WO2022000973A1 - Hole set registration method, apparatus and device, and storage medium - Google Patents

Abstract

A hole set registration method, apparatus and device, and a storage medium. The method comprises: determining the coordinates of any four holes to form a first engineering drawing coordinate set; determining the coordinates of all holes on a workpiece to form a first workpiece coordinate set; determining, according to the first engineering drawing coordinate set and the first workpiece coordinate set, congruent points corresponding to the coordinates of the four holes to form a congruent point set; calculating a rigid body transformation matrix corresponding to each group of congruent points to form a rigid body transformation matrix set; selecting the coordinates of any multiple holes to form a second engineering drawing coordinate set, and forming a second workpiece coordinate set by means of the rigid body transformation matrix set; performing registration scoring on each rigid body transformation matrix according to the coordinates of each hole in the second workpiece coordinate set to determine an optimal rigid body transformation matrix; and obtaining the coordinates of holes to be registered, and implementing registration of said holes with the holes on the workpiece according to the optimal rigid body transformation matrix.

Description

Method, device, device and storage medium for hole set registration

This application claims the priority of a Chinese patent application with application number 202010628894.4 filed with the China Patent Office on July 1, 2020, the entire contents of which are incorporated herein by reference.

technical field

The embodiments of the present application relate to the field of automated processing, for example, to a method, apparatus, device, and storage medium for hole set registration.

Background technique

Printed Circuit Board (PCB) is widely used in many aspects of industrial production.

According to the needs of processing, thousands of holes often need to be processed on the PCB. In the related art, the detection of the PCB hole position accuracy often requires manual selection of the positioning holes on the drilling drawing, and manual adjustment of the holes on the PCB board. The corresponding holes are photographed to obtain the rigid body transformation matrix. According to the rigid body transformation matrix, the coordinates of the positioning holes on the drawing and the holes on the actual PCB are matched to calculate the relative offset and aperture error of each hole on the PCB board.

Manually matching the holes on the engineering drawing with the holes on the actual PCB requires high technical requirements for operators. At the same time, it is difficult to avoid matching errors through manual operation, and the detection accuracy is low. In addition, manual operation takes a long time, and the work efficiency is low.

SUMMARY OF THE INVENTION

The method, device, device, and storage medium for hole set registration provided by the embodiments of the present application can quickly register and position theoretical holes in drilling drawings and actual holes on a PCB board, thereby improving the matching accuracy. Reduce the technological process, improve the efficiency of matching, and realize fully automated production.

An embodiment of the present application provides a method for hole set registration, and the method for hole set registration includes:

In the engineering drawing coordinate system, the coordinates of any four holes in the engineering drawing are determined to form a first engineering drawing coordinate set; wherein, among the four holes, the straight line where two holes are located and the straight line where the other two holes are located intersect;

In the workpiece coordinate system, determine the coordinates of all holes on the workpiece to form the first workpiece coordinate set;

According to the first engineering drawing coordinate set and the first workpiece coordinate set, in the workpiece coordinate system, determine the congruent points of all groups corresponding to the coordinates of the four holes in the first engineering drawing coordinate set , forming a set of congruent points; the shape of the graph formed by the congruent points of each group is the same as that of the four holes in the first engineering drawing coordinate set;

According to the coordinates of the congruent points of each group in the congruent point set and the coordinates of the four holes in the first engineering drawing coordinate set, the rigid body transformation matrix corresponding to the congruent points of each group is calculated to form a rigid body transformation matrix set ; The coordinates in the engineering drawing coordinate system can be converted to the workpiece coordinate system through the rigid body transformation matrix;

Select the coordinates of any number of holes in the engineering drawing to form a second engineering drawing coordinate set, and transform the coordinates of the multiple holes in the second engineering drawing coordinate set through each rigid body in the rigid body transformation matrix set The transformation matrix is converted to the workpiece coordinate system to form a second workpiece coordinate set; according to the coordinates of each hole in the second workpiece coordinate set and the coordinates of the nearest hole corresponding to the each hole on the workpiece, to Perform registration scoring for each rigid body transformation matrix to obtain the registration scoring results;

Determine the optimal rigid body transformation matrix according to the registration scoring result;

Obtain the coordinates of the hole to be registered on the engineering drawing, and convert the coordinates of the hole to be registered into the coordinates of the workpiece coordinate system according to the optimal rigid body transformation matrix to realize the relationship between the hole to be registered and the workpiece. Registration of holes.

Optionally, in the engineering drawing coordinate system, the coordinates of any four holes in the engineering drawing are determined to form a first engineering drawing coordinate set; including:

In the drawing coordinate system, determine the coordinates of all holes in the drawing;

From the coordinates of all holes in the engineering drawing, randomly select the coordinates of any four holes to form a first engineering drawing coordinate set; wherein, among the four holes, the straight line where the two holes are located and the other two holes where the lines intersect.

Optionally, in the engineering drawing coordinate system, the coordinates of any four holes in the engineering drawing are determined to form a first engineering drawing coordinate set; including:

Obtain the coordinate information of any four holes in the engineering drawing coordinate system in the engineering drawing coordinate system to form a first engineering drawing coordinate set; wherein, among the four holes, the lines where two holes are located and the lines where the other two holes are located are intersect.

Optionally, in the workpiece coordinate system, the coordinates of all holes on the workpiece are determined to form a first workpiece coordinate set, including:

Obtain a scanned image of the workpiece;

Identify all holes in the scanned image by image processing;

Determine the coordinates of all holes in the workpiece coordinate system to form the first workpiece coordinate set.

Optionally, according to the first engineering drawing coordinate set and the first workpiece coordinate set, determine the coordinates of all groups corresponding to the coordinates of the four holes in the first engineering drawing coordinate set in the workpiece coordinate system. Congruent points, and form a set of congruent points, including:

Determine the intersection point e of the straight line where two holes a, b are located and the straight line where the other two holes c, d are located among the four holes a, b, c, and d of the first engineering drawing coordinate set;

According to the coordinates of the four holes a, b, c, d and the intersection point e, a first scale factor r1 and a second scale factor r2 are calculated, wherein the first scale factor

second scale factor

Among them, Lae is the distance from hole a to intersection e, Lab is the distance from hole a to hole b, Lce is the distance from hole c to intersection e, and Lcd is the distance from hole c to hole d.

According to the first scale factor r1 and the second scale factor r2, the coordinates of the first virtual intersection and the coordinates of the second virtual intersection on the straight line where every two holes of all the holes in the workpiece are calculated to form the first virtual intersection respectively. an intersection set and a second virtual intersection set;

Compare the coordinates in the first virtual intersection set with the coordinates in the second virtual intersection set, and when the coordinates of a first virtual intersection are the same as the coordinates of a second virtual intersection, determine the first virtual intersection. Two holes corresponding to a virtual intersection coordinate and two holes corresponding to the one second virtual intersection coordinate are a set of congruent points;

Count the congruent points of all groups to form a set of congruent points.

Optionally, according to the coordinates of the congruent points of each group in the congruent point set and the coordinates of the four holes in the first engineering drawing coordinate set, calculate the rigid body transformation matrix corresponding to the congruent points of each group, including : According to the formula:

Calculate the rigid body transformation matrix corresponding to the congruent points of each group. In the coordinate system of the engineering drawing, the angles between the intersection point e and the four holes a, b, c, and d are A1, A2, A3, and A4, respectively. In the workpiece coordinate system, the included angles between one of the first virtual intersection and the second virtual intersection corresponding to the congruent points of each group and the congruent points of each group are B1, B2, B3, B4,

is the difference between the included angle A1 and the included angle B1; Δx is the difference between the intersection point e and the x-coordinate of the one virtual intersection point, and Δy is the y-coordinate of the intersection point e and the one virtual intersection point difference value.

