CN113607730A - Part detection method, device, terminal and readable storage medium - Google Patents
Part detection method, device, terminal and readable storage medium Download PDFInfo
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- 238000007689 inspection Methods 0.000 claims description 38
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- G—PHYSICS
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- 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
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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
Abstract
The application relates to a part detection method, a part detection device, a terminal and a readable storage medium, and relates to the field of automatic flow production. The method comprises the following steps: receiving a first image sent by image acquisition equipment; determining a first part state of the part to be detected based on the first image; sending a scanning instruction based on a first part state of the part to be detected; receiving at least two groups of sub-scanning data fed back by at least two scanners; summarizing at least two groups of sub-scanning data to generate scanning data; and comparing the scanning data with the standard data for detection. In the detection process of the part, the technology of image recognition and scanning data acquisition is combined, the detection data such as appearance, color and the like of the produced part are directly compared with the standard data, so that an accurate part detection result is obtained, and the part detection accuracy and efficiency are improved.
Description
Technical Field
The application relates to the field of automatic flow production, in particular to a part detection method, a part detection device, a part detection terminal and a readable storage medium.
Background
In automatic flow production, the realization of 3D size detection of parts with different sizes, different particle numbers and different shapes is one of extremely important links, which is the guarantee of the production efficiency and the production quality of the whole production line, is an effective means for effectively solving the problem that products with unqualified sizes flow into customers, and is particularly important for improving the brand and the recognition degree of companies.
In the related art, after a part is manufactured, the lengths of all key parts of the part are measured in a manner of measuring by using a manual vernier caliper according to the lengths of all parts indicated in a part model, and whether the part is qualified or not is judged according to the measured lengths.
However, the part detection method in the related art still remains in the manual stage, the degree of intelligence is extremely low, and the detection efficiency is low.
Disclosure of Invention
The application relates to a part detection method, a part detection device, a terminal and a readable storage medium, which can effectively improve the detection efficiency of parts when a production line is short. The technical scheme is as follows:
in one aspect, a part detection method is provided and applied to computer equipment connected with a part detection mechanism, wherein the part detection mechanism comprises a part detection table, a scanner array and image acquisition equipment;
the part detection table is used for placing a part to be detected;
the scanner array surrounds the part detection table, the scanner array comprises at least two scanners, and the acquisition ports of the scanners correspond to the positions of the parts to be detected;
the image acquisition equipment is positioned right above the part detection table, and an image acquisition port of the image acquisition equipment corresponds to the position of the part to be detected;
the method comprises the following steps:
receiving a first image sent by image acquisition equipment, wherein the first image comprises a part positioned above a part detection table;
determining a first part state of the part to be detected based on the first image, wherein the first part state of the part to be detected is used for indicating the pose of the part to be detected when the part to be detected is positioned above the part detection table;
sending a scanning instruction based on the first part state of the part to be detected, wherein the scanning instruction is used for instructing at least two scanners to scan data of the part to be detected;
receiving at least two groups of sub-scanning data fed back by at least two scanners;
summarizing at least two groups of sub-scanning data to generate scanning data, wherein the scanning data indicates a three-dimensional model of the part to be detected;
and comparing the scanning data with standard data to detect to obtain a detection result of the part to be detected, wherein the standard data indicates product parameters which are stored in the computer equipment and correspond to the product type of the part to be detected.
In another aspect, there is provided a part detecting apparatus, including:
the receiving module is used for receiving a first image sent by the image acquisition equipment, and the first image comprises a part positioned above the part detection table;
the determining module is used for determining a first part state of the part to be detected based on the first image, and the first part state of the part to be detected is used for indicating the pose of the part to be detected when the part to be detected is positioned above the part detecting table;
the device comprises a sending module, a scanning module and a processing module, wherein the sending module is used for sending a scanning instruction based on a first part state of a part to be detected, and the scanning instruction is used for indicating at least two scanners to carry out data scanning on the part to be detected;
the receiving module is also used for receiving at least two groups of sub-scanning data fed back by at least two scanners;
the generating module is used for summarizing at least two groups of sub-scanning data to generate scanning data, and the scanning data indicates a three-dimensional model of the part to be detected;
and the detection module is used for comparing and detecting the scanning data with the standard data to obtain a detection result of the part to be detected, and the standard data indicates product parameters which are stored in the computer equipment and correspond to the product type of the part to be detected.
