CN116358856A - Buckle detection method, device, equipment and storage medium - Google Patents
Buckle detection method, device, equipment and storage medium Download PDFInfo
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- CN116358856A CN116358856A CN202310342350.5A CN202310342350A CN116358856A CN 116358856 A CN116358856 A CN 116358856A CN 202310342350 A CN202310342350 A CN 202310342350A CN 116358856 A CN116358856 A CN 116358856A
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- G01M17/007—Wheeled or endless-tracked vehicles
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Abstract
The invention belongs to the technical field of vehicle design, and discloses a buckle detection method, a buckle detection device, buckle detection equipment and a storage medium. The method comprises the steps of constructing a detection template corresponding to a virtual buckle to be detected; moving the detection template to enable the pose of the detection template to be matched with the virtual buckle to be detected; identifying a buckle mounting plate corresponding to the virtual buckle to be detected based on the detection template; establishing an installation coordinate system on the buckle installation plate; and carrying out installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template. Because the detection template corresponding to the virtual buckle to be detected can be moved, the detection template is matched with the virtual buckle to be detected, the buckle installation plate can be correctly identified, parameters such as the size and the thickness of the buckle installation plate can be correctly measured according to the installation coordinate system established on the buckle installation plate and the detection template, and whether other parts interfering with the buckle exist or not is determined, so that whether the automatic detection buckle accords with installation standardization or not is realized.
Description
Technical Field
The present invention relates to the field of vehicle design technologies, and in particular, to a method, an apparatus, a device, and a storage medium for detecting a buckle.
Background
In order to avoid mismatching of various hardware of the vehicle during actual production, a corresponding vehicle design model is generally built for the vehicle before the production of the vehicle, the actual effect of various hardware is simulated, a large number of buckles are generally arranged in the vehicle, and in order to avoid the situation that the installation is difficult or the buckles are too loose in the actual vehicle assembly process, the buckle parameters used in the vehicle design model need to be subjected to normalization detection.
At present, the normal detection of the buckles is generally carried out by adopting a manual confirmation mode, the number of buckles in a vehicle is large, the manual confirmation is high in labor cost and low in time effect, and the phenomena of omission and the like are easy to occur.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a buckle detection method, device, equipment and storage medium, and aims to solve the technical problem that the prior art cannot automatically detect the standardization of a buckle.
In order to achieve the above object, the present invention provides a buckle detection method, which includes the following steps:
constructing a detection template corresponding to the virtual buckle to be detected;
Moving the detection template to enable the detection template to be matched with the virtual buckle to be detected;
identifying a buckle installation plate corresponding to the virtual buckle to be detected based on the detection template;
establishing an installation coordinate system on the buckle installation plate;
and carrying out installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template.
Optionally, before the step of constructing the detection template corresponding to the virtual buckle to be detected, the method further includes:
when a search keyword is received, matching the search keyword with keywords in a configuration table, and determining a virtual buckle type to be detected;
correspondingly, the step of constructing the detection template corresponding to the virtual buckle to be detected comprises the following steps:
obtaining a buckle type corresponding to the virtual buckle to be detected;
and searching a detection template corresponding to the virtual buckle to be detected according to the buckle type.
Optionally, the step of moving the detection template to match the detection template with the virtual buckle to be detected includes:
the detection template is moved in a simulation mode, and model registration is carried out through a local consistency registration algorithm;
recording current template pose information of the detection template when the registration is successful through the local consistency registration algorithm;
And moving the detection template according to the template pose information so as to enable the detection template to be matched with the virtual buckle to be detected.
Optionally, after the step of simulating to move the detection template and performing model registration by using a local consistency registration algorithm, the method further includes:
if the registration by the local consistency registration algorithm fails, carrying out model registration by the local similarity registration algorithm;
recording current template pose information of the detection template when the registration by the local similarity registration algorithm is successful;
and moving the detection template according to the template pose information so as to enable the detection template to be matched with the virtual buckle to be detected.
Optionally, the step of identifying, based on the detection template, a buckle mounting plate corresponding to the virtual buckle to be detected includes:
determining a minimum containing box corresponding to the virtual buckle to be detected according to the detection template;
matching the minimum containing box with the minimum containing boxes of other parts in the assembly body to determine suspected mounting plates;
calculating the minimum distance between each suspected installation plate and the template end part of the detection template;
and selecting a buckle mounting plate from the suspected mounting plates according to the minimum distance.
Optionally, the step of establishing an installation coordinate system on the buckle installation plate includes:
acquiring corresponding installation Kong Dianyun of the buckle installation plate, and fitting an installation plane through the installation Kong Dianyun;
acquiring a normal vector corresponding to the installation plane, and determining an approximate center point according to the installation Kong Dianyun;
determining an interference point in the installation Kong Dian cloud from the approximate center point and removing the interference point from the installation Kong Dianyun;
calculating an approximate center point according to the installation Kong Dianyun after the interference point is removed, and obtaining a reference center point;
and constructing an installation coordinate system based on the reference center point and the normal vector.
