WO2022105676A1 - Procédé et système de mesure de l'usure d'un plan de pièce à travailler - Google Patents

Procédé et système de mesure de l'usure d'un plan de pièce à travailler Download PDF

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WO2022105676A1
WO2022105676A1 PCT/CN2021/130178 CN2021130178W WO2022105676A1 WO 2022105676 A1 WO2022105676 A1 WO 2022105676A1 CN 2021130178 W CN2021130178 W CN 2021130178W WO 2022105676 A1 WO2022105676 A1 WO 2022105676A1
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point
wear
reference line
workpiece
laser
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PCT/CN2021/130178
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English (en)
Chinese (zh)
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王维林
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深圳市道通科技股份有限公司
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Publication of WO2022105676A1 publication Critical patent/WO2022105676A1/fr

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth

Definitions

  • the present application relates to the technical field of workpiece measurement, and in particular, to a method and system for measuring plane wear of a workpiece.
  • the monocular laser ranging first shoots the target laser line through the camera, then extracts the laser line from the camera image, converts the image pixel coordinates into 3D point cloud data through projection transformation, and then analyzes the point cloud data. The measured distance information of the target is displayed.
  • point cloud data analysis the position of the unworn point is usually used as the reference point, and the difference in laser projection depth between the worn area and the reference point is compared to obtain the wear information.
  • the purpose of the embodiments of the present invention is to provide a method and system for measuring the plane wear of a workpiece, which can accurately determine the unworn points and wear areas, thereby improving the measurement accuracy of the plane wear degree of the workpiece.
  • an embodiment of the present invention provides a method for measuring plane wear of a workpiece, the method comprising:
  • the coordinates of the plane, x n represents the x-axis coordinate corresponding to the laser point d n when the length direction of the laser line is taken as the x-axis, and y n represents the depth direction of the laser line set on the plane of the workpiece to be detected as the x-axis.
  • the y-axis coordinate corresponding to the laser point d n On the y-axis, the y-axis coordinate corresponding to the laser point d n ;
  • the rotation reference line f'(x', y') is determined so that the rotation reference line f'(x', y') the slope with respect to the x-axis is in an interval containing 0;
  • the degree of wear of the plane of the workpiece to be measured is determined.
  • the determined rotation reference line is calculated according to a rotation formula, and the rotation formula is:
  • determining the degree of wear of the plane of the workpiece to be measured according to the rotation reference line includes:
  • the depth of wear is determined.
  • the determining an unworn point in the area where the rotation reference line is located includes:
  • the lowest point of the area below the rotation reference line is searched as the unworn point.
  • determining the wear depth according to the unworn point and the rotation reference line includes:
  • the wear depth is determined.
  • the determining of the wear depth according to the worn points and the unworn points includes:
  • At least one of a maximum wear degree, an average wear degree or a wear consistency is determined.
  • the determining wear consistency includes:
  • the wear consistency information is output.
  • the determining the maximum degree of wear comprises:
  • the coordinate information corresponding to the maximum wear point is output as the maximum wear information.
  • the method further includes:
  • the determining, in the point cloud data, a set of consistent points located in the wear area includes:
  • the initial point set passes the consistency evaluation, the initial point set is used as the consistency point set.
  • the step of searching the point cloud data for continuous segments whose loss function is smaller than a preset value and conforms to a preset length as a busbar includes:
  • point cloud data start from the center of the point cloud data to both ends or from the two ends of the point cloud data to the center to search for continuous segments whose loss function is less than a preset value and conforms to a preset length as a busbar.
  • expanding the coincidence point according to the bus includes:
  • the corresponding point is combined with the bus bar to obtain a consistent point.
  • the culling of singular points in the consistent points to obtain an initial set of points including:
  • At least one singular point including discrete points and hole twill interference points in the consistent points is eliminated to obtain the initial point set.
  • an embodiment of the present invention provides a system for measuring plane wear of a workpiece, the system comprising:
  • a laser which is fixed on the bracket, and the laser projects a laser line to the plane of the workpiece to be inspected;
  • a camera fixed on the bracket, and the camera is used to collect an image containing the laser line;
  • a memory in communication with the at least one processor, the memory storing instructions executable by the at least one processor, the instructions being executed by the at least one processor to cause the at least one processor
  • the processor is capable of performing any of the methods described above.