In another aspect, a computer device is provided, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, and the processor can load and execute the at least one instruction, the at least one program, the set of codes, or the set of instructions to implement the above-mentioned part inspection method.
In another aspect, a computer-readable storage medium is provided, in which at least one instruction, at least one program, code set, or instruction set is stored, and the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the above-mentioned part inspection method.
In another aspect, a computer program product or computer program is provided, the computer program product or computer program comprising computer program instructions stored in a computer readable storage medium. The processor reads the computer instructions from the computer-readable storage medium and executes the computer instructions, so that the computer device executes the part detection method.
The beneficial effect that technical scheme that this application provided brought includes at least:
in the process of detecting the part by combining the structure of the part detection device, the state of the part is detected in an image acquisition mode, the scanning data of the part is acquired in a mode of receiving the scanning data after the state of the part is determined, and finally the detection result of the part is determined by comparison and detection. In the detection process of the part, the technology of image recognition and scanning data acquisition is combined, the appearance, color and other data of the part are directly compared with standard data, so that an accurate part detection result is obtained, and the part detection efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 illustrates a schematic view of a part inspection mechanism as provided by one example of the present application;
FIG. 2 illustrates a schematic flow chart of a part inspection method provided by an exemplary embodiment of the present application;
FIG. 3 illustrates a schematic flow chart of a part inspection method provided by an exemplary embodiment of the present application;
FIG. 4 illustrates a flowchart of a method for configuring the position and scanning status of a scanner according to an exemplary embodiment of the present application;
FIG. 5 illustrates a flow chart of another method of part inspection provided by an exemplary embodiment of the present application;
FIG. 6 is a process diagram illustrating a method for inspecting a part according to an exemplary embodiment of the present application;
FIG. 7 is a block diagram illustrating a component detection apparatus according to an exemplary embodiment of the present application;
fig. 8 is a block diagram illustrating a structure of another part detecting apparatus according to an exemplary embodiment of the present application.
Fig. 9 is a schematic structural diagram of a computer device of a part inspection method according to an exemplary embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
First, the terms referred to in the embodiments of the present application will be briefly described:
parts, refers to small pieces. In the present application, a part is an irregular object obtained by manufacturing and processing. Alternatively, in the present application, the part may be implemented as a dental prosthesis. Dental restorations, i.e. components for performing dental restoration, are directed to the treatment of tooth defects, post-loss teeth. The dental prosthesis comprises a dental crown, a veneer, an inlay, a bridge, a false tooth and the like. In one example of the present application, the part is implemented as a denture. The "part" referred to in the present application may be implemented as a dental prosthesis corresponding to the above description, or may refer to other fragmentary objects, and the specific content of the "part" in the present application is not limited.
Fig. 1 shows a schematic diagram of a part inspection mechanism according to an exemplary embodiment of the present application. Referring to fig. 1, the part inspection mechanism 1 includes a part inspection table 101, a scanner array 102, and an image capturing device 103; the part detection table 101 is used for placing a part 104 to be detected; the scanner array 102 surrounds the part detection table 101, the scanner array 102 comprises at least two scanners 1021, and the acquisition ports of the scanners 1021 correspond to the positions of the parts 104 to be detected; the image acquisition equipment 103 is located right above the part detection table 101, and an image acquisition port of the image acquisition equipment 103 corresponds to the position of the part to be detected.
Referring to fig. 1, the part inspecting table 101 is implemented as a rotatable platform on which the part 104 to be inspected is located, and the part 104 to be inspected and the rotatable platform are kept relatively stationary while the rotatable platform rotates. The scanner array 102 includes at least two scanners 1021, and the at least two scanners 1021 respectively scan the to-be-measured component 104 from different directions, so that the collection ports of the scanners 1021 are opposite to the to-be-measured component 104. Referring to fig. 1, an image capturing device 103 is located right above the rotatable platform to capture an image of the to-be-measured part 104 from a vertical top view. In one example, the image capture device 103 is implemented as a camera.
The component detection mechanism needs to be connected to a computer device, and the computer device collects an image transmitted from the image detection apparatus and scan data transmitted from the scanner, and detects the component based on the collected image and data.
