A three-dimensional measurement image automatic correction method, device and electronic equipment

Abstract

The application relates to the field of measurement, in particular to a three-dimensional measurement image automatic correction method and device and electronic equipment, which comprises the following steps: acquiring the position of a first object to be measured, and presetting parallel light to irradiate the first object to be measured from at least two planes and different distances from the object to be measured; collecting the position of a shadow area generated after the parallel light irradiation under different conditions; determining the size of a plane of the first object to be measured according to the position of the first object to be measured, the position of the parallel light and the position of the shadow area; fitting the sizes of the first object to be measured corresponding to different planes and different distances to obtain a correction fitting curve; irradiating a second object to be measured with the parallel light of the at least two planes to obtain the size of the second object to be measured and a second image; and correcting the second image according to the size obtained by correction to obtain a corrected image. The application has the effect of correcting the image with errors in three-dimensional measurement.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of measurement technology, in particular to a three-dimensional measurement image automatic correction method, device and electronic equipment. BACKGROUND

[0002] Three-dimensional measurement is a high-tech integrating optics, machinery, electricity and computer technology, mainly used for measuring the spatial shape and structure of an object to obtain the spatial coordinates of the object surface. Its important significance lies in the fact that it can convert the three-dimensional information of the object into digital signals that can be directly processed by a computer, thereby providing a quite convenient and fast means for object digitization.

[0003] However, the traditional three-dimensional measurement device is mostly a contact type measurer. When a contact type measurement method is used, the non-parallel contact will cause errors in the obtained size. However, the process of correcting the obtained image is complex and increasingly cannot meet the needs of modern measurement. SUMMARY

[0004] In order to solve the problem of correcting the image with errors in three-dimensional measurement, the present application provides a three-dimensional measurement image automatic correction method, device and electronic equipment.

[0005] The three-dimensional measurement image automatic correction method provided by the present application adopts the following technical scheme.

[0006] A three-dimensional measurement image automatic correction method applied to a control system, comprising:

[0007] acquiring the position of a first object to be measured, and presetting parallel light to irradiate the first object to be measured from at least two planes parallel to the surface of the first object to be measured and different distances from the first object to be measured;

[0008] collecting the coordinate positions of the edges of the shadow regions generated after the parallel light irradiating the first object to be measured from different planes and different distances;

[0009] determining the size of the plane close to the side of the first object to be measured where the parallel light is located according to the position of the first object to be measured, the coordinate positions of the preset parallel light and the coordinate positions of the edges of the shadow regions;

[0010] fitting the different planes of the parallel light, the different distances between the parallel light and the first object to be measured and the corresponding size of the first object to be measured to obtain a correction fitting curve;

[0011] irradiating a second object to be measured with the parallel light at the preset distance and the at least two planes, and obtaining the sizes of the at least two planes of the second object to be measured, and obtaining a second image according to the sizes;

[0012] According to the size of the second object obtained by the correction fitting curve, the second image is corrected to obtain a corrected image.

[0013] By using the above technical solution, the first object to be measured is irradiated by parallel light, and then a shadow is generated, and the size of the first object to be measured is obtained by the generated shadow. The first object to be measured has at least three planes, and at least two of the planes need to be irradiated, and the shadow after irradiation is obtained, and the size of at least two of the planes is obtained by calculating the size of the shadow. At the same time, the first object to be measured also needs to be irradiated from different distances to improve the accuracy of the size of the first object to be measured finally obtained.

[0014] The different sizes of the first object to be measured obtained under different conditions are fitted, and a correction fitting curve is obtained, and the correction fitting curve is used as a correction standard for three-dimensional measurement. When the second object to be measured needs to be measured, the distance between the parallel light and the second object to be measured is determined and remains unchanged, the plane irradiated by the parallel light to the second object to be measured is adjusted according to a certain distance, and the shadow after irradiation is obtained. The size of the shadow is calculated, and the size of the plane of the second object to be measured is obtained according to the size of the shadow, and finally the second image of the second object to be measured is determined. The distance between the parallel light and the second object to be measured and the irradiation of different planes are used to obtain the size of the second object to be measured through the correction fitting curve, and the second image is corrected according to the size, and finally a corrected image is obtained. By measuring the first object to be measured at different distances and different angles, the measurement result is obtained, and the sizes obtained according to different variables are fitted, and finally a correction fitting curve is obtained. After measuring the second object to be measured, the distance of the parallel light and the different angles of the parallel light are brought into the correction fitting curve, and the second image is corrected according to the result, which is beneficial to reduce the workload of correcting the object to be measured, and is also beneficial to improve the accuracy of correcting the object to be measured.

