Part assembly error determination method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a part assembly error determination method and device, electronic equipment and a storage medium. The part assembly error determination method comprises the steps that point cloud data and actual measurement coordinate data of a to-be-measured part are acquired; determining coordinates of a matching point to be detected from the point cloud data; determining a dimensional deviation value according to the coordinates of the matching point to be measured and the actually measured coordinate data; determining a positioning deviation value according to the coordinates of the matching point to be measured and the actually measured coordinate data; and combining the dimensional deviation value and the positioning deviation value to determine part assembly error data. According to the embodiment of the invention, actually measured coordinate data is obtained only through actual measurement, other data can be obtained based on the model corresponding to the part, assembly analysis can be carried out through simple measurement, a large amount of manpower and time cost do not need to be consumed, and the working intensity and the development cost of a measurement tool can be reduced; and part assembling error data can be used for assembling, and the assembling precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of spare parts production and assembly, and in particular to a method for determining a parts assembly error, a device for determining a parts assembly error, an electronic device and a storage medium. Background Art

[0002] In the trial production stage of new products in the manufacturing industry, a lot of manpower and material resources are often needed to carry out dimensional quality training to ensure the high quality of the products. There are currently two common methods for matching spare parts: physical matching or using optical scanning equipment to perform virtual matching of physical point clouds for display. The former requires a lot of manpower for testing, which is inefficient; while the latter requires a lot of tooling equipment costs for measurement, which is costly. Neither method can efficiently and cost-effectively complete the measurement of spare parts assembly errors. Summary of the invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a method for determining a part assembly error, a device for determining a part assembly error, an electronic device and a storage medium that overcome the above problems or at least partially solve the above problems.

[0004] In order to solve the above problems, in a first aspect of the present invention, an embodiment of the present invention discloses a method for determining a part assembly error, comprising:

[0005] Obtain the point cloud data and measured coordinate data of the parts to be tested;

[0006] Determine the coordinates of the matching points to be measured from the point cloud data;

[0007] Determine the size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0008] Determine the positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0009] The part assembly error data is determined by combining the size deviation value and the positioning deviation value.

[0010] Optionally, the step of determining the coordinates of the matching points to be measured from the point cloud data includes:

[0011] Determining a target measuring point in the point cloud data;

[0012] Determine the coordinates of the matching points to be measured within the preset range of the target measuring point.

[0013] Optionally, the step of determining the size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data includes:

[0014] Performing polynomial fitting on the measured coordinates of the measured coordinate data and the coordinates of the matching points to be measured to obtain a deviation function;

[0015] A size deviation value is determined based on the deviation function.

[0016] Optionally, when the to-be-measured matching point of the to-be-measured matching point coordinates is a hole point, the step of determining the size deviation value according to the to-be-measured matching point coordinates and the measured coordinate data includes:

[0017] Constructing a surface vector to be measured based on the coordinates of the matching points to be measured;

[0018] Constructing a measured surface vector based on the measured coordinate data;

[0019] Cross-product the measured surface vector and the surface vector to be measured to generate a rotation axis vector;

[0020] Converting the coordinates of the matching point to be measured into the coordinates of the first rotation point based on the rotation axis vector;

[0021] The difference between the coordinates of the rotation point and the measured coordinates of the measured coordinate data is calculated to determine the size deviation value.

[0022] Optionally, the step of determining the positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data includes:

[0023] Determine a positioning vector based on the coordinates of the matching point to be measured;

[0024] Based on the positioning vector, converting the coordinates of the matching point to be measured into the coordinates of the second rotation point;

[0025] Based on a preset rotation formula, the coordinates of the second rotation point are combined with the coordinates of the matching point to be measured to generate a rotation deviation;

[0026] determining an offset deviation based on a difference between the coordinates of the second rotation point and the measured coordinates of the measured coordinate data;

[0027] A positioning deviation value is determined by combining the rotation deviation and the offset deviation.

[0028] Optionally, the step of determining part assembly error data by combining the size deviation value and the positioning deviation value comprises:

[0029] Determine the target reference surface;

[0030] Convert the coordinates of the matching point to be measured based on the size deviation value and the positioning deviation value to obtain the intersection node coordinates;

[0031] Calculating the point-to-surface distance between the intersection node coordinates and the target reference plane;

[0032] Part assembly error data is determined based on the point-to-surface distance.

[0033] Optionally, the method further comprises:

[0034] Parts are assembled based on the parts assembly error data.

