CN117962327A - Mounting method and device of special-shaped part, electronic equipment and storage medium - Google Patents
Mounting method and device of special-shaped part, electronic equipment and storage medium Download PDFInfo
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- 238000003475 lamination Methods 0.000 claims description 46
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Abstract
The invention discloses a mounting method and device of special-shaped parts, electronic equipment and a storage medium. The method comprises the following steps: respectively acquiring three-dimensional point cloud data and corresponding RGB images of at least two special-shaped parts to be assembled; determining a pre-attaching position area of each RGB image in at least two RGB images, and extracting three-dimensional feature points corresponding to the pre-attaching position area from the three-dimensional point cloud data according to the corresponding relation between the RGB images and the three-dimensional point cloud data; performing surface fitting on the three-dimensional characteristic points to generate corresponding three-dimensional pre-fitting areas, and determining contour lines of the three-dimensional pre-fitting areas; and assembling the at least two special-shaped parts based on the contour lines. By the technical scheme provided by the embodiment of the invention, the assembly effect of the special-shaped part can be improved, and the assembly efficiency of the special-shaped part can also be improved.
Description
Technical Field
The present invention relates to the field of machine vision, and in particular, to a method and apparatus for mounting a special-shaped part, an electronic device, and a storage medium.
Background
Along with the transition of the 3C electronic age, the requirement of the whole assembly process is very high, such as an earphone upper shell and lower shell assembly process, in order to avoid the problem of reduced sense of user experience such as touch and attractive appearance caused by misplacement assembly, the upper shell and the lower shell must be assembled perfectly, the step size at each position is greatly reduced, the requirement on the original manual assembly process is very high, the resolution limit of human eyes is about 0.1mm, but the precision requirement of the whole assembly process is already within 10um, the original assembly mode is not preferable, and the quality control requirement of the subsequent process is not met, so the requirement of the assembly of the asymmetric special-shaped parts is urgently solved.
Disclosure of Invention
The invention provides a mounting method, a mounting device, electronic equipment and a storage medium for special-shaped parts, which not only can improve the assembly effect of the special-shaped parts, but also can improve the assembly efficiency of the special-shaped parts.
According to an aspect of the present invention, there is provided a mounting method of a special-shaped part, including:
respectively acquiring three-dimensional point cloud data and corresponding RGB images of at least two special-shaped parts to be assembled;
Determining a pre-attaching position area of each RGB image in at least two RGB images, and extracting three-dimensional feature points corresponding to the pre-attaching position area from the three-dimensional point cloud data according to the corresponding relation between the RGB images and the three-dimensional point cloud data;
performing surface fitting on the three-dimensional characteristic points to generate corresponding three-dimensional pre-fitting areas, and determining contour lines of the three-dimensional pre-fitting areas;
and assembling the at least two special-shaped parts based on the contour lines.
According to another aspect of the present invention, there is provided a mounting device for a special-shaped part, comprising:
the point cloud data acquisition module is used for respectively acquiring three-dimensional point cloud data of at least two special-shaped parts to be assembled and corresponding RGB images;
The characteristic point extraction module is used for determining a pre-attaching position area of each RGB image in at least two RGB images, and extracting three-dimensional characteristic points corresponding to the pre-attaching position area from the three-dimensional point cloud data according to the corresponding relation between the RGB images and the three-dimensional point cloud data;
the contour line determining module is used for carrying out surface fitting on the three-dimensional characteristic points, generating a corresponding three-dimensional pre-lamination area and determining the contour line of the three-dimensional pre-lamination area;
and the part assembly module is used for assembling the at least two special-shaped parts based on the contour line.
According to another aspect of the present invention, there is provided an electronic apparatus including:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method for mounting the special-shaped parts according to any embodiment of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute the method for mounting a special-shaped part according to any one of the embodiments of the present invention.
