CN117553683A - Workpiece dimension measurement system and method - Google Patents
Workpiece dimension measurement system and method Download PDFInfo
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- CN117553683A CN117553683A CN202311505694.XA CN202311505694A CN117553683A CN 117553683 A CN117553683 A CN 117553683A CN 202311505694 A CN202311505694 A CN 202311505694A CN 117553683 A CN117553683 A CN 117553683A
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
Abstract
The present application relates to a workpiece dimension measurement system and method. The workpiece size measurement system comprises a detection device and an image acquisition device; wherein, at least one structure light measuring head is arranged on the inner wall of the image acquisition equipment, and each structure light measuring head comprises at least two line lasers and an industrial camera; each line laser is used for emitting line laser to a workpiece to be detected in the image acquisition equipment, and each industrial camera is used for acquiring line laser images of the workpiece to be detected; the detection equipment is electrically connected with each industrial camera and is used for determining the size data of the workpiece to be detected according to the line laser images sent by each industrial camera. The method can be used for measuring the size of the workpiece to be measured more flexibly and accurately.
Description
Technical Field
The application relates to the technical field of workpiece structure size detection, in particular to a workpiece size measurement system and method.
Background
Along with the development of digitization and intelligent transformation in manufacturing industry, the demand for high-precision rapid measurement of the three-dimensional structure size of the non-contact surface of a product or a workpiece object in a motion state on a production line is increasing. The three-dimensional measurement technology based on the structured light projection and stereoscopic vision principle has the characteristics of non-contact, high speed, strong anti-interference capability, suitability for measurement of moving objects and the like, and has wide application prospect in the field of industrial measurement.
In the prior art, in the production process of a production line, a mode of measuring the size of a continuous workpiece is generally to scan and measure the continuous workpiece by single-probe single-line laser or multi-probe single-line laser. However, this measurement method has the problems of smaller measurement range, lower flexibility, lower accuracy, and the like.
Disclosure of Invention
Based on the foregoing, there is a need to provide a workpiece dimension measuring system and method that can measure the dimension of a workpiece to be measured more flexibly and accurately.
In a first aspect, the present application provides a workpiece dimension measurement system, comprising a detection device and an image acquisition device; wherein,
at least one structure light measuring head is arranged on the inner wall of the image acquisition equipment, and each structure light measuring head comprises at least two line lasers and an industrial camera; each line laser is used for emitting line laser to a workpiece to be detected in the image acquisition equipment, and each industrial camera is used for acquiring line laser images of the workpiece to be detected;
the detection equipment is electrically connected with each industrial camera and is used for determining the size data of the workpiece to be detected according to the line laser images sent by each industrial camera.
In one embodiment, the structure light measuring heads are placed in the image acquisition equipment at equal intervals, and the distances between the structure light measuring heads and the workpiece to be measured are the same.
In one embodiment, in the case that the image acquisition device includes a structural light probe, the industrial camera in the structural light probe is used for acquiring line laser images of the workpiece to be measured in the process that the structural light probe moves around the workpiece.
In one embodiment, the workpiece size measurement system further comprises a cleaning guide device for cleaning the workpiece to be measured, and the cleaning guide device is arranged at the target end; the target end is the end of the workpiece to be detected entering the image acquisition equipment.
In one embodiment, the cleaning guide comprises a wrap-around sponge.
In one embodiment, the workpiece dimension measurement system further comprises a display device electrically connected to the detection device;
the display device is used for receiving the size data sent by the detection device and displaying the size data.
In a second aspect, the present application also provides a workpiece dimension measuring method, applied to the detection apparatus in the workpiece dimension measuring system of any one of claims 1 to 7, the method comprising:
acquiring line laser images sent by industrial cameras;
extracting structured light data of a workpiece to be detected from each line of laser image;
and determining the size data of the workpiece to be measured according to the structured light data.
In one embodiment, determining dimension data of a workpiece to be measured from structured light data includes:
fitting the structured light data to obtain first fitting data;
determining second fitting data of the workpiece to be measured according to the first fitting data;
and determining the size data of the workpiece to be measured according to the second fitting data.
