CN115930879A - Contour detection device and method for workpiece, server and storage medium - Google Patents
Contour detection device and method for workpiece, server and storage medium Download PDFInfo
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Abstract
The application provides a device and a method for detecting the contour of a workpiece, a server and a storage medium, and relates to the technical field of product control. The server receives contour point cloud data of the inner cavity of the workpiece, which is acquired by the point cloud acquisition module; the server determines cross section outlines corresponding to all points to be detected in outline point cloud data from a plurality of cross section outlines of a preset standard workpiece model; the server determines whether the distance error of each point to be detected is greater than the corresponding allowable error threshold value or not according to each point to be detected and the corresponding cross section profile; when the server determines that the distance error of any point to be detected is larger than the error threshold value associated with the point to be detected, the server determines that the point to be detected is unqualified, and the efficiency and the reliability are high.
Description
Technical Field
The present disclosure relates to the field of product control technologies, and in particular, to a device, a method, a server, and a storage medium for detecting a contour of a workpiece.
Background
Generally, before the workpiece of the precision instrument is shipped, the size of the workpiece of the precision instrument needs to be detected to determine whether the size of the workpiece of the precision instrument is qualified.
At present, the size of a workpiece of a precision instrument is generally detected by a caliper. However, for a workpiece of a precision instrument having an internal cavity, it is inconvenient for the caliper to extend into the workpiece of the precision instrument to detect the size of the workpiece of the internal cavity of the precision instrument. This makes it impossible to accurately detect whether the size of the cavity of the workpiece of the precision instrument is acceptable.
Disclosure of Invention
The application provides a device and a method for detecting the contour of a workpiece, a server and a storage medium, which are used for solving the problem that whether the size of an inner cavity of the workpiece of a precision instrument is qualified or not can not be accurately detected in the prior art.
In a first aspect, the present application provides a method for detecting a contour of a workpiece, including: the server receives contour point cloud data of the inner cavity of the workpiece, which is acquired by the point cloud acquisition module; the server determines cross section profiles corresponding to all points to be detected in profile point cloud data from a plurality of cross section profiles of a preset standard workpiece model; the server determines whether the distance error of each point to be detected is greater than the corresponding allowable error threshold value or not according to each point to be detected and the corresponding cross section profile; and when the server determines that the distance error of any point to be detected is greater than the error threshold value associated with the point to be detected, determining that the point to be detected is unqualified.
In a possible implementation manner, the server determines whether the distance error of each point to be detected is greater than a corresponding allowable error threshold according to each point to be detected and a corresponding cross-sectional profile, including: the server adjusts different multiples for the cross section profiles corresponding to the points to be detected to obtain a cross section profile set corresponding to each point to be detected; the server determines an error interval to which the distance error of the corresponding point to be detected belongs according to the cross section profiles adjacent to the positions of the corresponding points to be detected in the cross section profile set; and when the lower limit value of the error interval is greater than the allowable error threshold value, the server determines that the distance error of the corresponding point to be detected is greater than the allowable error threshold value.
In this way, it can be determined efficiently and reliably whether the distance error of the point to be detected from the corresponding cross-sectional profile is greater than the permissible error threshold.
In a possible implementation manner, the server determines, according to cross-sectional profiles respectively adjacent to the positions of the points to be detected in the cross-sectional profile set, an error interval to which the distance error of the corresponding point to be detected belongs, including: the server substitutes the coordinates (X, Y) of the points to be detected into the functional expression f (X + m) of each cross-sectional profile in the cross-sectional profile set respectively i δ，y+m i δ) =0. Wherein when the value of i is n, m i δ represents a coordinate offset coefficient associated with an adjustment factor of the cross-sectional profile with position ordering n, and m is a reduction factor when the adjustment factor is a reduction factor i Delta is less than 0, when the adjustment multiple is a reduction multiple, m i Delta is more than 0; when f (X + m) n δ，Y+m n δ)＞0、f(X+m n+1 δ，Y+m n+1 δ) < 0, and m n+1 δ＞m n Delta, the server determines the nth cross-sectional profile and the (n + 1) th cross-sectional profile as corresponding profiles to be treatedDetecting the cross section profile adjacent to the point; the server shifts the coefficient m according to the coordinate of the nth cross section profile n Delta and the coordinate offset coefficient m of the nth cross-sectional profile n+1 Delta, determining the error interval (m) of the distance error of the corresponding point to be detected n δ，m n+1 δ)。
Therefore, the error interval to which the distance error between the point to be detected and the corresponding cross section profile belongs can be accurately and efficiently determined.
In one possible embodiment, before the server receives the contour point cloud data of the inner cavity of the workpiece collected by the point cloud collection module, the method provided by the application further comprises: the server receives standard outline point cloud data of an inner cavity of a standard workpiece model acquired by a point cloud acquisition module; and the server fits the cross section outline of the standard outline point cloud data by using a least square method to obtain a function expression of the cross section outline of the standard outline point cloud data.
Therefore, the function expression of the cross section profile of the standard profile point cloud data can be accurately and efficiently realized, so that the distance error between the point to be detected and the corresponding cross section profile can be determined in the follow-up process.
