TWI460397B - System and method for verifying angles of products - Google Patents

Description

Product angle verification system and method

The invention relates to a product verification system and method, in particular to a product angle verification system and method.

Quality is one of the important factors for a company to maintain its long-term development. How to improve and guarantee product quality is an important part of corporate activities. In order to improve and guarantee the quality of products, it is essential to carry out inspections on products. At the same time, the increasing and urgent inspection requirements require enterprises to implement product inspections quickly and accurately.

Usually, in order to ensure quality, there are certain requirements for some specific angles on many products or parts. However, the use of conventional techniques to measure the angle of a product or component has a low accuracy and is inefficient when detecting the angle of a large batch of products or components.

In view of the above, it is necessary to provide a product angle verification method and system that verifies the angle of the product using point cloud data of the product angle profile.

The product angle verification method includes: reading point cloud data of the product angle profile; sorting all the points represented by the point cloud data, and selecting the first point and the last point according to the above sorting; according to the first Point to find the first straight line intersection, and find the second straight line intersection according to the last point above; use the first point and the above A straight line intersection determines the first line, uses the last point and the second line intersection to determine the second line, and uses the first line intersection and the second line intersection to determine the third line; calculate the first line The angle between the third line and the angle between the second line and the third line, and calculate the distance from the intersection of the first line to the second line, and the intersection of the second line to the first line The distance of the straight line; judge whether the calculated angle and distance are within the preset range to verify whether the angle of the product is qualified; and output the verification result of the angle of the product according to the above judgment.

The product angle verification system comprises: a point cloud reading module, which is used for reading point cloud data of the product angle profile, and sorting all the points represented by the point cloud data; the intersection point positioning module is used according to The above-mentioned sorting selects the first point and the last point, finds the first straight line intersection point according to the first point, and finds the second straight line intersection point according to the last point, thereby determining the first straight line by using the first point and the first straight line intersection point, Using the last point and the second line intersection to determine the second line, and using the first line intersection and the second line intersection to determine the third line; the calculation module is used to calculate the first line and the third line The angle between the straight lines, the angle between the second line and the third line, the distance from the intersection of the first line to the second line, and the distance from the intersection of the second line to the first line; verification module , for judging whether the calculated angle and distance are within a preset range to verify whether the angle of the product is qualified; and an output module for outputting the product according to the above judgment Verification result angle.

The product angle verification system and method provided by the invention utilizes the point cloud data of the angle profile of the product to analyze relevant parameters to verify whether the angle of the product is qualified, simple and easy, and high efficiency.

1‧‧‧Product Angle Verification System

10‧‧‧ point cloud reading module

11‧‧‧Intersection Point Module

12‧‧‧ Calculation Module

13‧‧‧ verification module

14‧‧‧Output module

2‧‧‧Scanning equipment

3‧‧‧Storage equipment

4‧‧‧ processor

5‧‧‧Display equipment

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a functional block diagram of a preferred embodiment of the product angle verification system of the present invention.

2 is a flow chart showing an implementation of a preferred embodiment of the product angle verification method of the present invention.

Figure 3 is a detailed flow chart of step S13 or S16 in Figure 2.

4 is a schematic view of the angles and distances calculated in steps S19 and S21 of FIG. 2.

Referring to Figure 1, there is shown a functional block diagram of a preferred embodiment of the product angle verification system of the present invention. The product angle verification system 1 includes a point cloud reading module 10, a intersection positioning module 11, a calculation module 12, a verification module 13, and an output module 14.

Each of the above functional modules is a program segment that performs a specific function, and is more suitable for describing the execution process of the software in the computer than the software program itself. Therefore, the description of the software program of the present invention is described by a module.

In addition, the product angle verification system 1 also has a storage device 3, a processor 4, and a display device 5 built in or externally connected. The storage device 3 is in communication with the scanning device 2 for storing point cloud data obtained by the scanning device 2 scanning the angular contour of the product. In addition, the storage device 3 can also store the code of each of the function modules 10-14 described above. The processor 4 is configured to run the code of each of the function modules 10-14 to implement analysis and verification of the product angle. The display device 5 provides a user interface for displaying verification results for the product angle.

The point cloud reading module 10 is configured to read the point cloud data of the product angle profile from the storage device 3, and sort all the points represented by the point cloud data according to the scanning order.

The intersection positioning module 11 is configured to select the first point and the last according to the above sorting One point, find the first line intersection point according to the first point, find the second line intersection point according to the last point, and use the first point and the first line intersection point to determine the first line, and use the last point and the second line intersection point to determine The second line, and the third line is determined by the intersection of the first line and the intersection of the second line.

The process of finding the first straight line intersection is as follows: the next point of the selected point (such as the first point) is selected according to the above sorting, and the direction vector of the straight line formed by the two points is calculated. Continue to select the next point if the direction vector does not exceed a preset value. Otherwise, in the case where the direction vector exceeds the above preset value, the next point is recorded in the storage device 3. According to the above sorting, at least one point is taken around the first point, and at least one point is taken around the recorded point, and a straight line is fitted by least squares according to the taken point. Calculate the distance from the taken point (including the first point and the recorded point) to the fitted line, and select the point with the largest distance as the first straight line intersection.