[0015] Optionally, the step that the at least two planes are planes parallel to the surface of the first object to be measured, specifically includes:

[0016] The motion sensor is controlled to obtain information whether the parallel light is parallel to any surface of the first object to be measured, and the motion sensor is located at the emission of the parallel light;

[0017] If the parallel light is parallel to any surface of the first object to be measured, the movement of the parallel light is stopped.

[0018] By adopting the technical scheme, when the angle of the parallel light is changed, the motion sensor is arranged at the light source of the parallel light to detect whether the parallel light is parallel to any plane of the first object to be measured. If the emitted parallel light is parallel to any plane of the first object to be measured, the movement of the parallel light is stopped, and the size of the object is calculated according to the shadow of the first object to be measured irradiated by the parallel light. By confirming whether the parallel light is parallel to any plane of the object to be measured, the accuracy of the size measurement of the object to be measured is improved.

[0019] Optionally, the step of collecting the coordinate positions of the edges of the shadow area generated after the parallel light of different planes and different distances irradiates the first object to be measured specifically comprises:

[0020] A first plane parallel to the surface of the first object to be measured is set, and the parallel light is moved to change the distance between the parallel light and the surface of the first object to be measured.

[0021] The coordinate positions of the edges of the shadow area generated when the parallel light parallel to the first plane is at different distances are acquired, and the size of the first plane under the parallel light at different distances is determined.

[0022] By adopting the technical scheme, when the parallel light irradiates the object to be measured at different distances and different angles, one of the variables is controlled as a constant, and the other variable is changed to obtain the result under different conditions. When the parallel light is parallel to the first plane of the object to be measured, the distance between the parallel light and the object to be measured is changed, and the shadow area of the first plane of the first object to be measured under the irradiation of the parallel light at different distances is obtained, and the size of the first plane of the first object to be measured is calculated through the shadow area. By irradiating the same plane at different distances by the parallel light, the accuracy of the size measurement of the same plane is improved.

[0023] Optionally, the step of collecting the coordinate positions of the edges of the shadow area generated after the parallel light of different planes and different distances irradiates the first object to be measured specifically further comprises:

[0024] The distance between the parallel light and the surface of the first object to be measured is set, and the parallel light is moved to change the surface parallel to the first object to be measured.

[0025] The coordinate positions of the edges of the shadow area generated when the parallel light irradiates the first plane and the second plane are acquired, and the sizes of the first plane and the second plane irradiated by the parallel light at the same distance are determined.

[0026] By adopting the technical scheme, the parallel light is arranged on the same horizontal line as the first object to be measured, and the angle of the parallel light is changed so that the parallel light is parallel to the first plane and the second plane of the first object to be measured. Then, the size of the different planes is determined according to the shadow generated by the parallel light irradiating the different planes. The irradiation of the same distance and different planes by the parallel light is beneficial to improve the accuracy of the size measurement of the same distance.

[0027] Optionally, the method further comprises:

[0028] When the shadow area obtained by the parallel light irradiating the first plane at the preset distance is not greater than the preset shadow area, the distance between the parallel light and the first object to be measured is reduced, or the height of the parallel light is changed.

[0029] By adopting the technical scheme, when the shadow area generated by the parallel light irradiating the first plane of the first object to be measured is less than or equal to the preset shadow area, it indicates that the distance between the parallel light and the first object to be measured is too large, or the height of the parallel light is incorrect, and the distance between the parallel light and the first object to be measured needs to be reduced or the height of the parallel light needs to be changed. By measuring the shadow area and adjusting the position of the parallel light, the accuracy of the measurement of the first object to be measured is further improved.

[0030] Optionally, if the parallel light is parallel to any surface of the first object to be measured, the step of stopping moving the parallel light further comprises:

[0031] When the parallel light is parallel to the first plane and the size of the first plane is obtained, the parallel light is moved to be parallel to the second plane.

[0032] If the parallel light is moved to be parallel to the first plane, the parallel light is continuously moved until the parallel light is parallel to any plane except the first plane.

[0033] By adopting the technical scheme, when the parallel light is parallel to the first plane and the shadow generated by irradiating the first plane is obtained, the parallel light is moved to be parallel to the second plane except the first plane, and then the shadow generated by irradiating the second plane by the parallel light is obtained. If the same plane is irradiated again, the parallel light is directly moved to avoid irradiating the same plane at the same distance for multiple times, which is beneficial to improve the efficiency of the measurement time.

[0034] Optionally, the step of obtaining the size of the second object to be measured according to the correction fitting curve and correcting the second image according to the size to obtain a corrected image comprises:

[0035] if the error of the size of the second object to be measured and the size of the second image is not within the preset error range, the preset distance is changed to re-irradiate the second object to be measured to obtain a second image;

[0036] The size of the re-obtained second image is error-corrected with the size of the second object to be measured until the error is within the preset error range, and the change of the preset distance is stopped.

