Buckle detection method, device, equipment and storage medium

Abstract

The application belongs to the technical field of vehicle design, and discloses a buckle detection method, device, equipment and storage medium. The application constructs a detection template corresponding to a to-be-detected virtual buckle; the detection template is moved so that the pose of the detection template matches the to-be-detected virtual buckle; a buckle mounting plate part corresponding to the to-be-detected virtual buckle is recognized based on the detection template; an installation coordinate system is established on the buckle mounting plate part; and installation specification detection is performed on the to-be-detected virtual buckle based on the installation coordinate system and the detection template. Since the detection template corresponding to the to-be-detected virtual buckle is moved, the detection template matches the to-be-detected virtual buckle, the buckle mounting plate part can be correctly recognized, and then the size, thickness and other parameters of the buckle mounting plate part can be correctly measured based on the installation coordinate system and the detection template established on the buckle mounting plate part, and it is determined whether other parts exist that interfere with the buckle, so that it is realized that whether the buckle meets the installation specification is automatically detected.

Description

Technical Field

[0001] This invention relates to the field of vehicle design technology, and in particular to a method, apparatus, equipment and storage medium for detecting clips. Background Technology

[0002] To avoid hardware mismatches during actual production, a corresponding vehicle design model is typically built before production to simulate the actual effects of various hardware components. Vehicles usually have a large number of clips, and to avoid installation difficulties or loose clips during actual vehicle assembly, the clip parameters used in the vehicle design model need to be tested in a standardized manner.

[0003] Currently, the standard inspection of buckles is generally carried out by manual verification. However, there are a large number of buckles in a vehicle, and manual verification is costly, inefficient, and prone to omissions.

[0004] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this invention is to provide a buckle detection method, apparatus, device, and storage medium, aiming to solve the technical problem that existing technologies cannot automatically perform standardized detection of buckles.

[0006] To achieve the above objectives, the present invention provides a buckle detection method, the method comprising the following steps:

[0007] Construct the detection template corresponding to the virtual buckle to be detected;

[0008] Move the detection template so that it matches the virtual buckle to be detected;

[0009] Based on the detection template, identify the buckle mounting plate corresponding to the virtual buckle to be detected;

[0010] Establish an installation coordinate system on the snap-fit ​​mounting plate;

[0011] The installation standardization of the virtual buckle to be tested is performed based on the installation coordinate system and the test template.

[0012] Optionally, before the step of constructing the detection template corresponding to the virtual buckle to be detected, the method further includes:

[0013] Upon receiving a search keyword, the search keyword is matched with the keywords in the configuration table to determine the type of virtual buckle to be detected;

[0014] Accordingly, the step of constructing the detection template corresponding to the virtual buckle to be detected includes:

[0015] Obtain the buckle type corresponding to the virtual buckle to be detected;

[0016] Based on the buckle type, find the detection template corresponding to the virtual buckle to be detected.

[0017] Optionally, the step of moving the detection template to match the virtual buckle to be detected includes:

[0018] Simulate moving the detection template and perform model registration using a local consistency registration algorithm;

[0019] When registration is successful using the local consistency registration algorithm, the current template pose information of the detection template is recorded;

[0020] The detection template is moved according to the template pose information so that the detection template matches the virtual buckle to be detected.

[0021] Optionally, after the step of simulating the movement of the detection template and performing model registration using a local consistency registration algorithm, the method further includes:

[0022] If the local consistency registration algorithm fails, the local similarity registration algorithm will be used for model registration.

[0023] When registration is successful using the local similarity registration algorithm, the current template pose information of the detected template is recorded;

[0024] The detection template is moved according to the template pose information so that the detection template matches the virtual buckle to be detected.

[0025] Optionally, the step of identifying the buckle mounting plate corresponding to the virtual buckle to be detected based on the detection template includes:

[0026] The smallest containment box corresponding to the virtual buckle to be detected is determined according to the detection template;

[0027] Match the minimum containing box with the minimum containing boxes of other parts in the assembly to identify the suspected mounting plate.

[0028] Calculate the minimum distance between each suspected mounting plate and the end of the detection template;

[0029] Based on the minimum distance, select the snap-fit ​​mounting plate from the suspected mounting plates.

[0030] Optionally, the step of establishing an installation coordinate system on the snap-fit ​​mounting plate includes:

[0031] Obtain the point cloud of the mounting holes corresponding to the buckle mounting plate, and fit the mounting plane using the point cloud of the mounting holes;

[0032] Obtain the normal vector corresponding to the mounting plane, and determine the approximate center point based on the point cloud of the mounting holes;

[0033] Based on the approximate center point, determine the interference points in the mounting hole point cloud, and remove the interference points from the mounting hole point cloud;

[0034] The reference center point is obtained by using the approximate center point of the mounting hole after removing interference points to cloud computing.

[0035] An installation coordinate system is constructed based on the reference center point and the normal vector.

[0036] Optionally, the step of performing installation conformity testing on the virtual buckle to be tested based on the installation coordinate system and the testing template includes:

[0037] The thickness of the plate and the size of the mounting holes corresponding to the buckle mounting plate are determined based on the installation coordinate system.

[0038] Identify the target part that interferes with the detection template;

[0039] Calculate the minimum distance between each target part and the preset end feature in the detection template;

[0040] The installation compliance test result of the virtual buckle to be tested is determined based on the plate thickness, the mounting hole size, and the minimum distance.

