A spacer block curved surface axial angle measurement method, device, equipment and medium

Abstract

The application discloses a kind of isolated block curved surface axial angle measurement method, device, equipment and medium, applied to part angle measurement field, comprising: obtaining isolated block concave curved surface 3D depth image;Depth image is carried out gray processing, type conversion and specification conversion, and obtain pre-processing image;Region extraction is carried out to pre-processing image, and obtain the effective area containing isolated block curved surface;The boundary size of effective area is measured, and longitudinal median axis is determined according to boundary size;Directional line in effective area is screened, and target straight line is determined;The included angle of target straight line and longitudinal median axis is calculated to obtain isolated block curved surface axial angle.The application utilizes computer image processing technology, i.e.mechanical vision, to carry out automatic detection method, compared with artificial detection, can greatly reduce the detection labor intensity of worker, and detection precision is high, fast, and the qualified rate of product can be effectively guaranteed.

Description

Technical Field

[0001] This application relates to the field of component angle testing, and in particular to a method, apparatus, equipment and medium for measuring the axial angle of an isolation block surface. Background Technology

[0002] In the production of nuclear power plant containment blocks, it is crucial to ensure that the containment blocks fit perfectly with the feed rods at a fixed standard angle before spot welding and installation in the reactor. Because this perfect fit at the fixed standard angle prevents nuclear leakage and ensures safety, the safety of the reactor is guaranteed. However, if the fitting angle between the containment block and the feed rod (i.e., the axial angle of the curved surface) is outside the fixed standard angle range, spot welding and installation in the reactor will result in incomplete fitting and lead to nuclear leakage. Therefore, accurate measurement of the axial angle of the containment block's curved surface is essential to preventing nuclear leakage.

[0003] The current method for measuring the axial angle of the isolation block surface is to first collect some edge points of the isolation block surface, and then fit the edge points to obtain the surface. Because there will be estimation in the fitting process, the accuracy of the obtained surface is poor, and the axial angle calculated based on the surface is even more inaccurate. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method, device, equipment and medium for measuring the axial angle of the curved surface of an isolation block, which solves the problems of inaccurate and inefficient measurement of the axial angle of the curved surface of an isolation block in the prior art.

[0005] To address the aforementioned technical problems, this application provides a method for measuring the axial angle of an isolation block surface, comprising:

[0006] Obtain a 3D depth image of the concave surface of the isolation block;

[0007] The depth image is subjected to grayscale processing, type conversion, and specification conversion to obtain a preprocessed image;

[0008] Region extraction is performed on the preprocessed image to obtain the effective region containing the isolation block surface;

[0009] Measure the boundary dimensions of the effective area and determine the longitudinal centerline based on the boundary dimensions;

[0010] The directional lines in the effective area are filtered to determine the target straight line;

[0011] The axial angle of the isolation block surface is obtained by calculating the angle between the target straight line and the longitudinal centerline.

[0012] Optionally, the step of performing grayscale processing, type conversion, and specification conversion on the depth image to obtain a preprocessed image further includes:

[0013] The depth image is converted to a grayscale image to obtain a grayscale image;

[0014] The grayscale image is converted from 16-bit to 8-bit, and then stretched and horizontally corrected to obtain the preprocessed image.

[0015] Optionally, the step of extracting regions from the preprocessed image to obtain effective regions includes:

[0016] The preprocessed image is processed to obtain the region of interest, thus obtaining the initial localization region;

[0017] Based on the morphological characteristics of the isolation block, the initial positioning area is processed by the minimum bounding rectangle to obtain approximate boundary information;

[0018] Based on the approximate boundary information, the boundary is precisely fitted using the caliper method to obtain two straight edges and two curved edges.

[0019] The two straight edges and the two curved edges are extended to form a closed region; the closed region is the effective region.

[0020] Optionally, the step of filtering directional lines in the effective area to determine the target straight line includes:

[0021] Obtain the directional lines within the effective region;

[0022] The target straight line group is obtained by filtering the lines in the specified direction according to the preset angle and preset length.

[0023] The target line is determined by filtering the lines in the target line group according to preset conditions.

[0024] Optionally, the step of filtering the lines in the target line group according to preset conditions to determine the target line includes:

[0025] The straight lines in the target group of straight lines are fitted and connected to obtain a fitted straight line;

[0026] The fitted lines are analyzed based on their absolute angle information, and outliers are removed using Gaussian filtering to obtain the target line.

