Hole type information extraction method and system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of manufacturing measurement, in particular to a hole type information extraction method and system, electronic equipment and a storage medium, the method comprises the following steps: obtaining point cloud data of a target part, the point cloud data comprising a plurality of nodes with coordinate information; traversing all nodes to determine a target plane to which each node belongs; any node in the target plane is determined as a target node, a neighborhood node of the target node is obtained, a connecting line between the target node and the neighborhood node is determined as a target connecting line, the node type of the target node is determined according to the included angle between the target connecting lines, and the node type comprises a boundary node and a plane node; obtaining a target hole and a hole type of the target hole based on the boundary node under the condition that the node types of all the nodes are determined; according to the hole type of the target hole, hole center coordinate information, hole diameter information and vector direction information of the target hole are obtained; according to the method, identification, classification and information extraction of the target holes can be well realized.

Description

Technical Field

[0001] The present application relates to the field of manufacturing measurement technology, and in particular to a method, system, electronic device and storage medium for extracting hole information. Background Art

[0002] In modern manufacturing, the precision and quality of parts are crucial to the performance and reliability of products. As a basic structural element in many mechanical parts and assemblies, the geometric characteristics of holes (such as position, diameter, etc.) must be strictly controlled according to design specifications. For example, there are many assembly holes and process positioning holes on the body and other parts of a car. The shape and position errors of these holes will have a direct impact on the automobile assembly process, vehicle performance, and appearance quality. Therefore, it is very important to extract hole information from parts.

[0003] At present, it is usually necessary to manually select the boundaries of holes in the 3D model of parts and measure hole information, such as hole center coordinates and hole diameter, etc. However, this method requires a lot of time and manpower, is inefficient, prone to errors, and it is difficult to obtain the vector direction information of the hole, making it difficult to accurately monitor the hole information. Summary of the invention

[0004] The present application provides a method, system, electronic device and storage medium for extracting pore information to solve the technical problems in the prior art that manual extraction of pore information requires a lot of time and manpower, is inefficient and prone to errors.

[0005] The present application provides a method for extracting hole information, the method comprising: acquiring point cloud data of a target component, the point cloud data comprising a plurality of nodes with coordinate information;

[0006] Traverse all nodes to determine the target plane to which each node belongs;

[0007] Determine any node in the target plane as a target node, obtain neighboring nodes of the target node, determine the line between the target node and the neighboring nodes as a target line, and determine the node type of the target node according to the angle between the target lines, wherein the node type includes a boundary node and a plane node;

[0008] When the node types of all nodes are determined, a target hole and the hole type of the target hole are obtained based on the boundary nodes;

[0009] According to the hole type of the target hole, the hole center coordinate information, the hole diameter information, and the vector direction information of the target hole are obtained.

[0010] In one embodiment of the present application, the step of traversing all nodes to determine the target plane to which each node belongs includes:

[0011] The plane formed by three adjacent nodes is determined as the reference plane;

[0012] Determine the angle between the normal vectors of two adjacent reference planes as the target angle;

[0013] If the target angle is 0° or π, it is determined that the four currently adjacent nodes belong to the same target plane, wherein the four currently adjacent nodes refer to nodes constituting two adjacent reference planes;

[0014] By traversing the remaining nodes, the target plane to which each node belongs is determined.

[0015] In one embodiment of the present application, the step of obtaining the neighboring nodes of the target node includes:

[0016] According to the target node, a target area is determined, wherein the target area is a circular area, the center of the circular area is the target node, and the radius of the circular area is a preset reference distance;

[0017] The target node is determined as a reference point, and the remaining nodes in the target area are determined as preliminary nodes; any one of the preliminary nodes is selected as a starting point, a line between the reference point and the starting point is determined as a reference line, and the reference line is rotated counterclockwise for multiple times according to a preset rotation angle to divide the target area into a plurality of areas to be identified;

[0018] If there is one of the prepared nodes in the area to be identified, determining the corresponding prepared node as a neighboring node of the target node;

[0019] If there are two or more of the prepared nodes in the area to be identified, and the intermediate angles corresponding to each of the prepared nodes are different, all the prepared nodes in the area to be identified are determined as neighboring nodes of the target node, the intermediate angle refers to the angle between the node connection line and the reference connection line, and the node connection line refers to the connection line between the prepared node and the reference point;

[0020] If there are two or more of the preparation nodes in the area to be identified, and the intermediate angles corresponding to each of the preparation nodes are the same, the preparation node closest to the reference point is determined as a neighboring node of the target node.

[0021] In one embodiment of the present application, the step of determining the node type of the target node according to the angle between the target lines includes:

[0022] Determine the angle between the target lines as the line angle;

[0023] The maximum angle among all the connecting line angles is determined as the angle to be confirmed;

[0024] If the to-be-confirmed included angle is greater than a preset angle threshold, determining that the node type of the target node is a boundary node, wherein the boundary node refers to a node located at the boundary of the target hole;

[0025] If the to-be-confirmed included angle is less than or equal to the angle threshold, the node type of the target node is determined to be a plane node, and the plane node refers to a node located within the boundary of the target hole.

[0026] In one embodiment of the present application, the step of obtaining a target hole and a hole type of the target hole based on the boundary node includes:

[0027] Determine the hole boundary to which each boundary node belongs according to the distance between the boundary nodes;

[0028] Determine the hole surrounded by the hole boundary as the target hole;

[0029] Obtaining edge vectors formed by adjacent boundary nodes on the hole boundary;

[0030] If the adjacent edge vectors are the same, determining the boundary type of the hole boundary to be a straight line segment;

[0031] If the adjacent edge vectors are different, multiple groups of node combinations are obtained, wherein the node combinations include three adjacent boundary nodes on the hole boundary; circumscribed circle information corresponding to the three boundary nodes in the node combination is obtained, wherein the circumscribed circle information includes the radius and center coordinates of the circumscribed circle formed by the three adjacent boundary nodes;

[0032] If the circumscribed circle information of the multiple groups of node combinations obtained are all the same, then the boundary type of the hole boundary is determined to be a circle; if the circumscribed circle information of the multiple groups of node combinations obtained are different, then the boundary type of the hole boundary is determined to be a curve;

[0033] The hole type of the target hole is obtained according to the boundary types of all hole boundaries of the target hole.

