CN116878428A - Multi-plane detection method, device and system - Google Patents
Multi-plane detection method, device and system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
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Abstract
The present invention relates to the field of optical measurement technologies, and in particular, to a method, an apparatus, and a system for detecting multiple planes. The method comprises selecting a principal plane and determining the normal direction of the principal plane; sequencing all planes, selecting a sequence, and sequentially determining the normal direction of each plane according to the sequence of the planes; judging whether first included angles between the normal direction of each plane and the normal direction of the main plane are in a set range, if all the first included angles are in the set range, judging whether the first included angles are qualified, otherwise, marking the plane judged as unqualified as a target plane, judging whether second included angles between the normal direction of each target plane and the normal direction of the main plane are in the set range, and if all the second included angles are in the set range, judging that the product is qualified, otherwise, the product is unqualified. The method provided by the invention reduces the transmission error in the multi-plane detection process through the control variable, more accurately completes the deviation detection among the multi-planes, and more accurately judges whether the products of the multiple planes meet the design requirement.
Description
Technical Field
The present invention relates to the field of optical measurement technologies, and in particular, to a method, an apparatus, and a system for detecting multiple planes.
Background
In the processing of products such as jewelry, printed circuit board manufacturing, metal parts, plastic products and wooden products, planar cutting of the product raw materials is required, and the effect of the cut product is required, so that flatness detection of the plane obtained after cutting is required, and detection of the relative angle between planes and the like is required to judge whether the cutting effect is satisfactory.
The prior art has little detection problem on a single plane, but when a plurality of planes are involved, due to different references and orientations of the planes, whether the deviation between the different planes meets the design requirement cannot be accurately detected during plane detection.
Based on this, it is necessary to find a multi-plane detection method capable of accurately detecting whether or not the deviation between the plurality of planes meets the requirement.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a multi-plane detection method, apparatus and system.
The embodiment of the invention is realized in such a way that a multi-plane detection method comprises the following steps:
s1: selecting a plane as a main plane, so that the center of the main plane coincides with the center of the circular arc track and the included angle between the main plane and the horizontal plane is smaller than a set value;
S2: adjusting the relative angle of the laser emitting device and the laser receiving device, determining the normal direction of the main plane according to the maximum reflection intensity received by the laser receiving device, and taking the relative angle of the laser emitting device and the laser receiving device corresponding to the maximum reflection intensity as a set angle;
s3: taking the main plane as a first plane, sequencing all planes according to the positions and the orientations of the planes, and selecting a sequence;
s4: according to the sequence of planes in the selected sequence, the center of each plane coincides with the circle center of the circular arc track, the included angles between each plane and the horizontal plane are respectively smaller than a set value, the laser emitting device and the laser receiving device are controlled to keep the set angles to synchronously move, and the normal direction of each plane is determined according to the maximum reflection intensity received by the laser receiving device;
s5: respectively calculating a first included angle between the normal direction of each plane and the normal direction of the main plane;
s6: judging whether each first included angle is in a set range, if all the first included angles are in the set range, the product is qualified, and if at least one first included angle exceeds the set range, marking planes corresponding to all the first included angles exceeding the set range as target planes, and re-determining the normal direction of each target plane;
S7: respectively calculating a second included angle between the normal direction of each re-determined target plane and the normal direction of the main plane;
s8: judging whether each second included angle is in a set range, if all the second included angles are in the set range, the product is qualified, and if at least one second included angle exceeds the set range, the product is unqualified.
In one embodiment, the present invention provides a multi-planar detection apparatus comprising:
and an adjustment module: the adjusting module is used for selecting a plane as a main plane, so that the center of the main plane coincides with the center of the circular arc track, and the included angle between the main plane and the horizontal plane is smaller than a set value;
detection module one: the detection module is used for adjusting the relative angle of the laser emission device and the laser receiving device, determining the normal direction of the main plane according to the maximum reflection intensity received by the laser receiving device, and taking the relative angle of the laser emission device and the laser receiving device corresponding to the maximum reflection intensity as a set angle;
and a selection module: the selection module is used for taking the main plane as a first plane, sequencing all planes according to the positions and the orientations of the planes and selecting a sequence;
and a detection module II: the second detection module is used for enabling the center of each plane to coincide with the circle center of the circular arc track according to the sequence of planes in the selected sequence, enabling the included angles of each plane and the horizontal plane to be smaller than a set value respectively, controlling the laser emitting device and the laser receiving device to keep the set angles to synchronously move, and determining the normal direction of each plane according to the maximum reflection intensity received by the laser receiving device;
A first calculation module: the first calculation module is used for calculating a first included angle between the normal direction of each plane and the normal direction of the main plane respectively;
judging module I: the judging module is used for judging whether each first included angle is in a set range, if all the first included angles are in the set range, the product is qualified, and if at least one first included angle exceeds the set range, marking planes corresponding to all the first included angles exceeding the set range as target planes, and re-determining the normal direction of each target plane;
and a second calculation module: the second calculation module is used for calculating a second included angle between the normal direction of each re-determined target plane and the normal direction of the main plane respectively;
and a judging module II: the second judging module is used for judging whether each second included angle is in a set range, if all the second included angles are in the set range, the product is qualified, and if at least one second included angle exceeds the set range, the product is unqualified.