Optionally, according to the coordinates of each hole in the second workpiece coordinate set and the coordinates of the nearest hole corresponding to each of the workpieces, a registration score is performed on each rigid body transformation matrix to obtain a registration score. Results, including:

According to the coordinates of each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix, determine the coordinates of the nearest hole corresponding to each hole on the workpiece;

Determine the offset of each hole in the second workpiece coordinate set according to the coordinates of the nearest hole corresponding to each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix on the workpiece, forming an offset set corresponding to each rigid body transformation matrix;

The registration score of each rigid body transformation matrix is determined according to the offset set corresponding to each rigid body transformation matrix, and the registration score result is obtained.

Optionally, the registration score of each rigid body transformation matrix is determined according to the offset set corresponding to each rigid body transformation matrix, and the registration score result is obtained, including:

Calculate the standard deviation of the offsets in the offset set corresponding to each rigid body transformation matrix;

A registration score is performed on each rigid body transformation matrix according to the scoring standard with the standard deviation from small to large, and a registration score result is obtained.

Optionally, the registration score of each rigid body transformation matrix is determined according to the offset set corresponding to each rigid body transformation matrix, and the registration score result is obtained, including:

Counting the number of holes whose offsets are within the preset offset range in the offset set corresponding to each rigid body transformation matrix;

According to the scoring standard of the number of holes located in the preset offset range from large to small, the registration score is performed on each rigid body transformation matrix, and the registration score result is obtained.

The embodiment of the present application also provides a hole set registration device, and the hole set registration device includes:

The first engineering drawing coordinate set operation module is set to determine the coordinates of any four holes in the engineering drawing in the engineering drawing coordinate system to form the first engineering drawing coordinate set; wherein, among the four holes, two holes The line where it is located intersects the line where the other two holes are located;

The first workpiece coordinate set operation module is set to determine the coordinates of all holes on the workpiece in the workpiece coordinate system to form the first workpiece coordinate set;

The full isopoint set operation module is configured to determine, according to the first engineering drawing coordinate set and the first workpiece coordinate set, in the workpiece coordinate system, the distance between the four holes in the first engineering drawing coordinate set and the four holes in the first engineering drawing coordinate set. The congruent points of all groups corresponding to the coordinates form a set of congruent points; the shape of the graph formed by the congruent points of each group is the same as the shape of the graph formed by the four holes in the coordinate set of the first engineering drawing;

The congruent rigid body transformation matrix set operation module is set to calculate the congruence of each group according to the coordinates of the congruent points of each group in the congruent point set and the coordinates of the four holes in the first engineering drawing coordinate set The rigid body transformation matrix corresponding to the point forms a rigid body transformation matrix set; the coordinates in the engineering drawing coordinate system can be converted to the workpiece coordinate system through the rigid body transformation matrix;

The scoring module is set to select the coordinates of any plurality of holes in the engineering drawing to form a second engineering drawing coordinate set, and convert the coordinates of the plurality of holes in the second engineering drawing coordinate set through the rigid body transformation matrix set Each rigid body transformation matrix in is converted to the workpiece coordinate system to form a second workpiece coordinate set; according to the coordinates of each hole in the second workpiece coordinate set and the nearest neighbor corresponding to each hole on the workpiece The coordinates of the hole, perform registration scoring for each rigid body transformation matrix, and obtain the registration scoring result;

The processing module is set to determine the optimal rigid body transformation matrix according to the registration scoring result; and obtain the coordinates of the hole to be registered on the engineering drawing, and convert the coordinates of the hole to be registered according to the optimal rigid body transformation matrix , which is converted into the coordinates of the workpiece coordinate system to realize the registration of the hole to be registered with the hole on the workpiece.

The embodiment of the present application also provides a terminal device, and the terminal device includes:

one or more processors;

storage means arranged to store one or more programs;

The one or more programs are executed by the one or more processors, so that the one or more processors implement the method for hole set registration provided by the embodiments of the present application.

Embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, implements the method for hole set registration provided by the embodiments of the present application.

Description of drawings

1 is a schematic flowchart of a method for hole set registration provided in Embodiment 1 of the present application;

2 is a schematic flowchart of a method for hole set registration provided in Embodiment 2 of the present application;

3 is a schematic flowchart of a method for hole set registration provided in Embodiment 3 of the present application;

4 is a schematic flowchart of a method for hole set registration provided in Embodiment 4 of the present application;

5 is a schematic structural diagram of a device for hole set registration provided by an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a device for hole set registration provided by an embodiment of the present application.

detailed description

The present application will be described below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. For convenience of description, the drawings only show some but not all structures related to the present application.

Before discussing the exemplary embodiments, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as sequential processing, many of the operations may be performed in parallel, concurrently, or concurrently. The order of multiple operations can be rearranged. The process may be terminated when its operation is complete, but may also have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, subroutines, and the like.

The term "including" and its variants used in this application are open to include, ie, "including but not limited to". The term "based on" is "based at least in part on." The term "one embodiment" means "at least one embodiment."

Concepts such as "first" and "second" mentioned in this application are only used to distinguish the corresponding content, and are not used to limit the sequence or interdependence.

The modifications of "one" and "multiple" mentioned in this application are illustrative rather than limiting, and those skilled in the art should understand that unless the context clearly indicates otherwise, they should be understood as "one or more" .

Example 1

1 is a schematic flowchart of a method for hole set registration provided in Embodiment 1 of the present application. The method can be applied to the case of hole set registration processing. The method can be executed by a hole set registration device, which can be implemented by software and/or It is implemented in hardware and is generally integrated on the host computer. In this embodiment, the host computer includes but is not limited to a computer. As shown in Figure 1, a method for hole set registration includes:

S101. In the engineering drawing coordinate system, determine the coordinates of any four holes in the engineering drawing to form a first engineering drawing coordinate set; among the four holes, the straight line where two holes are located and the straight line where the other two holes are located intersect.

The engineering drawing coordinate system refers to the coordinate system in the processing drawing. The coordinates of the four holes are determined in the engineering drawing coordinate system, and the coordinates are formed into the first engineering drawing coordinate set. Exemplarily, the coordinates of the holes a, b, c, and d are selected to form the first engineering drawing coordinate set P, and the coordinates of the four holes are selected to form the first engineering drawing coordinate set, so that the coordinates of the four holes can be easily and conveniently calculated. The congruent points corresponding to the coordinates reduce the computational complexity.

S102, in the workpiece coordinate system, determine the coordinates of all holes on the workpiece to form a first workpiece coordinate set.

The workpiece coordinate system refers to the coordinate system established by the modeling application after scanning the workpiece to the host computer. In the workpiece coordinate system, the coordinates of all holes are selected to form the first workpiece coordinate set. Exemplarily, all the holes on the workpiece are respectively q1, q2, q3, q4, q5, and the coordinates of q1, q2, q3, q4, and q5 constitute the first workpiece coordinate set Q.

S103, according to the first engineering drawing coordinate set and the first workpiece coordinate set, in the workpiece coordinate system, determine the congruent points of all groups corresponding to the coordinates of the four holes in the first engineering drawing coordinate set to form a congruent point set ; The shape of the graph composed of congruent points of each group is the same as the graph shape composed of the four holes in the coordinate set of the first engineering drawing.

Exemplarily, according to the first engineering drawing coordinate set P and the first workpiece coordinate set Q, using a program to calculate the congruence points with the coordinates of the four holes in the first engineering drawing coordinate set P are q1, q3, q4, q5, And q1, q3, q4, q5 form the congruent point set D. By determining the coordinates of all holes on the workpiece, the congruent points corresponding to the first engineering drawing coordinate set can be conveniently and quickly found from the workpiece, thereby improving the calculation efficiency.

S104, according to the coordinates of the congruent points of each group in the congruent point set and the coordinates of the four holes in the first engineering drawing coordinate set, calculate the rigid body transformation matrix corresponding to the congruent points of each group, and form a rigid body transformation matrix set; engineering The coordinates in the drawing coordinate system can be transformed to the workpiece coordinate system through the rigid body transformation matrix.

