A quick-release connection device detection system and method

Abstract

The present invention provides a quick-release connection device detection system and method thereof, the system includes a detection center, a segmentation module, a candidate breakpoint determination module, a detection module and a fitting path determination module; the straight line point cloud data of two adjacent quick-release connection units are obtained, and the straight line point cloud data are segmented to determine a target straight line corresponding to each of the two quick-release connection units; the point located between the two target straight lines is determined from the straight line point cloud data, and the point located between the two target straight lines is determined as a plurality of candidate breakpoints corresponding to the weld; according to the position information of each candidate breakpoint, whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold is detected, and the plurality of target breakpoints corresponding to the weld are determined according to the detection result; the line fitting process is performed on each target breakpoint according to the position information of each target breakpoint, and the fitting path corresponding to the weld is determined. The present invention can improve the welding efficiency of the weld and improve the accuracy of welding.

Description

Technical Field

[0001] The present invention relates to the field of intelligent detection technology, and in particular to a quick-release connection device detection system and method. Background Art

[0002] In the field of aerospace, quick-disconnect couplings, also known as quick-disconnect couplings, are one of the most important components, used to connect and disconnect the connectors of various hydraulic, fuel, gas and other pipeline systems of aircraft. Therefore, abnormalities in quick-disconnect couplings often lead to uncontrollable dangers in aerospace equipment. Quick-disconnect couplings are usually welded from multiple quick-disconnect units, so there may be welds between two adjacent quick-disconnect units in the quick-disconnect coupling. At present, most quick-disconnect coupling manufacturers are still using traditional manual inspection methods to detect whether there is a weld between two adjacent quick-disconnect units in the quick-disconnect coupling, and then manually weld the weld. However, manual inspection is greatly affected by subjectivity, resulting in low welding efficiency and low welding accuracy. Summary of the invention

[0003] The present invention provides a quick-release connection device detection system and method, which can improve the welding efficiency of welds and improve the welding accuracy.

[0004] The technical solution of the present invention to solve the above technical problems is as follows:

[0005] A quick-release connection device detection system includes a detection center, a segmentation module, a candidate breakpoint determination module, a detection module, and a fitting path determination module; the detection center is respectively connected to the segmentation module, the candidate breakpoint determination module, the detection module, and the fitting path determination module to store and manage their data; the quick-release connection device includes a plurality of quick-release connection units;

[0006] a segmentation module, used to obtain straight line point cloud data of two adjacent quick-release connection units, and perform segmentation processing on the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units; the straight line point cloud data includes a plurality of points, there is a weld between the two adjacent quick-release connection units, and the target straight line is used to characterize the outer contour of the quick-release connection unit located in the weld area;

[0007] A candidate breakpoint determination module, used to determine a point between two target straight lines from the straight line point cloud data according to an intersection of the two target straight lines or the nearest points adjacent to the two target straight lines, and determine the points between the two target straight lines as a plurality of candidate breakpoints corresponding to the weld;

[0008] A detection module, configured to detect whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold according to the position information of each of the candidate breakpoints, and determine a plurality of target breakpoints corresponding to the weld according to the detection result; the distance between the target breakpoints in each row is less than the first distance threshold;

[0009] The fitting path determination module is used to perform line fitting processing on each target breakpoint according to the position information of each target breakpoint to determine the fitting path corresponding to the weld; the fitting path is used to guide the welding robot to weld the weld according to the fitting path.

[0010] The present invention also provides a quick-release connection device detection method, the quick-release connection device includes a plurality of quick-release connection units, and the quick-release connection device detection method includes:

[0011] Obtaining straight line point cloud data of two adjacent quick-release connection units, and performing segmentation processing on the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units; the straight line point cloud data includes a plurality of points, there is a weld between the two adjacent quick-release connection units, and the target straight line is used to characterize the outer contour of the quick-release connection unit located in the weld area;

[0012] According to the intersection of the two target straight lines or the nearest points adjacent to the two target straight lines, a point between the two target straight lines is determined from the straight line point cloud data, and the point between the two target straight lines is determined as a plurality of candidate breakpoints corresponding to the weld;

[0013] According to the position information of each of the candidate breakpoints, detecting whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold, and determining a plurality of target breakpoints corresponding to the weld according to the detection result; the distance between the target breakpoints in each row is less than the first distance threshold;

[0014] Line fitting processing is performed on each target breakpoint according to the position information of each target breakpoint to determine the fitting path corresponding to the weld; the fitting path is used to guide the welding robot to weld the weld according to the fitting path.

[0015] The present invention also provides an electronic device, comprising: a memory for storing a computer software program; a processor for reading and executing the computer software program, thereby implementing any of the quick-release connection device detection methods described above.

[0016] The present invention also provides a non-transitory computer-readable storage medium, characterized in that a computer software program is stored in the storage medium, and when the computer software program is executed by a processor, it implements any of the quick-release connection device detection methods described above.

[0017] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the quick-release connection device detection method as described above is implemented.

[0018] The embodiment of the present invention obtains straight line point cloud data of two adjacent quick-release connection units, and performs segmentation processing on the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units; determines a point located between the two target straight lines from the straight line point cloud data, and determines the points located between the two target straight lines as multiple candidate breakpoints corresponding to the weld; detects whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold according to the position information of each candidate breakpoint, and determines multiple target breakpoints corresponding to the weld according to the detection result; performs line fitting processing on each target breakpoint according to the position information of each target breakpoint, and determines the fitting path corresponding to the weld; the fitting path is used to guide the welding robot to weld the weld according to the fitting path, thereby improving the welding efficiency of the weld and improving the welding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of a quick-release connection device detection system provided by the present invention;

[0020] Figure 2 It is a schematic flow chart of a quick-release connection device detection method provided by the present invention;

[0021] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0023] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0024] In the description of the present invention, the term "for example" is used to mean "used as an example, illustration or description". Any embodiment described as "for example" in the present invention is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid obscuring the description of the present invention with unnecessary details. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present invention.

