CN111504230A - Three-dimensional size measuring system and method for refrigerator - Google Patents
Three-dimensional size measuring system and method for refrigerator Download PDFInfo
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- CN111504230A CN111504230A CN202010320032.5A CN202010320032A CN111504230A CN 111504230 A CN111504230 A CN 111504230A CN 202010320032 A CN202010320032 A CN 202010320032A CN 111504230 A CN111504230 A CN 111504230A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2545—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with one projection direction and several detection directions, e.g. stereo
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Abstract
The invention provides a three-dimensional size measuring system and a three-dimensional size measuring method of a refrigerator, wherein the three-dimensional size measuring system of the refrigerator comprises a measuring room formed by enclosing a building structure; a conveying unit including a conveying line passing through the measuring room, a driving unit providing a driving force to the conveying line; the code scanning unit is arranged on the periphery of the conveying line; the device comprises a measuring unit, a plurality of sets of 3D image acquisition equipment, a plurality of image acquisition equipment and a plurality of image acquisition equipment, wherein the measuring unit is fixed on the building structure, at least one set of 3D image acquisition equipment is positioned at the top of the measuring room, at least four sets of 3D image acquisition equipment are distributed at intervals on the periphery of the measuring room, and three-dimensional surface information acquired by any two adjacent sets of 3D image acquisition equipment on a refrigerator to be measured is overlapped; and a main control unit. The refrigerator three-dimensional size measuring system can enable the three-dimensional surface information acquired by any two adjacent 3D image acquisition devices on the refrigerator to be measured to be overlapped, so that a refrigerator three-dimensional model can be established, and the three-dimensional size of the refrigerator can be further accurately measured.
Description
Technical Field
The invention relates to the field of refrigerator production and packaging, in particular to a three-dimensional size measuring system and a three-dimensional size measuring method for a refrigerator.
Background
In the production process of the refrigerator, a plurality of accessories need to be assembled, and the refrigerator is packaged and delivered after being assembled. Taking a refrigerator as an example, before a door body is assembled, the quality of the refrigerator body needs to be measured to know whether the refrigerator body reaches an assembly standard or not; common box body measurements comprise box body diagonal dimension, inner container and U shell flash seam, center sill and U shell matching, box body width, box body height, upper collision angle unevenness, four-face flatness, lower hinge and lower sill angle, lower hinge axis and front face dimension, upper hinge hole dimension, center sill skewness and the like.
In the prior art, the size of the refrigerator is usually measured manually, so that the workload is large, the working progress is slow, and the measurement error is easy to occur. Some measurement systems for automatically acquiring the three-dimensional size of a product in the prior art can measure the three-dimensional size of a small-sized product, but when the measurement systems are used for measuring a large-sized refrigerator, only local sizes can be measured due to reasons such as light shielding, and the whole three-dimensional size of the refrigerator cannot be measured.
In view of the above, it is desirable to provide a three-dimensional measurement system and a measurement method for a refrigerator to solve the above problems.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art, and provides a three-dimensional size measuring system and a measuring method of a refrigerator.
In order to realize one of the purposes of the invention, the invention adopts the following technical scheme:
a three-dimensional dimension measuring system of a refrigerator, comprising:
the measuring room is formed by surrounding a building structure;
the conveying unit comprises a conveying line passing through the measuring room and a driving unit for providing driving force for the conveying line;
the code scanning unit is arranged on the periphery of the conveying line;
the measuring unit comprises a plurality of sets of 3D image acquisition equipment fixed on the building structure, wherein at least one set of 3D image acquisition equipment is positioned at the top of the measuring room, at least four sets of 3D image acquisition equipment are distributed at intervals on the periphery of the measuring room, and three-dimensional surface information acquired by any two adjacent sets of 3D image acquisition equipment on the refrigerator to be measured is overlapped;
and the main control unit is in communication connection with the driving unit, the code scanning unit and the measuring unit.
Further, the projections of four sets of 3D image acquisition devices located on the peripheral side at the bottom of the measurement room are located at the four corners of a square.
Further, the measurement unit further comprises four sets of 3D image acquisition devices located above and/or below the four sets of 3D image acquisition devices whose projections at the bottom of the measurement room are located at the four corners of one square.
