Hexahedron object detection method, device, system, equipment and storage medium

Abstract

The application discloses a kind of hexahedron measured piece detection method, device, system, equipment and storage medium.Method includes: obtaining the image corresponding to six faces of hexahedron measured piece, six faces include front, back and four sides;Front corresponding image and back corresponding image both include the image obtained by photographing under backlight respectively and the image obtained by photographing under annular light source;3D image of hexahedron measured piece is obtained by 3D camera;According to the detection result whether six face corresponding image of hexahedron measured piece exists defect, according to 3D image, determine the detection result whether the height of hexahedron measured piece is qualified.The technical scheme can automatically complete the defect detection of hexahedron measured piece, improve detection efficiency and accuracy.

Description

Technical Field

[0001] This application relates to the field of quality inspection technology, specifically to a method, apparatus, system, equipment, and storage medium for inspecting a hexahedral test piece. Background Technology

[0002] In the hard drive industry, hard drive filters are used to remove impurities from hard drives, thereby protecting them. Hard drive filters must be tested for defects before leaving the factory; only those that pass the tests are allowed to ship.

[0003] As technology matures, the requirements for defect detection in hard drive filters are constantly increasing. Hard drive filters are typically hexahedral, meaning they are boxes with a hexahedral exterior. Currently, defect detection for hexahedral test components like hard drive filters is generally done manually, using a magnifying glass with the naked eye. However, the actual detection results vary greatly from person to person, are highly subjective, and result in slow detection speeds and high error rates. Summary of the Invention

[0004] In view of this, this application provides a method, apparatus, system, equipment and storage medium for detecting hexahedral test pieces, which can automatically complete the defect detection of hexahedral test pieces, improving detection efficiency and accuracy.

[0005] In a first aspect, this application provides a method for detecting a hexahedral test piece, comprising:

[0006] Obtain images corresponding to the six faces of the hexahedral test piece, including the front, back, and four side faces; the images corresponding to the front and back faces include images taken under backlight and images taken under ring light, respectively.

[0007] 3D images of a hexahedral test piece are obtained using a 3D camera;

[0008] The test results are determined based on the images corresponding to the six faces to determine whether there are defects on the six faces of the hexahedral test piece, and based on the 3D images to determine whether the height of the hexahedral test piece is qualified.

[0009] Secondly, this application also provides a testing device for a hexahedral test piece, comprising:

[0010] The first acquisition module is used to acquire images corresponding to the six faces of the hexahedral test piece. The six faces include the front face, the back face, and four side faces. The images corresponding to the front face and the back face include images taken under a backlight and images taken under a ring light source, respectively.

[0011] The second acquisition module is used to acquire a 3D image of the hexahedral test piece;

[0012] The detection module is used to determine whether there are defects on the six faces of the hexahedral test piece based on the images corresponding to the six faces, and to determine whether the height of the hexahedral test piece is qualified based on the 3D image.

[0013] Thirdly, this application also provides a detection system for a hexahedral test piece, comprising:

[0014] The image acquisition device is used to obtain images corresponding to the six faces of the hexahedral test piece, including the front, back, and four side faces; the images corresponding to the front and back faces include images taken under backlight and images taken under ring light, respectively.

[0015] A 3D camera is used to obtain 3D images of a hexahedral test piece.

[0016] The controller is used to determine whether there are defects on the six faces of the hexahedral test piece based on the images corresponding to the six faces, and to determine whether the height of the hexahedral test piece is qualified based on the 3D image.

[0017] Fourthly, this application also provides a computer device, which includes a processor and a memory. The memory stores a computer program, and when the processor executes the computer program, it implements the steps in the detection method for the hexahedral test piece described above.

[0018] Fifthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps in the detection method for the hexahedral test piece described above.

[0019] Sixthly, this application provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps in the above-described method for detecting a hexahedral test piece.

