A corrugated plate depth measurement method, system, storage medium and electronic device

Abstract

The present invention provides a corrugated plate depth measurement method, system, storage medium and electronic device, the method comprising: obtaining point cloud data corresponding to a target corrugated plate through a preset line laser corrugated plate testing device; simplifying the point cloud data through a first preset method according to the point cloud data to determine the target point cloud data; extracting local features from the target point cloud data through a second preset method according to the target point cloud data to obtain local key point data; determining local spline point data through a third preset method according to the local key point data and the target point cloud data, and determining a local spline curve according to the local spline point data; determining a target extreme point according to the local spline curve, and determining the target corrugated plate depth according to the distance between adjacent target extreme points. The present invention solves the problem of the lack of a fast and accurate method for measuring the depth of a corrugated plate in the prior art.

Description

Technical Field

[0001] The invention relates to the field of nondestructive testing of heat exchange equipment, and in particular to a corrugated plate depth measurement method, system, storage medium and electronic equipment. Background Art

[0002] Plate heat exchangers are efficient heat exchange equipment for heat transfer processes in today's industrial field. They are widely used in petroleum, chemical and other industrial fields. Their structure is mainly composed of a series of corrugated heat transfer plates (hereinafter referred to as corrugated plates) stacked by rubber gaskets. As the core component, the corrugated plates are usually formed by one-time stamping. Common plate styles include: herringbone corrugated plates, horizontal straight corrugated plates and inclined corrugated plates.

[0003] The quality of the corrugated plate will directly affect the heat transfer effect of the plate heat exchanger, the pressure bearing capacity on both sides of the flow channel and its service life. The depth of the corrugated plate, which is one of the important indicators for assessing the quality of the plate, is usually defined as the depth difference between the highest point and the lowest point within a single corrugation pitch. The existing corrugated plate depth measurement method is mainly measured by manual handheld depth micrometer, which is not only inefficient but also prone to the adverse consequences of missed detection. In recent years, due to the rapid development of sensor technology, laser ranging sensors have gradually been applied to product defect detection. Compared with traditional handheld micrometer measuring tools, under the same measurement accuracy, laser ranging sensors are not only more efficient, but also have a wider measurement range. Combined with machine vision processing algorithms, it can realize the automatic measurement of the depth of the corrugated plate. Due to the non-contact characteristics of the visual sensor, there is no risk of damaging the integrity of the plate morphology during the measurement process.

[0004] At present, laser ranging methods are mainly carried out through point laser sensors, line laser sensors and surface laser sensors. Among them, point laser measurement has low efficiency, and its motion accuracy is extremely dependent on the accuracy of the motion platform. It is suitable for static measurement, but has the problem of low efficiency for motion measurement. Surface laser sensors include 3D surface structured light sensors, which have high measurement efficiency, but their measurement accuracy is limited by the influence of the workpiece material and the complexity of the surface contour. When measuring, the line laser sensor can completely extract the point cloud data of a row in the measurement direction, which can truly reflect the height characteristics of the cross-section of the corrugated plate, and has high accuracy and low cost. It is suitable for measuring the depth of the corrugated plate. However, the sampling data of the line laser sensor is a complex point set on the laser measurement plane along the line. If the depth of the corrugated plate is calculated directly, not only the calculation is complicated, resulting in low measurement efficiency, but also the accuracy is difficult to guarantee. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a corrugated plate depth measurement method, system, storage medium and electronic device, aiming to solve the problem of the lack of a corrugated plate depth fast and accurate measurement method in the prior art.

[0006] A method for measuring the depth of a corrugated plate according to an embodiment of the present invention comprises:

[0007] Obtain point cloud data corresponding to the target corrugated plate through a preset line laser corrugated plate testing device;

[0008] Simplifying the point cloud data by a first preset method according to the point cloud data to determine target point cloud data;

[0009] According to the target point cloud data, local feature extraction is performed on the target point cloud data by a second preset method to obtain local key point data;

[0010] Determine local spline point data according to the local key point data and the target point cloud data by a third preset method, and determine a local spline curve according to the local spline point data;

[0011] The target extreme value point is determined according to the local spline curve, and the target corrugated plate depth is determined according to the distance between adjacent target extreme value points.

