CN115205119A - Calibration-based process path determination method, device, equipment and storage medium - Google Patents
Calibration-based process path determination method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN115205119A CN115205119A CN202210837663.3A CN202210837663A CN115205119A CN 115205119 A CN115205119 A CN 115205119A CN 202210837663 A CN202210837663 A CN 202210837663A CN 115205119 A CN115205119 A CN 115205119A
- Authority
- CN
- China
- Prior art keywords
- calibration
- target
- dimensional image
- image
- process path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 247
- 238000003860 storage Methods 0.000 title claims abstract description 12
- 238000006243 chemical reaction Methods 0.000 claims abstract description 108
- 238000004364 calculation method Methods 0.000 claims abstract description 29
- 230000000007 visual effect Effects 0.000 claims description 24
- 238000003754 machining Methods 0.000 claims description 19
- 230000009466 transformation Effects 0.000 claims description 19
- 238000004519 manufacturing process Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 9
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000003491 array Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
- G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/04—Manufacturing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/00795—Reading arrangements
- H04N1/00827—Arrangements for reading an image from an unusual original, e.g. 3-dimensional objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Business, Economics & Management (AREA)
- Manufacturing & Machinery (AREA)
- Economics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Health & Medical Sciences (AREA)
- Computer Graphics (AREA)
- General Health & Medical Sciences (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Primary Health Care (AREA)
- Strategic Management (AREA)
- Tourism & Hospitality (AREA)
- General Business, Economics & Management (AREA)
- Image Processing (AREA)
Abstract
The embodiment of the invention discloses a calibration-based process path determination method, a calibration-based process path determination device, calibration-based process path determination equipment and a calibration-based storage medium, wherein the method comprises the following steps: performing two-dimensional image scanning on each side surface of a target product loaded on the target processing equipment by adopting the calibration scanning path to obtain a two-dimensional image set to be spliced; adopting splicing conversion calibration data corresponding to the target processing equipment to splice the three-dimensional images of the two-dimensional image set to be spliced to obtain a target three-dimensional image; generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path; and converting the coordinate system of the initial process path into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path. Therefore, the splicing method is simple, the splicing accuracy is high, the conversion relation between the target three-dimensional image and the template image does not need to be calculated, the calculation steps are simple, and the calculation efficiency is high.
Description
Technical Field
The invention relates to the technical field of machine vision, in particular to a calibration-based process path determining method, device, equipment and storage medium.
Background
In order to control the processing equipment to accurately perform the process production, the process path under the equipment coordinates of the processing equipment needs to be determined in advance. The current method is to generate a template image containing a process path, and then convert the process path in the template image into a process path under the device coordinates through the conversion relationship between the actual image and the template image. For some products with deformation, three-dimensional scanning, splicing and modeling are required to be carried out on the products each time operation is carried out, each image needs to be moved for splicing in splicing and modeling, the splicing method is complicated, and the splicing accuracy is low; and determining a process path under the equipment coordinate based on the conversion relation between the spliced and modeled image and the template image, wherein the calculation steps are complicated and the efficiency is low.
Disclosure of Invention
In view of the above, it is necessary to provide a calibration-based process path determination method, apparatus, device and storage medium.
A calibration-based process path determination method, the method comprising:
acquiring a calibration scanning path of target processing equipment;
adopting the calibration scanning path to perform two-dimensional image scanning on each side surface of a target product loaded on the target processing equipment to obtain a two-dimensional image set to be spliced;
adopting splicing conversion calibration data corresponding to the target processing equipment to splice the two-dimensional image sets to be spliced to obtain a target three-dimensional image;
generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path;
and converting the coordinate system of the initial process path into equipment coordinates by adopting coordinate conversion calibration data corresponding to the target processing equipment to obtain a target process path.
Further, after the step of converting the coordinate system of the initial process path into the device coordinate by using the coordinate conversion calibration data corresponding to the target processing device to obtain the target process path, the method further includes:
and controlling the target processing equipment according to the target process path so as to carry out process production on the target product loaded on the target processing equipment.
Further, before the step of performing three-dimensional image stitching on the to-be-stitched two-dimensional image set by using the stitching conversion calibration data corresponding to the target processing device to obtain the target three-dimensional image, the method further includes:
adopting the calibration scanning path to perform two-dimensional image scanning on each side surface of a target calibration block loaded on the target processing equipment to obtain a single-side two-dimensional image;
identifying characteristic points of each single-sided two-dimensional image to obtain a characteristic point data set;
splicing the three-dimensional images of the single-sided two-dimensional images according to the feature point data sets and the calibration side corresponding to the target calibration block;
performing splicing conversion data calculation on the two-dimensional image to be analyzed before splicing processing and the two-dimensional image to be analyzed after splicing processing to obtain single-sided splicing conversion data, wherein the two-dimensional image to be analyzed is any one of the single-sided two-dimensional images;
and taking each single-side splicing conversion data as the splicing conversion calibration data corresponding to the target processing equipment.
Further, the feature point data set includes: the step of performing three-dimensional image stitching processing on each single-sided two-dimensional image according to each feature point data set and the calibration side corresponding to the target calibration block includes:
splicing a second image to a first image according to the feature point correspondence between the first data set corresponding to the first image and the second data set corresponding to the second image, wherein the first image is the single-sided two-dimensional image corresponding to the calibration side, and the second image is the single-sided two-dimensional image adjacent to the first end of the first image;
splicing a fourth image to the first image according to the feature point correspondence between the second data set corresponding to the first image and the first data set corresponding to the fourth image, wherein the fourth image is the single-sided two-dimensional image adjacent to the second end of the first image;
and splicing the third image to the spliced second image and the spliced fourth image according to the feature point corresponding relation between the second data set corresponding to the third image and the first data set corresponding to the second image and the feature point corresponding relation between the first data set corresponding to the third image and the second data set corresponding to the fourth image, wherein the third image is the single-side two-dimensional image parallel to the first image.