[0020] Therefore, this application has the following beneficial effects:

[0021] The inspection method for a hexahedral test piece provided in this application determines the presence of defects on each of its six faces by obtaining images of those faces. Furthermore, to accurately obtain images of the larger front and back faces, images of the front face are acquired under two different light sources: a backlight and a ring light. Images of the back face are also acquired under both different light sources. A backlight refers to light illuminating the hexahedral test piece from behind, passing through it. The camera captures an image of the hexahedral test piece illuminated by this backlight. A ring light refers to light distributed around the hexahedral test piece, illuminating it from all sides. The camera captures an image of the hexahedral test piece illuminated by this ring light. This allows for a clearer determination of whether defects exist on the relatively large front and back faces. This application also includes the detection of the height of the hexahedral test piece, which can be obtained using a 3D line scan camera, for example. Therefore, the technical solution provided in this application determines the quality of the hexahedral test piece by detecting both its six faces and its height, thereby effectively ensuring the quality of the hexahedral test piece before it leaves the factory. This technical solution utilizes images for detection, which is fully automated, improving detection efficiency and accuracy. Attached Figure Description

[0022] Figure 1 An application scenario diagram illustrating a detection method for a hexahedral test piece provided in an embodiment of this application;

[0023] Figure 2 A flowchart illustrating a method for detecting a hexahedral test piece provided in an embodiment of this application;

[0024] Figure 3 A schematic diagram of a testing fixture for a hexahedral test piece provided in an embodiment of this application;

[0025] Figure 4 A schematic diagram of another testing fixture for a hexahedral test piece provided in an embodiment of this application;

[0026] Figure 5 A flowchart illustrating another method for detecting a hexahedral test piece provided in this application embodiment;

[0027] Figure 6 A schematic diagram of a detection device for a hexahedral test piece provided in an embodiment of this application;

[0028] Figure 7 A schematic diagram of a detection system for a hexahedral test piece provided in an embodiment of this application;

[0029] Figure 8 This application provides a schematic diagram of the structure of a computer device;

[0030] Figure 9This is a schematic diagram of the structure of another computer device provided in an embodiment of this application;

[0031] Figure 10 This is an internal structural diagram of a computer-readable storage medium provided in an embodiment of this application. Detailed Implementation

[0032] To make the purpose, technical solution and advantages of this application clearer, the application scenarios of the technical solution provided in the embodiments of this application will be introduced first.

[0033] The technical solutions provided in this application do not specifically limit the specific product of the hexahedral test piece, as long as the appearance is hexahedral. It should be understood that the hexahedron can be a cuboid or a cube, and the size of the hexahedron is not specifically limited. The size that the gripping component can grip can be set according to actual needs.

[0034] For ease of understanding, this application uses a hard disk filter as an example, but other hexahedrons can also be used. The main test is whether there are defects on the six faces. Defects include, but are not specifically limited to, dirt, lint, missing parts, etc. In addition, it also tests whether the height of the hard disk filter meets the requirements and whether the whole is deformed or twisted.

[0035] Before leaving the factory, hard drive filters need to undergo quality inspection, i.e., defect inspection. To achieve assembly line-style inspection, a conveyor device can be used to continuously feed hard drive filters into the inspection system. Specifically, during inspection, multiple hard drive filters can be inspected simultaneously in an assembly line manner. This application does not specifically limit the number of hard drive filters inspected in a single operation. For example, four hard drive filters can be inspected simultaneously as a group, or a large number of hard drive filters can be inspected simultaneously as a group. The specific arrangement of hard drive filters to be inspected can be determined according to actual requirements and the number of inspection stations.

[0036] The detection method for hexahedral test pieces provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a communication network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located in the cloud or on other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0037] To facilitate understanding, the following explanation uses the detection process of a hard drive filter as an example, with reference to the accompanying diagram.

[0038] See Figure 2 This figure is a flowchart illustrating a method for detecting a hexahedral test piece according to an embodiment of this application. The method for detecting a hexahedral test piece provided in this embodiment is applied to... Figure 1 The method will be illustrated using terminal 102 or server 104 as examples. It is understood that the computer device may include at least one of a terminal and a server. The method includes the following steps:

[0039] S201: Obtain images corresponding to the six faces of the hexahedral test piece, including the front, back, and four side faces; the images corresponding to the front and back faces include images taken under backlight and images taken under ring light, respectively.

[0040] This application does not specifically limit the order in which the images corresponding to the six faces of the hexahedral test piece are obtained; the workstation and camera can be set according to actual needs. In order to clearly detect whether there are defects on each of the six faces, it is necessary to take pictures of each face one by one.