Based on the above-mentioned component detection mechanism, fig. 2 shows a schematic flow chart of a component detection method according to an exemplary embodiment of the present application. Taking the application of the method to computer equipment as an example for explanation, the method comprises the following steps:
In the embodiment of the application, the computer device is implemented as a device which is in communication connection with the part detection mechanism and has a data processing function. In one example, the computer device may be implemented as a personal computer, and the present application is not limited to the specific implementation form of the computer device.
Alternatively, when the computer device starts to perform the measurement operation, an image capture signal for instructing the image capture device to capture an image is first transmitted to the part inspection mechanism. At this time, the part to be detected is already arranged right above the part detection table and is opposite to the image acquisition port of the image acquisition equipment, so that the part to be detected positioned above the part detection table is included in the first image.
In the embodiment of the application, after the first image is acquired, the computer device determines the color of the part. In one example, the color of the part may also be used for subsequent inspection alignments.
In the embodiment of the application, the first part state of the part to be detected is used for indicating the pose of the part to be detected when the part to be detected is positioned above the part detection table. Optionally, in the image acquired by the image acquisition equipment, the part to be measured is positioned at the upper left corner of the image and is vertically placed; or in the image acquired by the image acquisition equipment, the part to be measured is positioned in the center of the image and is horizontally placed. The content of the indication of the state of the first part is not particularly limited.
In the embodiment of the application, after the state of the first part is determined, a scanning command is sent. In the embodiment of the application, the scanning instruction is used for instructing at least two scanners to perform data scanning on the part to be detected.
Optionally, the at least two scanners are equally spaced around the part inspection station. In one example, the number of the scanners is two, and the angle formed between the data acquisition ends of the two scanners is 180 degrees; in another example, the number of the scanners is 4, and in the four scanners, the angle formed between the data acquisition ends of two adjacent scanners is 90 degrees; in another example, the number of the scanners is 6, and the six scanners are respectively located right above the part to be measured, right below the part to be measured, right left of the part to be measured, right in front of the part to be measured, and right behind the part to be measured, and are used for scanning six surfaces of the part to be measured. The embodiment of the present application does not limit the specific placement form of the scanner.
And step 204, receiving at least two groups of sub-scanning data fed back by at least two scanners.
In the present embodiment, each scanner performs simultaneous scanning. Optionally, the scanner scans the profile of the part to be measured, and the scanning distance when performing the profile scanning is the scanning distance configured to the scanner by the computer based on the condition of the part to be measured. In the embodiment of the application, after the scanners perform scanning based on the scanning instruction, the scanning instruction is generated and fed back to the computer device, each scanner sends a group of sub-scanning data, and the number of the scanners is at least two, so that the number of the sub-scanning data obtained is at least two.
In the embodiment of the application, after the scanning data sent by each scanner is obtained, the scanning data obtained by summarizing the sub-scanning data of different dimensions can be determined, and the scanning data indicates the three-dimensional model of the part to be measured.
And step 206, comparing the scanning data with the standard data for detection to obtain a detection result of the part to be detected.
In the embodiment of the application, the computer device stores standard data corresponding to the device to be tested, and the standard data indicate product parameters corresponding to the product type of the part and stored in the computer device. Optionally, in this embodiment of the application, the data format of the annotation data is the same as the data format of the scan data, and the scan data and the standard data can be directly compared. After the scanned data and the standard data are compared, the difference between the scanned data and the standard data can be determined so as to judge whether the part to be detected is qualified. In this application, the testing result includes that the detection passes the result and detects not passing the result, and when detecting and passing, the part that awaits measuring can sell as the product, and when detecting and passing, the part that awaits measuring can not sell promptly.
In summary, in the method provided in the embodiment of the present application, in the process of performing the part detection by combining the structure of the part detection mechanism, the state of the part is detected in an image acquisition manner, and after the state of the part is determined, the scan data of the part is acquired in a manner of receiving the scan data, and finally, the detection result of the part is determined by comparing and detecting the scan data. In the detection process of the part, the technology of image recognition and scanning data acquisition is combined, the appearance, color and other data of the part are directly compared with standard data, so that an accurate part detection result is obtained, and the part detection efficiency is improved.