Further, only one set of 3D image acquisition devices is located at the top, the 3D image acquisition devices being located at the center position of the top; or at least four sets of 3D image acquisition devices are positioned at the top, the four sets of image acquisition devices are positioned on four sides of a square, and the projections of the four sets of 3D image acquisition devices positioned on the peripheral sides at the top of the measurement room are positioned on four corners of the square.
Furthermore, the building structure at least comprises four upright posts extending along the height direction, the four upright posts are respectively positioned at four corners of a square, at least one set of 3D image acquisition equipment is directly or indirectly fixed at the tops of the upright posts, and four sets of 3D image acquisition equipment are respectively positioned on the four upright posts;
or the building structure at least comprises a plurality of stand columns and shading curtains positioned on the stand columns, the shading curtains arranged at intervals along the extension direction of the conveying line are flexible shading curtains or telescopic shading curtains, and the 3D image acquisition equipment is fixed on the stand columns and/or the shading curtains;
or the building structure comprises a side light shielding plate and a top light shielding plate positioned at the top of the side light shielding plate, the side light shielding plates arranged at intervals along the extension direction of the conveying line are flexible light shielding plates or telescopic light shielding plates, the top light shielding plate and other side light shielding plates are all hard light shielding plates, and the 3D image acquisition equipment is fixed on the side light shielding plate and/or the top light shielding plate;
or, the building structure comprises a lateral light screen, a top light screen located at the top of the lateral light screen, and the lateral light screen is arranged at intervals along the extension direction of the conveying line, the lateral light screen is a flexible light screen or a telescopic light screen, one part of the top light screen and the other part of the lateral light screen are hard light screens, the other part of the lateral light screen is a flexible light screen or an elastic light screen, the hard light screens of the parts are spliced to form a framework of the measuring room, the flexible light screen or the telescopic light screen is fixed with the hard light screen, and the 3D image acquisition equipment is fixed on the lateral light screen and/or the top light screen.
Further, the measurement unit further comprises an optical projector projection device which is used with the 3D image acquisition device and can project a plurality of light and shade at intervals.
Further, the conveying unit also comprises a sensor which is arranged in the measuring room and is used for detecting that the refrigerator to be tested enters the measuring room.
Further, along the conveying direction of the conveying line, the code scanning unit is positioned in front of the measuring room, in the measuring room or behind the measuring room.
In order to realize the purpose of the invention, the following technical scheme is adopted:
a three-dimensional size measuring method of a refrigerator comprises the following steps:
conveying the refrigerator to be measured into a measuring room;
acquiring standard information of a refrigerator to be measured;
acquiring three-dimensional surface information of the refrigerator to be measured from at least one top acquisition point at the top of the measurement room and at least four peripheral side acquisition points at the peripheral side of the measurement room, wherein any two adjacent acquisition points of the top acquisition point and the peripheral side acquisition points are overlapped with the three-dimensional surface information acquired by the refrigerator to be measured;
establishing a real object three-dimensional graph of the refrigerator to be tested based on the acquired three-dimensional surface information and calculating the three-dimensional size of the refrigerator;
comparing the three-dimensional size with the standard information, and if the three-dimensional size is consistent with the standard information, determining that the refrigerator to be tested is qualified; and if the three-dimensional size and the standard size information have deviation, the refrigerator to be tested is unqualified.
Furthermore, the four peripheral side acquisition points are respectively positioned on the peripheral sides of four edges and corners extending along the height direction on the refrigerator to be tested;
further, a top acquisition point is located at the center of the top of the measurement room; or at least four top acquisition points are positioned on four sides of a square, and the projections of the four peripheral side acquisition points on the top of the measurement room are respectively positioned on four corners of the square.
Further, acquiring the three-dimensional surface information comprises the following steps: projecting a group of light and shade alternate light and shade to a refrigerator to be tested; acquiring three-dimensional surface information of a refrigerator to be tested;
or, acquiring the three-dimensional surface information comprises the following steps: sequentially projecting a plurality of groups of light and shade alternate light and shadows to the refrigerator to be tested, wherein the areas of the light and shadows in different groups are different; and three-dimensional surface information is acquired once when a group of light and shade with alternate light and shade is projected.
Further, the light shadow is in a stripe shape or a square block shape.
Further, standard information of the refrigerator to be measured is obtained, and then the measuring unit is controlled or measuring parameters of the measuring unit are adjusted based on the standard information, so that three-dimensional surface information of the surface of the refrigerator to be measured is obtained.
Further, the measuring chamber is a shading chamber.