[0041] Furthermore, to achieve the above objectives, the present invention also proposes a buckle detection device, which includes the following modules:

[0042] The template building module is used to build the detection template corresponding to the virtual buckle to be detected.

[0043] The template matching module is used to move the detection template so that the detection template matches the virtual buckle to be detected.

[0044] The panel identification module is used to identify the buckle mounting panel corresponding to the virtual buckle to be detected based on the detection template;

[0045] A coordinate construction module is used to establish an installation coordinate system on the snap-fit ​​mounting plate.

[0046] The buckle detection module is used to perform installation standardization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template.

[0047] In addition, to achieve the above objectives, the present invention also proposes a snap-fit ​​detection device, which includes: a processor, a memory, and a snap-fit ​​detection program stored in the memory and executable on the processor. When the snap-fit ​​detection program is executed by the processor, it implements the steps of the snap-fit ​​detection method as described above.

[0048] Furthermore, to achieve the above objectives, the present invention also proposes a computer-readable storage medium storing a buckle detection program, wherein the buckle detection program, when executed, implements the steps of the buckle detection method as described above.

[0049] This invention constructs a detection template corresponding to a virtual buckle to be tested; moves the detection template to match the virtual buckle; identifies the buckle mounting plate corresponding to the virtual buckle based on the detection template; establishes an installation coordinate system on the buckle mounting plate; and performs installation conformity testing on the virtual buckle based on the installation coordinate system and the detection template. Because the detection template is moved to match the virtual buckle, the buckle mounting plate is correctly identified. Furthermore, by establishing the installation coordinate system and the detection template on the buckle mounting plate, the dimensions, thickness, and other parameters of the buckle mounting plate can be accurately measured, and the presence of other parts interfering with the buckle can be determined, thus achieving automatic detection of whether the buckle conforms to installation specifications. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the structure of an electronic device in the hardware operating environment involved in the embodiments of the present invention;

[0051] Figure 2 This is a flowchart illustrating the first embodiment of the buckle detection method of the present invention;

[0052] Figure 3 This is a schematic diagram of the detection template structure according to an embodiment of the present invention;

[0053] Figure 4 This is a flowchart illustrating the second embodiment of the buckle detection method of the present invention;

[0054] Figure 5 This is a schematic diagram of partial features according to an embodiment of the present invention;

[0055] Figure 6 This is a schematic diagram of triangular subdivision according to an embodiment of the present invention;

[0056] Figure 7 This is a schematic diagram of an angle feature according to an embodiment of the present invention;

[0057] Figure 8 This is a flowchart illustrating the third embodiment of the buckle detection method of the present invention;

[0058] Figure 9 This is a point cloud diagram of mounting holes according to an embodiment of the present invention;

[0059] Figure 10 This is a schematic diagram of the coordinate system construction points according to an embodiment of the present invention;

[0060] Figure 11 This is a structural block diagram of the first embodiment of the buckle detection device of the present invention.

[0061] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0062] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0063] Reference Figure 1 , Figure 1 This is a schematic diagram of the buckle detection device structure in the hardware operating environment involved in the embodiments of the present invention.

[0064] like Figure 1 As shown, the electronic device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0065] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0066] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a latch detection program.

[0067] exist Figure 1 In the electronic device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the electronic device of the present invention can be set in the buckle detection device. The electronic device calls the buckle detection program stored in the memory 1005 through the processor 1001 and executes the buckle detection method provided in the embodiment of the present invention.

[0068] This invention provides a method for detecting snap fasteners, referring to... Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of a buckle detection method according to the present invention.

[0069] In this embodiment, the buckle detection method includes the following steps:

[0070] Step S10: Construct the detection template corresponding to the virtual buckle to be detected.

[0071] It should be noted that the execution subject of this embodiment can be the buckle detection device. The buckle detection device can be a device capable of building and detecting vehicle design models, such as a personal computer, tablet computer, or server, or other electronic devices that can achieve the same or similar functions. This embodiment does not limit this. In this embodiment and the following embodiments, the buckle detection device is used as an example to illustrate the buckle detection method of this application.

[0072] It should be noted that the virtual buckle to be inspected can be a virtual buckle designated for standardized inspection within the vehicle design model. This virtual buckle can be specified by the personnel managing the buckle inspection equipment according to actual needs. The inspection template can include a registration body and a measuring body. The registration body is used to register with the buckle to be inspected, while the measuring body is marked with preset features used to assist in the inspection of the buckle, such as preset features for holes and ends. During the registration process, if the registration body is rotated or translated, the measuring body will also rotate and translate accordingly.

[0073] To facilitate understanding, we will now combine... Figure 3 To explain, Figure 3 This is a schematic diagram of the detection template structure in this embodiment, as shown below. Figure 3 As shown, the detection template includes a registration body and a measuring body. The measuring body is marked with preset features of the hole, the end position, and the end preset features.

[0074] Furthermore, to facilitate the user's selection of the virtual buckle to be tested, this embodiment may include the following steps before step S10:

[0075] Upon receiving a search keyword, the search keyword is matched with the keywords in the configuration table to determine the virtual buckle to be detected;

[0076] Accordingly, step S10 may include:

[0077] Obtain the buckle type corresponding to the virtual buckle to be detected;

[0078] Based on the buckle type, find the detection template corresponding to the virtual buckle to be detected.