[0025] Figure 1 Schematic diagram of the structure of the quick-release connection device detection system provided by the present invention. Figure 1 As shown, the quick-release connection device detection system includes a detection center, a segmentation module, a candidate breakpoint determination module, a detection module and a fitting path determination module; the detection center is respectively connected to the segmentation module, the candidate breakpoint determination module, the detection module and the fitting path determination module to store and manage their data.

[0026] Optionally, the quick-release connection device in the embodiment of the present invention includes a plurality of quick-release connection units.

[0027] Optionally, the segmentation module obtains the straight line point cloud data of two adjacent quick-release connection units, and performs segmentation processing on the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units; the straight line point cloud data includes multiple points, and there is a weld between the two adjacent quick-release connection units. The target straight line is used to characterize the outer contour of the quick-release connection unit in the weld area.

[0028] Optionally, the candidate breakpoint determination module determines the points between the two target straight lines from the straight line point cloud data based on the intersection of the two target straight lines or the nearest points adjacent to the two target straight lines, and determines the points between the two target straight lines as multiple candidate breakpoints corresponding to the weld.

[0029] Optionally, the detection module detects whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold based on the position information of each candidate breakpoint, and determines multiple target breakpoints corresponding to the weld based on the detection results; the distance between each row of target breakpoints is less than the first distance threshold.

[0030] Optionally, the fitting path determination module performs line fitting processing on each target breakpoint according to the position information of each target breakpoint to determine the fitting path corresponding to the weld; the fitting path is used to guide the welding robot to weld the weld according to the fitting path.

[0031] The embodiment of the present invention performs segmentation processing on the straight line point cloud data of two adjacent quick-release connection units with a weld, determines a target straight line corresponding to each quick-release connection unit for characterizing the weld area on the quick-release connection unit, and then determines a point located between the two target straight lines from the straight line point cloud data based on the intersection of the two target straight lines or the adjacent nearest points, so as to obtain multiple candidate breakpoints corresponding to the weld, and detects whether the distance between two adjacent rows of candidate breakpoints is less than a first distance threshold according to the position information of each candidate breakpoint, and determines multiple target breakpoints whose weld distance is less than the first distance threshold according to the detection result, and then performs line fitting processing on the target breakpoint according to the position information of each target breakpoint to determine a fitting path corresponding to the weld, and the fitting path is used to guide the welding robot to weld the weld according to the fitting path. Therefore, the breakpoints belonging to the weld can be determined in real time through the straight line point cloud data of two adjacent quick-release connection units with a weld, and the fitting path of the weld can be fitted accordingly, so as to guide the welding robot to weld the weld in real time through the fitting path. Compared with the manual welding method, the welding speed of the method of detecting the welding point and guiding the welding robot to weld is faster, so the efficiency of welding the weld can be improved; in addition, since the fitting path of the weld, that is, the weld trajectory, is determined through the straight line point cloud data of two adjacent quick-release connection units with a weld, and the fitting path is determined by limiting the distance threshold condition of the weld breakpoint in the process, the determined weld trajectory is close to the actual weld trajectory, that is, the obtained weld trajectory is relatively accurate, thereby improving the accuracy of welding the weld.

[0032] Optional, see Figure 2 , Figure 2 : is a flow chart of a quick-release connection device detection method provided by the present invention, the quick-release connection device detection method comprises steps 10 to 40, wherein:

[0033] Step 10: Obtain straight line point cloud data of two adjacent quick-release connection units, and segment the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units.

[0034] Optionally, the quick-release connection device in the embodiment of the present invention includes a plurality of quick-release connection units.

[0035] The above straight line point cloud data includes a plurality of points. There is a weld between two adjacent quick-release connection units. The target straight line is used to characterize the outer contour of the quick-release connection unit in the weld area.

[0036] There is a weld between two adjacent quick-release connection units, and the straight line point cloud data of the two adjacent quick-release connection units are obtained by scanning the surfaces of the two adjacent quick-release connection units using a line laser camera arranged at the end of the welding robot.

[0037] Before welding, the welding robot can drive the mechanical arm to the starting position, which should make the center of the line laser camera located near the starting point of the weld between two adjacent quick-release connection units and outside the weld. Then, the mechanical arm can drive the line laser camera to move and scan the surface of the weld area on the two adjacent quick-release connection units to obtain the linear point cloud data of the two adjacent quick-release connection units.

[0038] Since the weld is scanned by a line laser camera, and the line laser camera scans a straight line, the point cloud data obtained can be recorded as straight line point cloud data. The straight line point cloud data of the two adjacent quick-release connection units obtained here can be the straight line point cloud data of the entire weld area, or the straight line point cloud data of a part of the weld area. For example, the straight line point cloud data of a part of the weld area can be obtained and detected to obtain the welding trajectory of the part of the weld. When the welding gun welds the weld section, the weld of the next part of the area continues to be scanned, and this method is repeated to weld the entire weld area.