Optionally, the step of performing installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template includes:
determining the thickness of the plate corresponding to the buckle mounting plate and the size of the mounting hole based on the mounting coordinate system;
determining a target part interfering with the detection template;
calculating the minimum distance between the target part and the preset end characteristic in the detection template one by one;
and determining the installation standardization detection result of the virtual buckle to be detected according to the thickness of the plate, the size of the installation hole and the minimum distance.
In addition, in order to achieve the above object, the present invention also provides a buckle detection device, which includes the following modules:
the template construction module is used for constructing a detection template corresponding to the virtual buckle to be detected;
the template matching module is used for moving the detection template so as to match the detection template with the virtual buckle to be detected;
the plate identifying module is used for identifying the buckle installation plate corresponding to the virtual buckle to be detected based on the detection template;
the coordinate construction module is used for establishing an installation coordinate system on the buckle installation plate;
and the buckle detection module is used for carrying out installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template.
In addition, to achieve the above object, the present invention also proposes a buckle detection apparatus including: the device comprises a processor, a memory and a buckle detection program which is stored in the memory and can run on the processor, wherein the buckle detection program realizes the steps of the buckle detection method when being executed by the processor.
In addition, in order to achieve the above object, the present invention also proposes a computer-readable storage medium having stored thereon a buckle detection program that, when executed, implements the steps of the buckle detection method as described above.
The invention constructs a detection template corresponding to the virtual buckle to be detected; moving the detection template to enable the detection template to be matched with the virtual buckle to be detected; identifying a buckle mounting plate corresponding to the virtual buckle to be detected based on the detection template; establishing an installation coordinate system on the buckle installation plate; and carrying out installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template. Because the detection template corresponding to the virtual buckle to be detected can be moved, the detection template is matched with the virtual buckle to be detected, the buckle installation plate can be correctly identified, parameters such as the size and the thickness of the buckle installation plate can be correctly measured according to the installation coordinate system established on the buckle installation plate and the detection template, and whether other parts interfering with the buckle exist or not is determined, so that whether the automatic detection buckle accords with installation standardization or not is realized.
Drawings
FIG. 1 is a schematic diagram of an electronic device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart of a first embodiment of a buckle detection method according to the present invention;
FIG. 3 is a schematic diagram of a detection template according to an embodiment of the present invention;
FIG. 4 is a flowchart of a buckle detecting method according to a second embodiment of the present invention;
FIG. 5 is a schematic view of a partial feature of an embodiment of the present invention;
FIG. 6 is a schematic diagram of triangle subdivision according to an embodiment of the present invention;
FIG. 7 is a schematic view of an angular feature of an embodiment of the present invention;
FIG. 8 is a flowchart of a third embodiment of a buckle detection method according to the present invention;
FIG. 9 is a schematic view of an installation Kong Dianyun of an embodiment of the invention;
FIG. 10 is a schematic diagram of a coordinate system construction point according to an embodiment of the present invention;
fig. 11 is a block diagram of a first embodiment of the buckle detecting device according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a buckle detection device in a hardware running environment according to an embodiment of the present invention.
As shown in fig. 1, the electronic device may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a Wireless interface (e.g., a Wireless-Fidelity (WI-FI) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
Those skilled in the art will appreciate that the structure shown in fig. 1 is not limiting of the electronic device and may include more or fewer components than shown, or may combine certain components, or may be arranged in different components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a buckle detection program may be included in the memory 1005 as one type of storage medium.
In the electronic device shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device of the present invention may be provided in the buckle detection device, where the electronic device invokes the buckle detection program stored in the memory 1005 through the processor 1001, and executes the buckle detection method provided by the embodiment of the present invention.
An embodiment of the present invention provides a method for detecting a buckle, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a method for detecting a buckle according to the present invention.
In this embodiment, the buckle detection method includes the following steps:
step S10: and constructing a detection template corresponding to the virtual buckle to be detected.
It should be noted that, the execution body of the embodiment may be the buckle detection device, and the buckle detection device may be a device capable of performing vehicle design model construction and detection, such as an electronic device such as a personal computer, a tablet computer, or a server, or other devices capable of implementing the same or similar functions, which is not limited in this embodiment, and in the present embodiment and the embodiments below, the buckle detection method of the present application is described by taking the buckle detection device as an example.
It should be noted that, the virtual buckle to be detected may be a virtual buckle that is specified in the vehicle design model and needs to be subjected to normalization detection, and the virtual buckle to be detected may be specified by a manager of the buckle detection device according to actual needs. The detection template can comprise a registration body and a measurement body, wherein the registration body is used for registering with a buckle to be detected, and the measurement body is marked with preset features for assisting in detecting the buckle, such as hole part preset features, end part preset features and the like, and in the registration process, if the registration body is rotated and translated, the measurement body also follows the registration body to rotate and translate.
For easy understanding, referring to fig. 3, fig. 3 is a schematic structural diagram of a detection template of the present embodiment, where, as shown in fig. 3, the detection template includes a registration body and a measurement body, and a hole portion preset feature, an end portion position, and an end portion preset feature are marked on the measurement body.
