Method, processor, apparatus, and storage medium for detecting workpiece deviations

Abstract

Embodiments of the present application provide a method, a processor, an apparatus and a storage medium for detecting workpiece deviation, and belong to the field of measurement. The workpiece comprises a plurality of feature rings. The method for detecting workpiece deviation comprises: acquiring three-dimensional point cloud data of a plurality of preset regions of the workpiece, wherein the preset region is a region comprising a feature ring; reconstructing the three-dimensional point cloud data to obtain a three-dimensional point cloud model; performing feature extraction on the three-dimensional point cloud model to determine a ring center position of the feature ring; and determining the deviation of the workpiece according to the ring center position and a target ring center position. The embodiments of the present application can improve the detection efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of measurement, in particular to a method, processor, device and storage medium for detecting deviation of a workpiece. BACKGROUND

[0002] In the prior art, after a workpiece (for example, a boom) is assembled, the workpiece usually has a certain size deviation from the expected workpiece. Currently, the common method for measuring the deviation of the workpiece is to measure the external features of the workpiece by manually hanging a wire, so as to determine the deviation of the workpiece. However, the above method has the problem of low detection efficiency. SUMMARY

[0003] The purpose of the embodiments of the present application is to provide a method, processor, device and storage medium for detecting deviation of a workpiece, so as to solve the problem of low detection efficiency in the prior art.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the embodiments of the present application provides a method for detecting deviation of a workpiece, the workpiece comprising a plurality of feature rings, the method comprising:

[0005] obtaining three-dimensional point cloud data of a plurality of preset regions of the workpiece, wherein the preset region is a region comprising a feature ring;

[0006] reconstructing the three-dimensional point cloud data to obtain a three-dimensional point cloud model;

[0007] performing feature extraction on the three-dimensional point cloud model to determine the ring center positions of the feature rings;

[0008] determining the deviation of the workpiece according to the ring center positions and target ring center positions.

[0009] In the embodiments of the present application, the deviation of the workpiece is determined according to the ring center positions and the target ring center positions, comprising: taking any one of the plurality of ring center positions as a reference, determining the relative positions of the remaining ring center positions relative to the any one of the ring center positions; adjusting the any one of the ring center positions so that the any one of the ring center positions coincides with the target ring center position of the feature ring corresponding to the any one of the ring center positions; re-determining the actual ring center positions of the remaining feature rings corresponding to the remaining ring center positions according to the relative positions and the adjusted any one of the ring center positions; determining the difference between the actual ring center positions of the remaining feature rings and the target ring center positions of the remaining feature rings to obtain the deviation of the workpiece.

[0010] In the embodiment of the present application, the number of the remaining feature circular rings is multiple; the difference between the actual circular ring center position of the remaining feature circular ring and the target circular ring center position of the remaining feature circular ring is determined to obtain the deviation of the workpiece, including: the multiple differences between the actual circular ring center positions of the multiple remaining feature circular rings and the target circular ring center positions of the multiple remaining feature circular rings are sequentially determined; the multiple differences are summed to obtain the deviation of the workpiece.

[0011] In the embodiment of the present application, the number of the deviations of the workpiece is multiple, and each of the deviations of the workpiece is determined based on a corresponding circular ring center position; the method further includes: determining the deviation with the minimum value in the multiple deviations of the workpiece as the minimum correction deviation; and correcting the workpiece according to the minimum correction deviation.

[0012] In the embodiment of the present application, the feature extraction is performed on the three-dimensional point cloud model to determine the circular ring center position of the feature circular ring, including: the feature extraction is performed on the three-dimensional point cloud model to identify the position of the feature circular ring; and the circular ring center position of the feature circular ring is determined according to the identified position of the feature circular ring.

[0013] In the embodiment of the present application, the circular ring center position of the feature circular ring is determined according to the identified position of the feature circular ring, including: the center line of the feature circular ring is determined according to the identified position of the feature circular ring; and the center line is projected onto a plane perpendicular to the center line to obtain the circular ring center position of the feature circular ring.

[0014] In the embodiment of the present application, the workpiece is an arm support, and the feature circular ring is a shaft sleeve.

[0015] In the embodiment of the present application, the arm support includes two webs and a cover plate, the shaft sleeve is arranged on the web, the cover plate is provided with an opening symmetrical along the length direction of the arm support, the preset region includes the opening and the web region where the shaft sleeve is located, and the deviation of the workpiece further includes a deviation between the two webs and the opening; the method further includes: the feature extraction is performed on the three-dimensional point cloud model to identify the center symmetry plane of the two webs and the symmetry plane of the opening along the length direction of the arm support; and the deviation between the center symmetry plane of the two webs and the symmetry plane of the opening along the length direction of the arm support is determined to obtain the deviation between the two webs and the opening.