Further, the shape of the target calibration block is a cube or a cuboid, each side of the target calibration block is provided with a first feature point array and a second feature point array, the first feature point array comprises at least two rows of feature points, the number of the feature points of each row of the first feature point array is greater than 1, the second feature point array is arranged in at least two rows of the feature points, the number of the feature points of each row of the second feature point array is greater than 1, the first data set is feature data corresponding to the first feature point array, and the second data set is feature data corresponding to the second feature point array;
the feature point correspondence relationship is used for expressing that central axes of the two symmetrical feature points are intersected to form a central axis intersection point, and the distances from the two symmetrical feature points to the central axis intersection point are the same, wherein the two symmetrical feature points are the two feature points which are symmetrical to an intersection line of two side surfaces of the target calibration block.
Further, the target calibration block includes: the corner joint comprises a first side surface, a second side surface, a third side surface, a fourth side surface, a first corner surface, a second corner surface, a third corner surface and a fourth corner surface, wherein the first side surface, the first corner surface, the second side surface, the second corner surface, the third side surface, the third corner surface, the fourth side surface and the fourth corner surface are sequentially connected;
two first splicing positioning holes are formed in first sections of the first corner face, the second corner face, the third corner face and the fourth corner face;
two second splicing positioning holes are formed in the second sections of the first corner surface, the second corner surface, the third corner surface and the fourth corner surface;
two third splicing positioning holes are formed in third sections of the first corner face, the second corner face, the third corner face and the fourth corner face;
the first data set is data corresponding to two first splicing positioning holes on the first section and two second splicing positioning holes on the second section;
the second data set is data corresponding to the two third splicing positioning holes on the third section and the two second splicing positioning holes on the second section;
the feature point correspondence relationship is used for expressing the overlapping of the first splicing positioning holes at the same position, the overlapping of the second splicing positioning holes at the same position, and the overlapping of the third splicing positioning holes at the same position.
Further, before the step of converting the coordinate system of the initial process path into the device coordinate by using the coordinate conversion calibration data corresponding to the target processing device to obtain the target process path, the method further includes:
performing two-dimensional image scanning on the calibration side of the target calibration block on the target processing equipment by adopting the calibration scanning path to obtain a first calibration image;
acquiring first visual coordinate data of each feature point from the first calibration image;
acquiring first tool coordinate data of each feature point of the calibration side surface of the target calibration block loaded on the target machining device, wherein the first tool coordinate data is coordinate data of a tail end of a process machining tool when the tail end of the process machining tool on the target machining device is located at the feature point;
calculating a coordinate conversion relation according to each first visual coordinate data and each first tool coordinate data to obtain an initial coordinate conversion relation;
adopting the calibration scanning path to perform two-dimensional image scanning on the calibration side face of the target calibration block on the target processing equipment to obtain a second calibration image;
acquiring second visual coordinate data of each feature point from the first calibration image;
acquiring second tool coordinate data of each feature point of the calibration side surface of the target calibration block loaded on the target machining device, wherein the second tool coordinate data is coordinate data of a tail end of the process machining tool when the tail end of the process machining tool is located at the feature point;
and performing affine transformation calculation on the initial coordinate conversion relation according to the second visual coordinate data and the second tool coordinate data to obtain coordinate conversion calibration data corresponding to the target processing equipment.
A calibration-based process path determination apparatus, the apparatus comprising:
the calibration scanning path acquisition module is used for acquiring a calibration scanning path of the target processing equipment;
the to-be-spliced two-dimensional image set determining module is used for determining a to-be-spliced two-dimensional image set, and is used for scanning two-dimensional images of all sides of a target product loaded on the target processing equipment by adopting the calibration scanning path to obtain the to-be-spliced two-dimensional image set;
the target three-dimensional image determining module is used for carrying out three-dimensional image splicing on the two-dimensional image set to be spliced by adopting splicing conversion calibration data corresponding to the target processing equipment to obtain a target three-dimensional image;
the initial process path determining module is used for generating a process path in the target three-dimensional image by adopting a preset process path generating method to serve as an initial process path;
and the target process path determining module is used for converting the coordinate system of the initial process path into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path.
A computer device comprising a memory and a processor, the memory storing a computer program that, when executed by the processor, causes the processor to perform the steps of:
acquiring a calibration scanning path of target processing equipment;
performing two-dimensional image scanning on each side surface of a target product loaded on the target processing equipment by adopting the calibration scanning path to obtain a two-dimensional image set to be spliced;
adopting splicing conversion calibration data corresponding to the target processing equipment to splice the three-dimensional images of the two-dimensional image set to be spliced to obtain a target three-dimensional image;
generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path;
and converting the coordinate system of the initial process path into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path.
A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
acquiring a calibration scanning path of target processing equipment;
performing two-dimensional image scanning on each side surface of a target product loaded on the target processing equipment by adopting the calibration scanning path to obtain a two-dimensional image set to be spliced;
adopting splicing conversion calibration data corresponding to the target processing equipment to splice the two-dimensional image sets to be spliced to obtain a target three-dimensional image;
generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path;
and converting the coordinate system of the initial process path into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path.
According to the method, the splicing conversion calibration data corresponding to the target processing equipment are adopted, the three-dimensional image splicing is carried out on the two-dimensional image set to be spliced, the target three-dimensional image is obtained, the accurate splicing position of each two-dimensional image to be spliced in the two-dimensional image set to be spliced can be rapidly determined based on the splicing conversion calibration data, the splicing method is simple, and the splicing accuracy is high; the coordinate system of the initial process path is converted into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path, the conversion relation between the target three-dimensional image and the template image does not need to be calculated, the calculation step is simple, and the calculation efficiency is high; and generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path, so that the process path is produced in real time based on the target three-dimensional image, and the method is suitable for products with deformation and the like which need to customize the process path in real time.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Wherein:
FIG. 1 is a flow diagram of a calibration-based process path determination method in one embodiment;
FIG. 2 is a schematic diagram of a target calibration block of the present application;
FIG. 3 is a block diagram of a calibration-based process path determination apparatus in one embodiment;
FIG. 4 is a block diagram of a computer device in one embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
As shown in FIG. 1, in one embodiment, a calibration-based process path determination method is provided. The method can be applied to both a terminal and a server, and this embodiment is exemplified by being applied to a terminal. The calibration-based process path determination method specifically comprises the following steps:
s102: acquiring a calibration scanning path of target processing equipment;
specifically, the calibration scan path of the target processing device input by the user may be obtained, the calibration scan path of the target processing device may also be obtained from the database, and the calibration scan path of the target processing device may also be obtained from a third-party application.