[0027] Optionally, the directional lines for obtaining the effective area include:

[0028] The effective region is subjected to image enhancement and image sharpening processing to obtain a preprocessed image region;

[0029] Image enhancement and threshold segmentation are used to extract the directional lines and contours of the effective region and then discretize them.

[0030] The directional lines are obtained by fitting the discretized directional line contour.

[0031] Optionally, the image enhancement and sharpening processing of the effective region includes:

[0032] The effective region is enhanced using a grayscale scaling algorithm.

[0033] The effective region is then sharpened using an edge detection algorithm.

[0034] This application also provides a device for measuring the axial angle of an isolation block surface, including:

[0035] The image acquisition module is used to acquire 3D depth images of the concave surface of the isolation block;

[0036] The preprocessing module is used to perform grayscale processing, type conversion, and specification conversion on the depth image to obtain a preprocessed image;

[0037] The region extraction module is used to extract regions from the preprocessed image to obtain an effective region containing the isolation block surface;

[0038] The longitudinal centerline determination module is used to measure the boundary dimensions of the effective area and determine the longitudinal centerline based on the boundary dimensions;

[0039] The target line determination module is used to filter directional lines in the effective area and determine the target line;

[0040] The calculation module is used to calculate the angle between the target straight line and the longitudinal centerline to obtain the axial angle of the isolation block surface.

[0041] This application also provides a device for measuring the axial angle of an isolation block surface, including:

[0042] Memory, used to store computer programs;

[0043] A processor is used to implement the steps of the above-described method for measuring the axial angle of the isolated block surface when executing the computer program.

[0044] This application also provides a medium on which a computer program is stored, which, when executed by a processor, implements the steps of the above-described method for measuring the axial angle of the isolated block surface.

[0045] As can be seen, this application obtains a 3D depth image of the concave surface of the isolation block; performs grayscale processing, type conversion, and specification conversion on the depth image to obtain a preprocessed image; extracts regions from the preprocessed image to obtain an effective region containing the isolation block surface; measures the boundary dimensions of the effective region and determines the longitudinal central axis based on the boundary dimensions; filters the directional lines in the effective region to determine the target straight line; and calculates the angle between the target straight line and the longitudinal central axis to obtain the axial angle of the isolation block surface. This application utilizes computer image processing technology, i.e., machine vision, for automatic inspection. Compared with manual inspection, this method can greatly reduce the labor intensity of workers, and offers high accuracy and speed, effectively ensuring the product qualification rate.

[0046] In addition, this application also provides a device, equipment and medium for measuring the axial angle of the curved surface of an isolation block, which also has the above-mentioned beneficial effects. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0048] Figure 1 A flowchart illustrating a method for measuring the axial angle of an isolation block surface provided in this application embodiment;

[0049] Figure 2 A 3D depth image of an isolation block provided in an embodiment of this application;

[0050] Figure 3 An image preprocessing effect diagram provided in an embodiment of this application;

[0051] Figure 4 A linear graph of axial fitting of a curved surface is provided for embodiments of this application;

[0052] Figure 5 An image showing the Kirsch-processed effect as provided in this application embodiment;

[0053] Figure 6 A measurement result diagram provided for an embodiment of this application;

[0054] Figure 7 This is a schematic diagram of the structure of an axial angle measuring device for a curved surface of an isolation block, provided in an embodiment of this application.

[0055] Figure 8 This is a structural schematic diagram of an axial angle measuring device for a curved surface of an isolation block, provided in an embodiment of this application. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0057] Please refer to Figure 1 , Figure 1 A flowchart illustrating a method for measuring the axial angle of an isolation block surface, provided in an embodiment of this application. The method may include:

[0058] S101: Obtain the 3D depth image of the concave surface of the isolation block.

[0059] The execution subject in this embodiment is a terminal. This embodiment does not limit the terminal. For example, it can be a dedicated terminal; or it can be a general-purpose terminal. This embodiment does not limit the specific type of the isolation block surface. For example, it can be an isolation block surface that conforms to the surface of a cylinder; or it can be an isolation block surface that conforms to the surface of a frustum. In this embodiment, the conformation refers to the conformation of the isolation block to the cylinder or frustum at a fixed standard angle. Taking an isolation block surface conforming to the surface of a cylinder as an example, the 3D depth image of the isolation block is as follows: Figure 2 As shown.