[0039] Specifically, it is possible to batch receive straight line point cloud frame data collected by a line laser camera, downsample and sort the straight line point cloud data, and output a single frame of straight line point cloud data. Afterwards, the RANSAC (random sample consensus) algorithm can be used to segment all the straight lines in the straight line point cloud data. During the specific segmentation, the above-mentioned straight line point cloud data includes multiple points. First, n points (generally n is 7) are initialized and selected in the straight line point cloud data, and the least squares method is used for straight line fitting to obtain the fitted straight line line; then the distance dis1 from the n+1th point to the straight line is calculated, and it is determined whether dis1 is greater than the set distance threshold (dis_threshold); if dis1 is less than the set distance threshold, the point is included in the straight line; if dis1 is not less than (greater than or equal to) the set distance threshold, it means that the point may not belong to the straight line. In order to determine whether there is no point belonging to the straight line in the future. For the points of a straight line, the distance dis2 of each point from k (for example, 7) points to the straight line can be continuously calculated; and it can be determined whether the dis2 of each point among the k points is greater than the set distance threshold; if the dis2 of a point among the k points is less than the set distance threshold, it means that the point belongs to the point on the straight line, and the point can be included in the straight line; if the dis2 is not less than (greater than or equal to) the set distance threshold, the remaining points in the straight line point cloud data except the points on the straight line are obtained, and the initial n points of the remaining points are continuously selected for judgment until the straight line point cloud data including only the straight line is obtained.

[0040] Afterwards, the points in the straight line point cloud data that only includes straight lines can be processed by straight line fitting, etc. to obtain a target straight line corresponding to each quick-release connection unit. The target straight line of each quick-release connection unit can represent the outer contour of the corresponding quick-release connection unit located in the weld area. Here, for example, the straight line obtained by fitting can be used as the target straight line, or the straight line obtained by fitting can be further processed (such as correction, abnormal point removal, etc.) to obtain the target straight line. In addition, here, there can be a certain interval between the endpoints of the two target straight lines close to the weld area, or the two target straight lines can also intersect in the welding area.

[0041] Step 20, according to the intersection of the two target straight lines or the nearest points adjacent to the two target straight lines, determine the points between the two target straight lines from the straight line point cloud data, and determine the points between the two target straight lines as multiple candidate breakpoints corresponding to the weld.

[0042] In this step, after obtaining the target straight lines of the two quick-release connection units as mentioned above, if the two target straight lines intersect in the welding area, the intersection point of the two target straight lines can be obtained; if the two target straight lines do not intersect in the welding area, the endpoints of the two target straight lines close to the weld area (i.e., the closest points where the two target straight lines are adjacent) can be obtained.

[0043] After determining the intersection of the two target straight lines or the nearest points adjacent to the two target straight lines, the points located between the intersection or the nearest points can be determined in the straight line point cloud data based on the position information of the intersection or the nearest points. These points are disconnected points and can be recorded as breakpoints. These points can then be used as multiple candidate breakpoints corresponding to the weld. At the same time, the position information of these multiple candidate breakpoints can also be obtained in the straight line point cloud data. The position information can be the coordinates of the candidate breakpoints, such as two-dimensional coordinates or three-dimensional coordinates.

[0044] Step 30, based on the position information of each candidate breakpoint, detect whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold, and determine multiple target breakpoints corresponding to the weld according to the detection result; the distance between each row of target breakpoints is less than the first distance threshold.

[0045] In this step, after obtaining multiple candidate breakpoints corresponding to the weld and the position information of each candidate breakpoint, these candidate breakpoints can be arranged in rows, and then the distance between two adjacent rows of candidate breakpoints can be calculated. After obtaining the distance between two adjacent rows of candidate breakpoints, it can be determined whether the distance between the two adjacent rows of candidate breakpoints is less than a first distance threshold. If the distance between the two adjacent rows of candidate breakpoints is less than the first distance threshold, it means that the distance between the two adjacent rows of candidate breakpoints is more appropriate, and the two adjacent rows of candidate breakpoints can be output as target breakpoints, that is, multiple target breakpoints corresponding to the weld are obtained, and these target breakpoints are the breakpoints tracked by the subsequent welding robot when welding the weld.

[0046] If the distance is not less than the first distance threshold, it means that the distance between the two adjacent rows of candidate breakpoints may be large, and it is necessary to determine multiple target breakpoints corresponding to the weld by interpolation or other methods. This part will be described in detail in the following embodiments. In addition, the size of the above-mentioned first distance threshold can be set according to actual conditions and is not specifically limited here.

[0047] Step 40 , performing line fitting processing on each target breakpoint according to the position information of each target breakpoint, and determining a fitting path corresponding to the weld.

[0048] In this step, after obtaining multiple target breakpoints corresponding to the weld and their position information, the position information of each target breakpoint can be sorted, and the least square method can be used to fit each target breakpoint to obtain a fitting path corresponding to the weld, which can further improve the accuracy of weld breakpoint detection and recognition. It can be understood that the fitting path here can be a straight line or a curve. At the same time, the fitting path can be composed of one line or a combination of multiple segmented lines.

[0049] In addition, the fitting path can correspond to the welding path of the welding robot. After obtaining the fitting path of the weld, the welding robot can generate a corresponding welding path according to the fitting path, and weld the weld according to the welding path. Of course, the pre-set teaching path can also be modified by the fitting path to obtain a smoother and closer to the actual welding path, so that the welding robot can accurately and efficiently achieve accurate welding of the weld in the future.

[0050] In addition, it should be noted that the above-mentioned fitting path can be directly output, or multiple target breakpoints and their position information included in the fitting path can be output, and weld tracking points can be selected according to the target breakpoints to achieve accurate welding of the weld.

