Wear Amount Calculation Method, Device, Electronic Device and Computer Readable Storage Medium

Abstract

The present application discloses a wear amount calculation method, device, electronic device and computer-readable storage medium, which are used to solve the problem of low accuracy in calculating the wear amount on the surface of porous materials. The method includes: after obtaining a first RGB image corresponding to an unworn specimen and a second RGB image corresponding to the specimen after wear, determining the spatial relationship between the first RGB image and the second RGB image, and based on the spatial relationship, registering a first region of interest in the first RGB image with a second region of interest in the second RGB image, and when the registration result meets a preset requirement, mapping the coordinate of the feature points corresponding to the first region of interest and the second region of interest to the three-dimensional topography maps corresponding to the specimens before and after wear respectively, and calculating the wear amount between the first region of interest and the second region of interest according to the three-dimensional topography maps after mapping the coordinate of the feature points. In this way, the accuracy of calculating the wear amount on the surface of porous materials can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and more particularly, to a method, apparatus, and electronic device for calculating wear amount. Background Art

[0002] Metal porous materials are widely used in fields such as aerospace, biomedicine, mechanical engineering, and environmental protection. Such porous materials usually have regular or random holes processed on their surfaces, aiming to increase their surface area and enhance structural strength to achieve surface modification of a certain function. Among them, achieving the anti-wear function on the material surface is a major feature of porous materials and is a current research hotspot that has received extensive attention. One of the important tasks in studying the anti-wear function is to calculate the wear amount of the material surface. For porous materials, usually, the wear amount is calculated by comparing the mass difference of the samples before and after the wear test. This method is relatively simple to implement but has low accuracy.

[0003] The prior art relates to a method and system for quantitatively determining the surface wear condition of a fixed abrasive polishing pad, including: obtaining the FPA surface image and the FPA three-dimensional surface topography map at each processing stage; preprocessing the FPA surface image at each processing stage to obtain the FPA surface image including the gradient map after sharpening filtering, the spectral data of the gradient map, the FPA surface structured matrix, and the FPA surface change matrix, and then combining them into a multi-channel FPA surface image sample; calculating the quantitative data of the FPA surface roughness based on the FPA three-dimensional surface topography map at each processing stage and combining it with the workpiece material removal rate to obtain the wear condition of the FPA surface; using the wear condition of the FPA surface at each processing stage to label the multi-channel FPA surface image sample and input it into a 3-DCNN+GRU model for training to obtain a wear condition quantitative determination model, improving the accuracy of determining the FAP surface wear condition. The accuracy of this solution is not high. Summary of the Invention

[0004] The primary object of the present invention is to provide a method for calculating wear amount to solve the problem of low accuracy in calculating the wear amount of the surface of porous materials.

[0005] A further object of the present invention is to provide a device for calculating wear amount.

[0006] The third object of the present invention is to provide an electronic device and a computer-readable storage medium.

[0007] To solve the above technical problems, the technical solution of the present invention is as follows:

[0008] A method for calculating wear amount, the method comprising:

[0009] After obtaining the first RGB image and the first three-dimensional topography map corresponding to the unworn specimen, as well as the second RGB image and the second three-dimensional topography map corresponding to the worn unworn specimen, determine the spatial relationship between the first RGB image and the second RGB image, where the spatial relationship includes at least a rotation relationship and a translation relationship;

[0010] Based on the spatial relationship, register the first region of interest in the first RGB image with the second region of interest in the second RGB image to obtain a registration result;

[0011] When the registration result meets the preset requirements, map the characteristic point coordinates corresponding to the first region of interest to the first three-dimensional topography map, and map the characteristic point coordinates corresponding to the second region of interest to the second three-dimensional topography map to obtain the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map;

[0012] According to the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map, calculate the wear amount between the first region of interest and the second region of interest.