Further, in order to facilitate the user to select the virtual buckle to be detected, before step S10 in this embodiment, the method may further include:
when a search keyword is received, matching the search keyword with keywords in a configuration table, and determining a virtual buckle to be detected;
accordingly, the step S10 may include:
obtaining a buckle type corresponding to the virtual buckle to be detected;
and searching a detection template corresponding to the virtual buckle to be detected according to the buckle type.
It should be noted that, when a vehicle is designed, multiple kinds of buckles are used, and multiple kinds of buckles are possibly used, and in order to distinguish the used buckles, multiple buckles used in a vehicle design model can be distinguished by adopting a mode of 'position + part type + number', so that a user can select a virtual buckle to be detected by inputting a search keyword, and at the moment, when the search keyword is received by the buckle detection device, the search keyword is matched with the keyword in the configuration table, and the virtual buckle to be detected is determined. The configuration table may store an association relationship between a position of each buckle and a unique identifier of each buckle in the vehicle design model, and the keyword may be the unique identifier of each buckle.
For example: assuming that 4 buckles exist in the vehicle design model, wherein the corresponding unique Buckle identifications are respectively "head-Buckle-type1-1", "head-Buckle-type2-2", "body-Buckle-type1-1", "body-Buckle-type1-2", wherein "head" represents the Buckle for the head part, "body" represents the Buckle for the body part, "Buckle" represents the part type as the Buckle, and "type1" and "type2" represent the Buckle types, and at the moment, if the search keyword input by the user is "head-Buckle", the unique Buckle identifications are respectively "head-Buckle-type1-1", "head-Buckle-type2-2" as the virtual Buckle to be detected; if the search keyword input by the user is "type1", two buckles with unique identification of "head-Buckle-type1-1" and "body-Buckle-type1-1" respectively are used as virtual buckles to be detected.
It can be understood that, because a large number of buckles are possibly arranged in the vehicle, a detection template is arranged for each buckle, the workload is extremely high, the actual use effect is also poor, the buckles of various different types (different sizes and different specifications) are actually arranged in the vehicle, the buckle parameters of the buckles of the same type are actually consistent, the buckles of the same type can be detected by adopting the same detection template, and therefore, the corresponding detection templates can be preset according to the buckle types, so that the recycling rate of the detection templates is improved, and at the moment, when the detection is needed, the corresponding detection templates are searched according to the buckle types of the virtual buckles to be detected.
Step S20: and moving the detection template to enable the detection template to be matched with the virtual buckle to be detected.
It should be noted that, moving the detection template to match the detection template with the virtual buckle to be detected may be moving the registration body in the detection template through rotation, translation and other operations, so that the installation direction and the gesture information of the registration body are consistent with those of the virtual buckle to be detected.
Step S30: and identifying the buckle installation plate corresponding to the virtual buckle to be detected based on the detection template.
It should be noted that the buckle mounting plate may be a plate to which the buckle should be clamped when the buckle is mounted. The detecting template is used for identifying the buckle installation plate corresponding to the virtual buckle to be detected, and each part in the vehicle design model can be screened according to the detecting template, so that the plate clamped by the virtual buckle to be detected in the vehicle design model is determined.
In a specific implementation, in order to accurately identify the buckle installation plate corresponding to the virtual buckle to be detected, step S30 in this embodiment may include:
determining a minimum containing box corresponding to the virtual buckle to be detected according to the detection template;
matching the minimum containing box with the minimum containing boxes of other parts in the assembly body to determine suspected mounting plates;
Calculating the minimum distance between each suspected installation plate and the template end part of the detection template;
and selecting a buckle mounting plate from the suspected mounting plates according to the minimum distance.
It should be noted that, the determination of the minimum containing box corresponding to the virtual buckle to be detected according to the detection template may be the determination of the spatial position of the component in the detection template to contain the minimum containing box of the detection template. The assembly body can be a vehicle design model, the minimum containing box is matched with the minimum containing box of other parts in the assembly body, the suspected installation plate can be determined by comparing the minimum containing box with the minimum containing box of other parts in the assembly body, and the parts in the minimum containing box which possibly interfere with the minimum containing box corresponding to the virtual buckle to be detected are taken as the suspected installation plate.
In a specific implementation, determining whether two minimum boxes interfere may be determined by comparing the magnitude relationship between the maximum and minimum points of the two minimum boxes.
For example: assuming that the minimum point of the minimum containing box a is (x 11, y11, z 11) and the maximum point is (x 12, y12, z 12); the minimum point of the minimum containing box B is (x 21, y21, z 21), and the maximum point is (x 22, y22, z 22);
If a and B interfere, there are ((x 21< x11< x 22) and (y 21< y11< y 22) and (z 21< z11< z 22)) or ((x 21< x12< x 22) and (y 21< y12< y 22) and (z 21< z12< z 22)) or ((x 11< x21< x 12) and (y 11< y21< y 12) and (z 11< z21< z 12)) or ((x 11< x22< x 12) and (y 11< y22< y 12) and (z 11< z22< z 12)).
In actual use, if the minimum distance between each suspected installation plate and the end part of the template of the detection template is not 0, one suspected installation plate with the minimum corresponding distance can be used as a buckle installation plate; if only one suspected installation plate member is 0 in minimum distance from the template end of the detection template, the corresponding suspected installation plate member with the minimum distance of 0 can be used as the buckle installation plate member.