In one embodiment, the present invention provides a multi-planar detection system comprising:
the device comprises a laser emitting device, a laser receiving device, a circular arc track, an adjusting device, detection equipment and a clamping device;
The laser emitting device and the laser receiving device are respectively connected with the circular arc track in a sliding manner;
the adjusting device is communicated with the detection equipment in a connecting way and is used for controlling the movement of the laser emitting device and the laser receiving device and controlling the action of each component of the clamping device;
the detection device comprises a memory and a processor, wherein the memory stores a computer program, and the computer program when executed by the processor causes the processor to execute the steps of the multi-plane detection method according to any one or more embodiments of the present invention.
The present invention relates to the field of optical measurement technologies, and in particular, to a method, an apparatus, and a system for detecting multiple planes. The method comprises selecting a principal plane and determining the normal direction of the principal plane; sequencing all planes, selecting a sequence, and sequentially determining the normal direction of each plane according to the sequence of the planes; judging whether first included angles between the normal direction of each plane and the normal direction of the main plane are in a set range, if all the first included angles are in the set range, judging whether the first included angles are qualified, otherwise, marking the plane judged as unqualified as a target plane, judging whether second included angles between the normal direction of each target plane and the normal direction of the main plane are in the set range, and if all the second included angles are in the set range, judging that the product is qualified, otherwise, the product is unqualified. The method provided by the invention reduces the transmission error in the multi-plane detection process through the control variable, more accurately completes the deviation detection among the multi-planes, and more accurately judges whether the products of the multiple planes meet the design requirement.
Drawings
FIG. 1 is a flow chart of a multi-plane detection method provided in one embodiment;
FIG. 2 is a hardware block diagram of a detection device in one embodiment;
FIG. 3 is a schematic diagram of a front view of a clamping device according to one embodiment;
FIG. 4 is a schematic top perspective view of a clamping device according to one embodiment
FIG. 5 is a block diagram of a multi-plane detection method apparatus in one embodiment;
FIG. 6 is a block diagram of a multi-plane detection method system in one embodiment;
FIG. 7 is a block diagram of the internal architecture of a processor in one embodiment.
In the accompanying drawings: 1. a clamping device; 2. a circular arc track; 3. a laser emitting device; 4. a laser receiving device; 5. a first motor shaft; 6. a second motor shaft; 7. a pneumatic rod; 8. a fixed clamping plate; 9. a movable clamping plate; 10. an electric push rod device; 11. a first motor; 12. a second motor; 13. an inner fixing frame; 14. an external fixing frame; 15. a cylinder; 16. a first floor.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. 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.
It will be understood that the terms "first," "second," and the like, as used herein, may be used to describe various elements, but these elements are not limited by these terms unless otherwise specified. These terms are only used to distinguish one element from another element. For example, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script, without departing from the scope of this disclosure.
Fig. 1 is a flowchart of a multi-plane detection method provided in one embodiment, and as shown in fig. 1, a multi-plane detection method is provided, including:
s1: selecting a plane as a main plane, so that the center of the main plane coincides with the center of the circular arc track and the included angle between the main plane and the horizontal plane is smaller than a set value;
s2: adjusting the relative angle of the laser emitting device and the laser receiving device, determining the normal direction of the main plane according to the maximum reflection intensity received by the laser receiving device, and taking the relative angle of the laser emitting device and the laser receiving device corresponding to the maximum reflection intensity as a set angle;
s3: taking the main plane as a first plane, sequencing all planes according to the positions and the orientations of the planes, and selecting a sequence;
S4: according to the sequence of planes in the selected sequence, the center of each plane coincides with the circle center of the circular arc track, the included angles between each plane and the horizontal plane are respectively smaller than a set value, the laser emitting device and the laser receiving device are controlled to keep the set angles to synchronously move, and the normal direction of each plane is determined according to the maximum reflection intensity received by the laser receiving device;
s5: respectively calculating a first included angle between the normal direction of each plane and the normal direction of the main plane;
s6: judging whether each first included angle is in a set range, if all the first included angles are in the set range, the product is qualified, and if at least one first included angle exceeds the set range, marking planes corresponding to all the first included angles exceeding the set range as target planes, and re-determining the normal direction of each target plane;
s7: respectively calculating a second included angle between the normal direction of each re-determined target plane and the normal direction of the main plane;
s8: judging whether each second included angle is in a set range, if all the second included angles are in the set range, the product is qualified, and if at least one second included angle exceeds the set range, the product is unqualified.
In this embodiment, generally, the most important or largest plane on the product, such as the top surface of the product, is selected as the principal plane. After the main plane is selected, the object placing table is controlled to rotate in the horizontal direction or the vertical direction, so that the included angle between the main plane and the horizontal plane is smaller than a set value, and the main plane faces towards the center of the circular arc track, wherein the set value is determined according to the design requirement of the plane and can be 1 degree or other degrees meeting the design requirement; ideally, the angle between the measured plane and the horizontal plane tends to be 0 degrees infinitely. And then, the center of the main plane is coincided with the circle center of the circular arc track by controlling the lifting of the bracket. Similarly, when detecting other planes of the product later, the same operation is required to be performed on each plane, so that the detected plane coincides with the center of the circular arc track, the included angle between the detected plane and the horizontal plane is smaller than the set value, and the detected plane faces the center of the circular arc track. In this way, the positions and the orientations of all planes are consistent in detection, and the influence of the positions and the orientations of the planes on detection results is reduced.