[0012] In addition, the corrugated plate depth measurement method according to the above embodiment of the present invention may also have the following additional technical features:

[0013] Furthermore, the step of simplifying the point cloud data by a first preset method according to the point cloud data to determine the target point cloud data includes:

[0014] Determine the allowable angle and chord height values;

[0015] Select three adjacent data points starting from the starting point P 0 , P 1 , P 2 , the vector is calculated by the first preset equation set P 0 P 1 and vector P 0 P 2 and determining whether the included angle and the chord height are respectively less than the allowable angle value and the allowable chord height value;

[0016] If the included angle and the chord height are respectively less than the angle allowable value and the chord height allowable value, then delete P 1 , and order P 1 =P 2 , P2 =P 3 , and judge P 3 exists;

[0017] like P 3 If it does not exist, the point cloud data simplification is completed, and the target point cloud data is determined;

[0018] like P 3 If it exists, return to execute the above method to select three adjacent data points starting from the starting point P 0 , P 1 , P 2 , the vector is calculated by the first preset equation set P 0 P 1 and vector P 0 P 2 and determining whether the included angle and the chord height are respectively smaller than the allowable angle value and the allowable chord height value;

[0019] Wherein, the first preset equation group is:

[0020] ;

[0021] In the formula, θ For vector P 0 P 1 and vector P 0 P 2 The angle, Δ D For vector P 0 P 1 and vector P 0 P 2 The string height.

[0022] Furthermore, the step of extracting local features from the target point cloud data by a second preset method to obtain local key point data includes:

[0023] Determine the target point cloud data as , N is the number of point clouds;

[0024] Determine local key point data through a second preset equation group according to the target point cloud data;

[0025] The second preset equation group is:

[0026]

[0027]

[0028]

[0029]

[0030] in, is a symbolic function.

[0031] Furthermore, the step of determining local spline point data by a third preset method according to the local key point data and the target point cloud data includes:

[0032] Select the target local feature point according to the local key point data P j ;

[0033] According to the target point cloud data, from the target local feature points P j The distance between the left and right points is determined to determine the local feature points within the preset number and close to the target. P j The nearest multiple adjacent points whose distance is less than a preset distance;

[0034] The target local feature points and the adjacent points constitute an initial fitting point set, that is, the local spline point data, and the initial fitting point set is , a total of k=m+n+1 points.

[0035] Furthermore, the step of determining the local spline curve according to the local spline point data comprises:

[0036] Determine a local spline curve according to the local spline point data and a preset formula,

[0037] The preset formula is:

[0038]

[0039] in, is the spline basis function, is the control point, M=k+p , p= 3 is the spline degree, is a spline curve,u are the spline parameters corresponding to the points that need to be fitted.

[0040] Furthermore, the step of determining the local spline curve according to the local spline point data and a preset formula includes:

[0041] Determine the spline parameters by the third preset equation group ;

[0042] Determine the control points according to the fourth preset equation group ;

[0043] The third preset equation group is:

[0044]

[0045] The fourth preset equation group is:

[0046]

[0047] in, is the sum of the chord lengths between the data points covered in the local spline, For the The spline parameters corresponding to the points.

[0048] Further, the step of judging whether the included angle and the chord height are respectively smaller than the angle allowable value and the chord height allowable value comprises:

[0049] If the included angle and the chord height are not less than the angle allowable value and the chord height allowable value respectively, then let P 0 = P 1 , P 1 =P 2 , and take P 2 The latter point is P 3 , and judge P 3 exists;

[0050] like P 3 If it does not exist, the point cloud data simplification is completed, and the target point cloud data is determined;

[0051] like P 3 If it exists, return to execute the above method to select three adjacent data points starting from the starting point P 0 , P1 , P 2 , the vector is calculated by the first preset equation set P 0 P 1 and vector P 0 P 2 and the step of determining whether the included angle and the chord height are respectively smaller than the allowable angle value and the allowable chord height value.

[0052] Another object of an embodiment of the present invention is to provide a corrugated plate depth measurement system, the system comprising:

[0053] A point cloud data acquisition module, used to acquire point cloud data corresponding to a target corrugated plate through a preset line laser corrugated plate testing device;

[0054] A simplification module, configured to simplify the point cloud data by a first preset method according to the point cloud data to determine target point cloud data;

[0055] A local key point determination module, used for performing local feature extraction on the target point cloud data by a second preset method according to the target point cloud data to obtain local key point data;

[0056] A spline curve determination module, configured to determine local spline point data according to the local key point data and the target point cloud data by a third preset method, and determine a local spline curve according to the local spline point data;

[0057] The corrugated plate depth determination module is used to determine the target extreme value point according to the local spline curve, and determine the target corrugated plate depth according to the distance between adjacent target extreme value points.