The target processing equipment is equipment which needs to carry out technological production. Target machining devices include, but are not limited to, five-axis devices.
The calibration scan path is a path for performing two-dimensional image scanning at the time of calibration.
S104: performing two-dimensional image scanning on each side surface of a target product loaded on the target processing equipment by adopting the calibration scanning path to obtain a two-dimensional image set to be spliced;
the target product can be a product with deformation or a product without deformation.
Specifically, a 3D (three-dimensional) vision camera is adopted, two-dimensional image scanning is carried out on each side face of a target product loaded on the target processing equipment according to the calibration scanning path, each two-dimensional image obtained through scanning is used as a two-dimensional image to be spliced, and each two-dimensional image to be spliced is used as a two-dimensional image set to be spliced. By adopting the calibration scanning path, the scanning path of the two-dimensional image to be spliced is the same as the scanning path of the image during calibration, and the same scanning path is beneficial to improving the accuracy of three-dimensional image splicing.
It can be understood that each side surface of the target product comprises a first product surface, a second product surface, a third product surface and a fourth product surface which are connected in sequence; and scanning two-dimensional images of all side surfaces of the target product loaded on the target processing equipment, namely scanning a first product surface, a second product surface, a third product surface and a fourth product surface of the target product in sequence.
Optionally, the two-dimensional image to be stitched is a two-dimensional image composed of points.
S106: adopting splicing conversion calibration data corresponding to the target processing equipment to splice the three-dimensional images of the two-dimensional image set to be spliced to obtain a target three-dimensional image;
the splicing conversion calibration data comprises: side identification and single-side splicing conversion data. The side identification may be a side serial number for uniquely identifying a side. The single-side stitching conversion data is coordinate conversion data when three-dimensional images of a two-dimensional image on one side are stitched.
Specifically, any two-dimensional image to be stitched in the two-dimensional image set to be stitched is taken as an image to be processed; acquiring single-side splicing conversion data corresponding to an image to be processed from the splicing conversion calibration data corresponding to the target processing equipment; adopting single-side splicing conversion data corresponding to the image to be processed, and performing coordinate conversion on the image to be processed to obtain a converted two-dimensional image; and taking a three-dimensional image formed by the converted two-dimensional images as a target three-dimensional image. Therefore, the accurate splicing position can be determined only by carrying out coordinate conversion on the two-dimensional image to be spliced according to the single-side splicing conversion data, the splicing method is simple, and the splicing accuracy is high.
Optionally, the target three-dimensional image is an image composed of point clouds.
S108: generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path;
specifically, a preset process path generation method is adopted to generate a process path in the target three-dimensional image, and the generated process path is used as an initial process path. Thereby realizing a production process path on the three-dimensional image.
The step of generating the process path in the target three-dimensional image by using a preset process path generation method is not described herein again.
The process path is a path for performing process production. For example, when the present application is applied to 3D (three-dimensional) glasses manufacturing, the value range of the process includes but is not limited to: dispensing, assembling and welding.
S110: and converting the coordinate system of the initial process path into equipment coordinates by adopting coordinate conversion calibration data corresponding to the target processing equipment to obtain a target process path.
Specifically, the coordinate system of the initial process path is converted into the device coordinate by using the coordinate conversion calibration data corresponding to the target processing device, and the converted initial process path is used as the target process path. The conversion can be carried out only by coordinate conversion calibration data, the conversion relation between the target three-dimensional image and the template image does not need to be calculated, the calculation steps are simple, and the calculation efficiency is high.
In the embodiment, the splicing conversion calibration data corresponding to the target processing equipment is adopted to perform three-dimensional image splicing on the two-dimensional image set to be spliced to obtain the target three-dimensional image, the accurate splicing position of each two-dimensional image to be spliced in the two-dimensional image set to be spliced can be rapidly determined based on the splicing conversion calibration data, the splicing method is simple, and the splicing accuracy is high; the coordinate system of the initial process path is converted into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path, the conversion relation between the target three-dimensional image and the template image does not need to be calculated, the calculation step is simple, and the calculation efficiency is high; and generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path, so that the process path is produced in real time based on the target three-dimensional image, and the method is suitable for products with deformation and the like which need to customize the process path in real time.
In an embodiment, after the step of converting the coordinate system of the initial process path into the device coordinate by using the coordinate conversion calibration data corresponding to the target processing device to obtain the target process path, the method further includes:
s202: and controlling the target processing equipment according to the target process path so as to carry out process production on the target product loaded on the target processing equipment.
Specifically, the target processing equipment is controlled, and the target product loaded on the target processing equipment is subjected to process production according to the target process path.
According to the embodiment, the target processing equipment is controlled according to the target process path so as to carry out process production on the target product loaded on the target processing equipment, so that the rapid process production on the product needing to customize the process path in real time is realized, the production efficiency is improved, and the production cost is reduced.
In an embodiment, before the step of performing three-dimensional image stitching on the to-be-stitched two-dimensional image set by using the stitching conversion calibration data corresponding to the target processing device to obtain the target three-dimensional image, the method further includes:
s302: adopting the calibration scanning path to perform two-dimensional image scanning on each side surface of a target calibration block loaded on the target processing equipment to obtain a single-side two-dimensional image;
specifically, a 3D vision camera is adopted to scan two-dimensional images of each side face of a target calibration block loaded on the target processing equipment according to the calibration scanning path, and each two-dimensional image obtained through scanning is used as a single-face two-dimensional image.
