Gear profile calibration method suitable for automated machining of large gears

Abstract

The present invention relates to the technical field of gear profile measurement, and in particular to a gear profile calibration method suitable for automated processing of large gears. The method obtains a light strip image of a preset light strip width scanning gear position; obtains the degree of discontinuity according to the discontinuity of the light strip area in the light strip image; obtains the degree of blur according to the distribution of gray values ​​in the light strip area and the fluctuation of the light strip edge, as well as the display width of the light strip; screens out a target light strip width based on the degree of discontinuity and the degree of blur; screens out a characteristic light strip image based on the degree of discontinuity and the degree of blur of the light strip image corresponding to the target light strip width, adjusts the target light strip width of the characteristic light strip image, and obtains the final light strip width; obtains the standard profile of the gear based on the target light strip width and the final light strip width. The present invention accurately determines the light strip width corresponding to different positions of the gear by obtaining the target light strip width and the final light strip width, so that the profile information of the gear can be more accurately obtained through line structured light.

Description

Technical Field

[0001] The invention relates to the technical field of gear profile measurement, and in particular to a gear profile calibration method suitable for automated processing of large gears. Background Art

[0002] Gears are widely used key transmission parts, and gear profile measurement is the main measure to ensure gear accuracy and performance. With the rapid development of the gear industry, rapid and comprehensive measurement of the profiles of large quantities of finished gears has become an urgent problem to be solved in the gear industry. Gear profile measurement is divided into two categories according to the detection form: contact measurement and non-contact measurement. At present, the contact measurement of gear profile has reached the bottleneck stage of technology, and it is difficult to significantly improve the measurement efficiency.

[0003] In order to measure the gear profile accurately and efficiently, the present method measures the gear profile by non-contact measurement technology of line structured light. Line structured light measurement has the characteristics of high measurement efficiency, large point cloud sample and complete gear profile information. It is known that the light bar width is a key factor in the line structured light 3D reconstruction technology. If the light bar width is too large, the light bar area in the acquired light bar image will be blurred, and it will be difficult to accurately extract the gear profile information during image processing; if the light bar width is too small, part of the gear profile information will be lost. Therefore, the appropriate light bar width is crucial to ensure the accuracy of the gear profile 3D reconstruction. However, in actual situations, the light bar width used in the 3D measurement of the gear profile using line structured light is usually a fixed light bar width set manually, which has subjective uncertainty and is easy to cause inaccurate gear profile information. At the same time, when the same light bar width is used for scanning all positions of the gear, the 3D data of the gear profile at some special positions of the gear may be inaccurate, making it impossible to accurately obtain the gear profile information, and thus unable to accurately analyze whether the gear profile quality is qualified. Summary of the invention

[0004] In order to solve the technical problem of being unable to accurately obtain gear profile information, the purpose of the present invention is to provide a gear profile calibration method suitable for automated processing of large gears. The technical solution adopted is as follows:

[0005] An embodiment of the present invention provides a gear profile calibration method suitable for automated processing of large gears, the method comprising the following steps:

[0006] Obtain light bar images of different positions of the gears for each preset light bar width;

[0007] According to the discontinuity of the light strip area in each light strip image, the discontinuity degree of each light strip image is obtained;

[0008] Obtain the blur degree of each light strip image according to the distribution of gray values ​​in the light strip area in each light strip image, the fluctuation of the light strip edge, and the display width of the light strip;

[0009] Based on the discontinuity and blur of each light strip image corresponding to each preset light strip width, a target light strip width is screened out;

[0010] Selecting characteristic light stripe images based on the discontinuity and blur of the light stripe images corresponding to the target light stripe width, adjusting the target light stripe width according to the discontinuity and blur of each characteristic light stripe image, and obtaining the final light stripe width of each characteristic light stripe image;

[0011] According to the target light bar width and the final light bar width, the standard profile of the gear is obtained.

[0012] Furthermore, the method for obtaining the degree of discontinuity is:

[0013] For any light stripe image, the light stripe area in the light stripe image is obtained by using the Canny edge detection algorithm;

[0014] According to the position distribution of the pixel points in the light strip area, the pixel points in the light strip area are fitted into a curve as a target curve;

[0015] The pixel points on the target curve are matched one by one with the pixel points in the light bar area according to the positions, the pixel points on the target curve that are not matched successfully are all used as reference points, and the curve segments formed by the continuous adjacent reference points are all used as interval segments;

[0016] For any two adjacent interval segments, the number of pixels between the end pixel of the previous interval segment and the start pixel of the next interval segment is used as the first length of the two adjacent interval segments;

[0017] All the first lengths are normalized, and when the normalized first length is less than a preset length threshold, two corresponding adjacent interval segments are regarded as equally dense interval segments;

[0018] Divide the continuous adjacent dense interval segments into a reference group, and obtain the total number of dense interval segments in each reference group as the first number;

[0019] The degree of discontinuity of the light bar image is obtained according to the total number of interval segments on the target curve, the proportion of reference points on the target curve, and the maximum first number; wherein the total number of interval segments on the target curve, the proportion of reference points on the target curve, and the maximum first number are all positively correlated with the degree of discontinuity.

[0020] Furthermore, the method for obtaining the blur degree is:

[0021] For any light stripe image, all pixel points on the target curve of the light stripe image are used as reference pixel points, and all pixel points in the light stripe area of ​​the light stripe image at the same position as the reference pixel point are used as target pixel points;

[0022] Draw a perpendicular line of the target curve through each target pixel point, and obtain the distance between each perpendicular line and two intersection points of the edge of the light strip area in the light strip image, which are all used as the target distance;

[0023] Obtaining the average of the target distances as the display width of the light bar in the light bar image;

[0024] Obtaining a distance between each edge pixel point of the light strip area in the light strip image and a target curve of the light strip image as a first distance corresponding to the edge pixel point;

[0025] The blur degree of the light bar image is obtained according to the gray value difference between each edge pixel point of the light bar area and the nearest target pixel point, the display width, the standard deviation of the first distance, and the difference between the maximum and minimum first distances, wherein the gray value difference between each edge pixel point and the nearest target pixel point, the display width, the standard deviation of the first distance, and the difference between the maximum and minimum first distances are all positively correlated with the blur degree.

[0026] Furthermore, the method for obtaining the target light strip width is:

[0027] According to the discontinuity and blur of each light strip image corresponding to each preset light strip width, the reasonableness of each preset light strip width is obtained;

[0028] The preset light bar width corresponding to the maximum reasonable degree is used as the target light bar width.