Exemplarily, according to the coordinates of the congruent points q1, q3, q4, and q5 and the coordinates of the four holes a, b, c, and d, the rigid body transformation matrix corresponding to each group of congruent points is obtained to form a rigid body transformation matrix set B. .

S105. Select the coordinates of any plurality of holes in the engineering drawing to form a second engineering drawing coordinate set, and convert the coordinates of the multiple holes in the second engineering drawing coordinate set through each rigid body transformation matrix in the rigid body transformation matrix set Convert to the workpiece coordinate system to form a second workpiece coordinate set.

The second engineering drawing coordinate set refers to a set consisting of coordinates of a plurality of holes arbitrarily selected in the engineering drawing coordinate system. Exemplarily, select P6, P7, P8 in the engineering drawing coordinate system to form the second engineering drawing coordinate set M, and use the calculation program to calculate the second workpiece coordinate set M according to the second engineering drawing coordinate set M through the rigid body transformation matrix set B. '.

S106. Perform a registration score on each rigid body transformation matrix according to the coordinates of each hole in the second workpiece coordinate set and the coordinates of the nearest hole corresponding to each hole on the workpiece to obtain a registration score result.

The closest hole refers to the hole in the workpiece coordinate system that is closest to the horizontal and vertical coordinates in the second workpiece coordinate set. In the coordinate system, the closest hole around the coordinate (251, 50) is the coordinate of P6, and the coordinate is (265, 80), then P6 is the coordinate of the closest hole corresponding to M1'.

S107. Determine an optimal rigid body transformation matrix according to the registration scoring result.

The higher the score, the more suitable the rigid body transformation matrix is. Exemplarily, an offset can be used as a reference standard for scoring, and the larger the offset, the lower the score.

S108: Acquire the coordinates of the hole to be registered on the engineering drawing, and convert the coordinates of the hole to be registered into the coordinates of the workpiece coordinate system according to the optimal rigid body transformation matrix to realize the difference between the hole to be registered and the workpiece. Registration of holes.

According to the selected optimal rigid body transformation matrix, as the rigid body transformation matrix for hole set registration, the coordinates of the holes to be registered on the engineering drawing can be converted into coordinate positions in the workpiece coordinate system through the rigid body transformation matrix. Exemplarily, the hole to be registered in the engineering drawing is E, and the rigid body transformation matrix is B1, then the hole E to be registered is converted into the hole E' in the workpiece coordinate system through the rigid body transformation matrix B1, and the hole E' The coordinates can determine the position of the hole E' in the workpiece coordinate system, then the hole E' is the hole corresponding to the hole E in the engineering drawing.

In a method for hole set registration provided by an embodiment of the present application, firstly, a first engineering drawing coordinate set is selected in the engineering drawing coordinate system; secondly, a first workpiece coordinate set is selected in the workpiece coordinate system, and the first engineering drawing coordinate set and The first workpiece coordinate set finds the congruent points with all the holes in the first engineering drawing coordinate set to form a congruent point set; then calculates the rigid body transformation matrix corresponding to all coordinates in the congruent point set to form a rigid body transformation matrix set; Then, a second engineering drawing coordinate set is formed in the engineering drawing coordinates, and the second workpiece coordinate set is calculated according to the rigid body transformation matrix; finally, each rigid body transformation matrix is registered and scored using the second workpiece coordinate set, and the optimal rigid body is selected. Transformation matrix. Through the above method, the optimal rigid body transformation matrix is quickly calculated, and the holes in the engineering drawing and the holes on the workpiece are accurately registered through the optimal rigid body transformation matrix, which reduces the process of manually calculating the rigid body transformation matrix and reduces manual calculation. Error rate, improve calculation effect, shorten process time, improve work efficiency, and realize fully automatic detection.

Embodiment 2

FIG. 2 is a schematic flowchart of a method for hole set registration provided in Embodiment 2 of the present application. Embodiment 2 is described on the basis of the foregoing embodiment. As shown in FIG. 2 , a method for hole set registration provided in Embodiment 2 of the present application includes the following steps:

S101. In the engineering drawing coordinate system, determine the coordinates of any four holes in the engineering drawing to form a first engineering drawing coordinate set; among the four holes, the straight line where two holes are located and the straight line where the other two holes are located intersect.

In this embodiment, S101 may include: in the coordinate system of the engineering drawing, determining the coordinates of all the holes in the engineering drawing; randomly selecting the coordinates of any four holes from the coordinates of all the holes in the engineering drawing to form the first project The set of graph coordinates; among the four holes, the lines where two holes are located intersect with the lines where the other two holes are located.

The coordinates of all holes in the drawing are determined in the drawing coordinate system, which is automatically selected by the software. Using this method, the computer automatically obtains the coordinates of all holes in the engineering drawing, and automatically selects the coordinates of four holes randomly according to the program from the coordinates of all the holes, and forms the coordinates of the four holes into the first engineering drawing set. Automatic selection by computer avoids manual operation, saves manual operation time and improves work efficiency.

In this embodiment, S101 may further include: acquiring coordinate information of any four holes in the engineering drawing coordinate system in the engineering drawing coordinate system to form a first engineering drawing coordinate set; wherein, among the four holes, two holes are located in the coordinate system of the engineering drawing. The line intersects the line where the other two holes are.

Obtaining the coordinate information of any four holes in the drawing coordinate system in the drawing refers to manually selecting any four holes and inputting the coordinates of the four holes into the computer. By manually selecting any four holes in the engineering drawing, and transmitting the coordinate information of the selected four holes to the computer, the computer composes the coordinates of the four holes into the first engineering drawing according to the received coordinate information of the four holes. A collection of coordinates. By manually and autonomously selecting the four holes in the engineering drawing, it can be selected independently according to specific needs, and at the same time, the methods and methods of selecting the four holes are enriched, and the applicability of the system calculation is increased.

S1021 , acquiring a scanned image of the workpiece.

The scanned image of the workpiece is obtained by scanning, and the workpiece image is formed in the workpiece coordinate system. Exemplarily, the workpiece can be scanned by a scanner, and the scanned image of the workpiece can be obtained quickly and conveniently.

S1022. Identify all holes in the scanned image through image processing.

Using image recognition technology, the hole position is determined on the scanned image. Exemplarily, after acquiring the scanned image of the workpiece, according to the color depth of different parts in the scanned image, it is determined that the position of the dark color is the position of the hole, and the coordinates of the color depth are recorded as the coordinates of the hole. Through the image recognition technology, the position of the hole can be accurately located, and the coordinates of all holes can be quickly obtained, which improves the work efficiency.

S1023: Determine the coordinates of all holes in the workpiece coordinate system to form a first workpiece coordinate set.

Exemplarily, according to the same principle, using image recognition technology, the coordinates of all positions with dark colors are sequentially obtained, and the obtained coordinates are formed into a workpiece coordinate set. The first workpiece coordinate set is quickly and accurately obtained by means of image processing, so as to improve work efficiency and avoid manual operation errors.

S1031 . Among the four holes a, b, c, and d of the first engineering drawing coordinate set, the intersection point e of the straight lines where the two holes a and b are located and the lines where the other two holes c and d are located is determined.

Exemplarily, it is determined that the coordinates of the four holes in the first engineering drawing coordinate set are a(0,0), b(100,100), c(0,100), d(100,0), then it is easy to obtain two The intersection coordinates e(50, 50) of the straight line where one hole a, b is located and the straight line where the other two holes c, d are located.

S1032. Calculate the first scale factor r1 and the second scale factor r2 according to the coordinates of the four holes a, b, c, d and the intersection e, wherein the first scale factor

second scale factor

Among them, Lae is the distance from hole a to intersection e, Lab is the distance from hole a to hole b, Lce is the distance from hole c to intersection e, and Lcd is the distance from hole c to hole d.

The distance in the coordinates is generally calculated by the distance formula, exemplarily, according to the coordinates of the above a, b, c, d and e,

Then r1=Lae/Lab=1/2; in the same way, r2=1/2.