In one possible embodiment, each cross-sectional profile of the set of cross-sectional profiles is an elliptical profile, a functional expression of the elliptical profile
Wherein, a is the length of the major axis of the elliptical profile, and b is the length of the minor axis of the elliptical profile; alternatively, each cross-sectional profile in the set of cross-sectional profiles is a circular profile, the functional expression f (x + m) of which i δ，y+m i δ)＝(x-a+m i δ) 2 +(y-b+m i δ) 2 -R 2 =0, wherein a is the abscissa of the center of the circular contour, b is the ordinate of the center of the circular contour, and R is the radius of the circular contour.
Since the function expression of the elliptical contour and the function expression of the circular contour are known, the function expression of the elliptical contour and the function expression of the circular contour do not need to be obtained by collecting standard contour data, and computing resources are saved.
In a possible implementation manner, the server determines whether the distance error of each point to be detected is greater than a corresponding allowable error threshold according to each point to be detected and a corresponding cross-sectional profile, including: the server determines the shortest distance between each point to be detected and the corresponding cross section profile; and the server determines whether the shortest distance between each point to be detected and the corresponding cross section profile is greater than the corresponding allowable error threshold value.
It can be understood that, by detecting whether the shortest distance between the point to be detected and the corresponding cross-sectional profile is greater than the corresponding allowable error threshold, it can be accurately determined whether the point to be detected is qualified.
In a possible embodiment, when the cross-sectional profile is an elliptical profile, the server determines the shortest distance between each point to be detected and the corresponding cross-sectional profile, and the method includes: when the point to be detected is outside the elliptical contour and is positioned in a first quadrant or a third quadrant of a coordinate system established by taking the geometric center of the elliptical contour as an original point, determining the distance between the elliptical contour and the point to be detected at preset intervals on the elliptical contour according to a clockwise direction by taking the intersection point of a connecting line between the point to be detected and the geometric center and the elliptical contour as a starting point; when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour;
when the point to be detected is outside the elliptical contour and is located in a second quadrant or a fourth quadrant of a coordinate system established by taking the geometric center of the elliptical contour as an original point, the server takes the intersection point of a connecting line of the point to be detected and the geometric center and the elliptical contour as a starting point and determines the distance between the elliptical contour and the point to be detected at intervals of preset length on the elliptical contour in the counterclockwise direction; and when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour.
When the points to be detected are outside the oval contour, the shortest distance between each point to be detected and the corresponding oval contour can be determined more efficiently and quickly by the method.
In a possible embodiment, when the cross-sectional profile is an elliptical profile, the server determines the shortest distance between each point to be detected and the corresponding cross-sectional profile, and the method includes: when the point to be detected is located in the elliptical contour and is located in a first quadrant or a third quadrant of a coordinate system established by taking the geometric center of the elliptical contour as an original point, the server takes the intersection point of a connecting line between the point to be detected and the geometric center and the elliptical contour as a starting point, and determines the distance between the elliptical contour and the point to be detected at intervals of preset length on the elliptical contour in the counterclockwise direction; when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour; when the point to be detected is located in the elliptical contour and is located in a second quadrant or a fourth quadrant of a coordinate system established by taking the geometric center of the elliptical contour as an original point, the server takes the intersection point of a connecting line between the point to be detected and the geometric center and the elliptical contour as a starting point, and determines the distances between the elliptical contour and the point to be detected one by one at intervals of preset length on the elliptical contour in the clockwise direction; and if the distance between the oval contour obtained by the determination and the point to be detected is greater than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour.
When the points to be detected are located in the oval outline, the shortest distance between each point to be detected and the corresponding oval outline can be determined more efficiently and rapidly by the method.
In a possible embodiment, after determining that any point to be detected is unqualified when the distance error of the point to be detected is greater than the error threshold associated with the point to be detected, the method provided by the present application further includes: the server maps the unqualified points to be detected to the standard workpiece model; and the server sends the standard workpiece model mapped with the unqualified point to be detected to the terminal equipment for display.
Therefore, the worker can clearly browse the relative positions of the unqualified point to be detected and the standard workpiece model.
In a possible implementation manner, before the server sends the standard workpiece model mapped with the unqualified point to be detected to the terminal device for display, the method provided by the application further includes: the server determines an error interval to which the distance error of each unqualified point to be detected belongs; and the server marks different identifications for each unqualified point to be detected correspondingly according to the error interval to which the distance error of each unqualified point to be detected belongs.
Therefore, the worker can further clearly browse the relative positions of the unqualified point to be detected and the standard workpiece model.
In a second aspect, the present application provides a contour detection apparatus for a workpiece, including: the data receiving unit is used for receiving contour point cloud data of the inner cavity of the workpiece, which are acquired by the point cloud acquisition module; the contour determining unit is used for determining the cross section contour corresponding to each point to be detected in the contour point cloud data from a plurality of cross section contours of a preset standard workpiece model; the error determining unit is used for determining whether the distance error of each point to be detected is larger than the corresponding allowable error threshold value or not according to each point to be detected and the corresponding cross section profile; and the data detection unit is used for determining that the point to be detected is unqualified when the distance error of any point to be detected is determined to be larger than the error threshold value associated with the point to be detected.
In a third aspect, the present application provides a server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to cause the server to perform the method as provided in the first aspect.