[0016] In the embodiment of the present application, the web further includes an ear plate with a height exceeding that of the cover plate, the shaft sleeve is arranged on the ear plate, the preset region further includes the ear plate, and the deviation of the workpiece further includes an angle deviation between the ear plate and the cover plate; the method further includes: the feature extraction is performed on the three-dimensional point cloud model to identify the position of the ear plate and the position of the cover plate; the included angle between the ear plate and the cover plate is determined according to the position of the ear plate and the position of the cover plate; and the included angle is compared with a preset included angle to obtain the angle deviation between the ear plate and the cover plate.

[0017] The second aspect of the embodiment of the present application provides a processor configured to execute the method for detecting deviation of a workpiece.

[0018] The third aspect of the embodiment of the present application provides a device for detecting deviation of a workpiece, comprising: a scanner configured to scan the workpiece to obtain three-dimensional point cloud data of a plurality of preset regions of the workpiece; and a processor configured to execute the method for detecting deviation of a workpiece.

[0019] In the embodiment of the present application, the device further comprises a mechanical shaft, and an end of the mechanical shaft is connected with the scanner.

[0020] In the embodiment of the present application, the device further comprises a lifting mechanism, and the lifting mechanism is connected with a first end of the mechanical shaft.

[0021] In the embodiment of the present application, the device further comprises a translation mechanism, and the translation mechanism is connected with the lifting mechanism.

[0022] In the embodiment of the present application, the device further comprises a tracker, and the tracker is arranged on the translation mechanism.

[0023] In the embodiment of the present application, the device further comprises an interactive screen, and the interactive screen is arranged on the translation mechanism.

[0024] In the embodiment of the present application, the translation mechanism comprises a moving column and a suspension beam arm connected with the moving column perpendicularly.

[0025] The fourth aspect of the embodiment of the present application provides a machine readable storage medium, and the machine readable storage medium stores programs or instructions, and the programs or instructions are executed by a processor to realize the method for detecting deviation of a workpiece.

[0026] The above technical solution obtains three-dimensional point cloud data of a plurality of preset regions of a workpiece, reconstructs the three-dimensional point cloud data to obtain a three-dimensional point cloud model, extracts features of the three-dimensional point cloud model to determine a center position of a feature ring, and determines deviation of the workpiece according to the center position of the feature ring and a target center position of the feature ring. The above method does not need manual line lifting, solves the problem of low detection efficiency in the prior art through manual line lifting, adopts a digital scanning detection mode, performs point cloud three-dimensional modeling according to a local feature ring of a workpiece, extracts features and performs comparison and analysis, can obtain a more accurate workpiece deviation, improves detection efficiency and accuracy of detection results, divides regions according to the feature ring of the workpiece, does not need to scan the whole workpiece, is higher in scanning efficiency, reduces data volume, and accelerates processing speed.

[0027] Other features and advantages of the embodiment of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the embodiments of the application. In the drawings:

[0029] Figure 1 A flowchart of a method for detecting workpiece deviation in an embodiment of the present application is shown schematically;

[0030] Fig. 2(a) shows a front view of a device for detecting workpiece deviation in an embodiment of the present application;

[0031] Fig. 2(b) shows a side view of a device for detecting workpiece deviation in an embodiment of the present application;

[0032] Figure 3 A schematic diagram of a sleeve on a boom in an embodiment of the present application is shown schematically;

[0033] Figure 4 A schematic diagram of a preset region on a boom in an embodiment of the present application is shown schematically;

[0034] Figure 5 A schematic diagram of the position of a theoretical sleeve center in an embodiment of the present application is shown schematically.

[0035] Legend of reference signs

[0036] 201 column 202 cantilever beam

[0037] 203 lifting shaft 204 robot

[0038] 205 workpiece to be detected 206 scanner

[0039] 207 tracker 208 workpiece support

[0040] 209 interactive screen 301 No. 1 sleeve

[0041] 302 No. 2 sleeve 303 No. 3 sleeve

[0042] 304 No. 4 sleeve 401 No. 1 region

[0043] 402 No. 2 region 403 No. 3 region

[0044] 404 No. 4 region DETAILED DESCRIPTION

[0045] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present application, and are not intended to limit the present application.

[0046] Figure 1 The flowchart of the method for detecting the deviation of the workpiece in an embodiment of the present application is schematically shown. As shown in the figure, in the embodiment of the present application, a method for detecting the deviation of the workpiece is provided, the workpiece comprises a plurality of feature rings, and the method is described by taking a processor as an example. The method can comprise the following steps: Figure 1

[0047] In step S102, three-dimensional point cloud data of a plurality of preset regions of the workpiece is acquired, wherein the preset region is a region comprising a feature ring.

