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

Abstract

The application relates to the manufacturing measurement field, in particular to a hole information extraction method and system, an electronic device and a storage medium, the method comprising the following steps: acquiring point cloud data of a target component, the point cloud data comprising a plurality of nodes with coordinate information; traversing all the nodes to determine a target plane to which each node belongs; determining any node in the target plane as a target node, acquiring neighborhood nodes of the target node, determining a connection line between the target node and the neighborhood nodes as a target connection line, determining a node type of the target node according to an included angle between the target connection lines, the node type comprising a boundary node and a plane node; after the node types of all the nodes are determined, obtaining a target hole and a hole type of the target hole based on the boundary node; 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; and the method can better realize identification, classification and information extraction of the target hole.

Description

TECHNICAL FIELD

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

[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 (such as position, diameter, etc.) of holes must be strictly controlled according to design specifications. For example, there are numerous assembly holes, process positioning holes, etc. on the body and other parts of a car, and the form and position error of these holes will directly affect the car assembly process, vehicle performance, and appearance quality. Therefore, it is crucial to extract hole information from parts and other components.

[0003] Currently, the boundaries of holes are manually selected in the 3D model of parts by relying on manual labor, and hole information such as hole center coordinates and hole diameter is measured. However, this method requires a lot of time and manpower, is inefficient, prone to errors, and it is difficult to obtain vector direction information of the hole and to accurately monitor the hole information. SUMMARY

[0004] The present application provides a hole information extraction method and system, an electronic device and a storage medium to solve the technical problem that the current method of extracting hole information by relying on manual labor requires a lot of time and manpower, is inefficient, and is prone to errors.

[0005] The hole information extraction method provided by the present application comprises: obtaining point cloud data of a target part, the point cloud data comprising a plurality of nodes with coordinate information;

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

[0007] Determining any node in the target plane as a target node, obtaining the neighborhood nodes of the target node, determining the connection line between the target node and the neighborhood nodes as a target connection line, determining the node type of the target node according to the included angle between the target connection lines, the node type comprising a boundary node and a plane node;

[0008] After determining the node type of all nodes, obtaining a target hole and the hole type of the target hole based on the boundary node;

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

[0010] In an embodiment of the present application, the step of iterating through all nodes to determine the target plane to which each node belongs comprises:

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

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

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

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

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

[0016] Based on the target node, a target area is determined. 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 reserve nodes; any one of the reserve nodes is selected as a starting point, and the line connecting the reference point and the starting point is determined as a reference line. The reference line is rotated counterclockwise multiple times according to a preset rotation angle to divide the target area into multiple areas to be identified.

[0018] If a preparatory node exists within the region to be identified, then the corresponding preparatory node is determined as a neighboring node of the target node;

[0019] If there are two or more preparatory nodes in the area to be identified, and the included angle of each preparatory node is different, then all preparatory nodes in the area to be identified are determined as neighboring nodes of the target node. The included angle refers to the angle between the node connection line and the reference connection line, and the node connection line refers to the connection between the preparatory node and the reference point.

[0020] If there are two or more of the preparatory nodes in the area to be identified, and the included angles of each preparatory node are the same, then the preparatory node closest to the reference point is determined as the neighbor node of the target node.

[0021] In one embodiment of this application, the step of determining the node type of a target node based on the included angle between target lines includes:

[0022] The included angle between the target lines is defined as the line angle.

[0023] The largest included angle among all the included angles of the connecting lines is determined as the included angle to be confirmed.

[0024] If the included angle to be confirmed is greater than a preset angle threshold, then 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;

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

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

[0027] The hole boundary to which each boundary node belongs is determined based on the distance between the boundary nodes;

[0028] The hole enclosed by the hole boundary is defined as the target hole;

[0029] Obtain the edge vector formed by adjacent boundary nodes on the boundary of the hole;

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

[0031] If multiple adjacent edge vectors are different, then multiple sets of node combinations are obtained, the node combination including three adjacent boundary nodes on the hole boundary; the circumcircle information corresponding to the three boundary nodes in the node combination is obtained, the circumcircle information including the radius and center coordinates of the circumcircle formed by the three adjacent boundary nodes;

[0032] If the circumcircle information of multiple sets of node combinations is the same, the boundary type of the hole boundary is determined to be circular; if the circumcircle information of multiple sets of node combinations is different, the boundary type of the hole boundary is determined to be curved.