[0035] In a second aspect of the present invention, an embodiment of the present invention discloses a device for determining a part assembly error, comprising:

[0036] An acquisition module is used to acquire point cloud data and measured coordinate data of the part to be tested;

[0037] A first determination module, used to determine the coordinates of the matching points to be measured from the point cloud data;

[0038] A second determination module is used to determine the size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0039] A third determination module is used to determine the positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0040] The error calculation module is used to determine the part assembly error data by combining the size deviation value and the positioning deviation value.

[0041] In the third aspect of the present invention, an embodiment of the present invention discloses an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the method for determining part assembly errors as described above when executed by the processor.

[0042] In a fourth aspect of the present invention, an embodiment of the present invention discloses a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the method for determining part assembly errors as described above is implemented.

[0043] The embodiments of the present invention include the following advantages:

[0044] The embodiment of the present invention obtains the point cloud data and measured coordinate data of the part to be measured; determines the coordinates of the matching points to be measured from the point cloud data; determines the size deviation value based on the coordinates of the matching points to be measured and the measured coordinate data; determines the positioning deviation value based on the coordinates of the matching points to be measured and the measured coordinate data; and determines the part assembly error data in combination with the size deviation value and the positioning deviation value. In the process of determining the assembly error, only the measured coordinate data needs to be obtained through actual measurement, and the remaining data can be obtained based on the model corresponding to the part, that is, the assembly analysis can be performed quickly for the measurement of a single part, and then the assembly error of the part can be determined. There is no need to design additional measuring tools for measurement, which can greatly reduce the measurement cost investment; and there is no need to assemble the physical object of the hand part for matching analysis, that is, there is no need to consume a lot of manpower and time costs, which can reduce the work intensity and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a flowchart of the steps of an embodiment of a method for determining a parts assembly error of the present invention;

[0046] Figure 2 is a flowchart of another embodiment of a method for determining a parts assembly error of the present invention;

[0047] Figure 3 It is a schematic diagram of surface node coordinate deviation of another embodiment of a method for determining a part assembly error of the present invention;

[0048] Figure 4 It is a general schematic diagram of the trimming measurement points of another embodiment of the method for determining the parts assembly error of the present invention;

[0049] Figure 5a Schematic diagram of the cutting edge measurement point of another embodiment of the method for determining the assembly error of parts of the present invention Figure 1 ;

[0050] Figure 5b Schematic diagram of the cutting edge measurement point of another embodiment of the method for determining the assembly error of parts of the present invention Figure 2 ;

[0051] Figure 6 is a schematic diagram of the deviation of the trimming measurement points of another embodiment of the method for determining the parts assembly error of the present invention;

[0052] Figure 7 It is a schematic diagram of hole point deviation of another embodiment of a method for determining part assembly errors of the present invention;

[0053] Figure 8 is a schematic diagram of positioning deviation of another embodiment of a method for determining a parts assembly error of the present invention;

[0054] Figure 9a Schematic diagram of theoretical points and actual points when part A and part B match in another method for determining part assembly errors of the present invention Figure 1 ;

[0055] Figure 9b Schematic diagram of theoretical points and actual points when part A and part B match in another method for determining part assembly errors of the present invention Figure 2 ;

[0056] Fig.10 It is a schematic diagram of intersection nodes of another embodiment of a method for determining a parts assembly error of the present invention;

[0057] Fig.11 FIG. 1 is another embodiment of a method for determining the assembly error of a part according to the present invention. Figure 1 ;

[0058] Fig.12 FIG. 1 is another embodiment of a method for determining assembly errors of parts according to the present invention. Figure 2 ;

[0059] Fig.13 is a flowchart of an example of a method for determining a part assembly error of the present invention;

[0060] Fig.14 It is a structural block diagram of an embodiment of a device for determining a part assembly error of the present invention;

[0061] Fig.15 is a structural block diagram of an electronic device provided by an embodiment of the present invention;

[0062] Fig.16 It is a structural block diagram of a storage medium provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0063] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0064] Reference Figure 1 , shows a flowchart of a method for determining a part assembly error according to an embodiment of the present invention, wherein the method for determining a part assembly error may specifically include the following steps:

[0065] Step 101, obtaining point cloud data and measured coordinate data of the part to be measured;

[0066] In an embodiment of the present invention, when it is necessary to analyze the assembly error of a part, the point cloud data of the part to be measured and the measured coordinate data of the part to be measured can be obtained first. The point cloud data of the part to be measured can be determined by drawing software in the design stage or by scanning and determining it based on scanning modeling equipment such as a 3D scanner after the finished product is produced. The point cloud spacing in the point cloud data can be set according to actual conditions, and the embodiment of the present invention does not specifically limit this. The measured coordinate data of the part to be measured is obtained by measuring with relevant equipment after the finished product is produced.