[0037] By adopting the technical scheme, after the second object to be measured is measured, a second image is obtained. The distance, the relative angle of the parallel light and the second object to be measured, and the corresponding shadow area and coordinates are brought into the correction fitting curve to obtain the size of the second object to be measured. The second image is error-corrected according to the size of the second object to be measured. If the error is not within the preset error range, the second image is re-obtained until the error of the second image and the size of the second object to be measured obtained by the correction fitting curve is within the preset error range, and a final second image is obtained. This is favorable for avoiding the error of the second image caused by the distance, and is favorable for improving the accuracy of error correction.

[0038] Optionally, the method further comprises:

[0039] When the shadow distribution obtained after the parallel light irradiates the first object to be measured is uneven, a signal of replacing the parallel light source is sent to relevant personnel.

[0040] By adopting the technical scheme, when the shadow distribution generated by the parallel light irradiating the plane of the first object to be measured is uneven, it indicates that the parallel light source has a problem and needs to be replaced by relevant personnel. This is favorable for avoiding the error of the size of the object to be measured caused by the parallel light source.

[0041] The image automatic correction device for three-dimensional measurement provided in the application adopts the following technical scheme.

[0042] An image automatic correction device for three-dimensional measurement comprises an acquisition module, a processing module and a judgment module.

[0043] The acquisition module is used to acquire the position of a first object to be measured; parallel light at different planes and different distances is collected, and the coordinate position of the edge of the shadow area generated after the first object to be measured is irradiated;

[0044] The processing module is configured to irradiate a first object to be measured by preset parallel light from at least two planes parallel to a surface of the first object to be measured and different distances from the first object to be measured, determine a plane size of a side of the first object to be measured close to the parallel light according to a position of the first object to be measured, a coordinate position of the preset parallel light, and a coordinate position of an edge of the shadow area, fit the different planes of the parallel light, the different distances of the parallel light from the first object to be measured, and the corresponding size of the first object to be measured to obtain a correction fitting curve, irradiate a second object to be measured by the parallel light at the preset distance and the at least two planes, and obtain sizes of at least two planes of the second object to be measured, and obtain a second image according to the sizes.

[0045] The correction module is configured to obtain a size of the second object to be measured according to the correction fitting curve, and correct the second image according to the size to obtain a corrected image.

[0046] By using the above technical solution, the parallel light is used to irradiate the first object to be measured to generate a shadow, and the size of the first object to be measured is obtained according to the generated shadow. At least two planes of the first object to be measured are irradiated, and the shadow after irradiation is obtained. The sizes of the at least two planes are obtained by calculating the size of the shadow. The different sizes of the first object to be measured obtained under different conditions are fitted to obtain a correction fitting curve, and the correction fitting curve is used as a correction standard for three-dimensional measurement. When the second object to be measured needs to be measured, the distance between the parallel light and the second object to be measured is determined, the plane of the parallel light irradiating the second object to be measured is adjusted according to the distance, and the size of the plane of the second object to be measured is obtained by calculating the shadow after irradiation. Finally, a second image of the second object to be measured is determined. The size of the second object to be measured is obtained by using the correction fitting curve, and the second image is corrected according to the size, and finally a corrected image is obtained. This is conducive to reducing the workload of correcting the object to be measured, and is also conducive to improving the accuracy of correcting the object to be measured.

[0047] The electronic device provided in the application adopts the following technical solution:

[0048] An electronic device includes a processor, a memory, a user interface, and a network interface.

[0049] The memory is configured to store a computer program.

[0050] The user interface and the network interface are configured to communicate with other devices.

[0051] The processor is configured to execute the computer program stored in the memory, so that the electronic device performs the method described in any one of the above.

[0052] In summary, the present application has the following beneficial technical effects:

[0053] By measuring the first object to be measured at different distances and different angles, the measurement results are obtained, and the sizes obtained according to different variables are fitted, and finally the corrected fitting curve is obtained. After measuring the second object to be measured, the distance of parallel light and the different angles of parallel light are brought into the corrected fitting curve, and the second image is corrected according to the result, which is beneficial to reduce the workload of correcting the object to be measured, and is also beneficial to improve the accuracy of correcting the object to be measured. BRIEF DESCRIPTION OF DRAWINGS

[0054] Figure 1 is a scene diagram of irradiating the object to be measured in the embodiment of the present application.

[0055] Figure 2 is a flowchart of an image automatic correction method for three-dimensional measurement in the embodiment of the present application.

[0056] Figure 3 is a schematic diagram of an image automatic correction module for three-dimensional measurement in the embodiment of the present application.