[0029] Furthermore, the method for obtaining the reasonable degree is:

[0030] The sum of the discontinuity and blur of each light stripe image is used as the influence of the corresponding light stripe image;

[0031] For any preset light bar width, the result of negatively correlating and normalizing the mean values ​​of the influence degrees of all light bar images corresponding to the preset light bar width is taken as the reasonableness of the preset light bar width.

[0032] Furthermore, the method for acquiring the characteristic light stripe image is:

[0033] A light strip image whose discontinuity degree corresponding to the target light strip width satisfies a preset discontinuity range or whose blurriness degree satisfies a preset blurriness range is taken as a characteristic light strip image.

[0034] Furthermore, the method for obtaining the final light strip width is:

[0035] For any characteristic light stripe image, when the discontinuity degree of the characteristic light stripe image is greater than the blur degree, increasing the target light stripe width of the characteristic light stripe image according to a second preset step size;

[0036] When the discontinuity degree of the characteristic light strip image is less than the blur degree, reducing the target light strip width of the characteristic light strip image according to a second preset step size;

[0037] Each time the light strip width of the characteristic light strip image is adjusted once, the discontinuity degree and blur degree of the characteristic light strip image under the light strip width adjusted correspondingly are obtained, which are used as the first discontinuity degree and the first blur degree respectively;

[0038] Obtaining the discontinuity degree and blur degree of the characteristic light strip image at the previous adjacent light strip width of the corresponding adjusted light strip width, and using them as the second discontinuity degree and the second blur degree respectively;

[0039] The difference between the first discontinuity degree and the second discontinuity degree is taken as the discontinuity difference;

[0040] taking the difference between the first blur degree and the second blur degree as the blur difference;

[0041] According to the discontinuity difference and the blur difference, the change degree of the characteristic light strip image under the corresponding adjusted light strip width is obtained; wherein the discontinuity difference and the blur difference are both positively correlated with the change degree;

[0042] When the degree of change meets the preset stable range, the adjustment of the light strip width of the characteristic light strip image is stopped;

[0043] The light strip width adjusted correspondingly is used as the final light strip width of the characteristic light strip image.

[0044] Furthermore, the method for obtaining the standard profile of the gear is:

[0045] Calibrate the camera to obtain the camera's intrinsic and extrinsic matrix, as well as distortion parameters;

[0046] Calibrate the light plane and determine the plane equation of the laser plane in the camera coordinate system;

[0047] For any gear, when shooting the light stripe images at various positions of the gear, adjust the light stripe width of the single-line structured light, set the light stripe width at the gear position corresponding to each characteristic light stripe image as the final light stripe width of the corresponding characteristic light stripe image, set the light stripe width at the gear position corresponding to each light stripe image of the non-characteristic light stripe image as the target light stripe width, and obtain the standard light stripe images at various positions of the gear;

[0048] Based on the camera calibration results, the plane equation and the gear laser profile information contained in each standard light strip image of the gear, the three-dimensional coordinates of the gear are constructed to obtain the standard profile of the gear.

[0049] Furthermore, the method for obtaining the preset light bar width is:

[0050] The initial preset light bar width is increased by a first preset step length until the light bar width reaches a final preset light bar width and stops increasing;

[0051] The light bar width that appears during the entire process of adjusting the initial preset light bar width to increase it to the final preset light bar width is used as the preset light bar width.

[0052] Furthermore, the method for acquiring the light strip image is:

[0053] For any preset light bar width, a grayscale image when the preset light bar width scans a certain position of the gear is used as a light bar image of the preset light bar width scanning the position of the gear; wherein the shape of the preset light bar width scanning the position of the gear is a strip.

[0054] The present invention has the following beneficial effects:

[0055] The present invention obtains the discontinuity degree of each light strip image according to the discontinuity of the light strip area in each light strip image, accurately reflecting the unreasonable degree of the preset light strip width corresponding to each light strip image being too small; further obtains the blur degree of each light strip image according to the distribution of grayscale values ​​in the light strip area in each light strip image and the fluctuation of the light strip edge, as well as the display width of the light strip, accurately reflecting the unreasonable degree of the preset light strip width corresponding to each light strip image being too large; in order to screen out the preset light strip width that can most accurately obtain the gear contour information from all the preset light strip widths, and then based on the discontinuity degree and blur degree of each light strip image corresponding to each preset light strip width, accurately screen out the target light strip width, and determine the light strip width that is most suitable for scanning the overall gear. The strip width can accurately obtain the contour information of the gear through line structured light; in order to obtain the contour information of the gear more accurately, the characteristic light strip image is screened out based on the discontinuity and blur of the light strip image corresponding to the target light strip width, and the target light strip width is further adjusted according to the discontinuity and blur of each characteristic light strip image to obtain the final light strip width of each characteristic light strip image, so as to avoid inaccurate acquisition of three-dimensional data of the gear contour at special positions of the gear; and then according to the target light strip width and the final light strip width, the light strip width of each position of the scanned gear is accurately determined, and the three-dimensional data of the gear contour is more accurately obtained through line structured light, the standard contour of the gear is accurately obtained, and the contour quality of the gear is accurately analyzed to ensure that the gear contour for the market is qualified. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0057] Figure 1 A schematic flow chart of a gear profile calibration method suitable for automated machining of large gears provided by one embodiment of the present invention;

[0058] Figure 2 A flow chart of a method for obtaining a target light strip width provided by an embodiment of the present invention;

[0059] Figure 3 A flow chart of a method for obtaining a final light strip width provided by an embodiment of the present invention;

[0060] Figure 4 A structural diagram of a gear profile calibration system suitable for automated processing of large gears provided by an embodiment of the present invention;

[0061] Figure 5 A schematic diagram of a computer device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0062] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the gear profile calibration method suitable for large gear automated processing proposed by the present invention, its specific implementation method, structure, features and effects are described in detail as follows in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0063] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0064] The specific scheme of the gear profile calibration method applicable to the automated processing of large gears provided by the present invention is described in detail below with reference to the accompanying drawings.