According to the mounting scheme of the special-shaped part, three-dimensional point cloud data and corresponding RGB images of at least two special-shaped parts to be assembled are respectively obtained; determining a pre-attaching position area of each RGB image in at least two RGB images, and extracting three-dimensional feature points corresponding to the pre-attaching position area from the three-dimensional point cloud data according to the corresponding relation between the RGB images and the three-dimensional point cloud data; performing surface fitting on the three-dimensional characteristic points to generate corresponding three-dimensional pre-fitting areas, and determining contour lines of the three-dimensional pre-fitting areas; and assembling the at least two special-shaped parts based on the contour lines. By the technical scheme provided by the embodiment of the invention, the assembly effect of the special-shaped part can be improved, and the assembly efficiency of the special-shaped part can also be improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for mounting a special-shaped part according to a first embodiment of the present invention;
Fig. 2 is a flowchart of a mounting method of a special-shaped part according to a second embodiment of the present invention;
FIG. 3 is a schematic diagram of distribution of alignment feature points on an elliptical contour according to an embodiment of the present invention;
Fig. 4 is a schematic structural view of a mounting device for a special-shaped part according to a third embodiment of the present invention;
fig. 5 is a schematic structural view of an electronic device implementing the mounting method of the special-shaped parts according to the embodiment of the invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a mounting method of a special-shaped part according to an embodiment of the present invention, where the method may be performed by a mounting device of a special-shaped part, the mounting device of a special-shaped part may be implemented in hardware and/or software, and the mounting device of a special-shaped part may be configured in an electronic device. As shown in fig. 1, the method includes:
S110, respectively acquiring three-dimensional point cloud data of at least two special-shaped parts to be assembled and corresponding RGB images.
A profiled part is understood to mean an asymmetrical part or an irregular part. In the embodiment of the invention, 3D point cloud data of at least two special-shaped parts to be assembled and corresponding RGB images can be acquired based on the 3D structured light camera, wherein the RGB images can be understood as bright images. For example, in order to obtain 3D point cloud data and RGB images of a complete special-shaped part, a plurality of 3D structured light cameras may be deployed around each special-shaped part to be assembled, for example, one 3D structured light camera is deployed in each of the 0 degree direction, 120 degree direction and 240 degree direction of the special-shaped part, and then the 3D point cloud data of the same special-shaped part obtained by each 3D structured light camera is spliced to generate the complete 3D point cloud data of the special-shaped part. By way of example, the sphere can be used for carrying out association calibration between the 3D structure light cameras, the conversion relation between each 3D structure light camera and the platform coordinate system is obtained, and all 3D point clouds are converted into the corresponding platform coordinate system, so that the splicing effect is achieved.
S120, determining a pre-attaching position area of each RGB image in at least two RGB images, and extracting three-dimensional feature points corresponding to the pre-attaching position area from the three-dimensional point cloud data according to the corresponding relation between the RGB images and the three-dimensional point cloud data.
The pre-attaching position area refers to an attaching area of a special-shaped part and other special-shaped parts when the special-shaped part is assembled with the other special-shaped parts. In the embodiment of the invention, the pre-attaching position area of the RGB image is determined according to the RGB image of each special-shaped part, for example, the pre-attaching position area in the RGB image can be determined according to the instruction input by a user, and the pre-attaching position area in the RGB image can be determined by performing feature analysis on the RGB image. And mapping the pre-bonding position area in the RGB image into corresponding three-dimensional point cloud data according to the corresponding relation between the RGB image and the three-dimensional point cloud data so as to extract the three-dimensional characteristic points corresponding to the pre-bonding position area from the three-dimensional point cloud data. It is understood that the three-dimensional feature points are three-dimensional point cloud data corresponding to the pre-bonding position areas.
Optionally, before extracting the three-dimensional feature point corresponding to the pre-lamination position area from the three-dimensional point cloud data according to the correspondence between the RGB image and the three-dimensional point cloud data, the method further includes: and preprocessing the three-dimensional point cloud data. It can be understood that the three-dimensional point cloud data contains a large amount of high-frequency noise, which may affect the subsequent determination of the three-dimensional feature points, so as to further affect the assembly effect of the special-shaped part, and therefore, before the three-dimensional feature points corresponding to the pre-bonding position area are extracted from the three-dimensional point cloud data, the three-dimensional point cloud data is digitally preprocessed, so that the surface high-frequency noise is removed.
S130, performing surface fitting on the three-dimensional feature points to generate corresponding three-dimensional pre-fitting areas, and determining contour lines of the three-dimensional pre-fitting areas.
In the embodiment of the invention, surface fitting is carried out on the three-dimensional characteristic points corresponding to each special-shaped part, and a corresponding three-dimensional pre-fitting area is generated. Optionally, the three-dimensional pre-attaching area can be confirmed from the three-dimensional point cloud data of at least two special-shaped parts in a model matching mode. And analyzing the three-dimensional pre-bonding area to determine the contour line of the three-dimensional pre-bonding area, wherein the contour line can be a closed contour line or a non-closed contour line.