[0057] Figure 4 is a structural schematic diagram of an electronic device in the embodiment of the present application.

[0058] Marked with reference signs: 1, acquisition module; 2, processing module; 3, correction module; 41, processor; 42, communication bus; 43, user interface; 44, network interface; 45, memory; 46, computer program. DETAILED DESCRIPTION

[0059] In order to enable the persons skilled in the art to better understand the technical solutions in the specification, the technical solutions in the specification will be described clearly and completely in the embodiments of the specification in combination with the drawings in the embodiments of the specification. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments.

[0060] In the description of the embodiments of the present application, the words "exemplary", "for example", or "e.g." are used to mean serving as an example, instance, or illustration. Any embodiment or design presented as "exemplary", "for example", or "e.g." is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the words "exemplary", "for example", or "e.g." is intended to present concepts in a concrete manner. In addition, the terms "first", "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated technical feature. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. The terms "include", "contain", "have" and their variants mean "including but not limited to", unless otherwise specifically emphasized.

[0061] The following description will be made in conjunction with the accompanying drawings Figures 1-4 The present application is further described in detail.

[0062] The embodiments of the present application disclose an image automatic correction method for three-dimensional measurement.

[0063] Reference Figure 1 The image automatic correction method for three-dimensional measurement is applied to measure high-precision geometric parts and measure complex-shaped mechanical parts such as machinery, automobiles, aviation, military industry, furniture, tool prototypes, etc. The object to be measured is irradiated by parallel light, and the size of the object is measured by the shadow generated by the irradiation. The sizes obtained by irradiation at different angles are comprehensively analyzed to obtain all the sizes of different planes of the entire object to be measured, and a three-dimensional image of the object to be measured is drawn according to the sizes.

[0064] Meanwhile, the same object to be measured can be irradiated by parallel light at multiple directions and distances, and the irradiation results under different conditions are obtained. The irradiation results and the parallel light under different conditions are taken as independent variables and dependent variables, and are fitted into a correction curve, which is used to calibrate the size measurement of the subsequent object to be measured, so as to improve the measurement accuracy.

[0065] Reference Figure 2 The image automatic correction method for three-dimensional measurement includes steps S100-S600.

[0066] Step S100: The position of a first object to be measured is obtained, and parallel light is preset to irradiate the first object to be measured from at least two planes parallel to the surface of the first object to be measured and at different distances from the first object to be measured.

[0067] Specifically, the to-be-measured object is placed on the object placing table with a spatial coordinate system. In an embodiment, the to-be-measured object includes a mechanical part. The control system obtains the position coordinates (x0, y0, z0) of the mechanical part in the spatial coordinate system through a sensor, and keeps the position of the mechanical part in the spatial coordinate system unchanged. In the space where the mechanical part is located, the mechanical part is irradiated by a parallel light source. The parallel light source is a group of parallel light rays without attenuation, similar to the effect of sunlight.

[0068] The mechanical part is irradiated by changing the different distances between the parallel light source and the mechanical part and the different angles between the parallel light source and the surface of the mechanical part. Specifically, the mechanical part is a cuboid, and in addition to the surface in contact with the object placing table, there are five planes. Among the five planes, there are two pairs of surfaces with the same size, and a lower bottom surface. Therefore, the length, width and height of the mechanical part can be determined by irradiating the two planes on the side surface, and the size measurement of the mechanical part is completed.

[0069] Step S200: Collect the coordinates of the edge of the shadow area generated after the parallel light irradiates the first to-be-measured object.

[0070] Specifically, by changing the angle and distance between the parallel light source and the mechanical part, a plurality of shadows generated by the parallel light source irradiating the mechanical part at different distances and angles are obtained. According to the shape of the shadow generated by the parallel light source at different angles and the coordinate positions of the edges of the shadow, the shape of the mechanical part is determined; at the same time, according to the distance between the parallel light source and the mechanical part and the calculation rule of similar triangles, the dimensions of the mechanical part are calculated.

[0071] In an embodiment, the distance between the parallel light source and the center point (0, 0, 0) of the mechanical part is determined to be 15 cm, and the position of the parallel light source in the spatial coordinate system is changed to change the relative angle between the parallel light source and the mechanical part. Specifically, the position of the parallel light source is set to (4.1, 8, 12), and the mechanical part is irradiated at this coordinate point, and the edge coordinate positions of the generated shadow are (2, -3, 0), (-1, -3, 0). According to the obtained shadow coordinate points and the distance between the parallel light source and the center point of the mechanical part, the size of a side surface can be determined by similarity.