[0079] It should be noted that a vehicle design may utilize multiple types of clips. To differentiate between these clips, a method of "location + part type + type + number" can be used to distinguish the various clips used in the vehicle design model. Users can then select the virtual clip to be detected by inputting search keywords. When the clip detection device receives the search keywords, it matches them with keywords in a configuration table to identify the virtual clip to be detected. The configuration table can store the association between the location of each clip in the vehicle design model and the clip's unique identifier, while the keywords can be the unique identifier of each clip.

[0080] For example, suppose there are four buckles in the vehicle design model, with corresponding unique buckle identifiers "head-Buckle-type1-1", "head-Buckle-type2-2", "body-Buckle-type1-1", and "body-Buckle-type1-2". Here, "head" indicates that the buckle is used for the front of the vehicle, "body" indicates that the buckle is used for the body, "Buckle" indicates that the part type is buckle, and "type1" and "type2" indicate the buckle type. If the user enters the search keyword "head-Buckle", then the two buckles with unique identifiers "head-Buckle-type1-1" and "head-Buckle-type2-2" will be used as virtual buckles to be detected. However, if the user enters the search keyword "type1", then the two buckles with unique identifiers "head-Buckle-type1-1" and "body-Buckle-type1-1" will be used as virtual buckles to be detected.

[0081] Understandably, since a vehicle may have a large number of clips, setting up a test template for each clip would be extremely labor-intensive and ineffective. In fact, vehicles have various types (different sizes and specifications) of clips, and the clip parameters of the same type of clip are consistent. The same test template can be used to test clips of the same type. Therefore, the corresponding test template can be set in advance according to the clip type to improve the reuse rate of the test template. Then, when testing is required, the corresponding test template can be found according to the clip type of the virtual clip to be tested.

[0082] Step S20: Move the detection template so that it matches the virtual buckle to be detected.

[0083] It should be noted that moving the detection template to match the virtual buckle to be detected can be achieved by rotating, translating, or other operations to move the registration body in the detection template, thereby ensuring that the installation direction and attitude information of the registration body are consistent with the virtual buckle to be detected.

[0084] Step S30: Identify the buckle mounting plate corresponding to the virtual buckle to be detected based on the detection template.

[0085] It should be noted that the snap-on mounting plate can be any plate that the snap-on should clamp during installation. Identifying the snap-on mounting plate corresponding to the virtual snap-on to be detected based on the detection template can be done by filtering various parts in the vehicle design model according to the detection template to determine the plate clamped by the virtual snap-on to be detected in the vehicle design model.

[0086] In a specific implementation, in order to accurately identify the buckle mounting plate corresponding to the virtual buckle to be detected, step S30 in this embodiment may include:

[0087] The smallest containment box corresponding to the virtual buckle to be detected is determined according to the detection template;

[0088] Match the minimum containing box with the minimum containing boxes of other parts in the assembly to identify the suspected mounting plate.

[0089] Calculate the minimum distance between each suspected mounting plate and the end of the detection template;

[0090] Based on the minimum distance, select the snap-fit ​​mounting plate from the suspected mounting plates.

[0091] It should be noted that the minimum bounding box corresponding to the virtual buckle to be detected determined according to the detection template can be the minimum bounding box that encloses the detection template determined by the spatial position of the components in the detection template. The assembly can be a vehicle design model. Matching the minimum bounding box with the minimum bounding boxes of other parts in the assembly, and determining the suspected mounting plate can be comparing the minimum bounding box with the minimum bounding boxes of other parts in the assembly, and taking the parts in the minimum bounding box that may interfere with the minimum bounding box corresponding to the virtual buckle to be detected as the suspected mounting plate.

[0092] In a specific implementation, to determine whether two minimum bounding boxes interfere, it can be determined by comparing the size relationship between the maximum limits and the minimum points of the two minimum bounding boxes.

[0093] For example: Assume that the minimum point of the minimum bounding box A is (x11, y11, z11), and the maximum point is (x12, y12, z12); the minimum point of the minimum bounding box B is (x21, y21, z21), and the maximum point is (x22, y22, z22);

[0094] If A and B interfere, then ((x21 < x11 < x22) and (y21 < y11 < y22) and (z21 < z11 < z22)) or ((x21 < x12 < x22) and (y21 < y12 < y22) and (z21 < z12 < z22)) or ((x11 < x21 < x12) and (y11 < y21 < y12) and (z11 < z21 < z12)) or ((x11 < x22 < x12) and (y11 < y22 < y12) and (z11 < z22 < z12)).

[0095] In actual use, if the minimum distance between each suspected mounting plate and the template end of the detection template is not 0, then the suspected mounting plate with the smallest corresponding minimum distance can be taken as the buckle mounting plate; and if there is only one suspected mounting plate with the minimum distance of 0 between it and the template end of the detection template, then the suspected mounting plate with the corresponding minimum distance of 0 can be taken as the buckle mounting plate.

[0096] Among them, if there are two or more suspected mounting plates with the minimum distance of 0 between them and the template end of the detection template, it can be determined that the virtual buckle to be detected interferes with other parts except the plate, and at this time, the buckle state can be determined to be abnormal.

[0097] Step S40: Establish an installation coordinate system on the buckle mounting plate.

