CN112819774A - Large-scale component shape error detection method based on three-dimensional reconstruction technology and application thereof - Google Patents
Large-scale component shape error detection method based on three-dimensional reconstruction technology and application thereof Download PDFInfo
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Abstract
The invention discloses a method for detecting the appearance error of a large-scale component based on a three-dimensional reconstruction technology and application thereof. Compared with the prior art, the method greatly improves the detection precision, has low requirement on equipment and high detection speed, and has wide application prospect.
Description
Technical Field
The invention belongs to the technical field of component detection, relates to a large component shape error detection method based on a three-dimensional reconstruction technology and application thereof, and particularly relates to a method for carrying out three-dimensional digital reconstruction and then carrying out shape error detection after laser sensing information and visual sensing information are fused.
Background
The large-scale component is the basic component of large-scale equipment such as marine engineering, aerospace, energy and power. In the manufacturing process, machining and welding stress deformation inevitably exist, which directly influences the product quality, in order to ensure the quality, the quality of the product needs to be detected after the machining is finished so as to ensure that the product meets the use requirement, and the quality detection process of the large-scale component increasingly becomes one of important marks for measuring the level of the national manufacturing industry, and only a more accurate and efficient workpiece detection method can be used for manufacturing a workpiece with better quality.
In the quality detection process of the component, whether the appearance of the component meets the standard is often the most basic and the most important. Most of the existing component appearance detection methods are to manufacture a matching template matched with the appearance of a workpiece, combine the workpiece with the matching template, and judge the matching degree through naked eyes so as to determine whether the appearance of the workpiece meets the standard. Although the quality detection can be carried out, the matching degree is judged by naked eyes, on one hand, the matching degree is extremely dependent on the experience of detection personnel, and meanwhile, the problem of non-uniformity of detection standards exists, so that the appearance quality of the workpiece is uneven, secondary detection is needed to further eliminate defective products, time and labor are wasted, the quality is difficult to guarantee, and on the other hand, the detection speed is low, and batch and rapid operation is difficult to carry out.
In order to accelerate the detection speed and unify the detection standard, many automatic standardized detection methods have appeared in recent years, for example, CN 108827200a discloses a ship hull segment intelligent detection system and method, which obtains a large amount of three-dimensional point cloud data by setting up a three-dimensional scene scanning device, thereby improving the measurement efficiency and the measurement precision. Although the detection precision is greatly improved, the three-dimensional scene scanning equipment is high in cost and difficult to popularize in a large range, so that the further popularization of the three-dimensional scene scanning equipment is influenced.
Therefore, the development of the standardized large-scale component shape error detection method with low cost and high detection precision is of practical significance.
Disclosure of Invention
The invention aims to overcome the defect that the prior art is difficult to realize good consideration of detection precision and cost, and provides a standardized large-scale component shape error detection method with low cost and high detection precision.
In order to achieve the purpose, the invention provides the following technical scheme:
a three-dimensional reconstruction technology-based large-scale component shape error detection method is applied to electronic equipment, a laser sensor array is used for detecting a shape plane of a component to be detected, plane detection data of the component to be detected are fitted to obtain a plane detection image of the component to be detected, two side faces of the component to be detected are detected by a vision sensor, two side face data of the component to be detected are fitted to obtain two side face images of the component to be detected, then the plane detection image and the two side face detection images are reconstructed into a three-dimensional digital model through a three-dimensional reconstruction technology, and finally the three-dimensional digital model obtained through reconstruction is matched with a preset three-dimensional digital model to complete shape error detection; the preset three-dimensional digital model is a three-dimensional digital model constructed on the basis of design parameters of the component to be tested.
According to the method for detecting the shape error of the large-scale component based on the three-dimensional reconstruction technology, the laser sensor and the vision sensor are adopted to detect the component to be detected, then the images obtained by the two sensors are subjected to three-dimensional fusion to obtain the three-dimensional digital model, and finally the shape error detection can be completed by comparing the three-dimensional digital model with the preset three-dimensional digital model.
As a preferred technical scheme:
in the method for detecting the shape error of the large component based on the three-dimensional reconstruction technology, the specific steps of detecting the shape plane of the component to be detected by the laser sensor array and fitting the plane detection data of the component to be detected to obtain the plane detection image are as follows: and converting the space coordinate system of each laser sensor into a ground coordinate system serving as a reference, performing straight line fitting on a coordinate point of the component in the measuring process of each laser sensor, and then establishing a plane detection image of the component by fitting a series of straight lines. The protection scope of the present invention is not limited thereto, and those skilled in the art can acquire the relevant data of the component to be measured by the laser sensor according to the actual situation to obtain the plane detection image thereof.