[0072] In another embodiment, the position of the parallel light source is determined as (-2, 0, 6), and the distance between the parallel light source and the center point of the mechanical part is set as 20 cm or 25 cm. The parallel light source irradiates the mechanical part according to different distances, and the edge coordinate positions of the shadows generated are (1.1, -2, 0), (1.1, 2, 0), (0.5, -1.4, 0), and (0.5, 1.4, 0), respectively. According to the obtained shadow coordinate points and the distance between the parallel light source and the center point of the mechanical part, the size of the other side surface can be determined by similarity method.

[0073] Step S300: determining the size of the plane on the side of the first object to be measured close to the parallel light according to the position of the first object to be measured, the coordinate position of the preset parallel light, and the coordinate position of the edge of the shadow area.

[0074] Specifically, according to the position coordinate (0, 0, 0) of the mechanical part, the coordinate position (-2, 0, 6) of the parallel light source, and the coordinate position (1.1, -2, 0), (1.1, 2, 0) of the edge of the shadow area, the sizes of different surfaces of the mechanical part are calculated by similarity method. Then, the obtained different sizes are integrated to obtain all the sizes of the mechanical part.

[0075] Step S400: fitting the different planes of the parallel light, the different distances between the parallel light and the first object to be measured, and the corresponding sizes of the first object to be measured to obtain a corrected fitting curve.

[0076] Specifically, according to the sizes of all the planes of the parallel light and the mechanical part at different distances, and the sizes of the planes corresponding to different angles at the same distance, the data is analyzed and fitted to obtain a fitting curve about the distance between the object to be measured and the parallel light source, the different angles between the object to be measured and the parallel light source, and the size of the plane of the object to be measured: L=ax+by+c, where a and b are different correction coefficients. L is the size of the plane of the object to be measured, and x and y represent two different variables of distance and angle, respectively.

[0077] Step S500: irradiating the second object to be measured with the parallel light at a preset distance and at least two planes, and obtaining the sizes of at least two planes of the second object to be measured, to obtain a second image according to the sizes.

[0078] Specifically, when the second object to be measured is measured in three dimensions, the second object to be measured is a geometric component, the parallel light source irradiates the geometric component at different angles at the pre-set distance point, and at least two plane sizes are obtained. According to the comprehensive analysis and calculation of the size of at least two planes, the size of the entire geometric component is obtained. In an embodiment, the size of the geometric component obtained after irradiation is 9 cm, 12 cm, 15.1 cm and 12 cm, so the length, width and height of the geometric component can be obtained as 9 cm, 12 cm and 15.1 cm respectively. According to the size of the geometric component finally determined, a three-dimensional model image of the geometric component is drawn.

[0079] Step S600: Obtain the size of the second object to be measured according to the correction fitting curve, and correct the second image according to the size to obtain a corrected image.

[0080] Specifically, the distance and angle when irradiating the second object to be measured, i.e. the geometric component, are brought into the correction fitting curve, and the size of the geometric component is obtained according to the formula of the fitting curve. The size of the three-dimensional model image after irradiation is corrected according to the size obtained by fitting. In an embodiment, the size of the geometric component obtained is 8.6 cm, 12.1 cm and 15 cm respectively. The size of the three-dimensional model image of the geometric component drawn is 9 cm, 12 cm and 15.1 cm respectively. The size error of the two is within 5% error range, so the size of the three-dimensional model image of the geometric component drawn can be directly determined as 9 cm, 12 cm and 15.1 cm.

[0081] In another embodiment, the size of the geometric component obtained by the correction fitting curve is 5 cm, 12.1 cm and 15 cm respectively. The size of the three-dimensional model image of the geometric component drawn is 9 cm, 12 cm and 15.1 cm respectively. The size error of the two is not within 5% error range, so the size of the geometric component obtained by the correction fitting curve, i.e. 5 cm, 12.1 cm and 15 cm, is taken as the size of the geometric component.

[0082] In still another embodiment, the size of the geometric component obtained by the correction fitting curve is 3 cm, 8 cm and 6 cm respectively. The size of the three-dimensional model image of the geometric component drawn is 9 cm, 12 cm and 15.1 cm respectively. The size error of the two exceeds 10% error range, so the distance between the parallel light source and the geometric component needs to be changed, and the geometric component is irradiated at different angles, and finally the size of the three-dimensional model image of the geometric component is obtained as 3.1 cm, 8 cm and 7.95 cm. At this time, the size error is within 5% error range, so the size of the geometric component obtained by the correction fitting curve, i.e. 3 cm, 8 cm and 6 cm, is taken as the size of the geometric component.

[0083] In a possible embodiment, if a part of the light source of the parallel light irradiating the geometric part is dimmed, the depth of the shadow generated by the geometric part is not uniform, causing uneven distribution of the shadow. At this time, a signal about the dimming of the parallel light source is sent to the relevant personnel, so that the relevant personnel replace the light source of the parallel light.