In some cases of the present application, the computer device scans the part to be measured when the part to be measured is in a specific pose, so as to improve the accuracy of scanning the part to be measured. Fig. 3 shows a schematic flowchart of a part inspection method provided in an exemplary embodiment of the present application, where the process may be implemented as step 301 to step 306 instead of step 203 in the embodiment shown in fig. 2, and the method is exemplified by being applied to a computer device, and the method includes:
In the embodiment of the application, a standard part state is prestored in the computer device, and the standard part state indicates a state that the part to be detected is to be in when scanning is performed. In some cases, since the scanner is fixed around the part inspection table, and the relative position between the scanner and the part inspection table cannot be adjusted, the position of the part needs to be adjusted to achieve a better scanning data acquisition effect.
In the embodiment of the application, the part detection table comprises a detection table driving mechanism, and the detection table driving mechanism is in communication connection with the computer device. Optionally, the detection table has a rotating shaft, and the detection table driving mechanism is implemented as a motor driving the rotating shaft, and when receiving the control signal, the detection table is driven to rotate.
Optionally, in this embodiment of the present application, the image capturing device selects 200 tera-network industrial cameras with a resolution of 1920 × 1080 pixels.
Step 302, in response to the first part state being different from the standard part state, sending a first driving signal to a detection table driving mechanism.
In the embodiment of the present application, when the first part state is different from the standard part state, the computer device transmits the first driving signal to the inspection stage driving mechanism. The first driving signal includes a first rotation number and a first rotation angle. The first rotation number indicates the number of times the stage driving mechanism should be rotated in the debugging, and the first rotation angle indicates the angle of each rotation. Alternatively, the computer device may determine a rotational angle difference between the first part state and the standard part state, and the computer device transmits the first drive signal based on the rotational angle difference. Or the computer equipment cannot determine the rotation angle difference between the first part state and the standard part state, and the computer equipment configures preset first rotation times and a first rotation angle and sends the preset first rotation times and the first rotation angle to the detection table driving mechanism.
And step 303, receiving a second image sent by the image acquisition device.
In the embodiment of the present application, the second image also includes the part to be measured, and includes the second state of the part to be measured after being rotated.
Step 305, responding to the second part state being the same as the standard part state, sending a scanning instruction.
In this embodiment of the application, if the state of the first part in which the to-be-detected part is located is changed into the state of the second part after being adjusted based on the adjustment of the first driving signal, and the state of the second part is the same as the state of the standard part, the computer device executes the sending of the scanning instruction.
And step 306, responding to the condition that the second part is different from the standard part, and sending a second driving signal to the detection table driving mechanism.
In this embodiment of the application, if the state of the second part of the part to be detected is different from the state of the standard part based on the adjustment of the first driving signal, the computer device continues to send the second driving signal to the detection table driving mechanism until the state of the second part after the adjustment is the same as the state of the standard part. In this application, the second driving signal includes a second rotation number and a second rotation angle, and the second rotation number and the second rotation angle are dynamically adjusted according to a difference between the second part state and the standard part state.
In summary, the method provided in the embodiment of the present application selects and adjusts the position of the part before scanning the part, so that the correlation between the scanned data obtained after scanning and the pre-stored standard data is stronger, and the detection efficiency of the part is further improved.
In some cases of the present application, the scanner array in the part inspection mechanism may be movable, and in this case, when the start of scanning is determined, the position of each scanner in the scanner array may be determined and the scanning state of each scanner may be configured. Fig. 4 shows a flowchart of a method for configuring a position and a scanning status of a scanner according to an exemplary embodiment of the present application, which may be executed before step 204 shown in fig. 2, and includes:
step 401, sending an array adjustment instruction to a scanner array driving mechanism based on a first part state of a part to be measured.
In an embodiment of the present application, a scanner array drive mechanism is included in the scanner array. Optionally, when the scanner array driving mechanism moves, the relative position relationship between the scanners is unchanged; alternatively, the scanner array drive mechanism is controlled separately for each scanner position. In the embodiment of the present application, the movement mode of each scanner in the scanner array adjustment process is not limited.
In the embodiment of the present application, the scanner is implemented as a laser scanner.
In the embodiment of the present application, the light wave adjusting instruction is used to instruct the scanner to adjust the color and wavelength of the light wave corresponding to the scanning process. In one example, the scanner array includes 6 scanners, which are located directly above, directly below, directly to the left, directly to the right, directly in front of, and directly behind the part inspection station, respectively. Under the condition, the scanner array adopts a multiband laser synchronous scanning mode, and the upper part and the lower part are between the blue light waveband of 400 and the wavelength of 450 nm; the left and the right are between the wavelength of 500-550nm of the green light band; the front and back are red light wave band 600-650nm wavelength to prevent the interference between the lasers in different directions.