[0067] Step 102, determining the coordinates of the matching points to be measured from the point cloud data;

[0068] Find the coordinates corresponding to the position to be measured from these point cloud data, that is, the coordinates of the matching points to be measured.

[0069] Step 103, determining a size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0070] The dimensional error generated during the production of the part itself is fitted according to the coordinates of the matching points to be measured and the measured coordinate data to determine the dimensional deviation value.

[0071] Step 104, determining a positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0072] Correspondingly, the error of the position of the positioning reference can also be fitted through the coordinates of the matching point to be measured and the measured coordinate data to determine the size deviation value.

[0073] Step 105, determining part assembly error data by combining the size deviation value and the positioning deviation value.

[0074] The obtained dimensional deviation value and positioning deviation value are combined and transmitted to the point cloud corresponding to the unmeasured assembly position to determine the overall part assembly error data.

[0075] The embodiment of the present invention obtains the point cloud data and measured coordinate data of the part to be measured; determines the coordinates of the matching points to be measured from the point cloud data; determines the size deviation value based on the coordinates of the matching points to be measured and the measured coordinate data; determines the positioning deviation value based on the coordinates of the matching points to be measured and the measured coordinate data; and determines the part assembly error data in combination with the size deviation value and the positioning deviation value. In the process of determining the assembly error, only the measured coordinate data needs to be obtained through actual measurement, and the remaining data can be obtained based on the model corresponding to the part, that is, the assembly analysis can be performed quickly for the measurement of a single part, and then the assembly error of the part can be determined. There is no need to design additional measuring tools for measurement, which can greatly reduce the measurement cost investment; and there is no need to assemble the physical object of the hand part for matching analysis, that is, there is no need to consume a lot of manpower and time costs, which can reduce the work intensity and improve work efficiency.

[0076] Reference Figure 2 , shows a flowchart of another method for determining a part assembly error according to an embodiment of the present invention, wherein the method for determining a part assembly error may specifically include the following steps:

[0077] Step 201, obtaining point cloud data and measured coordinate data of the part to be measured;

[0078] The point cloud data and measured coordinate data of the part to be measured can be obtained. For the point cloud data of the part to be measured, the part can be converted from digital to analog to generate a surface point cloud P i As point cloud data of the part to be tested.

[0079] Step 202, determining the coordinates of the matching points to be measured from the point cloud data;

[0080] Determine the coordinates of the matching points to be measured corresponding to the measurement points required for the parts from the point cloud data. The coordinates of the matching points to be measured can be represented by a Cartesian coordinate system or a polar coordinate system, which is not limited in the embodiment of the present invention. Among them, the measurement points required for the parts include but are not limited to surface points Ps, hole points Ph, trimming points Pts, and gap matching points Pt. The coordinates of the matching points to be measured may include the coordinates of the surface points Ps, hole points Ph, trimming points Pts, and gap matching points Pt and their vectors.

[0081] In an optional embodiment of the present invention, the step of determining the coordinates of the matching point to be measured from the point cloud data includes: determining a target measuring point in the point cloud data; and determining the coordinates of the matching point to be measured within a preset range of the target measuring point.

[0082] Among them, for the coordinates of the matching points to be measured, the target measuring points can be determined from the point cloud data first. The target measuring points are the surface points Ps, hole points Ph, edge cutting points Pts, and gap matching points Pt that need to be measured. Then determine the matching points to be measured within the vicinity of the target measuring points, and determine the coordinates of the matching points to be measured corresponding to the matching points to be measured.

[0083] Specifically, the screening process for these four measurement points can be explained based on different types:

[0084] For pastry Ps, pastry MP S,i , and its nearby matching point P to be tested i Satisfy the following formula

[0085]

[0086] In the formula, δ is the distance screening value, which means that the matching point to be tested is near the measurement point. is the measuring point vector.

[0087] 2. Hole point Ph:

[0088] Hole point measurement point MP H,i , and its nearby matching point P i Satisfy the following formula

[0089]

[0090] Where L is the hole radius.