[0048] It can be understood that the preset region is a region comprising a feature ring on the workpiece which is set in advance, that is, the number of preset regions is the same as the number of feature rings. The feature ring is a feature specific to the workpiece, such as a shaft sleeve. Further, the size of the preset region can be determined according to a specific rule, for example, a square box comprising a feature ring with a preset side length, wherein the preset side length is greater than the outer diameter of the feature ring. In addition, the sizes of different preset regions can be the same or different, which can be determined according to the actual situation of the workpiece. The workpiece here refers to the current actual workpiece, not the ideal expected workpiece.

[0049] Specifically, the processor can acquire three-dimensional point cloud data corresponding to a plurality of preset regions of the current actual workpiece, which can be achieved by scanning the preset regions of the current actual workpiece by a scanning device to acquire the three-dimensional point cloud data corresponding to the preset regions.

[0050] In step S104, the three-dimensional point cloud data is reconstructed to obtain a three-dimensional point cloud model.

[0051] Specifically, the processor can reconstruct the three-dimensional point cloud data of each preset region to obtain a three-dimensional point cloud model corresponding to each preset region, that is, the model reconstruction of the preset region is performed according to the three-dimensional point cloud data to obtain the three-dimensional point cloud model corresponding to the preset region. Further, for example, when the number of preset regions is 4, four three-dimensional point cloud models corresponding to the four preset regions can be obtained. In some embodiments, the specific process of three-dimensional reconstruction can be achieved by existing three-dimensional reconstruction software or algorithm, which will not be described here.

[0052] In step S106, feature extraction is performed on the three-dimensional point cloud model to determine the ring center position of the feature ring.

[0053] ​Specifically, after obtaining the three-dimensional point cloud model of each preset region, feature extraction can be performed on the three-dimensional point cloud model to determine the annular center position of the feature annulus in each preset region. For example, the position information of the feature annulus in the three-dimensional point cloud model can be extracted first, and then the annular center position of the feature annulus can be determined according to the position information of the feature annulus. For example, a point with equal distances to at least three points on the same circle of the feature annulus can be determined as the annular center position of the feature annulus. In some embodiments, the feature extraction process can be implemented by using existing feature analysis software or algorithms.

[0054] In step S108, the deviation of the workpiece is determined according to the annular center position and the target annular center position.

[0055] It can be understood that the target annular center position is the annular center position of the feature annulus on the expected workpiece. In some embodiments, the target annular center position is the two-dimensional coordinates of the feature annulus center of the expected workpiece on a planar design drawing. In this case, the annular center position can be the two-dimensional coordinates obtained by planar projection of the three-dimensional coordinates of the feature annulus center of the current actual workpiece in a three-dimensional coordinate system. In other embodiments, the target annular center position can be the three-dimensional coordinates of the feature annulus center of the expected workpiece in a three-dimensional coordinate system. In this case, the annular center position can also be the three-dimensional coordinates of the feature annulus center of the current actual workpiece in a three-dimensional coordinate system. The deviation of the workpiece is the deviation between the current actual workpiece and the expected workpiece. In the embodiments of the present application, the deviation of the workpiece can specifically include the positional deviation between the annular center position of the current actual workpiece and the target annular center position of the expected workpiece.

[0056] Specifically, the processor can compare the annular center position of the feature annulus of the current actual workpiece and the annular center position of the expected workpiece determined in the previous step, to determine the positional deviation therebetween, and thus obtain the deviation of the current actual workpiece.

[0057] The above method for detecting the deviation of the workpiece acquires three-dimensional point cloud data of a plurality of preset regions of the workpiece, reconstructs the three-dimensional point cloud data to obtain a three-dimensional point cloud model, and then performs feature extraction on the three-dimensional point cloud model to determine the annular center position of the feature annulus, and finally determines the deviation of the workpiece according to the annular center position and the target annular center position. The above method does not require manual line hanging, and solves the problem of low detection efficiency in the prior art measurement by manual line hanging. The method adopts a digital scanning detection mode, performs point cloud three-dimensional modeling according to the local feature annulus of the workpiece, and then performs feature extraction and comparison analysis, so that a more accurate deviation of the workpiece can be obtained, the detection efficiency and the accuracy of the detection result are improved, and the workpiece is divided into regions according to the feature annulus, so that the whole workpiece does not need to be scanned, the scanning efficiency is higher, the data amount is reduced, and the processing speed is accelerated.

[0058] In one embodiment, the deviation of the workpiece is determined according to the circular ring center positions and the target circular ring center positions, including: taking any one of the plurality of circular ring center positions as a reference, determining the relative positions of the remaining circular ring center positions relative to the any one of the plurality of circular ring center positions; adjusting the any one of the plurality of circular ring center positions so that the any one of the plurality of circular ring center positions coincides with the target circular ring center position of the feature circular ring corresponding to the any one of the plurality of circular ring center positions; re-determining the actual circular ring center positions of the remaining feature circular rings corresponding to the remaining circular ring center positions according to the relative positions and the adjusted any one of the plurality of circular ring center positions; and determining the difference between the actual circular ring center positions of the remaining feature circular rings and the target circular ring center positions of the remaining feature circular rings to obtain the deviation of the workpiece.