If the minimum distance between the two or more suspected mounting plates and the end part of the template of the detection template is 0, it can be determined that the virtual buckle to be detected interferes with other parts except the plates, and then the abnormal state of the buckle can be determined.
Step S40: and establishing an installation coordinate system on the buckle installation plate.
It should be noted that, when the buckle is detected in the installation standardization, it is necessary to detect parameters such as the distance between the other components that interfere with the end portion of the buckle and the end portion of the buckle, whether the size of the installation hole of the buckle meets the specification, and the thickness of the installation plate.
Step S50: and carrying out installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template.
It should be noted that, the detection of the installation normalization of the virtual buckle to be detected based on the installation coordinate system and the detection template may be to determine the size and thickness of the installation hole of the buckle installation plate corresponding to the virtual buckle to be detected based on the installation coordinate system, and determine whether other parts contacting or interfering with the buckle to be detected exist in the vehicle design model according to the detection template, so as to determine whether the virtual buckle to be detected accords with the installation normalization.
In the embodiment, a detection template corresponding to the virtual buckle to be detected is constructed; moving the detection template to enable the detection template to be matched with the virtual buckle to be detected; identifying a buckle mounting plate corresponding to the virtual buckle to be detected based on the detection template; establishing an installation coordinate system on the buckle installation plate; and carrying out installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template. Because the detection template corresponding to the virtual buckle to be detected can be moved, the detection template is matched with the virtual buckle to be detected, the buckle installation plate can be correctly identified, parameters such as the size and the thickness of the buckle installation plate can be correctly measured according to the installation coordinate system established on the buckle installation plate and the detection template, and whether other parts interfering with the buckle exist or not is determined, so that whether the automatic detection buckle accords with installation standardization or not is realized.
Referring to fig. 4, fig. 4 is a flowchart of a second embodiment of a buckle detecting method according to the present invention.
Based on the above first embodiment, the step S20 of the buckle detection method of the present embodiment includes:
step S201: and simulating and moving the detection template, and carrying out model registration through a local consistency registration algorithm.
In practical use, the simulation of the mobile detection template and the model registration by the local consistency registration algorithm may be:
(1) simulating a mobile detection template in a memory, calculating a feature description value of each triangular surface of the moved detection template and the virtual buckle to be detected, and rounding each feature matching value;
(2) respectively constructing a histogram of the feature matching values of the virtual buckle to be detected and the detection template;
(3) searching a pair of triangular faces with the same characteristic matching value and 1 frequency in the histogram for matching;
(4) if the virtual buckle to be detected and the detection template are not registered, continuing to simulate moving the detection template, and repeating the step (3) until the registration is successful;
(5) if all the movement possibilities are moved, and the registration is not realized in the step (4), judging that the registration is failed.
For ease of understanding, the description will now be given with reference to fig. 5, but the present solution is not limited thereto. Fig. 5 is a schematic view of the local features of the present embodiment, as shown in fig. 5, three vertexes of the triangular surface i are A, B, C, and three lengths of three sides are a, b, and c, respectively; the angles between the normal line of i and the normal line of the adjacent surface are k1, k2 and k3 respectively; the sum of distances between the vertex of i and the center point of the adjacent surface of the vertex is d1, d2 and d3 respectively; the triangular face i feature descriptor is: (a, b, c, k1, k2, k3, d1, d2, d 3) the feature matching value of the triangular face i is: ak1 d1+bk2 d2+c3 d3.
In a specific implementation, before executing step S201, the matching score between the detection template and the virtual buckle to be detected and the detection template may be calculated, and if the matching score is smaller than the preset matching threshold, the matching between the detection template and the virtual buckle to be detected may be directly determined, without executing a subsequent moving step; and if the matching score is greater than or equal to the preset matching threshold. The preset matching threshold may be preset by a manager of the buckle detecting device, for example: the preset matching threshold is set to 0.05.
Step S202: and when the registration is successful through the local consistency registration algorithm, recording the current template pose information of the detection template.
It can be understood that if the registration is successful through the local consistency registration algorithm, the detection template is moved according to the current template pose information of the detection template at the moment, so that the detection template can be ensured to be matched with the virtual buckle to be detected. The template pose information may include installation direction and pose information of the detection template.
Step S203: and moving the detection template according to the template pose information so as to enable the detection template to be matched with the virtual buckle to be detected.
In a specific implementation, the moving detection template according to the template pose information may be moving detection template, so that the installation direction and pose information of the registration body in the detection template are consistent with those recorded in the template pose information, and thus the detection template is matched with the virtual buckle to be detected.
