Method and device for generating scanning path, computer device and storage medium

Abstract

The application relates to a scanning path generation method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a curtain wall glass image collected for a glass curtain wall; wherein the curtain wall glass image comprises a curtain wall glass and a laser spot; in the curtain wall glass image, a spot center position of the laser spot is acquired, and a glass center position of the curtain wall glass is acquired; the scanning point position of the curtain wall glass is determined according to the proximity between the spot center position and the glass center position; and the scanning path of the glass curtain wall is generated according to the scanning point position of the curtain wall glass. It can be understood that the scanning point position of the curtain wall glass is determined according to the proximity between the spot center position and the glass center position, so that the scanning position of the spot can be ensured to be located near the glass center, invalid scanning information can be avoided due to the scanning position being located on the glass frame of the curtain wall glass, and therefore the operation resources required for scanning are saved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building anomaly monitoring, and in particular to a scanning path generation method and device, computer equipment, a storage medium, and a computer program product. BACKGROUND

[0002] Glass curtain wall refers to a building outer envelope or decoration structure that has a certain displacement capacity relative to the main structure and does not share the action of the main structure. Glass curtain wall not only increases the beauty of modern buildings, but also has the advantages of sound insulation, heat insulation, frost prevention, moisture prevention, and high wind pressure resistance. However, due to external factors (such as severe weather) and use time, the curtain wall glass in the glass curtain wall may be damaged during use, which not only affects the appearance and view of the glass curtain wall, but also poses a serious safety hazard. Therefore, the glass curtain wall needs to be detected in a timely and accurate manner. Since the glass curtain wall is composed of multiple curtain wall glasses based on a glass frame, in order to completely cover all the curtain wall glasses, a pre-generated scanning path is usually used to scan the glass curtain wall.

[0003] In the conventional technology, the scanning path of the glass curtain wall is first scanned at an initial scanning position of the glass curtain wall, and then the next scanning position is determined at a preset interval, and so on, until the entire glass curtain wall is scanned.

[0004] However, the conventional scanning method with equal intervals generates a large amount of invalid scanning information (for example, the scanning position is located on the glass frame of the curtain wall glass, and the collected scanning information is invalid), which results in a large amount of computational resources required for scanning. SUMMARY

[0005] Therefore, it is necessary to provide a scanning path generation method, device, computer equipment, computer readable storage medium, and computer program product that can save computational resources required for scanning.

[0006] In a first aspect, the present application provides a scanning path generation method. The method comprises:

[0007] obtaining a curtain wall glass image collected for a glass curtain wall; wherein the curtain wall glass image includes curtain wall glass and a laser spot;

[0008] In the curtain wall glass image, the center position of the laser spot is obtained, and the center position of the curtain wall glass is obtained;

[0009] According to the proximity between the center position of the laser spot and the center position of the glass, the scanning point position of the curtain wall glass is determined;

[0010] According to the scanning point position of the curtain wall glass, a scanning path of the glass curtain wall is generated.

[0011] In one of the embodiments, the scanning point position of the curtain wall glass is determined according to the proximity between the light spot center position and the glass center position, which comprises:

[0012] determining whether the proximity between the light spot center position and the glass center position meets a preset position proximity condition;

[0013] if yes, determining the position of the motor as the scanning point position of the curtain wall glass; wherein the motor is a motor in a curtain wall glass detection device;

[0014] if no, adjusting the light spot center position until the proximity between the light spot center position and the glass center position meets the preset position proximity condition.

[0015] In one of the embodiments, the curtain wall glass image comprises a first curtain wall glass image meeting a preset first curtain wall glass recognition condition, and the first curtain wall glass is a curtain wall glass located at a corner of the glass curtain wall.

[0016] The curtain wall glass image collected for the glass curtain wall comprises:

[0017] an initial curtain wall glass image collected at an initial scanning position of the glass curtain wall is acquired, and the initial curtain wall glass image is determined as a curtain wall glass image to be recognized;

[0018] glass edge recognition is performed on the curtain wall glass image to be recognized to determine a glass edge line located at the most boundary in the curtain wall glass image to be recognized;

[0019] if the glass edge line located at the most boundary meets a preset first curtain wall glass recognition condition, the curtain wall glass image to be recognized is determined as the first curtain wall glass image;

[0020] if the glass edge line located at the most boundary does not meet the preset first curtain wall glass recognition condition, a next curtain wall glass image collected at a next scanning position of the glass curtain wall is acquired, and the next curtain wall glass image is determined as a curtain wall glass image to be recognized;

[0021] returning to perform the step of performing glass edge recognition on the curtain wall glass image to be recognized to determine a glass edge line located at the most boundary in the curtain wall glass image to be recognized until the glass edge line located at the most boundary meets the preset first curtain wall glass recognition condition.

[0022] In one of the embodiments, the glass center position of the curtain wall glass is acquired in the curtain wall glass image, which comprises:

[0023] In the first curtain wall glass image, a glass edge line of the first curtain wall glass is determined according to the outermost boundary glass edge line;

[0024] In the first curtain wall glass image, a first glass center position of the first curtain wall glass is determined according to the glass edge line of the first curtain wall glass.