[0059] Specifically, the processor can take any one of the plurality of circular ring center positions as a reference, and determine the relative positions of the remaining circular ring center positions relative to the any one of the plurality of circular ring center positions, that is, re-establish a coordinate system, and the origin of the coordinate system is the any one of the plurality of circular ring center positions, and then adjust the any one of the plurality of circular ring center positions (i.e., the origin of the coordinate system), that is, re-assign, and assign the target circular ring center position of the feature circular ring corresponding to the any one of the plurality of circular ring center positions to the any one of the plurality of circular ring center positions (i.e., the origin of the coordinate system), so as to re-determine the actual circular ring center positions of the remaining feature circular rings corresponding to the remaining circular ring center positions according to the relative positions of the remaining circular ring center positions relative to the any one of the plurality of circular ring center positions (i.e., the origin of the coordinate system) and the adjusted any one of the plurality of circular ring center positions (i.e., the origin of the coordinate system), that is, the actual circular ring center positions of the remaining feature circular rings can be obtained by adding the relative positions to the position of the origin of the adjusted coordinate system, and then the actual circular ring center positions of the remaining feature circular rings are compared with the target circular ring center positions of the remaining feature circular rings to obtain the difference between the two, and then the deviation of the workpiece can be obtained, for example, when the number of the remaining feature circular rings is one, the difference between the actual circular ring center position and the target circular ring center position of the remaining feature circular ring can be directly determined as the deviation of the workpiece.

[0060] In the embodiments of the present application, the reference among the plurality of circular ring center positions is determined and the coordinate conversion is performed, so that the circular ring center position as the reference coincides with the target circular ring center position corresponding thereto, and then the actual circular ring center positions of the adjusted remaining feature circular rings are determined according to the relative positions of the remaining circular ring center positions relative to the reference and the adjusted reference circular ring center position, so as to subsequently directly determine the deviation of the workpiece according to the actual circular ring center positions of the adjusted remaining feature circular rings and the target circular ring center positions thereof, the data is more intuitive, and it is convenient to calculate the deviation of the workpiece and to speed up the calculation process.

[0061] In one embodiment, the number of the remaining feature circular rings is multiple; the difference between the actual circular ring center position of the remaining feature circular ring and the target circular ring center position of the remaining feature circular ring is determined to obtain the deviation of the workpiece, including: the multiple differences between the actual circular ring center positions of the multiple remaining feature circular rings and the target circular ring center positions of the multiple remaining feature circular rings are determined in sequence; and the multiple differences are summed to obtain the deviation of the workpiece.

[0062] Specifically, when the number of the remaining feature circular rings is multiple, the difference between the actual circular ring center position of each of the remaining feature circular rings and the target circular ring center position thereof can be determined, and the sum of all the differences is obtained to determine the sum value as the deviation of the workpiece.

[0063] In some embodiments, the difference between the actual circular ring center position of the remaining feature circular ring and the target circular ring center position of the remaining feature circular ring is determined to obtain the deviation of the workpiece, including: the multiple differences between the actual circular ring center positions of the multiple remaining feature circular rings and the target circular ring center positions of the multiple remaining feature circular rings are determined in sequence; the multiple differences are summed to obtain the sum value; and the sum value is averaged to obtain the deviation of the workpiece.

[0064] Understandably, after the difference between the actual circular ring center position of each of the remaining feature circular rings and the target circular ring center position thereof is obtained, the difference value can be summed to obtain the sum value, and then the sum value is averaged, so that the average value is determined as the deviation of the workpiece.

[0065] In one embodiment, the number of the deviations of the workpiece is multiple, including multiple deviations of the workpiece determined based on the respective circular ring center positions; the method further includes: determining the deviation with the minimum value in the multiple deviations of the workpiece as the minimum correction deviation; and correcting the workpiece based on the minimum correction deviation.

[0066] Understandably, the number of the feature circular rings is multiple, and if the circular ring center positions of different feature circular rings are taken as the respective reference, multiple deviations of the workpiece corresponding to the respective circular ring center positions can be obtained, and then the deviation with the minimum value in the multiple deviations of the workpiece can be determined as the minimum correction deviation, so that the workpiece can be corrected based on the minimum correction deviation.

[0067] In the embodiments of the present application, the deviations of the workpiece corresponding to different references can be obtained based on different circular ring center positions, and then the minimum correction deviation can be determined, so that the workpiece can be corrected based on the minimum correction deviation in the subsequent process, thereby reducing the workload of subsequent modification.