The laser receiving device synchronously acquires the intensity of the emitted laser reflected by the center of the main plane by adjusting the relative angle of the laser emitting device and the laser receiving device and emitting the laser towards the center of the main plane, and the position corresponding to the maximum reflection intensity of the laser in the plane is determined, so that the normal direction of the main plane can be accurately determined in the process.
The main plane is taken as a first plane, and the planes with the smallest included angles are selected from the planes adjacent to the previous plane according to the positions and the orientations of the planes. If there are 5 adjacent planes in a plane, and the angles between the 5 adjacent planes and the previous plane are equal, the 5 adjacent planes are marked with the same sequence, and when there is the same minimum angle, the planes with the minimum angles should be marked sequentially, so that a sequence with a plurality of sequences about the sequence of planes is finally obtained. Meanwhile, the sum of differences of all included angles of all sequences is compared, and the sequence with the smallest summation result is selected as the selected sequence. According to the sequence of planes in the selected sequence, when each plane is detected, the center of the plane coincides with the center of the circular arc track, the included angle between the plane and the horizontal plane is smaller than a set value, meanwhile, the relative angle of the laser emitting device and the laser receiving device at the moment of acquiring the maximum reflection intensity of laser in the main plane is taken as a set angle, and when each plane outside the main plane is detected, the laser emitting device and the laser receiving device keep the set angle, so that the influence on a detection result caused by the change of the relative angle of the laser emitting device and the laser receiving device is reduced, and the accumulation of detection errors is reduced.
And respectively determining the position of the maximum reflection intensity of the laser in each plane, namely the position of the normal line of each plane, so as to determine the normal line direction of each plane. And calculating first included angles between the normal direction of each plane and the normal direction of the main plane. In consideration of all the transmission errors, it is determined whether all the first angles are within a set range. The setting range is determined according to design requirements and taking factors such as error transmission into consideration, and is a variable. And judging the result of the calculated first included angle, determining whether the first included angle is within the set range, and if all the first included angles are within the set range, indicating that each plane still meets the design requirement under the condition of considering all the transmission errors, and judging that the product is qualified. If one or more first included angles are not in the set range, the normal direction of the first included angles needs to be determined again in consideration of the influence of other errors in the detection process, a second included angle between the normal direction of the new plane and the normal direction of the main plane is calculated again, and whether the second included angle is in the set range is judged again. If all the second included angles are in the set range, each plane is in the deviation allowable range, and each plane meets the requirements, so that the product can be judged to be qualified.
The present invention relates to the field of optical measurement technologies, and in particular, to a method, an apparatus, and a system for detecting multiple planes. The method comprises selecting a principal plane and determining the normal direction of the principal plane; sequencing all planes, selecting a sequence, and sequentially determining the normal direction of each plane according to the sequence of the planes; judging whether first included angles between the normal direction of each plane and the normal direction of the main plane are in a set range, if all the first included angles are in the set range, judging whether the first included angles are qualified, otherwise, marking the plane judged as unqualified as a target plane, judging whether second included angles between the normal direction of each target plane and the normal direction of the main plane are in the set range, and if all the second included angles are in the set range, judging that the product is qualified, otherwise, the product is unqualified. According to the method provided by the invention, the error accumulation caused by changing the reference in the multi-plane detection process is reduced through the control variable, and the influence on the detection result caused by the transmission error is eliminated, so that a more accurate detection result is obtained, and whether the products of the multiple planes meet the design requirement can be more accurately judged.
In one embodiment, the making the center of the main plane coincide with the center of the circular arc track and the included angle between the main plane and the horizontal plane is smaller than the set value, or making the center of each plane coincide with the center of the circular arc track and the included angles between each plane and the horizontal plane are respectively smaller than the set value, and the method includes:
The first rotating assembly rotates and the second rotating assembly overturns on the clamping device so that the included angle between the measured plane and the horizontal plane is smaller than a set value, and the measured plane is opposite to the center of the circular arc track;
lifting components on the clamping device are adjusted to lift until the center of the measured plane coincides with the center of the circular arc track;
in this embodiment, as shown in fig. 3 and 4, a clamping device for multi-angle adjustment in 202210162412.X may be used to directly place the product to be tested between the fixed clamping plates 8 and the movable clamping plates 9, and the electric push rod device 10 is started to automatically control the push rod to stretch and retract to adjust the position of the movable clamping plates 9, so that the movable clamping plates 9 stably clamp the product to be tested between the fixed clamping plates 8; the first rotating assembly on the clamping device comprises a first motor 11 and a first motor shaft 5, and when the first motor 11 is started, the first motor shaft 5 is automatically controlled to rotate, so that a product to be tested on the object placing plate rotates to adjust the angle; the second rotating assembly comprises a second motor 12 and a second motor shaft 6, when the second motor 12 is started, the second motor shaft 6 is automatically controlled to rotate, so that the inner fixing frame 13 is integrally turned and adjusted, the inclination of a product to be tested on the object placing plate is adjusted, and the product to be tested can be turned over at multiple angles; the external fixing frame 14 is vertically connected with the first bottom plate 16 for fixing and supporting the clamping device 1, and the first bottom plate is kept horizontal.