[0065] Embodiment 1:

[0066] The specific scenario of this embodiment is: in order to accurately obtain the contour information of the gear through line structured light, this embodiment sets different preset light strip widths, obtains light strip images of different positions of the gear scanned by each preset light strip width, analyzes the discontinuity and blur of the light strip area in the light strip image corresponding to each preset light strip width, and screens out the target light strip width that is most suitable for scanning the gear as a whole. Considering that the positions of the gears are not exactly the same, there may be special gear positions. In order to more accurately obtain the contour information of the gear, the characteristic light strip images corresponding to the special positions of the gear are screened out from the light strip images corresponding to the target light strip width, and the target light strip width of each characteristic light strip image is further adjusted according to the degree of discontinuity and blur of each characteristic light strip image to obtain the final light strip width of each characteristic light strip image, and then determines the light strip width of each position of the gear scanned by the line structured light, accurately obtains the three-dimensional data of the gear contour, and then accurately obtains the contour information of the gear, and accurately analyzes the quality of the gear contour.

[0067] The present invention proposes a gear profile calibration method suitable for large gear automated processing, see Figure 1 , which shows a schematic flow chart of a gear profile calibration method suitable for large gear automated processing provided by an embodiment of the present invention, the method comprising the following steps:

[0068] Step S1: Obtain light bar images of each preset light bar width for scanning different positions of the gear.

[0069] Specifically, in actual situations, the shapes of gears produced in the same batch are the same. In order to accurately and efficiently measure the contours of gears in the same batch through line structured light, this embodiment first randomly selects a gear from the gears produced in the same batch, and takes this gear as an example for analysis. It should be noted that the gears that appear later all refer to the gear selected in this embodiment. It is known that the width of the light bar in line structured light has a direct impact on the accuracy and efficiency of three-dimensional reconstruction. The width of the light bar is a key factor in the line structured light three-dimensional reconstruction technology, which directly affects the accuracy of image processing. When the light bar width is too large, the light bar area in the acquired light bar image will be blurred, and it will be difficult to accurately extract the gear contour information during image processing; when the light bar width is too small, part of the gear contour information will be lost. Therefore, a suitable light bar width is crucial to ensure the accuracy of three-dimensional reconstruction of the gear contour.

[0070] In order to obtain the most suitable light bar width for scanning the whole gear, the present embodiment first sets a plurality of different preset light bar widths, and then obtains the light bar images of different positions of the gear respectively by each preset light bar width through the camera, analyzes the discontinuity and blur of the light bar area in each light bar image corresponding to each preset light bar width, and selects the most suitable light bar width. It should be noted that for any preset light bar width, the grayscale image when the preset light bar width is scanned at a certain position of the gear is used as the light bar image of the preset light bar width scanning the gear at that position; wherein, the shape of the preset light bar width scanning the gear at that position is a strip, and at the same time, the preset light bar width can scan from top to bottom or from bottom to top when scanning the gear, which is not limited here; each scan of the preset light bar width will cover different positions of the gear, wherein there is no overlap between adjacent positions, and if the width of the last scanned gear position is less than the preset light bar width, the last scanned gear position is also taken as a separate scanning position. For example, assuming that the preset light bar width is 4 pixels, the preset light bar width can scan the gear from top to bottom or from bottom to top. If the height of the gear is 14 pixels, the preset light bar width scans the gear 4 times in total. If the gear is scanned from top to bottom, the corresponding widths are 4 pixels, 4 pixels, 4 pixels and 2 pixels respectively.

[0071] In one possible implementation of the present embodiment, the method for obtaining the preset light bar width is as follows: the initial preset light bar width is increased by a first preset step length until the light bar width reaches the final preset light bar width and stops increasing; the light bar width that appears during the entire process of adjusting the initial preset light bar width to the final preset light bar width is used as the preset light bar width. Among them, in the present embodiment, the initial preset light bar width is set to 3 pixels, the final preset light bar width is set to 20 pixels, and the first preset step length is set to 1 pixel. The implementer can set the initial preset light bar width, the final preset light bar width and the first preset step length according to the actual situation, which is not limited here. Therefore, the present embodiment is set to preset light bar widths of 3 pixels, 4 pixels, 5 pixels...19 pixels and 20 pixels, respectively.

[0072] Among them, the principle of line structured light is: by projecting an ideal straight line of point light sources onto the surface of the gear to be measured, by considering the position of the input signal on the sensor and the angle between the axis of the photodetector array and the laser beam and the distance between them, the distance between the gear surface and the probe is calculated using triangulation. Among them, laser triangulation is a common method of laser displacement measurement, which has the advantages of fast measurement speed, no probe wear, high accuracy and adjustable range. With the advancement of photoelectric sensor technology, it is gradually suitable for fast and high-precision detection of gears. Its principle is to project laser onto the gear to be measured, receive the reflection through the photoelectric sensor, and calculate the contour information of the gear based on the relationship between image displacement and actual displacement. Point structured light, single-line structured light and multi-line structured light measurement technologies are all based on the principle of laser triangulation. This embodiment is mainly aimed at single-line structured light.

[0073] Step S2: according to the discontinuity of the light stripe area in each light stripe image, the discontinuity degree of each light stripe image is obtained.

[0074] Normally, the light bar area in each light bar image is continuous. When a light bar area in a light bar image is discontinuous, the gear position corresponding to the light bar area in the light bar image may have a large curvature change or the metal product in the gear position may have reflection problems. If the light bar width reaches a certain degree, the light bar area can be avoided from being discontinuous. Therefore, the discontinuity indicates that the preset light bar width corresponding to the light bar image is likely to be too small, resulting in the loss of part of the contour information of the gear position corresponding to the light bar area in the light bar image. In order to analyze the scanning situation of each preset light bar width on the entire gear, and then determine the light bar width that is most suitable for scanning the entire gear, therefore, this embodiment needs to analyze each light bar image corresponding to each preset light bar width, and then obtain the degree of discontinuity of each light bar image according to the discontinuity of the light bar area in each light bar image. The greater the degree of discontinuity, the more likely the preset light bar width corresponding to the corresponding light bar image is to be too small and unreasonable.