It is understood that each side of the target calibration block includes a first side, a second side, a third side and a fourth side, which are connected in sequence; and performing two-dimensional image scanning on each side surface of the target calibration block loaded on the target processing equipment, namely sequentially scanning the first side surface, the second side surface, the third side surface and the fourth side surface of the target calibration block.
It will be appreciated that the target calibration block also includes a bottom surface and a top surface. The bottom surface of the target calibration block is in close contact with the target processing apparatus when the target calibration block is loaded on the target processing apparatus.
S304: identifying characteristic points of each single-sided two-dimensional image to obtain a characteristic point data set;
wherein a plurality of feature points are provided on each side of the target calibration block. The characteristic points can be round holes or cylinders.
Specifically, feature points on each single-sided two-dimensional image are identified, and image data obtained by identifying each feature point is used as feature point data; each feature point data is taken as a feature point data set.
S306: splicing the single-sided two-dimensional images according to the feature point data sets and the calibration side faces corresponding to the target calibration blocks;
wherein any side of the target calibration block can be used as a calibration side. It is understood that the calibration side is the first side scanned in step S302.
Specifically, based on the feature point corresponding relation of each feature point data set, the single-sided two-dimensional image corresponding to the calibration side is used as a splicing basis, and the splicing processing of the three-dimensional image is performed on each single-sided two-dimensional image.
S308: performing splicing conversion data calculation on the two-dimensional image to be analyzed before splicing processing and the two-dimensional image to be analyzed after splicing processing to obtain single-sided splicing conversion data, wherein the two-dimensional image to be analyzed is any one of the single-sided two-dimensional images;
specifically, the two-dimensional image to be analyzed before the splicing processing and the two-dimensional image to be analyzed after the splicing processing are subjected to splicing conversion data calculation, and the splicing conversion data obtained through calculation is used as single-sided splicing conversion data.
That is, the single-sided stitching conversion data is data of a coordinate transformation relationship of two-dimensional image stitching three-dimensional images under the visual coordinates of the 3D visual camera.
S310: and taking each single-side splicing conversion data as the splicing conversion calibration data corresponding to the target processing equipment.
Specifically, each single-side stitching conversion data is used as the stitching conversion calibration data corresponding to the target processing equipment, so that the conversion relation of three-dimensional image stitching is determined.
In this embodiment, the three-dimensional image is first calibrated based on the target calibration block, and then the conversion relationship between the image after the three-dimensional image is stitched and the image before the three-dimensional image is stitched is used as single-sided stitching conversion data, so that the single-sided stitching conversion data of each side surface is quickly determined, and a basis is provided for three-dimensional image stitching based on the single-sided stitching conversion data.
In one embodiment, the feature point data set includes: the step of performing three-dimensional image stitching processing on each single-sided two-dimensional image according to each feature point data set and the calibration side corresponding to the target calibration block includes:
s402: splicing a second image to a first image according to the feature point correspondence between the first data set corresponding to the first image and the second data set corresponding to the second image, wherein the first image is the single-sided two-dimensional image corresponding to the calibration side, and the second image is the single-sided two-dimensional image adjacent to the first end of the first image;
and each side surface of the target calibration block is provided with two groups of characteristic points, wherein one group of characteristic points correspond to the first data set, and the other group of characteristic points correspond to the second data set.
Specifically, the first image is the single-sided two-dimensional image corresponding to the calibration side, the second image is the single-sided two-dimensional image adjacent to the first end of the first image, and the second image is spliced to the first image according to the feature point correspondence between the first data set corresponding to the first image and the second data set corresponding to the second image, so that the single-sided two-dimensional image corresponding to the calibration side is used as a splicing basis, the single-sided two-dimensional image corresponding to the calibration side is spliced to the single-sided two-dimensional image corresponding to the calibration side quickly, and a basis is provided for quickly performing three-dimensional image splicing processing.
Optionally, the feature point correspondence relationship is that feature points at the same position overlap.
S404: splicing a fourth image to the first image according to the feature point correspondence between the second data set corresponding to the first image and the first data set corresponding to the fourth image, wherein the fourth image is the single-sided two-dimensional image adjacent to the second end of the first image;
specifically, the fourth image is the single-sided two-dimensional image adjacent to the second end of the first image, and the fourth image is spliced to the first image according to the feature point correspondence between the second data set corresponding to the first image and the first data set corresponding to the fourth image, so that the second adjacent single-sided two-dimensional image of the calibration side is rapidly spliced to the single-sided two-dimensional image corresponding to the calibration side.
S406: and splicing the third image to the spliced second image and the spliced fourth image according to the corresponding relation of the characteristic points between the second data set corresponding to the third image and the first data set corresponding to the second image and the corresponding relation of the characteristic points between the first data set corresponding to the third image and the second data set corresponding to the fourth image, wherein the third image is the single-side two-dimensional image parallel to the first image.
Specifically, the third image is the single-sided two-dimensional image parallel to the first image, and the third image is spliced to the spliced second image and the spliced fourth image according to the feature point correspondence between the second data set corresponding to the third image and the first data set corresponding to the second image and the feature point correspondence between the first data set corresponding to the third image and the second data set corresponding to the fourth image, so that the single-sided two-dimensional image parallel to the calibration side is quickly spliced to the two single-sided two-dimensional images adjacent to the calibration side, and thus the splicing process of the three-dimensional images is quickly performed first.
The embodiment performs the stitching processing of the three-dimensional images based on the feature point correspondence between the second data set and the first data set of each image, thereby firstly performing the fast stitching processing and improving the calibration speed and accuracy.