[0025] In one embodiment, the curtain wall glass image includes a second curtain wall glass image satisfying a preset second curtain wall glass identification condition, and the second curtain wall glass is a curtain wall glass other than the first curtain wall glass.

[0026] The curtain wall glass image collected for the glass curtain wall includes:

[0027] The second curtain wall glass image collected for the second curtain wall glass is acquired.

[0028] In the second curtain wall glass image, a spot diameter of the laser spot is acquired, and a glass frame width of the second curtain wall glass is acquired.

[0029] The second curtain wall glass image in which the spot diameter is less than or equal to the glass frame width is determined as the second curtain wall glass image satisfying the preset second curtain wall glass identification condition.

[0030] In one embodiment, the acquisition of the spot center position of the laser spot in the curtain wall glass image and the acquisition of the glass center position of the curtain wall glass include:

[0031] In the curtain wall glass image, an initial spot center position of the laser spot is acquired, and an initial glass center position of the curtain wall glass is acquired.

[0032] The spot center position of the laser spot is determined according to the initial spot center position of the laser spot and a position deviation of the laser spot;

[0033] The glass center position of the curtain wall glass is determined according to a position deviation of the glass center position of the curtain wall glass and a motor zero point position.

[0034] In a second aspect, the application further provides a scanning path generation device. The device includes:

[0035] An image acquisition module is configured to acquire a curtain wall glass image collected for a glass curtain wall; wherein the curtain wall glass image includes a curtain wall glass and a laser spot.

[0036] acquire a light spot center position of the laser light spot and a glass center position of the curtain wall glass in the curtain wall glass image;

[0037] determine a scanning point position of the curtain wall glass according to a closeness between the light spot center position and the glass center position;

[0038] generate a scanning path of the glass curtain wall according to the scanning point position of the curtain wall glass.

[0039] In a third aspect, the present application further provides a computer device. The computer device comprises a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0040] acquire a curtain wall glass image collected for a glass curtain wall; wherein the curtain wall glass image comprises a curtain wall glass and a laser light spot;

[0041] acquire a light spot center position of the laser light spot and a glass center position of the curtain wall glass in the curtain wall glass image;

[0042] determine a scanning point position of the curtain wall glass according to a closeness between the light spot center position and the glass center position;

[0043] generate a scanning path of the glass curtain wall according to the scanning point position of the curtain wall glass.

[0044] In a fourth aspect, the present application further provides a computer readable storage medium. The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0045] acquire a curtain wall glass image collected for a glass curtain wall; wherein the curtain wall glass image comprises a curtain wall glass and a laser light spot;

[0046] acquire a light spot center position of the laser light spot and a glass center position of the curtain wall glass in the curtain wall glass image;

[0047] determine a scanning point position of the curtain wall glass according to a closeness between the light spot center position and the glass center position;

[0048] generate a scanning path of the glass curtain wall according to the scanning point position of the curtain wall glass.

[0049] In a fifth aspect, the present application further provides a computer program product. The computer program product comprises a computer program, and the computer program is executed by a processor to implement the following steps:

[0050] obtaining a curtain glass image collected for a glass curtain wall; wherein the curtain glass image comprises a curtain glass and a laser spot;

[0051] obtaining a spot center position of the laser spot and a glass center position of the curtain glass in the curtain glass image;

[0052] determining a scanning point position of the curtain glass according to the proximity between the spot center position and the glass center position;

[0053] generating a scanning path of the glass curtain wall according to the scanning point position of the curtain glass.

[0054] The above scanning path generation method, device, computer device, storage medium and computer program product can obtain a spot center position of a laser spot and a glass center position of a curtain glass in a collected curtain glass image, then determine a scanning point position of the curtain glass according to the proximity between the spot center position and the glass center position, and finally generate a scanning path of the glass curtain wall according to the scanning point position of the curtain glass. It can be understood that the scanning point position of the curtain glass is determined according to the proximity between the spot center position and the glass center position, so that the position of the laser spot scanning can be ensured to be near the glass center, and invalid scanning information caused by the scanning position being on the glass frame of the curtain glass can be avoided, thereby saving the calculation resources required for scanning. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 An application environment diagram of the scanning path generation method in one embodiment;

[0056] Figure 2 A flowchart of the scanning path generation method in one embodiment;

[0057] Figure 3 A structure block diagram of the scanning path generation device in one embodiment;