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

[0034] In one embodiment of this application, the step of obtaining the hole type of the target hole based on the boundary types of all hole boundaries of the target hole includes:

[0035] If the boundary of the target hole is circular, then the hole type of the target hole is determined to be a circular hole;

[0036] If the boundary of the target hole includes two curves and two straight line segments, the two curves have the same radius, 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 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 boundary of the target hole comprises six straight line segments, the straight line segments in relative positions are parallel to each other, and the included angle between adjacent straight line segments is 60°, then the target hole is determined to be a hexagonal hole.

[0039] In one embodiment of this application, the step of obtaining the center coordinates, diameter, and vector direction information of the target hole according to its hole type includes:

[0040] Based on the hole type of the target hole and the coordinate information of the boundary nodes of the target hole, the center coordinate information and diameter information of the target hole are obtained.

[0041] Three non-collinear measurement nodes are randomly selected from the boundary nodes of the target hole; non-collinearity refers to nodes that are not on the same straight line.

[0042] Obtain the first line vector and the second line vector, where the first line vector is the line vector formed by the first measurement node and the second measurement node, and the second line vector is the line vector formed by the first measurement node and the 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] This 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 including multiple nodes with coordinate information;

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

[0046] The 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 connecting the target node and the neighboring nodes as the target line, and determine the node type of the target node based on the included angle between the target lines. The node type includes boundary nodes and planar nodes.

[0047] The hole type determination module is used to determine the target hole and its hole type based on the boundary nodes, after determining the node types of all nodes.

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

[0049] This application also provides an electronic device, including 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 the hole information extraction method provided in any of the above embodiments.

[0050] This application also provides a computer-readable storage medium having a computer program stored thereon, the computer program being used to cause a computer to perform the hole information extraction method as provided in any of the above embodiments.

[0051] The beneficial effects of this application are as follows: The hole information extraction method, system, electronic device, and storage medium proposed in this application acquire point cloud data of a target component, which includes multiple nodes with coordinate information; traverse all nodes to determine the target plane to which each node belongs; identify any node within the target plane as the target node; acquire the neighboring nodes of the target node; identify the lines connecting the target node and its neighboring nodes as target lines; determine the node type of the target node based on the angle between the target lines, including boundary nodes and planar nodes; after determining the node types of all nodes, obtain the target hole and its hole type based on the boundary nodes; and obtain the hole center coordinates, hole diameter, and vector direction information of the target hole based on its hole type. This method can effectively identify, classify, and extract information from target holes, with a high degree of automation. It can also batch extract the hole center coordinates, hole diameter, and vector direction information of multiple holes with high accuracy, eliminating the need for manual extraction and effectively avoiding errors caused by manual extraction, thus improving the efficiency of hole information extraction. Attached Figure Description

[0052] Figure 1 A flowchart illustrating a hole information extraction method provided in an embodiment of this application;

[0053] Figure 2 This is a schematic diagram illustrating the principle of obtaining neighboring nodes in a hole information extraction method provided in an embodiment of this application.

[0054] Figure 3 This is a schematic diagram illustrating the principle of obtaining the included angle of connecting lines in a hole information extraction method provided in an embodiment of this application;

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

[0056] Figure 5 This is an exemplary schematic diagram of the hole type in the hole type information extraction method provided in an embodiment of this application;

[0057] Figure 6 This is a schematic diagram of the discrimination criteria for oblong holes in a hole information extraction method provided in an embodiment of this application;

[0058] Figure 7 This is a schematic diagram of the discrimination criteria for rectangular holes in a hole information extraction method provided in an embodiment of this application;

[0059] Figure 8 This is a schematic diagram of the discrimination conditions for hexagonal holes in a hole information extraction method provided in an embodiment of this application;

[0060] Figure 9 This is an exemplary schematic diagram of oblong hole information in a hole information extraction method provided in an embodiment of this application;

[0061] Figure 10 This is an exemplary schematic diagram of hexagonal hole information in a hole information extraction method provided in an embodiment of this application;

[0062] Figure 11 This is a schematic diagram of the structure of a hole information extraction system provided in an embodiment of this application;

[0063] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0064] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0065] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0066] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0067] The following is combined with Figures 1 to 12 This application provides an explanation of the hole type information extraction method, system, electronic device, and storage medium provided in this application.