[0051] In this embodiment, by segmenting the straight line point cloud data of two adjacent quick-release connection units with a weld, a target straight line corresponding to each quick-release connection unit for characterizing the weld area on the quick-release connection unit is determined, and then a point located between the two target straight lines is determined from the straight line point cloud data based on the intersection of the two target straight lines or the adjacent nearest point to obtain a plurality of candidate breakpoints corresponding to the weld, and according to the position information of each candidate breakpoint, it is detected whether the distance between two adjacent rows of candidate breakpoints is less than a first distance threshold, and according to the detection result, a plurality of target breakpoints whose weld distance is less than the first distance threshold are determined, and then line fitting processing is performed on the target breakpoints according to the position information of each target breakpoint to determine a fitting path corresponding to the weld, and the fitting path is used to guide the welding robot to weld the weld according to the fitting path. In the technical solution of the present invention, since the breakpoints belonging to the weld can be determined in real time through the straight line point cloud data of two adjacent quick-release connection units with a weld and the fitting path of the weld can be fitted accordingly, so as to guide the welding robot to weld the weld in real time through the fitting path, the welding speed of the method of detecting the welding point and guiding the welding robot to weld is faster than that of manually teaching to guide the welding robot to weld, so the efficiency of welding the weld can be improved; in addition, since the fitting path of the weld, that is, the weld trajectory, is determined through the straight line point cloud data of two adjacent quick-release connection units with a weld, and the fitting path is determined by limiting the distance threshold condition of the weld breakpoint in the process, the determined weld trajectory is close to the actual weld trajectory, that is, the obtained weld trajectory is relatively accurate, thereby improving the accuracy of welding the weld.

[0052] The following embodiment describes the specific process of how to detect whether two adjacent target straight lines meet the threshold condition and determine the target breakpoint according to the detection result.

[0053] In the above step 30, “detecting whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold according to the position information of each candidate breakpoint” may include the following steps:

[0054] Step 301 , a preset number of sliding windows are used to select each candidate breakpoint in a row, and coordinate differences between adjacent candidate breakpoints in each sliding window are calculated, and each coordinate difference is summed to obtain the difference sum corresponding to each row of sliding windows.

[0055] In this step, a preset number of sliding windows that slide row by row are first set. For example, 50 sliding windows can be set. Each row of sliding windows can basically cover the breakpoints on the row, and the preset number of sliding windows can basically cover the breakpoints of all rows. Then, the difference between the position information (specifically, the x-axis coordinates) of adjacent candidate breakpoints in each row of sliding windows can be calculated and recorded as the coordinate difference. After that, the multiple coordinate differences in each row of sliding windows can be summed, and the obtained sum can be recorded as the difference sum corresponding to the row of sliding windows. In this way, when the sliding window slides row by row, the difference sum corresponding to each row of sliding windows can be calculated.

[0056] Step 302, calculate the distance difference between the difference sums of two adjacent rows of sliding windows, and detect whether the distance difference is less than a first distance threshold.

[0057] In this step, after calculating the difference sum sum(i+1) corresponding to each row of sliding windows, the difference of the row of sliding windows and the difference sum sum(i) of the sliding windows of the previous adjacent row can be calculated, and the obtained difference can be recorded as the distance difference dis(i), where i is greater than or equal to 1. Then, it can be determined whether the distance difference is less than the first distance threshold to obtain a determination result, which is the above-mentioned detection result.

[0058] In one embodiment, if the detection result is that the distance difference between two adjacent rows of sliding windows is less than the first distance threshold, the candidate breakpoints in the two adjacent rows of sliding windows are determined as multiple target breakpoints corresponding to the weld. That is, if the distance difference between two adjacent rows of sliding windows is less than the first distance threshold, it means that the distance between the candidate breakpoints in the two rows of sliding windows is relatively appropriate, and the candidate breakpoints in the two rows of sliding windows and their position information can be output as the target breakpoints of the weld.

[0059] In another embodiment, if the detection result is that the distance difference between two adjacent rows of sliding windows is not less than the first distance threshold, then optionally, the "determining multiple target breakpoints corresponding to the weld according to the detection result" in the above step 20 may include the following steps:

[0060] If the detection result is that the distance difference between two adjacent rows of sliding windows is not less than the first distance threshold, it is determined that there are abnormal breakpoints in the two adjacent rows of sliding windows, and the number of abnormal breakpoints is counted; it is determined whether the number of abnormal breakpoints exceeds the preset abnormal data number threshold. If not, the abnormal breakpoints are interpolated to determine multiple target breakpoints corresponding to the weld.

[0061] When the distance difference between two adjacent rows of sliding windows is greater than or equal to the first distance threshold, it is determined that there are abnormal breakpoints in the two adjacent rows of sliding windows, for example, the candidate breakpoints in the current row of sliding windows can be used as abnormal breakpoints. Then, the number num of abnormal breakpoints can be counted, and it is determined whether the number of abnormal breakpoints exceeds the set abnormal data number threshold (for example, 10% of the total number of breakpoints NUM).

[0062] Optionally, if the number of abnormal breakpoints exceeds (i.e. is greater than) the abnormal data quantity threshold, abnormal information is output, and the abnormal information is used to indicate that the weld is abnormal. If the number of abnormal breakpoints does not exceed (i.e. is less than or equal to) the abnormal data quantity threshold, the abnormal breakpoints in the current row sliding window can be interpolated (for example, interpolation and other processing can be performed based on the position information of the candidate breakpoints in the previous row and the next row sliding window to supplement the breakpoints), and the repaired normal breakpoints are obtained, and then these normal breakpoints are used as the target breakpoints of the weld.