[0058] Figure 4 An internal structure diagram of the computer device in one embodiment. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0060] First, before specifically introducing the technical solutions of the embodiments of the present application, the technical background or technical evolution context based on which the embodiments of the present application are introduced. Due to the influence of external factors (such as bad weather), use time and other factors, each piece of curtain wall glass in the glass curtain wall may appear damage in the use process, there is a huge safety hazard, so the glass curtain wall needs to be detected in time and accurately. For example, a detection device can be used to periodically scan and monitor the glass curtain wall to identify the damage of each piece of curtain wall glass. In related technologies, when monitoring the abnormality of buildings such as glass curtain walls, scanning and monitoring is generally performed at equal interval scanning steps. However, since oblique imaging such as top view or bird's eye view has a certain field of view distortion, if the same scanning interval is used for both the vertical and horizontal scanning directions, the scanning position may be located on the glass frame rather than on the curtain wall glass inside the frame (or the scanning position is offset), resulting in a large amount of invalid scanning information being collected, wasting computing resources. In addition, equal interval scanning may also cause missed scanning, that is, the scanning point does not cover a piece of curtain wall glass and is missed, so that the abnormal monitoring result of the glass curtain wall is inaccurate, which exists a safety hazard. Based on this background, the applicant proposes a scanning path generation method through long-term research and development and experimental verification. When scanning and monitoring (abnormal monitoring) the glass curtain wall according to the scanning path generated by the method, invalid scanning information collected due to the scanning position being located on the glass frame of the curtain wall glass can be avoided, so the computing resources required for scanning and monitoring can be saved. In addition, the method can also avoid scanning point redundancy or missed scanning, which is conducive to improving the accuracy of the scanning and monitoring result. In addition, it should be noted that the applicant has made a lot of creative labor for the discovery of the technical problem of the present application and the technical solutions introduced in the following embodiments.

[0061] In one embodiment, a scanning path generation method is provided, which can be applied to, for example Figure 1The application environment is shown. The curtain wall glass detection device 10 includes a motor 102, a laser 104, an image collector 106 (for example, a camera), and a processor 108. Two-dimensional scanning of the motor 102 realizes relative positioning of the coordinates of each curtain wall glass 122 (unit: degree, step number), and each scan starts from the zero position of the motor. The laser 104 is used to emit laser to the curtain wall glass 122 of the glass curtain wall 12. The image collector 104 is used to collect the curtain wall glass image. In this way, the curtain wall glass detection device 10 realizes reflection imaging of the laser 104 and the image collector 106 on each curtain wall glass 122 through two-dimensional scanning of the motor 102. Specifically, the processor 108 acquires the curtain wall glass image collected by the image collector 106 for the glass curtain wall 12. The curtain wall glass image includes the curtain wall glass and the laser spot emitted by the laser 104. Then, in the curtain wall glass image, the processor 108 acquires the spot center position of the laser spot and acquires the glass center position of the curtain wall glass 122. Then, the processor 108 determines the scanning point position of the curtain wall glass 122 according to the proximity between the spot center position and the glass center position. Finally, the scanning path of the glass curtain wall 12 is generated according to the scanning point position of the curtain wall glass 122.

[0062] In another embodiment, the execution process of the processor 108 described above can also be placed in the server for execution. In this way, the generation method of the scanning path in this embodiment can be realized through the interaction of the curtain wall glass detection device 10 and the server.

[0063] In one embodiment, as Figure 2 shown, a generation method of a scanning path is provided, and the method is applied to the processor in the Figure 1 and includes the following steps:

[0064] Step S202, acquiring a curtain wall glass image collected for a glass curtain wall.

[0065] The glass curtain wall (reflection glass curtain wall) refers to a building envelope or decoration structure that can have a certain displacement ability relative to the main structure and does not share the action of the main structure. The glass curtain wall is usually composed of multiple curtain wall glasses and glass frames for fixing the curtain wall glasses. The curtain wall glass image refers to an image mainly including curtain wall glasses obtained by shooting the glass curtain wall. In addition, since the curtain wall glass detection device used in this embodiment includes an image collector and a laser, the image collector and the laser work together when scanning the glass curtain wall. The laser is used to emit laser to the curtain wall glass, and the image collector is used to collect the curtain wall glass image. Therefore, the curtain wall glass image also includes a laser spot.

[0066] Specifically, after the curtain wall glass detection device is placed at the specified position, the image collector and the laser in the curtain wall glass detection device work together, the laser emits laser to the curtain wall glass of the glass curtain wall, and the image collector collects the corresponding curtain wall glass image. The specified position can ensure that the scanning range of the curtain wall glass detection device covers the curtain wall glass, and the required image data can be collected. For example, the specified position can be a position opposite to the glass curtain wall after being tested. After the image collector collects the curtain wall glass image, the curtain wall glass image is sent to the processor in the curtain wall glass detection device. The processor acquires the curtain wall glass image collected at the initial scanning position of the glass curtain wall.