[0075] Preferably, in a method that can be implemented in this embodiment, the method for obtaining the degree of discontinuity is: for any light stripe image, the light stripe area in the light stripe image is obtained by using the Canny edge detection algorithm, wherein the Canny edge detection algorithm is a well-known technique and will not be described in detail. According to the position distribution of the pixels in the light stripe area, the pixels in the light stripe area are fitted into a curve as the target curve. In the process of fitting the target curve, a two-dimensional coordinate system is constructed with the lower left corner of the light stripe image as the origin, and the target curve is fitted by the least squares method according to the position distribution of the pixels in the light stripe area. Among them, the method of fitting the curve by the least squares method is a well-known technique and will not be described in detail. The target curve is essentially the position distribution of the light stripe area in the light stripe image without discontinuity. The pixels on the target curve are matched one-to-one with the pixels in the light stripe area according to the position. When there are pixels on the target curve that are not successfully matched, it means that the light stripe area in the light stripe image is discontinuous. Therefore, in this embodiment, the pixels on the target curve that are not successfully matched are all used as reference points, and the curve segments formed by the continuous adjacent reference points are all used as interval segments. When there are more reference points and more interval segments, it means that the interval between light stripe regions in the light stripe image is more serious, and the preset light stripe width corresponding to the light stripe image is more unreasonable;

[0076] In order to more accurately analyze the serious situation of the interval of the light bar area in the light bar image, and further analyze the density of the interval segment distribution, the denser the interval segment distribution, the more likely it is that the preset light bar width corresponding to the light bar image is too small and unreasonable, resulting in more loss of contour information of the gear position corresponding to the light bar area in the light bar image. In order to analyze the density of the interval segment, for any two adjacent interval segments, this embodiment uses the number of pixels between the end pixel of the previous interval segment and the starting pixel of the next interval segment as the first length of the two adjacent interval segments; the smaller the first length, the denser the distribution of the two adjacent interval segments; in order to analyze the distribution of the interval segments in the light bar image as a whole, all the first lengths are normalized, and when the normalized first length is less than the preset length threshold, the corresponding two adjacent interval segments are regarded as dense interval segments; in this embodiment, the preset length threshold is set to 0.2, and the implementer can set the size of the preset length threshold according to the actual situation, which is not limited here. Among them, this embodiment normalizes the first length by the maximum and minimum normalization normalization method, and in other embodiments, the first length can be normalized by normalization methods such as sigmoid function and function conversion, which is not limited here. Among them, maximum and minimum normalization, sigmoid function and function conversion are all well-known technologies and will not be repeated. Continuously adjacent dense interval segments are divided into a reference group. For example, assuming that there are 10 interval segments, the 10 interval segments are numbered in order from front to back, and are marked as 1, 2, 3...9, 10 respectively. If the interval segments numbered 1, 2, 3, 8 and 9 are dense interval segments, then the dense interval segments numbered 1, 2 and 3 are divided into a reference group, and the dense interval segments numbered 8 and 9 are divided into a reference group. When there are more dense interval segments in the reference group, it means that the interval segments are distributed more densely, and then this embodiment obtains the total number of dense interval segments in each reference group, which is taken as the first number; the larger the first number is, the more serious the discontinuity of the light bar area in the light bar image under the corresponding preset light bar width is, and the more unreasonable the preset light bar width corresponding to the light bar image is;

[0077] Furthermore, this embodiment obtains the degree of discontinuity of the light bar image based on the total number of interval segments on the target curve, the proportion of reference points on the target curve, and the maximum first number; wherein the total number of interval segments on the target curve, the proportion of reference points on the target curve, and the maximum first number are all positively correlated with the degree of discontinuity.

[0078] In order to accurately represent the discontinuity of the light strip area in each light strip image corresponding to each preset light strip width, this embodiment specifically quantifies the discontinuity as a discontinuity value. The larger the discontinuity value, the more serious the discontinuity of the light strip area in the corresponding light strip image, and the more unreasonable the preset light strip width corresponding to the corresponding light strip image. The calculation formula of the discontinuity value is: ; In the formula, is the discontinuity value of the i-th light strip image; is the total number of intervals on the target curve of the i-th light strip image; is the total number of reference points on the target curve of the i-th light strip image; is the total number of all pixels on the target curve of the i-th light strip image; is the maximum first number of reference groups divided by the dense interval segments on the target curve of the i-th light strip image; norm is a normalization function; is the proportion of reference points on the target curve of the i-th light strip image. Get , which is not limited here.

[0079] At this point, the discontinuity value of each light bar image is obtained.

[0080] Step S3: Obtain the blur degree of each light strip image according to the distribution of grayscale values ​​in the light strip area in each light strip image, the fluctuation of the light strip edge, and the display width of the light strip.

[0081] In actual situations, light is diverged from the central axis to the edges on both sides. When the gear surface scanned by the excessively large light strip width is rough, the light strip area will be blurred. In order to further obtain the most suitable light strip width when scanning the gear as a whole, the blurring of the light strip area in each light strip image is analyzed. When the light strip area in a light strip image is blurred, the grayscale value of the edge pixel point of the light strip area in the light strip image will be significantly smaller than the grayscale value of the pixel point on the axis of the light strip area, the display width of the light strip area in the light strip image will be thicker than the gear position covered by the preset light strip width corresponding to the light strip image, and the light strip edge of the light strip area in the light strip image will be wavy or messy. In this embodiment, the target curve of the light strip image is used as the central axis of the light strip area in the light strip image. Therefore, this embodiment obtains the blurring degree of each light strip image according to the distribution of grayscale values ​​in the light strip area and the fluctuation of the light strip edge in each light strip image, as well as the display width of the light strip. The greater the blurring degree, the more likely it is that the preset light strip width corresponding to the corresponding light strip image is too large and unreasonable. It should be noted that when there is a discontinuity in the light stripe area of ​​a light stripe image, there must be no blur in the light stripe area of ​​the light stripe image. Therefore, when obtaining the blur degree of each light stripe image, this embodiment directly defaults the blur degree of the light stripe image with discontinuities in the light stripe area to 0, and only analyzes the light stripe image with no discontinuities in the light stripe area.