[0098] It should be noted that when performing installation standardization tests on the buckle, it is necessary to check parameters such as the distance between the buckle end and other components that may interfere with the buckle end, whether the size of the buckle mounting hole conforms to the specifications, and the thickness of the mounting plate. In order to facilitate the inspection of the size of the mounting hole on the buckle mounting plate and the thickness of the buckle mounting plate, it is necessary to establish an installation coordinate system on the buckle mounting plate.

[0099] Step S50: Perform installation standardization inspection on the virtual buckle to be inspected based on the installation coordinate system and the inspection template.

[0100] It should be noted that the installation standardization test of the virtual buckle to be tested based on the installation coordinate system and the test template can be based on the installation coordinate system to determine the mounting hole size and thickness of the buckle mounting plate corresponding to the virtual buckle to be tested, and based on the test template to determine whether there are other parts in the vehicle design model that will contact or interfere with the buckle to be tested, thereby determining whether the virtual buckle to be tested conforms to the installation standard.

[0101] This embodiment constructs a detection template corresponding to the virtual buckle to be detected; moves the detection template to match the virtual buckle; identifies the buckle mounting plate corresponding to the virtual buckle based on the detection template; establishes an installation coordinate system on the buckle mounting plate; and performs installation compliance inspection on the virtual buckle based on the installation coordinate system and the detection template. Because the detection template corresponding to the virtual buckle is moved to match the virtual buckle, the buckle mounting plate can be correctly identified. Furthermore, by establishing the installation coordinate system and the detection template on the buckle mounting plate, the dimensions, thickness, and other parameters of the buckle mounting plate can be accurately measured, and the presence of other parts that interfere with the buckle can be determined. This achieves automatic detection of whether the buckle conforms to installation specifications.

[0102] refer to Figure 4 , Figure 4 This is a flowchart illustrating a second embodiment of a buckle detection method according to the present invention.

[0103] Based on the first embodiment described above, step S20 of the buckle detection method in this embodiment includes:

[0104] Step S201: Simulate the movement of the detection template and perform model registration using the local consistency registration algorithm.

[0105] In practical applications, simulating a motion detection template and performing model registration using a local consistency registration algorithm can be done as follows:

[0106] ① Simulate the movement of the detection template in memory, calculate the feature description value of each triangular face of the detection template after movement and the virtual buckle to be detected, and round down each feature matching value;

[0107] ② Construct histograms for the feature matching values ​​of the virtual buckle to be detected and the detection template, respectively;

[0108] ③ Find a pair of triangles with the same feature matching value and a frequency of 1 in the histogram and perform matching;

[0109] ④ If the virtual buckle to be tested and the test template are still not registered, continue to simulate moving the test template and repeat ③ until registration is successful;

[0110] ⑤ If all possible moves have been completed and registration has not been achieved in step ④, then registration is deemed to have failed.

[0111] To facilitate understanding, we will now combine... Figure 5 This explanation is provided, but it does not limit the scope of this solution. Figure 5 This is a schematic diagram of local features in this embodiment, such as... Figure 5 As shown, the three vertices of triangle i are A, B, and C, and the lengths of its three sides are a, b, and c, respectively. The angles between the normal of i and the normal of its adjacent face are k1, k2, and k3, respectively. The sums of the distances between the vertices of i and the center points of their adjacent faces are d1, d2, and d3, respectively. Then, the feature descriptor of triangle i is (a, b, c, k1, k2, k3, d1, d2, d3), and the feature matching value of triangle i is a*k1*d1+b*k2*d2+c*k3*d3.

[0112] In the specific implementation, before executing step S201, the matching score between the detection template and the virtual buckle to be detected can be calculated. If the matching score is less than a preset matching threshold, the detection template and the virtual buckle to be detected can be directly determined to be matched without executing subsequent movement steps; otherwise, the matching score is greater than or equal to the preset matching threshold. The preset matching threshold can be preset by the administrator of the buckle detection equipment, for example, setting the preset matching threshold to 0.05.

[0113] Step S202: When registration is successful through the local consistency registration algorithm, record the current template pose information of the detection template.

[0114] It is understood that if registration is successful using the local consistency registration algorithm, the detection template can be moved according to its current pose information to ensure matching between the detection template and the virtual buckle to be detected. The pose information can include the installation direction and orientation of the detection template.

[0115] Step S203: Move the detection template according to the template pose information so that the detection template matches the virtual buckle to be detected.

[0116] In a specific implementation, the detection template can be moved according to the template pose information, so that the installation direction and posture information of the registration body in the detection template are consistent with those recorded in the template pose information, thereby making the detection template match the virtual buckle to be detected.

[0117] In its specific implementation, the local consistency registration algorithm calculates the transformation matrix from template features to target features by finding local features on two matching targets. While the algorithm is fast overall, it has high requirements for the matching targets, necessitating the existence of consistent local features. Although this method is fast, its overly stringent requirements introduce a possibility of registration failure. To ensure that the detection template still matches the virtual buckle to be detected even if registration fails using the local consistency registration algorithm, this embodiment may further include the following step after step S201:

[0118] If the local consistency registration algorithm fails, the local similarity registration algorithm will be used for model registration.

[0119] When registration is successful using the local similarity registration algorithm, the current template pose information of the detected template is recorded;

[0120] The detection template is moved according to the template pose information so that the detection template matches the virtual buckle to be detected.