The process of finding the intersection of the second straight line is as follows: the upper point of the selected point (such as the last point) is selected according to the above sorting, and the direction vector of the straight line formed by the two points is calculated. Continue to select the previous point if the direction vector does not exceed a preset value. Otherwise, in the case where the direction vector exceeds the above preset value, the upper point is recorded in the storage device 3. According to the above sorting, at least one point is taken around the last point, and at least one point is taken around the recorded point, and a straight line is fitted by least squares according to the taken point. Calculate the distance from the point taken (including the last point and the recorded point) to the fitted line, and select the point with the largest distance as the second straight line intersection.

The calculation module 12 is configured to calculate an angle between the first straight line and the third straight line, an angle between the second straight line and the third straight line, and a distance from the first straight line intersection to the second straight line And the distance from the second straight line intersection to the first line. As shown in Figure 4, point A is the first point in the sort, and point E is the last point in the sort, point C. The intersection of the first straight line, the point F is the intersection of the second straight line, the angle α is the angle between the first straight line AC and the third straight line CF, and the angle β is the angle between the second straight line EF and the third straight line CF D1 is the distance from the first straight line intersection C to the second straight line EF, and D2 is the distance from the second straight line intersection point F to the first straight line AC.

The verification module 13 is configured to determine whether the calculated angle and the distance value are within a preset range to verify whether the angle of the product is qualified.

The output module 14 is configured to output a verification result of the angle of the product. Wherein, if the calculated angle and distance value are within the preset range, the angle of the product is qualified. Otherwise, if the calculated angle and distance value are not within the preset range, the angle of the product is unqualified.

Referring to Figure 2, there is shown a flow chart of a preferred embodiment of the method for verifying the angle of the product of the present invention.

In step S10, the point cloud reading module 10 reads the point cloud data of the product angle profile from the storage device 3.

In step S11, the point cloud reading module 10 sorts all the points represented by the point cloud data according to the scanning order.

In step S12, the intersection positioning module 11 selects the first point according to the above sorting.

In step S13, the intersection positioning module 11 searches for the first straight line intersection according to the first point. For detailed flow, see FIG. 3 below.

In step S14, the intersection positioning module 11 determines the first straight line by using the first point and the first straight line intersection.

In step S15, the intersection positioning module 11 selects the last point according to the above sorting.

In step S16, the intersection positioning module 11 searches for the second straight line intersection according to the last point.

In step S17, the intersection positioning module 11 determines the second line by using the last point and the second line intersection.

In step S18, the intersection positioning module 11 determines the third straight line by using the first straight intersection and the second straight intersection.

In step S19, the calculation module 12 calculates an angle between the first straight line and the third straight line, and an angle between the second straight line and the third straight line.

In step S20, the verification module 13 determines whether the calculated included angles are all within a preset range to verify whether the angle of the product is acceptable. If an angle is not within the preset range, the flow advances to step S23. Otherwise, if the included angle is within the preset range, the flow advances to step S21.

In step S21, the calculation module 12 calculates the distance from the first straight line intersection to the second line and the distance from the second line intersection point to the first line.

In step S22, the verification module 13 determines whether the calculated distance values are within a preset range to verify whether the angle of the product is acceptable. If there is a distance value that is not within the preset range, the flow advances to step S23. Otherwise, if the distance values are within the preset range, the flow advances to step S24.

In step S23, the output module 14 outputs the verification result of the angle of the product, that is, the product angle is determined to be unqualified.

In step S24, the output module 14 outputs a verification result for the angle of the product, that is, determines that the angle of the product is acceptable.

FIG. 3 is a detailed flowchart of step S13 in FIG. 2, that is, a detailed flowchart for finding the intersection of the first straight line.

In step S100, the intersection positioning module 11 selects the next point of the selected point (such as the first point) according to the sorting, and calculates the direction vector of the line formed by the two points.

In step S101, the intersection positioning module 11 determines whether the direction vector exceeds a preset value. In the case where the above direction vector exceeds the preset value, the flow proceeds to step S102. Otherwise, in a case where the direction vector does not exceed the preset value, the flow returns to step S100.

In step S102, the intersection positioning module 11 records the next point into the storage device 3.

In step S103, the intersection positioning module 11 takes at least one point around the first point according to the sorting, and takes at least one point around the recorded point, and fits a straight line by least squares according to the taken point.

In step S104, the intersection positioning module 11 calculates the distance of the taken point (including the first point and the recorded point) to the fitting straight line.

In step S105, the intersection positioning module 11 selects the point with the largest distance as the first straight line intersection.