[0013] Preferably, before obtaining the first RGB image and the first three-dimensional topography map corresponding to the unworn specimen, as well as the second RGB image and the second three-dimensional topography map corresponding to the worn unworn specimen, further include:

[0014] Mark the wear test range to be performed on the unworn specimen to obtain a marked area;

[0015] Within the marked area, obtain the first RGB image and the first three-dimensional topography map corresponding to the unworn specimen through a confocal microscope;

[0016] Perform a wear test on the unworn specimen to obtain a worn specimen;

[0017] Within the marked area, obtain the second RGB image and the second three-dimensional topography map corresponding to the worn specimen through the confocal microscope.

[0018] Preferably, the determining the spatial relationship between the first RGB image and the second RGB image includes:

[0019] Perform feature point matching between the first RGB image and the second RGB image to obtain a matching result, where the matching result includes at least a feature point coordinate matching result;

[0020] According to the feature point coordinates in the matching result, calculate the affine transformation matrix between the first RGB image and the second RGB image;

[0021] Determine the spatial relationship between the first RGB image and the second RGB image according to the affine transformation matrix.

[0022] Preferably, before matching the spatial relationship between the first region of interest in the first RGB image and the second region of interest in the second RGB image based on the spatial relationship, it further includes:

[0023] Select a preset region in the second RGB image, and extract the second region of interest corresponding to the preset region in the second RGB image;

[0024] Determine the first region of interest in the first RGB image according to the specified point coordinates of the preset region and the spatial relationship.

[0025] Preferably, the registering the first region of interest in the first RGB image and the second region of interest in the second RGB image based on the spatial relationship to obtain a registration result includes:

[0026] Based on the spatial relationship, rotate and translate the first region of interest in the first RGB image to obtain a third region of interest;

[0027] Register the third region of interest and the second region of interest corresponding to the second RGB image based on the same image coordinate system to obtain the registration result, where the registration result at least includes a rotation error and a translation error.

[0028] Preferably, when the registration result meets the preset requirements, mapping the feature point coordinates corresponding to the first region of interest to the first three-dimensional topography map, and mapping the feature point coordinates corresponding to the second region of interest to the second three-dimensional topography map, includes:

[0029] Judge whether the rotation error in the registration result is less than a first threshold, and judge whether the translation error in the registration result is less than a second threshold;

[0030] If the rotation error is less than the first threshold and the translation error is less than the second threshold, it is determined that the registration result meets the preset requirements;

[0031] If the rotation error is not less than the first threshold and the translation error is not less than the second threshold, after upsampling the first region of interest and the second region of interest, continue to register the upsampled first region of interest and the second region of interest until the rotation error is less than the first threshold and the translation error is less than the second threshold, then it is determined that the registration result meets the preset requirements;

[0032] When it is determined that the registration result meets the preset requirements, map the coordinates of the feature points corresponding to the first region of interest to the first three-dimensional topography map, and map the coordinates of the feature points corresponding to the second region of interest to the second three-dimensional topography map, so as to obtain the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map.

[0033] Preferably, calculating the wear amount between the first region of interest and the second region of interest according to the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map includes:

[0034] Perform preprocessing on the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map respectively, wherein the preprocessing at least includes denoising processing and removing the surface shape;

[0035] Perform a difference operation between the region of interest of the preprocessed first three-dimensional topography map and the region of interest of the preprocessed second three-dimensional topography map to obtain a residual topography map;

[0036] Calculate the wear amount between the first region of interest and the second region of interest according to the image data in the residual topography map.

[0037] A wear amount calculation device, the device includes:

[0038] A first determination module, after obtaining the first RGB map and the first three-dimensional topography map corresponding to the unworn specimen, and the second RGB map and the second three-dimensional topography map corresponding to the worn unworn specimen, determine the spatial relationship between the first RGB map and the second RGB map, wherein the spatial relationship at least includes a rotation relationship and a translation relationship;

[0039] A registration module, based on the spatial relationship, register the first region of interest in the first RGB map with the second region of interest in the second RGB map to obtain a registration result;

[0040] A mapping module, when the registration result meets the preset requirements, map the coordinates of the feature points corresponding to the first region of interest to the first three-dimensional topography map, and map the coordinates of the feature points corresponding to the second region of interest to the second three-dimensional topography map, so as to obtain the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map;

[0041] A calculation module, calculate the wear amount between the first region of interest and the second region of interest according to the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map.