[0034] In one embodiment of the present application, the step of obtaining the hole type of the target hole according to the boundary types of all hole boundaries of the target hole includes:

[0035] If the hole boundary of the target hole is a circle, then determining the hole type of the target hole is a circular hole;

[0036] If the hole boundary of the target hole includes two curves and two straight line segments, the radii of the two curves are the same, and the vector directions of the two straight lines are parallel to the center vectors of the two curves, then the hole type of the target hole is determined to be an oblong hole;

[0037] If the hole boundary of the target hole includes four straight line segments, the straight line segments in relative positions are parallel to each other, and the adjacent straight line segments are perpendicular, then the hole type of the target hole is determined to be a rectangular hole;

[0038] If the hole boundary of the target hole includes six straight line segments, the straight line segments in relative positions are parallel to each other, and the angle between adjacent straight line segments is 60°, then the hole type of the target hole is determined to be a hexagonal hole.

[0039] In one embodiment of the present application, the step of obtaining the hole center coordinate information, the aperture information, and the vector direction information of the target hole according to the hole type of the target hole includes:

[0040] Obtaining hole center coordinate information and aperture information of the target hole according to the hole type of the target hole and the coordinate information of the boundary nodes of the target hole;

[0041] Randomly select three non-collinear measurement nodes from the boundary nodes of the target hole, where different lines refer to not being on the same straight line;

[0042] Obtain a first straight line vector and a second straight line vector, wherein the first straight line vector refers to a straight line vector formed by a first measurement node and a second measurement node, and the second straight line vector refers to a straight line vector formed by a first measurement node and a third measurement node;

[0043] The product of the first straight line vector and the second straight line vector is determined as the vector direction information of the target hole.

[0044] The present application also provides a hole information extraction system, the system comprising: a point cloud data acquisition module, used to acquire point cloud data of a target component, the point cloud data comprising a plurality of nodes with coordinate information;

[0045] A plane determination module is used to traverse all nodes to determine the target plane to which each node belongs;

[0046] A node type determination module is used to determine any node in the target plane as a target node, obtain the neighboring nodes of the target node, determine the line between the target node and the neighboring nodes as a target line, and determine the node type of the target node according to the angle between the target lines, wherein the node types include boundary nodes and plane nodes;

[0047] A hole type determination module, configured to obtain a target hole and a hole type of the target hole based on the boundary nodes when the node types of all nodes are determined;

[0048] The hole type information acquisition module is used to obtain the hole center coordinate information, hole diameter information, and vector direction information of the target hole according to the hole type of the target hole.

[0049] The present application also provides an electronic device, comprising a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute a computer program stored in the memory to implement a pore information extraction method as provided in any one of the above embodiments.

[0050] The present application also provides a computer-readable storage medium on which a computer program is stored, wherein the computer program is used to enable a computer to execute the pore information extraction method provided in any of the above embodiments.

[0051] Beneficial effects of the present application: The hole information extraction method, system, electronic device and storage medium proposed in the present application, the method obtains the point cloud data of the target component, the point cloud data includes multiple nodes with coordinate information; traverses all nodes to determine the target plane to which each node belongs; determines any node in the target plane as the target node, obtains the neighboring node of the target node, determines the line between the target node and the neighboring node as the target line, and determines the node type of the target node according to the angle between the target lines, and the node type includes boundary nodes and plane nodes; when the node types of all nodes are determined, the target hole and the hole type of the target hole are obtained based on the boundary nodes; according to the hole type of the target hole, the hole center coordinate information, aperture information, and vector direction information of the target hole are obtained. The method can better realize the recognition, classification, and information extraction of the target hole, with a high degree of automation, and can realize the batch extraction of the hole center coordinate information, aperture information, and vector direction information of multiple holes, with high accuracy, no manual extraction is required, and the mistakes caused by manual extraction are effectively avoided, thereby improving the efficiency of hole information extraction. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of a flow chart of a method for extracting pore information provided in one embodiment of the present application;

[0053] Figure 2 A schematic diagram of the principle of obtaining neighborhood nodes in the hole information extraction method provided in one embodiment of the present application;

[0054] Figure 3 It is a schematic diagram of the principle of obtaining the angle of the connecting line in the hole information extraction method provided in one embodiment of the present application;

[0055] Figure 4 This is an exemplary schematic diagram of boundary nodes and plane nodes in the hole information extraction method provided in one embodiment of the present application;

[0056] Figure 5 is an exemplary schematic diagram of pore types in a pore information extraction method provided in an embodiment of the present application;

[0057] Figure 6 It is a schematic diagram of the discrimination conditions of oblong holes in the hole type information extraction method provided in one embodiment of the present application;

[0058] Figure 7 It is a schematic diagram of the conditions for distinguishing rectangular holes in the hole type information extraction method provided in one embodiment of the present application;

[0059] Figure 8 It is a schematic diagram of the discrimination conditions of hexagonal holes in the hole type information extraction method provided in one embodiment of the present application;

[0060] Fig. 9 is an exemplary schematic diagram of oblong hole information in the hole type information extraction method provided in one embodiment of the present application;

[0061] Fig.10 is an exemplary schematic diagram of hexagonal hole information in the hole information extraction method provided in one embodiment of the present application;

[0062] Fig.11 It is a structural schematic diagram of a pore information extraction system provided in an embodiment of the present application;

[0063] Fig.12 It is a structural schematic diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0064] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0065] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0066] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0067] Combine the following Figures 1 to 12 , the pore information extraction method, system, electronic device and storage medium provided in this application are explained.