[0041] For example, images of the six faces of a hexahedral workpiece can be obtained at six different stations, with each station obtaining an image of one face. To improve inspection efficiency, more stations can be set up, with each station inspecting only one side. To save space, all six faces can be inspected at fewer stations. The following section uses the method of obtaining images of four sides as an example.

[0042] For example, if images of two sides can be obtained at the same workstation, the hexahedral test piece only needs to be rotated at that workstation. One possible implementation is to complete the detection of four sides of the hexahedral test piece at one workstation, that is, to rotate the hexahedral test piece three times, each time by 90 degrees. Another possible implementation is to complete the detection of four sides of the hexahedral test piece at two workstations, with each workstation detecting two sides and rotating the hexahedral test piece once at each workstation, that is, rotating the hexahedral test piece by 90 degrees once.

[0043] Furthermore, for better image quality, the front and back sides, being relatively large surfaces, are considered as two opposing surfaces. This application requires obtaining images of the front side under two different light sources; similarly, images of the back side also need to be obtained under two different light sources.

[0044] Among them, a backlit light source refers to a light source that shines from behind, with the light passing through the hexahedral test piece (DPT). The camera captures an image of the DPT illuminated by this backlit light source. A ring light source refers to a light source distributed around the hexahedral test piece, illuminating the area around the DPT. The camera captures an image of the DPT illuminated by this ring light source.

[0045] It should be understood that the embodiments of this application do not specifically limit whether the image corresponding to the backlight source or the image corresponding to the ring light source is obtained first. Moreover, the embodiments of this application do not specifically limit whether the position of the hexahedral test piece needs to be moved when switching between the two light sources. For example, the position of the hexahedral test piece may not need to be moved, that is, the images corresponding to the backlight source and the ring light source are completed at the same detection station, and only the light source needs to be switched.

[0046] S202: Obtain a 3D image of the hexahedral test piece using a 3D camera.

[0047] It should be understood that there is no specific order requirement between S201 and S202.

[0048] Specifically, a 3D line scan camera can be used to obtain 3D images, which can directly obtain the height of the hexahedral test piece and determine whether the whole piece has deformed.

[0049] S203: The detection result of determining whether there are defects on the six faces of the hexahedral test piece based on the images corresponding to the six faces, and the detection result of determining whether the height of the hexahedral test piece is qualified based on the 3D image.

[0050] The detection method for a hexahedral test piece provided in this application determines the presence of defects on each facet by obtaining images of all six faces. Furthermore, to accurately obtain images of the relatively large front and back faces, images of the front face are obtained under two different light sources: a backlight and a ring light source. Similarly, images of the back face are obtained under two different light sources. This allows for a clearer determination of whether defects exist on the relatively large front and back faces. This application also detects the height of the hexahedral test piece, for example, using a 3D line scan camera. Therefore, the technical solution provided in this application determines the conformity of the hexahedral test piece by detecting both the six faces and its height, thereby effectively ensuring the factory quality of the hexahedral test piece. This technical solution utilizes images for detection, which is fully automated, improving detection efficiency and accuracy.

[0051] In addition, in order to obtain more accurate and clear side images of the hexahedral test piece, each of the four sides can obtain corresponding images under different exposure values. The embodiments of this application do not specifically limit the specific value of the exposure value, nor do they specifically limit the corresponding images of a side under several exposure values. For example, for convenience, images under two different exposure values ​​can be obtained, and images can be obtained under high and low exposure values ​​respectively.

[0052] The following describes the specific implementation process of the detection method for the hexahedral test piece provided in this application embodiment, with reference to the workstation detection diagram.

[0053] See Figure 3 The figure is a schematic diagram of a testing fixture for a hexahedral test piece provided in an embodiment of this application.

[0054] In practice, the controller 10 can control the linkage between each station and the gripping component to complete the movement and rotation of the hexahedral workpiece. In this embodiment, the detection system includes five stations as an example, namely the left side station 20, the right side station 30, the front station 40, the back station 50, and the 3D station 60. Figure 3 The hexahedral test piece is placed at each station in the order shown in the diagram for photographing to obtain corresponding images. Specifically, the movement sequence of the hexahedral test piece is: first the left side station 20, then the right side station 30, then the front station 40, then the back station 50, and finally the 3D station 60. It should be understood that this embodiment does not specifically limit the above order, and other sequences can also be used to inspect the hexahedral test piece.

