An annularly arranged 3D camera overlapping area clipping method and device

Abstract

The present application relates to the technical field of machine vision detection, in particular to a kind of annularly arranged 3D camera coincident area clipping method and device.A kind of annularly arranged 3D camera coincident area clipping method includes: the point cloud data of camera coordinate system is carried out coordinate transformation, obtains world coordinate system point cloud data;According to plan diameter and roll parameter, carry out calculation, to world coordinate system point cloud data is normalized;Based on the 3D camera coordinates and shooting direction of preestablished, according to the calculation of normalized world coordinate system point cloud data, obtain camera effective coverage angle range;According to the preestablished camera responsible coverage angle range, camera maximum coverage angle range and camera effective coverage angle range, to the normalized world coordinate system point cloud data is cut out.The present application is a kind of accurate and efficient coincident area clipping method for annularly arranged 3D camera.

Description

Technical Field

[0001] This invention relates to the field of machine vision inspection technology, and in particular to a method and apparatus for cropping overlapping areas of 3D cameras arranged in a ring. Background Technology

[0002] In the inspection of surface defects and dimensional measurement of cylindrical steel materials such as bars and pipes, 3D cameras are often used to acquire surface point cloud data. Multiple cameras arranged in a ring cover the entire outer surface of the cylinder. To ensure that all areas along the circumference of the target are captured, there will be some overlap in the shooting ranges of adjacent cameras. Due to the influence of angle and depth of field deviations, the point cloud data obtained in these areas contains problems such as missing points, invalid points, data redundancy, and noise. This not only affects the accuracy of subsequent data analysis but also increases the costs of transmission, computation, and storage.

[0003] In the existing technology, there is a lack of an accurate and efficient method for clipping overlapping areas for 3D cameras arranged in a ring. Summary of the Invention

[0004] This invention provides a method and apparatus for cropping the overlapping area of ​​a 3D camera arranged in a ring. The technical solution is as follows:

[0005] On the one hand, a method for clipping the overlapping region of 3D cameras arranged in a ring is provided. This method is implemented by an electronic device and includes:

[0006] The planned diameter of the target to be measured is obtained from the information tracking system of the production line; target data is collected by a 3D camera to obtain point cloud data in the camera coordinate system;

[0007] The point cloud data in the camera coordinate system is transformed to obtain point cloud data in the world coordinate system.

[0008] The center coordinates are calculated based on the planned diameter and preset roller conveyor parameters; the world coordinate system point cloud data is then normalized based on the center coordinates to obtain normalized world coordinate system point cloud data.

[0009] The maximum coverage angle range of the camera is calculated based on the normalized world coordinate system point cloud data.

[0010] Based on the preset 3D camera coordinates and shooting direction, the effective coverage angle range of the camera is calculated according to the normalized world coordinate system point cloud data.

[0011] The normalized world coordinate system point cloud data is cropped based on the preset camera coverage angle range, the maximum coverage angle range of the camera, and the effective coverage angle range of the camera.

[0012] The roller conveyor parameters include the inclination angle of the conveyor roller groove, the width of the bottom of the roller groove, and the position of the center of the bottom of the roller groove in the world coordinate system.

[0013] Optionally, the step of calculating the maximum coverage angle range of the camera based on the normalized world coordinate system point cloud data includes:

[0014] Based on the normalized world coordinate system point cloud data, the angle range corresponding to the camera acquisition data is obtained by calculation through a preset transformation function.

[0015] Select the minimum and maximum values ​​within the corresponding angle range of the data collected by the camera to obtain the maximum coverage angle range of the camera.

[0016] Optionally, the effective coverage angle range of the camera is calculated based on the preset 3D camera coordinates and shooting direction, using the normalized world coordinate system point cloud data, including:

[0017] A mathematical model is constructed based on the preset 3D camera coordinates and shooting direction to obtain the foreground depth equation and the background depth equation.