[0082] Preferably, in a method that can be implemented in this embodiment, the method for obtaining the degree of blur is as follows: for any light stripe image, the target curve of the light stripe image must not have any discontinuity, the pixel points on the target curve of the light stripe image are all used as reference pixel points, and the pixel points at the same position as the reference pixel points in the light stripe area of ​​the light stripe image are all used as target pixel points; a perpendicular line of the target curve is drawn through each target pixel point respectively, and each perpendicular line must have two intersection points with the edge of the light stripe area of ​​the light stripe image, and the distance between each perpendicular line and the two intersection points of the edge of the light stripe area in the light stripe image is obtained, and all are used as the target distance; in order to more accurately represent the display width of the light stripes in the light stripe image, the average value of the target distance is obtained as the display width of the light stripes in the light stripe image, and the larger the display width, the greater the degree of blur in the light stripe area of ​​the light stripe image. In order to accurately reflect the degree of blurring of the light bar region in the light bar image through the displayed width of the light bar in the light bar image, the maximum displayed width of the light bar in each light bar image corresponding to the preset light bar intensity corresponding to the light bar image is obtained as the reference displayed width; the ratio of the displayed width of the light bar in the light bar image to the reference displayed width is used as the reference value of the displayed width of the light bar image. The larger the displayed width reference value, the blurrier the light bar region in the light bar image, and the more unreasonable the preset light bar width corresponding to the light bar image;

[0083] In order to more accurately analyze the blur of the light strip area in the light strip image, the distance between each edge pixel point of the light strip area in the light strip image and the target curve of the light strip image is obtained as the first distance of the corresponding edge pixel point; when the difference between the first distances of different edge pixel points is more obvious, it means that the light strip area in the light strip image is more blurred. This embodiment reflects the fluctuation of the first distance through the standard deviation of the first distance and the difference between the maximum and minimum first distances. When the standard deviation of the first distance is larger and the difference between the maximum and minimum first distances is larger, the fluctuation of the first distance is larger, the blur of the light strip area in the light strip image is larger, and the preset light strip width corresponding to the light strip image is more unreasonable. Among them, the method of obtaining the first distance is a well-known technology and will not be described in detail;

[0084] At the same time, when the absolute value of the difference between the grayscale value of each edge pixel point of the light strip area in the light strip image and the nearest target pixel point is larger, it also indicates that the degree of blurring of the light strip area in the light strip image is greater, and the preset light strip width corresponding to the light strip image is more unreasonable;

[0085] Furthermore, this embodiment obtains the blur degree of the light bar image based on the grayscale value difference between each edge pixel point of the light bar area and the nearest target pixel point, the display width, the standard deviation of the first distance, and the difference between the maximum and minimum first distances in the light bar image; wherein the grayscale value difference between each edge pixel point and the nearest target pixel point, the display width, the standard deviation of the first distance, and the difference between the maximum and minimum first distances are all positively correlated with the blur degree.

[0086] In order to accurately represent the blur of the light strip area in each light strip image, this embodiment specifically quantifies the blur degree as a blur degree value. The larger the blur degree value, the blurrier the light strip area in the corresponding light strip image, the more difficult it is to accurately obtain the contour information of the gear position corresponding to the light strip area, and the greater the unreasonable degree of the preset light strip width corresponding to the corresponding light strip image. The calculation formula of the blur degree value is: ; In the formula, is the blur value of the a-th light strip image; is the total number of edge pixels in the light stripe area in the a-th light stripe image; is the gray value of the kth edge pixel point of the light stripe area in the ath light stripe image; is the gray value of the target pixel closest to the kth edge pixel of the light stripe area in the ath light stripe image; is the absolute value function; is the display width of the light bar in the a-th light bar image; is the reference display width; is the display width reference value of the a-th light strip image; is the standard deviation of the first distances of all edge pixels in the light stripe area in the a-th light stripe image; is the largest first distance in the a-th light strip image; is the smallest first distance in the a-th light strip image; norm is a normalization function. In other embodiments, Get , which is not limited here.

[0087] At this point, the blur value of each light stripe image is obtained, wherein the blur value of the light stripe image with discontinuities in the light stripe region is set to 0 by default.

[0088] Step S4: based on the discontinuity and blur of each light bar image corresponding to each preset light bar width, a target light bar width is screened out.

[0089] Specifically, when the degree of discontinuity of a certain light bar image is greater, the preset light bar width corresponding to the light bar image is too small, resulting in partial loss of contour information of the gear position corresponding to the light bar area in the light bar image, and the preset light bar width corresponding to the light bar image is more unreasonable; when the degree of blurriness of the light bar image is greater, the preset light bar width corresponding to the light bar image is too large, resulting in inaccurate contour information of the gear position corresponding to the light bar area in the light bar image, and the preset light bar width corresponding to the light bar image is more unreasonable. In order to analyze the rationality of scanning the gear as a whole for each preset light bar width, the present embodiment analyzes the degree of discontinuity and blurriness of each light bar image corresponding to each preset light bar width. When the degree of discontinuity and blurriness of the light bar image corresponding to a certain preset light bar width are smaller, the three-dimensional data of the gear contour obtained by the preset light bar width is more accurate. Therefore, the present embodiment selects the target light bar width that is most suitable for scanning the overall gear based on the degree of discontinuity and blurriness of each light bar image corresponding to each preset light bar width.

[0090] Preferably, in one possible implementation of this embodiment, the method for obtaining the target light strip width is as follows: Figure 2 , which shows a flow chart of a method for obtaining a target light strip width provided in this embodiment, the method comprising the following steps:

[0091] Step S201: obtaining a reasonable degree of each preset light strip width according to the discontinuity and blurring degree of each light strip image corresponding to each preset light strip width.

[0092] When the discontinuity and blur of the light strip image corresponding to a certain preset light strip width are smaller, the gear profile information contained in the light strip image obtained by scanning the preset light strip width is more accurate, and the preset light strip width is more reasonable. Therefore, this embodiment obtains the reasonableness of each preset light strip width according to the discontinuity and blur of each light strip image corresponding to each preset light strip width.

[0093] Preferably, in a method that can be implemented in this embodiment, the method for obtaining the reasonable degree is: the sum of the discontinuity and blur of each light stripe image is used as the influence degree of the corresponding light stripe image; the smaller the influence degree, the more accurate the gear contour information contained in the light stripe area in the corresponding light stripe image. In order to accurately represent the reliability of the gear contour information contained in each light stripe image, this embodiment specifically quantifies the influence degree as an influence degree value. The smaller the influence degree value, the more accurate the gear contour information contained in the light stripe area in the corresponding light stripe image. Among them, the calculation formula of the influence degree value is: ; In the formula, is the influence value of the a-th light strip image; is the discontinuity value of the a-th light strip image; is the blur value of the a-th light strip image;

[0094] For any preset light strip width, the average of the influence degrees of all light strip images corresponding to the preset light strip width is negatively correlated and normalized, and is used as the reasonableness of the preset light strip width. In order to accurately represent the reasonableness of each preset light strip width, this embodiment specifically quantifies the reasonableness as a reasonableness value. The larger the reasonableness value, the more accurate the gear profile information contained in the light strip image obtained by scanning the corresponding preset light strip width. The calculation formula of the reasonableness value is: ; In the formula, is the reasonable value of the j-th preset light bar width; is the total number of light bar images corresponding to the j-th preset light bar width; is the influence value of the rth light strip image corresponding to the jth preset light strip width; exp is an exponential function with a natural constant as the base.