[0055] The following describes how to obtain an image of any one side; the method for obtaining images of all four sides is similar. Obtaining images of the four sides of a hexahedral test piece includes:

[0056] Obtain the first image of any one of the four sides of the hexahedral test piece at the first exposure value;

[0057] Obtain a second image of any one of the four sides of the hexahedral test piece at the second exposure value;

[0058] The first exposure value is greater than the second exposure value.

[0059] That is, for each of the four sides, at least two images are obtained, and a total of at least eight images are obtained for the four sides.

[0060] The following describes the process of obtaining eight images corresponding to the four sides at two workstations.

[0061] First, let's describe the situation at one of the side workstations, where images of the four sides of the hexahedral test piece are obtained, including:

[0062] A first image of the first side of the four sides of the hexahedral test piece is captured at the first exposure value at station 20 on the left side, and a second image of the first side is captured at the second exposure value.

[0063] Rotate the hexahedral workpiece 90 degrees on the left side of the workstation.

[0064] After rotating the hexahedron test piece 90 degrees, the test piece is located on the left side. Station 20 takes a first image of the second side of the four sides at the first exposure value, and a second image of the second side at the second exposure value.

[0065] That is, two side images are obtained on the left side station 20, and two images are obtained for each side.

[0066] Similarly, images of the other two sides can be obtained at another workstation.

[0067] Obtain images corresponding to the four sides of the hexahedral test piece, including:

[0068] A first image of the third side of the four sides of the hexahedral test piece is captured at the right side station 30 under the first exposure value, and a second image of the third side is captured under the second exposure value.

[0069] Rotate the hexahedral workpiece by 90 degrees at station 30 on the right side.

[0070] After rotating the hexahedron test piece 90 degrees, the first image of the fourth side of the four sides is captured at the first exposure value at station 30 on the right side, and the second image of the fourth side is captured at the second exposure value.

[0071] That is, two side images are obtained on the right side station 30, and two images are obtained for each side.

[0072] In summary, a total of eight images from the four sides were obtained by combining the images from the left side workstation 20 and the right side workstation 30.

[0073] At the front workstation 40, a first frontal image is obtained by taking a picture under a backlight and a second frontal image is obtained by taking a picture under a ring light source, that is, two images are obtained from the front. Similarly, two images are obtained from the back. Finally, one image is obtained from the 3D workstation 60.

[0074] Therefore, a total of 13 images were obtained for a hexahedral test piece.

[0075] In addition, to improve inspection efficiency, multiple hexahedral test pieces can be inspected simultaneously. For example, four hexahedral test pieces can be inspected simultaneously. Since each set of four hexahedral test pieces contains 12 pieces, the inspection is divided into three stages. After each set of four cameras completes its image capture, it moves to the next set and continues capturing images, repeating this process twice (there are three sets of materials). A total of 145 images are obtained after the inspection is completed. It should be noted that the final 3D station can simultaneously capture images of four hexahedral test pieces, so 145 = 12 * 12 + 1. During the actual inspection, the algorithm is called to complete defect detection while taking images, calculates the results, and sends them to the controller. After all images are captured, the programmable logic controller (PLC) is notified to move the parts to the front station.

[0076] The following describes a specific process for obtaining an image, with reference to the accompanying diagram.

[0077] See Figure 4 The figure is a schematic diagram of another testing fixture for a hexahedral test piece provided in an embodiment of this application.

[0078] The following describes a specific method for obtaining images corresponding to the six faces of a hexahedral test piece.

[0079] First, at the left side station, two images of the first side surface are obtained at different exposure values; at the left side station, the hexahedral test piece is rotated 90 degrees, and two images of the second side surface after the 90-degree rotation are obtained at different exposure values.

[0080] Next, the hexahedral test piece is moved from the left side station to the front station, and a first front image is obtained by taking a picture under a backlight and a second front image is obtained by taking a picture under a ring light.