Therefore, through controlling the rotation of the first rotating component and the overturning of the second rotating component of the clamping device, the included angle between the measured plane and the horizontal plane is smaller than a set value, and the front face is kept towards the center of the circular arc track. Meanwhile, the lifting component on the clamping device comprises an air cylinder 15 and an air pressure rod 7, the air cylinder 15 is started, and the air pressure rod 7 is controlled to lift and adjust the height of the support plate so as to adjust the plane height of a product to be detected on the object placing plate, so that the center of the detected plane coincides with the circle center of the circular arc track in a same height. In addition, as shown in fig. 2, in the detection process, the moving ranges of the laser emitting device 3 and the laser receiving device 4 are in the circular arc track 2, and the circular arc track 2 is not separated, so that the method can be smoothly executed.
In one embodiment, the determining the normal direction of the principal plane according to the maximum reflection intensity received by the laser receiving device includes:
s101: controlling the laser emitting device to move on the circular arc track until the emitted laser of the laser emitting device irradiates towards the center of the main plane and forms an angle of 45 degrees with the main plane, simultaneously controlling the laser receiving device to move on the circular arc track until the reflected laser received by the laser receiving device forms an included angle of 90 degrees with the emitted laser of the laser emitting device, emitting the laser to the center of the main plane, detecting the reflected intensity of the laser when the emitted laser forms an included angle of 90 degrees with the reflected laser, and marking as Y 1 ；
S102: controlling the laser emitting device and the laser receiving device to keep relative angles, synchronously moving left and right on the circular arc track by a set angle at a minimum step distance, emitting laser to the center of the main plane, detecting and recording the reflection intensity of the laser received by the laser receiving device in the moving process, and marking the maximum reflection intensity as Y 2 ；
S103: determination of Y 2 The corresponding positions of the laser emitting device and the laser receiving device are used for enabling the laser emitting device to be fixed, and controlling the laser receiving device to be at the current position with the minimum step distanceThe center moves left and right by a set angle, laser is emitted to the center of the main plane, the reflection intensity of the laser received by the laser receiving device in the moving process is detected and recorded, and the maximum reflection intensity is marked as Y 3 ；
S104: acquisition of Y 3 The included angle between the emitted laser of the corresponding laser emitting device and the reflected laser of the laser receiving device takes the angular bisector of the included angle as the normal direction of the plane;
wherein the reflection intensity Y of the laser light 2 The reflection intensity Y of the laser is greater than or equal to 1 Reflection intensity Y of laser light 3 The reflection intensity Y of the laser is greater than or equal to 2 。
In this embodiment, since the normal to the plane is a straight line perpendicular to the plane and passing through the center of the plane. Based on the above, by emitting laser light to the plane center and obtaining the reflection intensity of the laser light received from the plane center correspondingly, the maximum reflection intensity of the laser light is selected from the received reflection intensities of the laser light, and the angular bisector of the included angle between the emitted laser light and the reflected laser light corresponding to the maximum reflection intensity is the normal direction of the plane. By finding the maximum reflection intensity of the plane, the direction of the normal to the plane can then be determined more accurately.
In this embodiment, the relative angles of the laser emitting device and the laser receiving device corresponding to the maximum reflection intensity in the principal plane are maintained for each plane except the principal plane for detection. The relative angle is kept for detection, belongs to control variables, and can reduce the influence of other factors on the detection result to the greatest extent. Maintaining the relative angle, by performing steps S102 to S103, the maximum reflection intensity of the measured plane can be determined, and thus the direction of the normal line of the measured plane can be obtained.
In one embodiment, the step of taking the main plane as the first plane, sorting all planes according to the positions and orientations of the planes and selecting the sequence includes:
according to the obtained positions and orientations of the planes, starting from a main plane, marking a plane with a common edge with an ith plane as a plane to be sequenced, obtaining an included angle between the plane to be sequenced and the ith plane, marking the plane to be sequenced corresponding to the minimum included angle as an (i+1) th plane, and repeating the processes until all planes are marked to obtain a plurality of sequences related to plane sequences;
calculating the differences of included angles of all planes adjacent in sequence in each sequence;
Summing the differences of all included angles in each sequence, and comparing the summation results;
determining a sequence corresponding to the minimum summation result as a selected sequence;
where i ranges from 1 to n-1, n being the sum of the numbers of all the planes to be detected including the principal plane.
In this embodiment, the marking process may be summarized as determining adjacent planes and marking the adjacent planes as planes to be sorted, and then selecting the planes with the smallest included angles for sequential marking. Wherein adjacent planes may be planes that share an edge or are adjacently located; if there are 6 adjacent planes with the ith plane, the 6 planes are planes to be ordered, and the planes corresponding to the minimum included angle are selected for sequential marking through the included angle between the planes to be ordered and the ith plane, i.e. if the included angles of 3 planes are the same in size and the included angle is the minimum included angle among the 6 planes, then the 3 planes are required to be sequentially marked, and all the planes are marked as the (i+1) th plane. Based on this, marking all planes according to this rule can result in a plurality of sequences. In order to obtain a more accurate detection result, a sequence with the smallest included angle deviation value is selected from the obtained sequences related to the plane sequence as a selected sequence, namely, the sequence with the smallest sum of the included angles is selected as the selected sequence by calculating the difference of the included angles of all adjacent planes of each sequence.
In this embodiment, all the planes to be inspected refer to all the planes of the product to be inspected including the main plane.