[0018] Based on the normalized world coordinate system point cloud data, the effective coverage angle range of the camera is obtained by solving the foreground depth equation and the background depth equation.

[0019] Optionally, the step of cropping the normalized world coordinate system point cloud data according to the preset camera coverage angle range, the camera's maximum coverage angle range, and the camera's effective coverage angle range includes:

[0020] When the preset camera coverage angle range is less than or equal to the camera's effective coverage angle range, the corresponding range interval of the camera's coverage angle range within the camera's effective coverage angle range is extracted.

[0021] When the preset camera coverage angle range is greater than the camera's effective coverage angle range, a supplementary angle range is obtained based on the camera's maximum coverage angle range and the camera's effective coverage angle range; the corresponding range interval of the camera's effective coverage angle range and the supplementary angle range is then extracted.

[0022] On the other hand, a 3D camera overlap region clipping device arranged in a ring is provided. This device is applied to a 3D camera overlap region clipping method arranged in a ring. The device includes:

[0023] The data acquisition module is used to obtain the planned diameter of the target to be measured from the information tracking system of the production line; and to acquire target data through a 3D camera to obtain point cloud data in the camera coordinate system.

[0024] The coordinate system transformation module is used to transform the camera coordinate system point cloud data to obtain world coordinate system point cloud data.

[0025] The coordinate system normalization module is used to calculate the center coordinates based on the planned diameter and preset roller parameters; and to normalize the world coordinate system point cloud data based on the center coordinates to obtain normalized world coordinate system point cloud data.

[0026] The maximum angle range acquisition module is used to calculate the maximum coverage angle range of the camera based on the normalized world coordinate system point cloud data.

[0027] The effective angle range acquisition module is used to calculate the effective coverage angle range of the camera based on the preset 3D camera coordinates and shooting direction, according to the normalized world coordinate system point cloud data.

[0028] The data cropping module is used to crop the normalized world coordinate system point cloud data according to the preset camera coverage angle range, the maximum coverage angle range of the camera, and the effective coverage angle range of the camera.

[0029] Optionally, the roller conveyor parameters include the inclination angle of the conveyor roller groove, the width of the bottom of the roller groove, and the position of the center of the bottom of the roller groove in the world coordinate system.

[0030] Optionally, the maximum angle range acquisition module is further configured to:

[0031] Based on the normalized world coordinate system point cloud data, the angle range corresponding to the camera acquisition data is obtained by calculation through a preset transformation function.

[0032] Select the minimum and maximum values ​​within the corresponding angle range of the data collected by the camera to obtain the maximum coverage angle range of the camera.

[0033] Optionally, the effective angle range acquisition module is further configured to:

[0034] A mathematical model is constructed based on the preset 3D camera coordinates and shooting direction to obtain the foreground depth equation and the background depth equation.

[0035] Based on the normalized world coordinate system point cloud data, the effective coverage angle range of the camera is obtained by solving the foreground depth equation and the background depth equation.

[0036] Optionally, the data cropping module is further configured to:

[0037] When the preset camera coverage angle range is less than or equal to the camera's effective coverage angle range, the corresponding range interval of the camera's coverage angle range within the camera's effective coverage angle range is extracted.

[0038] When the preset camera coverage angle range is greater than the camera's effective coverage angle range, a supplementary angle range is obtained based on the camera's maximum coverage angle range and the camera's effective coverage angle range; the corresponding range interval of the camera's effective coverage angle range and the supplementary angle range is then extracted.

[0039] On the other hand, an electronic device is provided, comprising a processor and a memory, wherein the memory stores at least one instruction, which is loaded and executed by the processor to implement the above-described method for clipping overlapping regions of a 3D camera arranged in a ring.

[0040] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, the at least one instruction being loaded and executed by a processor to implement the above-described method for clipping overlapping regions of a 3D camera arranged in a ring.