S1033, according to the first scale factor r1 and the second scale factor r2, calculate the coordinates of the first virtual intersection point and the coordinates of the second virtual intersection point on the straight line where every two holes of all holes on the workpiece are located, and form a first virtual intersection point set respectively and the second virtual intersection set.

The virtual intersection point refers to the intersection point of the congruent point connecting lines corresponding to the first engineering drawing coordinate set in the matrix transformation. Exemplarily, the coordinates of the congruent points are q1 (100, 0), q2 (250, 50), q3 (100, 100), q4 (200, 100), q5 (200, 0), then 5 groups can be obtained For a quadrilateral, use r1 and r2 to calculate the possible 20 intersection points respectively. Taking the line segment composed of q1, q4, q3 and q5 as an example, through the formula e1=q1+r1(q4-q1), e2=q1+r2(q4 -q1), then e1.x=q1.x+r1*(q4.x-q1.x)=100+1/2*(200-100)=150; e1.y=q1.y+r1*( q4.y-q1.y)=0+1/2*(100-0)=50, a possible virtual intersection e1(150, 50) of q1 and q4 is obtained. Similarly, another possible intersection of q1 and q4 can be obtained. A virtual intersection e2(150, 50). According to the same calculation method, the line segments composed of q3 and q5 calculate the possible intersection points respectively: e1 (150, 50), e2 (150, 50).

S1034. Compare the coordinates in the first virtual intersection set with the coordinates in the second virtual intersection set, and when the coordinates of a first virtual intersection are the same as the coordinates of a second virtual intersection, determine the first virtual intersection The two holes corresponding to the coordinates of the intersection and the two holes corresponding to the coordinates of the one second virtual intersection are a set of congruent points.

Exemplarily, in a quadrilateral composed of congruent points q1, q4, q3, and q5, the possible intersection points of the line segments composed of congruent points q1 and q4 are e1 (150, 50), e2 (150, 50), and congruent points q3 The possible intersection points of the line segments composed of q5 are e1 (150, 50), e2 (150, 50), then it can be obtained that e1 composed of congruent points q1 and q4 is equal to e2 composed of q3 and q5, then q1, q3, q4, q5 are the four congruent points of the group to be found. It can be understood that the possible intersection points calculated by q1 and q2 are e1 (175, 25) and e2 (175, 25), then the possible intersection points of the line segments composed of q1 and q2 are not the same as the intersection points of the line segments composed of other congruent points. are equal, so q2 is not the congruence point you are looking for.

S1035: Count congruent points of all groups to form a congruent point set.

Through the above method, the four congruent points of the multiple groups to be searched can be quickly and effectively calculated, and it is not necessary to search manually, thereby improving work efficiency and saving work time. In order to make the result as concise as possible, the points selected in the example are the four endpoints of the square, so the values of r1 and r2 are equal. In fact, in practical applications, most of r1 and r2 are not equal, so I won't repeat them here.

S1041. According to the formula:

Calculate the rigid body transformation matrix corresponding to the congruent points of each group. In the coordinate system of the engineering drawing, the angles between the intersection point e and the four holes a, b, c, and d are A1, A2, A3, and A4, respectively. In the workpiece coordinate system , the included angles between one of the first virtual intersection and the second virtual intersection corresponding to the congruent points of each group and the congruent points of each group are B1, B2, B3, B4, respectively,

is the difference between the included angle A1 and the included angle B1; Δx is the difference between the intersection point e and the x coordinate of the one virtual intersection point, and Δy is the difference value between the intersection point e and the one virtual intersection point y coordinate.

Exemplarily, the coordinates of the intersection e in the coordinate system of the engineering drawing are (50, 50), and the coordinates of the virtual intersection in the coordinate system of the workpiece are (150, 50). The included angles of points c and d are 135 degrees, 45 degrees, -45 degrees, and -135 degrees, respectively, that is, A1 is 135 degrees, A2 is 45 degrees, A3 is -45 degrees, and A4 is -135; The included angles of points q1, q3, q4, and q5 are also 135 degrees, 45 degrees, -45 degrees, and -135 degrees, respectively, that is, B1 is 135 degrees, B2 is 45 degrees, B3 is -45 degrees, and B4 is -135 degrees. degree; then the angular deviation between the intersection e and the virtual intersection is 0 degrees, that is, the angular deviation between the intersection e and the virtual intersection has not changed, that is, 0, 100, and 0. Therefore, the rigid body transformation moment can be obtained as: . It can be understood that the included angle A1 corresponds to the included angle B1, the included angle A2 corresponds to the included angle B2, the included angle A3 corresponds to the included angle B3, the included angle A4 corresponds to the included angle B4, and the intersection point e corresponds to the virtual intersection point. The angle deviation is the difference between the included angle A1 and the included angle B1, or the difference between the included angle A2 and the included angle B2, or the difference between the included angle A3 and the included angle B3, or is the difference between the included angle A4 and the included angle B4, or the average value of the above four groups of differences.

S105. Select the coordinates of a plurality of arbitrary holes in the engineering drawing to form a second engineering drawing coordinate set, and convert the coordinates of the plurality of holes in the second engineering drawing coordinate set through each rigid body transformation matrix in the rigid body transformation matrix set Convert to the workpiece coordinate system to form a second workpiece coordinate set.

S1061 , according to the coordinates of each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix, determine the coordinates of the nearest hole corresponding to each hole on the workpiece.

Exemplarily, the selected three points f(151, 50), g(164, 80), h(76, 65), the three points constitute the second engineering drawing coordinate set M={f, g, h}; After the rigid body matrix transformation, f'(251, 50), g'(264, 80), h'(176, 65) are obtained, and f', g', h' form the second workpiece coordinate set M', according to The second workpiece coordinate set M' finds the corresponding three points f'≈p2, g'≈p6, h'≈p7, and obtains the three-point coordinates p2(251,50), p6(265,80), p7(175, 65).

S1062, according to the coordinates of the nearest hole corresponding to each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix on the workpiece, determine the offset of each hole in the second workpiece coordinate set, and form the Describe the offset set corresponding to each rigid body transformation matrix.

According to the coordinates of points p2, p6 and p7, the offset of p2 relative to f' can be obtained as

Similarly, the offset Δg'=1 of p6 relative to g', the offset Δh'=1 of p7 relative to h', and the offset sets Δf', Δg', Δh can be obtained at the same time.

S1063. Determine a registration score of each rigid body transformation matrix according to the offset set corresponding to each rigid body transformation matrix, and obtain a registration score result.

According to the size of the offset, when the offset is larger, it is determined that the score of the rigid body transformation matrix is lower. Through the above method, the offset can be quickly calculated, the optimal rigid body transformation matrix can be selected accurately, and the calculation is reduced. complexity and improve the efficiency of the operation.

S107. Determine an optimal rigid body transformation matrix according to the registration scoring result.

S108: Acquire the coordinates of the hole to be registered on the engineering drawing, and convert the coordinates of the hole to be registered into the coordinates of the workpiece coordinate system according to the optimal rigid body transformation matrix to realize the difference between the hole to be registered and the workpiece. Registration of holes.

Embodiment 3

3 is a schematic flowchart of a method for hole set registration provided in Embodiment 3 of the present application. As shown in FIG. 3 , the method includes:

S101. In the engineering drawing coordinate system, determine the coordinates of any four holes in the engineering drawing to form a first engineering drawing coordinate set; among the four holes, the straight line where two holes are located and the straight line where the other two holes are located intersect.

S1021 , acquiring a scanned image of the workpiece.

S1022. Identify all holes in the scanned image through image processing.

S1023: Determine the coordinates of all holes in the workpiece coordinate system to form a first workpiece coordinate set.

S1031 . Among the four holes a, b, c, and d of the first engineering drawing coordinate set, the intersection point e of the straight lines where the two holes a and b are located and the lines where the other two holes c and d are located is determined.