[0068] In one embodiment, the feature extraction is performed on the three-dimensional point cloud model to determine the annular center position of the feature annulus, including: performing feature extraction on the three-dimensional point cloud model to identify the position of the feature annulus; and determining the annular center position of the feature annulus according to the identified position of the feature annulus.

[0069] Specifically, the position information of the feature annulus in the three-dimensional point cloud model can be extracted first, and then the annular center position of the feature annulus can be determined according to the position information of the feature annulus, for example, a point with equal distance to at least three points on the same circle of the feature annulus can be determined as the annular center position of the feature annulus.

[0070] In one embodiment, the annular center position of the feature annulus is determined according to the identified position of the feature annulus, including: determining the center line of the feature annulus according to the identified position of the feature annulus; and projecting the center line onto a plane perpendicular to the center line to obtain the annular center position of the feature annulus.

[0071] Understandably, when the target annular center position is a two-dimensional coordinate, the annular center position of the feature annulus can also be a two-dimensional coordinate. After identifying the position of the feature annulus, the center line of the feature annulus can be determined, which is a straight line passing through the center of the feature annulus and perpendicular to the plane on which the feature annulus is located, and the center line is projected onto a plane perpendicular to the center line to obtain the annular center position of the feature annulus.

[0072] In one embodiment, the workpiece is an arm support, and the feature annulus is a shaft sleeve.

[0073] It can be understood that when the workpiece is an arm support, the feature annulus is a shaft sleeve on the workpiece. Further, the arm support box body usually includes two left and right webs, and each web is provided with a shaft sleeve. Therefore, the shaft sleeves on the arm support box body can be arranged in pairs.

[0074] In one embodiment, the arm support includes two webs and a cover plate, the shaft sleeve is arranged on the web, the cover plate is provided with an opening symmetrical along the length direction of the arm support, the preset region includes the web region where the opening and the shaft sleeve are located, and the deviation of the workpiece further includes a deviation between the two webs and the opening; the method further includes: performing feature extraction on the three-dimensional point cloud model to identify the center symmetry plane of the two webs and the symmetry plane of the opening along the length direction of the arm support; and determining the deviation between the center symmetry plane of the two webs and the symmetry plane of the opening along the length direction of the arm support to obtain the deviation between the two webs and the opening.

[0075] It can be understood that the cover plate of the arm frame box is provided with an opening symmetrical along the length direction of the arm frame, so as to subsequently put in the oil cylinder, and the deviation of the workpiece can further include the deviation between the two webs and the opening. The shaft sleeve is arranged on the web, and the preset region can further include the web region where the opening and the shaft sleeve are located, that is, the preset region does not need to include all the webs, but only needs to include the web region where the shaft sleeve is located. Since the three-dimensional point cloud model is obtained by reconstructing the three-dimensional point cloud data of the preset region, in addition to the shaft sleeve, the three-dimensional point cloud model can also identify part of the cover plate region (the opening on the cover plate) and the web region where the shaft sleeve is located.

[0076] Specifically, the processor can perform feature extraction on the three-dimensional point cloud model to identify the center symmetry plane of the two webs and the symmetry plane of the opening along the length direction of the arm frame, so as to determine the deviation between the center symmetry plane of the two webs and the symmetry plane of the opening along the length direction of the arm frame, and obtain the deviation between the two webs and the opening.

[0077] In one embodiment, the web further includes an ear plate protruding above the cover plate, the shaft sleeve is arranged on the ear plate, the preset region further includes the ear plate, and the deviation of the workpiece further includes an angle deviation between the ear plate and the cover plate; the method further includes: performing feature extraction on the three-dimensional point cloud model to identify the position of the ear plate and the position of the cover plate; determining the included angle between the ear plate and the cover plate according to the position of the ear plate and the position of the cover plate; and comparing the included angle with a preset included angle to obtain the angle deviation between the ear plate and the cover plate.

[0078] It can be understood that the part of the web protruding above the cover plate is referred to as an ear plate, and the shaft sleeve can also be arranged on the ear plate. Therefore, the preset region can further include the ear plate, and the three-dimensional point cloud model can also identify the ear plate. The deviation of the workpiece can further include an angle deviation between the ear plate and the cover plate, that is, the ear plate is assembled subsequently, and therefore the included angle between the ear plate and the cover plate is not necessarily equal to the preset included angle. The preset included angle is a desired included angle of the ear plate and the cover plate, and the value can be 90 degrees or close to 90 degrees.

[0079] Specifically, the processor can perform feature extraction on the three-dimensional point cloud model to identify the position of the ear plate and the position of the cover plate, and then can determine the included angle between the ear plate and the cover plate according to the position of the ear plate and the position of the cover plate, so as to compare the included angle with a preset included angle to obtain the angle deviation between the ear plate and the cover plate.