[0041] The beneficial effects of the technical solutions provided in the embodiments of the present invention include at least the following:

[0042] This invention proposes a method for clipping overlapping regions of 3D cameras arranged in a ring. Based on the angular range covered by each camera, and combining the maximum angular range covered by each camera with the foreground and background depth distances, point cloud data at appropriate angles is truncated from the data. Clipping is performed using the index of the point cloud data column direction corresponding to the target interval, resulting in data after removing overlapping regions. This method can accurately remove invalid and interfering point cloud data, reducing data redundancy, saving storage space, and filtering out a large amount of interference for subsequent detection tasks, thus improving computational accuracy. This invention is an accurate and efficient method for clipping overlapping regions of 3D cameras arranged in a ring. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart of a method for clipping overlapping areas of a 3D camera arranged in a ring, provided by an embodiment of the present invention.

[0045] Figure 2This is a schematic diagram illustrating the specific parameter information of the roller conveyor where the target being measured is located, provided in an embodiment of the present invention.

[0046] Figure 3 This is a schematic diagram of the front and rear depth of field and the effective angular range that can be covered by a camera, provided by an embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram comparing the effective angular range that a camera can cover with the set responsible angular range, provided by an embodiment of the present invention.

[0048] Figure 5 This is a block diagram of a 3D camera overlapping area clipping device arranged in a ring, provided in an embodiment of the present invention.

[0049] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0050] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0051] This invention provides a method for clipping the overlapping area of ​​a 3D camera arranged in a ring. This method can be implemented by an electronic device, which can be a terminal or a server. Figure 1 The flowchart shown illustrates a method for clipping the overlapping area of ​​a 3D camera arranged in a ring. The processing flow of this method may include the following steps:

[0052] S1. Obtain the planned diameter of the target to be measured from the information tracking system of the production line; acquire target data through a 3D camera to obtain point cloud data in the camera coordinate system.

[0053] The roller conveyor parameters include the inclination angle of the conveyor roller groove, the width of the bottom of the roller groove, and the position of the center of the bottom of the roller groove in the world coordinate system.

[0054] In one feasible implementation, in this invention, when cameras arranged in a ring shape photograph a target (steel pipe, bar), the shooting areas between adjacent cameras overlap. The overlapping area is the edge of the camera shooting area, which has problems such as missing, invalid, and redundant data that need to be cut off.

[0055] Taking a layout of 6 cameras as an example, the rigid body matrix of the multi-camera joint calibration is first used to transform the point cloud data output by each camera from the camera space coordinate system to the world space coordinate system, so as to achieve the unification of the coordinates of all point cloud data.

[0056] The rigid body matrix for multi-camera joint calibration is a rotation and translation matrix. The rotation and translation matrix includes the rotation angle between coordinate systems along the y-axis, as well as the translation along the x-axis and z-axis. The y-axis direction is the direction of steel movement, the x-axis is the direction perpendicular to the y-axis on the horizontal plane, and the z-axis is the direction perpendicular to the horizontal plane.

[0057] The parameters of the running roller conveyor include the inclination angle θ of the conveyor groove, the width w of the bottom of the groove, and the position (x0, z0) of the center of the groove bottom in the world coordinate system. Figure 2 As shown.

[0058] S2. Perform coordinate transformation on the camera coordinate system point cloud data to obtain the world coordinate system point cloud data.

[0059] In one feasible implementation, the data captured by the camera is in the camera coordinate system. The camera coordinate system coordinates are converted to world coordinate system coordinates using a rotation and translation matrix. Taking the rigid body matrix of camera 1 as an example, the rotation and translation matrix is ​​shown in the following equation (1):

[0060]

[0061] S3. Calculate the center coordinates based on the planned diameter and preset roller conveyor parameters; normalize the world coordinate system point cloud data based on the center coordinates to obtain normalized world coordinate system point cloud data.

[0062] In one feasible implementation, the planned diameter of the target steel is obtained from the automated tracking system, and the center coordinates of the target steel are calculated by combining the parameter information of the running roller conveyor. The point cloud data in the world coordinate system is then normalized using the center coordinates.