And S140, assembling the at least two special-shaped parts based on the contour lines.
In the embodiment of the invention, the contour lines are controlled to be aligned, so that two special-shaped parts can be assembled in a fitting way. Optionally, assembling the at least two special-shaped parts based on the contour line includes: respectively determining alignment feature points on at least two contour lines, and calculating the distance between the alignment feature points; and when the distance meets the preset condition, assembling the at least two special-shaped parts based on the alignment characteristic points on the contour line. In the embodiment of the invention, the alignment feature points on at least two contour lines are respectively determined, wherein the number of the alignment feature points is a plurality of. The method includes the steps of determining alignment feature points on two contour lines at random, calculating whether the distance between each pair of alignment feature points meets a preset condition, and if not, adjusting the alignment feature points on the two contour lines until the distance between each pair of alignment feature points meets the preset condition. When the distance between the alignment feature points meets the preset condition, the alignment operation is carried out based on the alignment feature points on the contour line so as to assemble the two special-shaped parts.
Optionally, when the distance meets a preset condition, assembling the at least two special-shaped parts based on the alignment feature points on the contour line includes: and when the distance between each pair of alignment feature points on the at least two contour lines is smaller than a preset distance threshold value and the difference value of the distances between each two pairs of alignment feature points is within a preset distance range, assembling the at least two special-shaped parts based on the alignment feature points on the contour lines. The method includes the steps of determining whether the distance between each pair of alignment feature points on the contour line is smaller than a preset distance threshold, determining whether the difference value of the distances between each two pairs of alignment feature points is within a preset distance range, if so, indicating that the distances between each pair of alignment feature points meet assembly requirements, and determining that the distance error between each pair of alignment feature points is uniformly distributed, and at the moment, assembling at least two special-shaped parts based on the alignment feature points on the contour line.
Optionally, the method further comprises: and when the distance does not meet the preset condition, adjusting the alignment feature points on the at least two contour lines based on a neighbor iteration algorithm until the distance meets the preset condition. It can be understood that when the distance does not meet the preset condition, it is indicated that when assembling at least two special-shaped parts based on the alignment feature points on the contour lines, the assembling requirement cannot be met, at this time, the alignment feature points on the at least two contour lines are adjusted based on the neighbor iteration algorithm, that is, the alignment relationship of the feature points on the at least two contour lines is redetermined, until the step (i.e., the distance) between each pair of alignment feature points is uniform and minimum, so as to achieve the effect of centering and aligning the contour lines.
According to the mounting method of the special-shaped parts, three-dimensional point cloud data and corresponding RGB images of at least two special-shaped parts to be assembled are respectively obtained; determining a pre-attaching position area of each RGB image in at least two RGB images, and extracting three-dimensional feature points corresponding to the pre-attaching position area from the three-dimensional point cloud data according to the corresponding relation between the RGB images and the three-dimensional point cloud data; performing surface fitting on the three-dimensional characteristic points to generate corresponding three-dimensional pre-fitting areas, and determining contour lines of the three-dimensional pre-fitting areas; and assembling the at least two special-shaped parts based on the contour lines. By the technical method provided by the embodiment of the invention, the assembly effect of the special-shaped part can be improved, and the assembly efficiency of the special-shaped part can also be improved.
In some embodiments, before determining the contour line of the three-dimensional pre-lamination area, further comprising: removing interference areas in the three-dimensional pre-lamination areas aiming at each of at least two three-dimensional pre-lamination areas, and splicing other areas in the three-dimensional pre-lamination areas to generate a three-dimensional target lamination area; the other areas are areas except the interference area in the three-dimensional pre-lamination area; determining the outer boundary of the three-dimensional target laminating area, and constructing a three-dimensional real laminating area corresponding to the three-dimensional pre-laminating area based on the outer boundary and the three-dimensional drawing of the special-shaped part corresponding to the three-dimensional pre-laminating area. The advantage of this arrangement is that the assembly effect of the special-shaped parts can be further improved.