[0091] 3. Cutting point Pts:

[0092] Cutting edge measuring point MP TS,i , and its nearby matching point P i Satisfy the following formula

[0093]

[0094] 4. Gap matching point Pt:

[0095] Cutting edge measuring point MP Ti , and its nearby matching point P to be tested i Satisfy the following formula

[0096]

[0097] Step 203, determining a size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0098] After obtaining the coordinates of the matching points to be measured and the measured coordinate data, fitting can be performed based on the mapping relationship between the coordinates of the matching points to be measured and the measured coordinate data, so as to determine the dimensional deviation value of the part itself caused by production and manufacturing.

[0099] In an optional embodiment of the present invention, the step of determining the size deviation value based on the coordinates of the matching point to be measured and the measured coordinate data includes: performing polynomial fitting on the measured coordinates of the measured coordinate data and the coordinates of the matching point to be measured to obtain a deviation function; and determining the size deviation value based on the deviation function.

[0100] When calculating the size deviation value for the surface point Ps, the trimming point Pts, and the gap matching point Pt, the measured coordinates of the corresponding measured coordinate data can be fitted with the coordinates of the matching point to be measured based on each point, so as to perform polynomial fitting on multiple points to obtain a deviation function. The size deviation value is determined by the deviation function obtained by fitting.

[0101] Specifically, it can be explained according to the surface point Ps and the cutting edge point Pts:

[0102] Reference Figure 3 The circle is the theoretical measurement point, and the square is the actual measurement point after the theoretical point is offset. P1, P2, and P3 are theoretical node deviations, and P′1, P′2, and P′3 are the corresponding actual node deviations.

[0103] The deviation function can be expressed as follows:

[0104] F=f(x,y,z)(5)

[0105] Where F is the deviation of the node; f(x, y, z) is the mapping function between the coordinates of the matching point to be measured and the measured coordinate data.

[0106] When fitting equation (5), the actual surface deviation function can be obtained by performing polynomial fitting on the coordinates of each matching point to be measured and the measured coordinate data.

[0107] For the cutting edge point Pts, there are two types of measurement at the cutting edge, refer to Figure 4 , including surface points and cutting edge measurement points, together represent the part contour dimensions, among which there are two types of cutting edges: arc and straight edge. Figure 5a The theoretical measuring point (circle) and the normal vector direction (arrow) of the measuring point for surface point and cut edge measurement. Figure 5b It is the arrangement of the surface points and cutting edge measurement points of the part cutting edge cross section. The dimensional deviation value is as follows Figure 6 As shown, the dots are the deviations of the theoretical nodes, and the triangles are the deviations of the actual nodes.

[0108] The deviation function can be expressed as follows:

[0109] F t =f t (x,y,z)(6)

[0110] In the formula, F tis the size deviation value; f t (x, y, z) is the mapping function between the coordinates of the matching point to be measured and the measured coordinate data.

[0111] When fitting equation (6), the actual surface deviation function can be obtained by performing polynomial fitting on the coordinates of each matching point to be measured and the measured coordinate data.

[0112] In addition, when the coordinates of the matching point to be measured are hole points, the step of determining the size deviation value based on the coordinates of the matching point to be measured and the measured coordinate data includes: constructing a surface vector to be measured based on the coordinates of the matching point to be measured; constructing a measured surface vector based on the measured coordinate data; cross-multiplying the measured surface vector and the surface vector to be measured to generate a rotation axis vector; converting the coordinates of the matching point to be measured into first rotation point coordinates based on the rotation axis vector; calculating the difference between the rotation point coordinates and the measured coordinates of the measured coordinate data to determine the size deviation value.

[0113] Reference Figure 7 , when the coordinates of the matching point to be measured correspond to the hole point, since the hole point needs to be rotated in addition to the offset, both parts can be calculated to determine the size deviation value. First, the surface vector to be measured can be constructed based on the coordinates of the matching point to be measured, and the measured surface vector can be constructed based on the measured coordinate data; the measured surface vector and the surface vector to be measured can be cross-producted to generate the rotation axis vector and determine the rotation center line. For example, the rotation axis vector It can be obtained from the surface vector to be measured and the measured surface vector, as follows:

[0114]

[0115] In the formula, is the rotation axis vector; are the surface vector to be measured and the measured surface vector.