[0084] Another embodiment of the present application discloses an automatic correction device for three-dimensional measurement images.

[0085] Reference Figure 3 An automatic correction device for three-dimensional measurement images includes an acquisition module 1, a processing module 2, and a correction module 3.

[0086] The acquisition module 1 is used to acquire the position of a first object to be measured; collect parallel light of different planes and different distances, and after irradiating the first object to be measured, the coordinate position of the edge of the shadow area generated;

[0087] The processing module 2 is used to preset the parallel light to irradiate the first object to be measured from at least two planes and different distances from the object to be measured, wherein the at least two planes are planes parallel to the surface of the first object to be measured; determine the size of the plane close to the side of the parallel light of the first object to be measured according to the position of the first object to be measured, the coordinate position of the preset parallel light, and the coordinate position of the edge of the shadow area; fit the different planes of the parallel light, the different distances of the parallel light from the first object to be measured, and the corresponding size of the first object to be measured to obtain a correction fitting curve; irradiate a second object to be measured with the parallel light at the preset distance and the at least two planes, and obtain the size of the at least two planes of the second object to be measured, and obtain a second image according to the size;

[0088] The correction module 3 is used to obtain the size of the second object to be measured according to the correction fitting curve, and correct the second image according to the size to obtain a corrected image.

[0089] In a possible embodiment, the processing module 2 is used to set a motion sensor at the emission of the parallel light to obtain information about whether the parallel light is parallel to any surface of the first object to be measured. If the parallel light is parallel to any surface of the first object to be measured, stop moving the parallel light.

[0090] In a possible embodiment, the acquisition module 1 is used to acquire the coordinate position of the edge of the shadow area generated by the parallel light parallel to the first plane at different distances. The processing module 2 is used to set the first plane parallel to the surface of the first object to be measured, move the parallel light to change the distance between the parallel light and the surface of the first object to be measured, and determine the size of the first plane under the parallel light at the same distance.

[0091] In one possible implementation, the acquisition module 1 is configured to acquire the coordinate positions of the edges of the shadow area generated by the parallel light irradiating the first plane and the second plane. The processing module 2 is configured to set the distance between the parallel light and the surface of the first object to be measured, and move the parallel light to change the parallel light irradiating the surface parallel to the first object to be measured. The sizes of the first plane and the second plane generated by the parallel light irradiating at different distances are determined.

[0092] In one possible implementation, the acquisition module 1 is configured to acquire the information that the area of the shadow area generated by the parallel light irradiating the first plane at a preset distance is not greater than a preset shadow area. The processing module 2 is configured to reduce the distance between the parallel light and the first object to be measured, or change the height of the parallel light irradiating the plane of the first object to be measured.

[0093] In one possible implementation, the acquisition module 1 is configured to acquire the information that the parallel light is parallel to the first plane, and the size of the first plane is obtained. The processing module 2 is configured to move the parallel light to be parallel to the second plane, and if the parallel light is moved to be parallel to the first plane, the parallel light is continuously moved until the parallel light is parallel to any plane except the first plane.

[0094] In one possible implementation, the acquisition module 1 is configured to acquire the information that the error between the size of the second object to be measured and the size of the second image is not within a preset error range. The processing module 2 is configured to change the preset distance to irradiate the second object to be measured to obtain the second image. The correction module 3 is configured to correct the error between the size of the second image obtained by re-irradiation and the size of the second object to be measured until the error is within the preset error range, and stop changing the preset distance.

[0095] In one possible implementation, the acquisition module 1 is configured to acquire the information that the shadow distribution generated after the parallel light irradiating the first object to be measured is uneven. The processing module 2 is configured to send a signal to replace the parallel light source to the relevant personnel.

[0096] The implementation principle of the image automatic correction device for three-dimensional measurement in the embodiment of the present application is as follows: the first object to be measured is irradiated by the parallel light, and then the shadow is generated. The acquisition module 1 acquires the area and coordinates of the shadow, and the size of the first object to be measured is obtained through the generated shadow. The first object to be measured has at least three planes, and at least two planes of the first object to be measured need to be irradiated, and the shadow after irradiation is obtained. The processing module 2 obtains the sizes of the at least two planes by calculating the size of the shadow. Meanwhile, the first object to be measured also needs to be irradiated from different distances to improve the accuracy of the size of the first object to be measured finally obtained.

[0097] The processing module 2 will fit the different sizes of the first object to be measured obtained in different cases, and obtain a correction fitting curve, and take the correction fitting curve as the correction standard of three-dimensional measurement. When the second object to be measured needs to be measured, the processing module 2 determines the distance of the parallel light from the second object to be measured, and keeps it unchanged, adjusts the plane of the parallel light irradiating the second object to be measured according to a certain distance, and obtains the shadow after irradiation. The size of the shadow is calculated, and the size of the plane of the second object to be measured is obtained according to the size of the shadow, and finally the second image of the second object to be measured is determined.