[0068] Please see Figure 1 , Figure 1 This is a flowchart illustrating a hole information extraction method provided in an embodiment of this application, as shown below. Figure 1 As shown, the method includes:

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

[0070] It should be noted that the steps for obtaining point cloud data of the target component include: 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 can be the vehicle body, or other parts. By converting the mathematical model of the target component into point cloud data, subsequent hole recognition and classification become easier.

[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 connecting the target node and the neighboring nodes as the target line, and determine the node type of the target node based on the included angle between the target lines. The node type includes boundary nodes and planar nodes.

[0074] It should be noted that determining the node type of the nodes within the target plane facilitates hole identification.

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

[0076] S150: Based on the hole type of the target hole, obtain the hole center coordinates, hole diameter, and vector direction information of the target hole.

[0077] It should be noted that the vector direction information refers to the direction of the target hole's axis. Through the above steps, it is possible to achieve batch identification and classification of holes in target components, as well as extraction of hole type information (hole center coordinates, hole diameter, and vector direction information). The process is highly automated, requires no manual intervention, and has high accuracy.

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

[0079] First, the plane formed by three adjacent nodes is defined as the reference plane.

[0080] 2. The angle between the normal vectors of two adjacent reference planes is determined 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 reference plane formed. Represents node P f and P f+1 The vector formed Represents node P f+1 and P f+2 The vector formed.

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

[0086]

[0087] Where, θ f，f+1 Normal vector and normal vector The angle between the targets, Represents node P f+1 P f+2 , and P f+3 The normal vector of the reference plane is formed by |·|, which represents the magnitude of the orientation quantity.

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

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

[0090]

[0091] Specifically, if θ f，f+1 If the value is 0° or π, then node P is determined. f P f+1 P f+2 , and P f+3 They 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 They are not on the same plane.

[0092] Fourth, by traversing the remaining nodes, determine the target plane to which each node belongs.

[0093] Specifically, by continuing to execute steps one through three above, with each execution step being one node, the target plane to which each node belongs is determined. Determining the target plane to which each node belongs facilitates subsequent node type identification and other processes.

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

[0095] 1. Based on the target node, determine the target area, which is a circular area, with the target node at the center and a preset reference distance as the radius of the circular area.

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

[0097] 2. The target node is determined as a reference point, and the remaining nodes in the target area are determined as reserve nodes; any one of the reserve nodes is selected as the starting point, and the line connecting the reference point and the starting point is determined as a reference line. The reference line is rotated counterclockwise multiple times according to a preset rotation angle to divide the target area into multiple areas to be identified.

[0098] 3. If a preparatory node exists within the region to be identified, the corresponding preparatory node is determined as a neighboring node of the target node;

[0099] If there are two or more preparatory nodes in the area to be identified, and the included angle of each preparatory node is different, then all preparatory nodes in the area to be identified are determined as neighboring nodes of the target node. The included angle refers to the angle between the node connection line and the reference connection line, and the node connection line refers to the connection between the preparatory node and the reference point.

[0100] If there are two or more of the preparatory nodes in the area to be identified, and the included angles of each preparatory node are the same, then the preparatory node closest to the reference point is determined as the neighbor node of the target node.

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

[0102] The following is combined with Figure 2 The steps for obtaining neighboring nodes described above will be explained. Figure 2 This is a schematic diagram illustrating the principle of obtaining neighboring nodes in a hole information extraction method provided in an embodiment of this application. Please refer to... Figure 2 , Figure 2 In this diagram, node O represents the reference point, which is the target node in the neighborhood to be solved, and d represents the reference distance. A circle is drawn with node O as the center and d as the radius; the resulting region is the target region. Node P1 within the target region represents the starting point, and nodes P2, P3, etc., represent the remaining preparatory nodes. The line connecting node O and node P1 is the reference line. The rotation is then performed according to a preset angle d. θ Rotate reference line OP1 counterclockwise once to obtain line segment L1; rotate reference line OP1 counterclockwise twice to obtain line segment L2; rotate reference line OP1 counterclockwise three times to obtain line segment L3, and so on, until the target area is divided into multiple regions to be identified, each region having an angle of d. θ The sector-shaped area.