S1032. Calculate the first scale factor r1 and the second scale factor r2 according to the coordinates of the four holes a, b, c, d and the intersection e, wherein the first scale factor

second scale factor

Among them, Lae is the distance from hole a to intersection e, Lab is the distance from hole a to hole b, Lce is the distance from hole c to intersection e, and Lcd is the distance from hole c to hole.

S1033, according to the first scale factor r1 and the second scale factor r2, calculate the coordinates of the first virtual intersection point and the second virtual intersection point on the straight line where every two holes of all the holes on the workpiece are located, and form the first virtual intersection point set and the second virtual intersection point set respectively. Two sets of virtual intersections.

S1034. Compare the coordinates in the first virtual intersection set with the coordinates in the second virtual intersection set, and when the coordinates of a first virtual intersection are the same as the coordinates of a second virtual intersection, determine the first virtual intersection The two holes corresponding to the coordinates of the intersection and the two holes corresponding to the coordinates of the one second virtual intersection are a set of congruent points.

S1035: Count congruent points of all groups to form a congruent point set.

S1041. According to the formula:

Calculate the rigid body transformation matrix corresponding to the congruent points of each group. In the coordinate system of the engineering drawing, the angles between the intersection point e and the four holes a, b, c, and d are A1, A2, A3, and A4, respectively. In the workpiece coordinate system , the angles between one of the first virtual intersection and the second virtual intersection corresponding to the congruent points of each group and the congruent points of each group are B1, B2, B3, B4, respectively,

is the difference between the included angle A1 and the included angle B1; Δx is the difference between the intersection point e and the x coordinate of the one virtual intersection point, and Δy is the difference value between the intersection point e and the one virtual intersection point y coordinate.

S105. Select the coordinates of any plurality of holes in the engineering drawing to form a second engineering drawing coordinate set, and convert the coordinates of the multiple holes in the second engineering drawing coordinate set through each rigid body transformation matrix in the rigid body transformation matrix set Convert to the workpiece coordinate system to form a second workpiece coordinate set.

S1061 , according to the coordinates of each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix, determine the coordinates of the nearest hole corresponding to each hole on the workpiece.

S1062, according to the coordinates of the nearest hole corresponding to each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix on the workpiece, determine the offset of each hole in the second workpiece coordinate set, and form the Describe each rigid body transformation matrix offset set.

S10631. Calculate the standard deviation of the offsets in the offset set corresponding to each rigid body transformation matrix.

The standard deviation can be calculated according to

Calculations are made, where μ is the mean of the data. Exemplarily, when Δf'=0, Δg'=1, and Δh'=1,

can get

S10632: Perform a registration score for each rigid body transformation matrix according to a scoring standard with a standard deviation from small to large, and obtain a registration score result.

Exemplarily, according to the same algorithm, the standard deviation of all congruent points is calculated, and the standard deviations are compared. If the standard deviation of another congruent point is 0.312, since 0.312 is less than 0.471, the matching degree of this point is The better, the higher the rating.

S107. Determine an optimal rigid body transformation matrix according to the registration scoring result.

S108: Acquire the coordinates of the hole to be registered on the engineering drawing, and convert the coordinates of the hole to be registered into the coordinates of the workpiece coordinate system according to the optimal rigid body transformation matrix to realize the difference between the hole to be registered and the workpiece. Registration of holes.

Embodiment 4

FIG. 4 is a schematic flowchart of a method for hole set registration provided in Embodiment 4 of the present application. As shown in FIG. 4 , the method includes:

S101. In the engineering drawing coordinate system, determine the coordinates of any four holes in the engineering drawing to form a first engineering drawing coordinate set; among the four holes, the straight line where two holes are located and the straight line where the other two holes are located intersect.

S1021 , acquiring a scanned image of the workpiece.

S1022. Identify all holes in the scanned image through image processing.

S1023: Determine the coordinates of all holes in the workpiece coordinate system to form a first workpiece coordinate set.

S1031 . Among the four holes a, b, c, and d in the coordinate set of the first engineering drawing, the intersection point e of the lines where the two holes a and b are located and the lines where the other two holes c and d are located is determined.

S1032. Calculate the first scale factor r1 and the second scale factor r2 according to the coordinates of the four holes a, b, c, d and the intersection e, wherein the first scale factor

second scale factor

Among them, Lae is the distance from hole a to intersection e, Lab is the distance from hole a to hole b, Lce is the distance from hole c to intersection e, and Lcd is the distance from hole c to hole d.

S1033, according to the first scale factor r1 and the second scale factor r2, calculate the coordinates of the first virtual intersection point and the second virtual intersection point on the straight line where every two holes of all the holes on the workpiece are located, and form the first virtual intersection point set and the second virtual intersection point set respectively. Two sets of virtual intersections.

S1034. Compare the coordinates in the first virtual intersection set with the coordinates in the second virtual intersection set, and when the coordinates of a first virtual intersection are the same as the coordinates of a second virtual intersection, determine the first virtual intersection The two holes corresponding to the coordinates of the intersection and the two holes corresponding to the coordinates of the one second virtual intersection are a set of congruent points.

S1035: Count congruent points of all groups to form a congruent point set.

S1041. According to the formula:

Calculate the rigid body transformation matrix corresponding to the congruent points of each group. In the coordinate system of the engineering drawing, the angles between the intersection point e and the four holes a, b, c, and d are A1, A2, A3, and A4, respectively. In the workpiece coordinate system , the included angles between one of the first virtual intersection and the second virtual intersection corresponding to the congruent points of each group and the congruent points of each group are B1, B2, B3, B4, respectively,

is the difference between the included angle A1 and the included angle B1; Δx is the difference between the intersection point e and the x coordinate of the one virtual intersection point, and Δy is the difference value between the intersection point e and the one virtual intersection point y coordinate.

S105. Select the coordinates of any plurality of holes in the engineering drawing to form a second engineering drawing coordinate set, and convert the coordinates of the multiple holes in the second engineering drawing coordinate set through each rigid body transformation matrix in the rigid body transformation matrix set Convert to the workpiece coordinate system to form a second workpiece coordinate set.

S1061 , according to the coordinates of each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix, determine the coordinates of the nearest hole corresponding to each hole on the workpiece.

S1062, according to the coordinates of the nearest hole corresponding to each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix on the workpiece, determine the offset of each hole in the second workpiece coordinate set, and form the Describe the offset set corresponding to each rigid body transformation matrix.

S10633: Count the number of holes whose offsets are within a preset offset range in the offset set corresponding to each rigid body transformation matrix.

Exemplarily, Δf', Δg', and Δh' are respectively 0, 1, and 1, and the preset offset is 1, and the number of qualified points is 3. If the preset preset offset is 0.5, the qualified points are The number of holes is 1. By presetting the offset, the number of qualified holes can be simply and effectively determined, the calculation amount is reduced, and the calculation efficiency is improved.

S10634. Perform a registration score on each rigid body transformation matrix according to the scoring standard of the number of holes located within the preset offset range from large to small, and obtain a registration score result.

It can be understood that under the same preset offset, the more qualified points, the better the matching degree and the higher the score. Through the above method, the scoring result can be obtained quickly, and in the case of a large number of hole sets, the scoring can be obtained quickly, and an appropriate matrix can be selected to improve convenience.

S107. Determine an optimal rigid body transformation matrix according to the registration scoring result.

S108. Acquire the coordinates of the hole to be registered on the engineering drawing, and convert the coordinates of the hole to be registered into the coordinates of the workpiece coordinate system according to the optimal rigid body transformation matrix to realize the difference between the hole to be registered and the workpiece. Registration of holes.

Embodiment 5

FIG. 5 is a schematic structural diagram of a device for hole set registration provided by an embodiment of the present application. As shown in FIG. 5 , a hole set registration device includes:

The first engineering drawing coordinate set operation module 1 is set to determine the coordinates of any four holes in the engineering drawing in the engineering drawing coordinate system to form the first engineering drawing coordinate set; wherein, among the four holes, two holes are located in intersects the line where the other two holes are located.