The invention has the beneficial effects that: in the refrigerator three-dimensional size measuring system, at least one set of 3D image acquisition equipment is positioned at the top of the refrigerator to be measured, and at least four sets of 3D image acquisition equipment are distributed at intervals on the periphery of the measuring room, so that three-dimensional surface information acquired by any two adjacent 3D image acquisition equipment on the refrigerator to be measured can be overlapped, a refrigerator three-dimensional model can be established, and the three-dimensional size of the refrigerator can be further accurately measured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic view of a three-dimensional dimension measuring system of a refrigerator in an embodiment of the present invention;
fig. 2 is a plan view of a three-dimensional dimension measuring system of a refrigerator according to another embodiment of the present invention, only a part of a transfer line being illustrated for convenience;
FIG. 3 is a side view of FIG. 2 taken across the width of the conveyor line;
fig. 4 is a side view of fig. 2 in the conveying direction of the conveyor line.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, in the present invention, a three-dimensional size measuring system 100 of a refrigerator includes a measuring room 1, a conveying unit 2 for conveying a refrigerator M to be measured to or from the measuring room 1, a code scanning unit (not shown) for scanning a code of the refrigerator M to be measured, a measuring unit 3 for obtaining a three-dimensional size of the refrigerator M to be measured, and a main control unit (not shown), wherein the conveying unit 2, the code scanning unit, and the measuring unit 3 are all in communication connection with the main control unit to implement automatic online measurement.
The measurement room 1 is formed by enclosing a building structure and is used for providing a suitable measurement environment for the refrigerator M to be measured, wherein the refrigerator M to be measured can be a semi-finished product or a complete refrigerator. The measuring chamber 1 is not limited in shape and is preferably sized to accommodate and fit the largest refrigerator on the market.
The shape of the building structure and the splicing mode thereof are not limited as long as a measuring space can be defined. In a reference embodiment, the building structure at least includes four vertical columns 11 extending in the height direction, the four vertical columns 11 are respectively located at four corners of a square, or the four vertical columns 11 are a square after an orthographic projection connecting line from top to bottom at the bottom of the measuring room 1, the square includes a square or a rectangle, and the measuring room 1 is in a rectangular shape at this time, which is similar to the structure of most refrigerators in the market.
Further, in order to avoid the influence of different colors of the refrigerator M to be measured on the measurement result and the influence of the field environment, the fluorescent lamp and the like on the measurement result, the measurement room 1 is a light-shielding room, that is, the measurement unit 3 performs the measurement on the refrigerator M to be measured in the light-shielding room.
In a specific embodiment, the building structure at least comprises a plurality of vertical columns 11 and a light-shielding curtain (not shown in the figure for clearly seeing the arrangement position of the measuring unit) on the vertical columns 11, wherein the vertical columns form a framework of the measuring room 1 and are used for fixing the light-shielding curtain, and the light-shielding curtain plays a role in shielding light and can avoid the influence of external light on the measurement.
And the window shades arranged at intervals along the extension direction of the conveying line are flexible window shades or telescopic window shades, through the deformation of the flexible window shades or the telescopic window shades, the refrigerator M to be tested positioned on the conveying unit 2 can automatically enter or go out of the measuring room 1, and the window shades at other parts can be flexible or hard.
Or, in another specific embodiment, the building structure comprises a side light shielding plate and a top light shielding plate positioned at the top of the side light shielding plate, the side light shielding plates arranged at intervals along the extension direction of the conveying line are flexible light shielding plates or telescopic light shielding plates, and the top light shielding plate and other side light shielding plates are all hard light shielding plates; or the side light shielding plates arranged at intervals along the extension direction of the conveying line are flexible light shielding plates or telescopic light shielding plates, one part of the top light shielding plate and the other side light shielding plates is a hard light shielding plate, the other part of the top light shielding plate and the other part of the side light shielding plates are flexible light shielding plates or elastic light shielding plates, the hard light shielding plates of the part are spliced to form a framework of the measuring room 1, and the other flexible light shielding plates or the telescopic light shielding plates are fixed with the hard light shielding plates in a hanging mode.
The conveying unit 2 comprises a conveying line penetrating through the measuring room 1 and a driving unit providing driving force for the conveying line, and the driving unit is in communication connection with the main control unit. The driven unit is matched with the conveying line, and the driven unit and the conveying line both adopt the prior art; for example, the conveying line is a conveying belt, and the driving unit comprises at least two synchronizing wheels and a motor for driving at least one synchronizing wheel to rotate actively; or the conveying line is a plurality of conveying rollers, and the driving unit comprises a motor for driving at least one conveying roller to rotate actively.