[0095] At this point, a reasonable value for the width of each preset light bar is obtained.

[0096] Step S202: taking the preset light bar width corresponding to the maximum reasonable degree as the target light bar width.

[0097] It is known that the greater the reasonableness, the more likely the corresponding preset light bar width is the light bar width that is most suitable for scanning the integral gear. Therefore, in this embodiment, the preset light bar width corresponding to the maximum reasonableness value is used as the target light bar width. It should be noted that if there are at least two preset light bar widths corresponding to the maximum reasonableness value, the maximum preset light bar width is used as the target light bar width.

[0098] Step S5: Select characteristic light stripe images based on the discontinuity and blur of the light stripe images corresponding to the target light stripe width, adjust the target light stripe width according to the discontinuity and blur of each characteristic light stripe image, and obtain the final light stripe width of each characteristic light stripe image.

[0099] In actual situations, there will be differences in different positions of gears. The target light strip width is used to scan all positions of the gears, and the contour information of some gear positions cannot be accurately obtained. Therefore, this embodiment selects the characteristic light strip image based on the discontinuity and blur of the light strip image corresponding to the target light strip width, and determines the adjustment of the light strip width corresponding to each characteristic light strip image by analyzing the discontinuity and blur of the characteristic light strip image, and then obtains the final light strip width of each characteristic light strip image, so that the contour information of the special position of the gear can be accurately obtained.

[0100] Preferably, in a method that can be implemented in this embodiment, the method for acquiring the characteristic light strip image is: the light strip image whose discontinuity degree corresponding to the target light strip width satisfies the preset discontinuity range or whose blur degree satisfies the preset blur range is taken as the characteristic light strip image. In this embodiment, the preset discontinuity threshold and the preset blur threshold are both set to 0.7. The implementer can set the size of the preset discontinuity threshold and the preset blur threshold according to the actual situation, which is not limited here. The light strip images whose discontinuity degree value corresponding to the target light strip width is greater than the preset discontinuity threshold or whose blur degree value is greater than the preset blur threshold are all taken as the characteristic light strip images. At this point, all the characteristic light strip images are acquired.

[0101] Preferably, in one possible implementation of this embodiment, the method for obtaining the final light strip width is as follows: Figure 3 , which shows a flow chart of a method for obtaining the final light strip width provided in this embodiment, the method comprising the following steps:

[0102] Step S301: Obtain the degree of change.

[0103] For any characteristic light strip image, when the discontinuity value of the characteristic light strip image is greater than the blur value, the target light strip width corresponding to the characteristic light strip image is too small, and the target light strip width of the characteristic light strip image needs to be increased according to the second preset step size; when the discontinuity value of the characteristic light strip image is less than the blur value, the target light strip width corresponding to the characteristic light strip image is too large, and the target light strip width of the characteristic light strip image needs to be reduced according to the second preset step size. It should be noted that the discontinuity value and blur value of the same characteristic light strip image must not be equal. In this embodiment, the second preset step size is set to 1 pixel. The implementer can set the size of the second preset step size according to the actual situation, which is not limited here.

[0104] Each time the light strip width of the characteristic light strip image is adjusted, the discontinuity degree value and the blur degree value of the characteristic light strip image under the corresponding adjusted light strip width are obtained, and are used as the first discontinuity degree value and the first blur degree value, respectively; at the same time, the discontinuity degree value and the blur degree value of the characteristic light strip image under the previous adjacent light strip width of the corresponding adjusted light strip width are obtained, and are used as the second discontinuity degree value and the second blur degree value, respectively; when the first discontinuity degree value and the second discontinuity degree value are more equal, and the first blur degree value and the second blur degree value are more equal, it means that the effect of the change in the light strip width adjusted correspondingly is less obvious, and the light strip width of the characteristic light strip image does not need to be further adjusted. Furthermore, this embodiment obtains the absolute value of the difference between the first discontinuity degree value and the second discontinuity degree value as the discontinuity difference; obtains the absolute value of the difference between the first blur degree value and the second blur degree value as the blur difference; when the discontinuity difference and the blur difference are both smaller, the corresponding adjustment of the light strip width makes the change degree of the characteristic light strip image smaller, and the light strip width of the characteristic light strip image does not need to be adjusted further, and further, this embodiment obtains the change degree of the characteristic light strip image under the corresponding adjustment of the light strip width according to the discontinuity difference and the blur difference; wherein, the discontinuity difference and the blur difference are both positively correlated with the change degree. The smaller the change degree, the less the light strip width of the characteristic light strip image needs to be adjusted.

[0105] In order to accurately represent the degree of change of the characteristic light strip image under the corresponding adjustment of the light strip width, this embodiment specifically quantifies the degree of change as a change degree value. The smaller the change degree value, the less the light strip width of the characteristic light strip image needs to be adjusted. The calculation formula of the change degree value is: ; In the formula, is the value of the change degree of the qth characteristic light stripe image under the tth adjustment of the light stripe width; is the first discontinuity degree value; is the second discontinuity degree value; is the first preset constant, greater than 0; is the first blur level value; is the second blur level value; is the absolute value function; norm is the normalization function; for discontinuous differences; To blur the difference. In other embodiments, Get , which is not limited here.

[0106] This embodiment will Set to 1 to avoid or 0, implementers can set it according to actual conditions The size is not limited here.

[0107] At this point, the value of the degree of change of each characteristic light stripe image each time the light stripe width is adjusted is obtained.

[0108] Step S302: Obtain the final light bar width.

[0109] For any characteristic light strip image, it is known that when the degree of change is more stable, that is, the smaller it is, the less the light strip width of the characteristic light strip image needs to be adjusted. Therefore, when the degree of change meets the preset stability range, the adjustment of the light strip width of the characteristic light strip image is stopped; this embodiment sets the preset stability threshold as 0.3, and the implementer can set the value of the preset stability threshold according to the actual situation, which is not limited here. When the value of the degree of change is less than the preset stability threshold, the adjustment of the light strip width of the characteristic light strip image is stopped. The light strip width adjusted for the corresponding time, that is, the light strip width adjusted for the last time, is used as the final light strip width of the characteristic light strip image.

[0110] At this point, the final light strip width corresponding to each characteristic light strip image is obtained.

[0111] Step S6: Obtain the standard profile of the gear according to the target light bar width and the final light bar width.