In one embodiment, the method further comprises:
determining whether the workpiece to be detected meets the safety standard according to the size data of the workpiece to be detected;
if not, triggering an alarm.
According to the workpiece size measuring system and method, at least one structure light measuring head is arranged on the inner wall of the image collecting device, each structure light measuring head comprises at least two line lasers for emitting line lasers to the workpiece to be measured, which is positioned in the image collecting device, and an industrial camera for collecting line laser images of the workpiece to be measured, so that the line laser images of the workpiece to be measured can be collected more flexibly and accurately and are sent to the detecting device; further, the detection equipment is electrically connected with each industrial camera, so that the line laser image of the workpiece to be detected can be obtained more efficiently, and the effect of measuring the size of the workpiece to be detected can be achieved more flexibly and accurately according to the line laser image.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for a person having ordinary skill in the art.
FIG. 1 is a front view of a workpiece dimension measurement system in one embodiment;
FIG. 2 is a front view of an image capture device in one embodiment;
FIG. 3 is a side view of a workpiece dimension measurement system in another embodiment;
FIG. 4 is a front view of a workpiece dimension measurement system in another embodiment;
FIG. 5 is a side view of a workpiece dimension measurement system in yet another embodiment;
FIG. 6 is a flow diagram of a method of workpiece dimension measurement in one embodiment;
FIG. 7 is a three-dimensional model of a workpiece to be measured in one embodiment;
FIG. 8 is a flow chart of determining dimension data in one embodiment;
FIG. 9 is a flow chart of a method of measuring a dimension of a workpiece in another embodiment;
fig. 10 is an internal structural view of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In one exemplary embodiment, a workpiece dimension measurement system is provided. The front view of the workpiece dimension measuring system is shown in fig. 1, and comprises a detection device 1 and an image acquisition device 2. Wherein:
at least one structural light measuring head is arranged on the inner wall of the image acquisition equipment, and each structural light measuring head comprises at least two line lasers and an industrial camera. Each line laser is used for emitting line laser to a workpiece to be detected in the image acquisition equipment, and each industrial camera is used for acquiring line laser images of the workpiece to be detected.
The image capturing device is a device for capturing an image of a workpiece to be tested, for example, the image capturing device may be a bracket, a box, etc., and the shape of the image capturing device may be, but is not limited to, a cuboid, a cube, etc. The structure light measuring head is used for emitting line laser to the workpiece to be measured and collecting line laser images of the workpiece to be measured. The line laser is a laser used for emitting line laser to the workpiece to be measured. The industrial camera is the equipment for collecting the line laser image of the workpiece to be measured. The line laser image is an image of the workpiece to be measured containing the projected line laser.
The workpiece to be measured is a workpiece with the requirement of dimension measurement, and can be a small-sized workpiece, a continuous workpiece, a ceramic workpiece, a wood plate workpiece and the like; when the workpiece to be measured is a small-sized workpiece, the workpiece can be fixed at the measuring position of the image acquisition equipment, so that the line laser image of the small-sized workpiece can be acquired in one step in an omnibearing manner (namely 360 DEG), and the size of the small-sized workpiece is measured according to the line laser image; when the workpiece to be measured is a continuous workpiece, the continuous workpiece can pass through the image acquisition equipment according to a preset speed, and the image acquisition is sequentially carried out on the part of the continuous workpiece, which is positioned in the image acquisition equipment, until the line laser image of the continuous workpiece is acquired in all directions, and then the dimension measurement is carried out on the continuous workpiece according to the line laser image of the continuous workpiece, so that the real-time measurement of the workpiece on the workpiece manufacturing assembly line can be realized.