In a specific implementation, the local consistency registration algorithm is an algorithm for calculating a transformation matrix from translation rotation of template features to target features by finding local features on two matching targets, the overall execution speed of the algorithm is high, but the requirement on the matching targets is high, and the matching targets are required to have consistent local features, so that although the registration speed is high, the method is too strict in requirement, and has a certain possibility of registration failure, in order to ensure that the detection template can be matched with the virtual buckle to be detected when the registration failure is performed by the local consistency registration algorithm, the method further comprises the following steps:
if the registration by the local consistency registration algorithm fails, carrying out model registration by the local similarity registration algorithm;
recording current template pose information of the detection template when the registration by the local similarity registration algorithm is successful;
And moving the detection template according to the template pose information so as to enable the detection template to be matched with the virtual buckle to be detected.
It should be noted that, if the registration by the local consistency registration algorithm fails, it indicates that the virtual buckle to be detected may not be suitable for determining the more severe local consistency registration algorithm, then the model registration may be attempted by using the local similarity registration algorithm, and similarly, if the registration by the local similarity registration algorithm is successful, the detection template may still be moved according to the current template pose information of the detection template, so that the detection template is matched with the virtual buckle to be detected.
For ease of understanding, the description will now be given with reference to fig. 6 and 7, but the present solution is not limited thereto. Fig. 6 is a schematic diagram of triangle subdivision in the present embodiment, and fig. 7 is a schematic diagram of angle characteristics. The model registration by the local similarity registration algorithm can be performed by finely processing each triangular surface on the virtual buckle to be detected and the detection templateDividing, the maximum side length of a single facet is 0.5mm (the purpose of the division is to obtain evenly distributed triangular surfaces, so that the local similarity of a target and a template is higher, and the specific maximum side length can be adjusted according to actual needs), as shown in fig. 6; after subdivision, the center point and the normal vector of each triangular surface on the target buckle and the buckle template are respectively obtained; the angular characteristics α, β, γ between every two center points within 20mm of each center point are calculated, as shown in fig. 7, for each pair of center points (P s And P t ) The space between the two parts is: α=v×n t ，β＝u×(P t -P s )/d，γ＝arctan(w×n t ,u×n t ) The method comprises the steps of carrying out a first treatment on the surface of the And (3) sealing the boxes of the quaternary characteristic values (alpha, beta, gamma, d) of each center point to form a histogram, aligning similar characteristics according to the histogram, and detecting the current template pose information of the template in a pair Ji Shiji.
In the embodiment, the detection template is moved through simulation, and model registration is performed through a local consistency registration algorithm; recording current template pose information of the detection template when the registration is successful through the local consistency registration algorithm; and moving the detection template according to the template pose information so as to enable the detection template to be matched with the virtual buckle to be detected. Because the detection template is simulated to move, whether the registration is completed or not is rapidly calculated through a preset registration algorithm, the detection template is really moved after the registration is completed, so that the detection template is matched with the virtual buckle to be detected, the adjustment of a vehicle design model is reduced, and the overall execution efficiency is accelerated.
Referring to fig. 8, fig. 8 is a flowchart of a third embodiment of a buckle detecting method according to the present invention.
Based on the first embodiment, the step S40 of the buckle detection method of the present embodiment includes:
step S401: and acquiring the corresponding installation Kong Dianyun of the buckle installation plate, and fitting an installation plane through the installation Kong Dianyun.
It should be noted that, the obtaining of the mounting hole point cloud corresponding to the snap mounting plate may be obtaining of the plate point cloud on the snap mounting plate within the preset feature range of the hole portion, that is, the mounting Kong Dianyun, where the mounting Kong Dian cloud may include a mounting hole edge point and an interference point. Fitting the mounting planes by mounting Kong Dianyun may be fitting one mounting plane by least squares through mounting Kong Dianyun.
Step S402: the normal vector corresponding to the mounting plane is obtained and an approximate center point is determined from the mounting Kong Dianyun.
It should be noted that determining the approximate center point from the installation Kong Dianyun may be calculating an average value of coordinates of each point included in the installation Kong Dian cloud, thereby obtaining the approximate center point.
Step S403: an interference point in the installation Kong Dian cloud is determined from the approximate center point and removed from the installation Kong Dianyun.
It should be noted that the interference points may be divided into interference points on the installation plane and outer edge interference points, and the interference points on the installation plane in the installation Kong Dian cloud may be determined from any point a in the installation Kong Dianyun C to the approximate center point o 1 Translating a preset distance to obtain a point A 2 Line segment A is made with +n (positive direction of normal vector corresponding to installation plane) and-n (negative direction of normal vector corresponding to installation plane) as directions 2 B、A 2 C, if A 2 B or A 2 The distance between C and the plate is 0, and A is called an interference point;
determining the outer edge interference point in the installation Kong Dianyun from the approximate center point may be from any point A in C to the approximate center point o 1 Is shifted in the opposite direction by a preset distance to obtain a point A 3 In point A 3 And o 1 The end point is a line segment L, and if the shortest distance between L and the plate is 0, the point A is called an interference point.
The preset distance can be preset by a manager of the buckle detection device according to actual needs, for example, the preset distance is set to be 0.5mm.
Step S404: an approximate center point is calculated from the installation Kong Dianyun after the interference point is removed, and a reference center point is obtained.