In one embodiment, the target calibration block is a cube or a cuboid, each side of the target calibration block is provided with a first feature point array and a second feature point array, the first feature point array includes at least two rows of feature points, the number of feature points of each row of the first feature point array is greater than 1, the second feature point array is arranged in at least two rows of the feature points, the number of feature points of each row of the second feature point array is greater than 1, the first data set is feature data corresponding to the first feature point array, and the second data set is feature data corresponding to the second feature point array;
s502: the feature point correspondence relationship is used for expressing that central axes of the two symmetrical feature points are intersected to form a central axis intersection point, and the distances from the two symmetrical feature points to the central axis intersection point are the same, wherein the two symmetrical feature points are the two feature points which are symmetrical to an intersection line of two side surfaces of the target calibration block.
Specifically, the feature point correspondence relationship is used to express that central axes of two symmetric feature points intersect to form a central axis intersection point, and distances from the two symmetric feature points to the central axis intersection point are the same, so that the two symmetric feature points correspond to each other.
Fig. 2 illustrates a schematic diagram of a target calibration block, where C1 is a first side of the target calibration block, C2 is a second side of the target calibration block, C3 is a third side of the target calibration block, C4 is a fourth side of the target calibration block, ZL1 is a first feature point array, ZL2 is a first feature point array, and TZ is a feature point.
In this embodiment, the number of the feature points in each row is greater than 1, and the arrangement mode includes at least two rows of feature points, which is favorable for improving the accuracy of the calculation of the feature point correspondence, and improves the accuracy of the determined splicing conversion calibration data.
In one embodiment, the target calibration block includes: the corner joint comprises a first side surface, a second side surface, a third side surface, a fourth side surface, a first corner surface, a second corner surface, a third corner surface and a fourth corner surface, wherein the first side surface, the first corner surface, the second side surface, the second corner surface, the third side surface, the third corner surface, the fourth side surface and the fourth corner surface are sequentially connected;
two first splicing positioning holes are formed in first sections of the first corner face, the second corner face, the third corner face and the fourth corner face;
two second splicing positioning holes are formed in the second sections of the first corner surface, the second corner surface, the third corner surface and the fourth corner surface;
two third splicing positioning holes are formed in third sections of the first corner face, the second corner face, the third corner face and the fourth corner face;
the first data set is data corresponding to two first splicing positioning holes on the first section and two second splicing positioning holes on the second section;
the second data set is data corresponding to two third splice positioning holes on the third segment and two second splice positioning holes on the second segment;
the feature point correspondence relationship is used for expressing the overlapping of the first splicing positioning holes at the same position, the overlapping of the second splicing positioning holes at the same position, and the overlapping of the third splicing positioning holes at the same position.
In this embodiment, the first splicing positioning holes at the same positions are overlapped, the second splicing positioning holes at the same positions are overlapped, and the third splicing positioning holes at the same positions are overlapped, so that the accuracy of calculating the feature point correspondence relationship is improved by the overlapping of the positioning holes at the same positions, and the accuracy of the determined splicing conversion calibration data is improved.
It is understood that the number of the first splicing positioning holes may be more than two, the number of the second splicing positioning holes may be more than two, and the number of the third splicing positioning holes may be more than two.
Fig. 2 illustrates a schematic structural diagram of a target calibration block, where JM1 is the first corner face of the target calibration block, JM2 is the second corner face of the target calibration block, JM3 is the third corner face of the target calibration block, JM4 is the fourth corner face of the target calibration block, D1 is a first segment of the fourth corner face of the target calibration block, D2 is a second segment of the fourth corner face of the target calibration block, and D3 is a third segment of the fourth corner face of the target calibration block.
In another embodiment of the present application, the feature point correspondence relationship includes: a first corresponding relationship and a second corresponding relationship; the first corresponding relation expresses that the first splicing positioning holes at the same positions are overlapped, the second splicing positioning holes at the same positions are overlapped, and the third splicing positioning holes at the same positions are overlapped; and the second corresponding relation is used for expressing that the central axes of the two symmetrical characteristic points are intersected to form a central axis intersection point, and the distances from the two symmetrical characteristic points to the central axis intersection point are the same, so that the two symmetrical characteristic points correspond to each other. The accuracy of three-dimensional splicing processing is further improved through the first corresponding relation and the second corresponding relation, and the accuracy of splicing conversion calibration data is further improved.
In an embodiment, before the step of converting the coordinate system of the initial process path into the device coordinate by using the coordinate conversion calibration data corresponding to the target processing device to obtain the target process path, the method further includes:
s702: performing two-dimensional image scanning on the calibration side of the target calibration block on the target processing equipment by adopting the calibration scanning path to obtain a first calibration image;
specifically, a 3D vision camera is used to perform two-dimensional image scanning on the calibration side of the target calibration block on the target processing device according to the calibration scanning path, and the two-dimensional image obtained by scanning is used as a first calibration image.
S704: acquiring first visual coordinate data of each feature point from the first calibration image;
specifically, coordinate data of each feature point is calculated from the first calibration image, and the calculated coordinate data is used as first visual coordinate data.
It is to be understood that the feature points in step S704 may be arranged in the same manner as the first and second feature point arrays, or may be arranged in a different manner from the first and second feature point arrays.
S706: acquiring first tool coordinate data of each feature point of the calibration side surface of the target calibration block loaded on the target machining device, wherein the first tool coordinate data is coordinate data of a tail end of a process machining tool when the tail end of the process machining tool on the target machining device is located at the feature point;
specifically, the end of the working tool on the target processing device is moved to each of the feature points, the coordinate data of the end of the working tool is recorded, and the recorded coordinate data is used as the first tool coordinate data.
S708: calculating a coordinate conversion relation according to each piece of first visual coordinate data and each piece of first tool coordinate data to obtain an initial coordinate conversion relation;
specifically, coordinate conversion relation calculation is performed according to each first visual coordinate data and each first tool coordinate data, that is, a conversion relation between visual coordinates of the 3D visual camera and device coordinates of the target processing device is calculated.