[0080] The embodiment of the present application provides a processor configured to execute the method for detecting the deviation of the workpiece according to the above-mentioned embodiments.

[0081] The embodiment of the present application provides a device for detecting workpiece deviation, which comprises a scanner for scanning a workpiece to obtain three-dimensional point cloud data of a plurality of preset regions of the workpiece; and a processor according to the above embodiment.

[0082] In one embodiment, the device for detecting workpiece deviation further comprises a mechanical shaft, and an end of the mechanical shaft is connected with the scanner.

[0083] It can be understood that the posture of the mechanical shaft can be adjusted, so that the scanning of the workpiece at different heights or different positions can be realized.

[0084] In one embodiment, the device further comprises a lifting mechanism, and the lifting mechanism is connected with the first end of the mechanical shaft.

[0085] It can be understood that the lifting mechanism can be adjusted in a large range of heights to adapt to workpieces in a plurality of different height ranges.

[0086] In one embodiment, the device further comprises a translation mechanism, and the translation mechanism is connected with the lifting mechanism.

[0087] It can be understood that the translation mechanism can realize adjustment in the same height and different horizontal directions, so that the characteristic scanning of the workpiece in the horizontal direction can be realized when the posture of the mechanical shaft is kept and the lifting mechanism is fixed. Further, in some embodiments, the translation mechanism and the lifting mechanism can be replaced by a mechanical arm or other moving devices capable of realizing two-direction movement.

[0088] In one embodiment, the device further comprises a tracker, and the tracker is arranged on the translation mechanism.

[0089] It can be understood that the tracker can realize positioning and can better assist the work of the scanner.

[0090] In one embodiment, the device further comprises an interactive screen, and the interactive screen is arranged on the translation mechanism.

[0091] It can be understood that the interactive screen can realize detection data display and detection process control, so that a user can more intuitively see the whole detection process.

[0092] In one embodiment, the translation mechanism comprises a moving column and a suspension beam arm connected with the moving column perpendicularly.

[0093] Taking an arm support as an example, the prior art adopts a manual wire hanging mode to detect the arm support box, and the following defects exist: the manual wire hanging measurement has poor accuracy, cannot accurately measure deviation, and still has a certain proportion of rework after measurement and modification, thereby causing great waste of working hours; the wire hanging analysis result is greatly affected by personnel, and different personnel have different deviation modification schemes; the measurement result has poor repeatability; and the measurement efficiency is low.

[0094] In view of the defects of the prior art, another embodiment of the present application provides a device and method for detecting workpiece deviation, as shown in FIGS. 2 to Figure 5 The specific device is as follows:

[0095] The device for detecting workpiece deviation is composed of a cantilever gantry transfer structure and a robot system and a detection system, wherein the cantilever gantry structure is composed of a column 201, a cantilever beam 202 and a lifting shaft 203, the lifting shaft 203 is driven by a servo motor to move along the cantilever beam 202 in the Z direction, and the lifting shaft 203 can move in the Y direction along the cantilever beam 202, the column 201 and the cantilever beam 202 drive the lifting shaft 203 to move in the X direction as a whole, the lifting column 201 is hung upside down at the lower end to install a 6-axis manipulator 204, the manipulator 204 is installed at the end to install a scanner 206, the cantilever beam 202 is installed at the outer end to install a tracker 207, and the column is installed to set an interactive screen 209 for control and display, which can realize detection data display and detection process control.

[0096] The specific detection method can be as follows:

[0097] 1. Obtain the key feature size information of the workpiece to be detected from the drawing, and divide the workpiece into typical blocks according to specific rules. The key feature size information can include the spacing of the centers of the shaft sleeves, and specifically can be the spacing of the centers of the shaft sleeves of the No. 1 region 401, the centers of the shaft sleeves of the No. 2 region 402, the centers of the shaft sleeves of the No. 3 region 403 and the centers of the shaft sleeves of the No. 4 region 404. Understandably, the No. 1 region 401 can include the No. 1 shaft sleeve 301, the No. 2 region 402 can include the No. 2 shaft sleeve 302, the No. 3 region 403 can include the No. 3 shaft sleeve 303, and the No. 4 region 404 can include the No. 4 shaft sleeve 304.

[0098] 2. According to the drawing information, prepare the path program of the robot scanner detection. Based on the drawing information, the measurement positions of each type of arm are planned in advance, and the segmented scanning is sequentially performed from left to right:

[0099] A. Scan the No. 1 region 401, which can be a space region of 500 mm range at the end of the arm, to obtain the scanning data of the left shaft sleeve center, the right shaft sleeve center, the left shaft sleeve inner end face, the right shaft sleeve inner end face and the U-shaped opening (i.e. the opening on the cover plate), and understandably, the left side can refer to the left web, and the right side can refer to the right web, as shown in Figure 5 .