Preferably, the conveying unit 2 further includes a sensor (not shown) installed in the measuring room 1 to detect that the refrigerator M to be measured enters the measuring room 1, after the refrigerator M to be measured enters the measuring room 1, the sensor is triggered and sends a signal to the main control unit, and the main control unit controls the driving unit to stop working, so that the conveying line stops moving.
In a specific embodiment, the sensor is a photoelectric sensor, the photoelectric sensor comprises an emitting end and a receiving end which are arranged on the building structure at intervals, and after the refrigerator M to be tested enters the measuring room 1, at least part of the refrigerator structure enters the space between the emitting end and the receiving end to trigger the photoelectric sensor; or after the refrigerator M to be tested enters the measuring room 1, the triggering structural part attached to the refrigerator or the conveying line enters between the transmitting end and the receiving end to trigger the photoelectric sensor.
Sweep a yard unit and locate transfer chain week side, "locate transfer chain week side" indicates sweep a yard unit and be located the periphery of transfer chain and can sweep the optional position department of sign indicating number to the refrigerator M that awaits measuring that is located on the transfer chain. For example, the code scanning unit is installed above the conveying line, and when the refrigerator M to be tested passes through the code scanning range of the code scanning unit, the code scanning unit identifies the code on the refrigerator M to be tested and transmits the information of the refrigerator to the main control part. Or the code scanning unit is positioned on at least one side of the conveying line in the width direction, and when the refrigerator M to be tested passes through the code scanning range of the code scanning unit, the code scanning unit identifies the codes on the refrigerator M to be tested and transmits the information of the refrigerator to the main control part.
In addition, along the conveying direction of the conveying line, the code scanning unit is positioned in front of the measuring room 1, in the measuring room 1 or behind the measuring room 1, so that the code scanning can be performed before the refrigerator M to be measured enters the measuring room 1, after the refrigerator M to be measured is positioned in the measuring room 1 and the refrigerator M to be measured outputs the measuring room 1.
The measuring unit 3 comprises a plurality of sets of 3D image acquisition devices 31 fixed to the building structure, the 3D image acquisition devices 31 comprising 3D cameras or three-dimensional scanners, the 3D cameras including but not limited to binocular cameras. The three-dimensional surface information of the refrigerator M to be measured is obtained through the 3D camera or the three-dimensional scanner, the surface information of the refrigerator M to be measured is described through dense point cloud data, and each point on the surface of the refrigerator M to be measured has spatial three-dimensional information, so that the measurement of three-dimensional information such as the distance, the angle, the flatness and the like of the refrigerator M to be measured can be achieved, and the physical three-dimensional map of the refrigerator M to be measured is obtained through software data processing.
At least one set of 3D image acquisition device 31 is located at the top of the measurement room 1, at least four sets of 3D image acquisition devices 31 are distributed at intervals on the periphery of the measurement room 1, and three-dimensional surface information acquired by any two adjacent 3D image acquisition devices 31 on the refrigerator M to be measured is overlapped, so that a three-dimensional model of the refrigerator can be established by using the overlapped three-dimensional surface information as a base point, and the three-dimensional size of the refrigerator is further accurately measured.
Further, considering that most of existing refrigerators are rectangular, the projections of four sets of 3D image acquisition devices 31 located on the peripheral sides on the bottom of the measurement room 1 are located at four corners of a square, that is, the three-dimensional surface information of the refrigerator is acquired from four peripheral side acquisition points on the peripheral sides of the refrigerator, so that it can be ensured that the three-dimensional surface information acquired by two adjacent 3D image acquisition devices 31 located on the peripheral sides on the refrigerator M to be measured is overlapped.
Preferably, when the refrigerator M to be tested is placed, four edges of the refrigerator M to be tested extending in the height direction approximately correspond to the four sets of 3D image acquisition devices 31, at this time, the four sets of 3D image acquisition devices 31 located on the peripheral side can acquire an angle of view that is not blocked by the edges of the refrigerator, so that the obtained three-dimensional surface information has a larger overlapping degree, and a more accurate three-dimensional model can be established.