In a fourth aspect, the present application also provides a computer readable storage medium storing a computer program which, when executed by a processor, causes a computer to perform the method as provided in the first aspect.
In a fifth aspect, the present application also provides a computer program product comprising a computer program which, when executed, causes a computer to perform the method as provided in the first aspect.
The application provides a device, a method, a server and a storage medium for detecting the contour of a workpiece, which can receive contour point cloud data of an inner cavity of the workpiece collected by a point cloud collection module; determining cross section outlines corresponding to all points to be detected in outline point cloud data from a plurality of cross section outlines of a preset standard workpiece model; and when the distance error of any point to be detected is larger than the error threshold value associated with the point to be detected, determining that the point to be detected is unqualified. Therefore, the point to be detected of the inner cavity of the workpiece of the unqualified precision instrument can be accurately detected, and the method is high in reliability and efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and those skilled in the art can obtain other drawings without inventive labor.
Fig. 1 is a flowchart of a method for detecting a profile of a workpiece according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural view of a profile of a workpiece provided in an embodiment of the present application;
FIG. 3 is a schematic diagram of fitting a cross-sectional profile of standard profile point cloud data according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a position relationship between the point a to be detected and each elliptical contour in the elliptical contour set according to the embodiment of the present application;
FIG. 5 is a schematic diagram of determining the shortest distance from a point b to be detected to an elliptical profile A according to an embodiment of the present disclosure;
FIG. 6 is a second schematic diagram of determining the shortest distance from the point b to be detected to the elliptical profile A according to the embodiment of the present application;
fig. 7 is a third schematic diagram of determining the shortest distance from the point b to be detected to the elliptical profile a according to the embodiment of the present application;
FIG. 8 is a fourth schematic diagram illustrating the determination of the shortest distance from the point b to be detected to the elliptical profile A according to the embodiment of the present application;
FIG. 9 is a fifth schematic diagram illustrating the determination of the shortest distance from the point b to be detected to the elliptical contour A according to the embodiment of the present application;
fig. 10 is a schematic structural diagram of a standard workpiece model mapped with an unqualified point to be detected according to an embodiment of the present disclosure;
fig. 11 is a second schematic structural diagram of a standard workpiece model mapped with an unqualified point to be detected according to the embodiment of the present application;
fig. 12 is a functional block diagram of an apparatus for detecting a contour of a workpiece according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by persons skilled in the art based on the embodiments in the present application in light of the present disclosure, are within the scope of protection of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
At present, the size of a workpiece of a precision instrument is generally detected by a caliper. However, for a workpiece of a precision instrument having an internal cavity, it is inconvenient for the caliper to extend into the workpiece of the precision instrument to detect the size of the workpiece of the internal cavity of the precision instrument. This makes it impossible to accurately detect whether the size of the cavity of the workpiece of the precision instrument is acceptable.
Based on the technical problem, the invention idea of the application is as follows: the contour point cloud data of the inner cavity of the workpiece is acquired by the point cloud acquisition module, and each point to be detected on the contour point cloud data is compared with the standard contour point cloud data to detect unqualified points, and the accuracy and the reliability are high.
Hereinafter, the technical solution of the present application and how to solve the above technical problems will be described in detail by specific examples. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Referring to fig. 1, an embodiment of the present application provides a method for detecting a contour of a workpiece, which is applied to a server. The server is in communication connection with the point cloud acquisition module. The point cloud collection module can be, but is not limited to, a displacement sensor, a laser tracker, and a laser scanner. Specifically, as shown in fig. 1, a method for detecting a contour of a workpiece according to an embodiment of the present application includes:
s101: the server receives contour point cloud data of the inner cavity of the workpiece acquired by the point cloud acquisition module.
Illustratively, the point cloud acquisition module can shoot the workpiece from a plurality of angles to obtain point cloud data of the plurality of angles, and fuse the point cloud data of the plurality of angles to obtain contour point cloud data of the workpiece. It is to be understood that the contour point cloud data of the workpiece includes contour point cloud data of an inner cavity of the workpiece, wherein the contour of the workpiece may be as shown in fig. 2.
S102: and the server determines the cross section outline corresponding to each point to be detected in the outline point cloud data from a plurality of cross section outlines of a preset standard workpiece model.
Wherein, the cross section profile that each waits that the check point corresponds respectively means: the cross-sectional profile which is the same as the coordinates of the point to be detected in the vertical direction.
It should be noted that, when each cross-sectional profile in the set of cross-sectional profiles is an irregular figure, before S102, the method provided in the embodiment of the present application may further include: the server receives standard outline point cloud data of the inner cavity of the standard workpiece model acquired by the point cloud acquisition module. As shown in fig. 3, the server may fit the cross-sectional profile of the standard profile point cloud data using a least squares method. Thus, the server obtains a function expression of the cross section profile of the standard profile point cloud data. Therefore, the function expression of the cross section profile of the standard profile point cloud data can be accurately and efficiently realized, so that the distance error between the point to be detected and the corresponding cross section profile can be determined in the follow-up process.