[0060] S102: Perform grayscale processing, type conversion, and specification conversion on the depth image to obtain a preprocessed image.

[0061] This embodiment preprocesses the depth image, including grayscale processing, type conversion, and size conversion, to obtain a preprocessed image.

[0062] Furthermore, to ensure the effectiveness of image processing and facilitate subsequent image extraction and processing, the aforementioned grayscale processing, type conversion, and specification conversion of the depth image to obtain a preprocessed image may include the following steps, specifically:

[0063] Step 21: Convert the depth image to grayscale to obtain a grayscale image;

[0064] Step 22: Convert the grayscale image from 16 bits to 8 bits, and perform stretching transformation and horizontal angle correction on the grayscale image to obtain the preprocessed image.

[0065] This embodiment does not limit the order of type conversion and specification conversion. This embodiment stretches the entire image according to the different vertical and horizontal resolutions, converting the 16-bit grayscale image to an 8-bit grayscale image to facilitate subsequent image processing algorithms. The grayscale information at the four corners of the grayscale image is extracted for horizontal correction to obtain the preprocessed image.

[0066] S103: Extract regions from the preprocessed image to obtain the effective regions containing the isolation block surfaces.

[0067] This embodiment extracts regions based on preprocessed images to obtain effective regions.

[0068] Furthermore, in order to accurately extract the effective region, the above-mentioned region extraction of the preprocessed image to obtain the effective region containing the isolation block surface may include the following steps, specifically including:

[0069] Step 31: Perform region of interest processing on the preprocessed image to obtain the initial localization region;

[0070] Step 32: Based on the shape characteristics of the isolation block, perform minimum bounding rectangle processing on the initially located area to obtain approximate boundary information;

[0071] Step 33: Based on the approximate boundary information, use the caliper method to accurately fit the boundary to obtain two straight edges and two curved edges;

[0072] Step 34: Extend the two straight edges and the two curved edges to form a closed region; the closed region is the valid region.

[0073] This embodiment preprocesses the area by performing ROI (Region of Interest pooling) to obtain the initial location region of the isolation block, reducing interference from other invalid regions. Based on the morphological characteristics of the isolation block, it performs minimum outer rectangle processing to obtain approximate boundary information, which is then converted into matrix parameters. A straight line caliper and a circular caliper are used to accurately fit the boundary of the isolation block, resulting in two straight lines and two curves. These four lines are extended to obtain intersection points, and then reconnected to extract the accurate closed boundary, i.e., the effective region. Figure 3 As shown, Figure 3 This is an image showing the effect of image preprocessing as provided in an embodiment of this application.

[0074] S104: Measure the boundary dimensions of the effective area and determine the longitudinal centerline based on the boundary dimensions.

[0075] In this embodiment, after obtaining the effective area, the boundary dimensions of the effective area are measured, and the longitudinal centerline is determined by the boundary dimension information of the effective area.

[0076] S105: Filter the directional lines in the effective area to determine the target straight line.

[0077] In this embodiment, there are numerous directional lines in the effective area, and it is necessary to filter these directional lines to determine the target straight line.

[0078] Furthermore, to ensure the accuracy of the target line determination, the above-mentioned filtering of directional lines within the effective area to determine the target line may include the following steps, specifically:

[0079] Step 41: Obtain the directional lines within the valid area;

[0080] Step 42: Filter the directional lines according to the preset angle and preset length to obtain the target straight line group;

[0081] Step 43: Filter the lines in the target line group according to the preset conditions to determine the target line.

[0082] This embodiment uses preset angles and preset lengths to initially filter numerous directional lines to obtain a target group of straight lines. The preset angles and preset lengths in this embodiment can be set based on experience.

[0083] Furthermore, in order to more accurately determine the target line, the above-mentioned filtering of lines in the target line group according to preset conditions to determine the target line may include the following steps, specifically:

[0084] Step 51: Fit and connect the lines in the target line group to obtain the fitted line;

[0085] Step 52: Analyze each fitted line based on its absolute angle information, and use Gaussian filtering to remove outliers to obtain the target line.

[0086] This embodiment fits and connects the lines that can be directly connected within the target line group to obtain longer and clearer fitted lines, such as... Figure 4 As shown, Figure 4 This application provides an embodiment of a surface axial fitting line graph. The absolute angle information of each fitted line is acquired and analyzed, and outliers are removed using a Gaussian filtering algorithm to obtain the target line.