[0068] See also Figure 1 , Figure 1 A schematic diagram of a process for extracting pore information provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the method includes:

[0069] S110: Acquire point cloud data of a target component, wherein the point cloud data includes a plurality of nodes with coordinate information.

[0070] It should be noted that the step of obtaining point cloud data of the target component includes: obtaining a mathematical model of the target component, which may be a 3D model, etc.; receiving a format conversion instruction; and converting the mathematical model into point cloud data according to the format conversion instruction.

[0071] It should also be noted that the target component may be a vehicle body, other components, etc. By converting the mathematical model of the target component into point cloud data, subsequent hole recognition and classification can be facilitated.

[0072] S120: Traverse all nodes to determine the target plane to which each node belongs.

[0073] S130: Determine any node in the target plane as the target node, obtain the neighboring nodes of the target node, determine the line between the target node and the neighboring nodes as the target line, and determine the node type of the target node according to the angle between the target lines, wherein the node types include boundary nodes and plane nodes.

[0074] It should be noted that hole identification can be facilitated by determining the node type of the node in the target plane.

[0075] S140: When the node types of all nodes are determined, a target hole and the hole type of the target hole are obtained based on the boundary nodes.

[0076] S150: Obtaining hole center coordinate information, hole diameter information, and vector direction information of the target hole according to the hole type of the target hole.

[0077] It should be noted that the vector direction information refers to the direction of the hole axis of the target hole. Through the above steps, it is possible to realize batch recognition and classification of holes in the target parts, as well as extraction of hole type information (hole center coordinate information, hole diameter information, and vector direction information), with a high degree of automation, no need for manual intervention, and high accuracy.

[0078] In some embodiments, the step of traversing all nodes to determine the target plane to which each node belongs includes:

[0079] 1. Determine the plane formed by three adjacent nodes as the reference plane.

[0080] 2. Determine the angle between the normal vectors of two adjacent reference planes as the target angle.

[0081] It should be noted that the mathematical expression for obtaining the normal vector of the reference plane is:

[0082]

[0083] f=1,2,3......

[0084] in, Represents node P f , P f+1 , and P f+2 The normal vector of the base plane is Represents node P f and P f+1 The vector formed, Represents node P f+1 and P f+2 The vector composed.

[0085] It should also be noted that the mathematical expression for obtaining the target angle is:

[0086]

[0087] Among them, θ f，f+1 Representation vector and the normal vector The target angle between Represents node P f+1 , P f+2 , and P f+3 The normal vector of the reference plane is formed, and |·| represents the modulus of the orientation vector.

[0088] 3. If the target angle is 0° or π, it is determined that the four currently adjacent nodes belong to the same target plane, wherein the four currently adjacent nodes refer to the nodes constituting two adjacent reference planes.

[0089] It should be noted that the mathematical expression of the above judgment condition is:

[0090]

[0091] Specifically, if θ f，f+1 is 0° or π, then determine the node P f , P f+1 , P f+2 , and P f+3 belong to the same target plane. If the above conditions are not met, it means that node P f , P f+1 , P f+2 , and P f+3 Not in the same plane.

[0092] 4. Traverse the remaining nodes to determine the target plane to which each node belongs.

[0093] Specifically, by continuing to execute the above steps 1 to 3, each execution step is one node, so as to determine the target plane to which each node belongs. By determining the target plane to which each node belongs, it is possible to facilitate subsequent node type identification and the like.

[0094] In some embodiments, the step of obtaining the neighboring nodes of the target node includes:

[0095] 1. According to the target node, a target area is determined, wherein the target area is a circular area, the center of the circular area is the target node, and the radius of the circular area is a preset reference distance.

[0096] It should be noted that the reference distance can be set according to actual conditions, such as 30 cm (centimeter).

[0097] 2. Determine the target node as a reference point, and determine the remaining nodes in the target area as preliminary nodes; select any one of the preliminary nodes as a starting point, determine the line between the reference point and the starting point as a reference line, and rotate the reference line counterclockwise for multiple times according to a preset rotation angle to divide the target area into multiple areas to be identified.

[0098] 3. If there is a prepared node in the to-be-identified area, the corresponding prepared node is determined as a neighboring node of the target node;

[0099] If there are two or more of the prepared nodes in the area to be identified, and the intermediate angles corresponding to each of the prepared nodes are different, all the prepared nodes in the area to be identified are determined as neighboring nodes of the target node, the intermediate angle refers to the angle between the node connection line and the reference connection line, and the node connection line refers to the connection line between the prepared node and the reference point;

[0100] If there are two or more of the preparation nodes in the area to be identified, and the intermediate angles corresponding to each of the preparation nodes are the same, the preparation node closest to the reference point is determined as a neighboring node of the target node.

[0101] It should be noted that, through the above steps, the neighboring nodes of the target node can be found and determined more accurately.

[0102] Combine the following Figure 2 , explain the above steps of obtaining neighboring nodes. Figure 2 For a schematic diagram of the principle of obtaining neighborhood nodes in the hole information extraction method provided in an embodiment of the present application, please refer to Figure 2 , Figure 2 The node O in the figure represents the reference point, i.e., the target node of the neighborhood node to be solved, and d represents the reference distance. A circle is drawn with node O as the center and d as the radius, and the area formed is the target area. Node P1 in the target area represents the starting point, and nodes P2, P3, etc. represent the remaining preparatory nodes. The line between node O and node P1 is the reference line. According to the preset rotation angle d θ , rotate the reference line OP1 counterclockwise once to obtain the L1 line segment; rotate the reference line OP1 counterclockwise twice to obtain the L2 line segment; rotate the reference line OP1 counterclockwise three times to obtain the L3 line segment, and so on, until the target area is divided into multiple areas to be identified, each of which is an angle d θ sector area.