In addition, when each cross-sectional profile in the set of cross-sectional profiles is an elliptical profile, before S102, the method provided by the embodiment of the present application may further include: function expression of server configuration elliptical outline
Wherein a is an elliptical profileB is the length of the minor axis of the elliptical profile, and when i is n, m is i δ represents the coordinate offset coefficient associated with the adjustment multiple of the cross-sectional profile with position ordering n, the adjustment multiple being the adjustment multiple to the standard elliptical profile, and m being the reduction multiple when said adjustment multiple is the reduction multiple i Delta is less than 0, and when the adjustment multiple is a reduction multiple, m i Delta > 0. Since the function expression of the elliptical contour is known, the function expression is obtained without acquiring standard contour data, and the computing resource is saved.
In addition, when each of the cross-sectional profiles in the set of cross-sectional profiles is a circular profile, the functional expression f (x + m) of the circular profile i δ，y+m i δ)＝(x-a+m i δ) 2 +(y-b+m i δ) 2 -R 2 =0, wherein a is the abscissa of the center of the circular profile, b is the ordinate of the center of the circular profile, R is the radius of the circular profile, wherein a is the length of the major axis of the elliptical profile, b is the length of the minor axis of the elliptical profile, and when the value of i is n, m is the length of the major axis of the elliptical profile i δ represents the coordinate offset coefficient associated with the adjustment multiple of the cross-sectional profile with position ordering n, the adjustment multiple being the adjustment multiple to the standard circular profile. Since the function expression of the circular contour is known, the function expression is obtained without collecting standard contour data, and the computing resource is saved.
S103: and the server determines whether the distance error of each point to be detected is greater than the corresponding allowable error threshold value or not according to each point to be detected and the corresponding cross section profile.
Illustratively, S103 may be embodied to include:
step 1-1: and the server adjusts different multiples of the cross section profiles corresponding to the points to be detected to obtain a cross section profile set corresponding to each point to be detected.
As shown in fig. 4, when the cross-sectional profile is an elliptical profile, the point a to be detected corresponds to the elliptical profile a, and different multiples are adjusted for the elliptical profile a to obtain an elliptical profile B, an elliptical profile C, an elliptical profile D, and an elliptical profile E, where the elliptical profile a, the elliptical profile B, the elliptical profile C, the elliptical profile D, and the elliptical profile E form an elliptical profile set. As also shown in fig. 4, the major axis of the elliptical profile E is 2 δ longer than the elliptical profile a, the major axis of the elliptical profile D is δ longer than the elliptical profile a, the major axis of the elliptical profile B is 2 δ shorter than the elliptical profile a, and the major axis of the elliptical profile C is δ shorter than the elliptical profile a.
Step 1-2: and the server determines an error interval to which the distance error of the corresponding point to be detected belongs according to the cross section profiles adjacent to the positions of the corresponding points to be detected in the cross section profile set.
Specifically, the server may substitute the coordinates (X, Y) of the point to be detected into the functional expression f (X + m) of each cross-sectional profile in the set of cross-sectional profiles, respectively i δ，y+m i δ) =0. Wherein when the value of i is n, m i δ represents a coordinate offset coefficient associated with an adjustment factor of the cross-sectional profile with position ordering n, and m is a reduction factor when the adjustment factor is a reduction factor i Delta is less than 0, and m is smaller than the reduction multiple i Delta > 0. When f (X + m) n δ，Y+m n δ)＞0、f(X+m n+1 δ，Y+m n+1 δ) < 0, and m n+1 δ＞m n And delta, the server determines the nth cross section profile and the (n + 1) th cross section profile as the adjacent cross section profiles of the corresponding points to be detected. The server shifts the coefficient m according to the coordinate of the nth cross section profile n Delta and the coordinate offset coefficient m of the nth cross-sectional profile n+1 Delta, determining the error interval of the distance error of the corresponding point to be detected as (m) n δ，m n+1 δ)。
As also shown in FIG. 4, when the abscissa and ordinate of the point a to be detected are (X, Y) and the function expression of the elliptical profile A is
If the major axis of the elliptical profile E is longer than the elliptical profile A by 2 δ (i.e., the coordinate offset factor), then the functional expression of the elliptical profile E will be ≧ greater>
(see, m) i = 2), the major axis of the elliptical profile D is longer than the elliptical profile a by δ (i.e. the coordinate offset factor), the functional expression of the elliptical profile D is ÷ greater than>
(see, m) i = 1). If>
And->
Therefore, the error section to which the distance error of the point a to be detected belongs is determined to be (δ,2 δ). />
As can be seen from the above, when the abscissa and ordinate of the point a to be detected are (X, Y) and the functional expression of the cross-sectional profile is f (X, Y) =0, if the long axis of the cross-sectional profile E is longer than the cross-sectional profile a by 2 (i.e., coordinate offset coefficient), the functional expression of the cross-sectional profile E is f (X +2 δ, Y +2 δ) =0 (see, m) i = 2), the long axis of the cross-sectional profile D is longer than the cross-sectional profile a by δ (i.e. the coordinate shift factor), the functional expression f (x + δ, y + δ) =0 (see, m) for the cross-sectional profile D i = 1). If f (X +2 δ, Y +2 δ) < 0 and f (X + δ, Y + δ) > 0, therefore, the error interval to which the distance error of the point a to be detected belongs is determined to be (δ,2 δ).
Step 1-3: and when the lower limit value of the error interval is greater than the allowable error threshold value, the server determines that the distance error of the corresponding point to be detected is greater than the allowable error threshold value.