Optionally, in the embodiment of the present application, the scanning frequency of the laser scanner is 500Hz, the sampling rate is 2048 points per profile, and the emitted laser light is 660nm visible light. When the color and wavelength of light wave in the laser scanner are adjustable, the same laser scanner can be selected; when the color of the light wave and the wavelength of the light wave in the laser scanner are not adjustable, different scanners should be selected.
In summary, the method provided in the embodiment of the present application further adjusts the position and the light wave of each scanner in the scanner array before sending the scan data, thereby further improving the detection efficiency of the part.
Fig. 5 shows a flowchart of another part inspection method provided in an exemplary embodiment of the present application, which is described by way of example as being applied to a computer device, and includes:
The process is the same as the step 201, and is not described herein.
It should be noted that, in the embodiment of the present application, the part to be measured is an irregular part, and in one example, the part to be measured is implemented as a denture.
In this embodiment, the part region is a region including the part in the first image, and optionally, the part region is included in both the first image and the second image that may be subsequently received.
Step 503, determining the state of the circumscribed part as a first part state based on the part area.
In the embodiment of the application, the part state comprises a circumscribed part state, and the circumscribed part state indicates the circumscribed shape of the part. Optionally, the circumscribed shape selected in the embodiment of the present application is a circumscribed rectangle.
This process is the process shown in steps 301 to 306.
In some embodiments of the present application, whether step 504 is performed depends on whether the part inspection station in the part inspection mechanism is movable.
And 505, adjusting the scanner array based on the state of the part.
This process is the process shown in steps 401 to 402.
In some embodiments of the present application, whether step 505 is performed is a function of whether the scanner array in the part inspection mechanism is movable, the wavelength of the light waves in the scanner array, and whether the color of the light waves is adjustable.
That is, the present application covers when using the part detection mechanism:
(1) firstly, adjusting the position of the part detection table, and then adjusting the position of the scanner array;
(2) only adjusting the position of the part detection table, and not adjusting the position of the scanner array;
(3) only adjusting the position of the scanner array, and not adjusting the position of the part detection table;
(4) and directly acquiring the scanning data.
The method comprises a front process of four scanning data acquisition modes.
When the state of the first part indicated by the circumscribed rectangle is consistent with the state of the standard part stored in the computer device in the application, the computer device sends a scanning instruction, and the scanner in the scanner array collects sub-scanning data according to the scanning instruction.
At step 507, at least two sets of sub-scan data are received.
This process is the receiving process of the sub-scan data.
At step 508, at least two point cloud data sets are generated based on the at least two sets of sub-scan data.
In the embodiment of the application, the format of the sub-scanning data is converted, so that a group of point cloud data groups corresponding to each sub-scanning data can be obtained. Optionally, each point cloud data set includes at least two point cloud data.
In step 509, the corresponding condition is determined.
In the embodiment of the present application, an Iterative Closest Point (ICP) algorithm in a Point cloud matching algorithm is used as a corresponding condition in the process of matching a Point cloud data set.
Step 510, determining matching parameters corresponding to the point cloud data set based on the corresponding conditions.
In one example, based on the ICP algorithm, a preset constraint condition is stored in the computer device, and according to the preset constraint condition, the target point cloud data set and the nearest neighboring point of the matching point cloud data set are determined, and further, the optimal matching parameter is determined, so that the function error is minimized.
And 511, obtaining a matching result based on the matching parameters.
Optionally, the matching result of the point cloud data set may be determined by determining the optimal matching parameter.
At step 512, scan data is generated based on the matching result.
In the embodiment of the application, the scanning data corresponding to the part to be detected can be obtained through data conversion of the matching result of the point cloud data set, the scanning data can be realized as three-dimensional model data, and the appearance of the part to be detected is represented in a three-dimensional image mode.
And 513, comparing the scanning data with the standard data for detection to obtain a detection result of the part to be detected.
The process corresponds to step 206 and is not described herein.
In summary, the method provided by the embodiment of the present application,
fig. 6 is a schematic process diagram illustrating a part inspection method according to an exemplary embodiment of the present application, where the process includes:
step 601, shooting by a two-dimensional camera.