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

[0104]

[0105] in, Describe the unit vector of L1. Let R represent the unit vector of OP1, and let R represent the rotation matrix with the following value:

[0106]

[0107] Where θ represents the counterclockwise rotation angle of L1, and its value is d. θ i, j, and k represent the three components of the unit normal vector of the plane containing the target region, that is, the three components in three-dimensional space. They can be obtained by solving for two vectors formed by any three non-collinear points in the plane containing the target region, which will not be elaborated here.

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

[0109]

[0110] in, Representing vectors with vector The angle between them Representing vectors with vector The angle between them Representing vectors with vector The angle between them, Pl represents the node ( Figure 2 (Not shown in the image). Vector Let L1 represent the vector formed by node O and node Pl. If the above formula is satisfied, then node Pl is a neighboring node. Then, continue to determine whether there are neighboring nodes in the region to be identified formed by L1 and L2, and so on, until the entire target region has been determined.

[0111] The above applies to the case where there is one preparatory node within the area to be identified. Additionally, if there are two or more preparatory nodes within the area to be identified, and the included angle of each preparatory node is... If they are different, then all the candidate nodes in the area to be identified are determined as the neighbor nodes of the target node, and the intermediate angle is used as the basis for identification. Sort multiple neighboring nodes; if there are two or more preparatory nodes in the area to be identified, and the included angle of each preparatory node is... If they are the same, the nearest candidate node to the reference point is determined as the neighbor node of the target node, and the other candidate nodes are ignored.

[0112] In some embodiments, the step of determining the node type of a target node based on the included angle between target lines includes:

[0113] 1. The included angle between the target lines is defined as the included angle between the lines.

[0114] 2. The largest included angle among all the included angles of the connecting lines is determined as the included angle to be confirmed.

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

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

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

[0118] It should be noted that the above steps can effectively classify the node types of the target node with high accuracy.

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

[0120] Figure 4 This is an exemplary schematic diagram of boundary nodes and planar nodes in a hole information extraction method provided in one embodiment of this application. Please refer to... Figure 4 , Figure 4 The solid line in the diagram represents the line connecting point 1 to its neighboring nodes (target line), and the dashed line represents the line connecting point 2 to its neighboring nodes (target line).

[0121] During the process of confirming the node types of points 1 and 2, θ is obtained. 1max With θ 2max , where θ 1max This represents the angle to be confirmed for point 1, that is, the largest angle among the angles between the lines connecting the targets corresponding to point 1. θ 2max This represents the included angle to be confirmed at point 2. If θ 1max If the angle is greater than the preset angle threshold ζ, then point 1 is considered a boundary node, and the same applies to point 2. Conversely, if θ is less than the preset angle threshold ζ, then point 1 is considered a boundary node. 1max If the angle threshold ζ is less than or equal to the angle threshold ζ, then point 1 is a planar node, and the same applies to point 2. For ease of distinction, in this embodiment, the angle threshold ζ is exemplarily set to 90°, in which case point 1 is a boundary node and point 2 is a planar node.

[0122] In some embodiments, the steps of obtaining the target hole and the hole type of the target hole based on the boundary node include:

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

[0124] 2. The hole enclosed by the boundary of the hole is defined as the target hole.

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

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

[0127]

[0128] in, Represents the boundary node P w，k With P w，k+1 The resulting edge vector, P w，k P represents the k-th boundary node on the boundary of the w-th hole in the target plane. w，k+1 This represents the (k+1)th boundary node on the boundary of the w-th hole in the target plane.

[0129] 4. If multiple adjacent edge vectors are the same, then the boundary type of the hole boundary is determined to be a straight line segment.