[0063] The formula for calculating the coordinates of the center of the target steel is shown in equation (2) below:

[0064]

[0065] Where d is the planned diameter of the target steel, and the calculation formulas for α and z′0 are shown in equations (3) and (4) below:

[0066]

[0067]

[0068] Point cloud data in world coordinate system (x i , z i Normalization is achieved using the following formula (5):

[0069] (x′ i , z′ i )=(x i -xc , z i -z c (5)

[0070] Among them, (x′ i , z′ i ) represents the normalized point cloud data, and i is the index of the point cloud data along the column direction.

[0071] S4. Calculate the maximum coverage angle range of the camera based on the normalized world coordinate system point cloud data.

[0072] Optionally, the maximum coverage angle range of the camera can be calculated based on the normalized world coordinate system point cloud data, including:

[0073] Based on the point cloud data in the normalized world coordinate system, the angle range corresponding to the camera-acquired data is obtained by calculation using a preset transformation function.

[0074] Select the minimum and maximum values ​​within the corresponding angle range of the camera data to obtain the maximum coverage angle range of the camera.

[0075] In one feasible implementation, the normalized point cloud data (x′) from each camera is used. i , z′ i Calculate the angle β of the target steel corresponding to the data acquired by the camera. i The calculation formula is shown in equation (6) below:

[0076]

[0077] Wherein, g(x′) i , z′ i ) is the transformation function, and β is calculated by each camera. i The maximum achievable angular range is obtained by taking the minimum and maximum values ​​respectively. like Figure 3 The range between the two circular points is shown, where k is the camera number from 1 to N, and the angle is defined counterclockwise.

[0078] S5. Based on the preset 3D camera coordinates and shooting direction, the effective coverage angle range of the camera is calculated using the normalized world coordinate system point cloud data.

[0079] Optionally, based on preset 3D camera coordinates and shooting direction, the effective coverage angle range of the camera is calculated using normalized world coordinate system point cloud data, including:

[0080] A mathematical model is constructed based on the preset 3D camera coordinates and shooting direction to obtain the foreground depth equation and the background depth equation.

[0081] Based on the point cloud data in the normalized world coordinate system, the effective coverage angle range of the camera is obtained by solving the foreground depth equation and the background depth equation.

[0082] In one feasible implementation, based on the pre-calibrated positions of each camera in the world space coordinate system and the camera's shooting direction, the linear equations of the foreground depth of field and background depth of field captured by the camera are calculated in the world space coordinate system. Based on the intersection of the background depth of field line and the point cloud data, the effective angle range that the camera can cover is determined by the angle range between the foreground and background depth of field.

[0083] The camera's foreground depth meets the design requirements for covering steel surfaces of all sizes, therefore it can be disregarded; such as Figure 3 As shown, the camera's back depth of field and the point cloud data captured by the camera will form two intersection points. The angular range corresponding to these two intersection points is the effective angular range that the camera can cover. like Figure 3 The range between the two triangle points is shown in the figure. Define the angle as counterclockwise.

[0084] S6. Based on the preset camera coverage angle range, maximum camera coverage angle range, and effective camera coverage angle range, crop the normalized world coordinate system point cloud data.

[0085] Optionally, the normalized world coordinate system point cloud data is cropped according to the preset camera coverage angle range, camera maximum coverage angle range, and camera effective coverage angle range, including:

[0086] When the preset camera coverage angle range is less than or equal to the camera's effective coverage angle range, the corresponding range interval of the camera's coverage angle range within the camera's effective coverage angle range is extracted.

[0087] When the preset camera coverage angle range is greater than the camera's effective coverage angle range, a supplementary angle range is obtained based on the camera's maximum coverage angle range and effective coverage angle range; the corresponding range intervals of the camera's effective coverage angle range and supplementary angle range are then extracted.

