CN113237896B - Furniture board dynamic monitoring system and method based on light source scanning - Google Patents
Furniture board dynamic monitoring system and method based on light source scanning Download PDFInfo
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- CN113237896B CN113237896B CN202110637089.2A CN202110637089A CN113237896B CN 113237896 B CN113237896 B CN 113237896B CN 202110637089 A CN202110637089 A CN 202110637089A CN 113237896 B CN113237896 B CN 113237896B
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000012544 monitoring process Methods 0.000 title claims abstract description 24
- 238000007689 inspection Methods 0.000 claims abstract description 57
- 238000005070 sampling Methods 0.000 claims description 90
- 239000011159 matrix material Substances 0.000 claims description 32
- 238000010521 absorption reaction Methods 0.000 claims description 22
- 230000009466 transformation Effects 0.000 claims description 22
- 238000012937 correction Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 239000006185 dispersion Substances 0.000 claims description 6
- 230000002708 enhancing effect Effects 0.000 claims description 5
- 239000003086 colorant Substances 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 description 8
- 238000013461 design Methods 0.000 description 8
- 238000012360 testing method Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10024—Color image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Abstract
The invention discloses a furniture board dynamic monitoring system and a method based on light source scanning, comprising the following steps: the method comprises the steps of scanning target furniture based on a mobile inspection light source, obtaining inspection point cloud data of the target furniture, simultaneously obtaining three-dimensional surface morphology of the target furniture, obtaining corresponding virtual point cloud data based on the three-dimensional surface morphology of the target furniture, obtaining three-dimensional color images of the target furniture by matching the point cloud data with the virtual point cloud data one by one, extracting three-dimensional color image cracks of the target furniture, displaying, simultaneously obtaining and matching the point cloud data of the furniture by utilizing the two methods, solving errors of a single detection method, and improving reliability of inspection results.
Description
Technical Field
The invention relates to the field of light source scanning detection, in particular to a furniture board dynamic monitoring system and method based on light source scanning.
Background
With the increasing quality of life of human beings, when using furniture, human beings are required to not only satisfy basic functions, but also to have beautiful appearance of the furniture used, thereby promoting various kinds of beautiful and elegant furniture, but also furniture which has cracks due to improper use or long use time.
The traditional method for checking whether the furniture has cracks is to directly shoot the furniture to be checked, the cracks on the furniture are obtained by utilizing image processing, the specific positions of the cracks are difficult to determine by using the detection mode, other objects which are not furniture can be acquired sometimes, the detection cost is wasted, the image of the furniture to be checked is easily interfered by external light, the small cracks on the furniture to be checked are easily missed to check, the error between the checking result and the actual result is larger, and the requirements of partial users are difficult to be met.
In view of the above circumstances, no method for acquiring furniture cracks by combining light scanning with shooting of three-dimensional images exists in the market at present, and the method simultaneously acquires and matches point cloud data of furniture by using the two methods, so that errors of a single detection method are solved, and reliability of a detection result is improved.
Disclosure of Invention
The invention provides a dynamic furniture board monitoring system and method based on light source scanning, which are used for acquiring furniture cracks according to two aspects of shooting three-dimensional images by combining light scanning, solving the error of a single detection method and improving the reliability of a detection result.
The invention provides a furniture board dynamic monitoring system and method based on light source scanning, comprising the following steps:
step 1: scanning target furniture based on a mobile inspection light source, and acquiring inspection point cloud data of the target furniture;
step 2: shooting and collecting the three-dimensional surface morphology of the target furniture to obtain corresponding virtual point cloud data;
step 3: matching the check points contained in the check point cloud data with the virtual points contained in the virtual point cloud data one by one to obtain a three-dimensional image of the target furniture;
step 4: and extracting cracks in the three-dimensional image of the target furniture and displaying the cracks.
In one manner of implementation of the present invention,
scanning a target furniture based on a mobile inspection light source, and acquiring inspection point cloud data of the target furniture, including:
setting a scanning starting point based on the current position of the target furniture;
controlling the movable inspection light source to perform first scanning operation on the target furniture from a scanning starting point to acquire inspection point cloud data of the target furniture;
wherein, in the process of carrying out the first scanning work on the target furniture, the method further comprises:
respectively acquiring reflected light rays of each surface of the target furniture on the movable inspection light source;
acquiring the absorption capacity of each surface of the target furniture to the movable inspection light source based on the energy difference between the movable inspection light source and the reflected light corresponding to each surface of the target furniture;
and calibrating the surfaces of target furniture with the same absorption amount, and dividing the surfaces into a group.