[0081] Then, the hexahedral test piece is moved from the front station to the right station, and two images of the third side at different exposure values ​​are obtained at the right station; the hexahedral test piece is rotated 90 degrees at the right station, and two images of the fourth side at different exposure values ​​are obtained after the rotation.

[0082] Finally, the hexahedral test piece is moved from the right side station to the reverse side station, and a first reverse side image is obtained by taking a picture under a backlight and a second reverse side image is obtained by taking a picture under a ring light source.

[0083] 3D images of a hexahedral test piece are obtained using a 3D camera, including:

[0084] The hexahedral test piece is moved from the reverse station to the 3D station, and a 3D image of the hexahedral test piece is obtained through a 3D camera.

[0085] See Figure 5 The figure is a flowchart of another detection method for a hexahedral test piece provided in an embodiment of this application.

[0086] S501: Obtain two side images of the hard disk filter at different exposure values ​​on the left side of the workstation;

[0087] S502: Rotate the hard disk filter 90 degrees at the left side station to obtain two side images of the hard disk filter under different exposure values ​​after rotating 90 degrees.

[0088] S503: Move the hard disk filter from the left side to the front station to obtain a front image of the hard disk filter under the backlight, switch to the ring light source, and obtain a front image of the hard disk filter under the ring light source.

[0089] S504: Move the hard disk filter from the front station to the right station to obtain two side images of the hard disk filter under different exposure values;

[0090] S505: Rotate the hard disk filter 90 degrees at the right side station to obtain two side images of the hard disk filter under different exposure values ​​after rotating 90 degrees; move the hard disk filter from the right side station to the reverse station, take pictures under backlight to obtain the first reverse image and take pictures under ring light to obtain the second reverse image.

[0091] S506: Move the hard disk filter from the reverse station to the 3D station and obtain a 3D image of the hard disk filter through a 3D camera;

[0092] S507: Performs defect detection on the hard disk filter based on images from all sides and 3D images, and outputs the detection results.

[0093] It should be understood that the detection results can be displayed on the human-machine interface and pushed to higher levels, such as to the backend management platform. Furthermore, the detection results can be stored, as can all the acquired images.

[0094] It should be understood that the above embodiments are only one specific implementation method. The order described in the above embodiments can be used for testing according to the workstation order, which facilitates actual implementation and improves testing efficiency. In addition, the testing order of each side, as well as the back and reverse sides, can also be performed in other orders, and this application does not impose specific limitations.

[0095] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps.

[0096] Based on the same inventive concept, this application also provides a detection device for a hexahedral test piece. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the detection device for a hexahedral test piece provided below can be found in the limitations of the detection method for hexahedral test pieces above, and will not be repeated here.

[0097] like Figure 6 As shown in the figure, this application embodiment provides a detection device for a hexahedral test piece, including:

[0098] The first acquisition module 601 is used to acquire images corresponding to the six faces of the hexahedral test piece. The six faces include the front face, the back face, and four side faces. The images corresponding to the front face and the back face each include images taken under a backlight and images taken under a ring light source, respectively.

[0099] The second acquisition module 602 is used to acquire a 3D image of the hexahedral test piece;

[0100] The detection module 603 is used to determine whether there are defects on the six faces of the hexahedral test piece based on the images corresponding to the six faces, and to determine whether the height of the hexahedral test piece is qualified based on the 3D image.

[0101] In some embodiments, in obtaining images corresponding to the four sides of the hexahedral test piece, the first obtaining module 601 is specifically used for:

[0102] Obtain the first image of any one of the four sides of the hexahedral test piece at the first exposure value;

[0103] Obtain a second image of any one of the four sides of the hexahedral test piece at the second exposure value;

[0104] The first exposure value is greater than the second exposure value.

[0105] In some embodiments, in obtaining images corresponding to the four sides of the hexahedral test piece, the first obtaining module 601 is specifically used for:

[0106] A first image of the first side of the hexahedral test piece is captured at the first exposure value at the left side station, and a second image of the first side is captured at the second exposure value.

[0107] Rotate the hexahedral workpiece 90 degrees on the left side of the workstation.

[0108] After rotating the hexahedron test piece 90 degrees, the test piece is positioned on the left side. The first image of the second side of the four sides is captured at the first exposure value, and the second image of the second side is captured at the second exposure value.