The method steps for calculating the coordinate transformation relationship according to each of the first visual coordinate data and each of the first tool coordinate data are not described herein again.
S710: adopting the calibration scanning path to perform two-dimensional image scanning on the calibration side surface of the target calibration block on the target processing equipment to obtain a second calibration image;
specifically, a 3D vision camera is used to perform two-dimensional image scanning on the calibration side of the target calibration block on the target processing device according to the calibration scanning path, and the two-dimensional image obtained by scanning is used as a second calibration image.
S712: acquiring second visual coordinate data of each feature point from the first calibration image;
specifically, coordinate data of each feature point is calculated from the second calibration image, and the calculated coordinate data is used as second visual coordinate data.
S714: acquiring second tool coordinate data of each feature point of the calibration side surface of the target calibration block loaded on the target machining device, wherein the second tool coordinate data is coordinate data of a tail end of the process machining tool when the tail end of the process machining tool is located at the feature point;
specifically, the end of the working tool on the target processing device is moved to each of the feature points, the coordinate data of the end of the working tool is recorded, and the recorded coordinate data is used as the first tool coordinate data.
S716: and performing affine transformation calculation on the initial coordinate transformation relation according to each second visual coordinate data and each second tool coordinate data to obtain coordinate transformation calibration data corresponding to the target processing equipment.
Specifically, according to each piece of second visual coordinate data and each piece of second tool coordinate data, affine transformation calculation is performed on the initial coordinate transformation relationship, that is, based on affine transformation, the relationship between the point location after calibration transformation (that is, the coordinate data of the point) and the actual point location is calculated again, and the stretching relationship between the two points is corrected.
The method steps for performing affine transformation calculation on the initial coordinate transformation relationship according to each piece of the second visual coordinate data and each piece of the second tool coordinate data are not described herein again.
In the embodiment, coordinate conversion relation calculation is performed according to each first visual coordinate data and each first tool coordinate data to obtain an initial coordinate conversion relation, so that the rotation and translation are determined by rigid calibration; affine transformation calculation is carried out on the initial coordinate transformation relation according to the second visual coordinate data and the second tool coordinate data to obtain coordinate transformation calibration data corresponding to the target machining equipment, the relationship between the point location after calibration transformation and the actual point location is calculated again based on affine transformation, the stretching relationship between the two points is corrected, and the precision of the coordinate transformation calibration data is improved.
As shown in fig. 3, in one embodiment, there is provided a calibration-based process path determination apparatus, the apparatus comprising:
the calibration scanning path acquisition module is used for acquiring a calibration scanning path of the target processing equipment;
the to-be-spliced two-dimensional image set determining module is used for determining a to-be-spliced two-dimensional image set, and is used for scanning two-dimensional images of all sides of a target product loaded on the target processing equipment by adopting the calibration scanning path to obtain the to-be-spliced two-dimensional image set;
the target three-dimensional image determining module is used for performing three-dimensional image splicing on the two-dimensional image set to be spliced by adopting splicing conversion calibration data corresponding to the target processing equipment to obtain a target three-dimensional image;
the initial process path determining module is used for generating a process path in the target three-dimensional image by adopting a preset process path generating method to serve as an initial process path;
and the target process path determining module is used for converting the coordinate system of the initial process path into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path.
In the embodiment, the splicing conversion calibration data corresponding to the target processing equipment is adopted to perform three-dimensional image splicing on the two-dimensional image set to be spliced to obtain the target three-dimensional image, the accurate splicing position of each two-dimensional image to be spliced in the two-dimensional image set to be spliced can be rapidly determined based on the splicing conversion calibration data, the splicing method is simple, and the splicing accuracy is high; the coordinate system of the initial process path is converted into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path, the conversion relation between the target three-dimensional image and the template image does not need to be calculated, the calculation step is simple, and the calculation efficiency is high; and generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path, so that the process path is produced in real time based on the target three-dimensional image, and the method is suitable for products with deformation and the like which need to customize the process path in real time.
FIG. 4 is a diagram illustrating an internal structure of a computer device in one embodiment. The computer device may specifically be a terminal, and may also be a server. As shown in fig. 4, the computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program that, when executed by the processor, causes the processor to implement a calibration-based process path determination method. The internal memory may also have stored therein a computer program that, when executed by the processor, causes the processor to perform a calibration-based process path determination method. It will be appreciated by those skilled in the art that the configuration shown in fig. 4 is a block diagram of only a portion of the configuration associated with the present application, and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is proposed, comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
acquiring a calibration scanning path of target processing equipment;
performing two-dimensional image scanning on each side surface of a target product loaded on the target processing equipment by adopting the calibration scanning path to obtain a two-dimensional image set to be spliced;
adopting splicing conversion calibration data corresponding to the target processing equipment to splice the three-dimensional images of the two-dimensional image set to be spliced to obtain a target three-dimensional image;
generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path;
and converting the coordinate system of the initial process path into equipment coordinates by adopting coordinate conversion calibration data corresponding to the target processing equipment to obtain a target process path.
In the embodiment, the splicing conversion calibration data corresponding to the target processing equipment is adopted to perform three-dimensional image splicing on the two-dimensional image set to be spliced to obtain the target three-dimensional image, the accurate splicing position of each two-dimensional image to be spliced in the two-dimensional image set to be spliced can be rapidly determined based on the splicing conversion calibration data, the splicing method is simple, and the splicing accuracy is high; the coordinate system of the initial process path is converted into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path, the conversion relation between the target three-dimensional image and the template image does not need to be calculated, the calculation step is simple, and the calculation efficiency is high; and generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path, so that the process path is produced in real time based on the target three-dimensional image, and the method is suitable for products with deformation and the like which need to customize the process path in real time.