[0042] An electronic device, including:

[0043] A memory, used to store a computer program;

[0044] A processor, when executing the computer program stored on the memory, implements the wear amount calculation method described above.

[0045] A computer-readable storage medium stores a computer program therein, and when the computer program is executed by a processor, the wear amount calculation method described above is implemented.

[0046] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0047] (1) By performing spatial registration on the three-dimensional topography maps before and after wear, and then calculating the surface wear amount of the porous material by calculating the height difference between the two, the calculation accuracy of the wear amount can be improved.

[0048] (2) The existing SIFT algorithm cannot be directly applied to three-dimensional topography maps. Since the original RGB image obtained from a confocal microscope and the three-dimensional topography map have the same image coordinate system, in the embodiments of the present application, the result of RGB image matching is mapped onto the three-dimensional topography map, indirectly realizing the spatial registration of the three-dimensional topography maps before and after wear.

[0049] (3) By extracting the region of interest and performing upsampling on the region of interest and then repeating the use of the feature point matching algorithm for fine-tuning of translation and rotation, the error of spatial registration meets the preset requirements, thereby improving the matching accuracy, realizing sub-pixel registration, and reducing the calculation error of the wear amount. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a flowchart of a wear amount calculation method provided by the present invention.

[0051] Figure 2 It is a schematic structural diagram of a wear amount calculation device provided by the present invention;

[0052] Figure 3 It is a schematic structural diagram of an electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0053] The drawings are only for illustrative purposes and should not be construed as a limitation to this patent;

[0054] The specific operation methods in the method embodiments can also be applied to the apparatus embodiments or system embodiments. It should be noted that in the description of this application, "a plurality of" is understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The connection between A and B can represent two situations: A is directly connected to B and A is connected to B through C. In addition, in the description of this application, terms such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying an order.

[0055] The technical solutions of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0056] Embodiment 1

[0057] This embodiment provides a wear amount calculation method, as Figure 1 shown, specifically including the following steps:

[0058] S11. After obtaining the first RGB image and the first three-dimensional topography image corresponding to the unworn specimen, and the second RGB image and the second three-dimensional topography image corresponding to the worn unworn specimen, determine the spatial relationship between the first RGB image and the second RGB image;

[0059] In the embodiments of this application, when a specimen to be used for wear amount calculation is obtained, first, the wear test range to be performed on the unworn specimen is marked to obtain a marked area, and within the marked area, the first RGB image corresponding to the unworn specimen is obtained through a confocal microscope. At the same time, the three-dimensional topography image corresponding to the unworn specimen can also be obtained. Further, a wear test is performed on the unworn specimen to obtain a worn specimen, and within the marked area of the worn specimen, the second RGB image and the second three-dimensional topography image corresponding to the worn specimen are obtained through a confocal microscope.

[0060] After obtaining the above-mentioned first RGB image and second RGB image, feature point matching is performed between the first RGB image and the second RGB image through a preset algorithm, such as the Scale Invariant Feature Transform (SIFT) algorithm, to obtain a matching result, where the matching result at least includes a feature point coordinate matching result. Then, according to the feature point coordinates in the matching result, an affine transformation matrix between the first RGB image and the second RGB image is calculated. Among them, the affine transformation is a linear transformation between two-dimensional coordinates that can maintain the straightness and parallelism of two-dimensional graphics. The straightness means that a straight line remains a straight line after transformation, and an arc remains an arc. The parallelism means that the relative position relationship between two-dimensional graphics remains unchanged, parallel lines remain parallel lines, and the intersection angle of intersecting lines remains unchanged.

[0061] Next, according to the calculated affine transformation matrix, the spatial relationship between the first RGB image and the second RGB image can be determined, where it at least includes a rotation relationship and a translation relationship.