[0130] 5. If multiple adjacent edge vectors are different, then obtain multiple sets of node combinations, the node combination including three adjacent boundary nodes on the hole boundary; obtain the circumcircle information corresponding to the three boundary nodes in the node combination, the circumcircle information including the radius and center coordinates of the circumcircle 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 resulting edge vector, P w，k+2 This represents the (k+2)th boundary node on the boundary of the w-th hole in the target plane.

[0132] It should also be noted that the mathematical expression for obtaining the centers of the circumcircles corresponding to the three boundary nodes in the node combination is as follows:

[0133]

[0134] Where, r w，k P represents the boundary node on the boundary of the w-th hole. 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 This indicates the coordinates of the center of the circumcircle.

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

[0136]

[0137] wherein,

[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<00管理系统00072>+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 <000050管理系统2>

[0145] C2 = 2(z w，k+1 -z w，k )

[0146] C3 = 进行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 Boundary node P w，k+2 Coordinate information.

[0151] 6. If the circumcircle information of multiple sets of node combinations is the same, the boundary type of the hole boundary is determined to be circular; if the circumcircle information of multiple sets of node combinations is different, the boundary type of the hole boundary is determined to be curved.

[0152] If there is one or more straight line segments, it does not meet the characteristics of a measuring hole, so such nodes should be discarded.

[0153] 7. Based on the boundary types of all the hole boundaries of the target hole, the hole type of the target hole is obtained.

[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 this application. Please refer to it. Figure 5 , Figure 5 The text provides examples of common hole types, from left to right: round hole, rectangular hole, oblong hole, and hexagonal hole.

[0155] In some embodiments, the step of determining the hole type of the target hole based on the boundary types of all hole boundaries of the target hole includes:

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

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

[0158] Figure 6 This is a schematic diagram illustrating the discrimination criteria for oblong holes in a hole information extraction method provided in an embodiment of this application. Please refer to it. Figure 6 , Figure 6 In this context, O1 and O2 represent the centers of two curves, and H1 and H2 represent two straight lines. The criteria for determining an oblong hole include: the radii of the two curves are the same, and the following equation must be satisfied:

[0159]

[0160] in, express and The angle between them express and The angle between them The vector formed by H2, This represents the vector formed by points O1 and O2.

[0161] 3. If the 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 illustrating the discrimination criteria for rectangular holes in a hole information extraction method provided in an embodiment of this application. Please refer to it. Figure 7 , Figure 7H3, H4, H5, and H6 are four line segments. The criteria for determining a rectangle are as follows:

[0163]

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

[0165] 4. If the boundary of the target hole includes six straight line segments, the straight line segments in relative positions are parallel to each other, and the included 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 illustrating the discrimination criteria for hexagonal holes in a hole information extraction method provided in an embodiment of this application. Please refer to it. Figure 8 , Figure 8 If H7, H8, H9, H10, H11, and H12 are six straight line segments, then the criteria for determining a hexagonal hole are as follows:

[0167]

[0168] Where, θ <A，B> This represents the angle between A and B. This represents the vector corresponding to H7. to Similarly, this will not be elaborated upon here.

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

[0170] 1. Based on the hole type of the target hole and the coordinate information of the boundary nodes of the target hole, obtain the center coordinate information and diameter information of the target hole.

[0171] It should be noted that if the target hole is a circular hole, the center coordinates and radius of the hole are obtained. The method for obtaining the center coordinates and radius is described in the example above and will not be repeated here. The center coordinates of the circular hole are the hole center coordinates, and the radius of the circular hole is its diameter.

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

[0173]

[0174] Where Ox represents the center of the oblong hole, L represents the sum of the line segment between points O1 and O2 and 2r, and r represents the radius of the curve in the oblong hole. It can be seen that the coordinates of the center of the oblong hole are obtained by summing and averaging the coordinates of points O1 and O2, and L and Y represent the diameter of the oblong hole.

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

[0176]

[0177] Where Od represents the center of the hexagonal hole, and the coordinates of the hole center are obtained by summing and averaging the coordinates of points Pt and Pv. R represents the hole diameter information of the hexagonal hole, and PtPv represents the line segment between points Pt and Pv.