Optionally, the middle of the image acquisition device may be hollow, and the workpiece to be measured may enter through the hollow of the middle of the image acquisition device and pass through the image acquisition device. The inner wall of the image acquisition equipment can be provided with at least one structure light measuring head which is used for emitting line laser to the workpiece to be detected in an omnibearing way (namely 360 degrees) and acquiring line laser images of the workpiece to be detected. Further, the structured light head may include at least two line lasers, and the line lasers may emit line lasers to the workpiece to be measured. Specifically, the set number of line lasers emitted to the workpiece to be measured can be preset according to the requirement of fitting the line laser images, and then the line lasers emit the line lasers with the set number to the line laser images. In the case that the structured light head comprises a line laser, the line laser can emit a set number of line lasers to the workpiece to be measured; under the condition that the structure light measuring head comprises a plurality of line lasers, each line laser can emit at least one beam of line laser to the workpiece to be measured so as to meet the requirement of emitting a set number of line lasers to the workpiece to be measured; compared with the use of single-line laser, the embodiment can ensure that the acquired line laser image is not influenced by the state of the workpiece entering the workpiece size measurement system (such as workpiece inclination, vibration and the like) by using the multi-line laser, and can realize more accurate determination of the size data of the workpiece to be measured. Alternatively, the line lasers may be parallel or crossed with each other and may be set according to measurement requirements; the line lasers can be arranged in parallel to reduce mutual interference among the line lasers, so that the three-dimensional model of the workpiece to be measured can be built more conveniently and efficiently. The structure light measuring head can also comprise an industrial camera, and the industrial camera can carry out operations such as photographing on a workpiece to be measured containing the projected line laser according to a preset acquisition frequency so as to acquire the line laser image of the workpiece to be measured.
Further, the detection equipment is electrically connected with each industrial camera and is used for determining the size data of the workpiece to be detected according to the line laser images sent by each industrial camera.
The detection device is a computer device for measuring the dimension of the workpiece to be measured according to the line laser image of the workpiece to be measured, and can be a terminal or a small server.
Optionally, the detection device may interact with each industrial camera through a network to obtain line laser images sent by each industrial camera; furthermore, the line laser image can be input into a preset size determination model, and the line laser image is processed through the size determination model, so that size data of the workpiece to be measured can be determined.
According to the workpiece size measurement system, at least one structure light measuring head is arranged on the inner wall of the image acquisition equipment, each structure light measuring head comprises at least two line lasers for emitting line lasers to the workpiece to be measured, which is positioned in the image acquisition equipment, and an industrial camera for acquiring line laser images of the workpiece to be measured, so that the line laser images of the workpiece to be measured can be acquired more flexibly and accurately and are sent to the detection equipment; further, the detection equipment is electrically connected with each industrial camera, so that the line laser image of the workpiece to be detected can be obtained more efficiently, and the effect of measuring the size of the workpiece to be detected can be achieved more flexibly and accurately according to the line laser image.
In order to be able to acquire more accurate line laser images, in an exemplary embodiment, the structure light measuring heads are placed at equal intervals in the image acquisition device, and the distance between the structure light measuring heads and the workpiece to be measured is the same.
Optionally, under the condition that the image acquisition equipment comprises at least two structure light measuring heads, each structure light measuring head can be placed at equal intervals in the image acquisition equipment, and the distance between each structure light measuring head and the workpiece to be measured is kept the same, so that the comprehensive line laser emitting to the workpiece to be measured is realized, and the line laser image of the workpiece to be measured is collected in all directions.
It can be understood that by setting the optical measuring heads with structures to be placed in the image acquisition equipment at equal intervals and keeping the optical measuring heads with structures at equal distances from the workpiece to be measured, the effect of emitting the line laser to the workpiece to be measured more comprehensively and clearly and acquiring the line laser image of the workpiece to be measured can be realized.
Further, on the basis of the above embodiment, in an exemplary embodiment, the front view of the image capturing device is as shown in fig. 2, and further includes at least one light source.
The light source is used for illuminating the calibration plate in all directions when the structural light head is calibrated, and can be an LED light source and the like. The light source may be mounted between the structured light heads, and may be one or more in number.
Optionally, when there is a requirement for measuring the size of the workpiece to be measured, a calibration plate can be placed at the placement position of the workpiece to be measured in the image acquisition device, the calibration plate is illuminated by the light source, and then the position and angle of each structure optical measuring head are adjusted according to the illuminated calibration plate of the light source, so as to calibrate each structure optical measuring head in the image acquisition device. Furthermore, the angles and positions of the line lasers in the structure light measuring heads can be adjusted, so that correlation among the line lasers is prevented, and the quality of the line laser images acquired subsequently is guaranteed.