In this way, it can be determined efficiently and reliably whether the distance error of the point to be detected from the corresponding cross-sectional profile is greater than the permissible error threshold.
S104: and when the server determines that the distance error of any point to be detected is greater than the error threshold value associated with the point to be detected, determining that the point to be detected is unqualified.
In summary, the embodiment of the present application provides a method for detecting a contour of a workpiece, which may be implemented by receiving contour point cloud data of an inner cavity of the workpiece collected by a point cloud collection module; determining cross section outlines corresponding to all points to be detected in outline point cloud data from a plurality of cross section outlines of a preset standard workpiece model; and further, when the distance error of any point to be detected is larger than the error threshold value associated with the point to be detected, determining that the point to be detected is unqualified. Therefore, the point to be detected of the inner cavity of the workpiece of the unqualified precision instrument can be accurately detected, and the method is high in reliability and efficiency.
It can be understood that, as shown in fig. 5, the intersection point of the connecting line of the point b to be detected and the geometric center O of the elliptical contour and the ellipse is point P. As can be seen from fig. 5, the distance from the point b to be detected to the point P is not the shortest distance from the point b to be detected to the elliptical contour. The oval contour further comprises a point Q, wherein a tangent line of the oval contour passing through the point Q is perpendicular to a connecting line from the point b to the point Q to be detected.
Therefore, the specific implementation manner of the above steps 1-3 may include:
step 2-1: and the server determines the shortest distance between each point to be detected and the corresponding cross section profile.
Illustratively, the specific implementation manner of step 2-1 includes, but is not limited to, the following four cases:
the first method comprises the following steps: as shown in fig. 6, when the point to be detected is outside the elliptical contour and is located in the first quadrant or the third quadrant of the coordinate system established with the geometric center of the elliptical contour as the origin, the distance between the elliptical contour and the point to be detected is determined at preset intervals on the elliptical contour according to a clockwise direction (i.e., a direction close to the major axis of the elliptical contour) with the intersection point of the connecting line between the point to be detected and the geometric center and the elliptical contour as the starting point. And when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour respectively.
And the second method comprises the following steps: as shown in fig. 7, when the point to be detected is outside the elliptical contour and is located in the second quadrant or the fourth quadrant of the coordinate system established with the geometric center of the elliptical contour as the origin, the server determines the distance between the elliptical contour and the point to be detected at preset intervals on the elliptical contour according to a counterclockwise direction (i.e., a direction close to the minor axis of the elliptical contour) with the intersection point of the connecting line between the point to be detected and the geometric center and the elliptical contour as the starting point; and when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour respectively. When the points to be detected are outside the elliptical contour, the shortest distance between each point to be detected and the corresponding elliptical contour can be determined more efficiently and rapidly by the method.
It can be understood that, when the points to be detected are outside the elliptical contour, the shortest distance between each point to be detected and the corresponding elliptical contour can be determined more efficiently and quickly by the first and second methods.
And the third is that: as shown in fig. 8, when the point to be detected is located within the elliptical contour and is located in the first quadrant or the third quadrant of the coordinate system established with the geometric center of the elliptical contour as the origin, the server determines the distance between the elliptical contour and the point to be detected at intervals of a preset length on the elliptical contour according to a counterclockwise direction (i.e., a direction close to the minor axis of the elliptical contour) with the intersection point of the connecting line between the point to be detected and the geometric center and the elliptical contour as the starting point; and when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour respectively.
And fourthly: as shown in fig. 9, when the point to be detected is located within the elliptical contour and is located in the second quadrant or the fourth quadrant of the coordinate system established with the geometric center of the elliptical contour as the origin, the server determines the distances between the elliptical contours and the point to be detected one by one at intervals of a preset length on the elliptical contour according to the clockwise direction (i.e., the direction close to the major axis of the elliptical contour) with the intersection point of the connecting line between the point to be detected and the geometric center and the elliptical contour as the starting point; and if the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour.
It can be understood that, when the points to be detected are located in the elliptical contour, the shortest distance between each point to be detected and the corresponding elliptical contour can be determined more efficiently and quickly through the third and fourth manners.
Step 2-2: and the server determines whether the shortest distance between each point to be detected and the corresponding cross section profile is greater than the corresponding allowable error threshold value.
It can be understood that, the shortest distance between the point to be detected and the corresponding cross-sectional profile, that is, the distance error between the point to be detected and the corresponding cross-sectional profile, can accurately determine whether the point to be detected is qualified by detecting whether the shortest distance between the point to be detected and the corresponding cross-sectional profile is greater than the corresponding allowable error threshold.
On the basis of the embodiment corresponding to fig. 1, after S104, the method provided in the embodiment of the present application further includes: and the server maps the unqualified points to be detected to the standard workpiece model. And the server sends the standard workpiece model mapped with the unqualified point to be detected to the terminal equipment for display. The standard workpiece model mapped with the unqualified point to be detected can be as shown in fig. 10. Therefore, the worker can clearly browse the relative positions of the unqualified point to be detected and the standard workpiece model.