[0058] Another object of an embodiment of the present invention is to provide a storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the above-mentioned corrugated plate depth measurement method.

[0059] Another object of an embodiment of the present invention is to provide an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned corrugated plate depth measurement method when executing the program.

[0060] The present invention uses a line laser sensor to quickly obtain a large amount of point cloud data on the surface of the corrugated plate, and then simplifies the point cloud data to obtain the target point cloud data, thereby reducing the amount of data processing and accelerating the measurement speed. In addition, due to data simplification and the accuracy of data measurement, the point data of the peak or trough may be missing in the target point cloud data, so the local key point data closest to the peak or trough is further determined by extracting features from the target point cloud, and then the point data near the local key point data is obtained to form a point data set, and the point data set is fitted to obtain a spline curve, and then the data of the peak or trough point here is determined by the spline curve, and the step is repeated for many times to obtain all the data of the peak or trough, and then the depth of the corrugated plate is determined according to the distance between adjacent peaks and troughs. Therefore, the present invention reduces the amount of data processing and accelerates the measurement efficiency by simplifying the data, and then avoids the situation of missing peak or trough point data by determining the local data and performing curve fitting according to the local data, greatly improving the accuracy of measurement. Therefore, the present invention solves the problem in the prior art of lacking a method for quickly and accurately measuring the depth of a corrugated plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 is a flow chart of a corrugated plate depth measurement method in a first embodiment of the present invention;

[0062] Figure 2 is a structural block diagram of a corrugated plate depth measurement system in a second embodiment of the present invention;

[0063] Figure 3 is a schematic structural diagram of an electronic device in a third embodiment of the present invention;

[0064] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0065] In order to facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0066] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0067] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0068] Embodiment 1

[0069] See also Figure 1 , which is a flow chart of a method for measuring the depth of a corrugated plate in a first embodiment of the present invention, and the method specifically includes steps S01 to S05.

[0070] S01, obtaining point cloud data corresponding to the target corrugated plate through a preset line laser corrugated plate testing device;

[0071] Specifically, although the 3D surface structured light sensor has high measurement efficiency, its measurement accuracy is limited by the complex influence of the workpiece material and surface contour. Therefore, the surface structured light sensor is not applicable. When using point laser for data sampling, it is often necessary to design a suitable sampling path, which increases the sampling steps and leads to low data collection efficiency. The line laser detection method does not require route planning and can directly scan along the corrugated plate.

[0072] S02, simplifying the point cloud data by a first preset method according to the point cloud data to determine target point cloud data;

[0073] Specifically, determine the allowable angle value and the allowable chord height value; select three adjacent data points starting from the starting point P 0 , P 1 , P 2 , the vector is calculated by the first preset equation set P 0 P 1 and vector P 0 P 2 and determining whether the included angle and the chord height are respectively less than the allowable angle value and the allowable chord height value;

[0074] If the included angle and the chord height are respectively less than the angle allowable value and the chord height allowable value, then delete P 1 , and order P 1 =P 2 , P2 =P 3 , and judge P 3 exists;

[0075] like P 3 If it does not exist, the point cloud data simplification is completed, and the target point cloud data is determined;

[0076] like P 3 If it exists, return to execute the above method to select three adjacent data points starting from the starting point P 0 , P 1 , P 2 , the vector is calculated by the first preset equation set P 0 P 1 and vector P 0 P 2 and determining whether the included angle and the chord height are respectively smaller than the allowable angle value and the allowable chord height value;

[0077] Wherein, the first preset equation group is:

[0078] ;

[0079] In the formula, θ For vector P 0 P 1 and vector P 0 P 2 The angle, Δ D For vector P 0 P 1 and vector P 0 P 2 The string height.

[0080] In addition, after the step of judging whether the included angle and the chord height are respectively less than the allowable angle value and the allowable chord height value, the method further comprises: if the included angle and the chord height are not respectively less than the allowable angle value and the allowable chord height value, then setting P 0 =P 1 ,P 1 =P 2 , and take P 2 The latter point is P 3 , and judge P 3 exists;

[0081] like P 3 If it does not exist, the point cloud data simplification is completed, and the target point cloud data is determined;

[0082] like P 3 If it exists, return to execute the above method to select three adjacent data points starting from the starting point P 0 , P 1 , P 2 , the vector is calculated by the first preset equation set P 0 P 1 and vector P 0 P 2 and the step of determining whether the included angle and the chord height are respectively smaller than the allowable angle value and the allowable chord height value.