[0063] In this embodiment, a preset number of sliding windows are used to calculate the sum of the difference between the coordinates of the breakpoints in two adjacent rows of sliding windows, and then the distance difference between the two rows of sliding windows is calculated accordingly. This process is simple and intuitive, and thus the efficiency and accuracy of detecting and identifying the target breakpoints of the weld can be improved. In addition, when there are abnormalities in the candidate breakpoints in the detected sliding window, the abnormal breakpoints can be interpolated to ensure that the breakpoints in the sliding window are normal breakpoints, thereby improving the accuracy of detecting and identifying the target breakpoints of the weld.

[0064] The following embodiment describes the specific process of how to segment the straight line point cloud data of two adjacent quick-release connection units into two target straight lines.

[0065] In one embodiment, the above step 10 of “segmenting the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units” may include the following steps:

[0066] Step 101 , segmenting the straight line point cloud data to determine a plurality of candidate straight lines corresponding to two quick-release connection units; each candidate straight line includes at least one point.

[0067] Step 102, calculating the density of each candidate straight line according to the position information of the points on each candidate straight line and the number of points on the candidate straight line.

[0068] Step 103 , at least one candidate straight line with a smaller density among the candidate straight lines is deleted, and a target straight line corresponding to each of the two quick-release connection units is determined.

[0069] The point cloud data belonging to the same line in the line point cloud data can be segmented, that is, all the lines in the line point cloud data are segmented to obtain multiple lines, all of which are recorded as candidate lines. Each candidate line can include one or more points, where the points can be points in the line point cloud data. When the above segmentation obtains multiple points on the candidate line, the position information of the multiple points can also be obtained.

[0070] Then, the length of each candidate line can be calculated based on the position information of each point on each candidate line. Specifically, the x-coordinate value in the position information of the two endpoints (i.e., the points at the endpoints) on each candidate line can be obtained. For each candidate line, the difference between the x-coordinates of its two endpoints can be calculated, and the obtained difference is the length of the candidate line. At the same time, the number of points in the candidate line can be counted, and the length of the candidate line can be divided by the number of points to obtain the density of the candidate line, that is, density = line point cloud length / line point cloud number. In this way, the density of all candidate lines can be calculated.

[0071] Afterwards, the calculated densities of the candidate lines can be sorted (e.g., from small to large), and several candidate lines with smaller densities can be deleted. When deleting, the density of each candidate line can be compared with a preset density threshold, and the candidate lines with a density less than the density threshold can be deleted. After deleting the candidate lines with smaller density, a target line corresponding to each of the two quick-release connection units can be determined through the remaining candidate lines.

[0072] When determining two target lines through the remaining candidate lines, at least one candidate line with a smaller density among the candidate lines can be deleted first to determine at least two intermediate lines; each intermediate line includes at least one point; that is, the candidate lines remaining after deleting the candidate lines with a smaller density among the candidate lines are recorded as intermediate lines. After that, the points in the line point cloud data that are not on all the intermediate lines can be corrected. Optionally, the correction process can include: obtaining a first point set in the line point cloud data; the first point set includes multiple first points, and each first point is not a point on each intermediate line; traversing each first point in the first point set, filtering out the first point belonging to each intermediate line from each first point and adding it to the intermediate line to obtain each processed intermediate line; according to each processed intermediate line, determining a target line corresponding to each of the two quick-release connection units.

[0073] Specifically, first obtain the points in the straight line point cloud data that are not on the middle straight line, record them as first points, and form each first point into a point set to obtain the first point set; then loop through the first point set, and optionally, for a first point in the first point set, calculate the first distance and the second distance between the first point and the two endpoints of each middle straight line; if the first distance and the second distance between the first point and any middle straight line are both greater than a preset endpoint distance threshold, calculate the third distance between the first point and any middle straight line; if the third distance is less than the preset second distance threshold, add the first point to any middle straight line.

[0074] That is to say, for each first point, the distance between the index (i.e., position information) of the first point and the index (i.e., position information) of the two endpoints of each intermediate straight line can be calculated to obtain two distance values ​​between the first point and each intermediate straight line, which are respectively recorded as the first distance Dis1 and the second distance Dis2. Taking an intermediate straight line as an example, the two distance values ​​between the first point and the intermediate straight line can be compared with the endpoint distance threshold (the specific size can be set according to the actual situation), that is, to determine whether the Dis1 of the first point is greater than the endpoint distance threshold nstep and to determine whether Dis2 is greater than the endpoint distance threshold nstep; if the Dis1 of the first point is not greater than the endpoint distance threshold nstep and / or Dis2 is not greater than the endpoint distance threshold nstep, then continue to traverse the next first point in the first point set; if the Dis1 of the first point is greater than the endpoint distance threshold nstep and Dis2 is greater than the endpoint distance threshold nstep, then calculate the distance between the first point and the intermediate straight line. The distance between the lines is recorded as the third distance Dis, and the third distance Dis of the point is compared with the second distance threshold (dis_threshold, the specific size can be set according to the actual situation), that is, it is determined whether the third distance Dis of the point is greater than the second distance threshold dis_threshold; if the third distance Dis of the first point is greater than the second distance threshold dis_threshold, continue to traverse the next first point in the first point set; if the third distance Dis of the first point is not greater than the second distance threshold dis_threshold, then the first point is added to the straight line point cloud data of the middle straight line for subsequent straight line fitting.