The first workpiece coordinate set operation module 2 is configured to determine the coordinates of all holes on the workpiece in the workpiece coordinate system to form a first workpiece coordinate set.

The full-equipoint set operation module 3 is configured to, according to the first engineering drawing coordinate set and the first workpiece coordinate set, in the workpiece coordinate system, determine the complete set of all groups corresponding to the coordinates of the four holes in the first engineering drawing coordinate set. Congruent points constitute a set of congruent points; the shape of a graph composed of congruent points of each group is the same as that of a graph composed of four holes in the coordinate set of the first engineering drawing.

The congruent rigid body transformation matrix set operation module 4 is set to calculate the corresponding congruent points of each group according to the coordinates of the congruent points of each group in the congruent point set and the coordinates of the four holes in the first engineering drawing coordinate set The rigid body transformation matrix constitutes a rigid body transformation matrix set; the coordinates in the engineering drawing coordinate system can be converted to the workpiece coordinate system through the rigid body transformation matrix.

The second workpiece coordinate set operation module 5 is set to select the coordinates of any number of holes in the engineering drawing to form a second engineering drawing coordinate set, and transform the coordinates of the multiple holes in the second engineering drawing coordinate set through rigid body transformation Each rigid body transformation matrix in the matrix set is converted to the workpiece coordinate system to form a second workpiece coordinate set;

The scoring module 6 is configured to perform registration and scoring on each rigid body transformation matrix according to the coordinates of each hole in the second workpiece coordinate set and the coordinates of the nearest hole corresponding to each hole on the workpiece to obtain registration Scoring results.

The processing module 7 is set to determine the optimal rigid body transformation matrix according to the registration score result; and obtain the coordinates of the hole to be registered on the engineering drawing, and according to the optimal rigid body transformation matrix, the coordinates of the hole to be registered are obtained, Convert to the coordinates of the workpiece coordinate system to realize the registration of the hole to be registered with the hole on the workpiece.

In the device for hole set registration provided by the embodiment of the present application, firstly, the coordinates of four holes are determined by the first engineering drawing coordinate set computing module to form a first engineering drawing coordinate set; In the workpiece coordinate system, the coordinates of all holes on the workpiece are determined to form the first workpiece coordinate set, and then through the congruent point set operation module 3, according to the first engineering drawing coordinate set and the first workpiece coordinate set, find out the coordinates of the first engineering drawing coordinate set. The coordinates of the four holes are congruent points, and form a congruent point set; then calculate the rigid body transformation matrix corresponding to the congruent points of each group through the congruent rigid body transformation matrix set operation module 4, and form a rigid body transformation matrix set; then A second engineering drawing coordinate set is formed by the second workpiece coordinate set operation module 5, and a second workpiece coordinate set is formed; and then the scoring module 6 is used according to the coordinates of each hole in the second workpiece coordinate set and the The coordinates of the nearest hole corresponding to the hole, perform registration scoring on each rigid body transformation matrix, and obtain the registration scoring result; finally, the processing module 7 determines the optimal rigid body transformation matrix according to the registration scoring result; and obtain the engineering drawing. The coordinates of the holes to be registered are converted into the coordinates of the workpiece coordinate system according to the optimal rigid body transformation matrix to realize the registration of the holes. Through the above device, the optimal rigid body transformation matrix can be quickly calculated, and the holes in the engineering drawing and the holes on the workpiece can be accurately registered through the optimal rigid body transformation matrix, which reduces the process of manually calculating the rigid body transformation matrix and reduces the labor cost. Calculate the error rate, improve the calculation effect, shorten the process time, improve the work efficiency, and realize the automatic detection.

Optionally, the first engineering drawing coordinate set operation module 1 includes: a coordinate determining unit 11, which is set to determine the coordinates of all holes in the engineering drawing in the engineering drawing coordinate system; Among the coordinates of all the holes in , the coordinates of any four holes are randomly selected to form the first engineering drawing coordinate set; wherein, among the four holes, the lines where two holes are located intersect with the lines where the other two holes are located.

Optionally, the first engineering drawing coordinate set operation module further includes: a coordinate obtaining unit 13, configured to obtain coordinate information of any four holes in the engineering drawing in the engineering drawing coordinate system to form the first engineering drawing coordinate set; wherein , among the four holes, the line where two holes are located intersects the line where the other two holes are located.

Optionally, the first workpiece coordinate set operation module 2 includes: a scanning information acquisition unit 21, configured to obtain a scanned image of the workpiece; an image processing unit 22, configured to identify all holes in the scanned image through image processing; workpiece coordinates The determining unit 23 is configured to determine the coordinates of all the holes in the workpiece coordinate system to form a first workpiece coordinate set.

Optionally, the congruent point set operation module 3 includes: an intersection determination unit 31, configured to determine, among the four holes a, b, c, and d of the first engineering drawing coordinate set, the straight lines where two holes a, b are located. The intersection point e of the straight line where the other two holes c and d are located; the scale factor calculation unit 32 is set to calculate the first scale factor r1 and The second scale factor r2, where the first scale factor

second scale factor

Wherein, Lae is the distance from hole a to intersection e, Lab is the distance from hole a to hole b, Lce is the distance from hole c to intersection e, and Lcd is the distance from hole c to hole d; the virtual intersection calculation unit 33 is set as According to the first scale factor r1 and the second scale factor r2, the coordinates of the first virtual intersection point and the second virtual intersection point on the straight line where every two holes of all the holes on the workpiece are calculated, respectively forming the first virtual intersection point set and the second virtual intersection set; the comparison unit 34 is configured to compare the coordinates in the first virtual intersection set with the coordinates in the second virtual intersection set, when the coordinates of a first virtual intersection and a first virtual intersection When the coordinates of the two virtual intersections are the same, it is determined that the two holes corresponding to the coordinates of the first virtual intersection and the two holes corresponding to the coordinates of the second virtual intersection are a group of congruent points; the statistical unit 35 is set to Count the congruent points of all groups to form a set of congruent points.

Optionally, the congruent rigid body transformation matrix set operation module 4 is set according to the formula:

Calculate the rigid body transformation matrix corresponding to the congruent points of each group. In the coordinate system of the engineering drawing, the angles between the intersection point e and the four holes a, b, c, and d are A1, A2, A3, and A4, respectively. In the coordinate system, the included angles between one of the first virtual intersection and the second virtual intersection corresponding to the congruent points of each group and the congruent points of each group are B1, B2, B3, and B4, respectively,

is the difference between the included angle A1 and the included angle B1; Δx is the difference between the intersection point e and the x-coordinate of the one virtual intersection point, and Δy is the y-coordinate of the intersection point e and the one virtual intersection point difference value.

Optionally, the scoring module 6 includes: an adjacent hole coordinate determination unit 61, configured to determine the workpiece corresponding to each hole according to the coordinates of each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix. The coordinates of the nearest hole; the offset determination unit 62 is set to determine the coordinates of the nearest hole corresponding to each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix on the workpiece The offset of each hole in the second workpiece coordinate set constitutes the offset set corresponding to each rigid body transformation matrix; the scoring calculation unit 63 is set to the offset corresponding to each rigid body transformation matrix. The set determines the registration score of each rigid body transformation matrix, and obtains the registration score result.

Optionally, the score calculation unit 63 includes: a first score calculation subunit 631 or a second score calculation subunit 632; the first score calculation subunit 631 is configured to calculate the offset set corresponding to each rigid body transformation matrix. The standard deviation of the offset, and according to the scoring standard of the standard deviation from small to large, each rigid body transformation matrix is registered and scored, and the registration score result is obtained; the second score calculation subunit 632 is set to count each rigid body. In the offset set corresponding to the transformation matrix, the number of holes whose offsets are located within the preset offset range, and the scoring criteria according to the number of holes located within the preset offset range from large to small, Perform registration scoring on each rigid body transformation matrix to obtain the registration scoring result.