In the method for detecting the shape error of the large component based on the three-dimensional reconstruction technology, the specific steps of reconstructing the plane detection image and the two side surface detection images into the three-dimensional digital model through the three-dimensional reconstruction technology are as follows:
firstly, calculating the characteristics of each pixel point by utilizing an SIFT operator according to an image;
then, matching and corresponding are carried out on a plurality of picture pixels, so that camera parameters are estimated, and sparse 3D information is obtained;
and finally, performing dense reconstruction according to the camera parameters obtained in the previous step to obtain point cloud data, and reconstructing a three-dimensional digital model. The method comprises the steps of carrying out three-dimensional digital model reconstruction and error analysis, judging whether the appearance of a workpiece has defects or not, usually relating to a curved surface deformation curvature fitting technology, curved surface boundary line extraction and standardization processing, intersecting surface boundary fitting, curved surface and solid modeling, relying on mass accumulation of production data, establishing a shaping expert system based on the mass accumulated production data, and completing reconstruction of a three-dimensional digital model by combining with artificial intelligence methods such as deep learning and the like.
In the method for detecting the shape error of the large component based on the three-dimensional reconstruction technology, the matching of the reconstructed three-dimensional digital model and the preset three-dimensional digital model specifically means that the reconstructed three-dimensional digital model and the preset three-dimensional digital model are overlapped and arranged in the same arrangement mode by taking the same reference point as a reference, and the non-overlapped part of the two models is the shape error part. The scope of the present invention is not limited thereto, and those skilled in the art can select a matching specific mode according to actual situations.
The invention also provides electronic equipment applying the method for detecting the shape error of the large-scale component based on the three-dimensional reconstruction technology, which comprises one or more processors, one or more memories, one or more programs, a laser sensor, a visual sensor and display equipment;
the laser sensor and the vision sensor are used for detecting a component to be detected, the display device is used for displaying the three-dimensional digital model obtained by matching the reconstructed three-dimensional digital model and a preset three-dimensional digital model, the one or more programs are stored in the memory, and when the one or more programs are executed by the processor, the electronic device is enabled to execute the method for detecting the shape error of the large component based on the three-dimensional reconstruction technology.
Has the advantages that:
(1) according to the method for detecting the shape error of the large-scale component based on the three-dimensional reconstruction technology, the laser sensor and the vision sensor are adopted to detect the component to be detected, then images obtained by the two sensors are subjected to three-dimensional fusion to obtain a three-dimensional digital model, and finally the shape error detection can be completed by comparing the three-dimensional digital model with a preset three-dimensional digital model, so that the detection precision is greatly improved compared with the prior art;
(2) according to the method for detecting the shape error of the large member based on the three-dimensional reconstruction technology, the laser sensor detection and the vision sensor detection can be operated step by step, high-cost three-dimensional scene scanning equipment is not needed, the requirement on the equipment is low, the equipment cost for detecting the shape error of the large member is greatly reduced, and meanwhile, the detection speed is high, so that the method has a great application prospect.
Drawings
FIG. 1 is a step chart of a large component shape error detection method based on a three-dimensional reconstruction technology according to the present invention;
fig. 2 is a schematic view of an electronic device of embodiment 2.
Detailed Description
The following further describes the embodiments of the present invention with reference to the attached drawings.
Example 1
A method for detecting the shape error of a large member based on a three-dimensional reconstruction technology is applied to electronic equipment and comprises the following steps as shown in figure 1:
(1) the method comprises the steps of detecting an appearance plane of a component to be detected by a laser sensor array, fitting plane detection data of the component to be detected to obtain a plane detection image of the component to be detected (specifically, converting a space coordinate system of each laser sensor into a ground coordinate system serving as a reference, performing linear fitting on coordinate points of the component in the measurement process of each laser sensor, and then establishing a plane detection image of the component by fitting a series of straight lines), detecting two side faces of the component to be detected by a vision sensor, and fitting data of the two side faces of the component to be detected to obtain images of the two side faces of the component to be detected;
(2) reconstructing a three-dimensional digital model from the plane detection image and the two side surface detection images by a three-dimensional reconstruction technology, which comprises the following steps:
firstly, calculating the characteristics of each pixel point by utilizing an SIFT operator according to an image;
then, matching and corresponding are carried out on a plurality of picture pixels, so that camera parameters are estimated, and sparse 3D information is obtained;
finally, performing dense reconstruction according to the camera parameters obtained in the previous step to obtain point cloud data, and reconstructing a three-dimensional digital model;
(3) matching the reconstructed three-dimensional digital model with a preset three-dimensional digital model (the three-dimensional digital model is constructed based on the design parameters of the component to be detected) (specifically, overlapping the reconstructed three-dimensional digital model and the preset three-dimensional digital model by using the same datum point as a reference and adopting the same arrangement mode, wherein the non-overlapped part of the two models is the shape error part) to finish the shape error detection.