[0112] Specifically, by determining the target light bar width and final light bar width corresponding to each position of the gear, the standard profile of each gear to be tested can be accurately obtained, and the profile quality of each gear can be accurately analyzed to ensure that the profile quality of gears entering the market meets the standards.

[0113] Preferably, in a method that can be implemented in this embodiment, the method for obtaining the standard profile of the gear is: first calibrate the camera to obtain the camera's internal and external parameter matrices, as well as distortion parameters; wherein the internal parameters include parameters such as the focal length of the lens, the optical axis center coordinates, and the pixel size, and the external parameters include the rotation and translation matrices of the camera, through which the image taken by the camera can be corrected to reduce lens distortion, thereby obtaining a more accurate light strip image;

[0114] Secondly, the light plane is calibrated to determine the plane equation of the laser plane in the camera coordinate system; this can convert the laser line in the light strip image into coordinates in three-dimensional space, which is convenient for three-dimensional reconstruction and measurement of the gear profile. During the calibration process, it is necessary to obtain the plane equation of the laser plane in the camera coordinate system. Once the calibration is completed, the relative position of the laser and the camera must remain fixed;

[0115] Again, for any gear, when shooting the light stripe images at various positions of the gear, adjust the light stripe width of the single-line structured light, set the light stripe width at the gear position corresponding to each characteristic light stripe image as the final light stripe width of the corresponding characteristic light stripe image, set the light stripe width at the gear position corresponding to each light stripe image of the non-characteristic light stripe image as the target light stripe width, and obtain the standard light stripe images at various positions of the gear;

[0116] Finally, based on the camera calibration results, plane equations and the gear laser profile information contained in each standard light strip image of the gear, the three-dimensional coordinates of the gear are constructed, the standard profile of the gear is accurately obtained, and the profile quality of the gear is accurately analyzed.

[0117] In summary, the present embodiment obtains a light strip image of a preset light strip width scanning gear position; obtains the degree of discontinuity according to the discontinuity of the light strip area in the light strip image; obtains the degree of blur according to the distribution of gray values ​​in the light strip area and the fluctuation of the light strip edge, as well as the display width of the light strip; selects the target light strip width based on the degree of discontinuity and the degree of blur; selects the characteristic light strip image based on the degree of discontinuity and the degree of blur of the light strip image corresponding to the target light strip width, adjusts the target light strip width of the characteristic light strip image, and obtains the final light strip width; obtains the standard profile of the gear based on the target light strip width and the final light strip width. The present invention accurately determines the light strip width corresponding to different positions of the gear by obtaining the target light strip width and the final light strip width, so that the profile information of the gear can be more accurately obtained through line structured light.

[0118] Embodiment 2:

[0119] The present invention also proposes a gear profile calibration system suitable for automated processing of large gears, see Figure 4 , which shows a structure diagram of a gear profile calibration system suitable for automated processing of large gears provided by an embodiment of the present invention, the system comprising: a light stripe image acquisition module 10, a discontinuity degree acquisition module 20, a blur degree acquisition module 30, a target light stripe width acquisition module 40, a final light stripe width acquisition module 50 and a standard profile acquisition module 60.

[0120] The light stripe image acquisition module 10 is used to acquire light stripe images of different positions of the gear scanned by each preset light stripe width.

[0121] The discontinuity degree acquisition module 20 is used to acquire the discontinuity degree of each light strip image according to the discontinuity of the light strip area in each light strip image.

[0122] The blur degree acquisition module 30 is used to acquire the blur degree of each light strip image according to the distribution of gray values ​​in the light strip area and the fluctuation of the light strip edge in each light strip image, as well as the display width of the light strip.

[0123] The target light stripe width acquisition module 40 is used to screen out the target light stripe width based on the discontinuity and blur of each light stripe image corresponding to each preset light stripe width.

[0124] The final light stripe width acquisition module 50 is used to select characteristic light stripe images based on the discontinuity and blurriness of the light stripe images corresponding to the target light stripe width, adjust the target light stripe width according to the discontinuity and blurriness of each characteristic light stripe image, and obtain the final light stripe width of each characteristic light stripe image.

[0125] The standard profile acquisition module 60 is used to acquire the standard profile of the gear according to the target light strip width and the final light strip width.

[0126] It should be noted that: the system provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer device is divided into different functional modules to complete all or part of the functions described above. In addition, the gear profile calibration system suitable for large gear automated processing and the gear profile calibration method embodiment suitable for large gear automated processing provided in the above embodiment belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0127] Embodiment 3:

[0128] The present invention also proposes a gear profile calibration device suitable for automated processing of large gears, the device comprising a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to execute a gear profile calibration method suitable for automated processing of large gears provided in an embodiment of the present application. The device can be specifically a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a gear profile calibration method suitable for automated processing of large gears provided in the above embodiment.

[0129] In addition, the present application embodiment also protects a computer device, see Figure 5The computer device includes a memory 401, a processor 402, and a computer program 403 stored in the memory 401 and running on the processor 402, wherein when the processor 402 executes the computer program 403, the computer device can execute any one of the gear profile calibration methods suitable for automated processing of large gears introduced above.

[0130] Embodiment 4:

[0131] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a gear contour calibration method suitable for automated processing of large gears provided in the above embodiment.

[0132] Embodiment 5:

[0133] This embodiment also provides a computer program product. When the computer program product runs on a computer, it enables the computer to execute the above-mentioned related steps to implement a gear profile calibration method suitable for automated processing of large gears provided in the above embodiment.

[0134] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0135] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0136] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A gear profile calibration method suitable for automated processing of large gears, characterized in that: The method comprises the following steps: Obtain light bar images of different positions of the gears for each preset light bar width; According to the discontinuity of the light strip area in each light strip image, the discontinuity degree of each light strip image is obtained; Obtain the blur degree of each light strip image according to the distribution of gray values ​​in the light strip area in each light strip image, the fluctuation of the light strip edge, and the display width of the light strip; Based on the discontinuity and blur of each light strip image corresponding to each preset light strip width, a target light strip width is screened out; Selecting characteristic light stripe images based on the discontinuity and blur of the light stripe images corresponding to the target light stripe width, adjusting the target light stripe width according to the discontinuity and blur of each characteristic light stripe image, and obtaining the final light stripe width of each characteristic light stripe image; According to the target light bar width and the final light bar width, the standard profile of the gear is obtained.

2. A gear profile calibration method suitable for automated processing of large gears as claimed in claim 1, characterized in that: The method for obtaining the discontinuity degree is: For any light stripe image, the light stripe area in the light stripe image is obtained by using the Canny edge detection algorithm; According to the position distribution of the pixel points in the light strip area, the pixel points in the light strip area are fitted into a curve as a target curve; The pixel points on the target curve are matched one by one with the pixel points in the light bar area according to the positions, the pixel points on the target curve that are not matched successfully are all used as reference points, and the curve segments formed by the continuous adjacent reference points are all used as interval segments; For any two adjacent interval segments, the number of pixels between the end pixel of the previous interval segment and the start pixel of the next interval segment is used as the first length of the two adjacent interval segments; All the first lengths are normalized, and when the normalized first length is less than a preset length threshold, two corresponding adjacent interval segments are regarded as equally dense interval segments; Divide the continuous adjacent dense interval segments into a reference group, and obtain the total number of dense interval segments in each reference group as the first number; The degree of discontinuity of the light bar image is obtained according to the total number of interval segments on the target curve, the proportion of reference points on the target curve, and the maximum first number; wherein the total number of interval segments on the target curve, the proportion of reference points on the target curve, and the maximum first number are all positively correlated with the degree of discontinuity.

3. A gear profile calibration method suitable for large gear automated processing as claimed in claim 2, characterized in that: The method for obtaining the blur degree is: For any light stripe image, all pixel points on the target curve of the light stripe image are used as reference pixel points, and all pixel points in the light stripe area of ​​the light stripe image at the same position as the reference pixel point are used as target pixel points; Draw a perpendicular line to the target curve through each target pixel point, and obtain the distance between each perpendicular line and two intersection points of the edge of the light strip area in the light strip image, which are all used as the target distance; Obtaining the average of the target distances as the display width of the light bar in the light bar image; Obtaining a distance between each edge pixel point of the light strip area in the light strip image and a target curve of the light strip image as a first distance corresponding to the edge pixel point; The blur degree of the light bar image is obtained according to the gray value difference between each edge pixel point of the light bar area and the nearest target pixel point, the display width, the standard deviation of the first distance, and the difference between the maximum and minimum first distances, wherein the gray value difference between each edge pixel point and the nearest target pixel point, the display width, the standard deviation of the first distance, and the difference between the maximum and minimum first distances are all positively correlated with the blur degree.

4. A gear profile calibration method suitable for large gear automated processing as claimed in claim 1, characterized in that: The method for obtaining the target light strip width is: According to the discontinuity and blur of each light strip image corresponding to each preset light strip width, obtaining the reasonableness of each preset light strip width; The preset light bar width corresponding to the maximum reasonable degree is used as the target light bar width.

5. A gear profile calibration method suitable for automated processing of large gears as claimed in claim 4, characterized in that: The method for obtaining the reasonable degree is: The sum of the discontinuity and blur of each light stripe image is used as the influence of the corresponding light stripe image; For any preset light bar width, the result of negatively correlating and normalizing the mean values ​​of the influence degrees of all light bar images corresponding to the preset light bar width is taken as the reasonableness of the preset light bar width.

6. A gear profile calibration method suitable for automated processing of large gears as claimed in claim 1, characterized in that: The method for acquiring the characteristic light strip image is: A light strip image whose discontinuity degree corresponding to the target light strip width satisfies a preset discontinuity range or whose blurriness degree satisfies a preset blurriness range is taken as a characteristic light strip image.

7. A gear profile calibration method suitable for large gear automated processing as claimed in claim 1, characterized in that: The method for obtaining the final light strip width is: For any characteristic light stripe image, when the discontinuity degree of the characteristic light stripe image is greater than the blur degree, increasing the target light stripe width of the characteristic light stripe image according to a second preset step size; When the discontinuity degree of the characteristic light strip image is less than the blur degree, reducing the target light strip width of the characteristic light strip image according to a second preset step size; Each time the light strip width of the characteristic light strip image is adjusted once, the discontinuity degree and blur degree of the characteristic light strip image under the light strip width adjusted correspondingly are obtained, which are used as the first discontinuity degree and the first blur degree respectively; Obtaining the discontinuity degree and blur degree of the characteristic light strip image at the previous adjacent light strip width of the corresponding adjusted light strip width, and using them as the second discontinuity degree and the second blur degree respectively; The difference between the first discontinuity degree and the second discontinuity degree is taken as the discontinuity difference; taking the difference between the first blur degree and the second blur degree as the blur difference; According to the discontinuity difference and the blur difference, the change degree of the characteristic light strip image under the corresponding adjusted light strip width is obtained; wherein the discontinuity difference and the blur difference are both positively correlated with the change degree; When the degree of change meets the preset stable range, the adjustment of the light strip width of the characteristic light strip image is stopped; The light strip width adjusted correspondingly is used as the final light strip width of the characteristic light strip image.

8. A gear profile calibration method suitable for automated processing of large gears as claimed in claim 1, characterized in that: The method for obtaining the standard profile of the gear is: Calibrate the camera to obtain the camera's intrinsic and extrinsic matrix, as well as distortion parameters; Calibrate the light plane and determine the plane equation of the laser plane in the camera coordinate system; For any gear, when shooting the light stripe images at various positions of the gear, adjust the light stripe width of the single-line structured light, set the light stripe width at the gear position corresponding to each characteristic light stripe image as the final light stripe width of the corresponding characteristic light stripe image, set the light stripe width at the gear position corresponding to each light stripe image of the non-characteristic light stripe image as the target light stripe width, and obtain the standard light stripe images at various positions of the gear; Based on the camera calibration results, the plane equation and the gear laser profile information contained in each standard light strip image of the gear, the three-dimensional coordinates of the gear are constructed to obtain the standard profile of the gear.

9. A gear profile calibration method suitable for automated processing of large gears as claimed in claim 1, characterized in that: The method for obtaining the preset light strip width is: The initial preset light bar width is increased by a first preset step length until the light bar width reaches a final preset light bar width and stops increasing; The light bar width that appears during the entire process of adjusting the initial preset light bar width to increase it to the final preset light bar width is used as the preset light bar width.

10. A gear profile calibration method suitable for large gear automated processing as claimed in claim 1, characterized in that: The method for acquiring the light strip image is: For any preset light bar width, a grayscale image when the preset light bar width scans a certain position of the gear is used as a light bar image of the preset light bar width scanning the position of the gear; wherein the shape of the preset light bar width scanning the position of the gear is a strip.

Images