[0087] Furthermore, to improve the accuracy and clarity of directional line acquisition, the acquisition of directional lines within the effective area may include the following steps, specifically:

[0088] Step 61: Perform image enhancement and image sharpening processing on the effective region to obtain the preprocessed image region;

[0089] Step 62: Extract the directional lines and contours of the effective region using image enhancement and threshold segmentation, and then discretize them;

[0090] Step 63: Fit the discretized directional line contour to obtain the directional lines.

[0091] This embodiment performs image enhancement and sharpening on the effective region to highlight directional features, i.e., directional lines. This embodiment does not limit the specific image enhancement and sharpening algorithms. The directional line contours are extracted and discretized through image enhancement and thresholding, and then fitted with straight lines to obtain the directional lines.

[0092] Furthermore, to make the image clearer, enhance contrast, and extract more useful information, the above-mentioned image enhancement and sharpening processing of the effective area may include the following steps, specifically:

[0093] Step 71: Perform image enhancement processing using the effective area of ​​the grayscale scaling algorithm;

[0094] Step 72: Use an edge detection algorithm to sharpen the image in the effective area.

[0095] This embodiment uses the Kirsch algorithm (an edge detection algorithm) to sharpen the image and further extract key gradient information. The processed image can clearly display the lines of the curved surface, such as... Figure 5 As shown, Figure 5 This application provides an example of an image processed by Kirsch. A grayscale scaling algorithm is used to enhance image contrast. The scaling factor Mult and the offset compensation value Add in the grayscale scaling algorithm are obtained by the following formula:

[0096]

[0097] Add = -Mult × GMin;

[0098] Where Mult is the scaling factor, GMin is the minimum gray value of the image, GMax is the maximum gray value of the image, and Add is the offset compensation value.

[0099] S106: Calculate the angle between the target straight line and the longitudinal centerline to obtain the axial angle of the isolation block surface.

[0100] This embodiment calculates the axial angle of the isolation block surface by measuring the angle between the target straight line and the longitudinal centerline. The measurement results are as follows: Figure 6 As shown, Figure 6 This is a measurement result diagram provided for an embodiment of this application.

[0101] The method for measuring the axial angle of the curved surface of an isolation block provided in this application involves acquiring a 3D depth image of the concave surface of the isolation block; performing grayscale processing, type conversion, and specification conversion on the depth image to obtain a preprocessed image; extracting regions from the preprocessed image to obtain an effective region containing the curved surface of the isolation block; measuring the boundary dimensions of the effective region and determining the longitudinal central axis based on the boundary dimensions; filtering directional lines within the effective region to determine the target straight line; and calculating the angle between the target straight line and the longitudinal central axis to obtain the axial angle of the curved surface of the isolation block. This method utilizes computer image processing technology, i.e., machine vision, for automatic inspection. Compared to manual inspection, it significantly reduces the labor intensity of workers and offers high accuracy and speed, effectively ensuring the product qualification rate. Compared to methods that directly fit the curved surface, it has significant advantages in terms of operating speed and accuracy, and possesses strong robustness, enabling it to adapt to many changes in complex environments. Furthermore, the image underwent grayscale processing, converting 16-bit to 8-bit, and stretching and horizontal angle correction to ensure the accuracy of the obtained angles and the efficiency of subsequent algorithms. Initial localization was performed using the region of interest, followed by precise boundary fitting using calipers, extending the side length to obtain an accurate and reliable effective region. Initial screening was conducted based on preset angles and lengths, followed by secondary screening based on preset conditions to ensure the accuracy of the target line. The absolute angle information of the fitted line was analyzed, and a Gaussian filtering algorithm was used to remove outliers, improving the accuracy of the target line. Image enhancement and sharpening were performed to fully reveal the lines and useful information. Finally, grayscale scaling and edge detection algorithms were used to improve processing efficiency.

[0102] The axial angle measuring device for the curved surface of the isolation block provided in the embodiments of this application is described below. The axial angle measuring device for the curved surface of the isolation block described below can be referred to in correspondence with the axial angle measuring method for the curved surface of the isolation block described above.