The above hole set registration apparatus can execute the hole set registration method provided by any embodiment of the present application, and has corresponding functional modules for executing the method.

Embodiment 6

FIG. 6 is a schematic structural diagram of a device for hole set registration provided by an embodiment of the present application. As shown in FIG. 6, a terminal device includes: one or more processors 41; a storage device 42, the processor in the device 41 can be one or more, and a processor 41 is taken as an example in FIG. 10; the storage device 42 is used to store one or more programs; the one or more programs are executed by one or more processors 41, so that one or more The plurality of processors 41 implement the hole set registration method described in any one of the embodiments of the present application.

The apparatus may further include: an input device 43 and an output device 44 .

The processor 41 , the storage device 42 , the input device 43 and the output device 44 in the device may be connected by a bus or in other ways, and the connection by a bus is taken as an example in FIG. 9 .

As a computer-readable storage medium, the storage device 42 in the device may be configured to store one or more programs, and the programs may be software programs, computer-executable programs, and modules, as described in Embodiment 1 or Embodiment 2 of the present application. Program instructions/modules corresponding to the provided hole set registration method (for example, the modules in the hole set registration device shown in FIG. 8 ). The processor 41 executes various functional applications and data processing of the terminal device by running the software programs, instructions and modules stored in the storage device 42 , that is, to implement the hole set registration method in the above method embodiments.

The storage device 42 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the device, and the like. Additionally, storage device 42 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, storage device 42 may include memory located remotely from processor 41, which may be connected to the device through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The input device 43 may be configured to receive input numerical or character information, and to generate key signal input related to user settings and function control of the device. The output device 44 may include a display device such as a display screen.

Moreover, when one or more programs included in the above-mentioned device are executed by the one or more processors 41, the program performs the following operations:

In the engineering drawing coordinate system, the coordinates of any four holes in the engineering drawing are determined to form the first engineering drawing coordinate set; among the four holes, the lines where two holes are located intersect with the lines where the other two holes are located.

In the workpiece coordinate system, the coordinates of all holes on the workpiece are determined to form the first workpiece coordinate set.

According to the first engineering drawing coordinate set and the first workpiece coordinate set, in the workpiece coordinate system, the congruent points of all groups corresponding to the coordinates of the four holes in the first engineering drawing coordinate set are determined to form a congruent point set; The shape of the graph composed of congruent points of the group is the same as the graph shape composed of the four holes in the first drawing coordinate set.

According to the coordinates of each group of congruent points in the congruent point set and the coordinates of the four holes in the first engineering drawing coordinate set, calculate the rigid body transformation matrix corresponding to each group of congruent points to form a rigid body transformation matrix set; engineering drawing coordinates The coordinates in the system can be transformed to the workpiece coordinate system through the rigid body transformation matrix.

Select the coordinates of any number of holes in the engineering drawing to form a second engineering drawing coordinate set, and convert the coordinates of the multiple holes in the second engineering drawing coordinate set to each rigid body transformation matrix in the rigid body transformation matrix set. The workpiece coordinate system forms a second workpiece coordinate set; according to the coordinates of each hole in the second workpiece coordinate set and the coordinates of the nearest hole corresponding to each hole on the workpiece, each rigid body transformation matrix is registered Score, get the registration score results.

The optimal rigid body transformation matrix is determined according to the registration score results.

Obtain the coordinates of the hole to be registered on the engineering drawing, and convert the coordinates of the hole to be registered into the coordinates of the workpiece coordinate system according to the optimal rigid body transformation matrix to realize the relationship between the hole to be registered and the hole on the workpiece. registration.

Embodiment 7

Embodiment 7 of the present invention provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, is used to execute a method for hole set registration, and the method includes:

In the engineering drawing coordinate system, the coordinates of any four holes in the engineering drawing are determined to form the first engineering drawing coordinate set; among the four holes, the lines where two holes are located intersect with the lines where the other two holes are located.

In the workpiece coordinate system, the coordinates of all holes on the workpiece are determined to form the first workpiece coordinate set.

According to the first engineering drawing coordinate set and the first workpiece coordinate set, in the workpiece coordinate system, the congruent points of all groups corresponding to the coordinates of the four holes in the first engineering drawing coordinate set are determined to form a congruent point set; The shape of the graph composed of congruent points of the group is the same as the graph shape composed of the four holes in the first drawing coordinate set.

According to the coordinates of each group of congruent points in the congruent point set and the coordinates of the four holes in the first engineering drawing coordinate set, calculate the rigid body transformation matrix corresponding to each group of congruent points to form a rigid body transformation matrix set; engineering drawing coordinates The coordinates in the system can be transformed to the workpiece coordinate system through the rigid body transformation matrix.

Select the coordinates of any number of holes in the engineering drawing to form a second engineering drawing coordinate set, and convert the coordinates of the multiple holes in the second engineering drawing coordinate set to each rigid body transformation matrix in the rigid body transformation matrix set. The workpiece coordinate system forms a second workpiece coordinate set; according to the coordinates of each hole in the second workpiece coordinate set and the coordinates of the nearest hole corresponding to each hole on the workpiece, each rigid body transformation matrix is registered Score, get the registration score results.

The optimal rigid body transformation matrix is determined according to the registration score results.

Obtain the coordinates of the hole to be registered on the engineering drawing, and convert the coordinates of the hole to be registered into the coordinates of the workpiece coordinate system according to the optimal rigid body transformation matrix to realize the relationship between the hole to be registered and the hole on the workpiece. registration.

Optionally, when the program is executed by the processor, it can also be used to execute the method for hole set registration provided in any embodiment of the present application.

The computer storage medium of the embodiments of the present application may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (Read Only Memory, ROM), Erasable Programmable Read Only Memory (EPROM), Flash Memory, Optical Fiber, Portable Disc-Read-Only Memory (Compact Disc-Read-Only Memory, CD-ROM), Optical storage devices, magnetic storage devices, or any suitable combination of the above. A computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with computer-readable program code embodied in the computer-readable signal medium. Such propagated data signals may take a variety of forms including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .

Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as the "C" language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or it can be connected to an external computer (eg using an internet service provider to connect via the internet).

Claims (12)

1. A method for hole set registration, comprising:

   In the engineering drawing coordinate system, the coordinates of any four holes in the engineering drawing are determined to form a first engineering drawing coordinate set; wherein, among the four holes, the straight line where two holes are located and the straight line where the other two holes are located intersect;

   In the workpiece coordinate system, determine the coordinates of all holes on the workpiece to form the first workpiece coordinate set;

   According to the first engineering drawing coordinate set and the first workpiece coordinate set, in the workpiece coordinate system, determine all groups corresponding to the coordinates of the four holes in the first engineering drawing coordinate set. Congruent points constitute a set of congruent points; the shape of the graph composed of congruent points of each group is the same as the graph shape composed of the four holes in the coordinate set of the first engineering drawing;

   According to the coordinates of the congruent points of each group in the congruent point set and the coordinates of the four holes in the first engineering drawing coordinate set, the rigid body transformation matrix corresponding to the congruent points of each group is calculated to form a rigid body transformation A set of matrices; the coordinates in the engineering drawing coordinate system can be converted to the workpiece coordinate system through the rigid body transformation matrix;

   Select the coordinates of any number of holes in the engineering drawing to form a second engineering drawing coordinate set, and convert the coordinates of the multiple holes in the second engineering drawing coordinate set through each of the rigid body transformation matrix sets. A rigid body transformation matrix is converted into the workpiece coordinate system to form a second workpiece coordinate set;

   According to the coordinates of each hole in the second workpiece coordinate set and the coordinates of the nearest hole corresponding to each hole on the workpiece, perform a registration score on each rigid body transformation matrix to obtain a registration score result;

   Determine the optimal rigid body transformation matrix according to the registration scoring result;