In one manner that may be implemented,
determining that the target furniture surfaces with the same absorption amount belong to the same material, and before dividing the target furniture surfaces into a group, the method comprises the following steps:
acquiring the corresponding absorption quantity of each surface of the target furniture;
and correcting the corresponding absorption amount based on the distance between each surface of the target furniture and the movable inspection light source.
In one manner of implementation of the present invention,
the method for obtaining the three-dimensional image of the target furniture by matching the check points contained in the check point cloud data with the virtual points contained in the virtual point cloud data one by one comprises the following steps:
eliminating the check points which do not belong to the target furniture in the check point cloud data, and defining the rest point cloud data as actual point cloud data;
matching the virtual points contained in the virtual point cloud data with the actual points contained in the actual point cloud data once, and placing the successfully matched actual points on corresponding positions of a pre-established three-dimensional coordinate system instead of the virtual points;
respectively obtaining a first transformation matrix and a second transformation matrix corresponding to the virtual point and the actual point which are not successfully matched once;
acquiring a matrix error value between the first transformation matrix and the second transformation matrix based on an absolute difference value of the singular value of the first transformation matrix and the singular value of the second transformation matrix;
respectively correcting the virtual point and the actual point which are not successfully matched once by utilizing the matrix error value;
performing secondary matching on the corrected virtual points and the actual points;
replacing the virtual point with the actual point successfully matched for the second time, and placing the virtual point at a corresponding position of the three-dimensional coordinate system;
respectively obtaining a virtual three-dimensional coordinate point and an actual three-dimensional coordinate point which correspond to the virtual point and the actual point which are not successfully matched secondarily;
respectively placing the virtual three-dimensional coordinate and the actual three-dimensional coordinate in a blank three-dimensional coordinate system;
according to the principle of distance nearest, the virtual three-dimensional coordinates and the actual three-dimensional coordinates are in one-to-one correspondence, and midpoint coordinates on one-to-one correspondence coordinate connecting lines are obtained;
replacing the virtual point with the midpoint coordinate, and placing the midpoint coordinate at a corresponding position of the three-dimensional coordinate system;
drawing a three-dimensional image of the target furniture according to a furniture drawing rule and based on the position points on the three-dimensional coordinate system;
and filling the corresponding surface of the target furniture with the same color based on the same corrected absorption amount corresponding to each surface of the target furniture, and acquiring a three-dimensional color image of the target furniture.
In one manner of implementation of the present invention,
after the three-dimensional color image of the target furniture is acquired, the method further comprises the steps of;
acquiring edge lines of the three-dimensional color image;
acquiring gradient values corresponding to the pixel points of the edge line, and judging whether the gradient value of each pixel point on the same edge line is within a preset variation range;
if yes, sequentially connecting pixel points in a preset variation range, and acquiring a crack-free three-dimensional image;
comparing the three-dimensional color image with the crack-free three-dimensional image to obtain the residual lines except edge lines on the three-dimensional color image;
acquiring the position of the residual line on the target furniture and defining the position as a first crack;
otherwise, dividing the three-dimensional color image into a plurality of sampling grids with preset sizes;
respectively acquiring a plurality of sampling points of a designated area on the sampling grid, and acquiring pixels of each sampling point so as to acquire gray features of the corresponding sampling grid;
acquiring gray features of all sampling grids, determining corresponding gray feature values, and drawing a feature line graph;
defining a sampling grid corresponding to a gray characteristic value with higher dispersion than standard dispersion on the line graph as a crack sampling grid;
acquiring a binarization image corresponding to the crack sampling grid, and acquiring a second crack on the binarization image;
determining a location of a second crack on the target furniture based on the location of the second crack on the binarized image;
and generating three-dimensional images of all cracks of the target furniture based on the positions of the first cracks and the second cracks on the target furniture, and transmitting the three-dimensional images to a designated terminal for display.
In one manner of implementation of the present invention,
generating a three-dimensional image of all cracks of the target furniture, and transmitting the three-dimensional image to a designated terminal for display, wherein the three-dimensional image comprises:
colors of different surfaces on the three-dimensional color image based on the target furniture;
acquiring the color distribution condition of the three-dimensional image;
filling corresponding colors on surfaces corresponding to the three-dimensional images of all cracks of the target furniture to obtain three-dimensional color crack images;
and enhancing the cracks on the three-dimensional color crack image, and transmitting the cracks to a designated terminal for display.