[0121] It should be noted that if the registration fails using the local consistency registration algorithm, it means that the virtual buckle to be detected may not be suitable for the more stringent local consistency registration algorithm. In this case, the local similarity registration algorithm can be tried for model registration. Similarly, if the registration is successful using the local similarity registration algorithm, the detection template can still be moved according to the current template pose information of the detection template to match the virtual buckle to be detected.

[0122] To facilitate understanding, we will now combine... Figure 6 and 7 This explanation is provided, but it does not limit the scope of this solution. Figure 6 This is a schematic diagram of triangulation in this embodiment. Figure 7 This is a schematic diagram of corner features. Model registration using a local similarity registration algorithm involves subdividing each triangular facet on the virtual buckle to be detected and the detection template. The maximum side length of a single small facet is 0.5mm (the purpose of subdivision is to obtain uniformly distributed triangular faces, making the local similarity between the target and the template higher; the specific maximum side length can be adjusted according to actual needs). Figure 6As shown; after subdivision, the center point and normal vector of each triangular facet on the target buckle and buckle template are obtained respectively; the angular features α, β, γ between every pair of center points within a 20mm range of each center point are calculated, such as... Figure 7 As shown, each pair of center points (P) s and P t Between α and ν, we have: α = v × n t , β=u×(P t -P s ) / d, γ=arctan(w×n t ,u×n t The quaternary feature values ​​(α,β,γ,d) of each center point are boxed into a histogram. Similar features are aligned according to the histogram, and the current template pose information of the detection template is recorded during alignment.

[0123] This embodiment simulates the movement of the detection template and performs model registration using a local consistency registration algorithm. Upon successful registration, the current template pose information is recorded. The detection template is then moved according to this pose information to match the virtual buckle to be detected. Because the movement of the detection template is simulated, and a preset registration algorithm quickly calculates whether registration is complete, the detection template is only actually moved after registration is complete to match the virtual buckle. This reduces adjustments to the vehicle design model and accelerates overall execution efficiency.

[0124] refer to Figure 8 , Figure 8 This is a flowchart illustrating a third embodiment of a buckle detection method according to the present invention.

[0125] Based on the first embodiment described above, step S40 of the buckle detection method in this embodiment includes:

[0126] Step S401: Obtain the point cloud of the mounting holes corresponding to the buckle mounting plate, and fit the mounting plane using the point cloud of the mounting holes.

[0127] It should be noted that obtaining the point cloud of the mounting holes corresponding to the snap-fit ​​mounting plate can be done by obtaining the point cloud of the plate within a preset feature range of the holes, i.e., the mounting hole point cloud. This mounting hole point cloud can include edge points of the mounting holes and interference points. Fitting the mounting plane using the mounting hole point cloud can be done by fitting a mounting plane using the least squares method.

[0128] Step S402: Obtain the normal vector corresponding to the mounting plane, and determine the approximate center point based on the point cloud of the mounting holes.

[0129] It should be noted that determining the approximate center point based on the mounting hole point cloud can be achieved by calculating the average of the coordinates of each point contained in the mounting hole point cloud, thereby obtaining the approximate center point.

[0130] Step S403: Determine the interference points in the mounting hole point cloud based on the approximate center point, and remove the interference points from the mounting hole point cloud.

[0131] It should be noted that interference points can be divided into interference points on the mounting plane and interference points on the outer edge. The interference points on the mounting plane in the mounting hole point cloud can be determined by translating any point A in the mounting hole point cloud C by a preset distance towards the approximate center point o1 to obtain point A2. Line segments A2B and A2C are drawn with +n (positive direction of the normal vector corresponding to the mounting plane) and -n (negative direction of the normal vector corresponding to the mounting plane) as directions, respectively. If the distance between A2B or A2C and the board is 0, then A is called an interference point.

[0132] The interference point on the outer edge of the mounting hole point cloud can be determined by translating any point A in C in the opposite direction of the approximate center point o1 by a preset distance to obtain point A3. A line segment L is drawn with points A3 and o1 as endpoints. If the shortest distance between L and the plate is 0, then A is called the interference point.

[0133] The preset distance can be set in advance by the manager of the buckle detection equipment according to actual needs, such as setting the preset distance to 0.5mm.

[0134] Step S404: Obtain the reference center point by computing the approximate center point of the mounting hole points after removing interference points.

[0135] It should be noted that after removing the interference points, the remaining points in the mounting hole point cloud are all edge points of the mounting holes. At this point, the average coordinates of each point in the mounting hole point cloud after removing the interference points can be calculated to obtain an approximate center point. This approximate center point is then used as a reference center point for subsequent calculations. The reference center point is closer to the actual center of the mounting hole than the approximate center point obtained in step S402.

[0136] To facilitate understanding, we will now combine... Figure 9 This explanation is provided, but it does not limit the scope of this solution. Figure 9 This is a point cloud diagram of the mounting holes in this embodiment, as shown below. Figure 9 As shown, Figure 9 In the diagram, O1 is the approximate center point, and O2 is the reference center point. Figure 9 The light-colored dots in the image represent the interference points that have been filtered out, while the remaining dark-colored dots represent the remaining mounting hole point cloud.

[0137] Step S405: Construct an installation coordinate system based on the reference center point and the normal vector.