[0075] Through the above method, multiple processed intermediate straight lines can be obtained, and then optionally, each processed intermediate straight line can be subjected to segmented fitting and straight line reprojection processing to determine a target straight line corresponding to each of the two quick-release connection units. Specifically, segmented point cloud straight line fitting can be performed according to the point cloud segmentation result obtained in the point cloud straight line segmentation stage, that is, multiple intermediate straight lines belonging to the same quick-release connection unit in each intermediate straight line are linearly fitted in order of position to obtain a target straight line corresponding to each quick-release connection unit. Least squares straight line fitting can be used here, or RANSAC straight line fitting and other methods can be used, and the accurate straight line equation is obtained by the least squares straight line equation. Point cloud straight line reprojection can then be performed, and the original straight line point cloud data can be reprojected onto the straight line equation according to the parameters of the fitted straight line equation, which is equivalent to converting the original straight line point cloud data into straight line point cloud data that only includes straight lines. Because the point cloud data at the edge of the straight line point cloud weld is not a straight line, but a curved line, the accuracy of breakpoint acquisition can be improved by reprojection.

[0076] This embodiment calculates the density of each candidate line segmented in the line point cloud data and deletes the candidate lines with lower density to determine multiple target lines corresponding to the weld, which can reduce the calculation of a portion of invalid data and further improve the efficiency and accuracy of quick-release connection device detection. In addition, by correcting the points within the candidate lines in the line point cloud data, more accurate candidate lines can be obtained, thereby improving the accuracy of the target lines finally determined based on them.

[0077] The following embodiment describes the process of how to obtain the straight line point cloud data of two adjacent quick-release connection units in segments. In one embodiment, the "obtaining the straight line point cloud data of two adjacent quick-release connection units" in the above step 10 may include the following steps:

[0078] Step 104, determining a unit scanning distance of the line laser camera according to the spatial distance between the line laser camera and the welding gun in the welding robot; the unit scanning distance is smaller than the spatial distance.

[0079] Step 105, starting from the welding start point to the welding end point of the weld, the line laser camera sequentially scans two adjacent quick-release connection units according to the unit scanning distance to obtain the straight line point cloud data of the two adjacent quick-release connection units within the corresponding unit scanning distance.

[0080] Among them, since there is a spatial distance of up to 50mm between the line laser camera and the welding gun, the line laser camera scans the weld trajectory in advance and the welding action lags behind, so the operation of the robot arm can be controlled in the form of a section of trajectory points to improve the smoothness of the operation. In this embodiment, according to the spatial distance between the above-mentioned line laser camera and the welding gun, a distance smaller than the spatial distance can be selected as the unit scanning distance when the line laser camera scans the weld, for example, 20mm can be selected as the unit scanning distance. After determining the unit scanning distance, the scanning can be started from the weld starting point of the weld area in the two adjacent quick-release connection units. Each time the linear point cloud data within a unit scanning distance is scanned, a quick-release connection device detection and subsequent welding of the weld within the unit scanning distance are performed. At the same time, the linear point cloud data within the next unit scanning distance is scanned until the weld end point is scanned, detected and welded. In one embodiment, when the acquisition of the mth (greater than or equal to 1)th unit of straight line point cloud data is completed, the quick-release connection device detection process is started and scanning is continued. When the m+1th unit of point cloud is acquired, the processing of the mth straight line point cloud data is completed. At this time, the line laser camera is still at a safety distance of 10 mm from the mth area.

[0081] From the above description, it can be seen that since the processing result of the quick-release connection device detection within the first unit scanning distance is available only when the second unit scanning distance is completed, the first two unit strokes need to be controlled by teaching to actively move the robot arm. When the robot arm is actively controlled by teaching, in order to accurately control the running path of the robot arm, the preset teaching path / teaching trajectory within the unit scanning distance can be interpolated to make it more consistent with the actual running path of the robot arm.

[0082] Optionally, for each unit scanning distance, from the starting point to the end point of the unit scanning distance, the quick-release connection device is detected on the straight line point cloud data of two adjacent quick-release connection units within the unit scanning distance, and the fitting path corresponding to the weld within the unit scanning distance is determined; according to the fitting path of the weld within the unit scanning distance, the teaching path corresponding to the fitting path within the unit scanning distance is interpolated to determine multiple segmented paths corresponding to the weld within the unit scanning distance; each segmented path is a fitting straight line or a fitting curve, which is used to guide the welding robot to weld the welds within the unit scanning distance in sequence according to the above-mentioned segmented paths.

[0083] Among them, the above-mentioned interpolation methods for the teaching path include segmented interpolation and overall interpolation. The overall interpolation method mainly records the welding start and end points of the welding task (i.e., the weld) during the teaching process of the welding robot. In the actual welding task, the overall interpolation calculation is performed between the welding start and end points; the trajectory point data is fitted into different short straight lines, and the interpolation parameters within each short straight line remain unchanged. The length of the short straight line determines the length of the interpolation cycle.