In one manner of implementation of the present invention,
acquiring gray features of all sampling grids, and determining corresponding gray feature values, including:
acquiring a designated area corresponding to each sampling grid;
acquiring the length, width and height of a corresponding designated area on each sampling grid;
acquiring gray values of the sampling points corresponding to the designated areas;
calculating the average gray value of the corresponding sampling grid according to a formula (I) based on the gray value of the sampling point;
（Ⅰ）
wherein,representing the average gray value of the mth said sampling grid,/->Representing the length of the designated area of the mth said sampling grid, +.>Representing the width of the designated area of the mth said sampling grid, +.>Representing the height of the designated area of the mth sampling grid, +.>And (3) representing the gray value of the sampling point in the appointed area of the mth sampling grid, wherein k represents the maximum value of the abscissa of the appointed area of the sampling grid, and the range of the value of the abscissa is as follows: />J represents the maximum value of the ordinate of the designated area of the sampling grid, and the range of the value of the abscissa is: />I represents the maximum value of the vertical coordinate of the appointed area of the sampling grid, and the range of the value of the vertical coordinate is as follows: />，/>Representing the ith said sample point basisCoordinates of the designated area->Gray value representing the nth said sampling point in the designated area, +.>Representing the coordinate of the sampling point as +.>Is>Representation pair->Coordinate correction value of>Representation pair->Coordinate correction value of>Representation pair->Coordinate correction values of (a);
and acquiring gray features corresponding to the sampling grids according to the acquired average gray value of each sampling grid, and further determining corresponding gray feature values.
In one manner of implementation of the present invention,
the positioning module is used for acquiring the position of the target furniture;
the processing module is used for scanning the target furniture based on the mobile inspection light source and acquiring inspection point cloud data of the target furniture;
the acquisition module is used for acquiring the three-dimensional surface morphology of the target furniture;
the processing module is further used for acquiring corresponding virtual point cloud data based on the three-dimensional surface morphology of the target furniture;
the matching module is used for matching the check points contained in the point cloud data with the virtual points contained in the virtual point cloud data one by one to obtain the three-dimensional color image of the target furniture;
and the display module is used for extracting the three-dimensional color image cracks of the target furniture and displaying the cracks.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
FIG. 1 is a schematic diagram of a method for dynamically monitoring furniture boards based on light source scanning according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a furniture board dynamic monitoring system based on light source scanning according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Example 1
The embodiment of the invention provides a furniture board dynamic monitoring method based on light source scanning, which is shown in fig. 1 and comprises the following steps:
step 1: scanning target furniture based on a mobile inspection light source, and acquiring inspection point cloud data of the target furniture;
step 2: shooting and collecting the three-dimensional surface morphology of the target furniture to obtain corresponding virtual point cloud data;
step 3: matching the check points contained in the check point cloud data with the virtual points contained in the virtual point cloud data one by one to obtain a three-dimensional image of the target furniture;
step 4: and extracting cracks in the three-dimensional image of the target furniture and displaying the cracks.
In this example, the inspection point cloud data represents a collection of three-dimensional coordinates acquired by the mobile inspection light source scan;
in this example, the inspection points represent points on the target furniture in the inspection point cloud data;
for example: the group of inspection point cloud data comprises four inspection points A, B, C and D which form a rectangle, wherein the point A represents a first point on the rectangle, the point B represents a second point, and the like;
in this example, the three-dimensional surface morphology represents the morphology of the target furniture in three-dimensional space;
in this example, the virtual point cloud data represents a collection of three-dimensional coordinates on the three-dimensional surface;
in this example, the virtual points represent points on the three-dimensional surface morphology in the virtual point cloud data.
The beneficial effects of above-mentioned design scheme are: the method comprises the steps of utilizing a mobile inspection light source to scan target furniture to obtain inspection point cloud data, collecting three-dimensional surface morphology of the target furniture to obtain virtual point cloud data, matching the two-time collected point cloud data to obtain a three-dimensional image with highest matching rate with the target furniture, balancing the two inspection modes mutually, improving reliability of detection results, and restoring the most realistic crack condition of the target furniture for a user.