[0178] If the target hole is a rectangular hole, the method to obtain its hole center coordinates and hole diameter information is to take its vertex coordinates, and then obtain its hole center coordinates and hole diameter information based on its vertex coordinates.

[0179] 2. Select any three non-collinear measurement nodes from the boundary nodes of the target hole. Non-collinearity refers to nodes that are not on the same straight line.

[0180] 3. Obtain the first line vector and the second line vector. The first line vector refers to the line vector formed by the first measurement node and the second measurement node, and the second line vector refers to the 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 as follows:

[0183]

[0184] Where M represents vector direction information, First linear vector. This represents the second linear vector.

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

[0186] The pore information extraction system provided in this application is described below. The pore information extraction system described below can be referred to in correspondence with the pore information extraction method described above.

[0187] Please refer to Figure 11 The pore type information extraction system provided in this embodiment includes:

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

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

[0190] The node type determination module 1130 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 connecting the target node and the neighboring nodes as a target line, and determine the node type of the target node according to the included angle between the target lines. The node type includes boundary nodes and planar nodes.

[0191] Hole type determination module 1140 is used to obtain the target hole and the hole type of the target hole based on the boundary nodes after determining the node types of all nodes;

[0192] The hole type information acquisition module 1150 is used to obtain the hole center coordinates, hole diameter, and vector direction information of the target hole according to the hole type. The point cloud data acquisition module 1110, plane determination module 1120, node type determination module 1130, hole type determination module 1140, and hole type information acquisition module 1150 are connected. The hole type information extraction system in this embodiment can effectively identify, classify, and extract information from target holes, with a high degree of automation. It can also batch extract the hole center coordinates, hole diameter, and vector direction information of multiple holes with high accuracy. It eliminates the need for manual extraction, effectively avoiding errors caused by manual extraction, improving the efficiency of hole type information extraction, and reducing costs.

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

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

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

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

[0197] In some embodiments, the node type determination module 1130 is specifically used to determine a target region based on the target node, wherein the target region is a circular region, the center of the circular region is the target node, and the radius of the circular region 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 reserve nodes; any one of the reserve nodes is selected as a starting point, and the line connecting the reference point and the starting point is determined as a reference line. The reference line is rotated counterclockwise multiple times according to a preset rotation angle to divide the target area into multiple areas to be identified.

[0199] If a preparatory node exists within the region to be identified, then the corresponding preparatory node is determined as a neighboring node of the target node;

[0200] If there are two or more preparatory nodes in the area to be identified, and the included angle of each preparatory node is different, then all preparatory nodes in the area to be identified are determined as neighboring nodes of the target node. The included angle refers to the angle between the node connection line and the reference connection line, and the node connection line refers to the connection between the preparatory node and the reference point.

[0201] If there are two or more of the preparatory nodes in the area to be identified, and the included angles of each preparatory node are the same, then the preparatory node closest to the reference point is determined as the neighbor node of the target node.

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

[0203] The largest included angle among all the included angles of the connecting lines is determined as the included angle to be confirmed.

[0204] If the included angle to be confirmed is greater than a preset angle threshold, then 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;

[0205] If the included angle to be confirmed is less than or equal to the angle threshold, then the node type of the target node is determined to be a planar node, where a planar 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 configured to determine the hole boundary to which each boundary node belongs based on the distance between the boundary nodes;

[0207] The hole enclosed by the hole boundary is defined as the target hole;

[0208] Obtain the edge vector formed by adjacent boundary nodes on the boundary of the hole;

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

[0210] If multiple adjacent edge vectors are different, then multiple sets of node combinations are obtained, the node combination including three adjacent boundary nodes on the hole boundary; the circumcircle information corresponding to the three boundary nodes in the node combination is obtained, the circumcircle information including the radius and center coordinates of the circumcircle formed by the three adjacent boundary nodes;

[0211] If the circumcircle information of multiple sets of node combinations is the same, the boundary type of the hole boundary is determined to be circular; if the circumcircle information of multiple sets of node combinations is different, the boundary type of the hole boundary is determined to be curved.