[0103] The unit vector of the L1 segment is:

[0104]

[0105] in, represents the unit vector of L1, represents the unit vector of OP1, and R represents the rotation matrix, whose value is:

[0106]

[0107] Among them, θ represents the angle of L1 rotating counterclockwise, and its value is d θ i, j, k represent the three components of the unit normal vector of the plane where the target area is located, that is, the three components in the three-dimensional space, which can be solved by two vectors formed by any three non-collinear points in the plane where the target area is located, and will not be repeated here.

[0108] Next, it is necessary to determine whether there are neighboring nodes between L1 and OP1. The determination criteria are:

[0109]

[0110] in, Representation vector With vector The angle between Representation vector With vector The angle between Representation vector With vector The angle between them, Pl represents the node ( Figure 2 (not shown). Vector Represents the vector formed by node O and node P1. If the above formula is satisfied, it means that node P1 is a neighborhood node. Then, continue to determine whether there is a neighborhood node in the area to be identified formed by L1 and L2, and so on, until the entire target area is determined.

[0111] The above is for the case where there is one prepared node in the area to be identified. In addition, if there are two or more prepared nodes in the area to be identified, and the intermediate angle corresponding to each prepared node is If they are different, all the prepared nodes in the area to be identified are determined as neighboring nodes of the target node, and the target node is identified according to the intermediate angle. Sort multiple neighborhood nodes; if there are two or more preliminary nodes in the area to be identified, and the intermediate angle corresponding to each preliminary node If they are the same, the reserve node closest to the reference point is determined as the neighbor node of the target node, and the other reserve nodes are ignored.

[0112] In some embodiments, the step of determining the node type of the target node according to the angle between the target lines includes:

[0113] 1. Determine the angle between the target lines as the line angle.

[0114] 2. Determine the maximum angle among all the connecting line angles as the angle to be confirmed.

[0115] 3. If the angle to be confirmed is greater than a preset angle threshold, the node type of the target node is determined to be a boundary node, and the boundary node refers to a node located at the boundary of the target hole.

[0116] It should be noted that the angle threshold can be set according to actual conditions, such as 90°.

[0117] 4. If the to-be-confirmed included angle is less than or equal to the angle threshold, the node type of the target node is determined to be a plane node, where the plane node refers to a node located within the boundary of the target hole.

[0118] It should be noted that, through the above steps, the node type classification of the target node can be well achieved with high accuracy.

[0119] Figure 3 This is a schematic diagram of the principle of obtaining the angle of the connecting line in the hole information extraction method provided in an embodiment of the present application. Please refer to Figure 3 , Figure 3 Two examples are given in Figure 3 The image on the left shows that if the neighboring node is located before L1, that is, in the area formed by L1 and OP1, such as the neighboring node Pu, then the corresponding connection angle is Figure 3 The image on the right shows that if the neighboring node is located after L1, such as the neighboring node Pr in the area formed by L2 and L3, then the corresponding connection angle is

[0120] Figure 4 This is an exemplary schematic diagram of boundary nodes and plane nodes in the hole information extraction method provided in an embodiment of the present application, please refer to Figure 4 , Figure 4 The solid line in represents the connection line between point 1 and its neighboring nodes (target connection line), and the dotted line represents the connection line between point 2 and its neighboring nodes (target connection line).

[0121] In the process of confirming the node types of points 1 and 2, obtain θ 1max With θ 2max , where θ 1max Indicates the angle to be confirmed for point 1, that is, the maximum angle between the target lines corresponding to point 1. θ 2max represents the angle to be confirmed at point 2. If θ 1max If θ is greater than the preset angle threshold ζ, it means point 1 is a boundary node, and the same is true for point 2. 1max If the angle is less than or equal to the angle threshold ζ, it indicates that point 1 is a plane node, and the same is true for point 2. For the sake of easy identification, the angle threshold ζ is exemplarily set to 90° in this embodiment, then point 1 is a boundary node and point 2 is a plane node.

[0122] In some embodiments, based on the boundary nodes, the step of obtaining the target hole and the hole type of the target hole includes:

[0123] 1. Determine the hole boundary to which each boundary node belongs according to the distance between the boundary nodes.

[0124] 2. Determine the hole enclosed by the hole boundary as the target hole.

[0125] 3. Obtain edge vectors formed by adjacent boundary nodes on the hole boundary.

[0126] It should be noted that the edge vector is expressed as:

[0127]

[0128] in, Represents the boundary node P w，k With P w，k+1 The edge vector formed, P w，k represents the kth boundary node on the wth hole boundary in the target plane, P w，k+1 represents the k+1th boundary node on the boundary of the wth hole in the target plane.

[0129] Fourth, if the adjacent edge vectors are the same, the boundary type of the hole boundary is determined to be a straight line segment.

[0130] 5. If the adjacent multiple edge vectors are different, obtain multiple groups of node combinations, wherein the node combination includes three adjacent boundary nodes on the hole boundary; obtain the circumscribed circle information corresponding to the three boundary nodes in the node combination, wherein the circumscribed circle information includes the radius and center coordinates of the circumscribed circle formed by the three adjacent boundary nodes.

[0131] It should be noted that multiple adjacent edge vectors such as wait, Represents the boundary node P w，k+1 With P w，k+2 The edge vector formed, P w，k+2 Represents the k+2th boundary node on the wth hole boundary in the target plane.

[0132] It should also be noted that the mathematical expression for obtaining the center of the circumscribed circle corresponding to the three boundary nodes in the node combination is:

[0133]

[0134] Among them, r w，k represents the boundary node P on the wth hole boundary w，k , P w，k+1 , and P w，k+2 The radius of the circumcircle of the three points, x w，k ,y w，k 、z w，k Represents the boundary node P w，k Coordinate information, x o，w，k ,y o，w，k 、z o，w，k Indicates the coordinates of the center of the circumscribed circle.