Further, before the server sends the standard workpiece model mapped with the unqualified point to be detected to the terminal device for display, the method provided by the embodiment of the application further includes: and the server determines an error interval to which the distance error of each unqualified point to be detected belongs. And the server marks different identifications for the unqualified points to be detected correspondingly according to the error interval to which the distance error of each unqualified point to be detected belongs. Illustratively, as shown in fig. 11, each unqualified point to be detected, to which the distance error belongs, is marked with a different color. Alternatively, the server may also mark each unqualified point to be detected in different error intervals to which the distance error belongs, with the size of each unqualified point to be detected being different from the different error intervals to which the distance error belongs. Therefore, the worker can further clearly browse the relative positions of the unqualified point to be detected and the standard workpiece model.
Referring to fig. 12, it should be noted that the basic principle and the resulting technical effects of the workpiece contour detection apparatus 1200 provided in the present embodiment are the same as those of the above embodiments, and for a brief description, reference may be made to corresponding contents in the above embodiments for parts that are not mentioned in the present embodiment. Wherein the contour detection apparatus 1200 of a workpiece includes a data receiving unit 1201, a contour determining unit 1202, an error determining unit 1203, and a data detecting unit 1204, wherein,
the data receiving unit 1201 is used for receiving the contour point cloud data of the inner cavity of the workpiece acquired by the point cloud acquisition module.
The contour determining unit 1202 is configured to determine, from a plurality of cross-sectional contours of a preset standard workpiece model, cross-sectional contours corresponding to the points to be detected in the contour point cloud data.
An error determining unit 1203, configured to determine whether a distance error of each point to be detected is greater than a corresponding allowable error threshold according to each point to be detected and the corresponding cross-sectional profile.
And the data detection unit 1204 is configured to determine that the point to be detected is unqualified when the distance error of any point to be detected is determined to be greater than the error threshold associated with the point to be detected.
In a possible implementation manner, the error determining unit 1203 is specifically configured to adjust different multiples for the cross-sectional profiles corresponding to the respective points to be detected, so as to obtain a cross-sectional profile set corresponding to the respective points to be detected; determining an error interval to which the distance error of the corresponding point to be detected belongs according to the cross section profile which is adjacent to the position of each corresponding point to be detected in the cross section profile set; and when the lower limit value of the error interval is greater than the allowable error threshold value, determining that the distance error of the corresponding point to be detected is greater than the allowable error threshold value.
In a possible embodiment, the error determination unit 1203 is specifically configured to substitute the coordinates (X, Y) of the points to be detected into the functional expression f (X + m) of each cross-sectional profile in the set of cross-sectional profiles, respectively i δ，y+m i δ) =0; wherein when the value of i is n, m i δ represents a coordinate offset coefficient associated with an adjustment factor of the cross-sectional profile with position ordering n, and m is a reduction factor when the adjustment factor is a reduction factor i Delta is less than 0, and m is smaller than the reduction multiple i Delta is greater than 0; when f (X + m) n δ，Y+m n δ)＜0、f(X+m n+1 δ，Y+m n+1 δ) < 0, and m n+1 δ＞m n When delta, the server determines the nth cross section profile and the (n + 1) th cross section profile as the adjacent cross section profiles of the corresponding to-be-detected points; the server shifts the coefficient m according to the coordinate of the nth cross-sectional profile n Delta and the coordinate offset coefficient m of the nth cross-sectional profile n+1 Delta, determining the error interval of the distance error of the corresponding point to be detected as (m) n δ，m n+1 δ)。
In a possible embodiment, the data receiving unit 1201 is further configured to receive standard contour point cloud data of an inner cavity of a standard workpiece model acquired by the point cloud acquisition module. The apparatus 1200 provided in the embodiment of the present application may further include: and the data fitting unit is used for fitting the cross section profile of the standard profile point cloud data by using a least square method to obtain a function expression of the cross section profile of the standard profile point cloud data.
In one possible embodiment, each cross-sectional profile of the set of cross-sectional profiles is an ellipseFunctional expression of shape profile, ellipse profile
Wherein, a is the length of the major axis of the elliptical profile, and b is the length of the minor axis of the elliptical profile; alternatively, each cross-sectional profile in the set of cross-sectional profiles is a circular profile, the functional expression f (x + m) of which i δ，y+m i δ)＝(x-a+m i δ) 2 +(y-b+m i δ) 2 -R 2 =0, where a is the abscissa of the center of the circular profile, b is the ordinate of the center of the circular profile, and R is the radius of the circular profile.
In a possible implementation, the error determining unit 1203 is specifically configured to determine the shortest distance between each point to be detected and the corresponding cross-sectional profile; and determining whether the shortest distance between each point to be detected and the corresponding cross section profile is greater than the corresponding allowable error threshold value.
In a possible embodiment, the error determining unit 1203 is specifically configured to, when the point to be detected is outside the elliptical contour and is located in a first quadrant or a third quadrant of a coordinate system established with a geometric center of the elliptical contour as an origin, determine a distance between the elliptical contour and the point to be detected at preset intervals on the elliptical contour in a clockwise direction, with an intersection point of a connecting line between the point to be detected and the geometric center and the elliptical contour as a starting point; when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour; when the point to be detected is outside the oval outline and is located in a second quadrant or a fourth quadrant of a coordinate system established by taking the geometric center of the oval outline as an original point, the server takes the intersection point of the connecting line of the point to be detected and the geometric center and the oval outline as a starting point and determines the distance between the oval outline and the point to be detected at preset intervals in the oval outline in the counterclockwise direction; and when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour.