In the embodiment of the invention, the three-dimensional pre-bonding area may have interference areas such as a glue area or a dirt area, and in order to solve the problem of glue or dirt interference at the pre-bonding position, in the embodiment of the invention, the interference area in the three-dimensional pre-bonding area is determined for each three-dimensional pre-bonding area in at least two three-dimensional pre-bonding areas, the interference area is removed from the three-dimensional pre-bonding area, and then other areas except the interference area in the three-dimensional pre-bonding area are spliced to generate a three-dimensional target bonding area. It should be noted that the three-dimensional pre-bonding area may include one interference area or two interference areas, and the number of the interference areas is not limited in the embodiment of the present invention. Analyzing the three-dimensional target laminating area, determining the outer boundary of the three-dimensional target laminating area, and constructing a three-dimensional real laminating area corresponding to the three-dimensional pre-laminating area based on the outer boundary and the three-dimensional drawing of the special-shaped part corresponding to the three-dimensional pre-laminating area. It can be understood that the three-dimensional real bonding area is a pre-bonding area without glue or dirt interference, that is, real three-dimensional point cloud data of the interference area can be restored by the method.
Optionally, based on the outer boundary and the three-dimensional drawing of the special-shaped part corresponding to the three-dimensional pre-lamination area, constructing a three-dimensional real lamination area corresponding to the three-dimensional pre-lamination area includes: determining a center point and a direction characteristic of the outer boundary, and generating at least two reference paths based on the center point and the direction characteristic; dividing the three-dimensional target fitting region based on the at least two reference paths to generate at least two vertical contours; and comparing the at least two vertical outlines with the three-dimensional drawing of the special-shaped part corresponding to the three-dimensional pre-lamination area, and constructing a three-dimensional real lamination area corresponding to the three-dimensional pre-lamination area. Illustratively, a center point of the outer boundary and a directional characteristic are determined, wherein the directional characteristic may be a line connecting the center point and a point on the outer boundary. If the outer boundary is circular, the directional characteristic may be the radius of the circle. As another example, the outer boundary is an ellipse, and the directional characteristic may be the major axis of the ellipse. The long shaft rotates clockwise around the center point, a reference path is generated every time the long shaft rotates by a preset angle, and the three-dimensional target attaching area is divided based on each reference path to generate a plurality of vertical outlines. Illustratively, the long axis rotates clockwise about the center point, deploying a cross-sectional position perpendicular to the three-dimensional target conforming region every 0.012 degrees, such as by taking 3000 vertical contours. And then taking a three-dimensional drawing of the special-shaped part corresponding to the three-dimensional pre-lamination area as a reference contour, extending according to a fixed rule after 3000 pieces of contour data approach the reference contour infinitely, and restoring point cloud data of the interference area, so as to construct a three-dimensional real lamination area corresponding to the three-dimensional pre-lamination area.
Example two
Fig. 2 is a flowchart of a mounting method of a special-shaped part according to a second embodiment of the present invention, as shown in fig. 2, the method includes:
S210, respectively acquiring three-dimensional point cloud data of at least two special-shaped parts to be assembled and corresponding RGB images.
S220, determining a pre-attaching position area of the RGB images according to each RGB image in the at least two RGB images, and extracting three-dimensional feature points corresponding to the pre-attaching position area from the three-dimensional point cloud data according to the corresponding relation between the RGB images and the three-dimensional point cloud data.
S230, performing surface fitting on the three-dimensional feature points to generate corresponding three-dimensional pre-lamination areas.
S240, eliminating interference areas in the three-dimensional pre-lamination areas aiming at each of the at least two three-dimensional pre-lamination areas, and splicing other areas in the three-dimensional pre-lamination areas to generate a three-dimensional target lamination area; the other areas are areas except the interference area in the three-dimensional pre-lamination area.
S250, determining the outer boundary of the three-dimensional target laminating area.
S260, determining the center point and the direction characteristic of the outer boundary, and generating at least two reference paths based on the center point and the direction characteristic.
S270, dividing the three-dimensional target fitting area based on at least two reference paths to generate at least two vertical outlines.
S280, comparing at least two vertical outlines with three-dimensional drawings of the special-shaped parts corresponding to the three-dimensional pre-lamination area, and constructing a three-dimensional real lamination area corresponding to the three-dimensional pre-lamination area.
S290, determining the contour line of the three-dimensional real fitting area.
S2100, respectively determining alignment feature points on at least two contour lines, and calculating the distance between the alignment feature points.
S2110, when the distance meets the preset condition, assembling at least two special-shaped parts based on the alignment characteristic points on the contour line.