[0138] To facilitate understanding, we will now combine... Figure 10 To explain, Figure 10 This is a schematic diagram of the coordinate system construction points in this embodiment. The installation coordinate system, based on the reference center point and normal vector, can be constructed by translating a preset distance from the reference center point o2 in the directions +n (positive direction of the normal vector) and -n (negative direction of the normal vector) to obtain points A and B. A line segment L2 is drawn with A and B as endpoints. A perpendicular line is drawn from each point C to L2. The intersections of these perpendicular lines with L2 form a set of mapped points P. The farthest mapped point in the +n direction within the set of mapped points is taken as the origin o of the coordinate system (e.g., ...). Figure 10 As shown, all mounting hole edge points are mapped onto line segment AB, with the farthest mapped point in the +n direction on AB as the origin o of the coordinate system (where o is a point on the mounting plane). Then, Euclidean distance clustering is used to cluster P, grouping mapped points that are close together into one class. The mounting hole edge points corresponding to these class-specific mapped points are called edge points of the same layer. The minimum bounding rectangle corresponding to the edge points of the same layer at o is calculated, with the length direction of the rectangle defined as Y and the width direction as X. Then, an installation coordinate system is constructed with o as the origin, n as the z-axis, the Y direction as the y-axis, and the X direction as the x-axis. The preset translation distance can be pre-set by the personnel managing the buckle detection equipment according to actual needs; for example, the preset translation distance can be set to 20mm.

[0139] In a specific implementation, in order to reasonably determine whether the virtual buckle to be tested conforms to the installation specifications, in this embodiment, step S50 may include:

[0140] The thickness of the plate and the size of the mounting holes corresponding to the buckle mounting plate are determined based on the installation coordinate system.

[0141] Identify the target part that interferes with the detection template;

[0142] Calculate the minimum distance between each target part and the preset end feature in the detection template;

[0143] The installation compliance test result of the virtual buckle to be tested is determined based on the plate thickness, the mounting hole size, and the minimum distance.

[0144] It should be noted that determining the mounting hole size corresponding to the snap-fit ​​mounting plate based on the installation coordinate system can be achieved by taking the origin o of the mounting hole coordinate system as the starting point, translating 20mm in the directions of +n and -n respectively to obtain points A and B, and drawing line segment L with A and B as endpoints. For each point in the mounting hole point cloud C, a perpendicular line is drawn perpendicular to L2, and the intersection of the perpendicular line and L2 forms a mapping point set P. P is then segmented using Euclidean clustering to obtain the layered point cloud of C. By calculating the maximum inner diameter value of different layers, the layer with the smallest inner diameter in C is found. Then, the measured values ​​(including the length and width of the mounting hole) can be calculated using both the circular arc method and the four-point method. The measured value closest to the mounting hole size in the snap-fit ​​specification parameters is selected as the mounting hole size from the two calculated values.

[0145] The steps for calculating the measured value using the circular arc method may include: based on the point cloud of the minimum inner diameter of the mounting hole and the coordinate system of the mounting hole, take three points from the single-sided point set and fit a circle, then the centers of the two circles are o1 and o2, the diameters are d1 and d2, and the distance between the centers is L; then the length of the mounting hole is L+d1 / 2+d2 / 2, and the width is (d1+d2) / 2.

[0146] The steps for calculating the measured value using the four-point method may include: based on the point cloud of the minimum inner diameter of the mounting hole and the coordinate system of the mounting hole, create a vertical line segment at the origin, translate it to a point close to the endpoint of the mounting hole, calculate the minimum distance point between the sheet metal and the line segment, and this point is the endpoint of the mounting hole; calculate the distance between the two pairs of endpoints to obtain the length and width of the mounting hole.

[0147] In practical implementation, determining the thickness of the snap-fit ​​mounting plate based on the installation coordinate system can be achieved by using the AABB bounding box algorithm (also known as the AABB enclosing box algorithm) on the point cloud of the mounting hole edge according to the installation coordinate system to calculate the minimum bounding box; the length of the side of the minimum bounding box parallel to the z-axis of the installation coordinate system is the plate thickness. Of course, if the plate thickness parameter exists in the feature attributes of the mounting sheet metal of the snap-fit ​​mounting plate, the plate thickness can also be directly extracted from the feature attributes.

[0148] In practical use, the installation compliance test result of the virtual buckle to be tested can be determined based on the plate thickness, mounting hole size, and minimum distance. This can be done by checking whether there is a target part whose minimum distance to the preset end feature in the test template is less than or equal to 0. If it exists, the installation compliance test result of the virtual buckle to be tested can be directly determined as not meeting the buckle installation compliance conditions. If it does not exist, the plate thickness or mounting hole size can be further determined as being within the installation compliance standard range. If not, the installation compliance test result of the virtual buckle to be tested can be determined as not meeting the buckle installation compliance conditions.

[0149] In practical implementation, to facilitate user viewing of installation compliance test results, a UI interface can be set up. This UI interface displays the vehicle design model and a results output area. The results output area shows the installation compliance test results for each virtual clip to be tested. Each test result entry records the thickness of the corresponding plate, the size of the mounting hole, and the interference result (i.e., whether there are interfering parts). Clicking on an entry in the UI interface adjusts the view to the location of the corresponding clip, with the inspection result value marked in the view. Specifically, to further improve visibility, clips that do not meet installation compliance requirements can be highlighted in the UI interface (e.g., marked with a red circle).