[0103] Please refer to the details. Figure 7 , Figure 7 A schematic diagram of a device for measuring the axial angle of an isolation block surface provided in this application embodiment may include:

[0104] Image acquisition module 100 is used to acquire 3D depth images of the concave surface of the isolation block;

[0105] The preprocessing module 200 is used to perform grayscale processing, type conversion, and specification conversion on the depth image to obtain a preprocessed image;

[0106] The region extraction module 300 is used to extract regions from the preprocessed image to obtain an effective region containing the isolation block surface;

[0107] The longitudinal centerline determination module 400 is used to measure the boundary dimensions of the effective area and determine the longitudinal centerline based on the boundary dimensions;

[0108] The target line determination module 500 is used to filter the directional lines in the effective area and determine the target line;

[0109] The calculation module 600 is used to calculate the angle between the target straight line and the longitudinal centerline to obtain the axial angle of the isolation block surface.

[0110] Based on the above embodiments, the image acquisition module 100 may include:

[0111] A grayscale processing unit is used to process the depth image into a grayscale image to obtain a grayscale image.

[0112] The transformation unit is used to convert the grayscale image from 16 bits to 8 bits, and to perform stretching transformation and horizontal angle correction on the grayscale image to obtain the preprocessed image.

[0113] Based on the above embodiments, the region extraction module 300 may include:

[0114] A region of interest (ROI) processing unit is used to perform ROI processing on the preprocessed image to obtain an initial localization region;

[0115] The minimum outer rectangle processing unit is used to perform minimum outer rectangle processing on the initial positioning area according to the shape characteristics of the isolation block to obtain approximate boundary information;

[0116] A boundary fitting unit is used to accurately fit the boundary using the caliper method based on the approximate boundary information, to obtain two straight edges and two curved edges.

[0117] An extension unit is used to extend the two straight edges and the two curved edges to form a closed region; the closed region is the effective region.

[0118] Based on the above embodiments, the target line determination module 500 may include:

[0119] An acquisition unit is used to acquire the directional lines in the effective area;

[0120] The first filtering unit is used to filter the directional lines according to a preset angle and a preset length to obtain a target group of straight lines;

[0121] The second filtering unit is used to filter the straight lines in the target straight line group according to preset conditions to determine the target straight line.

[0122] Based on the above embodiments, the second screening unit may include:

[0123] The fitting connection subunit is used to fit and connect the straight lines in the target straight line group to obtain a fitted straight line;

[0124] The fitted line analysis and anomaly filtering subunit is used to analyze each fitted line based on the absolute angle information of the fitted lines, and use Gaussian filtering to remove outliers to obtain the target line.

[0125] Based on the above embodiments, the acquisition unit may include:

[0126] The image enhancement and sharpening processing subunit is used to perform image enhancement and image sharpening processing on the effective region to obtain a preprocessed image region;

[0127] An extraction subunit is used to extract the directional line contour of the effective region using image enhancement processing and threshold segmentation processing, and then discretize it.

[0128] The fitting subunit is used to fit the discretized directional line contour to obtain the directional line.

[0129] Based on the above embodiments, the image enhancement and sharpening processing subunit may include:

[0130] An image enhancement subunit is used to perform image enhancement processing on the effective region using a grayscale scaling algorithm;

[0131] The sharpening subunit is used to perform image sharpening processing on the effective region using an edge detection algorithm.

[0132] It should be noted that the order of the modules and units in the aforementioned isolation block surface axial angle measuring device can be changed without affecting the logic.

[0133] The axial angle measuring device for the curved surface of the isolation block provided in this application includes: an image acquisition module 100 for acquiring a 3D depth image of the concave curved surface of the isolation block; a preprocessing module 200 for performing grayscale processing, type conversion, and specification conversion on the depth image to obtain a preprocessed image; a region extraction module 300 for extracting regions from the preprocessed image to obtain an effective region containing the curved surface of the isolation block; a longitudinal centerline determination module 400 for measuring the boundary dimensions of the effective region and determining the longitudinal centerline based on the boundary dimensions; a target line determination module 500 for filtering directional lines in the effective region to determine a target line; and a calculation module 600 for calculating the angle between the target line and the longitudinal centerline to obtain the axial angle of the curved surface of the isolation block. This device utilizes computer image processing technology, i.e., machine vision, for automatic detection. Compared to manual detection, it significantly reduces the labor intensity of workers and offers high detection accuracy and speed, effectively ensuring the product qualification rate. Compared to methods that directly fit curved surfaces, it has significant advantages in operating speed and accuracy, and possesses strong robustness, enabling it to adapt to many changes in complex environments. Furthermore, the image underwent grayscale processing, converting 16-bit to 8-bit, and stretching and horizontal angle correction to ensure the accuracy of the obtained angles and the efficiency of subsequent algorithms. Initial localization was performed using the region of interest, followed by precise boundary fitting using calipers, extending the side length to obtain an accurate and reliable effective region. Initial screening was conducted based on preset angles and lengths, followed by secondary screening based on preset conditions to ensure the accuracy of the target line. The absolute angle information of the fitted line was analyzed, and a Gaussian filtering algorithm was used to remove outliers, improving the accuracy of the target line. Image enhancement and sharpening were performed to fully reveal the lines and useful information. Finally, grayscale scaling and edge detection algorithms were used to improve processing efficiency.