[0083] Specifically, after completing the measurement of the corrugated plate point cloud data, the amount of point cloud data collected is large and the density is high due to the high sampling accuracy of the line laser. At the same time, during the measurement process of the line laser, due to the reflective characteristics of the corrugated plate surface, noise errors will occur in the measurement data. If the corrugated plate depth is directly extracted from the original data, not only is the extraction efficiency low, but it is also very easy to affect the extraction accuracy. Therefore, it is necessary to pre-process the point cloud data, that is, to simplify the data volume while fully retaining the original corrugated plate curvature characteristics.

[0084] S03, performing local feature extraction on the target point cloud data by a second preset method according to the target point cloud data to obtain local key point data;

[0085] Specifically, the target point cloud data is determined as , N is the number of point clouds;

[0086] Determine local key point data through a second preset equation group according to the target point cloud data;

[0087] The second preset equation group is:

[0088]

[0089]

[0090]

[0091]

[0092] in, is a symbolic function.

[0093] Specifically, after obtaining the simplified point cloud data of the corrugated plate, it is necessary to extract point cloud features from the simplified point cloud data of the corrugated plate, identify the crests and troughs of the corrugated plate, and then perform depth calculation. If the feature points of the corrugated plate are extracted directly from the discrete points of the point cloud, the depth calculation of the corrugated plate may be incorrect because the measured data does not fall exactly on the crests and troughs. To solve this problem, since the design surface of the corrugated plate is in the form of a smooth curve, the feature points of the corrugated plate can be extracted by fitting the measured data to the curve and calculating the inflection point position of the fitted curve. If the least squares method is used to fit the curve directly to the global point cloud data, due to the large amount of data, there will be defects such as low fitting efficiency and poor precision. To solve such problems, the present invention identifies local key feature points of point cloud measurement data. After identifying the local key feature points, local spline fitting is performed on the measured point cloud data around the key points to generate a local fitting curve, and the extreme points of the spline fitting curve are calculated to achieve high-precision extraction of key feature points of crests and troughs of high-precision corrugated plates, and calculate the depth of the corrugated plates through the key points.

[0094] S04, determining local spline point data according to the local key point data and the target point cloud data by a third preset method, and determining a local spline curve according to the local spline point data;

[0095] Specifically, the target local feature points are selected according to the local key point data. P j ;

[0096] According to the target point cloud data, from the target local feature points P j The distance between the left and right points is determined to determine the local feature points within the preset number and close to the target. P j The nearest multiple adjacent points whose distance is less than a preset distance;

[0097] The target local feature points and the adjacent points constitute an initial fitting point set, that is, the local spline point data, and the initial fitting point set is , a total of k=m+n+1points.

[0098] Specifically, the step of determining the local spline curve according to the local spline point data includes:

[0099] Determine a local spline curve according to the local spline point data and a preset formula,

[0100] The preset formula is:

[0101]

[0102] in, is the spline basis function, is the control point, M=k+p , p= 3 is the spline degree, is a spline curve, u are the spline parameters corresponding to the points that need to be fitted.

[0103] Specifically, the step of determining the local spline curve according to the local spline point data and a preset formula includes:

[0104] Determine the spline parameters by the third preset equation group ;

[0105] Determine the control points according to the fourth preset equation group ;

[0106] The third preset equation group is:

[0107]

[0108] The fourth preset equation group is:

[0109]

[0110] in, is the sum of the chord lengths between the data points covered in the local spline, For the The spline parameters corresponding to the points.

[0111] Specifically, after obtaining the local feature points of the peaks and valleys of the measuring points, if the points are directly used as the true value points of the peaks and valleys of the corrugated plate, misjudgment is likely to occur. In order to solve this problem, this paper adopts the local spline fitting method to extract high-precision feature points of the corrugated plate. After extracting a certain number of adjacent points near the local key points, these points are used as fitting points for spline fitting to obtain the required local spline curve.

[0112] S05, determining a target extreme value point according to the local spline curve, and determining a target corrugated plate depth according to the distance between adjacent target extreme value points.