  • embodiments of the present invention provide a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, when the computer-executable instructions are worn by the workpiece plane measurement system When executed, the measurement system for flat wear of the workpiece executes the method as described above.
  • the method and system for measuring plane wear of a workpiece use laser measurement technology to determine a set of consistent points located in the wear area in point cloud data, and fit a set of points representing the wear area according to the set of consistent points. and according to the slope of the reference line relative to the x-axis, determine the rotation reference line, so that the slope of the rotation reference line relative to the x-axis is within the interval including 0, and the effective and precise rotation Reference line; fit the wear area according to the rotation reference line, and determine the wear degree of the workpiece plane to be measured, thereby greatly improving the measurement accuracy.
  • FIG. 1 is a schematic structural diagram of a measuring system for plane wear of a workpiece according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of an embodiment of a method for measuring plane wear of a workpiece of the present invention
  • FIG. 3 is a schematic structural diagram of a laser line image of an embodiment of the method for measuring plane wear of a workpiece of the present invention
  • 4a is a schematic structural diagram of an embodiment of a method for measuring plane wear of a workpiece of the present invention
  • 4b is a schematic structural diagram of an embodiment of a method for measuring plane wear of a workpiece of the present invention
  • FIG. 5 is a schematic structural diagram of an embodiment of a method for measuring plane wear of a workpiece of the present invention
  • 6a is a schematic structural diagram of an embodiment of a method for measuring plane wear of a workpiece of the present invention
  • 6b is a schematic structural diagram of an embodiment of a method for measuring plane wear of a workpiece of the present invention
  • FIG. 7a is a schematic structural diagram of an embodiment of a method for measuring plane wear of a workpiece of the present invention.
  • 7b is a schematic structural diagram of an embodiment of a method for measuring plane wear of a workpiece of the present invention.
  • 7c is a schematic structural diagram of an embodiment of a method for measuring plane wear of a workpiece of the present invention.
  • FIG. 8 is a schematic structural diagram of an embodiment of a method for measuring plane wear of a workpiece of the present invention.
  • FIG. 9 is a schematic diagram of the hardware structure of the controller in an embodiment of the workpiece plane wear measurement system of the present invention.
  • FIG. 1 A schematic structural diagram of a measurement system for workpiece plane wear provided by an embodiment of the present invention.
  • the measurement system 10 for the plane wear of the workpiece includes a bracket; a laser 14 is fixed on the bracket, and the laser 14 projects a laser line to the plane of the workpiece to be inspected;
  • the camera 15 is fixed on the bracket, and the camera 15 is used for collecting images including the laser lines.
  • the measurement system 10 of workpiece plane wear may also include a display device 16 for displaying the degree of wear;
  • the power supply 17 is used to supply power to the laser 14, the camera 15 and the main control center.
  • the workpiece plane wear measurement system 10 can be implemented in various environments such as PCs, embedded systems, handheld devices, industrial control machines, etc.
  • the workpiece plane wear measurement system 10 is provided with a controller as the main control center. , Accurate non-wear points and wear areas, thereby improving the measurement accuracy of the level of wear on the workpiece plane.
  • FIG. 2 is a schematic flowchart of a method for measuring plane wear of a workpiece provided by an embodiment of the present invention.
  • the method can be executed by the controller 13 in the measuring system 10 for plane wear of a workpiece, and the method includes:
  • a laser is used to project a laser line to the plane of the workpiece to be inspected, and a camera is used to capture an image including the laser line.
  • the workpieces to be detected include brake discs and other workpieces that have wear characteristics after long-term use.
  • the surface to be inspected in the workpiece to be inspected is substantially flat.
  • the acquired image including the laser line is shown in FIG. 3 , the image includes a black background area and a highlighted laser line area that is different from the black background area, and is determined according to the highlighted laser line area Point cloud data used to represent laser line coordinates.
