dashed circle.

[0040] An even more typical example is shown in FIGS. 3 and 4, where two tubes 16, 18 of a different diameter are connected with each other along a common longitudinal axis 17.

[0041] The aim of the invention is to automatically move a sniffing probe 22 of a sniffing leak detector 24 to the testing area 20, such that the sniffing tip 25 of the sniffing probe 22 is positioned close enough to draw in gas escaping from a possible leak in one of the pipes 16, 18 within the testing area 20. The sniffing probe 22 is connected to the gas leak detector 24 via a connection hose 26 in a conventional manner.

[0042] The sniffing probe 22 is mounted to the distal end 28 of a robotic arm 30 of a robot 32.

[0043] A 3D sensor 34 in the form of an imaging system 36 which comprises two optical cameras 38, 40 and an illumination device 42 in the form of a LED lamp, captures digital image data from the lower rear side 14 of the heat exchanging device 12. In a generally known manner, the illumination device 42 illuminates the heat exchanging device 12, and, in particular, the lower rear side 14 of the heat exchanging device 12. The cameras 38, 40 capture the reflected light, and the imaging system 36 generates digital image data from which a cloud 44 of points 46 in a 3-dimensional virtual space 48 is acquired.

[0044] FIGS. 2 and 4 show simplified reduced graphical representations of the acquired cloud of points 44, which is depicted in a manner being reduced to a 2-dimensional matrix only for illustration purposes. In fact, the cloud of points 44 as acquired by the 3D sensor 34 is 3-dimensional, such as in the form of a 3-dimensional grid or mesh. In other words, each point 46 of the cloud of points 44 comprises three coordinates x, y, z, as well as an amplitude value representing, for example, the intensity of reflected illumination captured by the cameras 38, 40.

[0045] According to the invention, the cloud of points 44 is searched for structures corresponding to tubes having a predefined outer diameter. For example, the amplitude values of the points 46 may be searched for values within a specific range and within specific distances for the geometric structure of a tube having a predefined outer diameter, which corresponds to the diameter of the tubes 16, 18.

[0046] In FIGS. 2 and 4, the points of the cloud 44, which correspond to the tubes 16, 18, are provided with references signs 46a, and are represented by filled circles, whereas other points 46 are depicted as empty circles. Lines 50 connect the points 46a, and thereby visualize the structures or representations 15, 19 of the tubes 16, 18 of the heat exchanging device 12 in the virtual space 48.

[0047] The expression virtual space generally relates to a simulated environment of the heat exchanging device 12, the robot 32, the robotic arm 30 and the sniffing probe 22, and of the space between the probe 22 and the heat exchanging device 12

[0048] As a next step, the method of the invention searches the obtained structures or points 46a for changes in diameter. For example, if the points 46a or the lines 50 corresponding to the left horizontal tube 18 are followed from left to right in FIG. 2, the diameter of the structural representation 19 of the tube 18 within the virtual space 48 changes, when the structural representation 19 of the tube 18 meets with and connects to the structural representation 15 of the vertical tube 16. For example, this can be discovered by analyzing the distances between pairs of points 46a, and comparing the distances with the respective distances of further points 46a along the lines 50. The points 46a of the structural representation 15 of the vertical tube 16 appear to increase in diameter of the structural representation 19 of the tube 18, when analyzed from left to right.

[0049] Likewise, when analyzing the structural representation 15 of the vertical tube 16 from bottom to top, distances between pairs of points 46a increase in the area, where the structural representation 15 of the vertical tube 16 meets with the structural representation 19 of the horizontal tube 18, which appears to be an increase in diameter of the tube 16.

[0050] The area, where such an increase in diameter is discovered, is marked by the dashed line in FIGS. 2 and 4 as an area of interest 52. This area of interest 52 is stored in a memory of the leak detection system 56, which memory may be comprised within the robot 32 and/or within the 3D sensor 36, or, alternatively, within a separate computer device connected to the robot 32 and/or to the 3D sensor 36. The leak detection device 56 comprises the leak detector 24, the robot 32 and the 3D sensor 34.

[0051] The area of interest 52 in the virtual space 48 corresponds to the testing area 20 of the heat exchanging device 12, to which testing area 12 the sniffing probe 22 needs to be approached for leak detection.

[0052] As a next step, an approach path 58 for approaching the sniffing probe to the testing area 20, and for approaching a graphical representation of the sniffing probe 22 in the cloud of points 44 to the area of interest 52 is to be determined. This is achieved by employing CAD data of the sniffing probe 22 and its sniffing tip 25, and by comparing a cloud of points 44 with the CAD data. Thereby, the points 46b within the cloud of points 44 which correspond to the sniffing tip 25 or sniffing probe 22 may be identified. Thereafter, an approach path 58 is calculated for approaching the sniffing tip 25 to the testing area 20 or area of interest 52 within the virtual space 48. Thereby, an approach path 58 is to be determined, which avoids a collision of the sniffing tip 25, the sniffing probe 22 and/or the robotic arm 30 or the connection hose 26 with the heat exchanging device 12 or any structures or components thereof. This approach path 58 is depicted by the four arrows and by the points 46c in FIG. 2.

[0053] Only after an approach path 58 has been determined which does not result in a collision within the virtual space 48 or the simulated environment, the sniffing tip 25 is actually approached by the robot 32 and robotic arm 30 to the real testing area 20 in the real world.

[0054] Thereby, leak detection in the manufacturing industry and quality control can be performed fully automated, much faster and much more reliable, as compared to the conventional sniffing leak detection of heat exchanging devices performed by human operators.