[0062] S12, based on the spatial relationship, register the first region of interest in the first RGB image with the second region of interest in the second RGB image to obtain a registration result;

[0063] In the embodiment of the present application, after calculating the spatial relationship between the first RGB image and the second RGB image, a preset region is selected in the second RGB image. The preset region can be a rectangular, triangular or circular region, and the second region of interest corresponding to the preset region is extracted in the second RGB image, where the region of interest is the key attention region in the subsequent image analysis process.

[0064] At the same time, according to the specified point coordinates of the selected preset region, such as the four vertex coordinates of a square region, or at least three boundary point coordinates of a circular region, and according to the spatial relationship between the first RGB image and the second RGB image, the theoretical region corresponding to the first RGB image is determined, and according to the specified point coordinates of the theoretical region, the first region of interest is determined in the first RGB image.

[0065] Furthermore, based on the spatial relationship between the first RGB image and the second RGB image, the first region of interest is rotated and translated to obtain a third region of interest, and the third region of interest and the second region of interest are registered based on the same image coordinate system to obtain a registration result, where the registration result at least includes a rotation error and a translation error.

[0066] Based on the above registration results, it is possible to determine whether the registration accuracy between the first region of interest and the second region of interest meets the preset accuracy, thereby achieving the purpose of making a preliminary identification of the registration accuracy of subsequent three-dimensional topography maps, which helps to improve the registration accuracy between subsequent three-dimensional topography maps.

[0067] S13. When the registration result meets the preset requirements, map the characteristic point coordinates corresponding to the first region of interest to the first three-dimensional topography map, and map the characteristic point coordinates corresponding to the second region of interest to the second three-dimensional topography map, to obtain the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map.

[0068] After obtaining the registration result between the first region of interest and the second region of interest, further determine whether the rotation error in the registration result is less than the first threshold, and determine whether the translation error in the registration result is less than the second threshold. In the embodiments of the present application, the first threshold is preferably set to 0.1 degree, and the second threshold is preferably set to 1 pixel. However, the values of the second threshold and the second threshold are not unique and can be adjusted according to actual situations. The smaller the values of the first threshold and the second threshold, the higher the requirement for the registration accuracy between the first region of interest and the second region of interest.

[0069] If the rotation error in the above process is less than the first threshold and the translation error is less than the second threshold, it is determined that the registration result meets the preset requirements. At this time, map the characteristic point coordinates corresponding to the first region of interest to the first three-dimensional topography map, and map the characteristic point coordinates corresponding to the second region of interest to the second three-dimensional topography map, to obtain the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map. In this way, high-precision registration between the three-dimensional topography maps corresponding to the specimens before and after wear can be achieved.

[0070] If the rotation error in the above process is greater than or equal to the first threshold and the translation error is greater than or equal to the second threshold, it is determined that the registration result does not meet the preset requirements. At this time, after upsampling the first region of interest and the second region of interest, continue to register the upsampled first region of interest and the second region of interest until the rotation error is less than the first threshold and the translation error is less than the second threshold, then determine that the registration result meets the preset requirements, so as to achieve the registration between the three-dimensional topography maps corresponding to the first sub-region and the second sub-region respectively.

[0071] Through the above method, the regions of interest corresponding to the specimens before and after wear can be extracted. After upsampling the regions of interest, the feature point matching algorithm is reused to finely adjust the translation and rotation, achieving the registration between the regions of interest, so that the registration error between the three-dimensional topography maps corresponding to the specimens before and after wear can reach the sub-pixel level, thereby improving the registration accuracy between the three-dimensional topography maps.

[0072] S14. Calculate the wear amount between the first region of interest and the second region of interest according to the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map.

[0073] In the embodiment of the present application, after obtaining the regions of interest on the above-mentioned first three-dimensional topography map and the second three-dimensional topography map, further, calculate the wear amount between the first region of interest and the second region of interest according to the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map.