[0098] The distance of the parallel light from the second object to be measured and the irradiation of different planes, the correction module 3 obtains the size of the second object to be measured through the correction fitting curve, and corrects the second image according to the size, and finally obtains the corrected image. By measuring the first object to be measured at different distances and different angles, the measurement result is obtained, and the size obtained according to different variables is fitted, and finally the correction fitting curve is obtained. After measuring the second object to be measured, the distance of the parallel light and the different angles of the parallel light are brought into the correction fitting curve, and the second image is corrected according to the result of bringing in, which is beneficial to reduce the workload of correcting the object to be measured, and at the same time is beneficial to improve the accuracy of correcting the object to be measured.

[0099] It should be noted that: the device provided by the above embodiment is only exemplified by the division of the above functional modules when realizing its function. In actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided by the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0100] Reference Figure 4 A structural schematic diagram of an electronic device is provided for the embodiments of the present application. As shown in Figure 4 The electronic device can include: at least one processor 41, at least one network interface 44, a user interface 43, a memory 45, and at least one communication bus 42.

[0101] The communication bus 42 is used to realize the connection and communication between the components.

[0102] The user interface 43 can include a display screen (Display) and a camera (Camera). Optionally, the user interface 43 can also include a standard wired interface and a wireless interface.

[0103] The network interface 44 can optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0104] The processor 41 can include one or more processing cores. The processor 41 connects various parts within the server through various interfaces and lines, performs various functions of the server and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 45, and calling data stored in the memory 45. Alternatively, the processor 41 can be implemented in at least one of a hardware form of a digital signal processing (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 41 can be integrated with a combination of one or more of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes operating systems, user interfaces, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 41, but can be realized by a separate chip.

[0105] The memory 45 can include a random access memory (RAM) and a read-only memory (ROM). Alternatively, the memory 45 includes a non-transitory computer-readable storage medium. The memory 45 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 45 can include a program storage area and a data storage area, wherein the program storage area can store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area can store data involved in the above-mentioned various method embodiments, etc. The memory 45 can also be at least one storage device located away from the aforementioned processor 41. As shown in the figure, the memory 45 as a computer storage medium can include an operating system, a network communication module, a user interface module, and an application program of a sampling device automatic cleaning method. Figure 4 As shown in the figure, the memory 45 as a computer storage medium can include an operating system, a network communication module, a user interface module, and an application program of a sampling device automatic cleaning method.

[0106] In Figure 4In the electronic device shown, the user interface 43 is mainly used to provide an interface for the user to input, and obtain data input by the user; and the processor 41 can be used to call a computer program 46 stored in the memory 45 and storing a sampling device automatic cleaning method, which, when executed by one or more processors 41, causes the electronic device to perform the method as described in one or more of the above embodiments.

[0107] The embodiments of the present disclosure are all preferred embodiments of the present disclosure, and do not limit the protection scope of the present disclosure, so that: any equivalent changes made according to the structure, shape, principle of the present disclosure should be covered within the protection scope of the present disclosure.

Claims

1. A method of automatic correction of a three-dimensional measured image, characterized in that, The application is applied to a control system, comprising: acquiring a position of a first object to be measured, and presetting parallel light to irradiate the first object to be measured from at least two planes parallel to a surface of the first object to be measured and different distances from the first object to be measured, wherein the at least two planes are non-parallel planes; controlling a motion sensor to acquire information whether the parallel light is parallel to any surface of the first object to be measured, the motion sensor being located at a position where the parallel light is emitted; if the parallel light is parallel to any surface of the first object to be measured, stopping moving the parallel light; acquiring coordinate positions of edges of shadow regions generated after the parallel light irradiating the first object to be measured from different planes and different distances; the step of acquiring the coordinate positions of the edges of the shadow regions generated after the parallel light irradiating the first object to be measured from different planes and different distances specifically comprises: setting a first plane parallel to the surface of the first object to be measured, moving the parallel light to change a distance between the parallel light and the surface of the first object to be measured, and acquiring the coordinate positions of the edges of the shadow regions generated when the parallel light parallel to the first plane is at different distances, so as to determine a size of the first plane under the parallel light at the same distance; setting a distance between the parallel light and the surface of the first object to be measured, moving the parallel light to change a plane parallel to the first object to be measured, and acquiring the coordinate positions of the edges of the shadow regions generated when the parallel light irradiates the first plane and a second plane, so as to determine sizes of the first plane and the second plane obtained by the parallel light irradiating at different distances; determining a size of a plane close to a side of the first object to be measured close to the parallel light according to the position of the first object to be measured, the coordinate positions of the parallel light, and the coordinate positions of the edges of the shadow regions; fitting different planes of the parallel light, different distances between the parallel light and the first object to be measured, and corresponding sizes of the first object to be measured, to obtain a correction fitting curve; irradiating a second object to be measured by the parallel light at the preset distance and the at least two planes, and obtaining sizes of at least two planes of the second object to be measured, and obtaining a second image according to the sizes; obtaining sizes of the second object to be measured according to the correction fitting curve, and correcting the second image according to the sizes to obtain a corrected image.