[0088] In one feasible implementation, the angular range covered by each camera, the maximum angular range that a camera can cover, and the effective angular range that a camera can cover are combined, such as... Figure 4 As shown, the point cloud data to be retained by each camera in each angle direction is determined, and then the range of x-direction data to be retained in the camera point cloud data is obtained. Data exceeding this range is cropped out, which can effectively remove data with overlapping acquisition ranges between adjacent cameras.

[0089] The camera's preset measurement angle range is μ = 60°. The angle range for each camera measuring the target steel can be obtained by rotating counter-clockwise as [δ0 + (k-1)μ, δ0 + kμ). Figure 3 The range between the two forked points is shown, where δ0 = 0°, k is the camera number from 1 to 6, where δ0 is the starting value of the measured angle, which is generally taken as 0, and N is the total number of cameras.

[0090] The point cloud data is in a matrix structure, with 1024 rows and 2560 columns.

[0091] when At that time, based on the angle range covered by the camera, the corresponding interval is extracted from the effective angle range that the camera can cover; when First, the effective angle range that the current camera can cover is selected as the base. The remaining angle range that does not reach the target steel is made up by the effective angle range covered by the adjacent camera. The index of the point cloud data column direction corresponding to the selected interval is clipped to obtain the point cloud data after removing overlap.

[0092] by Figure 4 Taking camera No. 1 as an example, its preset shooting angle range is (0°, 60°). However, through calculation, the effective angle range that camera No. 1 can actually cover is (-28.5°, 89.2°). Based on the preset angle range, the index corresponding to 0° is 340 and the index corresponding to 60° is 1866 in the x-direction. Therefore, the data in the interval of 340 to 1866 needs to be truncated and retained in the x-direction. Finally, the matrix data with a pixel height of 1024 and a pixel width of 1526 is the deduplicated data.

[0093] This invention proposes a method for clipping overlapping regions of 3D cameras arranged in a ring. Based on the angular range covered by each camera, and combining the actual angular range covered by the cameras with the depth of field distance, point cloud data at appropriate angles is truncated from the data. Clipping is performed using the index of the point cloud data column direction corresponding to the target interval, resulting in data after removing overlapping regions. This method can accurately remove invalid and interfering point cloud data, reducing data redundancy, saving storage space, and filtering out a large amount of interference for subsequent detection tasks, thus improving computational accuracy. This invention is an accurate and efficient method for clipping overlapping regions of 3D cameras arranged in a ring.

[0094] Figure 5 This is a block diagram illustrating a circularly arranged 3D camera overlap region clipping device according to an exemplary embodiment. (Refer to...) Figure 5 The device includes:

[0095] The data acquisition module 510 is used to obtain the planned diameter of the target to be measured from the information tracking system of the production line; and to acquire target data through a 3D camera to obtain point cloud data in the camera coordinate system.

[0096] The coordinate system transformation module 520 is used to transform the camera coordinate system point cloud data to obtain the world coordinate system point cloud data.

[0097] The coordinate system normalization module 530 is used to calculate the center coordinates based on the planned diameter and preset roller parameters; and to normalize the world coordinate system point cloud data based on the center coordinates to obtain normalized world coordinate system point cloud data.

[0098] The maximum angle range acquisition module 540 is used to calculate the maximum coverage angle range of the camera based on the normalized world coordinate system point cloud data.

[0099] The effective angle range acquisition module 550 is used to calculate the effective coverage angle range of the camera based on the preset 3D camera coordinates and shooting direction, according to the normalized world coordinate system point cloud data.

[0100] The data cropping module 560 is used to crop the normalized world coordinate system point cloud data according to the preset camera coverage angle range, camera maximum coverage angle range, and camera effective coverage angle range.

[0101] Optionally, the roller conveyor parameters include the inclination angle of the conveyor roller groove, the width of the bottom of the roller groove, and the position of the center of the bottom of the roller groove in the world coordinate system.