  • the highlighted laser line area can be divided into an edge area and a measurement area, and the edge area can also be called an edge interference area, as shown in FIG. 4a, wherein the laser line in the edge area is to be tested for the wear degree of the workpiece Therefore, the laser line area can be further processed, the edge area can be identified and eliminated, and only the measurement area is reserved for subsequent wear degree determination.
  • the pixel points in the edge area can be eliminated by the adjacent point distance judgment method, the sorting method, the rebound detection method, and the like.
  • the edge area is usually larger than the measurement area.
  • the distance is usually smaller inside the measurement section, so the edge section can be separated by the distance difference.
  • the edge section can be separated by this feature, as shown in Figure 4a, Separate the left edge segment.
  • the first lowest point lower than the reference line is usually not the reference point, but the interference data generated by the edge interference in the background laser line, which needs to be eliminated.
  • the effective reference point After removing the edge interference data, it can be determined that the effective reference point is close to the center of the point cloud, and has the feature of large rebound in the ordinate direction. According to this feature, the effective reference point as shown in Figure 4b can be identified.
  • the point cloud data is incomplete and incomplete.
  • the position of the incomplete reference point is usually at the edge of the point cloud data sequence, and the point cloud data is incomplete.
  • the longitudinal distance between them is relatively large, and the adjacent points are relatively small.
  • the incomplete reference points can be identified according to the above characteristics. After the incomplete reference points are identified, the incomplete reference points cannot be used as the reference point for point cloud wear detection. Similarly, need to be removed.
  • the image is mapped to the coordinate system in which the abscissa is the length direction of the laser line, and the ordinate is the depth of the laser line on the plane of the workpiece to be inspected.
  • the gray-scale centroid method can be used to analyze the pixel coordinates of the laser line in the measurement area.
  • Formula 1 For the calculation formula of the pixel coordinates, refer to Formula 1:
  • W(i, j) represents the grayscale weight of the image pixel
  • i, j represent the horizontal and vertical coordinates of the pixel respectively
  • S represents the target area
  • S(x 0 , y 0 ) represents the center of the target area.
  • Pixel coordinates, k is a positive integer, indicating the kth point.
  • the gray-scale centroid method can be regarded as a weighted centroid method with the gray square as the weight. Using the gray-scale centroid method does not need to binarize the image, and has good results when the target and the background have a large grayscale gap. positioning effect.
  • the extraction of the laser line is not limited to the extraction by the gray-scale centroid method, and other methods other than the gray-scale centroid method, such as the centroid method, can also be used.
  • the pixel coordinates S(x 0 , y 0 ) are extracted from the image, the pixel coordinates are converted into camera coordinates through projection transformation, so as to be converted into coordinates where the laser line is located, with reference to formula 2:
  • A represents the camera internal parameter matrix
  • C represents the camera coordinates
  • u represents the horizontal direction of the pixel coordinates
  • v represents the vertical direction of the pixel coordinates
  • both u and v are scalars.
  • the direction of the projection transformation can be changed, the reference point is above, and the wear area is below, as shown in Figure 7a.
  • Three coordinates representing the camera coordinate system Represents the three coordinates of the laser coordinate system
  • R represents the rotation change matrix
  • C represents the camera coordinate system
  • L represents the laser coordinate system
  • the camera coordinate system and the laser coordinate system coordinate origin coincide.
  • the point cloud data is a 3D laser coordinate system
  • the 3d laser coordinate system based on the 3d laser coordinate system, only the coordinates of the laser line direction and the laser projection direction are retained, and the 2d point cloud data is obtained, as shown in Figure 5.
  • y n represents the y-axis coordinate corresponding to the laser point d n when the depth direction of the laser line is set on the plane of the workpiece to be detected as the y-axis.
  • the horizontal direction identifies the x-axis direction
  • the vertical direction identifies the y-axis direction.
  • the mapping relationship between the image and the horizontal and vertical coordinates in Figure 4a, or the coordinate diagram in Figure 4b can be understood as the point cloud map of the point cloud data or the coordinate map of the point cloud data, which is used to indicate the horizontal and vertical coordinates of the point cloud data. value.
  • the point cloud is not parallel to the abscissa axis in the abscissa direction, and it is difficult to find the measurement point and reference point from the original point cloud data. Therefore, , the point cloud data needs to be rotated into data parallel to the abscissa.