According to verification, the method for detecting the shape error of the large-scale component based on the three-dimensional reconstruction technology simultaneously adopts the laser sensor and the vision sensor to detect the component to be detected, then carries out three-dimensional fusion on images obtained by the two sensors to obtain a three-dimensional digital model, and finally completes the shape error detection by comparing the three-dimensional digital model with a preset three-dimensional digital model, so that the detection precision is greatly improved compared with the prior art; the laser sensor detection and the vision sensor detection can be operated step by step, high-cost three-dimensional scene scanning equipment is not needed, the requirement on the equipment is low, the equipment cost for detecting the appearance error of the large-scale component is greatly reduced, and meanwhile, the detection speed is high, so that the method has a great application prospect.
Example 2
An electronic device applying a method for detecting a shape error of a large member based on a three-dimensional reconstruction technology, as shown in fig. 2, includes one or more processors, one or more memories, one or more programs, a laser sensor, a visual sensor, and a display device;
the laser sensor and the vision sensor are used for detecting a component to be detected, the display device is used for displaying the matched reconstructed three-dimensional digital model and the preset three-dimensional digital model, one or more programs are stored in the memory, and when the one or more programs are executed by the processor, the electronic device is enabled to execute the same method for detecting the shape error of the large component based on the three-dimensional reconstruction technology as that in embodiment 1.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these embodiments are merely illustrative and various changes or modifications may be made without departing from the principles and spirit of the invention.
Claims (5)
1. The method is characterized in that a laser sensor array is used for detecting the appearance plane of a component to be detected, plane detection data of the component to be detected are fitted to obtain a plane detection image of the component to be detected, two side faces of the component to be detected are detected by a vision sensor, two side face data of the component to be detected are fitted to obtain two side face images of the component to be detected, then the plane detection image and the two side face detection images are reconstructed into a three-dimensional digital model by a three-dimensional reconstruction technology, and finally the three-dimensional digital model obtained by reconstruction is matched with a preset three-dimensional digital model to finish appearance error detection; the preset three-dimensional digital model is a three-dimensional digital model constructed on the basis of design parameters of the component to be tested.
2. The method for detecting the shape error of the large component based on the three-dimensional reconstruction technology as claimed in claim 1, wherein the specific steps of detecting the shape plane of the component to be detected by the laser sensor array and fitting the plane detection data of the component to be detected to obtain the plane detection image are as follows: and converting the space coordinate system of each laser sensor into a ground coordinate system serving as a reference, performing straight line fitting on a coordinate point of the component in the measuring process of each laser sensor, and then establishing a plane detection image of the component by fitting a series of straight lines.
3. The method for detecting the shape error of the large component based on the three-dimensional reconstruction technology according to claim 1, wherein the specific steps of reconstructing the plane detection image and the two side surface detection images into the three-dimensional digital model through the three-dimensional reconstruction technology are as follows:
firstly, calculating the characteristics of each pixel point by utilizing an SIFT operator according to an image;
then, matching and corresponding are carried out on a plurality of picture pixels, so that camera parameters are estimated, and sparse 3D information is obtained;
and finally, performing dense reconstruction according to the camera parameters obtained in the previous step to obtain point cloud data, and reconstructing a three-dimensional digital model.
4. The method for detecting the shape error of the large component based on the three-dimensional reconstruction technology according to claim 1, wherein the matching of the reconstructed three-dimensional digital model with the preset three-dimensional digital model specifically means that the reconstructed three-dimensional digital model and the preset three-dimensional digital model are overlapped and arranged in the same arrangement mode with the same reference point as a reference, and the non-overlapped part of the two models is the shape error part.
5. The electronic equipment applying the method for detecting the shape error of the large member based on the three-dimensional reconstruction technology according to any one of claims 1 to 4, characterized by comprising one or more processors, one or more memories, one or more programs, a laser sensor, a visual sensor and a display device;
the laser sensor and the vision sensor are used for detecting a component to be detected, the display device is used for displaying the matched reconstructed three-dimensional digital model and a preset three-dimensional digital model, the one or more programs are stored in the memory, and when the one or more programs are executed by the processor, the electronic device is enabled to execute the method for detecting the shape error of the large component based on the three-dimensional reconstruction technology according to any one of claims 1 to 4.
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