[0100] B, scan area 2 402, area 2 402 can be based on the shaft sleeve of area 2 402, left 300mm, right 200mm range of space area, get the left shaft sleeve center, right shaft sleeve center, left shaft sleeve outer end face, right shaft sleeve outer end face, U mouth (i.e. the opening on the cover plate) of area 2 402 and the outer end face distance of the web where the left and right shaft sleeves are located.

[0101] C, scan area 3 403, area 3 403 can be a space area with a range of 200mm left and right centered on the shaft sleeve of area 3 403, get the left shaft sleeve center, right shaft sleeve center, left shaft sleeve outer end face, right shaft sleeve outer end face of area 3 403 and the inner end face distance of the web where the left and right shaft sleeves are located.

[0102] D, scan area 4 404, area 4 404 can take the end 500mm space range as the detection area, get the left shaft sleeve center, right shaft sleeve center, left shaft sleeve outer end face, right shaft sleeve outer end face, U mouth (i.e. the opening on the cover plate) of area 4 404 and the inner end face distance of the web where the left and right shaft sleeves are located.

[0103] 3, after scanning the workpiece according to the specific scanning program, the detection device returns to the safe position and waits for the detection of the next workpiece.

[0104] 4, the scanning data is uploaded to the data processing system in real time, and the local point cloud model of the workpiece is automatically generated.

[0105] 5, the point cloud model is analyzed by the analysis software, and the analysis is carried out after extraction.

[0106] The extracted information includes:

[0107] (1), get the space coordinates and attitude of the shaft sleeve center line in each area, and compare with the theoretical shaft sleeve center.

[0108] (2), the center symmetry plane of the two webs of area 1 401, area 2 402 and area 4 404, and the symmetry plane of the U mouth (i.e. the opening on the cover plate) of the specified area of the cover plate, calculate the deviation.

[0109] (3), the symmetry plane of the two webs of area 3 403, and the angle between the extended ear plate and the cover plate, theoretically the angle between the ear plate and the cover plate should be 90 degrees.

[0110] In addition to the first size analysis, which is a relative reference deviation relationship, the remaining items are direct measurement information. For the (1) analysis, as follows:

[0111] 1) Project the center lines of the four shaft sleeves onto a plane perpendicular to the center lines, and the centers of the four shaft sleeves are (x1, y1), (x2, y2), (x3, y3), and (x4, y4).

[0112] 2) Set the theoretical shaft sleeve centers (x01, y01), (x02, y02), (x03, y03), and (x04, y04) on the drawing, wherein the theoretical shaft sleeve centers are the target circular ring center positions.

[0113] 3) Calculate the deviations of the remaining points from the theoretical coordinates by coinciding (x1, y1) with (x01, y01), coinciding (x2, y2) with (x02, y02), coinciding (x3, y3) with (x03, y03), and coinciding (x4, y4) with (x04, y04).

[0114] 4) Find the minimum deviation in all cases, and use the shaft sleeve center at this time as the reference point to determine the deviation distance of each shaft sleeve.

[0115] 6) Report output: scan the cloud model screenshot, and analyze the above analysis results at the corresponding positions, mark the U port and the workpiece center deviation, the relative deviation of the workpiece symmetry center 1-4 area, the web plate extension ear plate angle, and each shaft sleeve center deviation, and display the report.

[0116] In the embodiment of the present application, the shape detection of the workpiece by the above detection device does not require manual wire hanging, and the detection efficiency is high; the automatic detection adopts a feature extraction method, cancels full model detection, can improve the detection speed, and reduces invalid data storage.

[0117] The technical scheme provided by the embodiment of the present application adopts an automatic detection method to perform three-dimensional modeling of the local feature position point cloud of the workpiece, that is, the advantages of high accuracy of digital scanning detection are utilized, and the disadvantages of low efficiency, large data volume, and slow processing speed of the whole scanning of the workpiece are avoided through the feature selection method. The detection device adopts a tracker following the scanner to expand the range of workpieces that can be adapted to; through analysis of the detection data, the optimal deviation presentation result can be obtained, and the difference in the machining scheme caused by the difference in personal experience in manual line detection can be avoided.

[0118] The embodiment of the present application further provides a machine readable storage medium, and the machine readable storage medium stores programs or instructions, and the programs or instructions are executed by a processor to realize the method for detecting workpiece deviation according to the above embodiment.

[0119] Those skilled in the art will appreciate that embodiments of the application can be readily used as software, hardware, or a combination of software and hardware. In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0120] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0121] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0122] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0123] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0124] The memory can include non-persistent memory and / or persistent memory, such as flash memory, read-only memory (ROM), and / or volatile or non-volatile random access memory (RAM), among others. The memory is an example of computer-readable media.