  • the determining, in the point cloud data, a set of consistent points located in the wear area includes:
  • Equation 4 the loss function is calculated according to Equation 4.
  • the busbar is generally preferred to the point near the center of the point cloud position, because the degree of wear at this position is generally close. If there is no suitable busbar near the center of the wear area, you can search from both ends of the point cloud data.
  • the initial length of the busbar is also critical. If it is too short, the consistency will be poor. If it is too long, the search failure probability will be high. In this scheme, the preset search length is preferably 10mm.
  • it may include:
  • the corresponding point is combined with the bus bar to obtain a consistent point.
  • a search range can be defined as the preset range of the bus, and then the Euclidean distance from the points within the preset range to the bus is calculated. If the Euclidean distance is less than the preset distance, the corresponding point and the bus will be combined. If the Euclidean distance If it is greater than the preset distance, it means that the points are farther apart, and then these points are crossed.
  • the worn area may contain holes, patterns, or singularities such as edge reflections, which will cause distortion of the point cloud data. Therefore, when searching for consistent points, at least one singular point including discrete points and hole twill interference points in the consistent points is eliminated to obtain the initial point set.
  • discrete points may be misjudged as reference points due to uneven plane of the workpiece to be detected, target reflection, clutter, etc.
  • the point cloud data may be misjudged as a reference point.
  • the culling principle is usually considered based on factors such as the number of point sets, gradient changes, and data locations.
  • the interference of the hole twill will affect the continuity of the laser line, or the point cloud of the laser line will be distorted. Therefore, it needs to be eliminated.
  • Hole twill interference point The depth of holes or twill lines in the projection direction of the laser line is usually larger than that of the wear area.
  • the coordinates are usually above the reference line, and the width is limited, and the changes are relatively drastic. Through the above characteristics, holes or twill lines can be identified. Then remove the hole twill interference point.
  • the reference line f(x, y) used to represent the wear area is calculated by fitting.
  • the reference line f(x,y) is a straight line or a quadratic curve.
  • the reference line f(x,y) may have an included angle compared with the x-axis, that is, the reference line f(x,y) has a slope k, and the slope has May affect the accuracy of determining the degree of wear such as depth of wear, so before determining the degree of wear, the influence of this slope k should be eliminated so that the reference line is roughly parallel to the x-axis.
  • the reference line f(x, y) used to represent the wear area is calculated by the method of fitting.
  • the slope of the reference line f(x, y) is k, and according to the slope k of the reference line f(x, y) relative to the x-axis, the rotation reference line f'(x', y') is determined according to the rotation formula Calculation, the rotation formula is as formula 5:
  • the transformed coordinate point set can be used to simulate the rotation reference line, which can be simulated as a quadratic curve or a straight line, which is not limited here.
  • the slope of any line end is 0 or less than the allowable threshold, so that the rotation reference line is roughly parallel to the x-axis of the point cloud.
  • the rotation reference line usually a quadratic curve can be used, which is closer to the actual wear situation and meets the application requirements.
  • determining the degree of wear of the plane of the workpiece to be measured according to the rotation reference line may include:
  • the depth of wear is determined.
  • the worn area usually occupies a relatively large area
  • determining an unworn point in the area where the rotation reference line is located may include: searching for the lowest point of the area lower than the rotation reference line as the unworn point wear point. Then, based on the unworn point and the rotation reference line, the wear depth is determined.
  • determining the wear depth according to the unworn point and the rotation reference line may include:
  • the wear depth is determined.
  • the worn area usually occupies a relatively large area, and the search starts from the unworn point, that is, the reference line, to the center of the consistency point set, and the point near the rotation reference line or above the rotation reference line is used as the wear point.
  • the wear depth is determined according to the wear point and the non-wear point, which may include:
  • At least one of a maximum wear degree, an average wear degree or a wear consistency is determined.
  • determining wear uniformity includes:
  • the wear consistency information is output.
  • the set of multiple wear points can be determined as the wear area.
  • the wear consistency information is output so that the user can obtain the consistency information.
  • determining the maximum degree of wear includes:
  • the coordinate information corresponding to the maximum wear point is output as the maximum wear information.