[0074] Specifically, preprocess the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map respectively. Among them, the preprocessing at least includes denoising processing and removing the surface shape, and perform a subtraction operation between the region of interest of the preprocessed first three-dimensional topography map and the region of interest of the preprocessed second three-dimensional topography map to obtain a residual topography map. Finally, calculate the wear amount between the first region of interest and the second region of interest according to the image data in the residual topography map. The specific calculation formula is:

[0075] W = Z(x, y)·R x ·R y ·ρ(1)

[0076] In formula (1), Z(x, y) > 0, and Z(x, y) represents the pixel value greater than 0 in the residual topography map; R x and R y respectively represent the resolutions in the x and y directions in the residual topography, and the unit is: micrometers / pixel; ρ represents the density of the material.

[0077] Similarly, after calculating the wear amount between the specimens corresponding to the first region of interest and the second region of interest respectively. Using the same method, the total wear amount between the specimens in all worn regions can be obtained.

[0078] Through the wear amount calculation method provided by the embodiment of the present application, the following technical effects can be achieved:

[0079] (1) Use the three-dimensional topography maps before and after wear for spatial registration, and then calculate the surface wear amount of the porous material by calculating the height difference between the two, which can improve the calculation accuracy of the wear amount.

[0080] (2) The existing SIFT algorithm cannot be directly applied to 3D topography maps. Since the original RGB image obtained from a confocal microscope and the 3D topography map have the same image coordinate system, in the embodiments of the present application, the results of RGB image matching are mapped onto the 3D topography map, indirectly achieving the spatial registration of the 3D topography maps before and after wear.

[0081] (3) By extracting the region of interest and performing upsampling on the region of interest and then repeating the use of the feature point matching algorithm for fine-tuning of translation and rotation, the error of spatial registration is made to meet the preset requirements, thereby improving the matching accuracy, achieving sub-pixel registration, and reducing the calculation error of the wear amount.

[0082] Embodiment 2

[0083] Based on the same inventive concept as Embodiment 1, this embodiment provides a wear amount calculation device, as Figure 2 shown, which is a schematic structural diagram of a wear amount calculation device in the present application. The device includes:

[0084] A first determination module 21, which determines the spatial relationship between the first RGB map and the second RGB map after obtaining the first RGB map and the first 3D topography map corresponding to the unworn specimen, and the second RGB map and the second 3D topography map corresponding to the worn unworn specimen. The spatial relationship includes at least a rotation relationship and a translation relationship.

[0085] A registration module 22, which registers the first region of interest in the first RGB map and the second region of interest in the second RGB map based on the spatial relationship to obtain a registration result.

[0086] A mapping module 23, when the registration result meets the preset requirements, maps the characteristic point coordinates corresponding to the first region of interest to the first 3D topography map, and maps the characteristic point coordinates corresponding to the second region of interest to the second 3D topography map to obtain the regions of interest on the first 3D topography map and the second 3D topography map.

[0087] A calculation module 24, which calculates the wear amount between the first region of interest and the second region of interest based on the regions of interest on the first 3D topography map and the second 3D topography map.

[0088] In a possible design, the device further includes:

[0089] A marking module, which is used to mark the wear test range to be performed on the unworn specimen to obtain a marked region.

[0090] A first acquisition module, configured to acquire the corresponding first RGB image and first three-dimensional topography map of the unworn specimen within the marked area through a confocal microscope;

[0091] A test module, configured to perform a wear test on the unworn specimen to obtain a worn specimen;

[0092] A second acquisition module, configured to acquire the corresponding second RGB image and second three-dimensional topography map of the worn specimen within the marked area through the confocal microscope.

[0093] In a possible design, the first determination module 21 is specifically configured to:

[0094] Perform feature point matching between the first RGB image and the second RGB image to obtain a matching result, where the matching result at least includes a feature point coordinate matching result;

[0095] Calculate an affine transformation matrix between the first RGB image and the second RGB image according to the feature point coordinates in the matching result;

[0096] Determine the spatial relationship between the first RGB image and the second RGB image according to the affine transformation matrix.

[0097] In a possible design, the device further includes:

[0098] A selection module, configured to select a preset area in the second RGB image and extract a second region of interest corresponding to the preset area in the second RGB image;

[0099] A second determination module, configured to determine a first region of interest in the first RGB image according to the specified point coordinates of the preset area and the spatial relationship.