[0135] The mathematical expression for obtaining the coordinates of the center of the circumscribed circle is:

[0136]

[0137] Among them,

[0138] A1 = y w，k Z w,k+1 -y w，kzw，k+2 -z w，k y w，k+1 +z w，k y w，k+2 +y w，k+1 z w，k+2 -y w，k+2 Z w，k+1

[0139] A2 = 2(x w，k+1 -x w，k )

[0140] A3 = 2(x w，k+2 -x w，k )

[0141] B1 = -x w，k z w，k+1 +x w，k z w，k+2 +z w，k x w，k+1 -z w，k x w，k+2 -x w，k+1 z w，k+2 +x w，k+2 z w，k+1

[0142] B2 = 2(y w，k+1 -y w，k )

[0143] B3 = 2(y w，k+2 -y w，k )

[0144] C1 = x w，k y w，k+1 -x w，k y w，k+2 -y w，k x w，k+1 +y w，k x w，k+2 +x w，k+1 y w，k+2 -x w，k+2 y w，k+2

[0145] C2 = 2(z w，k+1 -z w，k )

[0146] C3 = 2(z w，k+2 -z w，k )

[0147] D1=-x w，k y w，k+1 z w，k+2 +x w，k y w，k+2 z w，k+1 +x w，k+1 y w，k z w，k+2 -x w，k+2 y w，k z w，k+2 -x w，k+1 y w，k+2 z w，k +x w，k+2 y w，k+1 z w，l

[0148] D2=x w，k 2 +y w，k 2 +z w，k 2 -x w，k+1 2 -y w，k+1 2 -z w，k+1 2

[0149] D3=x w，k 2 +y w，k 2 +z w，k 2 -x w，k+2 2 -y w，k+2 2 -z w，k+2 2

[0150] In the above formula, x w，k+1 ,y w，k+1 、z w，k+1 Represents the boundary node P w，k+1 Coordinate information, x w，k+2 ,y w，k+2 、z w，k+2 is the boundary node P w，k+2 The coordinate information of .

[0151] 6. If the circumscribed circle information of the multiple groups of node combinations obtained are the same, the boundary type of the hole boundary is determined to be a circle; if the circumscribed circle information of the multiple groups of node combinations obtained are different, the boundary type of the hole boundary is determined to be a curve.

[0152] It is required to submit that if there is 1 straight line segment or more than 6 straight line segments, it does not meet the measurement hole characteristics, so such nodes are discarded.

[0153] 7. Obtain the hole type of the target hole according to the boundary types of all hole boundaries of the target hole.

[0154] Figure 5 This is an exemplary schematic diagram of the hole type in the hole type information extraction method provided in an embodiment of the present application. Please refer to Figure 5 , Figure 5 The common hole types are shown in the figure, from left to right: round hole, rectangular hole, oblong hole, and hexagonal hole.

[0155] In some embodiments, the step of obtaining the hole type of the target hole according to the boundary types of all hole boundaries of the target hole comprises:

[0156] 1. If the hole boundary of the target hole is circular, the hole type of the target hole is determined to be a circular hole.

[0157] 2. If the hole boundary of the target hole includes two curves and two straight line segments, the radii of the two curves are the same, and the vector directions of the two straight lines are parallel to the center vectors of the two curves, then the hole type of the target hole is determined to be an oblong hole.

[0158] Figure 6 This is a schematic diagram of the conditions for distinguishing oblong holes in the hole information extraction method provided in one embodiment of the present application. Please refer to Figure 6 , Figure 6 Where O1 and O2 represent the centers of two curves, H1 and H2 represent two straight lines, and the conditions for determining an oblong hole include: the radii of the two curves are the same and the following formula needs to be satisfied:

[0159]

[0160] in, express and The angle between express and The angle between represents the vector formed by H2, Represents the vector formed by point O1 and point O2.

[0161] 3. If the hole boundary of the target hole includes four straight line segments, the straight line segments in relative positions are parallel to each other, and the adjacent straight line segments are perpendicular, then the hole type of the target hole is determined to be a rectangular hole (slot hole).

[0162] Figure 7 This is a schematic diagram of the conditions for distinguishing rectangular holes in the hole information extraction method provided in one embodiment of the present application. Please refer to Figure 7 , Figure 7In the figure, H3, H4, H5, and H6 are four straight line segments, and the criteria for determining the rectangular frame are as follows:

[0163]

[0164] in, express and The angle of express and The angle of express and The angle of represents the vector corresponding to H3, represents the vector corresponding to H4, represents the vector corresponding to H5, Represents the vector corresponding to H6.

[0165] Fourth, if the hole boundary of the target hole includes six straight line segments, the straight line segments in relative positions are parallel to each other, and the angle between adjacent straight line segments is 60°, then the hole type of the target hole is determined to be a hexagonal hole.

[0166] Figure 8 This is a schematic diagram of the discrimination conditions of hexagonal holes in the hole information extraction method provided in an embodiment of the present application. Please refer to Figure 8 , Figure 8 In the figure, H7, H8, H9, H10, H11, and H12 are six straight line segments, and the criteria for determining a hexagonal hole are as follows:

[0167]

[0168] Among them, θ <A，B> represents the angle between A and B, represents the vector corresponding to H7, to Similarly, I will not go into details here.

[0169] In some embodiments, according to the hole type of the target hole, the step of obtaining the hole center coordinate information, the hole diameter information, and the vector direction information of the target hole includes:

[0170] 1. According to the hole type of the target hole and the coordinate information of the boundary nodes of the target hole, the hole center coordinate information and the aperture information of the target hole are obtained.

[0171] It should be noted that if the target hole is a circular hole, the center coordinates and radius of the circular hole are obtained. The method of obtaining the center coordinates and radius can be referred to the above embodiment, which will not be repeated here. The center coordinates of the circular hole are the hole center coordinate information, and the radius of the circular hole is its aperture information.