In one embodiment, the set range is [ x ] i -a+b*i/n，x i +a-b*i/n]The method comprises the steps of carrying out a first treatment on the surface of the Wherein, the angle standard value of the ith included angle; a is a set error transfer value; b is the set offset error, and 0<b<a, a; the included angle comprises a first included angle and a second included angle.
In this embodiment, considering error transfer, for the ith angle, the angle standard value is x i The error transfer value is set as a, the offset error is set as b, and b should be smaller than a in consideration of the influence of the error transfer, it should be understood that a is not equal to b i/n in the actual production process, so the offset error b is set to ensure a is not equal to b i/n, and the magnitude of the offset error b should be set to satisfy 0<b<a。
In one embodiment, the redefining the normal direction of each target plane includes:
obtaining the number of planes of a target plane;
judging whether the number of planes is equal to 1, and if the number of the target planes is equal to 1, re-determining the normal direction of the target planes; if the number of the target planes is greater than 1, the normal direction of the main plane and the normal direction of each target plane are redetermined.
If the number of the target planes is equal to 1, the normal direction of the target planes is redetermined; if the number of the target planes is greater than 1, reselecting the normal direction of the main plane and the normal direction of each target plane, including:
If the number of the target planes is equal to 1, controlling the angles of the laser emitting device and the laser receiving device to keep the set angles to move synchronously, and determining the normal direction of the target planes according to the maximum reflection intensity received by the laser receiving device;
if the number of the target planes is greater than 1, step S2 is performed on the main plane, and starting from the second target plane, step S3 and step S4 are performed to redetermine the normal direction of each target plane.
In this embodiment, the target plane refers to a plane with a deviation exceeding a set range, that is, an angle between the normal direction of the plane and the normal direction of the main plane exceeds the set range, it is further determined whether the deviation is caused by accidental deviation, that is, when only an angle between the normal direction of one plane and the normal direction of the main plane is not within the set range, it is necessary to re-determine the normal direction of the plane, and determine whether the re-determined angle between the normal direction and the normal direction of the main plane is within the set range again. If two or more planes deviate from the set range, the planes need to be re-measured, and whether the laser emitting device or the laser receiving device deviates during the measurement is considered, so that the normal direction of the main plane is re-determined, and the normal direction of each target plane with the deviation exceeding the set range is re-determined according to the determined relative positions of the laser emitting device and the laser receiving device. And then, whether the included angle between the normal direction of the target plane and the normal direction of the new main plane is within a set range is calculated again. If the two planes are within the set range, the product can be judged to be qualified, and if one or more planes are still present and are not within the set range, the product is not qualified.
As shown in fig. 5, in one embodiment, there is provided a multi-planar detection apparatus including:
and an adjustment module: the adjusting module is used for selecting a plane as a main plane, so that the center of the main plane coincides with the center of the circular arc track, and the included angle between the main plane and the horizontal plane is smaller than a set value;
detection module one: the detection module is used for adjusting the relative angle of the laser emission device and the laser receiving device, determining the normal direction of the main plane according to the maximum reflection intensity received by the laser receiving device, and taking the relative angle of the laser emission device and the laser receiving device corresponding to the maximum reflection intensity as a set angle;
and a selection module: the selection module is used for taking the main plane as a first plane, sequencing all planes according to the positions and the orientations of the planes and selecting a sequence;
and a detection module II: the second detection module is used for enabling the center of each plane to coincide with the circle center of the circular arc track according to the sequence of planes in the selected sequence, enabling the included angles of each plane and the horizontal plane to be smaller than a set value respectively, controlling the laser emitting device and the laser receiving device to keep the set angles to synchronously move, and determining the normal direction of each plane according to the maximum reflection intensity received by the laser receiving device;
A first calculation module: the first calculation module is used for calculating a first included angle between the normal direction of each plane and the normal direction of the main plane respectively;
judging module I: the judging module is used for judging whether each first included angle is in a set range, if all the first included angles are in the set range, the product is qualified, and if at least one first included angle exceeds the set range, marking planes corresponding to all the first included angles exceeding the set range as target planes, and re-determining the normal direction of each target plane;
and a second calculation module: the second calculation module is used for calculating a second included angle between the normal direction of each re-determined target plane and the normal direction of the main plane respectively;
and a judging module II: the second judging module is used for judging whether each second included angle is in a set range, if all the second included angles are in the set range, the product is qualified, and if at least one second included angle exceeds the set range, the product is unqualified.
In this embodiment, the multi-plane detection device may specifically include: the adjusting module, the detecting module, the selecting module, the calculating module and the judging module are modularized, and for the explanation of each module, please refer to the content of the method part of the present invention, the embodiment is not repeated here.
As shown in fig. 6, in one embodiment, a multi-plane detection system is provided, which includes a laser emitting device, a laser receiving device, a circular arc track, an adjusting device, a detection apparatus, and a clamping device;
the laser emitting device and the laser receiving device are respectively connected with the circular arc track in a sliding manner;
the adjusting device is communicated with the detection equipment in a connecting way and is used for controlling the movement of the laser emitting device and the laser receiving device and controlling the action of each component of the clamping device;
the detection device comprises a memory and a processor, wherein the memory stores a computer program, and the computer program when executed by the processor causes the processor to execute the steps of the multi-plane detection method according to any one or more embodiments of the present invention.