[0100] In a possible design, the registration module 22 is specifically configured to:

[0101] Rotate and translate the first region of interest in the first RGB image based on the spatial relationship to obtain a third region of interest;

[0102] Register the third region of interest and the second region of interest corresponding to the second RGB based on the same image coordinate system to obtain the registration result, where the registration result at least includes a rotation error and a translation error.

[0103] In a possible design, the mapping module 23 is specifically configured to:

[0104] Judge whether the rotation error in the registration result is less than a first threshold, and judge whether the translation error in the registration result is less than a second threshold;

[0105] If the rotation error is less than the first threshold and the translation error is less than the second threshold, it is determined that the registration result meets the preset requirements;

[0106] If the rotation error is not less than the first threshold and the translation error is not less than the second threshold, after upsampling the first region of interest and the second region of interest, continue to register the upsampled first region of interest and the second region of interest until the rotation error is less than the first threshold and the translation error is less than the second threshold, then it is determined that the registration result meets the preset requirements;

[0107] When it is determined that the registration result meets the preset requirements, map the characteristic point coordinates corresponding to the first region of interest to the first three-dimensional topography map, and map the characteristic point coordinates corresponding to the second region of interest to the second three-dimensional topography map, to obtain the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map.

[0108] In a possible design, the calculation module 24 is specifically configured to:

[0109] Perform preprocessing on the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map respectively, where the preprocessing at least includes denoising processing and removing the surface shape;

[0110] Perform a difference operation between the region of interest of the preprocessed first three-dimensional topography map and the region of interest of the preprocessed second three-dimensional topography map to obtain a residual topography map;

[0111] Calculate the wear amount between the first region of interest and the second region of interest according to the image data in the residual topography map.

[0112] Through the wear amount calculation device provided by the embodiments of the present application, the following technical effects can be achieved:

[0113] (1) Use the three-dimensional topography maps before and after wear for spatial registration, and then calculate the surface wear amount of the porous material by calculating the height difference between the two, which can improve the calculation accuracy of the wear amount.

[0114] (2) The existing SIFT algorithm cannot be directly used on the three-dimensional topography map. Since the original RGB image obtained from the confocal microscope and the three-dimensional topography map have the same image coordinate system, in the embodiments of the present application, the result of RGB image matching is mapped to the three-dimensional topography map, indirectly realizing the spatial registration of the three-dimensional topography maps before and after wear.

[0115] (3) By extracting the region of interest and upsampling the region of interest, the feature point matching algorithm is reused to finely adjust the translation and rotation, so that the error of spatial registration meets the preset requirements, thereby improving the matching accuracy, achieving sub-pixel registration, and reducing the wear amount calculation error.

[0116] Embodiment 3

[0117] Based on the same inventive concept, an electronic device is further provided in the embodiments of the present application. The electronic device can implement the functions of the foregoing wear amount calculation method. Refer to Figure 3 , the electronic device includes:

[0118] At least one processor 31 and a memory 32 connected to at least one processor 31. In the embodiments of the present application, the specific connection medium between the processor 31 and the memory 32 is not limited. Figure 3 In, it is taken as an example that the processor 31 and the memory 32 are connected through a bus 30. The bus 30 is Figure 3 shown by a thick line in. The connection manners between other components are only for illustrative purposes and are not limited thereto. The bus 30 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 3 only a thick line is shown in, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor 31 can also be called a controller, and the name is not limited.

[0119] In the embodiments of the present application, the memory 32 stores instructions executable by at least one processor 31. By executing the instructions stored in the memory 32, at least one processor 31 can execute the wear amount calculation method described above. The processor 31 can implement the functions of each module in the above Figure 2 shown device.

[0120] Among them, the processor 31 is the control center of the device, and can connect various parts of the entire control device through various interfaces and lines. By running or executing the instructions stored in the memory 32 and calling the data stored in the memory 32, various functions of the device and process data, so as to monitor the device as a whole.

[0121] In a possible design, the processor 31 may include one or more processing units. The processor 31 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 31 either. In some embodiments, the processor 31 and the memory 32 may be implemented on the same chip, and in some embodiments, they may also be separately implemented on independent chips.