It should be noted that, after the interference point is removed, the remaining points in the installation Kong Dianyun are all edge points of the installation hole, at this time, the average value of the coordinates of each point in the installation Kong Dianyun after the interference point is removed may be recalculated to obtain an approximate center point, and the approximate center point obtained at this time is used as a reference center point, so as to facilitate subsequent calculation. Wherein the reference center point is closer to the true mounting hole center than the approximate center store obtained in step S402 described above.
For ease of understanding, the description will now be given with reference to fig. 9, but the present solution is not limited thereto. Fig. 9 is a schematic diagram of the installation Kong Dianyun of the present embodiment, as shown in fig. 9, where O1 in fig. 9 is an approximate center point, O2 is a reference center point, light color points in fig. 9 are interference points that are screened out, and the remaining dark color points are the remaining installation Kong Dianyun.
Step S405: and constructing an installation coordinate system based on the reference center point and the normal vector.
For ease of understanding, reference will now be made to FIG. 10, which is a schematic diagram of a coordinate system construction point of the present embodiment, the construction of an installation coordinate system based on a reference center point and a normal vector may be performed by using a reference center point o 2 As a starting point, a preset translation distance obtaining point A, B is translated by taking +n (positive direction of a normal vector) and-n (negative direction of the normal vector) as directions respectively, and a line segment L is taken as an end point A, B 2 . Perpendicular to each point of C and L 2 Perpendicular, perpendicular and L 2 The intersection point forms a mapping point set P, the farthest mapping points in the +n direction in the mapping point set are taken as the origin o of a coordinate system (as shown in fig. 10, the farthest mapping points in the +n direction on all the mounting hole edge point mapping line segments AB are taken as the origin o of the coordinate system, o is taken as a point on a mounting plane), then the P is clustered by adopting a Euclidean distance clustering method, the mapping points with similar distances are classified into one type, and the mounting hole edge points corresponding to the similar mapping points are called as the same-layer edge points; and (3) obtaining a minimum circumscribed rectangle for the same-layer edge points corresponding to o, namely, taking the rectangular length direction as Y and the wide direction as X, then taking o as an origin of the installation coordinate system, taking n as a z axis, taking the Y direction as a Y axis and taking the X direction as an X axis, and constructing the installation coordinate system. The preset translation distance can be preset by a manager of the buckle detection device according to actual needs, for example: the preset translation distance was set to 20mm.
In a specific implementation, in order to reasonably determine whether the virtual buckle to be detected meets the installation standardization, in this embodiment, the step S50 may include:
determining the thickness of the plate corresponding to the buckle mounting plate and the size of the mounting hole based on the mounting coordinate system;
determining a target part interfering with the detection template;
calculating the minimum distance between the target part and the preset end characteristic in the detection template one by one;
and determining the installation standardization detection result of the virtual buckle to be detected according to the thickness of the plate, the size of the installation hole and the minimum distance.
It should be noted that, determining the size of the mounting hole corresponding to the snap mounting plate based on the mounting coordinate system may be taking the origin o of the mounting hole coordinate system as a starting point, translating 20mm in directions of +n and-n to obtain points A, B, and taking A, B as an end point as a line segment L. Perpendicular to each point in the installation Kong Dianyun C and L 2 Perpendicular, perpendicular and L 2 The intersection points form a mapping point set P; segmenting P by adopting Euclidean clustering to obtain a layered point cloud set of C; and (3) finding the minimum inner diameter layer of C by calculating the maximum inner diameter values of different layers, and then calculating measured values (including the length and the width of the mounting hole) by using an arc method and a four-point method respectively, wherein the measured values calculated by the two methods are selected to be close to the size of the mounting hole in the standard parameters of the buckle to be used as the size of the mounting hole.
Wherein the step of calculating the measured value using the arc method may include: according to the minimum inner diameter point cloud of the mounting hole and the mounting hole coordinate system, respectively taking a single-side point concentrated three-point fitting circle, wherein the circle centers of the two sides are o1 and o2 respectively, the diameters are d1 and d2, and the circle center distance is L; the length of the mounting hole is L+d1/2+d2/2, and the width is (d1+d2)/2;
the step of calculating the measurement value using the four-point method may include: according to the minimum inner diameter point cloud of the mounting hole and the mounting hole coordinate system, after creating a vertical line segment at the original point, translating to a position close to the end point of the mounting hole, and calculating the minimum distance point between the metal plate and the line segment, wherein the minimum distance point is the mounting Kong Duandian; and calculating the distance between the two pairs of end points to obtain the length and the width of the mounting hole.
In a specific implementation, determining the thickness of the plate corresponding to the buckle mounting plate based on the mounting coordinate system may be to calculate a minimum containing box by adopting an AABB containing box algorithm (also referred to as an AABB containing box algorithm) on the edge point cloud of the mounting hole according to the mounting coordinate system; the length of the side of the minimum containing box parallel to the z-axis of the installation coordinate system is the thickness of the plate. Of course, if the plate thickness parameter exists in the characteristic attribute of the mounting metal plate of the buckle mounting plate, the plate thickness can also be directly extracted from the characteristic attribute.