[0172] If the target hole is an oblong hole, please refer to Fig. 9 , Fig. 9 This is an exemplary schematic diagram of the oblong hole information in the hole type information extraction method provided in an embodiment of the present application. The steps for obtaining the hole center coordinate information and the aperture information of the oblong hole are as follows:

[0173]

[0174] Among them, Ox represents the hole center of the oblong hole, L represents the sum of the line segment between point O1 and point O2 and 2r, and r represents the radius of the curve in the oblong hole. It can be seen that the hole center coordinate information of the oblong hole is obtained by summing and averaging the coordinates of point O1 and point O2, and L and Y are the aperture information of the oblong hole.

[0175] If the target hole is a hexagonal hole, please refer to Fig.10 , Fig.10 : is an exemplary schematic diagram of hexagonal hole information in the hole information extraction method provided in an embodiment of the present application. The steps for obtaining the hole center coordinate information and the pore diameter information of the hexagonal hole information are as follows:

[0176]

[0177] Among them, Od represents the hole center of the hexagonal hole, the hole center coordinate information is obtained by summing and averaging the coordinates of point Pt and point Pv, R represents the aperture information of the hexagonal hole information, and PtPv represents the line segment between point Pt and point Pv.

[0178] If the target hole is a rectangular hole, the method of obtaining the hole center coordinate information and the aperture information is to obtain the vertex coordinates, and based on the vertex coordinates, obtain the hole center coordinate information and the aperture information.

[0179] Second, three non-collinear measurement nodes are randomly selected from the boundary nodes of the target hole, and different lines refer to not being on the same straight line.

[0180] 3. Obtain a first straight line vector and a second straight line vector, wherein the first straight line vector refers to a straight line vector formed by the first measurement node and the second measurement node, and the second straight line vector refers to a straight line vector formed by the first measurement node and the third measurement node.

[0181] Fourth, the product of the first straight line vector and the second straight line vector is determined as the vector direction information of the target hole.

[0182] It should be noted that the mathematical expression for obtaining the vector direction information of the target hole is:

[0183]

[0184] Among them, M represents the vector direction information, The first line vector, Represents the second line vector.

[0185] It should be mentioned that after obtaining the hole center coordinate information, aperture information, and vector direction information of all the target holes, the information is exported for user identification.

[0186] The pore information extraction system provided in the present application is described below. The pore information extraction system described below and the pore information extraction method described above can be referenced to each other.

[0187] Please refer to Fig.11 , the pore information extraction system provided in this embodiment includes:

[0188] A point cloud data acquisition module 1110 is used to acquire point cloud data of a target component, wherein the point cloud data includes a plurality of nodes with coordinate information;

[0189] A plane determination module 1120 is used to traverse all nodes to determine a target plane to which each node belongs;

[0190] A node type determination module 1130 is used to determine any node in the target plane as a target node, obtain neighboring nodes of the target node, determine the line between the target node and the neighboring nodes as a target line, and determine the node type of the target node according to the angle between the target lines, wherein the node types include boundary nodes and plane nodes;

[0191] A hole type determination module 1140 is used to obtain a target hole and a hole type of the target hole based on the boundary nodes when the node types of all nodes are determined;

[0192] The hole information acquisition module 1150 is used to obtain the hole center coordinate information, aperture information, and vector direction information of the target hole according to the hole type of the target hole. The point cloud data acquisition module 1110, the plane determination module 1120, the node type determination module 1130, the hole type determination module 1140, and the hole information acquisition module 1150 are connected. The hole information extraction system in this embodiment can better realize the recognition, classification, and information extraction of the target holes, with a high degree of automation, and can realize batch extraction of the hole center coordinate information, aperture information, and vector direction information of multiple holes, with high accuracy, no need for manual extraction, effectively avoiding errors caused by manual extraction, improving the efficiency of hole information extraction, and low cost.

[0193] In some embodiments, the plane determination module 1120 is specifically used to determine a plane formed by three adjacent nodes as a reference plane;

[0194] Determine the angle between the normal vectors of two adjacent reference planes as the target angle;

[0195] If the target angle is 0° or π, it is determined that the four currently adjacent nodes belong to the same target plane, wherein the four currently adjacent nodes refer to nodes constituting two adjacent reference planes;

[0196] By traversing the remaining nodes, the target plane to which each node belongs is determined.

[0197] In some embodiments, the node type determination module 1130 is specifically used to determine a target area according to the target node, the target area is a circular area, the center of the circular area is the target node, and the radius of the circular area is a preset reference distance;

[0198] The target node is determined as a reference point, and the remaining nodes in the target area are determined as preliminary nodes; any one of the preliminary nodes is selected as a starting point, a line between the reference point and the starting point is determined as a reference line, and the reference line is rotated counterclockwise for multiple times according to a preset rotation angle to divide the target area into a plurality of areas to be identified;

[0199] If there is one of the prepared nodes in the area to be identified, determining the corresponding prepared node as a neighboring node of the target node;

[0200] If there are two or more of the prepared nodes in the area to be identified, and the intermediate angles corresponding to each of the prepared nodes are different, all the prepared nodes in the area to be identified are determined as neighboring nodes of the target node, the intermediate angle refers to the angle between the node connection line and the reference connection line, and the node connection line refers to the connection line between the prepared node and the reference point;

[0201] If there are two or more of the preparation nodes in the area to be identified, and the intermediate angles corresponding to each of the preparation nodes are the same, the preparation node closest to the reference point is determined as a neighboring node of the target node.