In one embodiment, a computer-readable storage medium is proposed, in which a computer program is stored which, when executed by a processor, causes the processor to carry out the steps of:
acquiring a calibration scanning path of target processing equipment;
performing two-dimensional image scanning on each side surface of a target product loaded on the target processing equipment by adopting the calibration scanning path to obtain a two-dimensional image set to be spliced;
adopting splicing conversion calibration data corresponding to the target processing equipment to splice the three-dimensional images of the two-dimensional image set to be spliced to obtain a target three-dimensional image;
generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path;
and converting the coordinate system of the initial process path into equipment coordinates by adopting coordinate conversion calibration data corresponding to the target processing equipment to obtain a target process path.
In the embodiment, the splicing conversion calibration data corresponding to the target processing equipment is adopted to perform three-dimensional image splicing on the two-dimensional image set to be spliced to obtain the target three-dimensional image, the accurate splicing position of each two-dimensional image to be spliced in the two-dimensional image set to be spliced can be rapidly determined based on the splicing conversion calibration data, the splicing method is simple, and the splicing accuracy is high; the coordinate system of the initial process path is converted into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path, the conversion relation between the target three-dimensional image and the template image does not need to be calculated, the calculation step is simple, and the calculation efficiency is high; and generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path, so that the process path is produced in real time based on the target three-dimensional image, and the method is suitable for products with deformation and the like which need to customize the process path in real time.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims. Please enter the implementation content part.
Claims (10)
1. A calibration-based process path determination method, the method comprising:
acquiring a calibration scanning path of target processing equipment;
performing two-dimensional image scanning on each side surface of a target product loaded on the target processing equipment by adopting the calibration scanning path to obtain a two-dimensional image set to be spliced;
adopting splicing conversion calibration data corresponding to the target processing equipment to splice the three-dimensional images of the two-dimensional image set to be spliced to obtain a target three-dimensional image;
generating a process path in the target three-dimensional image by adopting a preset process path generation method to serve as an initial process path;
and converting the coordinate system of the initial process path into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path.
2. The calibration-based process path determining method of claim 1, wherein after the step of converting the coordinate system of the initial process path into the device coordinates by using the coordinate conversion calibration data corresponding to the target processing device to obtain the target process path, the method further comprises:
and controlling the target processing equipment according to the target process path to carry out process production on the target product loaded on the target processing equipment.
3. The calibration-based process path determining method according to claim 1, wherein before the step of performing three-dimensional image stitching on the to-be-stitched two-dimensional image set by using stitching conversion calibration data corresponding to the target processing device to obtain a target three-dimensional image, the method further comprises:
adopting the calibration scanning path to perform two-dimensional image scanning on each side surface of a target calibration block loaded on the target processing equipment to obtain a single-side two-dimensional image;
identifying characteristic points of each single-sided two-dimensional image to obtain a characteristic point data set;
splicing the three-dimensional images of the single-sided two-dimensional images according to the feature point data sets and the calibration side corresponding to the target calibration block;
performing splicing conversion data calculation on the two-dimensional image to be analyzed before splicing processing and the two-dimensional image to be analyzed after splicing processing to obtain single-sided splicing conversion data, wherein the two-dimensional image to be analyzed is any one of the single-sided two-dimensional images;
and taking each single-side splicing conversion data as the splicing conversion calibration data corresponding to the target processing equipment.
4. The calibration-based process path determination method of claim 3, wherein the feature point data set comprises: the step of performing three-dimensional image stitching processing on each single-sided two-dimensional image according to each feature point data set and the calibration side corresponding to the target calibration block includes:
splicing a second image to a first image according to the feature point correspondence between the first data set corresponding to the first image and the second data set corresponding to the second image, wherein the first image is the single-sided two-dimensional image corresponding to the calibration side, and the second image is the single-sided two-dimensional image adjacent to the first end of the first image;
splicing a fourth image to the first image according to the feature point correspondence between the second data set corresponding to the first image and the first data set corresponding to the fourth image, wherein the fourth image is the single-sided two-dimensional image adjacent to the second end of the first image;
and splicing the third image to the spliced second image and the spliced fourth image according to the corresponding relation of the characteristic points between the second data set corresponding to the third image and the first data set corresponding to the second image and the corresponding relation of the characteristic points between the first data set corresponding to the third image and the second data set corresponding to the fourth image, wherein the third image is the single-side two-dimensional image parallel to the first image.
5. The calibration-based process path determining method according to claim 4, wherein the target calibration block is a cube or a cuboid, each side of the target calibration block is provided with a first feature point array and a second feature point array, the first feature point array includes at least two rows of feature points, the number of feature points of each row of the first feature point array is greater than 1, the second feature point array is arranged in at least two rows of the feature points, the number of feature points of each row of the second feature point array is greater than 1, the first data set is feature data corresponding to the first feature point array, and the second data set is feature data corresponding to the second feature point array;
the feature point correspondence relationship is used for expressing that the central axes of the two symmetrical feature points are intersected to form a central axis intersection point, and the distances from the two symmetrical feature points to the central axis intersection point are the same, wherein the two symmetrical feature points are the two feature points symmetrical to the intersection line of the two side surfaces of the target calibration block.
6. The calibration-based process path determination method of claim 4, wherein the target calibration block comprises: the corner joint comprises a first side surface, a second side surface, a third side surface, a fourth side surface, a first corner surface, a second corner surface, a third corner surface and a fourth corner surface, wherein the first side surface, the first corner surface, the second side surface, the second corner surface, the third side surface, the third corner surface, the fourth side surface and the fourth corner surface are sequentially connected;
two first splicing positioning holes are formed in first sections of the first corner face, the second corner face, the third corner face and the fourth corner face;
two second splicing positioning holes are formed in the second sections of the first corner face, the second corner face, the third corner face and the fourth corner face;
two third splicing positioning holes are formed in third sections of the first corner face, the second corner face, the third corner face and the fourth corner face;
the first data set is data corresponding to two first splicing positioning holes on the first section and two second splicing positioning holes on the second section;
the second data set is data corresponding to the two third splicing positioning holes on the third section and the two second splicing positioning holes on the second section;
the feature point corresponding relation is used for expressing that the first splicing positioning holes at the same positions are overlapped, the second splicing positioning holes at the same positions are overlapped, and the third splicing positioning holes at the same positions are overlapped.