The detailed flow of step S16 in FIG. 2 is similar to the detailed flow of step S13 described in FIG. 3 described above, except that the first point in the flow shown in FIG. 3 is changed to the last point, and the next point of the selected point is selected. It becomes the upper point of the selected point.

The above is only the preferred embodiment of the present invention, and has been used in a wide range of applications. Any other equivalent changes or modifications which are not departing from the spirit of the present invention should be included in the following claims. Inside.

1‧‧‧Product Angle Verification System

10‧‧‧ point cloud reading module

11‧‧‧Intersection Point Module

12‧‧‧ Calculation Module

13‧‧‧ verification module

14‧‧‧Output module

2‧‧‧Scanning equipment

3‧‧‧Storage equipment

4‧‧‧ processor

5‧‧‧Display equipment

Claims (7)

A product angle verification method includes: reading point cloud data of a product angle profile; sorting all points represented by the point cloud data, and selecting the first point and the last point according to the above sorting; according to the first point Finding a first straight line intersection point, and searching for a second straight line intersection point according to the last point, wherein the step of searching for the first line intersection point according to the first point includes: selecting the next point of the selected point according to the sorting, and calculating the The direction vector of the line formed by the two points; if the direction vector does not exceed the preset value, continue to select the next point; if the direction vector exceeds the preset value, record the next point; Take a few points around a point, take a few points around the recorded point, use the least squares method to fit a line according to the point taken; calculate the distance of the taken point to the fitted line; and select the distance The largest point is the first straight line intersection; the step of finding the second straight line intersection according to the last point mentioned above includes: selecting the selected point according to the sorting From the previous point, calculate a direction vector of the line formed by the two points; if the direction vector does not exceed the preset value, continue to select the last point; if the direction vector exceeds the preset value, record the The last point; take a number of points around the last point according to the sorting, and take a number of points around the recorded point, and use the least squares method to fit a line according to the taken point; calculate the taken point to the fitting straight line The distance; and select the point with the largest distance as the second straight line intersection; Using the first point and the first line intersection to determine the first line, using the last point and the second line intersection to determine the second line, and using the first line intersection and the second line intersection to determine the third line a straight line; calculating an angle between the first straight line and the third straight line, and an angle between the second straight line and the third straight line, and calculating a distance from the first straight line intersection to the second straight line, and The distance between the intersection of the two straight lines and the first straight line; judging whether the calculated angle and distance are within the preset range to verify whether the angle of the product is qualified; and verifying the verification result of the product according to the above verification output. The product angle verification method according to claim 1, wherein the sorting is performed according to a scanning order. The product angle verification method according to claim 1, wherein the verification result of the product angle includes: when the calculated angle and distance are within a preset range, the product angle is qualified; and the calculation is performed; When any of the included angles and distances are out of the preset range, the angle of the product is unacceptable. A product angle verification system includes: a point cloud reading module for reading point cloud data of a product angle profile, and sorting all points represented by the point cloud data; an intersection point positioning module for Sorting selects the first point and the last point, and finds the first line intersection according to the first point, including: selecting the next point of the selected point according to the sorting, and calculating the direction vector of the line formed by the two points; If the preset value is exceeded, continue to select the next point; if the direction vector exceeds the preset value, record the next point; take some points around the first point according to the sorting, and at the recorded point Take a few points around, and use the least squares method to fit a line according to the points taken; calculate the taken Pointing to the distance of the fitting straight line; and selecting the point with the largest distance as the first straight line intersection; the intersection positioning module is further for finding the second straight line intersection according to the last point, including: selecting the upper point of the selected point according to the sorting Calculating a direction vector of the line formed by the two points; if the direction vector does not exceed the preset value, continuing to select the last point; if the direction vector exceeds the preset value, recording the previous point According to the sorting, take a few points around the last point, and take a few points around the recorded points, and use the least squares method to fit a line according to the points taken; calculate the distance from the taken point to the fitted line And selecting the point with the largest distance as the second line intersection; the intersection positioning module is further configured to determine the first line by using the first point and the first line intersection, and determining the first point by using the last point and the second line intersection Two straight lines, and the third straight line is determined by the intersection of the first straight line and the second straight line; the calculation module is used to calculate the first straight line and the third straight line The angle between the angle between the second line and the third line, the distance from the intersection of the first line to the second line, and the distance from the intersection of the second line to the first line; the verification module, It is used to determine whether the calculated angle and distance are within a preset range to verify whether the angle of the product is qualified; and an output module for outputting the verification result of the angle of the product according to the above judgment. The product angle verification system according to claim 4, wherein the system further comprises: a storage device; and a scanning device, configured to scan the angular contour of the product to obtain point cloud data, and store the point cloud data in the storage device. . The product angle verification system of claim 4, wherein the sorting is performed according to a scanning order. The product angle verification system of claim 4, wherein the verification result of the product angle includes: If the calculated angle and distance are within the preset range, the angle of the product is qualified, and if the calculated angle and distance are not within the preset range, the angle of the product is unqualified. .