[0150] This embodiment obtains the point cloud of mounting holes corresponding to the snap-fit ​​mounting plate and fits the mounting plane using the point cloud; obtains the normal vector corresponding to the mounting plane and determines an approximate center point based on the point cloud of mounting holes; determines interference points in the point cloud of mounting holes based on the approximate center point and removes the interference points from the point cloud of mounting holes; calculates the approximate center point based on the point cloud of mounting holes after removing the interference points to obtain a reference center point; and constructs an mounting coordinate system based on the reference center point and the normal vector. Because interference points in the point cloud of mounting holes are removed by calculating the approximate center point when constructing the coordinate system, the constructed coordinate system is not affected by interference points, thus ensuring the accuracy of subsequent dimension and plate thickness calculations.

[0151] Furthermore, this embodiment of the invention also proposes a storage medium storing a buckle detection program, which, when executed by a processor, implements the steps of the buckle detection method described above.

[0152] Reference Figure 11 , Figure 11 This is a structural block diagram of the first embodiment of the buckle detection device of the present invention.

[0153] like Figure 11 As shown, the buckle detection device proposed in this embodiment of the invention includes:

[0154] Template construction module 10 is used to construct the detection template corresponding to the virtual buckle to be detected;

[0155] Template matching module 20 is used to move the detection template so that the detection template matches the virtual buckle to be detected;

[0156] The panel identification module 30 is used to identify the buckle mounting panel corresponding to the virtual buckle to be detected based on the detection template;

[0157] Coordinate construction module 40 is used to establish an installation coordinate system on the snap-fit ​​mounting plate;

[0158] The buckle detection module 50 is used to perform installation standardization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template.

[0159] This embodiment constructs a detection template corresponding to the virtual buckle to be detected; moves the detection template to match the virtual buckle; identifies the buckle mounting plate corresponding to the virtual buckle based on the detection template; establishes an installation coordinate system on the buckle mounting plate; and performs installation compliance inspection on the virtual buckle based on the installation coordinate system and the detection template. Because the detection template corresponding to the virtual buckle is moved to match the virtual buckle, the buckle mounting plate can be correctly identified. Furthermore, by establishing the installation coordinate system and the detection template on the buckle mounting plate, the dimensions, thickness, and other parameters of the buckle mounting plate can be accurately measured, and the presence of other parts that interfere with the buckle can be determined. This achieves automatic detection of whether the buckle conforms to installation specifications.

[0160] Furthermore, the template construction module 10 is also used to match the search keywords with the keywords in the configuration table when a search keyword is received, in order to determine the virtual buckle to be detected;

[0161] The template construction module 10 is also used to obtain the buckle type corresponding to the virtual buckle to be detected; and to find the detection template corresponding to the virtual buckle to be detected according to the buckle type.

[0162] Furthermore, the template matching module 20 is also used to simulate moving the detection template and perform model registration through a local consistency registration algorithm; when the registration is successful through the local consistency registration algorithm, the current template pose information of the detection template is recorded; the detection template is moved according to the template pose information so that the detection template matches the virtual buckle to be detected.

[0163] Furthermore, the template matching module 20 is also used to perform model registration using a local similarity registration algorithm if registration fails using the local consistency registration algorithm; when registration succeeds using the local similarity registration algorithm, it records the current template pose information of the detection template; and moves the detection template according to the template pose information so that the detection template matches the virtual buckle to be detected.

[0164] Furthermore, the panel identification module 30 is also used to determine the minimum containment box corresponding to the virtual buckle to be detected based on the detection template; match the minimum containment box with the minimum containment boxes of other parts in the assembly to determine the suspected mounting panel; calculate the minimum distance between each suspected mounting panel and the template end of the detection template; and select the buckle mounting panel from the suspected mounting panels based on the minimum distance.

[0165] Furthermore, the coordinate construction module 40 is also used to obtain the mounting hole point cloud corresponding to the snap-fit ​​mounting plate, and fit the mounting plane through the mounting hole point cloud; obtain the normal vector corresponding to the mounting plane, and determine an approximate center point based on the mounting hole point cloud; determine the interference points in the mounting hole point cloud based on the approximate center point, and remove the interference points from the mounting hole point cloud; obtain a reference center point based on the approximate center point of the mounting hole point cloud after removing the interference points; and construct an installation coordinate system based on the reference center point and the normal vector.

[0166] Furthermore, the buckle detection module 50 is also used to determine the plate thickness and mounting hole size corresponding to the buckle mounting plate based on the installation coordinate system; determine the target parts that interfere with the detection template; calculate the minimum distance between the target parts and the preset end features of the detection template one by one; and determine the installation standardization detection result of the virtual buckle to be detected based on the plate thickness, the mounting hole size and the minimum distance.

[0167] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0168] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0169] In addition, for technical details not described in detail in this embodiment, please refer to the buckle detection method provided in any embodiment of the present invention, which will not be repeated here.