7. The calibration-based process path determining method of claim 3, wherein before the step of converting the coordinate system of the initial process path into the device coordinates by using the coordinate conversion calibration data corresponding to the target processing device to obtain the target process path, the method further comprises:
performing two-dimensional image scanning on the calibration side of the target calibration block on the target processing equipment by adopting the calibration scanning path to obtain a first calibration image;
acquiring first visual coordinate data of each feature point from the first calibration image;
acquiring first tool coordinate data of each feature point of the calibration side surface of the target calibration block loaded on the target processing equipment, wherein the first tool coordinate data is coordinate data of a tail end of a process processing tool when the tail end of the process processing tool on the target processing equipment is located at the feature point;
calculating a coordinate conversion relation according to each first visual coordinate data and each first tool coordinate data to obtain an initial coordinate conversion relation;
adopting the calibration scanning path to perform two-dimensional image scanning on the calibration side surface of the target calibration block on the target processing equipment to obtain a second calibration image;
acquiring second visual coordinate data of each feature point from the first calibration image;
acquiring second tool coordinate data of each feature point of the calibration side surface of the target calibration block loaded on the target machining device, wherein the second tool coordinate data is coordinate data of a tail end of the process machining tool when the tail end of the process machining tool is located at the feature point;
and performing affine transformation calculation on the initial coordinate conversion relation according to the second visual coordinate data and the second tool coordinate data to obtain coordinate conversion calibration data corresponding to the target processing equipment.
8. A calibration-based process path determination apparatus, the apparatus comprising:
the calibration scanning path acquisition module is used for acquiring a calibration scanning path of the target processing equipment;
the to-be-spliced two-dimensional image set determining module is used for determining a to-be-spliced two-dimensional image set, and is used for scanning two-dimensional images of all sides of a target product loaded on the target processing equipment by adopting the calibration scanning path to obtain the to-be-spliced two-dimensional image set;
the target three-dimensional image determining module is used for performing three-dimensional image splicing on the two-dimensional image set to be spliced by adopting splicing conversion calibration data corresponding to the target processing equipment to obtain a target three-dimensional image;
the initial process path determining module is used for generating a process path in the target three-dimensional image by adopting a preset process path generating method to serve as an initial process path;
and the target process path determining module is used for converting the coordinate system of the initial process path into the equipment coordinate by adopting the coordinate conversion calibration data corresponding to the target processing equipment to obtain the target process path.
9. A computer-readable storage medium, storing a computer program which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
10. A computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 7.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210474188 | 2022-04-29 | ||
| CN2022104741888 | 2022-04-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115205119A true CN115205119A (en) | 2022-10-18 |
Family
ID=83581929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210837663.3A Pending CN115205119A (en) | 2022-04-29 | 2022-07-15 | Calibration-based process path determination method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115205119A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116128736A (en) * | 2023-04-19 | 2023-05-16 | 广东三姆森科技股份有限公司 | Scanning imaging method, device, equipment and medium |
-
2022
- 2022-07-15 CN CN202210837663.3A patent/CN115205119A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116128736A (en) * | 2023-04-19 | 2023-05-16 | 广东三姆森科技股份有限公司 | Scanning imaging method, device, equipment and medium |
| CN116128736B (en) * | 2023-04-19 | 2023-08-15 | 广东三姆森科技股份有限公司 | Scanning imaging method, device, equipment and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110992356A (en) | Target object detection method and device and computer equipment | |
| US20130060369A1 (en) | Method and system for generating instructions for an automated machine | |
| CN109894748B (en) | Laser three-dimensional flight marking method and device, computer equipment and storage medium | |
| EP1286309A2 (en) | An automated CAD guided sensor planning process | |
| CN110827202A (en) | Target detection method, target detection device, computer equipment and storage medium | |
| CN111738223A (en) | Frame number image generation method and device, computer equipment and storage medium | |
| EP3706039A1 (en) | Image processing method, apparatus, and computer-readable recording medium | |
| CN115205119A (en) | Calibration-based process path determination method, device, equipment and storage medium | |
| CN111391327B (en) | Printing error determination method, printing error determination device, electronic equipment and storage medium | |
| CN110153582B (en) | Welding scheme generation method and device and welding system | |
| JP2730457B2 (en) | Three-dimensional position and posture recognition method based on vision and three-dimensional position and posture recognition device based on vision | |
| CN117291987B (en) | Method, device, computer equipment and storage medium for identifying cutting position of excess material | |
| CN110555385A (en) | welding seam characteristic point solving method based on variable step length curvature filtering | |
| CN111915681A (en) | External parameter calibration method and device for multi-group 3D camera group, storage medium and equipment | |
| JPH1147834A (en) | Method for generating turning-in line of bending work and bending system using same method | |
| CN116652440B (en) | Digital welding method and control system for steel structure | |
| KR910002445B1 (en) | Complex curved surface creation method | |
| CN112767239A (en) | Automatic sample generation method, system, equipment and storage medium | |
| CN109360215B (en) | Method, device and equipment for searching outer contour of three-dimensional model and storage medium | |
| CN116476070A (en) | Method for adjusting scanning measurement path of large-scale barrel part local characteristic robot | |
| CN111368745A (en) | Frame number image generation method and device, computer equipment and storage medium | |
| CN115908374A (en) | Corrugated carton printing pattern matching detection method and system based on metric learning and storage medium | |
| CN116225640A (en) | Concurrent construction method for welding digital twin three-dimensional scene model | |
| CN115078372A (en) | Product process detection method, device, computer equipment and medium | |
| CN115731297A (en) | Method and device for guiding dispensing, computer equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |