A simulation planning method and system for 3D laser line scanning camera detection trajectory

Abstract

This invention relates to the field of trajectory simulation planning technology, and discloses a simulation planning method and system for the detection trajectory of a 3D laser line scanning camera. This method establishes a simulation environment and, based on a simulated laser line scanning camera, can simulate and plan the detection motion trajectory of a motion module plus a laser line scanning camera within the simulation. Users only need to provide the CAD file of the workpiece to be inspected, the motion simulation, and the physical parameters of commercially available laser line scanning cameras. The detection scenario for the project is then built within the simulation environment. Combined with interactive control to simulate the detection process for design review, it eliminates the need to wait for machining and installation before verifying design feasibility and the feasibility of the laser line scanning camera model. The simulation environment allows for the early identification of potential problems, improving design efficiency.

Description

Technical Field

[0001] This invention relates to the field of trajectory simulation planning technology, and in particular to a simulation planning method and system for trajectories detected by a 3D laser line scanning camera. Background Technology

[0002] In 3D laser line scanning camera inspection, path planning needs to consider the camera's scanning range, resolution, and target detection requirements to ensure comprehensive coverage and efficient completion of the inspection task. Currently, common path planning methods can be divided into two categories: traditional manual path planning on-site and automated path planning combined with computer algorithms. Traditional manual path planning typically consumes significant time and manpower. Operators need to carefully consider various factors, such as the camera's field of view, the layout of the detection area, and interference, which can lead to inefficient path planning. When the design changes, manually planned paths may quickly become invalid because obstacles or target objects in the environment may change position. Manual path planning on-site must wait until the newly designed mechanical structure is manufactured and installed before resuming manual planning. Furthermore, automated path planning using computer algorithms is inefficient when handling 3D environments, dynamic environments, complex scenes, and multi-target detection. The limitations of the algorithm may result in insufficiently optimized paths or paths that cannot adapt to the actual needs of specific environments.

[0003] It is evident that existing path planning methods cannot provide a priori environment to test the rationality of mechanical design and the feasibility of visual inspection algorithms. Summary of the Invention

[0004] This invention provides a simulation planning method and system for 3D laser line scanning camera detection trajectory, in order to solve the problem that existing path planning methods cannot provide a priori environment to test the rationality of mechanical design and the feasibility of visual detection algorithms.

[0005] To achieve the above objectives, the present invention employs the following technical solution:

[0006] In a first aspect, the present invention provides a simulation planning method for the detection trajectory of a 3D laser line scanning camera, comprising:

[0007] S1: Establish a physical parameterized model of the actual 3D laser line scanning camera in the simulation, obtain the physical parameters of the actual 3D laser line scanning camera, and import them into the workpiece CAD.

[0008] S2: Based on the physical parameters of the actual 3D laser line scanning camera, the simulation line scanning camera is set. The relative positional relationship between the laser generator and the image sensor is obtained through the size data of the actual 3D laser line scanning camera. Based on the physical parameters and the relative positional relationship, the scanning detection range of the simulation line scanning camera is determined.

[0009] S3: Based on physical parameters, emit N rays along the X-axis of the laser generator;

[0010] S4: Determine the effective points within the scanning detection range of the simulated line scan camera based on ray tracing;

[0011] S5: A mobile simulation line scan camera that uses effective point detection of the workpiece CAD to determine the path planning of the simulation line scan camera in simulation and outputs the data of each key point in the path planning.

[0012] Secondly, this application provides a simulation planning system for the detection trajectory of a 3D laser line scanning camera, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method described in the first aspect.

[0013] In a second aspect, this application provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in the first aspect.

[0014] Beneficial effects:

[0015] This invention provides a simulation planning method for the detection trajectory of a 3D laser line scanner camera. It establishes a simulation environment and, based on a simulated laser line scanner camera, can simulate and plan the detection motion trajectory of a motion module and the laser line scanner camera within the simulation. Users only need to provide the CAD file of the workpiece to be inspected, the motion simulation, and the physical parameters of commercially available laser line scanner cameras. The detection scenario for the project is then built within the simulation environment. Combined with interactive control to simulate the detection process for design review, it eliminates the need to wait for machining and installation before verifying design feasibility and the feasibility of the laser line scanner camera model. The simulation environment allows for the early identification of potential problems, improving design efficiency.

[0016] In a further solution, the simulation of a laser line scanning camera based on real physical parameters, combined with API control and data export, can conveniently provide an environment for early verification of related visual algorithms. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a simulation planning method for the detection trajectory of a 3D laser line scanning camera according to a preferred embodiment of the present invention;

[0018] Figure 2 This is a parametric model of a 3D laser line scanning camera according to a preferred embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram illustrating the relationship between the laser emitter and the image sensor in a preferred embodiment of the present invention;

[0020] Figure 4 The X-ray detection process is a preferred embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of a simulation planning system for a 3D laser line scanning camera detection trajectory according to a preferred embodiment of the present invention. Detailed Implementation

[0022] The technical solution of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up," "down," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship also changes accordingly.

[0024] Currently, traditional manual path planning on-site typically consumes significant time and manpower. Operators need to carefully consider various factors. Existing path planning methods cannot provide a priori environment to test the rationality of mechanical design and the feasibility of visual inspection algorithms. Therefore, this application provides a simulation planning method for the detection trajectory of a 3D laser line scanning camera.

[0025] It should be noted that a 3D laser line scanning camera includes a laser generator and an image sensor. In the simulation system, a laser generator and an image sensor are also set up to correspond to the actual situation.

[0026] Please see Figure 1 This application provides a simulation planning method for the detection trajectory of a 3D laser line scan camera, applied to a simulation planning system for the detection trajectory of a 3D laser line scan camera. The system includes a laser generator and an image sensor. The simulation planning method includes:

[0027] S1: Establish a physical parameterized model of the actual 3D laser line scanning camera in the simulation, obtain the physical parameters of the actual 3D laser line scanning camera, and import them into the workpiece CAD.

[0028] In this step, a physical parameterized model of the actual 3D laser line scanning camera is established, such as... Figure 2 As shown, the relative positions of the laser generator and image sensor are obtained from the actual size data of the 3D laser line scanning camera. Figure 3 As shown, specifically, the physical parameters include net distance, Z-axis measurement range, X-axis measurement range, and resolution. Net distance represents the minimum distance between the target and the sensor when the target is within the scanning measurement range; the Z-axis measurement range represents a vertical distance segment starting from the net distance position. This is merely an example and not a limitation.

[0029] S2: Based on the physical parameters of the actual 3D laser line scan camera, the simulation line scan camera is set. The relative positional relationship between the laser generator and the image sensor is obtained through the size data of the actual 3D laser line scan camera. Based on the physical parameters and the relative positional relationship, the scanning detection range of the simulation line scan camera is determined.

[0030] S3: Based on physical parameters, emit N rays in the X-axis direction of the laser generator.

[0031] Where N is a positive integer.

[0032] S4: Determine the effective points within the scanning detection range of the simulated line scan camera based on ray tracing.

[0033] S5: A mobile simulation line scan camera that uses effective point detection of the workpiece CAD to determine the path planning of the simulation line scan camera in simulation and outputs the data of each key point in the path planning.

[0034] The aforementioned simulation planning method for the detection trajectory of a 3D laser line scanner camera establishes a simulation environment. Based on a simulated laser line scanner camera, it can simulate and plan the detection motion trajectory of the motion module and the laser line scanner camera within the simulation. Users only need to provide the CAD file of the workpiece to be inspected, the motion simulation, and the physical parameters of commercially available laser line scanner cameras. The project's detection scenario is then built within the simulation environment. Combined with interactive control to simulate the detection process for design review, it eliminates the need to wait for machining and installation before verifying design feasibility and the feasibility of the laser line scanner camera model. The simulation environment allows for the early identification of potential problems, improving design efficiency.

[0035] Optionally, the above method further includes:

[0036] A point cloud layer is applied to the CAD surface of the workpiece within the scanning and detection range of the simulated line scan camera.

[0037] In this way, during the simulated inspection process, the moving line scan camera inspects the workpiece, and covering the workpiece surface within the camera's inspection area with a point cloud can assist in point planning.

[0038] Optionally, S3 includes:

[0039] Determine the minimum measurement range of the X-axis based on the X-axis measurement range;

[0040] The distribution of each pixel along the X-axis is calculated using the minimum measurement range and the corresponding resolution, as shown in the following formula:

[0041] OffsetX = Xmin / Xresolution;

[0042] Where OffsetX represents the spacing of each pixel on the minimum measurement range of the X-axis; Xmin represents the minimum measurement range of the X-axis; Xresolution represents the distribution of each pixel on the X-axis, and the value of Xresolution is determined based on N rays; specifically, the value of Xresolution is equal to the value of N.

[0043] With the origin O of the laser generator as the starting point of the ray, the Z-axis direction of the laser generator is the initial direction of ray emission, and N rays are emitted in the X-axis direction of the laser generator with the spacing OffsetX of each pixel in the minimum measurement range of the X-axis as the interval.

[0044] In this embodiment, such as Figure 4 As shown, the simulation principle of a line scan camera uses ray detection. This is similar to labeling objects in the simulation by layering CAD data, allowing the system to identify whether the detected object is a target or an interfering element. Specifically, ray detection refers to the process in computer physics simulation where a ray is emitted, collides with an object, and returns information about the collided object, including its location, name, and so on.

[0045] Optionally, S4 includes:

[0046] When the emitted ray collidees with the workpiece CAD, the collision point P is obtained;

[0047] Calculate whether the collision point P is within the Z-axis measurement range. If it is, take the collision point P as the starting point of the ray and the image sensor origin C as the ending point of the ray. Detect whether a collision occurs again before the collision point P reaches the image sensor position C. If there is no collision between the collision point P and position C, then point P is considered a valid point within the scanning detection range.

[0048] This application also provides a simulation planning system for the detection trajectory of a 3D laser line scanning camera, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the above method.

[0049] In one example, such as Figure 5As shown, the simulation planning system for the detection trajectory of a 3D laser line scanning camera includes a CAD model management module, a laser line scanning camera selection module, a point cloud visualization module, an interactive control module, and a data export module.

[0050] The CAD model management module is used to process models exported from CAD software, including reducing the number of faces of imported non-inspection objects to improve running smoothness;

[0051] The laser line scanner camera selection module is used to simulate the detection principle of an actual laser line scanner camera based on physical parameters, and to select a suitable laser line scanner camera by adjusting the parameters according to project needs.

[0052] The point cloud visualization module is used to visualize the point cloud obtained by the laser line scanning camera during the simulated detection process and overlay it on the detection object to distinguish between detected and undetected areas;

[0053] The interactive control module is used to interactively control the movement and operation of all objects in the simulation environment, including the basic control unit and the API control unit;

[0054] The data export module is used to export point cloud data from the simulation detection process.

[0055] In this embodiment, the non-detection object is the fixture (support) that supports the placement and fixation of the workpiece to be tested. These are usually the main reasons for obstructing the camera's field of view. In order to better simulate the actual interference situation, these objects will be imported into the simulation software.

[0056] The simulation planning system for the detection trajectory of the 3D laser line scanning camera can implement various embodiments of the simulation planning method for the detection trajectory of the 3D laser line scanning camera described above, and can achieve the same beneficial effects. Here, it will not be elaborated further.

[0057] This application also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0058] This computer device can implement various embodiments of the above-mentioned simulation planning method for the detection trajectory of a 3D laser line scanning camera, and can achieve the same beneficial effects, which will not be elaborated here.

[0059] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A simulation planning method for the detection trajectory of a 3D laser line scan camera, applied to a simulation planning system for the detection trajectory of a 3D laser line scan camera, the system comprising a laser generator and an image sensor, characterized in that, The method includes: S1: Establish a physical parameterized model of the actual 3D laser line scanning camera in the simulation, obtain the physical parameters of the actual 3D laser line scanning camera, and import them into the workpiece CAD. S2: Based on the physical parameters of the actual 3D laser line scanning camera, set up a simulated line scanning camera, obtain the relative positional relationship between the laser generator and the image sensor through the size data of the actual 3D laser line scanning camera, and determine the scanning detection range of the simulated line scanning camera based on the physical parameters and the relative positional relationship. S3: Based on the physical parameters, emit N rays in the X-axis direction of the laser generator; S4: Determine the effective points within the scanning detection range of the simulated line scan camera based on the ray; S5: Move the simulation line scan camera to detect the workpiece CAD based on the effective points, so as to determine the path planning of the simulation line scan camera in the simulation and output the data of each key point in the path planning. S3 includes: Determine the minimum measurement range of the X-axis based on the X-axis measurement range; The distribution of each pixel along the X-axis is calculated using the minimum measurement range and the corresponding resolution, as shown in the following formula: ； Where OffsetX represents the spacing of each pixel on the minimum measurement range of the X-axis; Xmin represents the minimum measurement range of the X-axis; Xresolution represents the distribution of each pixel on the X-axis, and the value of Xresolution is determined based on N rays; With the origin O of the laser generator as the starting point of the ray, the Z-axis direction of the laser generator is the initial direction of ray emission, and N rays are emitted in the X-axis direction of the laser generator with the spacing OffsetX of each pixel in the minimum measurement range of the X-axis as the interval.

2. The simulation planning method for the detection trajectory of a 3D laser line scanning camera according to claim 1, characterized in that, The method further includes: A point cloud layer is applied to the CAD surface of the workpiece within the scanning and detection range of the simulated line scan camera.

3. The simulation planning method for the detection trajectory of a 3D laser line scanning camera according to claim 1, characterized in that, The physical parameters include net distance, Z-axis measurement range, X-axis measurement range, and resolution. The net distance represents the minimum distance between the target and the sensor when the target is within the scanning measurement range. The Z-axis measurement range represents a vertical distance starting from the net distance position.

4. The simulation planning method for the detection trajectory of a 3D laser line scanning camera according to claim 1, characterized in that, S4 includes: When the emitted ray comes into contact with the workpiece CAD, the collision point P is obtained; Calculate whether the collision point P is within the Z-axis measurement range. If it is, take the collision point P as the starting point of the ray and the image sensor origin C as the ending point of the ray. Detect whether a collision occurs again before the collision point P reaches the image sensor position C. If there is no collision between the collision point P and position C, then point P is considered a valid point within the scanning detection range.

5. The simulation planning method for the detection trajectory of a 3D laser line scanning camera according to claim 1, characterized in that, The method also includes: performing surface reduction processing on the imported model of the non-detection object.

6. The simulation planning method for the detection trajectory of a 3D laser line scanning camera according to claim 1, characterized in that, The key point data in the output path planning includes: When the simulated line scan camera is mounted on the motion module, data based on the motion module is exported; when the simulated line scan camera is at the end of the robot, point data based on the robot is exported.

7. A simulation planning system for the detection trajectory of a 3D laser line scanning camera, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 6.

8. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 6.

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