[0134] The axial angle measuring device for the curved surface of the isolation block provided in the embodiments of this application is described below. The axial angle measuring device for the curved surface of the isolation block described below can be referred to in correspondence with the axial angle measuring method for the curved surface of the isolation block described above.

[0135] Please refer to Figure 8 , Figure 8 A schematic diagram of a device for measuring the axial angle of an isolation block surface provided in this application embodiment may include:

[0136] Memory 10 is used to store computer programs;

[0137] The processor 20 is used to execute a computer program to implement the above-described method for measuring the axial angle of the isolation block surface.

[0138] The memory 10, processor 20, and communication interface 31 all communicate with each other through the communication bus 32.

[0139] In this embodiment, the memory 10 is used to store one or more programs. The programs may include program code, which includes computer operation instructions. In this embodiment, the memory 10 may store programs for implementing the following functions:

[0140] Obtain a 3D depth image of the concave surface of the isolation block;

[0141] The depth image undergoes grayscale processing, type conversion, and specification conversion to obtain a preprocessed image;

[0142] Region extraction is performed on the preprocessed image to obtain the effective region containing the isolation block surface;

[0143] Measure the boundary dimensions of the effective area and determine the longitudinal centerline based on the boundary dimensions;

[0144] Filter the directional lines in the effective area to determine the target straight line;

[0145] The axial angle of the isolation block surface is obtained by calculating the angle between the target straight line and the longitudinal centerline.

[0146] In one possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; and the data storage area may store data created during use.

[0147] Furthermore, memory 10 may include read-only memory and random access memory, providing instructions and data to the processor. A portion of the memory may also include NVRAM. The memory stores operating systems and operating instructions, executable modules, or data structures, or subsets thereof, or extended sets thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and handling hardware-based tasks.

[0148] Processor 20 can be a central processing unit (CPU), an application-specific integrated circuit, a digital signal processor, a field-programmable gate array, or other programmable logic device. Processor 20 can be a microprocessor or any conventional processor. Processor 20 can call programs stored in memory 10.

[0149] Communication interface 31 can be an interface for the communication module, used to connect with other devices or systems.

[0150] Of course, it should be noted that, Figure 8 The structure shown does not constitute a limitation on the axial angle measuring device for the curved surface of the isolation block in the embodiments of this application. In practical applications, the axial angle measuring device for the curved surface of the isolation block may include devices such as... Figure 8 More or fewer components as shown, or combinations of certain components.

[0151] The medium provided in the embodiments of this application is described below. The readable storage medium described below and the isolation block surface axial angle measurement method described above can be referred to in correspondence.

[0152] This application also provides a medium storing a computer program, which, when executed by a processor, implements the steps of the above-described method for measuring the axial angle of the isolation block surface.