In addition, as shown in fig. 1, the measuring unit 3 further includes four sets of auxiliary 3D image capturing devices 32 located above and/or below the four sets of 3D image capturing devices 31 located at the four corners of a square in the projection at the bottom of the measuring room 1, and is applicable to the refrigerator M to be measured at any height.
The installation and layout of the 3D image acquisition device 31 are related to the building structure, and the installation and layout of the 3D image acquisition device 31 will be described in detail below based on the above embodiment of the building structure.
In embodiments where the building structure comprises at least four uprights 11 extending in height direction, the 3D image acquisition device 31 is directly or indirectly fixed to the uprights 11. For example, at least one set of 3D image acquisition devices 31 is directly or indirectly fixed on the top of the upright post 11, and four sets of 3D image acquisition devices 31 are respectively located on the four upright posts 11; specifically, each upright 11 is provided with a supporting platform, and the 3D image acquisition device 31 is located on the supporting platform.
Specifically, the building structure includes a top bracket 12 or a top plate fixed to the top end of the upright 11, and the 3D image acquisition device 31 located at the top is hung on the top bracket 12 or the top plate. Preferably, only one set of 3D image acquisition devices 31 is located at the top, the 3D image acquisition devices 31 being located at the center of the top. When a plurality of sets of 3D image acquisition devices 31 are arranged at the top, the plurality of sets of 3D image acquisition devices 31 are arranged in such a manner that the most complete three-dimensional surface information of the refrigerator M to be tested can be obtained and the most cross three-dimensional surface information obtained by the 3D image acquisition devices 31 located on the peripheral side is obtained; for example, at least four sets of 3D image acquisition devices 31 are located at the top, the four sets of image acquisition devices are located on four sides of a square, and the projections of the four sets of 3D image acquisition devices 31 located on the peripheral sides at the top of the measurement room 1 are located on four corners of the square.
Or, in an embodiment where the building structure at least includes a plurality of vertical columns 11 and a light shielding plate located on the plurality of vertical columns 11, the 3D image acquiring device 31 is fixed on the vertical columns 11 and/or the light shielding curtain, and the setting position or arrangement manner of the 3D image acquiring device 31 refers to the above "embodiment where the building structure at least includes four vertical columns 11 extending in the height direction". In a reference embodiment, the building structure at least includes four columns 11 and light shielding plates located on the four columns 11, four sets of 3D image capturing devices 31 are respectively fixed on the four columns 11, and one set of 3D image capturing device 31 is fixed at the middle position of the light shielding plate at the top.
Or, in an embodiment where the building structure includes a side light shielding plate and a top light shielding plate located at the top of the side light shielding plate, the 3D image obtaining apparatus 31 is fixed on the side light shielding plate and/or the top light shielding plate, and the setting position or the arrangement manner of the 3D image obtaining apparatus 31 refers to the above "embodiment where the building structure at least includes four columns 11 extending in the height direction". In a reference embodiment, the building structure includes four side light shielding plates and a top light shielding plate covering the top of the side light shielding plate, the four sets of 3D image obtaining devices 31 are fixed at the joints of the four side light shielding plates respectively, and one set of 3D image obtaining device 31 is fixed at the middle position of the top light shielding plate.
It should be noted that, in the present invention, the square where the projections of the columns 11 on the top of the measurement room 1 are located corresponds to the square where the projections of the four columns 11 on the bottom are located; the projection of the four sets of 3D image acquisition devices 31 on the top of the measurement room 1 is in a square shape; the four sets of 3D image acquisition devices 31 correspond up and down in the square where the projections of the bottom are located.
Further, the measurement unit 3 further includes an optical projector projection device disposed adjacent to the 3D image acquisition device 31 for use in a matched manner and capable of projecting a plurality of light and shade images with alternate light and shade, and is applicable to the measurement room 1 with light or the measurement room 1 chamber with light shielding. The light shadow can provide the light necessary for obtaining the image, is convenient for obtaining the three-dimensional surface information, forms three-dimensional point cloud data and finally forms an accurate object three-dimensional image.
Those skilled in the art will appreciate that one of the 3D image acquisition devices 31 needs to be configured with one of the optical engine projection devices; two 3D image acquisition devices 31 that are located close to each other and have substantially similar angles of acquiring images may also share one of the optical projector devices. The shape of the light shadow is not limited, and may be, for example, a stripe shape or a square block shape.