In actual use, determining whether a target part with a minimum distance smaller than or equal to 0 between the minimum distance between the target part and a preset feature at the end part in the detection template exists or not according to the thickness of the plate, the size of the mounting hole and the minimum distance, and if so, directly judging that the mounting normalization detection result of the virtual buckle to be detected does not accord with the mounting normalization condition of the buckle; if the virtual buckle is not present, whether the thickness of the plate or the size of the mounting hole is within the mounting normative standard range can be continuously judged, and if the virtual buckle is not present, the mounting normative detection result of the virtual buckle to be detected is judged to be not in accordance with the mounting normative condition of the buckle.
In a specific implementation, in order to facilitate a user to view the installation normalization detection result, a UI interface may be further provided, a vehicle design model and a result output area are displayed in the UI interface, in the result output area in the UI interface, the installation normalization detection result of each virtual buckle to be detected is displayed, each detection result item records the thickness of a plate, the size of an installation hole and an interference result (i.e. whether there is an interference part) corresponding to the buckle, if the item in the UI interface is clicked, the view may be adjusted to the position of the buckle corresponding to the item, and the view is marked with the value of the inspection result. Specifically, in order to further improve the visibility, a buckle that does not meet the installation standardization requirement may be further highlighted (e.g. marked with a red circle) in the UI interface.
In the embodiment, the installation Kong Dianyun corresponding to the buckle installation plate is obtained, and the installation plane is fitted through the installation Kong Dianyun; acquiring a normal vector corresponding to the installation plane, and determining an approximate center point according to the installation Kong Dianyun; determining an interference point in the installation Kong Dian cloud from the approximate center point and removing the interference point from the installation Kong Dianyun; calculating an approximate center point according to the installation Kong Dianyun after the interference point is removed, and obtaining a reference center point; and constructing an installation coordinate system based on the reference center point and the normal vector. Because the interference points in the installation Kong Dian cloud are removed by calculating the approximate center point when the coordinate system is constructed, the constructed coordinate system is ensured not to be affected by the interference points, and the accuracy of subsequent size and plate thickness calculation is ensured.
In addition, the embodiment of the invention further provides a storage medium, wherein a buckle detection program is stored on the storage medium, and the buckle detection program realizes the steps of the buckle detection method when being executed by a processor.
Referring to fig. 11, fig. 11 is a block diagram illustrating a first embodiment of a buckle detecting device according to the present invention.
As shown in fig. 11, the buckle detection device according to the embodiment of the present invention includes:
The template construction module 10 is used for constructing a detection template corresponding to the virtual buckle to be detected;
the template matching module 20 is configured to move the detection template to match the detection template with the virtual buckle to be detected;
the board identifying module 30 is configured to identify, based on the detection template, a buckle installation board corresponding to the virtual buckle to be detected;
a coordinate construction module 40 for establishing an installation coordinate system on the buckle installation plate;
the buckle detection module 50 is configured to perform installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template.
In the embodiment, a detection template corresponding to the virtual buckle to be detected is constructed; moving the detection template to enable the detection template to be matched with the virtual buckle to be detected; identifying a buckle mounting plate corresponding to the virtual buckle to be detected based on the detection template; establishing an installation coordinate system on the buckle installation plate; and carrying out installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template. Because the detection template corresponding to the virtual buckle to be detected can be moved, the detection template is matched with the virtual buckle to be detected, the buckle installation plate can be correctly identified, parameters such as the size and the thickness of the buckle installation plate can be correctly measured according to the installation coordinate system established on the buckle installation plate and the detection template, and whether other parts interfering with the buckle exist or not is determined, so that whether the automatic detection buckle accords with installation standardization or not is realized.
Further, the template construction module 10 is further configured to, when receiving a search keyword, match the search keyword with a keyword in a configuration table, and determine a virtual buckle to be detected;
the template construction module 10 is further configured to obtain a buckle type corresponding to the virtual buckle to be detected; and searching a detection template corresponding to the virtual buckle to be detected according to the buckle type.
Further, the template matching module 20 is further configured to simulate moving the detection template, and perform model registration through a local consistency registration algorithm; recording current template pose information of the detection template when the registration is successful through the local consistency registration algorithm; and moving the detection template according to the template pose information so as to enable the detection template to be matched with the virtual buckle to be detected.
Further, the template matching module 20 is further configured to perform model registration by using a local similarity registration algorithm if registration by using the local consistency registration algorithm fails; recording current template pose information of the detection template when the registration by the local similarity registration algorithm is successful; and moving the detection template according to the template pose information so as to enable the detection template to be matched with the virtual buckle to be detected.
Further, the board identifying module 30 is further configured to determine, according to the detection template, a minimum containing box corresponding to the virtual buckle to be detected; matching the minimum containing box with the minimum containing boxes of other parts in the assembly body to determine suspected mounting plates; calculating the minimum distance between each suspected installation plate and the template end part of the detection template; and selecting a buckle mounting plate from the suspected mounting plates according to the minimum distance.