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

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

[0214] If the boundary of the target hole includes two curves and two straight line segments, the two curves have the same radius, 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 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 boundary of the target hole comprises six straight line segments, the straight line segments in relative positions are parallel to each other, and the included angle between adjacent straight line segments is 60°, then 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 hole diameter information of the target hole based on the hole type of the target hole and the coordinate information of the boundary nodes of the target hole;

[0218] Three non-collinear measurement nodes are randomly selected from the boundary nodes of the target hole; non-collinearity refers to nodes that are not on the same straight line.

[0219] Obtain the first line vector and the second line vector, where the first line vector is the line vector formed by the first measurement node and the second measurement node, and the second line vector is the line vector formed by the first measurement node and the 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 diagram is shown below. Figure 12 As shown, the electronic device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external clients via a network connection. When the computer program is executed by the processor, it implements the functions or steps of the server-side method described above.

[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. When the processor executes the computer program, it performs the following steps: acquiring 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, acquiring the neighboring nodes of the target node, determining the line connecting the target node and the neighboring nodes as a target line, and determining the node type of the target node based on the angle between the target lines, the node type including boundary nodes and planar nodes; in the case that the node types of all nodes have been determined, obtaining the target hole and the hole type of the target hole based on the boundary nodes; and obtaining the hole center coordinate information, hole diameter information, and vector direction information of the target hole based on 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. When the computer program is executed by a processor, it performs the following steps: acquiring 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, acquiring the neighboring nodes of the target node, determining the line connecting the target node and the neighboring nodes as a target line, and determining the node type of the target node based on the included angle between the target lines, the node type including boundary nodes and planar nodes; in the case that the node types of all nodes have been determined, obtaining the target hole and the hole type of the target hole based on the boundary nodes; and obtaining the hole center coordinate information, hole diameter 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 functions or steps that can be implemented by the computer-readable storage medium or electronic device described above can be referred to the relevant descriptions on the server side and client side in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0225] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0226] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for extracting pore information, characterized in that, include: Obtain point cloud data of the target component, wherein the point cloud data includes multiple nodes with coordinate information; Traverse all nodes to determine the target plane to which each node belongs; Any node in the target plane is identified as the target node. The neighboring nodes of the target node are obtained. The line connecting the target node and the neighboring nodes is identified as the target line. The node type of the target node is determined according to the included angle between the target lines. The node type includes boundary nodes and planar nodes. Given that the node types of all nodes are determined, the target hole and its hole type are obtained based on the boundary nodes. The hole types include: round hole, rectangular hole, oblong hole, and hexagonal hole. Based on the hole type of the target hole, the center coordinates, diameter, and vector direction information of the target hole are obtained; The steps for obtaining the neighboring nodes of the target node include: determining a target region based on the target node, wherein the target region is a circular region, the center of the circular region is the target node, and the radius of the circular region is a preset reference distance; determining the target node as a reference point and determining the remaining nodes in the target region as reserve nodes; selecting any one of the reserve nodes as a starting point, determining the line connecting the reference point and the starting point as a reference line, and rotating the reference line counterclockwise multiple times according to a preset rotation angle to divide the target region into multiple regions to be identified; if there is a reserve node in a region to be identified, then the corresponding reserve node is determined as a neighboring node of the target node; If there are two or more preparatory nodes in the area to be identified, and each preparatory node has a different included angle, then all preparatory nodes in the area to be identified are determined as neighboring nodes of the target node. The included 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 preparatory node and the reference point. If there are two or more preparatory nodes in the area to be identified, and each preparatory node has the same included angle, then the preparatory node closest to the reference point is determined as a neighboring node of the target node.

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

3. The method for extracting pore information according to claim 1, characterized in that, The steps to determine the node type of a target node based on the included angle between the target lines include: The included angle between the target lines is defined as the line angle. The largest included angle among all the included angles of the connecting lines is determined as the included angle to be confirmed. If the included angle to be confirmed is greater than a preset angle threshold, then 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; If the included angle to be confirmed is less than or equal to the angle threshold, then the node type of the target node is determined to be a planar node, where a planar node refers to a node located within the boundary of the target hole.