It should be noted that, compared with the prior art that when each structure optical measuring head in the image acquisition device is calibrated, a light source needs to be additionally added to illuminate the calibration plate, the above embodiment can directly turn on the light source when the calibration work is performed by installing at least one light source in the image acquisition device, so that the calibration plate can be more efficiently and conveniently illuminated, the effect of calibrating each structure optical measuring head in the image acquisition device more accurately is achieved, and the accuracy of the line laser image acquired subsequently is ensured.
In order to more comprehensively collect line laser images of a workpiece to be measured, in an exemplary embodiment, in the case that the image collecting device includes a structural light measuring head, an industrial camera in the structural light measuring head is used for collecting the line laser images of the workpiece to be measured in the process that the structural light measuring head moves around the workpiece to be measured.
Optionally, in the case that the image acquisition device includes only one structure light probe, the structure light probe may be controlled to move around the workpiece to be measured (for example, the structure light probe is made to rotate along the inner wall of the image acquisition device, and the structure light probe is respectively placed at a plurality of measurement angles of the workpiece to be measured, etc.), so as to implement that the line laser in the structure light probe can comprehensively emit line laser to the image acquisition device; moreover, the industrial camera in the structural optical probe can collect line laser images of the workpiece to be detected in all directions.
It can be understood that under the condition that the image acquisition equipment only comprises one structure light measuring head, the structure light measuring head is controlled to rotate along the inner wall of the image acquisition equipment, so that the effect of emitting line laser to the workpiece to be detected more comprehensively and clearly and collecting the line laser image of the workpiece to be detected can be realized.
Further, in an exemplary embodiment, the image capturing apparatus may be fixedly provided with a plurality of structure light measuring heads, the plurality of structure light measuring heads being disposed around the workpiece to be measured. Optionally, the plurality of structure light measuring heads can be equidistant and keep the same distance with the workpiece to be measured to set up in the inner wall of image acquisition equipment to realize comprehensive, clear to the workpiece to be measured of continuity line laser, after the workpiece to be measured of continuity passes image acquisition equipment, and the line laser image of the workpiece to be measured gathers. For example, the plurality of structured light heads may be 3, 4, 5, 6, or the like. When the number of the plurality of the structure light measuring heads is 3, the 3 structure light measuring heads can be respectively spaced by 120 degrees on the same plane and equidistantly arranged on the inner wall of the image acquisition equipment; when the number of the plurality of structure light measuring heads is 4, the 4 structure light measuring heads can be respectively spaced by 90 degrees on the same plane, and are equidistantly arranged on the inner wall of the image acquisition equipment.
It should be noted that, through fixedly setting up a plurality of structure light measuring heads on image acquisition equipment, make a plurality of structure light measuring heads send line laser to the work piece that awaits measuring simultaneously, not only can realize reducing the required time of gathering, can also reduce and appear because of the structure light measuring head changes such as location, precision that the change of position leads to, increase calibration time scheduling problem, and then reinforcing structure light measuring head's measurement accuracy and stability.
Further, in order to improve accuracy of acquiring line laser images, in the above embodiment, in an exemplary embodiment, a side view of the workpiece dimension measuring system is shown in fig. 3, and further includes a cleaning guide device for cleaning a workpiece to be measured, where the cleaning guide device is mounted on the target end.
The target end is the end of the workpiece to be detected entering the image acquisition equipment; for example, the target end is the right end shown in fig. 3.
Optionally, during the operation of the workpiece to be measured, the workpiece can firstly enter the cleaning guide device according to a preset direction; the cleaning guide device can clean the workpiece to be tested entering the cleaning guide device, and wipe away stains, dust and the like on the surface of the workpiece to be tested; further, after the workpiece to be measured passes through the cleaning guide device, the workpiece to be measured can enter the image acquisition device, and the image acquisition device acquires line laser images of the workpiece to be measured. For example, the workpiece to be measured may enter the cleaning guide device and the image acquisition device in sequence according to the arrow direction shown in fig. 3, so as to clean the workpiece to be measured and acquire the line laser image.
In one embodiment, the cleaning guide comprises a wrapped sponge. The workpiece to be tested enters the cleaning guide device, and the workpiece to be tested can be cleaned more carefully through the wrapped sponge in the cleaning guide device, so that the effect that the line laser image of the workpiece to be tested collected later is clearer is ensured.