Optionally, in the present process, the image acquisition device is implemented as a two-dimensional camera.
Before the two-dimensional camera takes an image, the part to be detected is grabbed by the robot and placed on a part detection table of the part detection mechanism.
Step 602, extracting the contour for positioning and direction determination.
The process is a process of determining an image of the first part by the image acquisition device.
This process is the process of determining the state of the first part. In the embodiments of the present application, the part status indicates the part position and angle.
And step 604, triggering the rotation of the rotary table and the position adjustment of the line laser.
The process corresponds to the position adjustment process of the part detection table and the scanner array.
In step 605, the three-dimensional line laser starts recording data.
The process is the process of acquiring the sub-scanning data and generating the scanning data.
The process is the matching process of the scanning data and the pre-stored standard data.
When the detection result is correct, the process of robot grabbing and placing is executed again, and when the detection result is wrong, step 608 is executed.
At step 608, the process is re-executed or an exception signal is generated.
The process is an error reporting process, and after an error is reported, the part is indicated to be required to be adjusted or the part is indicated to be scrapped.
To sum up, the process provided by the embodiment of the present application detects the state of the part in the process of detecting the part by combining the structure of the part detection mechanism, and after the state of the part is determined, collects the scan data of the part by receiving the scan data, and finally determines the detection result of the part by comparing and detecting. In the detection process of the part, the technology of image recognition and scanning data acquisition is combined, the appearance, color and other data of the part are directly compared with standard data, so that an accurate part detection result is obtained, and the part detection efficiency is improved.
Fig. 7 is a block diagram illustrating a structure of a part inspection apparatus according to an exemplary embodiment of the present application, where the apparatus includes:
the receiving module 701 is used for receiving a first image sent by the image acquisition equipment, wherein the first image comprises a part positioned above the part detection table;
a determining module 702, configured to determine, based on the first image, a first part state of the to-be-detected part, where the first part state of the to-be-detected part is used to indicate a pose of the to-be-detected part when the to-be-detected part is located above the part detecting table;
the sending module 703 is configured to send a scanning instruction based on a first part state of the part to be detected, where the scanning instruction is used to instruct at least two scanners to perform data scanning on the part to be detected;
the receiving module 701 is further configured to receive at least two groups of sub-scanning data fed back by at least two scanners;
a generating module 704, configured to summarize at least two sets of sub-scan data, and generate scan data, where the scan data indicates a three-dimensional model of a to-be-detected part;
the detection module 705 is configured to compare the scan data with standard data to obtain a detection result of the to-be-detected part, where the standard data indicates a product parameter corresponding to a product type of the to-be-detected part and stored in the computer device.
In an alternative embodiment, the number of sub-scan data is at least two groups;
a generating module 704, configured to generate at least two point cloud data sets based on the at least two sets of sub-scanning data, where the point cloud data sets include at least two point cloud data;
referring to fig. 8, the apparatus further includes a matching module 706, configured to match the point cloud data in at least two point cloud data sets to obtain a matching result;
a generating module 704 for generating scan data based on the matching result.
In an alternative embodiment, the determining module 702 is configured to determine a corresponding condition, where the corresponding condition indicates a matching condition of point cloud data in at least two point cloud data sets;
determining matching parameters corresponding to the point cloud data set based on the corresponding conditions;
and obtaining a matching result based on the matching parameters.
In an optional embodiment, the part detection table comprises a detection table driving mechanism, and the detection table driving mechanism is in communication connection with the computer device;
the apparatus further includes a comparison module 707 for comparing the first part status with a standard part status;
the sending module 703 is further configured to send a first driving signal to the inspection table driving mechanism in response to that the state of the first part is different from that of the standard part, where the first driving signal is used to control the inspection table driving mechanism, and the first driving signal includes a first rotation frequency and a first rotation angle;
the receiving module 701 is further configured to receive a second image sent by the image acquisition device, where the second image includes a part to be detected;
a determining module 702, configured to determine a second part state corresponding to the part to be tested;
the sending module 703 is further configured to send a scan instruction in response to that the second part state is the same as the standard part state.
In an optional embodiment, the sending module 703 is further configured to send a second driving signal to the inspection station driving mechanism in response to that the state of the second part is different from the state of the standard part, where the second driving signal includes a second rotation number and a second rotation angle.