[0122] The processor 31 may be a general-purpose processor, such as a central processing unit (CPU), a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the wear amount calculation method disclosed in combination with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0123] As a non-volatile computer-readable storage medium, the memory 32 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory 32 may include at least one type of storage medium. For example, it may include flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (RAM), a static random access memory (SRAM), a programmable read-only memory (PROM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 32 is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 32 in the embodiments of the present application may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0124] By programming the design of the processor 31, the code corresponding to the wear amount calculation method introduced in the foregoing embodiments can be solidified into the chip, so that the chip can execute when running Figure 1Steps of the wear amount calculation method of the illustrated embodiment. How to design and program the processor 31 is a well-known technology to those skilled in the art and will not be elaborated here.

[0125] Based on the same inventive concept, an embodiment of the present application also provides a storage medium storing computer instructions, which when running on a computer, cause the computer to execute the wear amount calculation method described above.

[0126] In some possible implementation manners, each aspect of the wear amount calculation method provided by the present application can also be implemented in the form of a program product, which includes program code. When the program product runs on a device, the program code is used to cause the control device to execute the steps in the wear amount calculation method according to various exemplary embodiments of the present application described above in this specification.

[0127] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0128] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0129] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device that realizes the functions specified in Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions for implementing the functions specified in one process or a plurality of processes and / or boxes Figure 1 one process or a plurality of processes and / or boxes Figure 1 steps for implementing the functions specified in one box or a plurality of boxes.

[0131] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to cover these changes and modifications.

[0132] Like or similar reference numerals correspond to like or similar components;

[0133] The terms used to describe the positional relationship in the drawings are for illustrative purposes only and should not be construed as a limitation of this patent;

[0134] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention and are not intended to limit the embodiments of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the embodiments here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A wear amount calculation method, characterized in that, The method includes: After obtaining a first RGB image and a first three-dimensional topography image corresponding to an unworn specimen, and a second RGB image and a second three-dimensional topography image corresponding to the worn unworn specimen, determining a spatial relationship between the first RGB image and the second RGB image, where the spatial relationship includes at least a rotation relationship and a translation relationship; Based on the spatial relationship, registering a first region of interest in the first RGB image with a second region of interest in the second RGB image to obtain a registration result; When the registration result meets a preset requirement, mapping the feature point coordinates corresponding to the first region of interest to the first three-dimensional topography image, and mapping the feature point coordinates corresponding to the second region of interest to the second three-dimensional topography image to obtain regions of interest on the first three-dimensional topography image and the second three-dimensional topography image; Calculating the wear amount between the first region of interest and the second region of interest according to the regions of interest on the first three-dimensional topography image and the second three-dimensional topography image; The determining the spatial relationship between the first RGB image and the second RGB image includes: Performing feature point matching between the first RGB image and the second RGB image to obtain a matching result, where the matching result includes at least a feature point coordinate matching result; Calculating an affine transformation matrix between the first RGB image and the second RGB image according to the feature point coordinates in the matching result; Determining the spatial relationship between the first RGB image and the second RGB image according to the affine transformation matrix; The registering the first region of interest in the first RGB image with the second region of interest in the second RGB image based on the spatial relationship to obtain a registration result includes: Rotating and translating the first region of interest in the first RGB image based on the spatial relationship to obtain a third region of interest; Registering the third region of interest with the second region of interest corresponding to the second RGB image based on the same image coordinate system to obtain the registration result, where the registration result includes at least a rotation error and a translation error.

2. The wear amount calculation method according to claim 1, characterized in that Before obtaining the first RGB image and the first three-dimensional topography image corresponding to the unworn specimen, and the second RGB image and the second three-dimensional topography image corresponding to the worn unworn specimen, it further includes: Marking a wear test range to be performed on the unworn specimen to obtain a marked region; Within the marked region, obtaining the first RGB image and the first three-dimensional topography image corresponding to the unworn specimen through a confocal microscope; Performing a wear test on the unworn specimen to obtain a worn specimen; Within the marked region, obtaining the second RGB image and the second three-dimensional topography image corresponding to the worn specimen through the confocal microscope.