[0113] Specifically, after obtaining the spline curve, that is, the function corresponding to the spline curve, the function of the spline curve is differentiated and the point that satisfies the value of 0 after the differentiation is determined to be the required target extreme point. Since the spline curve is fitted by local feature points, there will only be one target extreme point, that is, the real feature point of the peak or trough. After obtaining the real feature points of the peaks and troughs, the final ripple depth can be obtained by calculating the distance between the adjacent peaks and the two adjacent troughs, and the distance from the trough to the two adjacent peaks.

[0114] In summary, the corrugated plate depth measurement method in the above embodiment of the present invention uses a line laser sensor to quickly obtain a large amount of point cloud data on the surface of the corrugated plate, and then simplifies the point cloud data to obtain the target point cloud data, thereby reducing the amount of data processing and accelerating the measurement speed. In addition, due to data simplification and the accuracy of data measurement, the point data of the peak or trough may be missing in the target point cloud data, so the local key point data closest to the peak or trough is further determined by feature extraction of the target point cloud, and then the point data near the local key point data is obtained to form a point data set, and the point data set is fitted to obtain a spline curve, and then the data of the peak or trough point here is determined by the spline curve, and the step is repeated many times to obtain all the data of the peak or trough, and then the depth of the corrugated plate is determined according to the distance between adjacent peaks and troughs. Therefore, the present invention reduces the amount of data processing and accelerates the measurement efficiency by simplifying the data, and then avoids the situation of missing peak or trough point data by determining the local data and performing curve fitting according to the local data, greatly improving the accuracy of measurement. Therefore, the present invention solves the problem in the prior art of lacking a method for quickly and accurately measuring the depth of a corrugated plate.

[0115] Embodiment 2

[0116] See also Figure 2 , which is a structural block diagram of a corrugated plate depth measurement system proposed in the second embodiment of the present invention, the corrugated plate depth measurement system 200 comprises: a point cloud data acquisition module 21, a simplification module 22, a local key point determination module 23, a spline curve determination module 24 and a corrugated plate depth determination module 25, wherein:

[0117] The point cloud data acquisition module 21 is used to acquire point cloud data corresponding to the target corrugated plate through a preset line laser corrugated plate testing device;

[0118] A simplification module 22, configured to simplify the point cloud data by a first preset method according to the point cloud data to determine target point cloud data;

[0119] A local key point determination module 23, configured to extract local features of the target point cloud data by a second preset method according to the target point cloud data to obtain local key point data;

[0120] A spline curve determination module 24, configured to determine local spline point data according to the local key point data and the target point cloud data by a third preset method, and determine a local spline curve according to the local spline point data;

[0121] The corrugated plate depth determination module 25 is used to determine the target extreme value point according to the local spline curve, and determine the target corrugated plate depth according to the distance between adjacent target extreme value points.

[0122] Furthermore, the streamlined module 22 includes:

[0123] A condition determination unit, used for determining an angle allowable value and a chord height allowable value;

[0124] Data point selection unit, used to select three adjacent data points starting from the starting point P 0 , P 1 , P 2 , the vector is calculated by the first preset equation set P 0 P 1 and vector P 0 P 2 and determining whether the included angle and the chord height are respectively less than the allowable angle value and the allowable chord height value;

[0125] A deleting unit, used to delete when the included angle and the chord height are respectively less than the angle allowable value and the chord height allowable value. P 1 , and order P 1 =P 2 , P 2 =P 3 , and judge P 3 exists;

[0126] The first target point cloud data determination unit is used when P 3 If it does not exist, the point cloud data simplification is completed, and the target point cloud data is determined;

[0127] The first repetition execution unit is used whenP 3 If it exists, it returns to execute the above method to select three adjacent data points starting from the starting point. P 0 , P 1 , P 2 , the vector is calculated by the first preset equation set P 0 P 1 and vector P 0 P 2 and determining whether the included angle and the chord height are respectively smaller than the allowable angle value and the allowable chord height value;

[0128] Wherein, the first preset equation group is:

[0129] ;

[0130] In the formula, θ For vector P 0 P 1 and vector P 0 P 2 The angle, Δ D For vector P 0 P 1 and vector P 0 P 2 The string height.