[0084] For the segmented interpolation method, some prerequisites are known in advance, such as the running speed of the welding gun and the line laser camera is calculated according to the maximum running speed v; the minimum processing cycle of the robot arm is T, and the stroke of the robot arm during this period is d; then the time consumed for a unit scanning distance of 20mm is t, and the number of cycles included is m (the parameters included here are not fully used later); when the straight line point cloud data of the 20mm weld is obtained, the processing begins, and the distance starting point within this unit scanning distance is set to A (x0, y0, z0), and the distance end point is set to B (x1, y1, z1); find the turning point p of the actual weld trajectory n (x, y, z); when the robot moves to point A, it starts to execute a new trajectory correction task, and the correction amount in the x direction for each interpolation cycle is Δx = (x-x0) / (mn); when the robot moves to pn, the trajectory correction task is changed again, and the correction amount in the x direction for each interpolation cycle is Δx = (x1-x) / (mn). When the robot moves to the end point B, it is also the starting point of a new weld trajectory. Similarly, it is processed according to the above process.

[0085] From the above description, it can be seen that the operation control system updates a fitting path / trajectory every 20mm (i.e. unit scanning distance). The fitting output detected by the quick-release connection device is no longer a number of high-precision trajectory points, but a fitting straight line or arc, which gives the starting point and intermediate point required for movl (straight line motion) or movc (circular motion). Combined with the trajectory correction function of the robot arm, the position correction of the teaching path / trajectory can be made by a specified amount, which can avoid the deviation between the teaching trajectory and the actual weld and improve the accuracy of welding the weld.

[0086] Figure 3 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the quick-release connection device detection method, which includes:

[0087] Obtain straight line point cloud data of two adjacent quick-release connection units, and segment the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units; the straight line point cloud data includes a plurality of points, there is a weld between the two adjacent quick-release connection units, and the target straight line is used to characterize the outer contour of the quick-release connection unit in the weld area;

[0088] According to the intersection of the two target straight lines or the nearest points adjacent to the two target straight lines, a point between the two target straight lines is determined from the straight line point cloud data, and the point between the two target straight lines is determined as a plurality of candidate breakpoints corresponding to the weld;

[0089] According to the position information of each candidate breakpoint, whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold is detected, and multiple target breakpoints corresponding to the weld are determined according to the detection result; the distance between the target breakpoints in each row is less than the first distance threshold;

[0090] Line fitting is performed on each target breakpoint according to its position information to determine a fitting path corresponding to the weld; the fitting path is used to guide the welding robot to weld the weld according to the fitting path.

[0091] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0092] On the other hand, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to perform the quick-release connection device detection method provided by the above methods, the method comprising:

[0093] Obtain straight line point cloud data of two adjacent quick-release connection units, and segment the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units; the straight line point cloud data includes a plurality of points, there is a weld between the two adjacent quick-release connection units, and the target straight line is used to characterize the outer contour of the quick-release connection unit in the weld area;

[0094] According to the intersection of the two target straight lines or the nearest points adjacent to the two target straight lines, a point between the two target straight lines is determined from the straight line point cloud data, and the point between the two target straight lines is determined as a plurality of candidate breakpoints corresponding to the weld;

[0095] According to the position information of each candidate breakpoint, whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold is detected, and multiple target breakpoints corresponding to the weld are determined according to the detection result; the distance between the target breakpoints in each row is less than the first distance threshold;

[0096] Line fitting is performed on each target breakpoint according to its position information to determine a fitting path corresponding to the weld; the fitting path is used to guide the welding robot to weld the weld according to the fitting path.

[0097] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for detecting the quick-release connection device provided above is implemented, and the method comprises:

[0098] Obtain straight line point cloud data of two adjacent quick-release connection units, and segment the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units; the straight line point cloud data includes a plurality of points, there is a weld between the two adjacent quick-release connection units, and the target straight line is used to characterize the outer contour of the quick-release connection unit in the weld area;

[0099] According to the intersection of the two target straight lines or the nearest points adjacent to the two target straight lines, a point between the two target straight lines is determined from the straight line point cloud data, and the point between the two target straight lines is determined as a plurality of candidate breakpoints corresponding to the weld;

[0100] According to the position information of each candidate breakpoint, whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold is detected, and multiple target breakpoints corresponding to the weld are determined according to the detection result; the distance between the target breakpoints in each row is less than the first distance threshold;

[0101] Line fitting is performed on each target breakpoint according to its position information to determine a fitting path corresponding to the weld; the fitting path is used to guide the welding robot to weld the weld according to the fitting path.

[0102] The system embodiment described above is merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0103] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A quick-release connection device detection system, characterized in that: It includes a detection center, a segmentation module, a candidate breakpoint determination module, a detection module and a fitting path determination module; the detection center is respectively connected to the segmentation module, the candidate breakpoint determination module, the detection module and the fitting path determination module to store and manage their data; the quick-release connection device includes a plurality of quick-release connection units; a segmentation module, used to obtain straight line point cloud data of two adjacent quick-release connection units, and perform segmentation processing on the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units; the straight line point cloud data includes a plurality of points, there is a weld between the two adjacent quick-release connection units, and the target straight line is used to characterize the outer contour of the quick-release connection unit located in the weld area; A candidate breakpoint determination module, used to determine a point between two target straight lines from the straight line point cloud data according to an intersection of the two target straight lines or the nearest points adjacent to the two target straight lines, and determine the points between the two target straight lines as a plurality of candidate breakpoints corresponding to the weld; A detection module, configured to detect whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold according to the position information of each of the candidate breakpoints, and determine a plurality of target breakpoints corresponding to the weld according to the detection result; The distance between the target breakpoints in each row is less than the first distance threshold; The fitting path determination module is used to perform line fitting processing on each target breakpoint according to the position information of each target breakpoint to determine the fitting path corresponding to the weld; the fitting path is used to guide the welding robot to weld the weld according to the fitting path.