It should be noted that, through setting up the cleaning guide device at the target end, before the work piece that awaits measuring gets into image acquisition device, through cleaning guide device, clean the work piece that awaits measuring, guarantee the surface of work piece that awaits measuring clean, realize the effect that improves the accuracy of the line laser image of gathering more.
To increase the flexibility of the workpiece dimension measuring system, in one exemplary embodiment, a front view of the workpiece dimension measuring system may be as shown in fig. 4, with the outer contour of the image capturing device being fitted with a detachable support plate.
Wherein, detachable backup pad is the backup pad that installs in the detachable of image acquisition device's outline promptly.
Optionally, a detachable support plate may be mounted at any position of the outer contour of the image capturing device; when the workpiece size measuring system needs to be disassembled, for example, the workpiece size measuring system needs to be maintained or debugged, or the workpiece size measuring system to be measured is finished under the conditions of size measurement and the like, the detachable support plate can be disassembled so as to disassemble the workpiece size measuring system from the assembly line, and then the workpiece size measuring system is more conveniently finished to be debugged, maintained and the like.
It can be understood that through installing the detachable support plate at the outline of image acquisition equipment, can dismantle the detachable support plate when needing to dismantle work piece size measurement system, and then can be more convenient, nimble dismantle work piece size measurement system from the assembly line, realize improving the effect of work piece size measurement system's flexibility.
In order to enable a worker to more intuitively acquire dimensional data of a workpiece to be measured, in one exemplary embodiment, a side view of the workpiece dimensional measurement system is shown in FIG. 5, and further includes a display device electrically connected to the inspection device. The display device is used for receiving the size data sent by the detection device and displaying the size data.
The display device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen may be a liquid crystal display screen or an electronic ink display screen, etc.
Optionally, the display device may interact with the detection device through a network to obtain size data of the workpiece to be detected sent by the detection device; further, the acquired size data of the workpiece to be measured can be displayed for the staff to check in real time.
It can be understood that through setting up the display device who is connected with check out test set electricity, can be more audio-visual with the size data of workpiece to be measured show, can make the staff obtain the size data of workpiece to be measured more audio-visual, quick, and then adjust the operation such as being to workpiece to be measured according to size data.
Based on the same inventive concept, the embodiment of the application also provides a workpiece dimension measuring method, which is applied to the detection equipment in the workpiece dimension measuring system. As shown in fig. 6, the method may specifically include steps S601 to S603. Wherein:
s601, acquiring line laser images sent by each industrial camera.
The line laser image is an image of the workpiece to be measured, which is obtained by emitting line laser to the workpiece to be measured through an image acquisition device in the workpiece size measurement system. Alternatively, the workpiece size measurement method may be a two-camera structure triangulation method or the like. When the workpiece size measurement method is a two-camera structure triangulation method, the angle of an industrial camera in the image acquisition device needs to be adjusted before image acquisition is performed on the workpiece to be measured. For example, if the image capturing device includes two industrial cameras, the two industrial cameras are separated by a certain distance, and the optical centers of the two industrial cameras are relatively and inwardly converged, and the central lines of the optical centers are converged on the surface of the workpiece to be detected. Furthermore, an included angle between the two industrial cameras needs to be adjusted, and the included angle is usually controlled to be 15-25 degrees so as to ensure the accuracy of a measurement result; and then a line laser in a structural light head in the image acquisition equipment emits line laser to the surface of the workpiece to be detected, and line laser images of the workpiece to be detected are acquired through an industrial camera.
Optionally, the detection device may interact with each industrial camera through a network, so as to acquire line laser images sent by each industrial camera.
S602, extracting structured light data of a workpiece to be detected from each line laser image.
The structured light data is the data representing the shape of the workpiece to be measured by the line laser in each line laser image.
Optionally, after the line laser images are obtained, each line laser image may be input into a pre-trained data extraction model, and through the data extraction model, the structured light data of the workpiece to be measured may be extracted from each line laser image.