2. The method of claim 1, wherein, The method further comprises: when the area of the shadow region obtained by the parallel light irradiating the first plane at the preset distance is not greater than a preset area of the shadow region, reducing the distance between the parallel light and the first object to be measured, or changing a height at which the parallel light is placed from the first plane of the first object to be measured.

3. The method of claim 1, wherein The step of stopping moving the parallel light if the parallel light is parallel to any surface of the first object to be measured further comprises: when the parallel light is parallel to the first plane and the size of the first plane is obtained, moving the parallel light to be parallel to a second plane; if the parallel light is moved to be parallel to the first plane, continuing to move the parallel light until the parallel light is parallel to any plane except the first plane.

4. The method of claim 1, wherein The step of obtaining the size of the second object to be measured according to the corrected fitting curve and correcting the second image according to the size to obtain a corrected image comprises: If the error between the size of the second object to be measured and the size of the second image is not within the preset error range, the preset distance is changed to re-illuminate the second object to be measured to obtain a second image; The size of the re-obtained second image is error-corrected with the size of the second object to be measured until the error is within the preset error range, and the preset distance is stopped from being changed.

5. The method of claim 1, wherein The method further specifically comprises: When the shadow distribution obtained after the parallel light illuminates the first object to be measured is uneven, a signal for replacing the parallel light source is sent to relevant personnel.

6. An apparatus for automatically correcting a three-dimensional measurement image, characterized by comprising: Comprise: An acquisition module (1), a processing module (2), and a correction module (3); The acquisition module (1) is used to acquire the position of the first object to be measured; coordinates of edges of a shadow region generated after parallel light at different planes and different distances illuminates the first object to be measured are collected; a motion sensor located at a position where the parallel light is emitted is used to acquire information about whether the parallel light is parallel to any surface of the first object to be measured; if the parallel light is parallel to any surface of the first object to be measured, the movement of the parallel light is stopped; coordinates of edges of a shadow region generated after parallel light at different planes and different distances illuminates the first object to be measured are collected; The step of collecting coordinates of edges of a shadow region generated after parallel light at different planes and different distances illuminates the first object to be measured specifically comprises: setting a first plane where the parallel light is parallel to a surface of the first object to be measured, and moving the parallel light to change the distance between the parallel light and the surface of the first object to be measured; Coordinates of edges of a shadow region generated when the parallel light parallel to the first plane is at different distances are acquired, and the size of the first plane under the parallel light at the same distance is determined; the distance between the parallel light and the surface of the first object to be measured is set, and the parallel light is moved to change the surface of the first object to be measured that is parallel to the parallel light; coordinates of edges of a shadow region generated when the parallel light illuminates the first plane and the second plane are acquired, and the sizes of the first plane and the second plane obtained by the parallel light at different distances are determined; The processing module (2) is used for presetting parallel light from at least two planes and different distances from the object to be measured, irradiating a first object to be measured, wherein the at least two planes are planes parallel to the surface of the first object to be measured, and the at least two planes are non-parallel planes; determining the plane size of the first object to be measured close to the side of the parallel light according to the position of the first object to be measured, the coordinate position of the preset parallel light and the coordinate position of the edge of the shadow area; fitting the different planes of the parallel light, the different distances of the parallel light from the first object to be measured and the corresponding size of the first object to be measured to obtain a correction fitting curve; irradiating a second object to be measured with parallel light at a preset distance and at least two planes, and obtaining the size of the at least two planes of the second object to be measured, and obtaining a second image according to the size; The correction module (3) is used for obtaining the size of the second object to be measured according to the correction fitting curve, and correcting the second image according to the size to obtain a corrected image.

7. An electronic device, comprising: The electronic device comprises a processor (41), a memory (45), a user interface (43), a computer program (46) and a network interface (44); The memory (45) is used for storing the computer program (46); The user interface (43) and the network interface (44) are used for communicating with other devices; The processor (41) is used for executing the computer program (46) stored in the memory (45) to enable the electronic device to perform the method according to any one of claims 1-5.

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