Further, the coordinate construction module 40 is further configured to obtain an installation Kong Dianyun corresponding to the snap mounting plate, and fit an installation plane through the installation Kong Dianyun; acquiring a normal vector corresponding to the installation plane, and determining an approximate center point according to the installation Kong Dianyun; determining an interference point in the installation Kong Dian cloud from the approximate center point and removing the interference point from the installation Kong Dianyun; calculating an approximate center point according to the installation Kong Dianyun after the interference point is removed, and obtaining a reference center point; and constructing an installation coordinate system based on the reference center point and the normal vector.
Further, the buckle detection module 50 is further configured to determine a plate thickness and a mounting hole size corresponding to the buckle mounting plate based on the mounting coordinate system; determining a target part interfering with the detection template; calculating the minimum distance between the target part and the preset end characteristic in the detection template one by one; and determining the installation standardization detection result of the virtual buckle to be detected according to the thickness of the plate, the size of the installation hole and the minimum distance.
It should be understood that the foregoing is illustrative only and is not limiting, and that in specific applications, those skilled in the art may set the invention as desired, and the invention is not limited thereto.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details not described in detail in the present embodiment may refer to the buckle detection method provided in any embodiment of the present invention, and are not described herein.
Furthermore, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (10)
1. The buckle detection method is characterized by comprising the following steps of:
constructing a detection template corresponding to the virtual buckle to be detected;
moving the detection template to enable the detection template to be matched with the virtual buckle to be detected;
identifying a buckle installation plate corresponding to the virtual buckle to be detected based on the detection template;
establishing an installation coordinate system on the buckle installation plate;
and carrying out installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template.
2. The method for detecting a buckle according to claim 1, wherein before the step of constructing the detection template corresponding to the virtual buckle to be detected, the method further comprises:
when a search keyword is received, matching the search keyword with keywords in a configuration table, and determining a virtual buckle to be detected;
correspondingly, the step of constructing the detection template corresponding to the virtual buckle to be detected comprises the following steps:
obtaining a buckle type corresponding to the virtual buckle to be detected;
and searching a detection template corresponding to the virtual buckle to be detected according to the buckle type.
3. The method of claim 1, wherein the step of moving the detection template to match the detection template with the virtual buckle to be detected comprises:
The detection template is moved in a simulation mode, and model registration is carried out through a local consistency registration algorithm;
recording current template pose information of the detection template when the registration is successful through the local consistency registration algorithm;
and moving the detection template according to the template pose information so as to enable the detection template to be matched with the virtual buckle to be detected.
4. The method of claim 3, wherein after the step of modeling the movement of the detection template and model registration by a local consistency registration algorithm, further comprising:
if the registration by the local consistency registration algorithm fails, carrying out model registration by the local similarity registration algorithm;
recording current template pose information of the detection template when the registration by the local similarity registration algorithm is successful;
and moving the detection template according to the template pose information so as to enable the detection template to be matched with the virtual buckle to be detected.
5. The clip detecting method according to claim 1, wherein the step of identifying the clip mounting plate corresponding to the virtual clip to be detected based on the detecting template includes:
Determining a minimum containing box corresponding to the virtual buckle to be detected according to the detection template;
matching the minimum containing box with the minimum containing boxes of other parts in the assembly body to determine suspected mounting plates;
calculating the minimum distance between each suspected installation plate and the template end part of the detection template;
and selecting a buckle mounting plate from the suspected mounting plates according to the minimum distance.
6. The clip detection method of claim 1, wherein the step of establishing a mounting coordinate system on the clip mounting plate comprises:
acquiring corresponding installation Kong Dianyun of the buckle installation plate, and fitting an installation plane through the installation Kong Dianyun;
acquiring a normal vector corresponding to the installation plane, and determining an approximate center point according to the installation Kong Dianyun;
determining an interference point in the installation Kong Dian cloud from the approximate center point and removing the interference point from the installation Kong Dianyun;
calculating an approximate center point according to the installation Kong Dianyun after the interference point is removed, and obtaining a reference center point;
and constructing an installation coordinate system based on the reference center point and the normal vector.
7. The method for detecting a buckle according to any one of claims 1 to 6, wherein the step of performing installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template includes:
Determining the thickness of the plate corresponding to the buckle mounting plate and the size of the mounting hole based on the mounting coordinate system;
determining a target part interfering with the detection template;
calculating the minimum distance between the target part and the preset end characteristic in the detection template one by one;
and determining the installation standardization detection result of the virtual buckle to be detected according to the thickness of the plate, the size of the installation hole and the minimum distance.
8. The buckle detection device is characterized by comprising the following modules:
the template construction module is used for constructing a detection template corresponding to the virtual buckle to be detected;
the template matching module is used for moving the detection template so as to match the detection template with the virtual buckle to be detected;
the plate identifying module is used for identifying the buckle installation plate corresponding to the virtual buckle to be detected based on the detection template;
the coordinate construction module is used for establishing an installation coordinate system on the buckle installation plate;
and the buckle detection module is used for carrying out installation normalization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template.
9. A buckle detection apparatus, characterized in that the buckle detection apparatus comprises: a processor, a memory and a buckle detection program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the buckle detection method according to any one of claims 1-7.
10. A computer-readable storage medium, wherein a buckle detection program is stored on the computer-readable storage medium, which when executed implements the steps of the buckle detection method according to any one of claims 1 to 7.
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