[0116] Then, by rotating the axis vector, the coordinates of the matching point to be measured are converted to the coordinates of the first rotation point. The coordinates of the first rotation point are the coordinates corresponding to the position node of the matching point to be measured after rotation. That is, point P is rotated to point P', and the coordinates of the first rotation point after rotation can be solved by the following formula:

[0117]

[0118] Where O, P, and P' are the hole center point, the point before rotation, and the point after rotation, respectively; is the vector between the hole point and the point before and after rotation; OP, OP′ are the distances between the hole point and the point before and after rotation; is the angle between the theoretical normal vector direction and the actual normal vector direction.

[0119] The rotated nodes satisfy: ① The vector of the outer product and the vector of the rotation center line Parallel; ② The angle between the two vectors is equal to the angle between the theoretical normal vector direction and the actual normal vector direction, and the lengths of OP and OP′ are equal.

[0120] Finally, the difference between the coordinates of the rotation point and the measured coordinates of the measured coordinate data is calculated to determine the dimensional deviation value.

[0121] The dimension deviation value d is offset in the direction of the theoretical normal vector. Therefore, the final position point P" can be calculated by the following formula:

[0122]

[0123] Where P′ and P" are the node after rotation and the node after rotation node offset respectively; d is the size deviation value; is a unit vector.

[0124] Step 204, determining a positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0125] The positioning deviation value can be converted into offset and rotation in three directions. The offset and rotation directions can be referred to Figure 8 . is the main positioning direction of the part, is perpendicular to The vector of P1, W2, and W3 is the vector of rotation.

[0126] The positioning deviation value is determined based on the coordinates of the matching point to be measured, that is, the coordinates of the gap matching point Pt and the measured coordinate data.

[0127] In an optional embodiment of the present invention, the step of determining the positioning deviation value based on the coordinates of the matching point to be measured and the measured coordinate data includes: determining a positioning vector based on the coordinates of the matching point to be measured; converting the coordinates of the matching point to be measured into second rotation point coordinates based on the positioning vector; combining the second rotation point coordinates with the coordinates of the matching point to be measured based on a preset rotation formula to generate a rotation deviation; determining an offset deviation based on the difference between the second rotation point coordinates and the measured coordinates of the measured coordinate data; and determining a positioning deviation value by combining the rotation deviation and the offset deviation.

[0128] First, the positioning vector can be determined based on the coordinates of the matching point to be measured; Figure 8 Right now, is the positioning vector, the vector direction of the main positioning of the measured part. If the main positioning is a surface element, then is the vector of the surface. If the positioning element is a hole, then is the vector of the hole center. Solve using two points P1 and P2 on the surface or the surface where the hole is located. Depend on Solution:

[0129]

[0130] Based on the positioning vector, the coordinates of the matching point to be measured are converted to the coordinates of the second rotation point; based on the preset rotation formula, the coordinates of the second rotation point are combined with the coordinates of the matching point to be measured to generate a rotation deviation. For example, the rotation formula can be the Rodriguez rotation formula. The rotated coordinates can be solved using the Rodriguez rotation formula:

[0131]

[0132] In the formula, P′ is the node winding The coordinates of the vector after rotation; θ i Around the node The angle of rotation; P is the coordinate of the part node before rotation; for The unit vector of .

[0133] Finally, based on the difference between the coordinates of the second rotation point and the measured coordinate data, the offset deviation is determined; the positioning deviation value is determined by combining the rotation deviation and the offset deviation. The offset coordinates can be solved by the following formula:

[0134]

[0135] Where P″ is the node P′ around The coordinates of the vector after it moves; P′ is the coordinate of the node around Coordinate after rotation; d i For nodes along Distance moved.

[0136] Step 205, determining part assembly error data by combining the size deviation value and the positioning deviation value;

[0137] After obtaining the size deviation value and positioning deviation value of the part itself, they are transferred to the unmeasured theoretical nodes, thereby calculating the matching dimensions between the parts and determining the part assembly error data.

[0138] In an optional embodiment of the present invention, the step of determining part assembly error data by combining the size deviation value and the positioning deviation value includes: determining a target reference plane; converting the coordinates of the matching points to be measured based on the size deviation value and the positioning deviation value to obtain intersection node coordinates; calculating the point-to-surface distance between the intersection node coordinates and the target reference plane; and determining part assembly error data based on the point-to-surface distance.