[0102] Optionally, the maximum angle range acquisition module 540 is further used for:

[0103] Based on the point cloud data in the normalized world coordinate system, the angle range corresponding to the camera-acquired data is obtained by calculation using a preset transformation function.

[0104] Select the minimum and maximum values ​​within the corresponding angle range of the camera data to obtain the maximum coverage angle range of the camera.

[0105] Optionally, the effective angle range acquisition module 550 is further used for:

[0106] A mathematical model is constructed based on the preset 3D camera coordinates and shooting direction to obtain the foreground depth equation and the background depth equation.

[0107] Based on the point cloud data in the normalized world coordinate system, the effective coverage angle range of the camera is obtained by solving the foreground depth equation and the background depth equation.

[0108] Optionally, the data cropping module 560 is further used for:

[0109] When the preset camera coverage angle range is less than or equal to the camera's effective coverage angle range, the corresponding range interval of the camera's coverage angle range within the camera's effective coverage angle range is extracted.

[0110] When the preset camera coverage angle range is greater than the camera's effective coverage angle range, a supplementary angle range is obtained based on the camera's maximum coverage angle range and effective coverage angle range; the corresponding range intervals of the camera's effective coverage angle range and supplementary angle range are then extracted.

[0111] This invention proposes a method for clipping overlapping regions of 3D cameras arranged in a ring. Based on the angular range covered by each camera, and combining the maximum angular range covered by each camera with the foreground and background depth distances, point cloud data at appropriate angles is truncated from the data. Clipping is performed using the index of the point cloud data column direction corresponding to the target interval, resulting in data after removing overlapping regions. This method can accurately remove invalid and interfering point cloud data, reducing data redundancy, saving storage space, and filtering out a large amount of interference for subsequent detection tasks, thus improving computational accuracy. This invention is an accurate and efficient method for clipping overlapping regions of 3D cameras arranged in a ring.

[0112] Figure 6 This is a schematic diagram of the structure of an electronic device 600 provided in an embodiment of the present invention. The electronic device 600 may vary considerably due to different configurations or performance. It may include one or more central processing units (CPUs) 601 and one or more memories 602. The memory 602 stores at least one instruction, which is loaded and executed by the processor 601 to implement the steps of the above-described method for clipping overlapping regions of a 3D camera arranged in a ring.

[0113] In an exemplary embodiment, a computer-readable storage medium is also provided, such as a memory including instructions that can be executed by a processor in a terminal to complete the described method for cropping overlapping regions of a ring-shaped 3D camera. For example, the computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, or optical data storage device.

[0114] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0115] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for cropping the overlapping area of ​​a 3D camera arranged in a ring, characterized in that, The method includes: The planned diameter of the target to be measured is obtained from the information tracking system of the production line; target data is acquired through a 3D camera to obtain point cloud data in the camera coordinate system; The point cloud data in the camera coordinate system is transformed to obtain point cloud data in the world coordinate system. The center coordinates are calculated based on the planned diameter and preset roller conveyor parameters; the world coordinate system point cloud data is then normalized based on the center coordinates to obtain normalized world coordinate system point cloud data. The maximum coverage angle range of the camera is calculated based on the normalized world coordinate system point cloud data. Based on the preset 3D camera coordinates and shooting direction, the effective coverage angle range of the camera is calculated according to the normalized world coordinate system point cloud data. The effective coverage angle range of the camera, calculated based on preset 3D camera coordinates and shooting direction and using the normalized world coordinate system point cloud data, includes: A mathematical model is constructed based on the preset 3D camera coordinates and shooting direction to obtain the foreground depth equation and the background depth equation. Based on the normalized world coordinate system point cloud data, the effective coverage angle range of the camera is obtained by solving the foreground depth equation and the background depth equation. The normalized world coordinate system point cloud data is cropped based on the preset camera coverage angle range, the maximum coverage angle range of the camera, and the effective coverage angle range of the camera.