   Obtain the coordinates of the hole to be registered on the engineering drawing, and convert the coordinates of the hole to be registered to the coordinates of the workpiece coordinate system according to the optimal rigid body transformation matrix to realize the hole to be registered. Registration with holes on the workpiece.
2. The method for hole set registration according to claim 1, wherein, in the engineering drawing coordinate system, the coordinates of any four holes in the engineering drawing are determined to form a first engineering drawing coordinate set; comprising:

   In the drawing coordinate system, determine the coordinates of all holes in the drawing;

   From the coordinates of all holes in the engineering drawing, randomly select the coordinates of any four holes to form a first engineering drawing coordinate set; wherein, among the four holes, the straight line where the two holes are located and the other two holes where the lines intersect.
3. The method for hole set registration according to claim 1, wherein, in the engineering drawing coordinate system, the coordinates of any four holes in the engineering drawing are determined to form the first engineering drawing coordinate set, comprising:

   Obtain the coordinate information of any four holes in the engineering drawing coordinate system in the engineering drawing coordinate system to form a first engineering drawing coordinate set; wherein, among the four holes, the lines where two holes are located and the lines where the other two holes are located are intersect.
4. The method for hole set registration according to claim 1, wherein, in the workpiece coordinate system, the coordinates of all holes on the workpiece are determined to form a first workpiece coordinate set, comprising:

   Obtain a scanned image of the workpiece;

   Identify all holes in the scanned image by image processing;

   Determine the coordinates of all holes in the workpiece coordinate system to form the first workpiece coordinate set.
5. The method for hole set registration according to claim 1, wherein, according to the first engineering drawing coordinate set and the first workpiece coordinate set, determining the workpiece coordinate system and the first engineering drawing coordinate set The congruent points of all groups corresponding to the coordinates of the four holes described in , form a congruent point set, including:

   Determine the intersection e of the straight line where the two holes a, b in the four holes a, b, c, d of the first engineering drawing coordinate set are located and the straight line where the other two holes c, d are located;

   According to the coordinates of the four holes a, b, c, d and the intersection point e, a first scale factor r1 and a second scale factor r2 are calculated, wherein the first scale factor

   

   second scale factor

   

   Among them, Lae is the distance from hole a to intersection e, Lab is the distance from hole a to hole b, Lce is the distance from hole c to intersection e, and Lcd is the distance from hole c to hole d;

   According to the first scale factor r1 and the second scale factor r2, the coordinates of the first virtual intersection and the coordinates of the second virtual intersection on the straight line where every two holes of all the holes in the workpiece are calculated to form the first virtual intersection respectively. an intersection set and a second virtual intersection set;

   Comparing the coordinates in the first virtual intersection set with the coordinates in the second virtual intersection set, and in the case that the coordinates of a first virtual intersection and the coordinates of a second virtual intersection are the same, determine the Two holes corresponding to a first virtual intersection coordinate and two holes corresponding to the one second virtual intersection coordinate are a set of congruent points;

   Count the congruent points of all groups to form a set of congruent points.
6. The method for hole set registration according to claim 5, wherein the calculation is performed according to the coordinates of the congruent points of each group in the congruent point set and the coordinates of the four holes in the first engineering drawing coordinate set. The rigid body transformation matrix corresponding to the congruent points of each group, including:

   According to the formula:

   

   Calculate the rigid body transformation matrix corresponding to the congruent points of each group. In the coordinate system of the engineering drawing, the angles between the intersection point e and the four holes a, b, c, and d are A1, A2, A3, and A4, respectively. In the workpiece coordinate system, the included angles between one of the first virtual intersection and the second virtual intersection corresponding to the congruent points of each group and the congruent points of each group are B1, B2, B3, B4,

   

   is the difference between the included angle A1 and the included angle B1; Δx is the difference between the intersection point e and the x-coordinate of the one virtual intersection point, and Δy is the y-coordinate of the intersection point e and the one virtual intersection point difference value.
7. The method for hole set registration according to claim 1 , wherein, according to the coordinates of each hole in the second workpiece coordinate set and the coordinates of the nearest hole corresponding to the each hole on the workpiece, for each hole The rigid body transformation matrix is used for registration scoring, and the registration scoring results are obtained, including:

   According to the coordinates of each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix, determine the coordinates of the nearest hole corresponding to each hole on the workpiece;

   Determine the offset of each hole in the second workpiece coordinate set according to the coordinates of the nearest hole corresponding to each hole in the second workpiece coordinate set corresponding to each rigid body transformation matrix on the workpiece, forming an offset set corresponding to each rigid body transformation matrix;

   The registration score of each rigid body transformation matrix is determined according to the offset set corresponding to each rigid body transformation matrix, and the registration score result is obtained.
8. The method for hole set registration according to claim 7, wherein determining the registration score of each rigid body transformation matrix according to the offset set corresponding to each rigid body transformation matrix, and obtaining the registration score result, comprising:

   Calculate the standard deviation of the offsets in the offset set corresponding to each rigid body transformation matrix;

   A registration score is performed on each rigid body transformation matrix according to the scoring standard with the standard deviation from small to large, and a registration score result is obtained.
9. The method for hole set registration according to claim 7, wherein determining the registration score of each rigid body transformation matrix according to the offset set corresponding to each rigid body transformation matrix, and obtaining the registration score result, comprising:

   Counting the number of holes whose offsets are within the preset offset range in the offset set corresponding to each rigid body transformation matrix;

   According to the scoring standard of the number of holes located in the preset offset range from large to small, the registration score is performed on each rigid body transformation matrix, and the registration score result is obtained.
10. A hole set registration device, comprising:

    The first engineering drawing coordinate set operation module is set to determine the coordinates of any four holes in the engineering drawing in the engineering drawing coordinate system to form the first engineering drawing coordinate set; wherein, among the four holes, two holes The line where it is located intersects the line where the other two holes are located;

    The first workpiece coordinate set operation module is set to determine the coordinates of all holes on the workpiece in the workpiece coordinate system to form the first workpiece coordinate set;

    The congruent point set operation module is configured to, according to the first engineering drawing coordinate set and the first workpiece coordinate set, in the workpiece coordinate system, determine the coordinates of the four coordinates in the first engineering drawing coordinate set. The congruent points of all groups corresponding to the coordinates of the holes form a congruent point set; the shape of the graph composed of the congruent points of each group is the same as the graph shape composed of the four holes in the first engineering drawing coordinate set;

    The congruent rigid body transformation matrix set operation module is configured to calculate the congruent point coordinates of each group in the congruent point set and the coordinates of the four holes in the first engineering drawing coordinate set to calculate the The rigid body transformation matrix corresponding to the congruent point forms a rigid body transformation matrix set; the coordinates in the engineering drawing coordinate system can be converted to the workpiece coordinate system through the rigid body transformation matrix;

    The scoring module is configured to select the coordinates of any plurality of holes in the engineering drawing to form a second engineering drawing coordinate set, and transform the coordinates of the plurality of holes in the second engineering drawing coordinate set through the rigid body transformation Each rigid body transformation matrix in the matrix set is converted to the workpiece coordinate system to form a second workpiece coordinate set; according to the coordinates of each hole in the second workpiece coordinate set and the maximum corresponding to each hole on the workpiece The coordinates of the adjacent holes, perform registration scoring for each rigid body transformation matrix, and obtain the registration scoring results;

    The processing module is configured to determine the optimal rigid body transformation matrix according to the registration scoring result; and obtain the coordinates of the hole to be registered on the engineering drawing, and convert the hole to be registered according to the optimal rigid body transformation matrix The coordinates are converted into the coordinates of the workpiece coordinate system to realize the registration of the hole to be registered and the hole on the workpiece.
11. A terminal device including:

    at least one processor;

    a storage device configured to store at least one program;

    When the at least one program is executed by the at least one processor, the at least one processor implements the method for hole set registration according to any one of claims 1-9.
12. A computer-readable storage medium storing a computer program, which, when executed by a processor, implements the method for hole set registration according to any one of claims 1-9.

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