[0067] In one embodiment, for the first curtain wall glass located at the corner of the glass curtain wall, the corresponding collected curtain wall glass image is a first curtain wall glass image. Based on this, the processor acquires an initial curtain wall glass image collected at an initial scanning position of the glass curtain wall, and determines the initial curtain wall glass image as a curtain wall glass image to be identified. Next, the processor performs glass edge identification on the curtain wall glass image to be identified to determine the glass edge line located at the most boundary in the curtain wall glass image to be identified. Next, if the glass edge line located at the most boundary meets the preset first curtain wall glass identification condition, the processor determines the curtain wall glass image to be identified as the first curtain wall glass image. Next, if the glass edge line located at the most boundary does not meet the preset first curtain wall glass identification condition, the processor acquires a next curtain wall glass image collected at a next scanning position of the glass curtain wall, and determines the next curtain wall glass image as the curtain wall glass image to be identified. Next, the processor returns to perform the step of performing glass edge identification on the curtain wall glass image to be identified to determine the glass edge line located at the most boundary in the curtain wall glass image to be identified until the glass edge line located at the most boundary meets the preset first curtain wall glass identification condition.

[0068] In one embodiment, for the second curtain wall glass other than the first curtain wall glass, the corresponding collected curtain wall glass image is a second curtain wall glass image. Based on this, the processor acquires the second curtain wall glass image collected for the second curtain wall glass. Next, the processor acquires the spot diameter of the laser spot in the second curtain wall glass image, and acquires the glass frame width of the second curtain wall glass. Next, the processor determines the second curtain wall glass image with the spot diameter less than or equal to the glass frame width as the second curtain wall glass image meeting the preset second curtain wall glass identification condition.

[0069] In step S204, the spot center position of the laser spot and the glass center position of the curtain wall glass are acquired in the curtain wall glass image.

[0070] Specifically, the processor performs image recognition on the curtain wall glass image to obtain the region information of the laser spot and the region information of the curtain wall glass. Then, the processor processes the region information of the laser spot by using a spot fitting method to determine the spot center position of the laser spot. The spot fitting method may be, for example, a circularity evaluation method, an ellipse fitting method, or a centroid method. On the other hand, the processor calculates the glass center position of the curtain wall glass according to the region information of the curtain wall glass.

[0071] In step S206, the scanning point position of the curtain wall glass is determined according to the proximity between the spot center position and the glass center position.

[0072] The proximity is used to represent the proximity of the spot center position and the glass center position in the position dimension. The higher the proximity, the closer the spot center position is to the glass center position.

[0073] Specifically, the processor determines the scanning point position of the curtain wall glass according to the proximity between the spot center position and the glass center position and a preset position proximity condition. The proximity may be, for example, a difference between the spot center position and the glass center position or a ratio between the spot center position and the glass center position. In one embodiment, the processor determines whether the proximity between the spot center position and the glass center position satisfies the preset position proximity condition. If yes, the processor determines the position of the motor as the scanning point position of the curtain wall glass. If no, the processor adjusts the spot center position until the proximity between the spot center position and the glass center position satisfies the preset position proximity condition.

[0074] In step S208, the scanning path of the glass curtain wall is generated according to the scanning point position of the curtain wall glass.

[0075] Specifically, the processor connects the scanning points of each curtain wall glass according to the scanning point position of each curtain wall glass to obtain the scanning path of the glass curtain wall. In one embodiment, the processor represents the scanning path by using two-dimensional absolute or relative steps or converted coordinates according to different motor control modes based on the scanning point position of each curtain wall glass to form a planned scanning path. The scanning path is not absolutely vertical or horizontal, and the two-dimensional intervals are not equal in length, so the scanning path of the glass curtain wall of each building facade is different.

[0076] In the method for generating the scanning path, the center position of the laser spot is obtained in the collected curtain wall glass image, the center position of the glass is obtained, the scanning point position of the curtain wall glass is determined according to the proximity between the center position of the laser spot and the center position of the glass, and finally the scanning path of the glass curtain wall is generated according to the scanning point position of the curtain wall glass. It can be understood that the scanning point position of the curtain wall glass is determined based on the proximity between the center position of the laser spot and the center position of the glass, so that the scanning position of the laser spot can be ensured to be near the center of the glass, thereby avoiding the collection of invalid scanning information due to the scanning position being located on the glass frame of the curtain wall glass or the scanning position being located at the edge of the curtain wall glass, and thus the calculation resources required for scanning are saved.

[0077] In order to ensure that all curtain wall glasses in the glass curtain wall are scanned, the first curtain wall glass located at the corner of the glass curtain wall can be scanned first, and the scanning point position of the first curtain wall glass is determined, and then based on the scanning point position of the first curtain wall glass, the overall scanning range can be determined. For example, for a rectangular glass curtain wall including four first curtain wall glasses at the corners, the overall scanning range of the glass curtain wall is determined by locating the scanning point positions (also referred to as corner point positions) of the four first curtain wall glasses. Based on this, in an embodiment, the curtain wall glass image includes a first curtain wall glass image satisfying a preset first curtain wall glass recognition condition, and the first curtain wall glass is a curtain wall glass located at the corner of the glass curtain wall. Step S202 includes the following steps:

[0078] Step S2021, acquiring an initial curtain wall glass image collected at an initial scanning position of the glass curtain wall, and determining the initial curtain wall glass image as a curtain wall glass image to be recognized;