The optical machine projection equipment can project a plurality of groups of light and shade alternate light and shade for many times, and the areas of the light and shade of different groups are different, so that the measurement requirements of different models, different test accuracies and mixed production can be met.
The invention also provides a three-dimensional size measuring method of the refrigerator, which comprises the following steps:
conveying the refrigerator to be measured into a measuring room 1;
acquiring standard information of a refrigerator to be measured;
acquiring three-dimensional surface information of the refrigerator M to be measured from at least one top acquisition point at the top of the measurement room 1 and at least four peripheral side acquisition points at the peripheral side of the measurement room 1, wherein the three-dimensional surface information acquired by the refrigerator M to be measured is overlapped from any two adjacent acquisition points of the top acquisition point and the peripheral side acquisition points;
establishing a real object three-dimensional graph of the refrigerator M to be tested based on the acquired three-dimensional surface information and calculating the three-dimensional size of the refrigerator;
comparing the three-dimensional size with the standard information, and if the three-dimensional size is consistent with the standard information, determining that the refrigerator M to be tested is qualified; and if the three-dimensional size and the standard size information have deviation, the refrigerator M to be tested is unqualified.
Specifically, the refrigerator M to be tested can be conveyed to the measuring room 1 through any one of the conveying units 2, and after the refrigerator M to be tested enters the measuring room 1, the main control unit controls the driving unit to stop working, so that the conveying line stops moving; after the image acquisition unit acquires the three-dimensional surface information, the information is fed back to the main control unit, and the main control unit controls the driving unit to start the conveying line to convey the refrigerator M to be measured out of the measuring room 1. In the embodiment with the sensor, whether the refrigerator M to be tested enters the measuring room 1 can be detected through the sensor, and the sensor sends a signal to the main control unit.
The order of the information to be standard acquired by the code scanning unit and other steps can be exchanged, and is specifically determined by the setting position of the code scanning unit on the whole measuring line. Specifically, the code scanning can be performed before the refrigerator M to be measured enters the measuring room 1, after the refrigerator M to be measured is positioned in the measuring room 1 and the refrigerator M to be measured outputs the measuring room 1.
Preferably, the code scanning is performed to obtain standard information of the refrigerator to be measured, and then the measuring unit 3 is controlled or the measuring parameters of the measuring unit 3 are adjusted based on the standard information, and then the three-dimensional surface information is obtained. Specifically, before the refrigerator M to be measured enters the measurement room 1, the refrigerator M to be measured is located in the measurement room 1 to scan codes, and then the measurement unit 3 is controlled or the measurement parameters of the measurement unit 3 are adjusted based on standard information to obtain three-dimensional surface information of the surface of the refrigerator M to be measured.
The three-dimensional surface information of the surface of the refrigerator M to be measured is acquired by the above-mentioned measuring unit 3.
Specifically, the four peripheral side acquisition points are respectively located on the peripheral side of the four edges extending in the height direction on the refrigerator M to be tested, at this time, the four sets of 3D image acquisition devices 31 located on the peripheral side acquire the viewing angle without being blocked by the edges of the refrigerator, the obtained three-dimensional surface information has a larger overlapping degree, and a more accurate three-dimensional model can be established.
And a top acquisition point is positioned at the center of the top of the measurement room 1 to acquire three-dimensional surface information of the top of the refrigerator M to be measured, the three-dimensional surface information of the peripheral side of the refrigerator M to be measured is acquired through the peripheral side acquisition points, and the three-dimensional surface information of the top and the three-dimensional surface information of the peripheral side are jointly constructed into a real object three-dimensional graph by taking four edges of the top of the refrigerator M to be measured as references. Or at least four top acquisition points are positioned on four sides of a square, the projections of the four peripheral acquisition points on the top of the measuring room 1 are respectively positioned on four corners of the square, the top acquisition points and the peripheral acquisition points are matched to obtain all surface information of five surfaces of the refrigerator, and a more accurate real object three-dimensional model is established by taking the overlapped three-dimensional surface information as a reference.
Further, acquiring the three-dimensional surface information comprises the following steps: projecting a group of light and shade alternate light and shade to the refrigerator M to be tested; and acquiring the three-dimensional surface information of the refrigerator M to be tested.
Preferably, a plurality of groups of light and shade alternate light and shade are projected to the refrigerator M to be tested in sequence, and the areas of the light and shade in different groups are different; and the three-dimensional surface information is acquired once every time a group of light and shadow is projected, and a refrigerator three-dimensional model is established based on the multiple groups of three-dimensional surface information, so that the acquired measurement data is more accurate.