2. The method for clipping overlapping areas of a ring-shaped 3D camera according to claim 1, characterized in that, The roller conveyor parameters include the inclination angle of the conveyor roller groove, the width of the bottom of the roller groove, and the position of the center of the bottom of the roller groove in the world coordinate system.

3. The method for clipping overlapping areas of a ring-shaped 3D camera according to claim 1, characterized in that, The calculation based on the normalized world coordinate system point cloud data to obtain the maximum coverage angle range of the camera includes: Based on the normalized world coordinate system point cloud data, the angle range corresponding to the camera acquisition data is obtained by calculation through a preset transformation function. Select the minimum and maximum values ​​within the corresponding angle range of the data collected by the camera to obtain the maximum coverage angle range of the camera.

4. The method for clipping overlapping areas of a ring-shaped 3D camera according to claim 1, characterized in that, The step of cropping the normalized world coordinate system point cloud data according to the preset camera coverage angle range, the maximum camera coverage angle range, and the effective camera coverage angle range includes: When the preset camera coverage angle range is less than or equal to the camera's effective coverage angle range, the corresponding range interval of the camera's coverage angle range within the camera's effective coverage angle range is extracted. When the preset camera coverage angle range is greater than the camera's effective coverage angle range, a supplementary angle range is obtained based on the camera's maximum coverage angle range and the camera's effective coverage angle range; the corresponding range interval of the camera's effective coverage angle range and the supplementary angle range is then extracted.

5. A 3D camera overlapping area clipping device arranged in a ring, characterized in that, The device includes: The data acquisition module obtains the planned diameter of the target to be measured from the information tracking system of the production line; it also acquires target data through a 3D camera to obtain point cloud data in the camera coordinate system. The coordinate system transformation module is used to transform the camera coordinate system point cloud data to obtain world coordinate system point cloud data. The coordinate system normalization module is used to calculate the center coordinates based on the planned diameter and preset roller parameters; and to normalize the world coordinate system point cloud data based on the center coordinates to obtain normalized world coordinate system point cloud data. The maximum angle range acquisition module is used to calculate the maximum coverage angle range of the camera based on the normalized world coordinate system point cloud data. The effective angle range acquisition module is used to calculate the effective coverage angle range of the camera based on the preset 3D camera coordinates and shooting direction, according to the normalized world coordinate system point cloud data. The effective angle range acquisition module is further used for: A mathematical model is constructed based on the preset 3D camera coordinates and shooting direction to obtain the foreground depth equation and the background depth equation. Based on the normalized world coordinate system point cloud data, the effective coverage angle range of the camera is obtained by solving the foreground depth equation and the background depth equation. The data cropping module is used to crop the normalized world coordinate system point cloud data according to the preset camera coverage angle range, the maximum coverage angle range of the camera, and the effective coverage angle range of the camera.

6. A 3D camera overlapping area clipping device arranged in a ring according to claim 5, characterized in that, The roller conveyor parameters include the inclination angle of the conveyor roller groove, the width of the bottom of the roller groove, and the position of the center of the bottom of the roller groove in the world coordinate system.

7. A 3D camera overlap region clipping device arranged in a ring according to claim 5, characterized in that, The maximum angle range acquisition module is further used for: Based on the normalized world coordinate system point cloud data, the angle range corresponding to the camera acquisition data is obtained by calculation through a preset transformation function. Select the minimum and maximum values ​​within the corresponding angle range of the data collected by the camera to obtain the maximum coverage angle range of the camera.

8. A 3D camera overlapping area clipping device arranged in a ring according to claim 5, characterized in that, The data trimming module is further used for: When the preset camera coverage angle range is less than or equal to the camera's effective coverage angle range, the corresponding range interval of the camera's coverage angle range within the camera's effective coverage angle range is extracted. When the preset camera coverage angle range is greater than the camera's effective coverage angle range, a supplementary angle range is obtained based on the camera's maximum coverage angle range and the camera's effective coverage angle range; the corresponding range interval of the camera's effective coverage angle range and the supplementary angle range is then extracted.

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