3. The wear amount calculation method according to claim 1, characterized in that Before the spatial relationship matching between the first region of interest in the first RGB image and the second region of interest in the second RGB image based on the spatial relationship, it further includes: Select a preset region in the second RGB image, and extract a second region of interest corresponding to the preset region in the second RGB image; Determine the first region of interest in the first RGB image according to the specified point coordinates of the preset region and the spatial relationship.

4. The wear amount calculation method according to claim 1, characterized in that When the registration result meets the preset requirements, mapping the characteristic point coordinates corresponding to the first region of interest to the first three-dimensional topography map, and mapping the characteristic point coordinates corresponding to the second region of interest to the second three-dimensional topography map, includes: Judge whether the rotation error in the registration result is less than a first threshold, and judge whether the translation error in the registration result is less than a second threshold; If the rotation error is less than the first threshold and the translation error is less than the second threshold, it is determined that the registration result meets the preset requirements; If the rotation error is not less than the first threshold and the translation error is not less than the second threshold, after upsampling the first region of interest and the second region of interest, continue to register the upsampled first region of interest and the second region of interest until the rotation error is less than the first threshold and the translation error is less than the second threshold, then it is determined that the registration result meets the preset requirements; When it is determined that the registration result meets the preset requirements, map the characteristic point coordinates corresponding to the first region of interest to the first three-dimensional topography map, and map the characteristic point coordinates corresponding to the second region of interest to the second three-dimensional topography map, to obtain the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map.

5. The wear amount calculation method according to claim 1, characterized in that, Calculating the wear amount between the first region of interest and the second region of interest according to the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map, includes: Perform preprocessing on the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map respectively, where the preprocessing at least includes denoising processing and removing the surface shape; Perform a difference operation between the region of interest of the preprocessed first three-dimensional topography map and the region of interest of the preprocessed second three-dimensional topography map to obtain a residual topography map; Calculate the wear amount between the first region of interest and the second region of interest according to the image data in the residual topography map.

6. A wear amount calculation device, characterized in that, The device includes: A first determination module, after obtaining the first RGB image and the first three-dimensional topography map corresponding to the unworn specimen, and the second RGB image and the second three-dimensional topography map corresponding to the worn unworn specimen, determine the spatial relationship between the first RGB image and the second RGB image, where the spatial relationship at least includes a rotation relationship and a translation relationship; A registration module, based on the spatial relationship, register the first region of interest in the first RGB image with the second region of interest in the second RGB image to obtain a registration result; A mapping module, when the registration result meets the preset requirements, maps the coordinates of the feature points corresponding to the first region of interest to the first three-dimensional topography map, and maps the coordinates of the feature points corresponding to the second region of interest to the second three-dimensional topography map, to obtain the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map; A calculation module, calculates the wear amount between the first region of interest and the second region of interest according to the regions of interest on the first three-dimensional topography map and the second three-dimensional topography map; The determination of the spatial relationship between the first RGB image and the second RGB image includes: Performing feature point matching between the first RGB image and the second RGB image to obtain a matching result, where the matching result at least includes a feature point coordinate matching result; Calculating an affine transformation matrix between the first RGB image and the second RGB image according to the feature point coordinates in the matching result; Determining the spatial relationship between the first RGB image and the second RGB image according to the affine transformation matrix; The registration of the first region of interest in the first RGB image and the second region of interest in the second RGB image based on the spatial relationship to obtain a registration result includes: Based on the spatial relationship, rotating and translating the first region of interest in the first RGB image to obtain a third region of interest; Registering the third region of interest and the second region of interest corresponding to the second RGB image based on the same image coordinate system to obtain the registration result, where the registration result at least includes a rotation error and a translation error.

7. An electronic device, characterized in that, Comprising: A memory for storing a computer program; A processor, when executing the computer program stored on the memory, implements the wear amount calculation method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the wear amount calculation method according to any one of claims 1-6.

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