Example 2
Based on the step 1 of the embodiment 1, a furniture board dynamic monitoring method based on light source scanning scans target furniture based on a mobile inspection light source, acquires inspection point cloud data of the target furniture, and comprises the following steps:
setting a scanning starting point based on the current position of the target furniture;
controlling the movable inspection light source to perform first scanning operation on the target furniture from a scanning starting point to acquire inspection point cloud data of the target furniture;
wherein, in the process of carrying out the first scanning work on the target furniture, the method further comprises:
respectively acquiring reflected light rays of each surface of the target furniture on the movable inspection light source;
acquiring the absorption capacity of each surface of the target furniture to the movable inspection light source based on the energy difference between the movable inspection light source and the reflected light corresponding to each surface of the target furniture;
and calibrating the surfaces of target furniture with the same absorption amount, and dividing the surfaces into a group.
In this example, the current position of the target furniture represents the position of the target furniture in the area to be detected;
for example, the edge of the table to be inspected is positioned at the left end of the area to be inspected;
in this example, the scan origin is determined only by the current position of the target furniture;
in this example, the absorption represents the amount of energy absorbed by the target furniture surface when the mobile inspection light source irradiates the target furniture surface;
in this example, the reflected light represents a movement verification light reflected through the target furniture surface.
The beneficial effects of above-mentioned design scheme are: the method comprises the steps of obtaining inspection point cloud data of target furniture by scanning the target furniture, and correspondingly dividing the energy absorption of each surface to the inspection light source into a group, obtaining the basic form of the target furniture in a three-dimensional space by obtaining the three-dimensional surface form, obtaining the basic outline of the target furniture, and conveniently obtaining virtual point cloud data.
Example 3
Based on the embodiment 2, the method for dynamically monitoring the furniture board based on the light source scanning is used for calibrating the surface of the target furniture with the same absorption, and comprises the following steps before dividing the surface into a group:
acquiring the corresponding absorption quantity of each surface of the target furniture;
and correcting the corresponding absorption amount based on the distance between each surface of the target furniture and the movable inspection light source.
In this example, the distance of each surface from the moving inspection light source represents the perpendicular distance of the scan origin from the target furniture surface.
The beneficial effects of above-mentioned design scheme are: because the distance between each surface of the target furniture and the movable inspection light source is different, the energy loss when the furniture surface with a longer scanning distance is larger than that of the furniture surface with a shorter scanning distance, and in such a case, in order to avoid the influence of the distance on the absorption amount, different surface absorption amounts are corrected.
Example 4
Based on step 3 of embodiment 1, a furniture board dynamic monitoring method based on light source scanning, wherein the three-dimensional image of the target furniture is obtained by matching the inspection points contained in the inspection point cloud data with the virtual points contained in the virtual point cloud data one by one, comprises the following steps:
eliminating the check points which do not belong to the target furniture in the check point cloud data, and defining the rest point cloud data as actual point cloud data;
matching the virtual points contained in the virtual point cloud data with the actual points contained in the actual point cloud data once, and placing the successfully matched actual points on corresponding positions of a pre-established three-dimensional coordinate system instead of the virtual points;
respectively obtaining a first transformation matrix and a second transformation matrix corresponding to the virtual point and the actual point which are not successfully matched once;
acquiring a matrix error value between the first transformation matrix and the second transformation matrix based on an absolute difference value of the singular value of the first transformation matrix and the singular value of the second transformation matrix;
respectively correcting the virtual point and the actual point which are not successfully matched once by utilizing the matrix error value;
performing secondary matching on the corrected virtual points and the actual points;
replacing the virtual point with the actual point successfully matched for the second time, and placing the virtual point at a corresponding position of the three-dimensional coordinate system;
respectively obtaining a virtual three-dimensional coordinate point and an actual three-dimensional coordinate point which correspond to the virtual point and the actual point which are not successfully matched secondarily;
respectively placing the virtual three-dimensional coordinate and the actual three-dimensional coordinate in a blank three-dimensional coordinate system;
according to the principle of distance nearest, the virtual three-dimensional coordinates and the actual three-dimensional coordinates are in one-to-one correspondence, and midpoint coordinates on one-to-one correspondence coordinate connecting lines are obtained;
replacing the virtual point with the midpoint coordinate, and placing the midpoint coordinate at a corresponding position of the three-dimensional coordinate system;
drawing a three-dimensional image of the target furniture according to a furniture drawing rule and based on the position points on the three-dimensional coordinate system;
and filling the corresponding surface of the target furniture with the same color based on the same corrected absorption amount corresponding to each surface of the target furniture, and acquiring a three-dimensional color image of the target furniture.