In an alternative embodiment, the scanner array includes a scanner array driving mechanism, the scanner array driving mechanism is connected with the computer device in a communication mode, and the scanner is implemented as a laser scanner;
the sending module 703 is further configured to send an array adjustment instruction to the scanner array driving mechanism based on a first part state of the part to be detected, where the array adjustment instruction is used to adjust an arrangement manner of at least two scanners in the scanner array;
and sending a light wave adjusting instruction to a scanner in the scanner array based on the state of the first part of the part to be detected, wherein the light wave adjusting instruction is used for indicating the scanner to adjust the light wave color and the light wave wavelength in a corresponding scanning process.
In an optional embodiment, the part to be measured is an irregular part;
the part state comprises an external part state;
a determining module 702, configured to determine a part region based on the first image, where the part region includes an image of a part to be detected;
the determining module 702 is further configured to determine the circumscribed part state as the first part state based on the part area.
To sum up, the device provided by the embodiment of the application detects the state of the part in the process of detecting the part by combining the structure of the part detection mechanism in an image acquisition mode, acquires the scanning data of the part in a mode of receiving the scanning data after the state of the part is determined, and finally determines the detection result of the part by comparison and detection. In the detection process of the part, the technology of image recognition and scanning data acquisition is combined, the appearance, color and other data of the part are directly compared with standard data, so that an accurate part detection result is obtained, and the part detection efficiency is improved.
It should be noted that: the component detection apparatus provided in the above embodiment is only illustrated by dividing the functional modules, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus may be divided into different functional modules to complete all or part of the functions described above.
Fig. 9 is a schematic structural diagram of a computer device of a part warehousing method according to an exemplary embodiment of the present application, where the computer device includes:
the processor 901 includes one or more processing cores, and the processor 901 executes various functional applications and data processing by executing software programs and modules.
The receiver 902 and the transmitter 903 may be implemented as one communication component, which may be a communication chip. Optionally, the communication component may be implemented to include signal transmission functionality. That is, the transmitter 903 may be used to transmit control signals to the image capturing device and the scanner, and the receiver 902 may be used to receive corresponding feedback instructions.
The memory 904 is coupled to the processor 901 via a bus 905.
The memory 904 may be used to store at least one instruction that the processor 901 is configured to execute to implement the various steps in the above-described method embodiments.
Embodiments of the present application further provide a computer-readable storage medium, in which at least one instruction, at least one program, a code set, or an instruction set is stored, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by a processor to implement the above-mentioned part inspection method.
The present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the part inspection method described in any of the above embodiments.
The present application further provides a readable storage medium having at least one instruction, at least one program, set of codes, or set of instructions stored therein, which may be loaded and executed by a processor to implement the part inspection method as described in any of the above embodiments.
Optionally, the computer-readable storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a Solid State Drive (SSD), or an optical disc. The Random Access Memory may include a resistive Random Access Memory (ReRAM) and a Dynamic Random Access Memory (DRAM). The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It will be understood by those skilled in the art that all or part of the steps of implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A part detection method is characterized in that the part detection method is applied to computer equipment, the computer equipment is in communication connection with a part detection mechanism, and the part detection mechanism comprises a part detection table, a scanner array and image acquisition equipment;
the part detection table is used for placing a part to be detected;
the scanner array surrounds the part detection table, the scanner array comprises at least two scanners, and the acquisition ports of the scanners correspond to the positions of the parts to be detected;
the image acquisition equipment is positioned right above the part detection table, and an image acquisition port of the image acquisition equipment corresponds to the position of the part to be detected;
the method comprises the following steps:
receiving a first image sent by the image acquisition equipment, wherein the first image comprises the part to be detected positioned above the part detection table;
determining a first part state of the part to be detected based on the first image, wherein the first part state of the part to be detected is used for indicating the pose of the part to be detected when the part to be detected is positioned above the part detection table;
sending a scanning instruction based on the first part state of the part to be detected, wherein the scanning instruction is used for instructing at least two scanners to scan data of the part to be detected;
receiving at least two groups of sub-scanning data fed back by at least two scanners;
summarizing the at least two groups of sub-scanning data to generate scanning data, wherein the scanning data indicates a three-dimensional model of the part to be detected;
and comparing and detecting the scanning data with standard data to obtain a detection result of the part to be detected, wherein the standard data indicates product parameters which are stored in the computer equipment and correspond to the product type of the part to be detected.