[0109] In some embodiments, in obtaining images corresponding to the four sides of the hexahedral test piece, the first obtaining module 601 is specifically used for:

[0110] A first image of the third side of the four sides of the hexahedral test piece is captured at the first exposure value at the right side station, and a second image of the third side is captured at the second exposure value.

[0111] Rotate the hexahedral workpiece 90 degrees on the right side of the work station;

[0112] After rotating the hexahedron test piece 90 degrees, the first image of the fourth side of the four sides is captured at the first exposure value at the right side station, and the second image of the fourth side is captured at the second exposure value.

[0113] In some embodiments, in obtaining images corresponding to the six faces of the hexahedral test piece, the first obtaining module 601 is specifically used for:

[0114] Two images of the first side at different exposure values ​​were obtained at the left side workstation;

[0115] At the left side station, the hexahedral test piece is rotated 90 degrees, and two images of the second side after rotation at different exposure values ​​are obtained respectively.

[0116] The hexahedral workpiece is moved from the left side station to the front station, and a first front image is obtained by taking a picture under a backlight and a second front image is obtained by taking a picture under a ring light.

[0117] The hexahedral test piece is moved from the front station to the right station. At the right station, two images of the third side are obtained at different exposure values. At the right station, the hexahedral test piece is rotated 90 degrees, and two images of the fourth side after the 90-degree rotation are obtained at different exposure values.

[0118] The hexahedral test piece is moved from the right side station to the reverse side station, and a first reverse side image is obtained by taking a picture under a backlight and a second reverse side image is obtained by taking a picture under a ring light source.

[0119] In some embodiments, in acquiring a 3D image of a hexahedral test piece via a 3D camera, the second acquisition module 602 is specifically configured to:

[0120] The hexahedral test piece is moved from the reverse station to the 3D station, and a 3D image of the hexahedral test piece is obtained through a 3D camera.

[0121] The hexahedral test piece is a hard disk filter.

[0122] This application also provides a detection system for a hexahedral test piece. The solution provided by this system is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the detection system for hexahedral test pieces provided below can be found in the limitations of the detection method for hexahedral test pieces described above, and will not be repeated here.

[0123] like Figure 7 As shown in the figure, this application embodiment provides a detection system for a hexahedral test piece, including:

[0124] Image acquisition unit 701 is used to acquire images corresponding to the six faces of the hexahedral test piece. The six faces include the front face, the back face, and four side faces. The images corresponding to the front face and the back face include images taken under a backlight and images taken under a ring light source, respectively.

[0125] 3D camera 702, used to obtain 3D images of a hexahedral test piece;

[0126] The controller 10 is used to determine whether there are defects on the six faces of the hexahedral test piece based on the images corresponding to the six faces, and to determine whether the height of the hexahedral test piece is qualified based on the 3D image.

[0127] Each module in the aforementioned image processing device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0128] In some embodiments, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 8As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores images of the hexahedral test piece. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements the steps in the image processing method described above.

[0129] In some embodiments, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 9 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements the steps in the aforementioned method for detecting a hexahedral test piece. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen; the input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs or touchpads set on the casing of the computer device, or external keyboards, touchpads or mice, etc.

[0130] Those skilled in the art will understand that Figure 8 or Figure 9The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0131] In some embodiments, a computer device is provided, the computer device including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps in the above method embodiments.

[0132] In some embodiments, such as Figure 10 The diagram shows the internal structure of a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the above-described method embodiments.

[0133] In some embodiments, a computer program product is provided, which includes a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0134] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0135] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0136] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0137] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for detecting a hexahedral test piece, characterized in that, include: The control station and the gripping component work together to move and rotate the hexahedral test piece, and place the hexahedral test piece at the station for photographing. The hexahedral test piece is a hard disk filter. Images corresponding to the four sides, the front side, and the back side of the hexahedral test piece are obtained; the front side image and the back side image both include images taken under backlight and images taken under ring light, respectively. A 3D image of the hexahedral test piece is obtained using a 3D camera; The detection results are determined based on the images corresponding to the six faces to determine whether there are defects on the six faces of the hexahedral test piece, and based on the 3D image to determine whether the height of the hexahedral test piece is qualified.