[0131] An assignment unit is used to set when the included angle and the chord height are not less than the angle allowable value and the chord height allowable value respectively. P 0 =P 1 , P 1 =P 2 , and take P 2 The latter point is P 3 , and judge P 3 exists;

[0132] The second target point cloud data determination unit is used when P 3If it does not exist, the point cloud data precision part is completed, and the target point cloud data is determined;

[0133] The second repetition execution unit is used when P 3 If it exists, it returns to execute the above method to select three adjacent data points starting from the starting point. P 0 , P 1 , P 2 , the vector is calculated by the first preset equation set P 0 P 1 and vector P 0 P 2 and the step of determining whether the included angle and the chord height are respectively smaller than the allowable angle value and the allowable chord height value.

[0134] Furthermore, the local key point determination module 23 includes:

[0135] Point cloud data form determination unit, used to determine the target point cloud data , N is the number of point clouds;

[0136] A local key point data determination unit, used to determine the local key point data through a second preset equation group according to the target point cloud data;

[0137] The second preset equation group is:

[0138]

[0139]

[0140]

[0141]

[0142] in, is a symbolic function.

[0143] Furthermore, the spline curve determination module 24 includes:

[0144] A local feature point determination unit is used to select a target local feature point according to the local key point data. P j ;

[0145] The adjacent point determination unit is used to determine the target local feature points according to the target point cloud data. Pj The distance between the left and right points is determined to determine the local feature points within the preset number and close to the target. P j The nearest multiple adjacent points whose distance is less than a preset distance;

[0146] A fitting point set determination unit is used to form an initial fitting point set, i.e., the local spline point data, from the target local feature points and the adjacent points. The initial fitting point set is , a total of k=m+n+1 points.

[0147] A spline curve determination unit is used to determine a local spline curve according to the local spline point data and a preset formula, wherein the preset formula is:

[0148]

[0149] in, is the spline basis function, is the control point, M=k+p , p= 3 is the spline degree, is a spline curve, u are the spline parameters corresponding to the points that need to be fitted.

[0150] Furthermore, the spline curve determination unit includes:

[0151] A spline parameter determination unit, used to determine the spline parameters by a third preset equation group ;

[0152] A control point determination unit, used to determine the control point according to a fourth preset equation group ;

[0153] The third preset equation group is:

[0154]

[0155] The fourth preset equation group is:

[0156]

[0157] in, is the sum of the chord lengths between the data points covered in the local spline, For the The spline parameters corresponding to the points.

[0158] The functions or operation steps implemented when the above modules are executed are substantially the same as those in the above method embodiments, and will not be repeated here.

[0159] Embodiment 3

[0160] Another aspect of the present invention provides an electronic device, see Figure 3 , shown is a schematic diagram of an electronic device in the third embodiment of the present invention, including a memory 20, a processor 10, and a computer program 30 stored in the memory and executable on the processor. When the processor 10 executes the computer program 30, the corrugated plate depth measurement method as described above is implemented.

[0161] In some embodiments, the processor 10 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 20, such as executing access restriction programs.

[0162] Among them, the memory 20 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory 20 can be an internal storage unit of an electronic device, such as a hard disk of the electronic device. In other embodiments, the memory 20 can also be an external storage device of an electronic device, such as a plug-in hard disk equipped on the electronic device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Further, the memory 20 can also include both an internal storage unit of the electronic device and an external storage device. The memory 20 can not only be used to store application software and various types of data of the electronic device, but also can be used to temporarily store data that has been output or is to be output.

[0163] It should be pointed out that Figure 3 The structure shown does not constitute a limitation on the electronic device. In other embodiments, the electronic device may include fewer or more components than those shown in the figure, or combine certain components, or arrange the components differently.

[0164] The embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the method for measuring the depth of a corrugated plate as described above is implemented.