4. The method for extracting pore information according to claim 1, characterized in that, Based on the boundary nodes, the steps for obtaining the target hole and its hole type include: The hole boundary to which each boundary node belongs is determined based on the distance between the boundary nodes; The hole enclosed by the hole boundary is defined as the target hole; Obtain the edge vector formed by adjacent boundary nodes on the boundary of the hole; If multiple adjacent edge vectors are the same, then the boundary type of the hole boundary is determined to be a straight line segment; If multiple adjacent edge vectors are different, then multiple sets of node combinations are obtained, the node combination including three adjacent boundary nodes on the hole boundary; the circumcircle information corresponding to the three boundary nodes in the node combination is obtained, the circumcircle information including the radius and center coordinates of the circumcircle formed by the three adjacent boundary nodes; If the circumcircle information of multiple sets of node combinations is the same, the boundary type of the hole boundary is determined to be circular; if the circumcircle information of multiple sets of node combinations is different, the boundary type of the hole boundary is determined to be curved. The hole type of the target hole is obtained based on the boundary types of all hole boundaries of the target hole.

5. The method for extracting pore information according to claim 4, characterized in that, The step of determining the hole type of the target hole based on the boundary types of all hole boundaries of the target hole includes: If the boundary of the target hole is circular, then the hole type of the target hole is determined to be a circular hole; If the boundary of the target hole includes two curves and two straight line segments, the two curves have the same radius, 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 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 boundary of the target hole comprises six straight line segments, the straight line segments in relative positions are parallel to each other, and the included angle between adjacent straight line segments is 60°, then the target hole is determined to be a hexagonal hole.

6. The method for extracting pore information according to claim 1, characterized in that, The steps for obtaining the center coordinates, diameter, and vector direction information of the target hole based on its hole type include: Based on the hole type of the target hole and the coordinate information of the boundary nodes of the target hole, the center coordinate information and diameter information of the target hole are obtained. Three non-collinear measurement nodes are randomly selected from the boundary nodes of the target hole; non-collinearity refers to nodes that are not on the same straight line. Obtain the first line vector and the second line vector, where the first line vector is the line vector formed by the first measurement node and the second measurement node, and the second line vector is the line vector formed by the first measurement node and the 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.

7. A pore information extraction system, characterized in that, include: The point cloud data acquisition module is used to acquire point cloud data of the target component, wherein the point cloud data includes multiple nodes with coordinate information; The plane determination module is used to traverse all nodes to determine the target plane to which each node belongs; The 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 connecting the target node and the neighboring nodes as the target line, and determine the node type of the target node based on the included angle between the target lines. The node type includes boundary nodes and planar nodes. The hole type determination module is used to determine the target hole and the hole type of the target hole based on the boundary nodes after determining the node types of all nodes. The hole types include: round hole, rectangular hole, oblong hole, and hexagonal hole. The hole type information acquisition module is used to obtain the hole center coordinates, hole diameter, and vector direction information of the target hole according to the hole type of the target hole; The node type determination module is specifically used to determine a target region based on the target node. The target region is a circular region, with the target node at its center and a radius of a preset reference distance. The target node is designated as a reference point, and the remaining nodes within the target region are designated as reserve nodes. Any one of the reserve nodes is selected as a starting point, and the line connecting the reference point and the starting point is designated as a reference line. The reference line is rotated counter-clockwise multiple times according to a preset rotation angle to divide the target region into multiple regions to be identified. If a reserve node exists within a region to be identified, then... The corresponding preparatory nodes are determined as neighboring nodes of the target node; if there are two or more preparatory nodes in the area to be identified, and the included angles corresponding to each preparatory node are different, then all preparatory nodes in the area to be identified are determined as neighboring nodes of the target node, where the included angle refers to the angle between the node connection line and the reference connection line, and the node connection line refers to the line connecting the preparatory node and the reference point; if there are two or more preparatory nodes in the area to be identified, and the included angles corresponding to each preparatory node are the same, then the preparatory node closest to the reference point is determined as a neighboring node of the target node.

8. An electronic device, characterized in that, It includes 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 the hole information extraction method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, It stores a computer program that enables a computer to perform the hole information extraction method as described in any one of claims 1 to 6.

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