[0202] In some embodiments, the node type determination module 1130 is specifically configured to determine the angle between the target lines as the line angle;

[0203] The maximum angle among all the connecting line angles is determined as the angle to be confirmed;

[0204] If the to-be-confirmed included angle is greater than a preset angle threshold, determining that the node type of the target node is a boundary node, wherein the boundary node refers to a node located at the boundary of the target hole;

[0205] If the to-be-confirmed included angle is less than or equal to the angle threshold, the node type of the target node is determined to be a plane node, and the plane node refers to a node located within the boundary of the target hole.

[0206] In some embodiments, the hole type determination module 1140 is specifically used to determine the hole boundary to which each of the boundary nodes belongs according to the distance between the boundary nodes;

[0207] Determine the hole surrounded by the hole boundary as the target hole;

[0208] Obtaining edge vectors formed by adjacent boundary nodes on the hole boundary;

[0209] If the adjacent edge vectors are the same, determining the boundary type of the hole boundary to be a straight line segment;

[0210] If the adjacent edge vectors are different, multiple groups of node combinations are obtained, wherein the node combinations include three adjacent boundary nodes on the hole boundary; circumscribed circle information corresponding to the three boundary nodes in the node combination is obtained, wherein the circumscribed circle information includes the radius and center coordinates of the circumscribed circle formed by the three adjacent boundary nodes;

[0211] If the circumscribed circle information of the multiple groups of node combinations obtained are all the same, then the boundary type of the hole boundary is determined to be a circle; if the circumscribed circle information of the multiple groups of node combinations obtained are different, then the boundary type of the hole boundary is determined to be a curve;

[0212] The hole type of the target hole is obtained according to the boundary types of all hole boundaries of the target hole.

[0213] In some embodiments, the hole type determination module 1140 is further specifically configured to determine that the hole type of the target hole is a circular hole if the hole boundary of the target hole is a circular hole;

[0214] If the hole boundary of the target hole includes two curves and two straight line segments, the radii of the two curves are the same, and the vector directions of the two straight lines are parallel to the center vectors of the two curves, then the hole type of the target hole is determined to be an oblong hole;

[0215] If the hole boundary of the target hole includes four straight line segments, the straight line segments in relative positions are parallel to each other, and the adjacent straight line segments are perpendicular, then the hole type of the target hole is determined to be a rectangular hole;

[0216] If the hole boundary of the target hole includes six straight line segments, the straight line segments in relative positions are parallel to each other, and the angle between adjacent straight line segments is 60°, then the hole type of the target hole is determined to be a hexagonal hole.

[0217] In some embodiments, the hole type information acquisition module 1150 is specifically used to obtain the hole center coordinate information and aperture information of the target hole according to the hole type of the target hole and the coordinate information of the boundary nodes of the target hole;

[0218] Randomly select three non-collinear measurement nodes from the boundary nodes of the target hole, where different lines refer to not being on the same straight line;

[0219] Obtain a first straight line vector and a second straight line vector, wherein the first straight line vector refers to a straight line vector formed by a first measurement node and a second measurement node, and the second straight line vector refers to a straight line vector formed by a first measurement node and a third measurement node;

[0220] The product of the first straight line vector and the second straight line vector is determined as the vector direction information of the target hole.

[0221] In some embodiments, an electronic device is also provided, which may be a server, and its internal structure is shown in FIG. Fig.12 As shown. The electronic device includes a processor, a memory, a network interface and a database connected via a system bus. The processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external client via a network connection. When the computer program is executed by the processor, the functions or steps on the server side of the above method are implemented.

[0222] In some embodiments, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the computer program: obtaining point cloud data of a target component, the point cloud data including a plurality of nodes with coordinate information; traversing all nodes to determine a target plane to which each node belongs; determining any node in the target plane as a target node, obtaining a neighboring node of the target node, determining a line between the target node and the neighboring node as a target line, and determining a node type of the target node according to an angle between the target lines, the node type including a boundary node and a plane node; when the node types of all nodes are determined, obtaining a target hole and a hole type of the target hole based on the boundary nodes; obtaining hole center coordinate information, aperture information, and vector direction information of the target hole according to the hole type of the target hole.

[0223] In some embodiments, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: obtaining point cloud data of a target component, the point cloud data including multiple nodes with coordinate information; traversing all nodes to determine the target plane to which each node belongs; determining any node in the target plane as a target node, obtaining a neighboring node of the target node, determining a line between the target node and the neighboring node as a target line, and determining a node type of the target node based on an angle between target lines, wherein the node type includes a boundary node and a plane node; when the node types of all nodes are determined, obtaining a target hole and a hole type of the target hole based on the boundary nodes; obtaining hole center coordinate information, aperture information, and vector direction information of the target hole based on the hole type of the target hole.

[0224] It should be noted that the above functions or steps that can be implemented by the computer-readable storage medium or electronic device can refer to the relevant descriptions on the server side and the client side in the aforementioned method embodiment. To avoid repetition, they will not be described one by one here.

[0225] The flow chart and block diagram in the accompanying drawings illustrate the possible implementation architecture, function and operation of the method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0226] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A method for extracting hole information, characterized in that: include: Acquire point cloud data of a target component, wherein the point cloud data includes a plurality of nodes with coordinate information; Traverse all nodes to determine the target plane to which each node belongs; Determine any node in the target plane as a target node, obtain neighboring nodes of the target node, determine the line between the target node and the neighboring nodes as a target line, and determine the node type of the target node according to the angle between the target lines, wherein the node type includes a boundary node and a plane node; When the node types of all nodes are determined, a target hole and the hole type of the target hole are obtained based on the boundary nodes; According to the hole type of the target hole, the hole center coordinate information, the hole diameter information, and the vector direction information of the target hole are obtained.

2. The method for extracting pore information according to claim 1, characterized in that: The steps of traversing all nodes to determine the target plane to which each node belongs include: The plane formed by three adjacent nodes is determined as the reference plane; Determine the angle between the normal vectors of two adjacent reference planes as the target angle; If the target angle is 0° or π, it is determined that the four currently adjacent nodes belong to the same target plane, wherein the four currently adjacent nodes refer to nodes constituting two adjacent reference planes; By traversing the remaining nodes, the target plane to which each node belongs is determined.