[0153] The medium can include various media that can store program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0154] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0155] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0156] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0157] The foregoing has provided a detailed description of the method, apparatus, equipment, and medium for measuring the axial angle of an isolation block surface. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for measuring the axial angle of a curved surface of an isolation block, characterized in that, include: Obtain a 3D depth image of the concave surface of the isolation block; The depth image is subjected to grayscale processing, type conversion, and specification conversion to obtain a preprocessed image; Region extraction is performed on the preprocessed image to obtain the effective region containing the isolation block surface; Measure the boundary dimensions of the effective area and determine the longitudinal centerline based on the boundary dimensions; The directional lines in the effective area are filtered to determine the target straight line; The axial angle of the isolation block surface is obtained by calculating the angle between the target straight line and the longitudinal centerline; The step of extracting effective regions from the preprocessed image includes: The preprocessed image is processed to obtain the region of interest, thus obtaining the initial localization region; Based on the morphological characteristics of the isolation block, the initial positioning area is processed by the minimum bounding rectangle to obtain approximate boundary information; Based on the approximate boundary information, the boundary is precisely fitted using the caliper method to obtain two straight edges and two curved edges. The two straight edges and the two curved edges are extended to form a closed region; the closed region is the effective region. The step of filtering directional lines within the effective region to determine the target straight line includes: Obtain the directional lines within the effective region; The target straight line group is obtained by filtering the lines in the specified direction according to the preset angle and preset length. The target line is determined by filtering the lines in the target line group according to preset conditions; The step of filtering lines in the target line group according to preset conditions to determine the target line includes: The straight lines in the target group of straight lines are fitted and connected to obtain a fitted straight line; The fitted lines are analyzed based on their absolute angle information, and outliers are removed using Gaussian filtering to obtain the target line.

2. The method for measuring the axial angle of the curved surface of the isolation block according to claim 1, characterized in that, The step of performing grayscale processing, type conversion, and specification conversion on the depth image to obtain a preprocessed image further includes: The depth image is converted to a grayscale image to obtain a grayscale image; The grayscale image is converted from 16-bit to 8-bit, and then stretched and horizontally corrected to obtain the preprocessed image.

3. The method for measuring the axial angle of the curved surface of the isolation block according to claim 1, characterized in that, The step of obtaining the directional lines in the effective region includes: The effective region is subjected to image enhancement and image sharpening processing to obtain a preprocessed image region; Image enhancement and threshold segmentation are used to extract the directional lines and contours of the effective region and then discretize them. The directional lines are obtained by fitting the discretized directional line contour.

4. The method for measuring the axial angle of the curved surface of the isolation block according to claim 3, characterized in that, The image enhancement and sharpening processing of the effective region includes: The effective region is enhanced using a grayscale scaling algorithm. The effective region is then sharpened using an edge detection algorithm.

5. A device for measuring the axial angle of a curved surface of an isolation block, characterized in that, include: The image acquisition module is used to acquire 3D depth images of the concave surface of the isolation block; The preprocessing module is used to perform grayscale processing, type conversion, and specification conversion on the depth image to obtain a preprocessed image; The region extraction module is used to extract regions from the preprocessed image to obtain an effective region containing the isolation block surface; The longitudinal centerline determination module is used to measure the boundary dimensions of the effective area and determine the longitudinal centerline based on the boundary dimensions; The target line determination module is used to filter directional lines in the effective area and determine the target line; The calculation module is used to calculate the angle between the target straight line and the longitudinal centerline to obtain the axial angle of the isolation block surface; The region extraction module includes: A region of interest (ROI) processing unit is used to perform ROI processing on the preprocessed image to obtain an initial localization region; The minimum outer rectangle processing unit is used to perform minimum outer rectangle processing on the initial positioning area according to the shape characteristics of the isolation block to obtain approximate boundary information; A boundary fitting unit is used to accurately fit the boundary using the caliper method based on the approximate boundary information, to obtain two straight edges and two curved edges. An extension unit is used to extend the two straight edges and the two curved edges to form a closed region; the closed region is the effective region; The line determination module includes: An acquisition unit is used to acquire the directional lines in the effective area; The first filtering unit is used to filter the directional lines according to a preset angle and a preset length to obtain a target group of straight lines; The second filtering unit is used to filter the straight lines in the target straight line group according to preset conditions to determine the target straight line; The second filtering unit includes: The fitting connection subunit is used to fit and connect the straight lines in the target straight line group to obtain a fitted straight line; The fitted line analysis and anomaly filtering subunit is used to analyze each fitted line based on the absolute angle information of the fitted lines, and use Gaussian filtering to remove outliers to obtain the target line.

6. A device for measuring the axial angle of a curved surface of an isolation block, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the method for measuring the axial angle of the isolation block surface as described in any one of claims 1 to 4 when executing the computer program.

7. A medium, characterized in that, The medium stores a computer program, which, when executed by a processor, implements the steps of the method for measuring the axial angle of the isolation block surface as described in any one of claims 1 to 4.

Images