In another possible embodiment, the error determining unit 1203 is further specifically configured to, when the point to be detected is located inside the elliptical contour and is located in a first quadrant or a third quadrant of a coordinate system established with a geometric center of the elliptical contour as an origin, the server determines, with an intersection point of a connecting line between the point to be detected and the geometric center and the elliptical contour as a starting point, a distance between the elliptical contour and the point to be detected at every preset interval on the elliptical contour in the counterclockwise direction; when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour; when the point to be detected is located in the oval outline and is located in a second quadrant or a fourth quadrant of a coordinate system established by taking the geometric center of the oval outline as an original point, the server takes the intersection point of the connecting line of the point to be detected and the geometric center and the oval outline as a starting point, and determines the distances between the oval outline and the point to be detected one by one at intervals of a preset length in the clockwise direction on the oval outline; and if the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour.
In a possible implementation manner, the apparatus 1200 provided in this embodiment of the present application further includes: the data mapping unit is used for mapping the unqualified points to be detected to the standard workpiece model; and the data sending unit is used for sending the standard workpiece model mapped with the unqualified point to be detected to the terminal equipment for display.
In one possible implementation, the apparatus 1200 provided herein further includes: the data marking unit is used for determining an error interval to which the distance error of each unqualified point to be detected belongs; and the server marks different identifications for the unqualified points to be detected correspondingly according to the error interval to which the distance error of each unqualified point to be detected belongs.
In addition, the embodiment of the present application also provides a server, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the server is caused to execute the method provided by the above embodiment.
In addition, the embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program causes a computer to execute the method provided in the above embodiment.
In addition, the embodiment of the present application also provides a computer program product, which includes a computer program, and when the computer program is executed, the computer program causes a computer to execute the method provided by the above embodiment.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and these modifications or substitutions do not depart from the scope of the technical solutions of the embodiments of the present application.
Claims (13)
1. A method of detecting a profile of a workpiece, the method comprising:
the server receives contour point cloud data of the inner cavity of the workpiece acquired by the point cloud acquisition module;
the server determines cross section outlines corresponding to all points to be detected in the outline point cloud data from a plurality of cross section outlines of a preset standard workpiece model;
the server determines whether the distance error of each point to be detected is larger than a corresponding allowable error threshold value or not according to each point to be detected and the corresponding cross section profile;
and when the server determines that the distance error of any point to be detected is greater than the error threshold value associated with the point to be detected, determining that the point to be detected is unqualified.
2. The method of claim 1, wherein the server determines whether the distance error of each point to be detected is greater than a corresponding allowable error threshold according to each point to be detected and the corresponding cross-sectional profile, and the determining comprises:
the server adjusts different multiples for the cross section profiles corresponding to the points to be detected to obtain cross section profile sets corresponding to the points to be detected;
the server determines an error interval to which the distance error of the corresponding point to be detected belongs according to the cross section profile which is adjacent to the position of each corresponding point to be detected in the cross section profile set;
and when the lower limit value of the error interval is greater than the allowable error threshold value, the server determines that the distance error of the corresponding point to be detected is greater than the allowable error threshold value.
3. The method according to claim 2, wherein the server determines, according to the cross-sectional profiles respectively adjacent to the positions of the points to be detected in the cross-sectional profile set, an error interval to which the distance error of the corresponding point to be detected belongs, and includes:
the server substitutes the coordinates (X, Y) of the points to be detected into the functional expression f (X + m) of each cross section contour in the cross section contour set respectively i δ，y+m i δ) =0; wherein when the value of i is n, m i δ denotes the coordinate offset coefficient associated with the adjustment factor for the cross-sectional profile with position order n, and m is the reduction factor when the adjustment factor is the reduction factor i Delta is less than 0, and when the adjustment multiple is a reduction multiple, m i δ＞0；
When f (X + m) n δ，Y+m n δ)＞0、f(X+m n+1 δ，Y+m n+1 δ) < 0, and m n+1 δ＞m n When delta, the server determines the nth cross section profile and the (n + 1) th cross section profile as the adjacent cross section profiles of the corresponding to-be-detected points;
the server shifts the coefficient m according to the coordinate of the nth cross-sectional profile n Delta and the coordinate offset coefficient m of the nth cross-sectional profile n+1 Delta, determining the error interval (m) of the distance error of the corresponding point to be detected n δ，m n+1 δ)。
4. The method of claim 3, wherein prior to the server receiving contour point cloud data for the interior cavity of the workpiece from the point cloud acquisition module, the method further comprises:
the server receives standard outline point cloud data of an inner cavity of a standard workpiece model acquired by the point cloud acquisition module;
and the server fits the cross section outline of the standard outline point cloud data by using a least square method to obtain a function expression of the cross section outline of the standard outline point cloud data.