[0079] Step S2022, performing glass edge recognition on the curtain wall glass image to be recognized to determine a glass edge line located at the most boundary in the curtain wall glass image to be recognized;

[0080] Step S2023, if the glass edge line at the most boundary satisfies a preset first curtain wall glass recognition condition, the curtain wall glass image to be recognized is determined as a first curtain wall glass image;

[0081] Step S2024, if the glass edge line at the most boundary does not satisfy the preset first curtain wall glass recognition condition, a next curtain wall glass image collected at a next scanning position of the glass curtain wall is acquired, and the next curtain wall glass image is determined as a curtain wall glass image to be recognized;

[0082] Step S2025, returning to perform the step of performing glass edge recognition on the curtain wall glass image to be recognized to determine a glass edge line located at the most boundary in the curtain wall glass image to be recognized until the glass edge line at the most boundary satisfies the preset first curtain wall glass recognition condition.

[0083] Specifically, when the curtain wall glass detection device performs initial scanning on the glass curtain wall, the processor acquires an initial curtain wall glass image collected by the image collector at an initial scanning position of the glass curtain wall, and determines the initial curtain wall glass image as a curtain wall glass image to be identified. Then, the processor performs glass edge identification on the curtain wall glass image to be identified to determine a glass edge line located at the most boundary in the curtain wall glass image to be identified.

[0084] Then, if the glass edge line at the most boundary meets a preset first curtain wall glass identification condition, the processor determines the curtain wall glass image to be identified as a first curtain wall glass image. In an embodiment, for a glass curtain wall in a rectangular structure, in order to find a first curtain wall glass located at a top-left corner, if no other glass edge line is detected on the left side and above the glass edge line at the most boundary, the processor determines the curtain wall glass image to be identified as the first curtain wall glass image.

[0085] Then, if the glass edge line at the most boundary does not meet the preset first curtain wall glass identification condition, the curtain wall glass detection device performs fast scanning with a preset larger step angle and step length, the processor acquires a next curtain wall glass image collected at a next scanning position of the glass curtain wall, and determines the next curtain wall glass image as the curtain wall glass image to be identified. In an embodiment, continuing the previous example, if other glass edge lines are still detected on the left side and above the glass edge line at the most boundary, the curtain wall glass detection device continues scanning at the next scanning position, and the processor acquires a next curtain wall glass image collected at a next scanning position of the glass curtain wall.

[0086] Finally, the processor returns to perform the step of identifying the glass edge line at the most boundary in the curtain wall glass image to be identified, that is, step S2022, until the glass edge line at the most boundary meets the preset first curtain wall glass identification condition.

[0087] In this embodiment, by identifying the glass edge line at the most boundary in the curtain wall glass image to be identified and judging whether the first curtain wall glass identification condition is met, the purpose of accurately identifying the first curtain wall glass image is achieved.

[0088] For the first curtain wall glass located at a corner of the glass curtain wall, after the corresponding first curtain wall glass image is determined, the scanning point position of the first curtain wall glass can be further calculated. In this regard, on the basis of the above-mentioned embodiments, in an embodiment, the step of "acquiring a glass center position of the curtain wall glass in the curtain wall glass image" in step S204 can be implemented by the following steps:

[0089] In the first curtain wall glass image, the processor determines the glass edge line of the first curtain wall glass according to the most boundary glass edge line.

[0090] In the first curtain wall glass image, the processor determines the first glass center position of the first curtain wall glass according to the glass edge line of the first curtain wall glass.

[0091] In particular, the processor determines the glass edge line of the first curtain wall glass according to the most boundary glass edge line in the first curtain wall glass image. Then, the processor determines the first glass center position of the first curtain wall glass in the first curtain wall glass image according to the glass edge line of the first curtain wall glass.

[0092] Further, the processor determines the first light spot center position of the laser light spot in the first curtain wall glass image by using the light spot fitting method. Then, the processor determines whether the proximity between the first light spot center position and the first glass center position meets a preset position proximity condition. If yes, the processor determines the position of the motor as the scanning point position of the first curtain wall glass. If no, the first light spot center position is adjusted until the proximity between the first light spot center position and the first glass center position meets the preset position proximity condition. In an embodiment, the processor determines whether the proximity between the first light spot center position and the first glass center position is less than or equal to a preset proximity threshold value. The proximity threshold value is an empirical value obtained through long-term model simulation research and development as well as collection, demonstration and verification of experimental data. In another embodiment, the processor determines whether the proximity between the first light spot center position and the first glass center position is within a preset proximity interval.

[0093] After the first glass center position of the first curtain wall glass is determined, the region within the first glass center range is determined as the overall scanning range of the glass curtain wall, and the second glass center position of the other second curtain wall glass is determined. Based on this, in an embodiment, the curtain wall glass image includes a second curtain wall glass image that meets a preset second curtain wall glass recognition condition, and the second curtain wall glass is a curtain wall glass other than the first curtain wall glass. Step S202 includes the following steps:

[0094] Step S202a, acquiring a second curtain wall glass image collected for a second curtain wall glass;

[0095] Step S202b, acquiring a light spot diameter of a laser light spot and a glass frame width of the second curtain wall glass in the second curtain wall glass image;

[0096] Step S202c, determining the second curtain wall glass image with a light spot diameter less than or equal to the glass frame width as the second curtain wall glass image that meets the preset second curtain wall glass recognition condition.