Further, after the structured light data are extracted, the three-dimensional data reconstruction of the object surface of the workpiece to be detected can be carried out through the structured light data. The structured light data can be processed line laser images, fringe projection settlement modulation phase information can be obtained through the processed line laser images, further, according to the existing system calibration data, an unfolding phase map is obtained through collection and calculation, and the binocular stereoscopic vision principle is utilized to find out the same-phase corresponding points of the dual-camera phase map so as to reconstruct three-dimensional data of the object surface.
After the three-dimensional data of the object surface of the workpiece to be measured is reconstructed, the three-dimensional model data can be optimized. For example, the obtained integral three-dimensional grid data model can be subjected to noise elimination and algorithm simplification. The denoising algorithm can denoise the three-dimensional model by adopting median filtering so as to remove random errors on the three-dimensional model, improve the precision and enable the surface data to be smoother and more real; the simplifying algorithm can be QEM (Quadric Error Metrics, grid model simplifying algorithm) which is used for sampling data with relatively flat distribution according to the relative position relation among points or triangles. By means of denoising and algorithm simplification, details and precision of the obtained three-dimensional result can be reserved, and the number of point clouds processed later can be reduced.
After the three-dimensional model data is optimized, the three-dimensional model data can be transmitted to display equipment, and the three-dimensional model data of the workpiece to be measured is displayed through a three-dimensional model display module in the display equipment. The three-dimensional model data display includes a three-dimensional mesh display and an interactive display. The three-dimensional model display module has better interactive interface and man-machine conversation functions, and can display the three-dimensional model diagram of the workpiece to be tested shown in fig. 7 to a worker, so that the worker can randomly switch the display modes according to the needs, the three-dimensional coordinates can be rapidly translated, rotated and zoomed, the worker can more conveniently and intuitively control and operate the three-dimensional graph, and the coordinate transformation can be freely performed.
S603, determining size data of the workpiece to be detected according to the structured light data.
The dimension data are the length, width, height, flatness, angle and other data of the workpiece to be measured.
Alternatively, the extracted structured light data of the workpiece to be measured may be input into a pre-trained size determination model, and the structured light data may be fitted to obtain the size data of the workpiece to be measured by the size determination model. Further, the size data of the workpiece to be measured can be sent to the display equipment, and the size data of the workpiece to be measured is displayed through the display equipment, so that a worker can acquire the size data of the workpiece to be measured more intuitively.
In another embodiment, the extracted structured light data of the workpiece to be measured may be input into a preset formula algorithm, and the structured light data of the workpiece to be measured is calculated by the formula algorithm to determine the size data such as the length, the width, the height, the flatness, the angle and the like of the workpiece to be measured, so that the size data of the workpiece to be measured is sent to a display device, and the size data of the workpiece to be measured is displayed by the display device.
According to the workpiece size measuring method, the line laser images sent by the industrial cameras are obtained, and the structured light data of the workpiece to be measured are extracted from the line laser images, so that the structured light data can be more accurately obtained; furthermore, according to the structured light data, the effect of determining the size data of the workpiece to be measured more efficiently and accurately can be achieved.
Further, after the size data of the workpiece to be measured is obtained, the size data of the workpiece to be measured can be input into preset three-dimensional modeling software (such as CAD (computer aided design) and the like), and a three-dimensional model of the workpiece to be measured can be quickly and accurately built according to the size data of the workpiece to be measured through the three-dimensional modeling software; and then can send the three-dimensional model of the work piece that awaits measuring to display device, through display device, show the three-dimensional model of the work piece that awaits measuring, make the three-dimensional model of work piece that awaits measuring that the staff can more audio-visual observation, and then adjust the operation such as waiting to await measuring the work piece.
In order to determine the size data more accurately, in an exemplary embodiment, as shown in fig. 8, the step S603 is further refined, which specifically includes steps 801 to 803. Wherein:
s801, fitting the structured light data to obtain first fitting data.
The first fitting data is the data subjected to plane fitting processing.
Optionally, after the structural light data is extracted, a plane fitting algorithm, such as RANSAC (Random Sample Consensus, random sampling consistency algorithm) or the like, may be used to perform plane fitting on the structural light data, so as to obtain first fitting data.
S802, determining second fitting data of the workpiece to be measured according to the first fitting data.
The second fitting data is the fitting data after the first fitting data is optimized.