  • the position with the largest ordinate in FIG. 8 can be considered as the maximum wear point and the corresponding area, then the coordinate information corresponding to the maximum wear point is output, so that the user can obtain the maximum wear point information.
  • the method further includes:
  • a preset wear degree can be set. When the preset wear degree exceeds the preset wear degree, it means that the workpiece is too worn and it is inconvenient for continued use, and a prompt message prompting the user to replace the workpiece to be inspected is output.
  • laser measurement technology is used, and an intelligent method is used to measure plane wear, and a local search method is used to determine the set of consistent points located in the wear area in the point cloud data, and fit the set according to the set of consistent points.
  • the reference line used to represent the wear area is effectively accurate reference line; and the rotation reference line is determined according to the slope of the reference line relative to the x-axis, so that the slope of the rotation reference line relative to the x-axis is within the range including 0. In the interval, the reference line is effectively and accurately rotated; according to the rotation reference line, the wear degree of the workpiece plane to be measured is determined, thereby greatly improving the measurement accuracy, and the embodiment of the present invention can meet the measurement requirements of most scenarios.
  • controller 13 includes:
  • One or more processors 131 , memory 132 are used as examples.
  • the processor 131 and the memory 132 may be connected by a bus or in other ways, and the connection by a bus is taken as an example in FIG. 9 .
  • the memory 132 can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as corresponding to the method for measuring the plane wear of the workpiece in the embodiment of the present application. program instructions/modules.
  • the processor 131 executes various functional applications and data processing of the controller by running the non-volatile software programs, instructions and modules stored in the memory 132, that is, to implement the method for measuring the plane wear of the workpiece in the above method embodiments.
  • the memory 132 may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function; the stored data area may store data created according to the use of a measurement system for workpiece plane wear, etc. . Additionally, memory 132 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 132 may optionally include memory located remotely from the processor 131, and these remote memories may be connected via a network to the workpiece flat wear measurement system. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the one or more modules are stored in the memory 132, and when executed by the one or more processors 131, execute the method for measuring the plane wear of the workpiece in any of the above method embodiments, for example, execute the above-described method Method steps 101 to 106 in FIG. 2 .
  • the above product can execute the method provided by the embodiments of the present application, and has functional modules and beneficial effects corresponding to the execution method.
  • the above product can execute the method provided by the embodiments of the present application, and has functional modules and beneficial effects corresponding to the execution method.
  • Embodiments of the present application provide a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example, in FIG. 9
  • a processor 131 of the above-mentioned one or more processors can execute the method for measuring the plane wear of the workpiece in any of the above-mentioned method embodiments, for example, to execute the above-described method steps 101 to 106 in FIG. 2 .
  • the device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each embodiment can be implemented by means of software plus a general hardware platform, and certainly can also be implemented by hardware.
  • Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and the program can be stored in a computer-readable storage medium. During execution, it may include the processes of the embodiments of the above-mentioned methods.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

Abstract

La présente invention concerne un procédé et un système de mesure de l'usure d'un plan de pièce à travailler. Le procédé consiste à : projeter des rayons laser sur un plan de pièce à travailler à tester et acquérir une image contenant les rayons laser (101) ; acquérir, en fonction de l'image, des données de nuage de points associées aux rayons laser (102) ; déterminer, à partir des données de nuage de points, un ensemble de points de cohérence DSn situé dans une région d'usure, DSn étant un sous-ensemble de Dn (103) ; effectuer un ajustement en fonction de l'ensemble de points de cohérence pour obtenir une ligne de référence f(x,y) pour représenter la zone d'usure (104) ; déterminer une ligne de référence de rotation f'(x',y') en fonction de la pente de la ligne de référence f(x,y) par rapport à un axe x, de façon que la pente de la ligne de référence de rotation f'(x',y'), par rapport à l'axe x, soit à l'intérieur d'un intervalle contenant 0 (105) ; et déterminer le degré d'usure dudit plan de pièce à travailler en fonction de la ligne de référence de rotation (106).
PCT/CN2021/130178 2020-11-17 2021-11-12 Procédé et système de mesure de l'usure d'un plan de pièce à travailler WO2022105676A1 (fr)

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