When the upper cover and the lower cover of the earphone are assembled, the outline of the three-dimensional real attaching area of the upper cover and the lower cover of the earphone is elliptical, and when the distance between the alignment feature points on the two ellipses meets the preset condition, the upper cover and the lower cover of the earphone are assembled based on the alignment feature points on the elliptical outline. Fig. 3 is a schematic distribution diagram of alignment feature points on an elliptical contour according to an embodiment of the present invention.
The mounting method of the special-shaped part can improve the assembly effect of the special-shaped part and the assembly efficiency of the special-shaped part.
Example III
Fig. 4 is a schematic structural diagram of a mounting device for a special-shaped part according to a third embodiment of the present invention. As shown in fig. 4, the apparatus includes:
the point cloud data acquisition module 410 is configured to acquire three-dimensional point cloud data of at least two special-shaped parts to be assembled and corresponding RGB images respectively;
The feature point extracting module 420 is configured to determine, for each of at least two RGB images, a pre-lamination position area of the RGB image, and extract, according to a correspondence between the RGB image and the three-dimensional point cloud data, a three-dimensional feature point corresponding to the pre-lamination position area from the three-dimensional point cloud data;
the contour line determining module 430 is configured to perform surface fitting on the three-dimensional feature points, generate a corresponding three-dimensional pre-lamination area, and determine a contour line of the three-dimensional pre-lamination area;
A part assembly module 440 for assembling the at least two profiled parts based on the contour.
Optionally, the part assembly module includes:
the alignment feature point determining unit is used for determining alignment feature points on at least two contour lines respectively and calculating the distance between the alignment feature points;
And the part assembling unit is used for assembling the at least two special-shaped parts based on the alignment characteristic points on the contour line when the distance meets the preset condition.
Optionally, the part assembling unit is configured to:
and when the distance between each pair of alignment feature points on the at least two contour lines is smaller than a preset distance threshold value and the difference value of the distances between each two pairs of alignment feature points is within a preset distance range, assembling the at least two special-shaped parts based on the alignment feature points on the contour lines.
Optionally, the apparatus further includes:
And the alignment feature point adjustment module is used for adjusting the alignment feature points on the at least two contour lines based on a neighbor iteration algorithm when the distance does not meet the preset condition until the distance meets the preset condition.
Optionally, the apparatus further includes:
The three-dimensional target laminating area generating module is used for eliminating an interference area in the three-dimensional laminating area for each three-dimensional laminating area in at least two three-dimensional laminating areas before determining the contour line of the three-dimensional laminating area, and splicing other areas in the three-dimensional laminating area to generate a three-dimensional target laminating area; the other areas are areas except the interference area in the three-dimensional pre-lamination area;
The three-dimensional real laminating area generating module is used for determining the outer boundary of the three-dimensional target laminating area and constructing a three-dimensional real laminating area corresponding to the three-dimensional pre-laminating area based on the outer boundary and the three-dimensional drawing of the special-shaped part corresponding to the three-dimensional pre-laminating area.
Optionally, the three-dimensional real laminating area generating module is configured to:
determining a center point and a direction characteristic of the outer boundary, and generating at least two reference paths based on the center point and the direction characteristic;
dividing the three-dimensional target fitting region based on the at least two reference paths to generate at least two vertical contours;
And comparing the at least two vertical outlines with the three-dimensional drawing of the special-shaped part corresponding to the three-dimensional pre-lamination area, and constructing a three-dimensional real lamination area corresponding to the three-dimensional pre-lamination area.
Optionally, the apparatus further includes:
The point cloud data preprocessing module is used for preprocessing the three-dimensional point cloud data before extracting the three-dimensional characteristic points corresponding to the pre-attaching position area from the three-dimensional point cloud data according to the corresponding relation between the RGB image and the three-dimensional point cloud data.
The special-shaped part mounting device provided by the embodiment of the invention can execute the special-shaped part mounting method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.
Example IV
Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, such as the mounting method of the shaped parts.
In some embodiments, the method of mounting the part form may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the mounting method of the shaped part described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method of mounting the shaped part in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. The mounting method of the special-shaped part is characterized by comprising the following steps of:
respectively acquiring three-dimensional point cloud data and corresponding RGB images of at least two special-shaped parts to be assembled;
Determining a pre-attaching position area of each RGB image in at least two RGB images, and extracting three-dimensional feature points corresponding to the pre-attaching position area from the three-dimensional point cloud data according to the corresponding relation between the RGB images and the three-dimensional point cloud data;
performing surface fitting on the three-dimensional characteristic points to generate corresponding three-dimensional pre-fitting areas, and determining contour lines of the three-dimensional pre-fitting areas;
and assembling the at least two special-shaped parts based on the contour lines.