In the invention, the light shadow is in a stripe shape or a square block shape, which is beneficial to acquiring three-dimensional point cloud data.
Further, in order to avoid the influence of different colors of the refrigerator M to be measured on the measurement result and the influence of the field environment, the fluorescent lamp and the like on the measurement result, the measurement room 1 is a light-shielding room, that is, the measurement unit 3 performs the measurement on the refrigerator M to be measured in the light-shielding room.
The present invention will be described in detail below with respect to a specific refrigerator three-dimensional size measuring method: the refrigerator M to be measured is conveyed to the measuring room 1 through the conveying unit 2, the photoelectric sensor sends out a switching signal, the conveying line stops, and the refrigerator is located in the measuring room 1. And the code scanning unit receives a signal of stopping the refrigerator M to be detected, starts scanning the codes, acquires the bar code information of the refrigerator M to be detected, and calls the standard information of the refrigerator M to be detected according to the bar code information. The main control unit adjusts the parameters of the measuring unit 3 according to the information of the refrigerator M to be measured, and starts to scan and measure. After scanning and measuring, the conveying unit 2 receives an instruction to let the refrigerator M to be measured to leave; thus, the automatic three-dimensional detection of the refrigerator M to be detected is completed. The main control unit comprehensively analyzes and processes image data obtained by the sets of 3D image obtaining devices 31 to obtain a three-dimensional model of the whole refrigerator M to be tested, compares the three-dimensional model with a system drawing and outputs a comparison conclusion.
In summary, in the three-dimensional refrigerator size measuring system of the present invention, at least one set of 3D image obtaining devices 31 is located at the top of the refrigerator M to be measured, and at least four sets of 3D image obtaining devices 31 are distributed at intervals around the measuring room 1, so that three-dimensional surface information obtained by any two adjacent 3D image obtaining devices 31 on the refrigerator M to be measured can be overlapped, and thus a three-dimensional refrigerator model can be established, and the three-dimensional size of the refrigerator can be further accurately measured.
It should be understood that although the present description refers to embodiments, not every embodiment contains only a single technical solution, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the technical solutions in the embodiments can also be combined appropriately to form other embodiments understood by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (15)
1. A three-dimensional dimension measuring system of a refrigerator, comprising:
the measuring room is formed by surrounding a building structure;
the conveying unit comprises a conveying line passing through the measuring room and a driving unit for providing driving force for the conveying line;
the code scanning unit is arranged on the periphery of the conveying line;
the measuring unit comprises a plurality of sets of 3D image acquisition equipment fixed on the building structure, wherein at least one set of 3D image acquisition equipment is positioned at the top of the measuring room, at least four sets of 3D image acquisition equipment are distributed at intervals on the periphery of the measuring room, and three-dimensional surface information acquired by any two adjacent sets of 3D image acquisition equipment on the refrigerator to be measured is overlapped;
and the main control unit is in communication connection with the driving unit, the code scanning unit and the measuring unit.
2. The three-dimensional measurement system of the refrigerator according to claim 1, wherein the projections of the four sets of 3D image capturing devices located on the peripheral side on the bottom of the measurement room are located at four corners of a square.
3. The three-dimensional measurement system of a refrigerator according to claim 2, wherein the measurement unit further comprises auxiliary 3D image capturing devices located above and/or below four sets of 3D image capturing devices located at four corners of one square in a projection at the bottom of the measurement room.
4. The three-dimensional size measuring system of a refrigerator according to claim 1, wherein only one set of 3D image obtaining devices is located at a top, the 3D image obtaining devices being located at a central position of the top;
or at least four sets of 3D image acquisition devices are positioned at the top, the four sets of image acquisition devices are positioned on four sides of a square, and the projections of the four sets of 3D image acquisition devices positioned on the peripheral sides at the top of the measurement room are positioned on four corners of the square.