In this embodiment, the control device communicates with the clamping device, and the clamping device controls the air cylinder 15 to lift and adjust the height of the support plate by starting the air cylinder 7 according to the instruction signal of the control device, so as to adjust the plane height of the product to be measured on the object placing plate, so that the center of the measured plane coincides with the center of the circular arc track in a same height; by starting the first motor 11, the rotation of the first motor shaft 5 is automatically controlled, so that the product to be measured on the object placing plate rotates to adjust the angle; by starting the second motor 12, the second motor shaft 6 is automatically controlled to rotate, so that the inner fixing frame 13 is integrally turned and adjusted, the inclination of the product to be tested on the object placing plate is adjusted, and the product to be tested can be turned at multiple angles. The laser emitting device 3 and the laser receiving device 4 are respectively connected with the circular arc track 2 in a sliding way, the adjusting device is communicated with the laser emitting device, the laser receiving device, the circular arc track and the like and controls the laser emitting device to move with the laser receiving device, and meanwhile, the adjusting device can also control the circular arc track to move left and right so as to ensure that a tested product is in a track range. The detection device performs the steps of the multi-plane detection method according to any one or more embodiments of the present invention via a processor and communicates with other devices and equipment in the multi-plane detection system.
FIG. 7 illustrates an internal block diagram of a processor in one embodiment. As shown in fig. 7, the processor includes a processor, a memory, a network interface, an input device, and a display screen connected by a system bus. The memory includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium of the processor stores an operating system, and may also store a computer program, where the computer program when executed by the processor may cause the processor to implement the multi-plane detection method provided by the embodiment of the present invention. The internal memory may also store a computer program, which when executed by the processor, causes the processor to execute the multi-plane detection method provided by the embodiment of the invention. The display screen of the processor can be a liquid crystal display screen or an electronic ink display screen, the input device of the processor can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the processor, an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the processor to which the present inventive arrangements may be applied, and that a particular processor may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, the multi-plane detection device provided in the embodiments of the present invention may be implemented in the form of a computer program, which may be executed on a processor as shown in fig. 7. The memory of the detecting device may store various program modules constituting the multi-plane detecting device, such as the adjusting module, the detecting module one, the selecting module, the detecting module two, the calculating module one, the judging module one, the calculating module two and the judging module two shown in fig. 5. The computer program of each program module causes a processor to execute the steps in the multi-plane detection method of each embodiment of the present invention described in the present specification.
For example, the processor shown in fig. 7 may select a plane as a main plane through the adjustment module in the detection device shown in fig. 5, so that the center of the main plane coincides with the center of the circular arc track and the included angle between the main plane and the horizontal plane is smaller than the set value; the relative angle between the laser emitting device and the laser receiving device can be adjusted through the first detection module, the normal direction of the main plane is determined according to the maximum reflection intensity received by the laser receiving device, and the relative angle between the laser emitting device and the laser receiving device corresponding to the maximum reflection intensity is taken as a set angle; the main plane can be used as a first plane through the selection module, all planes are ordered according to the position and the orientation of each plane, and a sequence is selected; the second detection module can be used for enabling the center of each plane to coincide with the center of the circular arc track and enabling the included angles between each plane and the horizontal plane to be smaller than a set value respectively according to the sequence of planes in the selected sequence, the laser emitting device and the laser receiving device are controlled to keep the set angles to synchronously move, and the normal direction of each plane is determined according to the maximum reflection intensity received by the laser receiving device; the first included angle between the normal direction of each plane and the normal direction of the main plane can be calculated through a first calculation module; judging whether each first included angle is in a set range or not through a judging module, if all the first included angles are in the set range, the product is qualified, and if at least one first included angle exceeds the set range, marking planes corresponding to all the first included angles exceeding the set range as target planes, and re-determining the normal direction of each target plane; the second included angles between the normal direction of each re-determined target plane and the normal direction of the main plane can be calculated through a second calculation module; and the second judging module can judge whether each second included angle is in the set range, if all the second included angles are in the set range, the product is qualified, and if at least one second included angle exceeds the set range, the product is unqualified.
In one embodiment, a computer device is presented, the computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
s1: selecting a plane as a main plane, so that the center of the main plane coincides with the center of the circular arc track and the included angle between the main plane and the horizontal plane is smaller than a set value;
s2: adjusting the relative angle of the laser emitting device and the laser receiving device, determining the normal direction of the main plane according to the maximum reflection intensity received by the laser receiving device, and taking the relative angle of the laser emitting device and the laser receiving device corresponding to the maximum reflection intensity as a set angle;
s3: taking the main plane as a first plane, sequencing all planes according to the positions and the orientations of the planes, and selecting a sequence;
s4: according to the sequence of planes in the selected sequence, the center of each plane coincides with the circle center of the circular arc track, the included angles between each plane and the horizontal plane are respectively smaller than a set value, the laser emitting device and the laser receiving device are controlled to keep the set angles to synchronously move, and the normal direction of each plane is determined according to the maximum reflection intensity received by the laser receiving device;
S5: respectively calculating a first included angle between the normal direction of each plane and the normal direction of the main plane;
s6: judging whether each first included angle is in a set range, if all the first included angles are in the set range, the product is qualified, and if at least one first included angle exceeds the set range, marking planes corresponding to all the first included angles exceeding the set range as target planes, and re-determining the normal direction of each target plane;
s7: respectively calculating a second included angle between the normal direction of each re-determined target plane and the normal direction of the main plane;
s8: judging whether each second included angle is in a set range, if all the second included angles are in the set range, the product is qualified, and if at least one second included angle exceeds the set range, the product is unqualified.