[0125] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0126] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0127] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method for detecting workpiece deviation, characterized in that, The workpiece includes multiple feature rings, the workpiece includes a boom, and the method includes: Acquire three-dimensional point cloud data of multiple preset regions of the workpiece, wherein the preset regions are regions including feature rings; The three-dimensional point cloud data is reconstructed to obtain a three-dimensional point cloud model, wherein the three-dimensional point cloud model is a three-dimensional point cloud model corresponding to each of the preset regions; Feature extraction is performed on the three-dimensional point cloud model to determine the center position of the feature ring; The deviation of the workpiece is determined based on the center position of the stated annulus and the center position of the target annulus; Determining the deviation of the workpiece based on the center position of the rings and the target center position of the rings includes: using any one of the multiple ring center positions as a reference, determining the relative positions of the remaining ring center positions relative to the any one ring center position; adjusting the any one ring center position so that the any one ring center position coincides with the target ring center position of the feature ring corresponding to the any one ring center position; redetermining the actual ring center positions of the remaining feature rings corresponding to the remaining ring center positions based on the relative positions and the adjusted any one ring center position; and determining the difference between the actual ring center positions of the remaining feature rings and the target ring center positions of the remaining feature rings to obtain the deviation of the workpiece. The number of the remaining feature rings is multiple; determining the difference between the actual ring center position and the target ring center position of the remaining feature rings to obtain the deviation of the workpiece includes: sequentially determining multiple differences between the actual ring center positions and the target ring center positions of the multiple remaining feature rings; summing the multiple differences to obtain the deviation of the workpiece; The number of deviations of the workpiece is multiple, including multiple workpiece deviations determined with the center position of each ring as a reference; the method further includes: determining the deviation with the smallest value among the multiple workpiece deviations as the minimum correction deviation; and correcting the workpiece according to the minimum correction deviation.

2. The method according to claim 1, characterized in that, The step of extracting features from the 3D point cloud model to determine the center position of the feature ring includes: Feature extraction is performed on the three-dimensional point cloud model to identify the position of the feature ring; The center position of the feature ring is determined based on the position of the identified feature ring.

3. The method according to claim 2, characterized in that, Determining the center position of the feature ring based on its identified position includes: The centerline of the feature ring is determined based on the position of the identified feature ring; Project the center line onto a plane perpendicular to the center line to obtain the center position of the feature ring.

4. The method according to claim 1, characterized in that, The workpiece is a boom, and the feature ring is a bushing.

5. The method according to claim 4, characterized in that, The boom includes two webs and a cover plate. The bushing is disposed on the webs. The cover plate has openings that are symmetrical at least along the length of the boom. The preset area includes the openings and the web area where the bushing is located. The deviation of the workpiece also includes the deviation between the two webs and the openings. The method further includes: Feature extraction is performed on the three-dimensional point cloud model to identify the central symmetry plane of the two webs and the symmetry plane of the opening along the boom length direction; The deviation between the central symmetry plane of the two webs and the symmetry plane of the opening along the length of the boom is determined to obtain the deviation between the two webs and the opening.

6. The method according to claim 5, characterized in that, The web plate further includes a lug plate whose height exceeds that of the cover plate; the bushing is disposed on the lug plate; the preset area also includes the lug plate; the deviation of the workpiece also includes the angular deviation between the lug plate and the cover plate; the method further includes: Feature extraction is performed on the three-dimensional point cloud model to identify the positions of the ear plate and the cover plate; The included angle between the ear plate and the cover plate is determined based on the positions of the ear plate and the cover plate; The included angle is compared with a preset included angle to obtain the angular deviation between the ear plate and the cover plate.

7. A device for detecting workpiece deviation, characterized in that, include: A scanner is used to scan a workpiece to obtain three-dimensional point cloud data of multiple preset areas of the workpiece. as well as The processor is configured to perform the method for detecting workpiece deviations according to any one of claims 1 to 6.

8. The apparatus according to claim 7, characterized in that, The device also includes a mechanical shaft, the end of which is connected to the scanner.

9. The apparatus according to claim 8, characterized in that, The device also includes a lifting mechanism, which is connected to the first end of the mechanical shaft.

10. The apparatus according to claim 9, characterized in that, The device also includes a translation mechanism, which is connected to the lifting mechanism.

11. The apparatus according to claim 10, characterized in that, The device also includes a tracker, which is mounted on the translation mechanism.

12. The apparatus according to claim 10, characterized in that, The device also includes an interactive screen, which is mounted on the translation mechanism.

13. The apparatus according to claim 10, characterized in that, The translation mechanism includes a movable column and a cantilever arm perpendicularly connected to the movable column.

14. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores a program or instructions that, when executed by a processor, implement the method for detecting workpiece deviations according to any one of claims 1 to 6.

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