2. Method according to claim 1, wherein assembling the at least two profiled parts based on the contour comprises:
Respectively determining alignment feature points on at least two contour lines, and calculating the distance between the alignment feature points;
And when the distance meets the preset condition, assembling the at least two special-shaped parts based on the alignment characteristic points on the contour line.
3. The method according to claim 2, wherein assembling the at least two special-shaped parts based on the alignment feature points on the contour line when the distance satisfies a preset condition, comprises:
and when the distance between each pair of alignment feature points on the at least two contour lines is smaller than a preset distance threshold value and the difference value of the distances between each two pairs of alignment feature points is within a preset distance range, assembling the at least two special-shaped parts based on the alignment feature points on the contour lines.
4. The method as recited in claim 2, further comprising:
And when the distance does not meet the preset condition, adjusting the alignment feature points on the at least two contour lines based on a neighbor iteration algorithm until the distance meets the preset condition.
5. The method of claim 1, further comprising, prior to determining the contour of the three-dimensional pre-lamination area:
Removing interference areas in the three-dimensional pre-lamination areas aiming at each of at least two three-dimensional pre-lamination areas, and splicing other areas in the three-dimensional pre-lamination areas to generate a three-dimensional target lamination area; the other areas are areas except the interference area in the three-dimensional pre-lamination area;
Determining the outer boundary of the three-dimensional target laminating area, and constructing a three-dimensional real laminating area corresponding to the three-dimensional pre-laminating area based on the outer boundary and the three-dimensional drawing of the special-shaped part corresponding to the three-dimensional pre-laminating area.
6. The method of claim 5, wherein constructing a three-dimensional true fit region corresponding to the three-dimensional pre-fit region based on the outer boundary and a three-dimensional drawing of the profiled part corresponding to the three-dimensional pre-fit region, comprises:
determining a center point and a direction characteristic of the outer boundary, and generating at least two reference paths based on the center point and the direction characteristic;
dividing the three-dimensional target fitting region based on the at least two reference paths to generate at least two vertical contours;
And comparing the at least two vertical outlines with the three-dimensional drawing of the special-shaped part corresponding to the three-dimensional pre-lamination area, and constructing a three-dimensional real lamination area corresponding to the three-dimensional pre-lamination area.
7. The method according to claim 1, further comprising, before extracting three-dimensional feature points corresponding to the pre-bonding position region from the three-dimensional point cloud data according to the correspondence between the RGB image and the three-dimensional point cloud data:
And preprocessing the three-dimensional point cloud data.
8. The utility model provides a mounting device of special-shaped parts which characterized in that includes:
the point cloud data acquisition module is used for respectively acquiring three-dimensional point cloud data of at least two special-shaped parts to be assembled and corresponding RGB images;
The characteristic point extraction module is used for determining a pre-attaching position area of each RGB image in at least two RGB images, and extracting three-dimensional characteristic points corresponding to the pre-attaching position area from the three-dimensional point cloud data according to the corresponding relation between the RGB images and the three-dimensional point cloud data;
the contour line determining module is used for carrying out surface fitting on the three-dimensional characteristic points, generating a corresponding three-dimensional pre-lamination area and determining the contour line of the three-dimensional pre-lamination area;
and the part assembly module is used for assembling the at least two special-shaped parts based on the contour line.
9. An electronic device, the electronic device comprising:
At least one processor; and
A memory communicatively coupled to the at least one processor; wherein,
The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of mounting the part form of any one of claims 1-7.
10. A computer-readable storage medium storing computer instructions for causing a processor to execute the method of mounting the shaped part according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410170606.3A CN117962327A (en) | 2024-02-06 | 2024-02-06 | Mounting method and device of special-shaped part, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410170606.3A CN117962327A (en) | 2024-02-06 | 2024-02-06 | Mounting method and device of special-shaped part, electronic equipment and storage medium |
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| CN117962327A true CN117962327A (en) | 2024-05-03 |
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|---|---|---|---|
| CN202410170606.3A Pending CN117962327A (en) | 2024-02-06 | 2024-02-06 | Mounting method and device of special-shaped part, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117962327A (en) |
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2024
- 2024-02-06 CN CN202410170606.3A patent/CN117962327A/en active Pending
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