[0097] Specifically, the curtain wall glass detection device starts from a first glass center position of a first curtain wall glass, for example, a first glass center position at the upper left corner, rotates the motor to the right with a suitable step angle and step length, and collects a second curtain wall glass image for the second curtain wall glass through the image collector. The processor obtains the spot diameter of the laser spot (counts the corresponding pixel number) in the second curtain wall glass image, and obtains the glass frame width of the second curtain wall glass (counts the corresponding pixel number). Then, the processor compares the size of the spot diameter and the glass frame width. If the spot diameter is less than or equal to the glass frame width, the processor determines the second curtain wall glass image as a second curtain wall glass image that meets the preset second curtain wall glass recognition condition. If the spot diameter is greater than the glass frame width, the processor marks the second curtain wall glass as a scanning dead angle and does not regard it as an effective scanning position.

[0098] Due to the influence of the installation position of the curtain wall glass detection device and the imaging affine deformation, the scanning line cannot be completely vertical and horizontal, so it is necessary to fine-tune the motor position to ensure that the spot center of the laser spot is located near the glass center of the curtain wall glass, so as to obtain the scanning point position of the curtain wall glass. Based on this, the processor performs glass edge recognition on the second curtain wall glass image that meets the preset second curtain wall glass recognition condition to determine the glass edge line of the second curtain wall glass. Then, the processor determines the second glass center position of the second curtain wall glass in the second curtain wall glass image according to the glass edge line of the second curtain wall glass. On the other hand, the processor determines the second spot center position of the laser spot in the second curtain wall glass image by using the spot fitting method. After that, the processor judges whether the proximity between the second spot center position and the second glass center position meets the preset position proximity condition. If yes, the processor determines the position of the motor as the scanning point position of the second curtain wall glass. If not, the second spot center position is adjusted until the proximity between the second spot center position and the second glass center position meets the preset position proximity condition.

[0099] In this way, one row of scanning to the first glass center position at the upper right corner is completed, and the scanning point positions of the first row of curtain wall glasses are obtained, for example, (X 11 ,Y 11 ), (X 12 ,Y 12 )…(X 1M ,Y 1M ).

[0100] The scanning position is moved down from the first row, and the judgment basis for the amount of movement is still that the spot center position of the laser spot is located near the glass center position of the curtain wall glass. The method of the previous step is repeated to obtain the scanning point positions of the second row of curtain wall glasses, for example, (X 21 ,Y 21 ), (X22 22 2M 2M

[0101] Similarly, the scanning point positions to the lowest row of curtain wall glass are determined, such as (X N1 N1 N2 N2 NM NM

[0102] In this embodiment, the identification of the edge (e.g., frame) of the curtain wall glass is used to confirm the scanning range, thereby reducing invalid scanning points, and the identification of the center position of the curtain wall glass is used to calculate the variable step length, thereby avoiding the conditions of scanning point redundancy or missed scanning, and being conducive to improving the accuracy of the subsequent generated scanning path.

[0103] Generally, the spot diameter is much smaller than the width of the glass frame, and the distribution of one scanning point per curtain wall glass can improve the scanning efficiency. In this regard, a suitable spot position offset threshold value (e.g., the spot diameter is 1 / 3 of the width of the glass frame, and the offset threshold value cannot be set too large, and if it is set to 1 spot diameter, the spot may be located on the glass frame, which will cause misjudgment. For different floors, the imaging distance, spot diameter, and glass frame width in the image are different, and the offset threshold value needs to be set by segmentation processing, so that even if there is a little deviation, the spot cannot hit the glass frame, and the spot needs to be ensured to be located within the glass frame) is determined according to the ratio of the width of the glass frame to the spot diameter, so as to ensure that in the case of motor zero position offset and spot center position offset, one scanning point can be distributed in each curtain wall glass.

[0104] Since the initial zero position of the motor and the position of the laser spot in the curtain wall glass detection device will change due to environmental factors and error accumulation caused by long-time scanning, the two-dimensional zero position of the motor and the position of the laser spot need to be calibrated regularly to form an accurate scanning path. Based on this, in one embodiment, step S204 includes the following steps:

[0105] Step S204a, in the curtain wall glass image, the initial spot center position of the laser spot is obtained, and the initial glass center position of the curtain wall glass is obtained;

[0106] Step S204b, the spot center position of the laser spot is determined according to the initial spot center position of the laser spot and the position deviation of the laser spot;

[0107] Step S204c, the glass center position of the curtain wall glass is determined according to the position deviation of the glass center position of the curtain wall glass and the zero position of the motor.​​​​​​​​​​

[0108] Specifically, the processor obtains an initial laser spot center position of the laser spot and an initial glass center position of the curtain wall glass in the curtain wall glass image. Then, the processor subtracts the position deviation of the laser spot from the initial laser spot center position of the laser spot to obtain the laser spot center position of the laser spot. On the other hand, the processor subtracts the position deviation of the motor zero point position from the glass center position of the curtain wall glass to obtain the glass center position of the curtain wall glass.