5. The three-dimensional dimension measuring system of the refrigerator according to claim 1, wherein the construction structure comprises at least four vertical columns extending along the height direction, the four vertical columns are respectively located at four corners of a square, at least one set of 3D image acquisition equipment is directly or indirectly fixed at the tops of the vertical columns, and four sets of 3D image acquisition equipment are respectively located on the four vertical columns;
or the building structure at least comprises a plurality of stand columns and shading curtains positioned on the stand columns, the shading curtains arranged at intervals along the extension direction of the conveying line are flexible shading curtains or telescopic shading curtains, and the 3D image acquisition equipment is fixed on the stand columns and/or the shading curtains;
or the building structure comprises a side light shielding plate and a top light shielding plate positioned at the top of the side light shielding plate, the side light shielding plates arranged at intervals along the extension direction of the conveying line are flexible light shielding plates or telescopic light shielding plates, the top light shielding plate and other side light shielding plates are all hard light shielding plates, and the 3D image acquisition equipment is fixed on the side light shielding plate and/or the top light shielding plate;
or, the building structure comprises a lateral light screen, a top light screen located at the top of the lateral light screen, and the lateral light screen is arranged at intervals along the extension direction of the conveying line, the lateral light screen is a flexible light screen or a telescopic light screen, one part of the top light screen and the other part of the lateral light screen are hard light screens, the other part of the lateral light screen is a flexible light screen or an elastic light screen, the hard light screens of the parts are spliced to form a framework of the measuring room, the flexible light screen or the telescopic light screen is fixed with the hard light screen, and the 3D image acquisition equipment is fixed on the lateral light screen and/or the top light screen.
6. The three-dimensional dimension measuring system of the refrigerator according to any one of claims 1 to 5, wherein the measuring unit further comprises an optical projector projection device which is used with the 3D image acquisition device and can project a plurality of light shadows with alternate light and shade.
7. The three-dimensional size measuring system of a refrigerator according to claim 1, wherein the conveying unit further comprises a sensor installed in the measuring room to detect the entrance of the refrigerator under test into the measuring room.
8. The three-dimensional dimension measuring system of a refrigerator according to claim 1, wherein the code scanning unit is located before, in, or behind the measuring room in a conveying direction of the conveying line.
9. A three-dimensional size measuring method of a refrigerator is characterized by comprising the following steps:
conveying the refrigerator to be measured into a measuring room;
acquiring standard information of a refrigerator to be measured;
acquiring three-dimensional surface information of the refrigerator to be measured from at least one top acquisition point at the top of the measurement room and at least four peripheral side acquisition points at the peripheral side of the measurement room, wherein any two adjacent acquisition points of the top acquisition point and the peripheral side acquisition points are overlapped with the three-dimensional surface information acquired by the refrigerator to be measured;
establishing a real object three-dimensional graph of the refrigerator to be tested based on the acquired three-dimensional surface information and calculating the three-dimensional size of the refrigerator;
comparing the three-dimensional size with the standard information, and if the three-dimensional size is consistent with the standard information, determining that the refrigerator to be tested is qualified; and if the three-dimensional size and the standard size information have deviation, the refrigerator to be tested is unqualified.
10. The three-dimensional dimension measuring method of a refrigerator according to claim 9, wherein the four peripheral side acquisition points are respectively located on peripheral sides of four corners extending in the height direction on the refrigerator under test.
11. The three-dimensional size measuring system of the refrigerator according to claim 9, wherein a top access point is located at a center position of a top of the measuring room;
or at least four top acquisition points are positioned on four sides of a square, and the projections of the four peripheral side acquisition points on the top of the measurement room are respectively positioned on four corners of the square.
12. The three-dimensional size measuring system of the refrigerator of claim 9, wherein the acquiring of the three-dimensional surface information comprises the steps of: projecting a group of light and shade alternate light and shade to a refrigerator to be tested; acquiring three-dimensional surface information of a refrigerator to be tested;
or, acquiring the three-dimensional surface information comprises the following steps: sequentially projecting a plurality of groups of light and shade alternate light and shadows to the refrigerator to be tested, wherein the areas of the light and shadows in different groups are different; and three-dimensional surface information is acquired once when a group of light and shade with alternate light and shade is projected.
13. The three-dimensional size measuring system of a refrigerator according to claim 12, wherein the light shadow has a stripe shape or a block shape.
14. The three-dimensional dimension measuring system of the refrigerator according to claim 9, wherein standard information of the refrigerator to be measured is acquired, and then the three-dimensional surface information of the surface of the refrigerator to be measured is acquired by controlling the measuring unit or adjusting the measuring parameters of the measuring unit based on the standard information.
15. The three-dimensional dimension measuring system of the refrigerator according to claim 9, wherein the measuring chamber is a light shielding chamber.
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Application publication date: 20200807 |