Optionally, after the first fitting data is obtained, a numerical simulation method, such as an LBM (Levenberg-Marquardt ) algorithm, may be used to perform an optimization fit on the plane fitting data, so as to obtain second fitting data.
S803, determining size data of the workpiece to be measured according to the second fitting data.
Optionally, the second fitting data may be input into a pre-trained dimension determination model, and the dimension data of the workpiece to be measured may be obtained by performing calculation, analysis and processing on the second fitting data through the dimension determination model, where the dimension data includes, for example, roundness (the degree to which the cross section of the workpiece approaches a theoretical circle), cylindricity (the difference between the maximum dimension and the minimum dimension of any vertical cross section), flatness (the deviation of the macroscopic concave-convex height of the substrate from an ideal plane), and parallelism (the degree to which two planes or two straight lines are parallel).
It can be understood that the second fitting data of the workpiece to be measured can be more accurately determined by fitting the structured light data for a plurality of times; further, according to the second fitting data, calculation and analysis are carried out on the second fitting data, so that the effect of improving the accuracy of determining the size data of the workpiece to be measured can be achieved.
Further, after the size data of the workpiece to be detected is determined, whether the workpiece to be detected meets the safety standard or not can be determined according to the size data of the workpiece to be detected; if not, triggering an alarm.
Optionally, after the size data of the workpiece to be tested is determined, the size data of the workpiece to be tested can be input into a pre-trained workpiece evaluation model, and safety evaluation is performed on the workpiece to be tested according to the size data of the workpiece to be tested through the workpiece evaluation model, so that whether the workpiece to be tested meets the safety standard is determined; if yes, the safety standard reaching information can be sent to the display equipment to prompt the staff that the workpiece to be tested reaches the safety standard; if not, triggering an alarm, and informing the staff that the safety of the workpiece to be measured does not reach the standard by controlling the alarm lamp to flash, sending alarm information to the display equipment and the like so as to prompt the staff to perform operations such as adjustment on the workpiece to be measured.
The safety evaluation is carried out on the workpiece to be tested according to the size data of the workpiece to be tested, so that whether the workpiece to be tested meets the safety standard can be more efficiently and accurately determined; further, under the condition that the workpiece to be tested is determined to be substandard, the working personnel can be informed of the fact that the safety of the workpiece to be tested is substandard more quickly through the mode of triggering alarm, and then the safety personnel are prompted to conduct operations such as adjustment on the workpiece to be tested.
In one embodiment, as shown in FIG. 9, a preferred example of a workpiece dimension measurement method is provided. The specific process is as follows:
s901, a line laser image transmitted by each industrial camera is acquired.
S902, extracting structured light data of the workpiece to be detected from each line laser image.
S903, fitting the structured light data to obtain first fitting data.
S904, determining second fitting data of the workpiece to be measured according to the first fitting data.
S905, determining size data of the workpiece to be measured according to the second fitting data.
S906, determining whether the workpiece to be detected safely meets the standard according to the size data of the workpiece to be detected; if yes, executing S907; if not, S908 is performed.
S907, sending safety standard reaching information to the display equipment so as to prompt the staff that the workpiece to be tested meets the safety standard.
S908, triggering an alarm.
The specific process of S901 to S908 may refer to the description of the foregoing method embodiment, and its implementation principle and technical effects are similar, and are not repeated herein.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order 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 the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
In an exemplary embodiment, a detection apparatus is provided, which may be a terminal, and an internal structure diagram thereof may be as shown in fig. 10. The computer device includes a processor, a memory, an input/output interface, and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a method of workpiece dimension measurement.
It will be appreciated by those skilled in the art that the structure shown in fig. 10 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one exemplary embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
acquiring line laser images sent by industrial cameras;
extracting structured light data of a workpiece to be detected from each line of laser image;
and determining the size data of the workpiece to be measured according to the structured light data.
In one embodiment, when the processor executes logic for determining dimension data of a workpiece to be measured from structured light data, the processor further performs the steps of:
fitting the structured light data to obtain first fitting data; determining second fitting data of the workpiece to be measured according to the first fitting data; and determining the size data of the workpiece to be measured according to the second fitting data.