[0109] In this embodiment, by recalibrating the two-dimensional zero point position of the motor and the laser spot position, the position deviation in the laser spot center position of the laser spot and the position deviation in the glass center position of the curtain wall glass can be eliminated, which is conducive to improving the accuracy of the scanning path.

[0110] In one embodiment, the process involves device initialization parameters and periodic calibration. Since the curtain wall glass detection device is realized by two-dimensional scanning of the motor to achieve reflection imaging of the laser and the image collector on each curtain wall glass, the initialization parameters involved are mainly the two-dimensional zero point position of the motor and the position of the laser spot in the image, and these two parameters will be slightly shifted with the length of time the device works and the influence of the environment, and need to be calibrated periodically.

[0111] Specifically, (1) determine the two-dimensional zero point position of the motor:

[0112] The two-dimensional scanning of the motor realizes the relative positioning of the coordinates of each curtain wall glass (unit: degree, step number). Each scan starts from the zero point position, and the correctness of the zero point position determines the positioning error of the curtain wall glass in the entire scanning process. If the zero point position is deviated, the scanning point position of each curtain wall glass will contain the deviation.

[0113] In this embodiment, the two-dimensional zero point position of the motor is mechanically positioned by a photoelectric switch. When the motor is at the zero point position, an image is taken, and a certain feature point in the image is selected to obtain its pixel coordinates (X0, Y0) (unit: pixel number). The selection of the feature point can use various methods, such as the center of the cross frame, the corner of the frame, etc. In this embodiment, the inside and outside corners of the glass frame can be selected.

[0114] Note that the correspondence between the unit of motor rotation (degree, step number) and the image pixel number can be determined through preliminary testing. Specifically, a certain feature point is selected in the image to obtain its pixel coordinates, and the motor is rotated by one unit to obtain the new pixel coordinates of the feature point. The pixel coordinate difference corresponds to one unit of motor rotation.

[0115] If the image at the zero point position has no obvious feature points, the position after rotating a certain angle can be selected for feature point selection and coordinate determination, and then the angle of motor rotation is subtracted to obtain the zero point position.

[0116] (2) Determine the position of the laser spot in the image:

[0117] The laser spot is generally circular and elliptical when projected obliquely. The spot center point is determined by spot fitting, and its coordinates (LX0, LY0) in the entire image are calculated to represent the center position of the spot. In general cases, the laser spot is not exactly at the center of the image.

[0118] (3) Periodic calibration of the two-dimensional zero point position of the motor and the position of the laser spot:

[0119] The motor zero point position and the spot center position need to be calibrated periodically to check their position deviations. The calibration process is the same as (1) and (2), and the new motor zero point position and spot center position are obtained. The difference between the new position coordinates and the original position coordinates is calculated to obtain the position deviation of the motor zero point position (△X0, △Y0) and the position deviation of the laser spot (△LX0, △LY0). These two position deviations need to be used as correction deviations in the subsequent scanning to update the glass center position of the curtain wall glass.

[0120] In this embodiment, the correction is completed using the position deviation of the motor zero point position and the position deviation of the laser spot, which avoids the adverse effects of changes in the motor zero point position and the spot center position on the scanning point position.

[0121] It should be understood that although each step in the flowchart involved in each embodiment as described above is displayed in sequence according to the direction of the arrow, these steps are not necessarily executed in the order indicated by the arrow. Unless otherwise specified herein, there is no strict order limitation for the execution of these steps, and these steps can be executed in other orders. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0122] Based on the same inventive concept, the embodiment of the present application further provides a scanning path generation device for implementing the scanning path generation method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, and therefore the specific limitations in one or more scanning path generation device embodiments provided below can refer to the limitations of the scanning path generation method described above, and will not be described here again.

[0123] In one embodiment, as shown in Figure 3 a scanning path generation device is provided, comprising:

[0124] An image acquisition module 302 is configured to acquire a curtain wall glass image collected for a glass curtain wall, wherein the curtain wall glass image includes a curtain wall glass and a laser spot;

[0125] A position acquisition module 304 is configured to acquire a spot center position of the laser spot and a glass center position of the curtain wall glass in the curtain wall glass image;

[0126] A position determination module 306 is configured to determine a scanning point position of the curtain wall glass according to the proximity between the spot center position and the glass center position;

[0127] A path generation module 308 is configured to generate a scanning path of the glass curtain wall according to the scanning point position of the curtain wall glass.