5. The method of claim 3, wherein each cross-sectional profile of the set of cross-sectional profiles is an elliptical profile,functional expression of the elliptical profile
Wherein a is the length of the major axis of the elliptical profile and b is the length of the minor axis of the elliptical profile;
alternatively, each cross-sectional profile of the set of cross-sectional profiles is a circular profile, the functional expression of which is f (x + m) i δ，y+m i δ)＝(x-a+m i δ) 2 +(y-b+m i δ) 2 -R 2 =0, wherein a is the abscissa of the center of the circular profile, b is the ordinate of the center of the circular profile, and R is the radius of the circular profile.
6. The method as claimed in claim 1, wherein the server determines whether the distance error of each point to be detected is greater than a corresponding allowable error threshold according to each point to be detected and the corresponding cross-sectional profile, and includes:
the server determines the shortest distance between each point to be detected and the corresponding cross section profile;
and the server determines whether the shortest distance between each point to be detected and the corresponding cross section profile is greater than the corresponding allowable error threshold value.
7. The method according to claim 6, wherein when the cross-sectional profile is an elliptical profile, the server determines the shortest distance between each point to be detected and the corresponding cross-sectional profile, and the method comprises the following steps:
when the point to be detected is located outside the elliptical contour and is located in a first quadrant or a third quadrant of a coordinate system established by taking the geometric center of the elliptical contour as an origin, determining the distance between the elliptical contour and the point to be detected at preset intervals on the elliptical contour according to a clockwise direction by taking the intersection point of a connecting line between the point to be detected and the geometric center and the elliptical contour as a starting point; when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour respectively;
when the point to be detected is outside the oval outline and is located in a second quadrant or a fourth quadrant of a coordinate system established by taking the geometric center of the oval outline as an original point, the server determines the distance between the oval outline and the point to be detected at the preset interval length on the oval outline in the counterclockwise direction by taking the intersection point of the connecting line between the point to be detected and the geometric center and the oval outline as a starting point; and when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour respectively.
8. The method according to claim 6, wherein when the cross-sectional profile is an elliptical profile, the server determines the shortest distance between each point to be detected and the corresponding cross-sectional profile, and the method comprises the following steps:
when the point to be detected is located in the elliptical contour and is located in a first quadrant or a third quadrant of a coordinate system established by taking the geometric center of the elliptical contour as an origin, the server determines the distance between the elliptical contour and the point to be detected at intervals of preset length on the elliptical contour according to the counterclockwise direction by taking the intersection point of a connecting line between the point to be detected and the geometric center and the elliptical contour as a starting point; when the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the previous determination and the point to be detected, determining the distance between the oval contour obtained by the previous determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour respectively;
when the point to be detected is located in the elliptical contour and is located in a second quadrant or a fourth quadrant of a coordinate system established by taking the geometric center of the elliptical contour as an origin, the server takes the intersection point of the connecting line of the point to be detected and the geometric center and the elliptical contour as a starting point, and determines the distance between the elliptical contour and the point to be detected one by one at every interval preset length on the elliptical contour in the clockwise direction; and if the distance between the oval contour obtained by the current determination and the point to be detected is larger than the distance between the oval contour obtained by the last determination and the point to be detected, determining the distance between the oval contour obtained by the last determination and the point to be detected as the shortest distance between the point to be detected and the corresponding cross section contour respectively.
9. The method according to any one of claims 1-8, wherein after determining that any one of the points to be detected is unqualified when the distance error determined for the point to be detected is greater than the error threshold associated with the point to be detected, the method further comprises:
the server maps unqualified points to be detected to the standard workpiece model;
and the server sends the standard workpiece model mapped with the unqualified point to be detected to the terminal equipment for display.
10. The method of claim 9, wherein before the server sends the standard workpiece model mapped with the unqualified point to be detected to the terminal device for display, the method further comprises:
the server determines an error interval to which the distance error of each unqualified point to be detected belongs;
and the server marks different marks on each unqualified point to be detected correspondingly according to the error interval to which the distance error of each unqualified point to be detected belongs.
11. An apparatus for inspecting a contour of a workpiece, the apparatus comprising:
the data receiving unit is used for receiving contour point cloud data of the inner cavity of the workpiece, which are acquired by the point cloud acquisition module;
the contour determining unit is used for determining the cross section contour corresponding to each point to be detected in the contour point cloud data from a plurality of cross section contours of a preset standard workpiece model;
the error determining unit is used for determining whether the distance error of each point to be detected is greater than a corresponding allowable error threshold value according to each point to be detected and the corresponding cross section profile;
and the data detection unit is used for determining that the point to be detected is unqualified when the distance error of any point to be detected is determined to be larger than the error threshold value associated with the point to be detected.
12. A server comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, causes the server to perform the method of any of claims 1 to 10.
13. A computer-readable storage medium, in which a computer program is stored which, when executed by a processor, causes a computer to carry out the method according to any one of claims 1 to 10.
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| CN117593515A (en) * | 2024-01-17 | 2024-02-23 | 中数智科(杭州)科技有限公司 | Bolt loosening detection system and method for railway vehicle and storage medium |
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| CN117593515A (en) * | 2024-01-17 | 2024-02-23 | 中数智科(杭州)科技有限公司 | Bolt loosening detection system and method for railway vehicle and storage medium |
| CN117593515B (en) * | 2024-01-17 | 2024-03-29 | 中数智科(杭州)科技有限公司 | Bolt loosening detection system and method for railway vehicle and storage medium |
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