In this example, the inspection points not belonging to the target furniture represent points of non-target furniture in the inspection point cloud data;
for example: other items around the target furniture, other items on the walls around the target furniture;
in this example, the first transformation matrix represents the expression form of the virtual point which is successfully matched in a matrix form, and the second transformation matrix is represented in the same way;
for example, the number of virtual points that are not successfully matched is 3, which are respectively:the corresponding first transformation matrix is +.>；
When the number of the unmatched virtual points is not 3, respectively obtaining a corresponding module value of each virtual point, and establishing a row matrix;
for example, not matchThe number of virtual points successfully allocated is 4, and the virtual points are respectively:，/>the corresponding first transformation matrix is +.>；
In this example, the singular values represent the non-negative square roots of the corresponding matrix and the transposed matrix;
in the example, the matching methods of the primary matching and the secondary matching are consistent, and the virtual points at the corresponding positions are replaced by the actual points;
for example, a pair of successfully matched two points are: actual point coordinatesVirtual Point coordinates->Then the coordinates of the placement of the corresponding point on the three-dimensional coordinate system are: />；
In the example, the virtual three-dimensional coordinates represent the expression form of expressing the virtual points which are not successfully matched secondarily in the form of three-dimensional coordinates, and the actual points are expressed in the same way;
for example, the number of virtual points that are not successfully matched twice is 2, which are respectively:then the corresponding virtual three-dimensional coordinates are: (1, 3, 2), (4, 2, 1);
in this example, the blank three-dimensional coordinate system represents a coordinate system that does not contain any coordinate points;
in this example, the midpoint coordinates represent coordinates corresponding to the midpoint position of the line connecting the actual three-dimensional coordinates and the virtual three-dimensional coordinates.
The beneficial effects of above-mentioned design scheme are: the position of virtual point cloud data on a three-dimensional coordinate system is replaced by the matching result of the test point cloud data and the virtual point cloud data, so that the situation that the generated three-dimensional contour image does not conform to actual target furniture due to positioning drift easily generated when the three-dimensional contour image is drawn by directly utilizing the test point cloud data is avoided, a placement area is established for the test point cloud data by utilizing the position of the virtual point cloud data, and the similarity of the three-dimensional contour image and the target furniture is improved.
Example 5
Based on embodiment 4, a method for dynamically monitoring a furniture board based on light source scanning, after obtaining a three-dimensional color image of the target furniture, further includes:
acquiring edge lines of the three-dimensional color image;
acquiring gradient values corresponding to the pixel points of the edge line, and judging whether the gradient value of each pixel point on the same edge line is within a preset variation range;
if yes, sequentially connecting pixel points in a preset variation range, and acquiring a crack-free three-dimensional image;
comparing the three-dimensional color image with the crack-free three-dimensional image to obtain the residual lines except edge lines on the three-dimensional color image;
acquiring the position of the residual line on the target furniture and defining the position as a first crack;
otherwise, dividing the three-dimensional color image into a plurality of sampling grids with preset sizes;
respectively acquiring a plurality of sampling points of a designated area on the sampling grid, and acquiring pixels of each sampling point so as to acquire gray features of the corresponding sampling grid;
acquiring gray features of all sampling grids, determining corresponding gray feature values, and drawing a feature line graph;
defining a sampling grid corresponding to a gray characteristic value with higher dispersion than standard dispersion on the line graph as a crack sampling grid;
acquiring a binarization image corresponding to the crack sampling grid, and acquiring a second crack on the binarization image;
determining a location of a second crack on the target furniture based on the location of the second crack on the binarized image;
and generating three-dimensional images of all cracks of the target furniture based on the positions of the first cracks and the second cracks on the target furniture, and transmitting the three-dimensional images to a designated terminal for display.
In this example, the remaining lines represent lines that do not exist on the crack-free three-dimensional image, and may be defined as crack lines that exist on the three-dimensional color image;
in this example, the gradient value represents the angle difference between the image contained in a certain pixel point of the edge line and the image contained in the previous pixel point;
in this example, the first crack and the second crack are both indicative of cracks on the target furniture, and are not compared with each other;
in this example, the gray scale feature represents the gray scale of the sample grid;
in this example, the crack sample cell represents a sample cell containing a crack.
The beneficial effects of above-mentioned design scheme are: in order to obtain all cracks on target furniture, fine cracks are avoided, crack-free images are obtained, cracks of three-dimensional color images are extracted, first cracks on the target furniture are obtained, if crack-free images cannot be generated, the edges of the three-dimensional color images are indicated to have cracks, if feature processing is directly carried out, the three-dimensional color images are easy to process as the edges of the target furniture, the three-dimensional color images are difficult to obtain, so that the color images are divided, sampling detection is carried out, and finally all the cracks are drawn on the crack-free images for reference of users.
Example 6
Based on embodiment 5, a method for dynamically monitoring furniture boards based on light source scanning generates three-dimensional images of all cracks of the target furniture and transmits the three-dimensional images to a designated terminal for display, comprising:
acquiring the color distribution condition of the three-dimensional image;
filling corresponding colors on surfaces corresponding to the three-dimensional images of all cracks of the target furniture to obtain three-dimensional color crack images;
and enhancing the cracks on the three-dimensional color crack image, and transmitting the cracks to a designated terminal for display.
In this example, the purpose of enhancing the crack on the three-dimensional color crack image is: the terminal resolution is prevented from being too low, and tiny cracks on target furniture are not obvious to display;
in this example, the method of enhancing the crack on the three-dimensional color crack image is: the three-dimensional color crack image is sharpened.
The beneficial effects of above-mentioned design scheme are: after the three-dimensional image with the cracks is generated, in order to facilitate the user to distinguish each surface of the target furniture, the color corresponding to each surface on the color three-dimensional image is filled on the three-dimensional image with the cracks, and the user can conveniently distinguish each surface of the target furniture by executing the operation.
Example 7
Based on embodiment 5, a furniture board dynamic monitoring method based on light source scanning obtains gray features of all sampling grids, and determines corresponding gray feature values, including:
acquiring a designated area corresponding to each sampling grid;
acquiring the length, width and height of a corresponding designated area on each sampling grid;
acquiring gray values of the sampling points corresponding to the designated areas;
calculating the average gray value of the corresponding sampling grid according to a formula (I) based on the gray value of the sampling point;
（Ⅰ）
wherein,representing the average gray value of the mth said sampling grid,/->Representing the length of the designated area of the mth said sampling grid, +.>Representing the width of the designated area of the mth said sampling grid, +.>Representing the height of the designated area of the mth sampling grid, +.>And (3) representing the gray value of the sampling point in the appointed area of the mth sampling grid, wherein k represents the maximum value of the abscissa of the appointed area of the sampling grid, and the range of the value of the abscissa is as follows: />J represents the maximum value of the ordinate of the designated area of the sampling grid, and the range of the value of the abscissa is: />I represents the maximum value of the vertical coordinate of the appointed area of the sampling grid, and the range of the value of the vertical coordinate is as follows: />，/>Representing the i-th said sampling point based on the coordinates of the specified area,/and>gray value representing the nth said sampling point in the designated area, +.>Representing the coordinate of the sampling point as +.>Is>Representation pair->Coordinate correction value of>Representation pair->Coordinate correction value of>Representation pair->Coordinate correction values of (a);
and acquiring gray features corresponding to the sampling grids according to the acquired average gray value of each sampling grid, and further determining corresponding gray feature values.
In this example, each gray feature corresponds to a calculated gray feature value one-to-one.
The beneficial effects of above-mentioned design scheme are: in the work of acquiring the gray value of the sampling grid, if the method of directly acquiring the integral average gray value of the sampling grid is adopted for operation, longer calculation time and complicated calculation steps are needed, so that a designated area is selected on the sampling grid, and the designated area is sampled and calculated, thus not only can the characteristic gray value of the sampling grid, namely the average gray value be acquired, but also the required calculation time is greatly shortened, the calculation steps are reduced, and the waiting time and the calculation cost are saved for a user.
Example 8
For the implementation mentioned in embodiments 1-7, a system architecture is established, and a furniture board dynamic monitoring system based on light source scanning, as shown in fig. 2, includes:
the positioning module is used for acquiring the position of the target furniture;
the processing module is used for scanning the target furniture based on the mobile inspection light source and acquiring inspection point cloud data of the target furniture;
the acquisition module is used for acquiring the three-dimensional surface morphology of the target furniture;
the processing module is further used for acquiring corresponding virtual point cloud data based on the three-dimensional surface morphology of the target furniture;
the matching module is used for matching the check points contained in the point cloud data with the virtual points contained in the virtual point cloud data one by one to obtain the three-dimensional color image of the target furniture;
and the display module is used for extracting the three-dimensional color image cracks of the target furniture and displaying the cracks.
In this example, the processing module is respectively connected with the positioning module, the acquisition module, the matching module and the display module.
The beneficial effects of above-mentioned design scheme are: according to the light source scanning-based furniture board dynamic monitoring method in embodiments 1-7, existing modules are connected and endowed with corresponding functions, so that a technical framework is provided for the innovative method, and a light source scanning-based furniture board dynamic monitoring system is realized.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. A furniture board dynamic monitoring method based on light source scanning is characterized by comprising the following steps:
step 1: scanning target furniture based on a mobile inspection light source, and acquiring inspection point cloud data of the target furniture;
step 2: shooting and collecting the three-dimensional surface morphology of the target furniture to obtain corresponding virtual point cloud data;
step 3: matching the check points contained in the check point cloud data with the virtual points contained in the virtual point cloud data one by one to obtain a three-dimensional image of the target furniture;
step 4: extracting cracks in the three-dimensional image of the target furniture and displaying the cracks;
step 3: the method for obtaining the three-dimensional image of the target furniture by matching the check points contained in the check point cloud data with the virtual points contained in the virtual point cloud data one by one comprises the following steps:
eliminating the check points which do not belong to the target furniture in the check point cloud data, and defining the rest point cloud data as actual point cloud data;
matching the virtual points contained in the virtual point cloud data with the actual points contained in the actual point cloud data once, and placing the successfully matched actual points on corresponding positions of a pre-established three-dimensional coordinate system instead of the virtual points;
respectively obtaining a first transformation matrix and a second transformation matrix corresponding to the virtual point and the actual point which are not successfully matched once;
acquiring a matrix error value between the first transformation matrix and the second transformation matrix based on an absolute difference value of the singular value of the first transformation matrix and the singular value of the second transformation matrix;
respectively correcting the virtual point and the actual point which are not successfully matched once by utilizing the matrix error value;
performing secondary matching on the corrected virtual points and the actual points;
replacing the virtual point with the actual point successfully matched for the second time, and placing the virtual point at a corresponding position of the three-dimensional coordinate system;
respectively obtaining a virtual three-dimensional coordinate point and an actual three-dimensional coordinate point which correspond to the virtual point and the actual point which are not successfully matched secondarily;
respectively placing the virtual three-dimensional coordinate and the actual three-dimensional coordinate in a blank three-dimensional coordinate system;
according to the principle of distance nearest, the virtual three-dimensional coordinates and the actual three-dimensional coordinates are in one-to-one correspondence, and midpoint coordinates on one-to-one correspondence coordinate connecting lines are obtained;
replacing the virtual point with the midpoint coordinate, and placing the midpoint coordinate at a corresponding position of the three-dimensional coordinate system;
drawing a three-dimensional image of the target furniture according to a furniture drawing rule and based on the position points on the three-dimensional coordinate system;
filling the corresponding surface of the target furniture with the same color based on the same corrected absorption amount corresponding to each surface of the target furniture, and acquiring a three-dimensional color image of the target furniture;
after the three-dimensional color image of the target furniture is acquired, the method further comprises the following steps:
acquiring edge lines of the three-dimensional color image;
acquiring gradient values corresponding to the pixel points of the edge line, and judging whether the gradient value of each pixel point on the same edge line is within a preset variation range;
if yes, sequentially connecting pixel points in a preset variation range, and acquiring a crack-free three-dimensional image;
comparing the three-dimensional color image with the crack-free three-dimensional image to obtain the residual lines except edge lines on the three-dimensional color image;
acquiring the position of the residual line on the target furniture and defining the position as a first crack;
otherwise, dividing the three-dimensional color image into a plurality of sampling grids with preset sizes;
respectively acquiring a plurality of sampling points of a designated area on the sampling grid, and acquiring pixels of each sampling point so as to acquire gray features of the corresponding sampling grid;
acquiring gray features of all sampling grids, determining corresponding gray feature values, and drawing a feature line graph;
defining a sampling grid corresponding to a gray characteristic value with higher dispersion than standard dispersion on the line graph as a crack sampling grid;
acquiring a binarization image corresponding to the crack sampling grid, and acquiring a second crack on the binarization image;
determining a location of a second crack on the target furniture based on the location of the second crack on the binarized image;
based on the positions of the first crack and the second crack on the target furniture, generating three-dimensional images of all cracks of the target furniture, and transmitting the three-dimensional images to a designated terminal for display;
generating a three-dimensional image of all cracks of the target furniture, and transmitting the three-dimensional image to a designated terminal for display, wherein the three-dimensional image comprises:
acquiring the color distribution condition of the three-dimensional image;
filling corresponding colors on surfaces corresponding to the three-dimensional images of all cracks of the target furniture to obtain three-dimensional color crack images;
and enhancing the cracks on the three-dimensional color crack image, and transmitting the cracks to a designated terminal for display.
2. The method for dynamically monitoring furniture boards based on light source scanning according to claim 1, wherein the method comprises the following steps: step 1: scanning a target furniture based on a mobile inspection light source, and acquiring inspection point cloud data of the target furniture, including:
setting a scanning starting point based on the current position of the target furniture;
controlling the movable inspection light source to perform first scanning operation on the target furniture from a scanning starting point to acquire inspection point cloud data of the target furniture;
wherein, in the process of carrying out the first scanning work on the target furniture, the method further comprises:
respectively acquiring reflected light rays of each surface of the target furniture on the movable inspection light source;
acquiring the absorption capacity of each surface of the target furniture to the movable inspection light source based on the energy difference between the movable inspection light source and the reflected light corresponding to each surface of the target furniture;
and calibrating the surfaces of target furniture with the same absorption amount, and dividing the surfaces into a group.
3. The method for dynamically monitoring furniture boards based on light source scanning according to claim 2, wherein the method comprises the following steps: calibrating the surface of target furniture with the same absorption amount, and dividing the surface into a group, wherein the method comprises the following steps:
acquiring the corresponding absorption quantity of each surface of the target furniture;
and correcting the corresponding absorption amount based on the distance between each surface of the target furniture and the movable inspection light source.
4. The method for dynamically monitoring furniture boards based on light source scanning according to claim 1, wherein the method comprises the following steps: acquiring gray features of all sampling grids, and determining corresponding gray feature values, including:
acquiring a designated area corresponding to each sampling grid;
acquiring the length, width and height of a corresponding designated area on each sampling grid;
acquiring gray values of the sampling points corresponding to the designated areas;
calculating the average gray value of the corresponding sampling grid according to a formula (I) based on the gray value of the sampling point;
（Ⅰ）；
wherein,representing the average gray value of the mth said sampling grid,/->Representing the length of the designated area of the mth said sampling grid, +.>Representing the width of the designated area of the mth said sampling grid, +.>Representing the height of the designated area of the mth sampling grid, +.>And (3) representing the gray value of the sampling point in the appointed area of the mth sampling grid, wherein k represents the maximum value of the abscissa of the appointed area of the sampling grid, and the range of the value of the abscissa is as follows: />J represents the maximum value of the ordinate of the designated area of the sampling grid, and the range of the value of the abscissa is: />I represents the maximum value of the vertical coordinate of the appointed area of the sampling grid, and the range of the value of the vertical coordinate is as follows: />，/>Indicating that the ith said sample point is based on the coordinates of the specified area,gray value representing the nth said sampling point in the designated area, +.>Representing the coordinate of the sampling point as +.>Is>Representation pair->Coordinate correction value of>Representation pair->Coordinate correction value of>Representation pair->Coordinate correction values of (a);
and acquiring gray features corresponding to the sampling grids according to the acquired average gray value of each sampling grid, and further determining corresponding gray feature values.
5. A furniture board dynamic monitoring system based on light source scanning, which is applied to the furniture board dynamic monitoring method based on light source scanning as claimed in claim 1, and is characterized by comprising the following steps:
the positioning module is used for acquiring the position of the target furniture;
the processing module is used for scanning the target furniture based on the mobile inspection light source and acquiring inspection point cloud data of the target furniture;
the acquisition module is used for acquiring the three-dimensional surface morphology of the target furniture;
the processing module is further used for acquiring corresponding virtual point cloud data based on the three-dimensional surface morphology of the target furniture;
the matching module is used for matching the check points contained in the point cloud data with the virtual points contained in the virtual point cloud data one by one to obtain the three-dimensional color image of the target furniture;
and the display module is used for extracting the three-dimensional color image cracks of the target furniture and displaying the cracks.
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