2. The method of claim 1, wherein the number of sub-scan data is at least two groups;
the comparing and detecting the scanning data and the standard data to obtain the detection result of the part to be detected comprises the following steps:
generating at least two point cloud data sets based on the at least two sets of sub-scanning data, wherein the point cloud data sets comprise at least two point cloud data;
matching the point cloud data in the at least two point cloud data sets to obtain a matching result;
generating the scan data based on the matching result.
3. The method of claim 2, wherein the performing point cloud data matching on the point cloud data in the at least two point cloud data sets to obtain a matching result comprises:
determining a correspondence condition indicating a matching condition of the point cloud data in the at least two point cloud data sets;
determining matching parameters corresponding to the point cloud data set based on the corresponding conditions;
and obtaining a matching result based on the matching parameters.
4. The method of any one of claims 1 to 3, wherein the part inspection station includes an inspection station drive mechanism, the inspection station drive mechanism being in communication with the computer device;
after determining the first part state of the part to be tested based on the first image, the method comprises the following steps:
comparing the first part status to the standard part status;
responding to the condition that the first part state is different from the standard part state, and sending a first driving signal to the detection table driving mechanism, wherein the first driving signal is used for controlling the detection table driving mechanism, and the first driving signal comprises a first rotation frequency and a first rotation angle;
receiving a second image sent by image acquisition equipment, wherein the second image comprises the part to be detected;
determining a second part state corresponding to the part to be detected;
sending the scan command in response to the second part status being the same as the standard part status.
5. The method of claim 4, further comprising:
and responding to the condition that the second part state is different from the standard part state, and sending a second driving signal to the detection table driving mechanism, wherein the second driving signal comprises a second rotation frequency and a second rotation angle.
6. The method of any of claims 1 to 3, wherein a scanner array drive mechanism is included in the scanner array, the scanner array drive mechanism being communicatively coupled to the computer device, the scanner being implemented as a laser scanner;
before sending a scanning instruction based on the first part state of the part to be detected, the method further comprises:
sending an array adjusting instruction to the scanner array driving mechanism based on the first part state of the part to be detected, wherein the array adjusting instruction is used for adjusting the arrangement mode of at least two scanners in the scanner array;
and sending a light wave adjusting instruction to the scanner in the scanner array based on the state of the first part of the part to be detected, wherein the light wave adjusting instruction is used for indicating the scanner to adjust the light wave color and the light wave wavelength in a corresponding scanning process.
7. A method according to any one of claims 1 to 3, wherein the part to be tested is an irregular part;
the part state comprises an external part state;
the determining a first part state of the part under test based on the first image includes:
determining a part area based on the first image, wherein the part area comprises an image of the part to be detected;
determining that the circumscribing component state is the first component state based on the component area.
8. A part inspection apparatus, the apparatus comprising:
the receiving module is used for receiving a first image sent by image acquisition equipment, and the first image comprises a part positioned above the part detection table;
the determining module is used for determining a first part state of the part to be detected based on the first image, wherein the first part state of the part to be detected is used for indicating the pose of the part to be detected when the part to be detected is positioned above the part detecting table;
the sending module is used for sending a scanning instruction based on a first part state of the part to be detected, and the scanning instruction is used for indicating at least two scanners to carry out data scanning on the part to be detected;
the receiving module is further configured to receive at least two groups of sub-scanning data fed back by at least two of the scanners;
the generating module is used for summarizing the at least two groups of sub-scanning data to generate scanning data, and the scanning data indicates the three-dimensional model of the part to be detected;
and the detection module is used for comparing and detecting the scanning data with standard data to obtain a detection result of the part to be detected, and the standard data indicates product parameters which are stored in the computer equipment and correspond to the product type of the part to be detected.
9. A computer device comprising a processor and a memory, the memory having at least one instruction, at least one program, set of codes, or set of instructions stored therein, the processor being adapted to load and execute the at least one instruction, the at least one program, set of codes, or set of instructions to implement the part inspection method of any one of claims 1 to 7.
10. A computer-readable storage medium having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loadable and executable by a processor to carry out the method of part inspection according to any of claims 1 to 7.
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Application publication date: 20211105 |