3. The method for extracting pore information according to claim 1, characterized in that: The step of obtaining the neighboring nodes of the target node includes: According to the target node, a target area is determined, wherein the target area is a circular area, the center of the circular area is the target node, and the radius of the circular area is a preset reference distance; The target node is determined as a reference point, and the remaining nodes in the target area are determined as preliminary nodes; any one of the preliminary nodes is selected as a starting point, a line between the reference point and the starting point is determined as a reference line, and the reference line is rotated counterclockwise for multiple times according to a preset rotation angle to divide the target area into a plurality of areas to be identified; If there is one of the prepared nodes in the area to be identified, determining the corresponding prepared node as a neighboring node of the target node; If there are two or more of the prepared nodes in the area to be identified, and the intermediate angles corresponding to each of the prepared nodes are different, all the prepared nodes in the area to be identified are determined as neighboring nodes of the target node, the intermediate angle refers to the angle between the node connection line and the reference connection line, and the node connection line refers to the connection line between the prepared node and the reference point; If there are two or more of the preparation nodes in the area to be identified, and the intermediate angles corresponding to each of the preparation nodes are the same, the preparation node closest to the reference point is determined as a neighboring node of the target node.

4. The method for extracting pore information according to claim 1, characterized in that: The steps of determining the node type of the target node according to the angle between the target lines include: Determine the angle between the target lines as the line angle; The maximum angle among all the connecting line angles is determined as the angle to be confirmed; If the to-be-confirmed included angle is greater than a preset angle threshold, determining that the node type of the target node is a boundary node, wherein the boundary node refers to a node located at the boundary of the target hole; If the to-be-confirmed included angle is less than or equal to the angle threshold, the node type of the target node is determined to be a plane node, and the plane node refers to a node located within the boundary of the target hole.

5. The method for extracting pore information according to claim 1, characterized in that: Based on the boundary nodes, the step of obtaining a target hole and a hole type of the target hole comprises: Determine the hole boundary to which each boundary node belongs according to the distance between the boundary nodes; Determine the hole surrounded by the hole boundary as the target hole; Obtaining edge vectors formed by adjacent boundary nodes on the hole boundary; If the adjacent edge vectors are the same, determining the boundary type of the hole boundary to be a straight line segment; If the adjacent edge vectors are different, multiple groups of node combinations are obtained, wherein the node combinations include three adjacent boundary nodes on the hole boundary; circumscribed circle information corresponding to the three boundary nodes in the node combination is obtained, wherein the circumscribed circle information includes the radius and center coordinates of the circumscribed circle formed by the three adjacent boundary nodes; If the circumscribed circle information of the multiple groups of node combinations obtained are all the same, then the boundary type of the hole boundary is determined to be a circle; if the circumscribed circle information of the multiple groups of node combinations obtained are different, then the boundary type of the hole boundary is determined to be a curve; The hole type of the target hole is obtained according to the boundary types of all hole boundaries of the target hole.

6. The method for extracting hole information according to claim 5, characterized in that: The step of obtaining the hole type of the target hole according to the boundary types of all hole boundaries of the target hole comprises: If the hole boundary of the target hole is a circle, then determining the hole type of the target hole is a circular hole; If the hole boundary of the target hole includes two curves and two straight line segments, the radii of the two curves are the same, and the vector directions of the two straight lines are parallel to the center vectors of the two curves, then the hole type of the target hole is determined to be an oblong hole; If the hole boundary of the target hole includes four straight line segments, the straight line segments in relative positions are parallel to each other, and the adjacent straight line segments are perpendicular, then the hole type of the target hole is determined to be a rectangular hole; If the hole boundary of the target hole includes six straight line segments, the straight line segments in relative positions are parallel to each other, and the angle between adjacent straight line segments is 60°, then the hole type of the target hole is determined to be a hexagonal hole.

7. The method for extracting pore information according to claim 1, characterized in that: According to the hole type of the target hole, the step of obtaining the hole center coordinate information, the hole diameter information, and the vector direction information of the target hole includes: Obtaining hole center coordinate information and aperture information of the target hole according to the hole type of the target hole and the coordinate information of the boundary nodes of the target hole; Randomly select three non-collinear measurement nodes from the boundary nodes of the target hole, where different lines refer to not being on the same straight line; Obtain a first straight line vector and a second straight line vector, wherein the first straight line vector refers to a straight line vector formed by a first measurement node and a second measurement node, and the second straight line vector refers to a straight line vector formed by a first measurement node and a third measurement node; The product of the first straight line vector and the second straight line vector is determined as the vector direction information of the target hole.

8. A pore information extraction system, characterized in that: include: A point cloud data acquisition module, used to acquire point cloud data of a target component, wherein the point cloud data includes a plurality of nodes with coordinate information; A plane determination module is used to traverse all nodes to determine the target plane to which each node belongs; A node type determination module is used to determine any node in the target plane as a target node, obtain the neighboring nodes of the target node, determine the line between the target node and the neighboring nodes as a target line, and determine the node type of the target node according to the angle between the target lines, wherein the node types include boundary nodes and plane nodes; A hole type determination module, configured to obtain a target hole and a hole type of the target hole based on the boundary nodes when the node types of all nodes are determined; The hole type information acquisition module is used to obtain the hole center coordinate information, hole diameter information, and vector direction information of the target hole according to the hole type of the target hole.

9. An electronic device, characterized in that: It comprises a processor, a memory and a communication bus; the communication bus is used to connect the processor and the memory; the processor is used to execute the computer program stored in the memory to implement the pore information extraction method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and the computer program is used to enable a computer to execute the pore type information extraction method as described in any one of claims 1 to 7.

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