[0165] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0166] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0167] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0168] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0169] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A method for measuring the depth of a corrugated plate, characterized in that: The method comprises: Obtain point cloud data corresponding to the target corrugated plate through a preset line laser corrugated plate testing device; Simplifying the point cloud data by a first preset method according to the point cloud data to determine target point cloud data; According to the target point cloud data, local feature extraction is performed on the target point cloud data by a second preset method to obtain local key point data; Determine local spline point data according to the local key point data and the target point cloud data by a third preset method, and determine a local spline curve according to the local spline point data; Determining a target extreme point according to the local spline curve, and determining a target corrugated plate depth according to the distance between adjacent target extreme points; The step of simplifying the point cloud data by a first preset method according to the point cloud data to determine the target point cloud data comprises: Determine the allowable angle and chord height values; Select three adjacent data points starting from the starting point P 0, P 1, P 2. Calculate the vector by the first preset equation group P 0 P 1 and vector P 0 P 2, and determining whether the included angle and the chord height are respectively less than the allowable angle value and the allowable chord height value; If the angle and the chord height are less than the angle allowable value and the chord height allowable value respectively, delete P 1, and order P 1 =P 2, P 2 =P 3. And judge P 3. Whether it exists; like P 3 does not exist, the point cloud data simplification is completed, and the target point cloud data is determined; like P 3 exists, then return to execute the above method to select three adjacent data points starting from the starting point P 0, P 1, P 2. Calculate the vector by the first preset equation group P 0 P 1 and vector P 0 P 2, and determining whether the included angle and the chord height are respectively less than the allowable angle value and the allowable chord height value; Wherein, the first preset equation group is: ； In the formula, θ For vector P 0 P 1 and vector P 0 P 2, Δ D For vector P 0 P 1 and vector P 0 P 2 chord height; The step of extracting local features from the target point cloud data by a second preset method to obtain local key point data comprises: Determine the target point cloud data as , N is the number of point clouds; Determine local key point data through a second preset equation group according to the target point cloud data; The second preset equation group is: in, is a symbolic function; The step of determining the local spline point data by a third preset method according to the local key point data and the target point cloud data comprises: Select the target local feature point according to the local key point data P j ; According to the target point cloud data, from the target local feature points P j The distance between the left and right points is determined to determine the local feature points within the preset number and close to the target. P j The nearest multiple adjacent points whose distance is less than a preset distance; The target local feature points and the adjacent points constitute an initial fitting point set, that is, the local spline point data, and the initial fitting point set is , a total of k=m+n+1 points.

2. The corrugated plate depth measurement method according to claim 1, characterized in that: The step of determining the local spline curve according to the local spline point data comprises: Determine a local spline curve according to the local spline point data and a preset formula, The preset formula is: in, is the spline basis function, is the control point, M=k+p , p= 3 is the spline degree, k is the number of points in the set, is a spline curve, u are the spline parameters corresponding to the points that need to be fitted.

3. The corrugated plate depth measurement method according to claim 2, characterized in that: The step of determining the local spline curve according to the local spline point data and a preset formula comprises: Determine the spline parameters by the third preset equation group ; Determine the control points according to the fourth preset equation group ; The third preset equation group is: The fourth preset equation group is: in, is the sum of the chord lengths between the data points covered in the local spline, For the The spline parameters corresponding to the points.

4. The corrugated plate depth measurement method according to claim 1, characterized in that: After the step of judging whether the included angle and the chord height are respectively less than the angle allowable value and the chord height allowable value, the following steps are performed: If the included angle and the chord height are not less than the angle allowable value and the chord height allowable value respectively, then let P 0 =P 1, P 1 = P 2, and take P 2The last point is P 3. And judge P 3. Whether it exists; like P 3 does not exist, the point cloud data simplification is completed, and the target point cloud data is determined; like P 3 exists, then return to execute the above method to select three adjacent data points starting from the starting point P 0, P 1, P 2. Calculate the vector by the first preset equation group P 0 P 1 and vector P 0 P 2, and determining whether the included angle and the chord height are respectively smaller than the allowable angle value and the allowable chord height value.

5. A corrugated plate depth measurement system, characterized in that: Used to implement the corrugated plate depth measurement method according to any one of claims 1 to 4, the system comprises: A point cloud data acquisition module, used to acquire point cloud data corresponding to a target corrugated plate through a preset line laser corrugated plate testing device; A simplification module, configured to simplify the point cloud data by a first preset method according to the point cloud data to determine target point cloud data; A local key point determination module, used for performing local feature extraction on the target point cloud data by a second preset method according to the target point cloud data to obtain local key point data; A spline curve determination module, configured to determine local spline point data according to the local key point data and the target point cloud data by a third preset method, and determine a local spline curve according to the local spline point data; The corrugated plate depth determination module is used to determine the target extreme value point according to the local spline curve, and determine the target corrugated plate depth according to the distance between adjacent target extreme value points.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the corrugated board depth measurement method according to any one of claims 1 to 4 are implemented.

7. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the program, the method for measuring the depth of a corrugated plate as claimed in any one of claims 1 to 4 is implemented.

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