In one embodiment, a computer readable storage medium is provided, having a computer program stored thereon, which when executed by a processor causes the processor to perform the steps of:
s1: selecting a plane as a main plane, so that the center of the main plane coincides with the center of the circular arc track and the included angle between the main plane and the horizontal plane is smaller than a set value;
s2: adjusting the relative angle of the laser emitting device and the laser receiving device, determining the normal direction of the main plane according to the maximum reflection intensity received by the laser receiving device, and taking the relative angle of the laser emitting device and the laser receiving device corresponding to the maximum reflection intensity as a set angle;
S3: taking the main plane as a first plane, sequencing all planes according to the positions and the orientations of the planes, and selecting a sequence;
s4: according to the sequence of planes in the selected sequence, the center of each plane coincides with the circle center of the circular arc track, the included angles between each plane and the horizontal plane are respectively smaller than a set value, the laser emitting device and the laser receiving device are controlled to keep the set angles to synchronously move, and the normal direction of each plane is determined according to the maximum reflection intensity received by the laser receiving device;
s5: respectively calculating a first included angle between the normal direction of each plane and the normal direction of the main plane;
s6: judging whether each first included angle is in a set range, if all the first included angles are in the set range, the product is qualified, and if at least one first included angle exceeds the set range, marking planes corresponding to all the first included angles exceeding the set range as target planes, and re-determining the normal direction of each target plane;
s7: respectively calculating a second included angle between the normal direction of each re-determined target plane and the normal direction of the main plane;
s8: judging whether each second included angle is in a set range, if all the second included angles are in the set range, the product is qualified, and if at least one second included angle exceeds the set range, the product is unqualified.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (9)
1. A multi-plane detection method, characterized in that the multi-plane detection method comprises:
s1: selecting a plane as a main plane, so that the center of the main plane coincides with the center of the circular arc track and the included angle between the main plane and the horizontal plane is smaller than a set value;
s2: adjusting the relative angle of the laser emitting device and the laser receiving device, determining the normal direction of the main plane according to the maximum reflection intensity received by the laser receiving device, and taking the relative angle of the laser emitting device and the laser receiving device corresponding to the maximum reflection intensity as a set angle;
S3: taking the main plane as a first plane, sequencing all planes according to the positions and the orientations of the planes, and selecting a sequence;
s4: according to the sequence of planes in the selected sequence, the center of each plane coincides with the circle center of the circular arc track, the included angles between each plane and the horizontal plane are respectively smaller than a set value, the laser emitting device and the laser receiving device are controlled to keep the set angles to synchronously move, and the normal direction of each plane is determined according to the maximum reflection intensity received by the laser receiving device;
s5: respectively calculating a first included angle between the normal direction of each plane and the normal direction of the main plane;
s6: judging whether each first included angle is in a set range, if all the first included angles are in the set range, the product is qualified, and if at least one first included angle exceeds the set range, marking planes corresponding to all the first included angles exceeding the set range as target planes, and re-determining the normal direction of each target plane;
s7: respectively calculating a second included angle between the normal direction of each re-determined target plane and the normal direction of the main plane;
s8: judging whether each second included angle is in a set range, if all the second included angles are in the set range, the product is qualified, and if at least one second included angle exceeds the set range, the product is unqualified.
2. The multi-plane detection method according to claim 1, wherein the steps of making the center of the principal plane coincide with the center of the circular arc orbit and the angle between the principal plane and the horizontal plane be smaller than a set value, or making the center of each plane coincide with the center of the circular arc orbit and the angle between each plane and the horizontal plane be smaller than a set value, respectively, include:
the first rotating assembly rotates and the second rotating assembly overturns on the clamping device so that the included angle between the measured plane and the horizontal plane is smaller than a set value, and the measured plane is opposite to the center of the circular arc track;
lifting components on the clamping device are adjusted to lift until the center of the measured plane coincides with the center of the circular arc track;
the measured plane comprises a main plane and all planes outside the main plane.