In one embodiment, the processor when executing the computer program further performs the steps of:
determining whether the workpiece to be detected meets the safety standard according to the size data of the workpiece to be detected; if not, triggering an alarm.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring line laser images sent by industrial cameras;
extracting structured light data of a workpiece to be detected from each line of laser image;
and determining the size data of the workpiece to be measured according to the structured light data.
In one embodiment, the logic for determining dimension data of a workpiece to be measured from structured light data, when executed by the processor, further performs the steps of:
fitting the structured light data to obtain first fitting data; determining second fitting data of the workpiece to be measured according to the first fitting data; and determining the size data of the workpiece to be measured according to the second fitting data.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining whether the workpiece to be detected meets the safety standard according to the size data of the workpiece to be detected; if not, triggering an alarm.
In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:
acquiring line laser images sent by industrial cameras;
extracting structured light data of a workpiece to be detected from each line of laser image;
and determining the size data of the workpiece to be measured according to the structured light data.
In one embodiment, the logic for determining dimension data of a workpiece to be measured from structured light data, when executed by the processor, further performs the steps of:
fitting the structured light data to obtain first fitting data; determining second fitting data of the workpiece to be measured according to the first fitting data; and determining the size data of the workpiece to be measured according to the second fitting data.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining whether the workpiece to be detected meets the safety standard according to the size data of the workpiece to be detected; if not, triggering an alarm.
The data (including but not limited to data for line laser images, structured light data, etc.) referred to in this application are all data that are fully authorized by each party, and the collection, use, and processing of relevant data are required to meet relevant regulations.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the various embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the various embodiments provided herein may include at least one of relational databases and non-relational databases. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic units, quantum computing-based data processing logic units, etc., without being limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above 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 above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the present application. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.
Claims (10)
1. A workpiece dimension measurement system, characterized in that the workpiece dimension measurement system comprises a detection device and an image acquisition device; wherein,
at least one structure light measuring head is arranged on the inner wall of the image acquisition equipment, and each structure light measuring head comprises at least two line lasers and an industrial camera; each line laser is used for emitting line laser to a workpiece to be detected in the image acquisition equipment, and each industrial camera is used for acquiring line laser images of the workpiece to be detected;
the detection equipment is electrically connected with each industrial camera and is used for determining the size data of the workpiece to be detected according to the line laser images sent by each industrial camera.
2. The workpiece dimension measurement system of claim 1, wherein each structured light head is placed in the image acquisition device at equal intervals, and wherein the distance between each structured light head and the workpiece to be measured is the same.
3. The workpiece dimension measurement system of claim 1, wherein in the case of a structured light head contained in the image acquisition device, an industrial camera in the structured light head is used to acquire line laser images of the workpiece to be measured during movement of the structured light head around the workpiece.
4. The workpiece dimension measurement system of claim 1, further comprising a cleaning guide for cleaning the workpiece to be measured, the cleaning guide being mounted to a target end; the target end is the end of the workpiece to be detected entering the image acquisition equipment.
5. The workpiece sizing system of claim 4, wherein the sweeping guide comprises a wrap-around sponge.
6. The workpiece dimension measurement system of claim 1, wherein the outer contour of the image acquisition device is fitted with a removable support plate.
7. The workpiece dimension measurement system of claim 1, further comprising a display device electrically connected to the detection device;
the display device is used for receiving the size data sent by the detection device and displaying the size data.
8. A workpiece dimension measuring method, characterized by being applied to the detecting apparatus in the workpiece dimension measuring system according to any one of claims 1 to 7, the method comprising:
acquiring line laser images sent by industrial cameras;
extracting structured light data of a workpiece to be detected from each line of laser image;
and determining the size data of the workpiece to be detected according to the structured light data.
9. The method of claim 8, wherein determining dimension data of the workpiece to be measured from the structured light data comprises:
fitting the structured light data to obtain first fitting data;
determining second fitting data of the workpiece to be measured according to the first fitting data;
and determining the size data of the workpiece to be measured according to the second fitting data.
10. The method of claim 8, wherein the method further comprises:
determining whether the workpiece to be detected safely meets the standard according to the size data of the workpiece to be detected;
if not, triggering an alarm.
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