2. A quick-release connection device detection method, characterized in that: The quick-release connection device includes a plurality of quick-release connection units, and the quick-release connection device detection method includes: Obtaining straight line point cloud data of two adjacent quick-release connection units, and performing segmentation processing on the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units; the straight line point cloud data includes a plurality of points, there is a weld between the two adjacent quick-release connection units, and the target straight line is used to characterize the outer contour of the quick-release connection unit located in the weld area; According to the intersection of the two target straight lines or the nearest points adjacent to the two target straight lines, a point between the two target straight lines is determined from the straight line point cloud data, and the point between the two target straight lines is determined as a plurality of candidate breakpoints corresponding to the weld; According to the position information of each of the candidate breakpoints, detecting whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold, and determining a plurality of target breakpoints corresponding to the weld according to the detection result; the distance between the target breakpoints in each row is less than the first distance threshold; Line fitting processing is performed on each target breakpoint according to the position information of each target breakpoint to determine the fitting path corresponding to the weld; the fitting path is used to guide the welding robot to weld the weld according to the fitting path.

3. The quick-release connection device detection method according to claim 2, characterized in that: The detecting, based on the position information of each of the candidate breakpoints, whether the distance between two adjacent rows of candidate breakpoints is less than a preset first distance threshold comprises: Using a preset number of sliding windows to select each of the candidate breakpoints in a row, calculating the coordinate difference between adjacent candidate breakpoints in each sliding window, and summing the coordinate differences to obtain the sum of the differences corresponding to each row of the sliding windows; The distance difference between the difference values ​​and the distance difference between two adjacent rows of the sliding windows is calculated, and it is detected whether the distance difference is less than the first distance threshold.

4. The quick-release connection device detection method according to claim 3, characterized in that: The step of determining a plurality of target breakpoints corresponding to the weld according to the detection results includes: If the detection result is that the distance difference between the two adjacent rows of sliding windows is not less than the first distance threshold, it is determined that there are abnormal breakpoints in the two adjacent rows of sliding windows, and the number of the abnormal breakpoints is counted; It is determined whether the number of the abnormal breakpoints exceeds a preset abnormal data quantity threshold; if not, the abnormal breakpoints are interpolated to determine a plurality of target breakpoints corresponding to the weld.

5. The quick-release connection device detection method according to claim 2, characterized in that: The segmentation process of the straight line point cloud data to determine a target straight line corresponding to each of the two quick-release connection units includes: Segmenting the straight line point cloud data to determine a plurality of candidate straight lines corresponding to the two quick-release connection units; each of the candidate straight lines includes at least one point; Calculating the density of each candidate straight line according to the position information of the points on each candidate straight line and the number of the points on the candidate straight line; At least one candidate straight line with a smaller density among the candidate straight lines is deleted to determine a target straight line corresponding to each of the two quick-release connection units.

6. The quick-release connection device detection method according to claim 5, characterized in that: The step of deleting at least one candidate straight line with a smaller density among the candidate straight lines to determine a target straight line corresponding to each of the two quick-release connection units includes: At least one candidate straight line with a smaller density among the candidate straight lines is deleted to determine at least two intermediate straight lines; each of the intermediate straight lines includes at least one point; Acquire a first point set in the straight line point cloud data; the first point set includes a plurality of first points, and each of the first points is not a point on each of the intermediate straight lines; Traversing each of the first points in the first point set, selecting first points belonging to each of the intermediate straight lines from each of the first points and adding the first points to the intermediate straight lines, so as to obtain each processed intermediate straight line; According to each of the processed intermediate straight lines, a target straight line corresponding to each of the two quick-release connection units is determined.

7. The quick-release connection device detection method according to claim 6, characterized in that: The step of selecting the first points belonging to the intermediate straight lines from the first points includes: For a first point in the first point set, calculating a first distance and a second distance between the first point and two end points of each of the intermediate straight lines; If the first distance and the second distance between the first point and any intermediate straight line are both greater than a preset endpoint distance threshold, calculating a third distance between the first point and any intermediate straight line; If the third distance is less than a preset second distance threshold, the first point is added to any one of the intermediate straight lines.

8. The quick-release connection device detection method according to claim 2, characterized in that: The step of obtaining straight line point cloud data of two adjacent quick-release connection units includes: Determine a unit scanning distance of the line laser camera according to the spatial distance between the line laser camera and the welding gun in the welding robot; the unit scanning distance is smaller than the spatial distance; From the welding start point to the welding end point of the weld, the line laser camera sequentially scans the two adjacent quick-release connection units according to the unit scanning distance to obtain straight line point cloud data of the two adjacent quick-release connection units within the corresponding unit scanning distance.

9. The quick-release connection device detection method according to claim 8, characterized in that: The method further comprises: For each unit scanning distance, from the distance starting point to the distance ending point of the unit scanning distance, a quick-release connection device detection is performed on the straight line point cloud data of the two adjacent quick-release connection units within the unit scanning distance to determine a fitting path corresponding to the weld within the unit scanning distance; According to the fitting path of the weld within the unit scanning distance, the teaching path corresponding to the fitting path within the unit scanning distance is interpolated to determine a plurality of segmented paths corresponding to the weld within the unit scanning distance; each segmented path is a fitting straight line or a fitting curve, which is used to guide the welding robot to weld the weld within the unit scanning distance in sequence according to each segmented path.

10. A non-transitory computer-readable storage medium, characterized in that: The storage medium stores a computer software program, and when the computer software program is executed by the processor, the quick-release connection device detection method according to any one of claims 2 to 9 is implemented.

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