[0128] In the above scanning path generation device, the spot center position of the laser spot and the glass center position of the curtain wall glass are acquired in the collected curtain wall glass image, then the scanning point position of the curtain wall glass is determined according to the proximity between the spot center position and the glass center position, and finally the scanning path of the glass curtain wall is generated according to the scanning point position of the curtain wall glass. It can be understood that the scanning point position of the curtain wall glass is determined based on the proximity between the spot center position and the glass center position, so that the position of the laser spot scanning can be ensured to be near the glass center, avoiding the collection of invalid scanning information due to the scanning position being on the glass frame of the curtain wall glass, thereby saving the calculation resources required for scanning.

[0129] The above modules in the scanning path generation device can be all or partially implemented by software, hardware, and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above modules.

[0130] In one embodiment, a computer device is provided, which can be a server, and the internal structure diagram thereof can be as shown in Figure 4As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface of the computer device is used to communicate with the external terminal through the network connection. The computer program is executed by the processor to implement a scanning path generation method.

[0131] Those skilled in the art can understand that, Figure 4 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0132] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the above method embodiments.

[0133] In one embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by a processor to implement the steps in the above method embodiments.

[0134] In one embodiment, a computer program product is provided, including a computer program, and the computer program is executed by a processor to implement the steps in the above method embodiments.

[0135] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties.

[0136] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0137] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0138] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A method of generating a scan path, characterized by, The method comprises: obtaining a curtain wall glass image collected for a glass curtain wall; wherein the curtain wall glass image comprises a curtain wall glass and a laser spot; in the curtain wall glass image, obtaining a spot center position of the laser spot and a glass center position of the curtain wall glass; determining whether the proximity between the spot center position and the glass center position is within a preset proximity interval; the proximity represents the proximity of the spot center position and the glass center position in the position dimension; if yes, determining a position of a motor as a scanning point position of the curtain wall glass; wherein the motor is a motor in a curtain wall glass detection device; if no, adjusting the spot center position until the proximity between the spot center position and the glass center position is within the preset proximity interval; generating a scanning path of the glass curtain wall according to the scanning point position of the curtain wall glass.

2. The method of claim 1, wherein, The curtain wall glass image comprises a first curtain wall glass image satisfying a preset first curtain wall glass recognition condition; the first curtain wall glass is a curtain wall glass located at a corner of the glass curtain wall; The obtaining of the curtain wall glass image collected for the glass curtain wall comprises: obtaining an initial curtain wall glass image collected at an initial scanning position of the glass curtain wall, and determining the initial curtain wall glass image as a curtain wall glass image to be recognized; performing glass edge recognition on the curtain wall glass image to be recognized to determine a glass edge line located at a most boundary in the curtain wall glass image to be recognized; if the glass edge line located at the most boundary satisfies the preset first curtain wall glass recognition condition, determining the curtain wall glass image to be recognized as the first curtain wall glass image; if the glass edge line located at the most boundary does not satisfy the preset first curtain wall glass recognition condition, obtaining a next curtain wall glass image collected at a next scanning position of the glass curtain wall, and determining the next curtain wall glass image as a curtain wall glass image to be recognized; returning to perform the step of performing glass edge recognition on the curtain wall glass image to be recognized to determine a glass edge line located at a most boundary in the curtain wall glass image to be recognized until the glass edge line located at the most boundary satisfies the preset first curtain wall glass recognition condition.

3. The method of claim 2, wherein, The obtaining of the glass center position of the curtain wall glass in the curtain wall glass image comprises: in the first curtain wall glass image, determining a glass edge line of the first curtain wall glass according to the glass edge line located at the most boundary; in the first curtain wall glass image, determining a first glass center position of the first curtain wall glass according to the glass edge line of the first curtain wall glass.

4. The method of claim 2, wherein, The curtain wall glass image comprises a second curtain wall glass image satisfying a preset second curtain wall glass recognition condition; the second curtain wall glass is a curtain wall glass other than the first curtain wall glass; The obtaining of the curtain wall glass image collected for the glass curtain wall comprises: obtaining a second curtain wall glass image collected for a second curtain wall glass; in the second curtain wall glass image, obtaining a spot diameter of the laser spot and a glass frame width of the second curtain wall glass; The second curtain wall glass image with the spot diameter less than or equal to the glass frame width is determined as the second curtain wall glass image satisfying the preset second curtain wall glass recognition condition.

5. The method of claim 1, wherein, The position acquisition module is specifically configured to: The position acquisition module is specifically configured to: The position acquisition module is specifically configured to: The position acquisition module is specifically configured to:

6. A scan path generation apparatus characterized by comprising: The position acquisition module is specifically configured to: The position acquisition module is specifically configured to: The position acquisition module is specifically configured to: The position acquisition module is specifically configured to: The position acquisition module is specifically configured to:

7. The apparatus of claim 6, wherein, The position acquisition module is specifically configured to: The position acquisition module is specifically configured to: The position acquisition module is specifically configured to: The position acquisition module is specifically configured to:

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The position acquisition module is specifically configured to:

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The position acquisition module is specifically configured to:

10. 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Images