2. The method according to claim 1, characterized in that, Obtaining images corresponding to the four sides of the hexahedral test piece includes: Obtain a first image of any one of the four sides of the hexahedral test piece at the first exposure value; Obtain a second image of any one of the four sides of the hexahedral test piece under the second exposure value; Wherein, the first exposure value is greater than the second exposure value.

3. The method according to claim 2, characterized in that, Obtaining images corresponding to the four sides of the hexahedral test piece includes: A first image of the first side of the four sides is captured at the left side station of the hexahedral test piece under the first exposure value, and a second image of the first side is captured at the second exposure value. Rotate the hexahedral workpiece by 90 degrees at the left side workstation. After the hexahedral test piece is rotated 90 degrees, it is located on the left side of the station. The first image of the second side of the four sides is captured at the first exposure value, and the second image of the second side is captured at the second exposure value.

4. The method according to claim 2 or 3, characterized in that, Obtaining images corresponding to the four sides of the hexahedral test piece includes: A first image of the third side of the four sides is captured at the right side station of the hexahedral test piece under the first exposure value, and a second image of the third side is captured at the second exposure value. Rotate the hexahedral test piece 90 degrees at the right side station. After the hexahedral test piece is rotated 90 degrees, it is located on the right side of the test station. The first image of the fourth side of the four sides is captured at the first exposure value, and the second image of the fourth side is captured at the second exposure value.

5. The method according to claim 4, characterized in that, Obtaining images corresponding to the four sides, the front side, and the back side of the hexahedral test piece includes: Two images of the first side at different exposure values ​​are obtained at the left side station; the hexahedral test piece is rotated 90 degrees at the left side station, and two images of the second side at different exposure values ​​are obtained after the rotation of 90 degrees. The hexahedral test piece is moved from the left side station to the front station, and a first front image is obtained by taking a picture under the backlight and a second front image is obtained by taking a picture under the ring light. The hexahedral test piece is moved from the front station to the right side station, and two images of the third side at different exposure values ​​are obtained at the right side station. The hexahedral test piece is rotated 90 degrees at the right side station, and two images of the fourth side at different exposure values ​​are obtained after the rotation. The hexahedral test piece is moved from the right side station to the reverse side station, and a first reverse side image is obtained by taking a picture under the backlight and a second reverse side image is obtained by taking a picture under the ring light source.

6. The method according to claim 5, characterized in that, The process of obtaining a 3D image of the hexahedral test piece using a 3D camera includes: The hexahedral test piece is moved from the reverse station to the 3D station, and a 3D image of the hexahedral test piece is obtained through a 3D camera. The hexahedral test piece is a hard disk filter.

7. A testing device for a hexahedral test piece, characterized in that, include: The first acquisition module is used to control the workstation and the gripping component to move and rotate the hexahedral test piece, and place the hexahedral test piece at the workstation for photographing. The hexahedral test piece is a hard disk filter. The module acquires images corresponding to the four sides, the front side, and the back side of the hexahedral test piece. The front side image and the back side image both include images obtained under backlight and images obtained under ring light, respectively. The second acquisition module is used to acquire a 3D image of the hexahedral test piece; The detection module is used to determine whether there are defects on the six faces of the hexahedral test piece based on the images corresponding to the six faces, and to determine whether the height of the hexahedral test piece is qualified based on the 3D image.

8. A detection system for a hexahedral test piece, characterized in that, include: An image acquisition device is used to control the linkage between the workstation and the gripping component to complete the movement and rotation of the hexahedral test piece, and to place the hexahedral test piece at the workstation for photographing. The hexahedral test piece is a hard disk filter. Images corresponding to the four sides, the front side, and the back side of the hexahedral test piece are obtained. The front side image and the back side image both include images obtained under backlight and images obtained under ring light, respectively. A 3D camera is used to obtain a 3D image of the hexahedral test piece. The controller is used to determine whether there are defects on the six faces of the hexahedral test piece based on the images corresponding to the six faces, and to determine whether the height of the hexahedral test piece is qualified based on the 3D image.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the detection method for the hexahedral test piece according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the detection method for the hexahedral test piece according to any one of claims 1 to 6.

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