[0170] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0171] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0172] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0173] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for detecting snap fasteners, characterized in that, The buckle detection method includes the following steps: Construct the detection template corresponding to the virtual buckle to be detected; Move the detection template so that it matches the virtual buckle to be detected; Based on the detection template, identify the buckle mounting plate corresponding to the virtual buckle to be detected; Establish an installation coordinate system on the snap-fit ​​mounting plate; The installation standardization of the virtual buckle to be tested is performed based on the installation coordinate system and the testing template. The step of moving the detection template to match the virtual buckle to be detected includes: Simulate moving the detection template and perform model registration using a local consistency registration algorithm; When registration is successful using the local consistency registration algorithm, the current template pose information of the detection template is recorded; The detection template is moved according to the template pose information so that the detection template matches the virtual buckle to be detected. The simulated movement of the detection template and the model registration using a local consistency registration algorithm include: The detection template is simulated to move in memory, and the feature matching values ​​of the moved detection template and each triangular face of the virtual buckle to be detected are calculated. Construct histograms for the feature matching values ​​of the virtual buckle to be detected and the detection template, respectively; In the histogram, a pair of triangular faces with the same feature matching value and a frequency of 1 are matched. If the virtual buckle to be detected and the detection template are still not registered, continue to simulate moving the detection template and return to the step of finding a pair of triangular faces with the same feature matching value and a frequency of 1 in the histogram for matching, until the registration is successful.

2. The buckle detection method as described in claim 1, characterized in that, Before the step of constructing the detection template corresponding to the virtual buckle to be detected, the method further includes: Upon receiving a search keyword, the search keyword is matched with the keywords in the configuration table to determine the virtual buckle to be detected; Accordingly, the step of constructing the detection template corresponding to the virtual buckle to be detected includes: Obtain the buckle type corresponding to the virtual buckle to be detected; Based on the buckle type, find the detection template corresponding to the virtual buckle to be detected.

3. The buckle detection method as described in claim 1, characterized in that, After the step of simulating the movement of the detection template and performing model registration using a local consistency registration algorithm, the method further includes: If the local consistency registration algorithm fails, the local similarity registration algorithm will be used for model registration. When registration is successful using the local similarity registration algorithm, the current template pose information of the detected template is recorded; The detection template is moved according to the template pose information so that the detection template matches the virtual buckle to be detected.

4. The buckle detection method as described in claim 1, characterized in that, The step of identifying the buckle mounting plate corresponding to the virtual buckle to be detected based on the detection template includes: The smallest containment box corresponding to the virtual buckle to be detected is determined according to the detection template; Match the minimum containing box with the minimum containing boxes of other parts in the assembly to identify the suspected mounting plate. Calculate the minimum distance between each suspected mounting plate and the end of the detection template; Based on the minimum distance, select the snap-fit ​​mounting plate from the suspected mounting plates.

5. The buckle detection method as described in claim 1, characterized in that, The step of establishing an installation coordinate system on the snap-fit ​​mounting plate includes: Obtain the point cloud of the mounting holes corresponding to the buckle mounting plate, and fit the mounting plane using the point cloud of the mounting holes; Obtain the normal vector corresponding to the mounting plane, and determine the approximate center point based on the point cloud of the mounting holes; Based on the approximate center point, determine the interference points in the mounting hole point cloud, and remove the interference points from the mounting hole point cloud; The reference center point is obtained by using the approximate center point of the mounting hole after removing interference points to cloud computing. An installation coordinate system is constructed based on the reference center point and the normal vector.

6. The buckle detection method according to any one of claims 1-5, characterized in that, The step of performing installation standardization inspection on the virtual buckle to be inspected based on the installation coordinate system and the inspection template includes: The thickness of the plate and the size of the mounting holes corresponding to the buckle mounting plate are determined based on the installation coordinate system. Identify the target part that interferes with the detection template; Calculate the minimum distance between each target part and the preset end feature in the detection template; The installation compliance test result of the virtual buckle to be tested is determined based on the plate thickness, the mounting hole size, and the minimum distance.

7. A buckle detection device, characterized in that, The buckle detection device includes the following modules: The template building module is used to build the detection template corresponding to the virtual buckle to be detected. The template matching module is used to move the detection template so that the detection template matches the virtual buckle to be detected. The panel identification module is used to identify the buckle mounting panel corresponding to the virtual buckle to be detected based on the detection template; A coordinate construction module is used to establish an installation coordinate system on the snap-fit ​​mounting plate. The buckle detection module is used to perform installation standardization detection on the virtual buckle to be detected based on the installation coordinate system and the detection template; The template matching module is further configured to simulate moving the detection template and perform model registration using a local consistency registration algorithm; when registration is successful using the local consistency registration algorithm, the current template pose information of the detection template is recorded; and the detection template is moved according to the template pose information so that the detection template matches the virtual buckle to be detected. The template matching module is further configured to simulate moving the detection template in memory and calculate the feature matching values ​​of each triangular face of the moved detection template and the virtual buckle to be detected; construct histograms for the feature matching values ​​of the virtual buckle to be detected and the detection template respectively; find a pair of triangular faces with the same feature matching value and a frequency of 1 in the histogram for matching; if the virtual buckle to be detected and the detection template are still not registered, continue to simulate moving the detection template and return to the step of finding a pair of triangular faces with the same feature matching value and a frequency of 1 in the histogram for matching, until registration is successful.

8. A buckle detection device, characterized in that, The buckle detection device includes: a processor, a memory, and a buckle detection program stored in the memory and executable on the processor. When the buckle detection program is executed by the processor, it implements the steps of the buckle detection method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a buckle detection program, which, when executed, implements the steps of the buckle detection method as described in any one of claims 1-6.

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