3. The multi-plane detection method according to claim 1, wherein the determining the main plane normal direction from the maximum reflection intensity received by the laser receiving device includes:
controlling the laser emitting device to move on the circular arc track until the emitted laser of the laser emitting device irradiates towards the center of the main plane and forms an angle of 45 degrees with the main plane, simultaneously controlling the laser receiving device to move on the circular arc track until the reflected laser received by the laser receiving device forms an included angle of 90 degrees with the emitted laser of the laser emitting device, emitting the laser to the center of the main plane, detecting the reflected intensity of the laser when the emitted laser forms an included angle of 90 degrees with the reflected laser, and marking as Y 1 ；
Controlling the laser emitting device and the laser receiving device to keep relative angles, synchronously moving left and right on the circular arc track by a set angle at a minimum step distance, emitting laser to the center of the main plane, detecting and recording the reflection intensity of the laser received by the laser receiving device in the moving process, and marking the maximum reflection intensity as Y 2 ；
Determination of Y 2 The positions of the corresponding laser emitting device and the laser receiving device are fixed, the laser emitting device is fixed, the laser receiving device is controlled to move left and right by a set angle with the minimum step distance taking the current position as the center, laser is emitted to the center of the main plane, the reflection intensity of the laser received by the laser receiving device in the moving process is detected and recorded, and the maximum reflection intensity is marked as Y 3 ；
Acquisition of Y 3 The included angle between the emitted laser of the corresponding laser emitting device and the reflected laser of the laser receiving device takes the angular bisector of the included angle as the normal direction of the plane;
wherein the reflection intensity Y of the laser light 2 The reflection intensity Y of the laser is greater than or equal to 1 Reflection intensity Y of laser light 3 The reflection intensity Y of the laser is greater than or equal to 2 。
4. The multi-plane detection method according to claim 1, wherein the step of taking the main plane as the first plane, sorting all planes according to the position and orientation of each plane, and selecting a sequence, comprises:
According to the obtained positions and orientations of the planes, starting from a main plane, marking a plane with a common edge with an ith plane as a plane to be sequenced, obtaining an included angle between the plane to be sequenced and the ith plane, marking the plane to be sequenced corresponding to the minimum included angle as an (i+1) th plane, and repeating the processes until all planes are marked to obtain a plurality of sequences related to plane sequences;
calculating the differences of included angles of all planes adjacent in sequence in each sequence;
summing the differences of all included angles in each sequence, and comparing the summation results;
determining a sequence corresponding to the minimum summation result as a selected sequence;
where i ranges from 1 to n-1, n being the sum of the numbers of all the planes to be detected including the principal plane.
5. The multi-plane detection method of claim 4 wherein the set range is [ x ] i -a+b*i/n，x i +a-b*i/n]The method comprises the steps of carrying out a first treatment on the surface of the Wherein x is i An angle standard value of the ith included angle; a is a set error transfer value; b is the set offset error, and 0<b<a, a; the included angle comprises a first included angle and a second included angle.
6. The multi-plane detection method according to claim 1, wherein the redefining the normal direction of each target plane includes:
Obtaining the number of planes of a target plane;
judging whether the number of planes is equal to 1, and if the number of the target planes is equal to 1, re-determining the normal direction of the target planes; if the number of the target planes is greater than 1, the normal direction of the main plane and the normal direction of each target plane are redetermined.
7. The multi-plane detection method according to claim 6, wherein if the number of target planes is equal to 1, the target plane normal direction is redetermined; if the number of the target planes is greater than 1, reselecting the normal direction of the main plane and the normal direction of each target plane, including:
if the number of the target planes is equal to 1, controlling the angles of the laser emitting device and the laser receiving device to keep the set angles to move synchronously, and determining the normal direction of the target planes according to the maximum reflection intensity received by the laser receiving device;
if the number of the target planes is greater than 1, step S2 is performed on the main plane, and starting from the second target plane, step S3 and step S4 are performed to redetermine the normal direction of each target plane.
8. A multi-planar detection apparatus, comprising:
and an adjustment module: the adjusting module is used for selecting a plane as a main plane, so that the center of the main plane coincides with the center of the circular arc track, and the included angle between the main plane and the horizontal plane is smaller than a set value;
Detection module one: the detection module is used for adjusting the relative angle of the laser emission device and the laser receiving device, determining the normal direction of the main plane according to the maximum reflection intensity received by the laser receiving device, and taking the relative angle of the laser emission device and the laser receiving device corresponding to the maximum reflection intensity as a set angle;
and a selection module: the selection module is used for taking the main plane as a first plane, sequencing all planes according to the positions and the orientations of the planes and selecting a sequence;
and a detection module II: the second detection module is used for enabling the center of each plane to coincide with the circle center of the circular arc track according to the sequence of planes in the selected sequence, enabling the included angles of each plane and the horizontal plane to be smaller than a set value respectively, controlling the laser emitting device and the laser receiving device to keep the set angles to synchronously move, and determining the normal direction of each plane according to the maximum reflection intensity received by the laser receiving device;
a first calculation module: the first calculation module is used for calculating a first included angle between the normal direction of each plane and the normal direction of the main plane respectively;
judging module I: the judging module is used for judging whether each first included angle is in a set range, if all the first included angles are in the set range, the product is qualified, and if at least one first included angle exceeds the set range, marking planes corresponding to all the first included angles exceeding the set range as target planes, and re-determining the normal direction of each target plane;
And a second calculation module: the second calculation module is used for calculating a second included angle between the normal direction of each re-determined target plane and the normal direction of the main plane respectively;
and a judging module II: the second judging module is used for judging whether each second included angle is in a set range, if all the second included angles are in the set range, the product is qualified, and if at least one second included angle exceeds the set range, the product is unqualified.
9. The multi-plane detection system is characterized by comprising a laser emitting device, a laser receiving device, an arc track, an adjusting device, detection equipment and a clamping device;
the laser emitting device and the laser receiving device are respectively connected with the circular arc track in a sliding manner;
the adjusting device is communicated with the detection equipment in a connecting way and is used for controlling the movement of the laser emitting device and the laser receiving device and controlling the action of each component of the clamping device;
the detection apparatus comprises a memory and a processor, the memory having stored therein a computer program which, when executed by the processor, causes the processor to perform the steps of the multi-plane detection method of any one of claims 1 to 7.
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| CN117961393A (en) * | 2024-04-01 | 2024-05-03 | 江苏威士智能装备有限公司 | Automatic welding device and working method |
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| CN117961393A (en) * | 2024-04-01 | 2024-05-03 | 江苏威士智能装备有限公司 | Automatic welding device and working method |
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