[0139] like Figure 9a As shown in the figure, the theoretical point is the gap point to be measured of the ideal part, and the solid line is the length of the gap. The manufacturing error and positioning error of the part cause the theoretical point to shift to the actual point position. To ensure the uniformity of the measurement data, the measurement should be performed at the same position and direction. Figure 9b As shown in the figure, the actual measurement point can be found through the intersection of the plane formed by the theoretical measurement position and the actual part node, and the corresponding part assembly error data such as the face difference and gap value can be calculated. To this end, the target reference plane is first determined; the coordinates of the matching point to be measured are converted based on the size deviation value and the positioning deviation value to obtain the intersection node coordinates. The intersection node can be as follows Fig.10 As shown, one gap is an arc, and the other gap is a straight line segment. The gap point is the midpoint of the arc or the straight line segment, and the surface point is the node with a distance d from the turning point.

[0140] That is, the plane can be created by matching the theoretical surface points of the gap, the gap points Ps1, Pt1, Ps2, and Pt2:

[0141] Ax+By+Cz+D=0 (13)

[0142] Wherein, A, B, C, and D are the coefficients of the plane equation formed by the theoretical surface points and gap points Ps1, Pt1, Ps2, and Pt2 of the matching gap, which can be substituted into the solution by the theoretical surface points and gap points Ps1, Pt1, Ps2, and Pt2.

[0143] The distance di between the actual node Pi and the above plane is:

[0144]

[0145] The intersection nodes are solved by the following formula:

[0146]

[0147] Where di is the distance between the i-th node of the part and the plane; δ is the distance threshold, which means the node is on the surface; and L is the distance screening value, which is used to screen the nodes near the measurement point.

[0148] After obtaining the intersection node coordinates, the point-to-surface distance between the intersection node coordinates and the target reference plane is calculated; and the part assembly error data is determined based on the point-to-surface distance.

[0149] Specifically, if Fig.11 As shown, the theoretical gap point can be used to obtain the gap measurement direction The actual measurement point P and the gap measurement direction Make a plane, plane S is along the measurement direction Translate until it is tangent to the intersection line on the other side. The intersection point is the measuring point of the opponent's part, that is, the minimum distance between the node of the intersection line on the other side and plane S is the gap. The equation of plane S is:

[0150] ix+jy+kz=d (16)

[0151] Where (i, j, k) is the measurement direction The weight of P +jy P +kz P ,(x P ,y P ,z P ) are the coordinates of the actual measurement point.

[0152] The distance formula between the node and the surface S can be calculated by formula (14).

[0153] Another example Fig.12 As shown, the plane S1 is made with the normal vector direction of the measuring point and the measuring point. The equation is shown in (16). The surface difference is the distance from point P to surface S1, which can be calculated by equation (14).

[0154] Step 206 , assembling parts based on the parts assembly error data.

[0155] Parts assembly error data can be used to assemble parts, so that the errors between matching parts can better meet the requirements, ensuring the assembly efficiency of parts while ensuring assembly accuracy and improving production yield.

[0156] The embodiment of the present invention obtains the point cloud data and measured coordinate data of the part to be measured; determines the coordinates of the matching point to be measured from the point cloud data; determines the size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data; determines the positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data; determines the part assembly error data in combination with the size deviation value and the positioning deviation value; and assembles the part based on the part assembly error data. In the process of determining the assembly error, only the measured coordinate data needs to be obtained through actual measurement, and the remaining data can be obtained based on the model corresponding to the part, that is, the single part can be quickly measured to perform assembly analysis, and then the assembly error of the part can be determined, without the need to design additional measuring tools for measurement, which can greatly reduce the measurement cost investment. In addition, there is no need to assemble the physical object of the handpiece for matching analysis, that is, there is no need to consume a lot of manpower and time costs, which can reduce the work intensity and improve work efficiency. The assembly accuracy is also improved by assembling using the part assembly error data.

[0157] In order to make the implementation process of the embodiments of the present invention clear to those skilled in the art, refer to Fig.13 , using an example to show the execution process:

[0158] S1: Part point clouding and processing; S2: Transmission of dimensional deviation; S3: Transmission of positioning deviation; S4: Assembly dimension calculation (i.e., gap and face difference values); S5: Output results. You can select the position of the matching dimension you want to obtain and bring it into S4 to obtain the corresponding gap and face difference value.

[0159] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0160] Reference Fig.14 , shows a structural block diagram of an embodiment of a device for determining a part assembly error of the present invention, and the device for determining a part assembly error may specifically include the following modules:

[0161] The acquisition module 1401 is used to acquire the point cloud data and measured coordinate data of the part to be measured;

[0162] A first determination module 1402 is used to determine the coordinates of the matching points to be measured from the point cloud data;

[0163] A second determination module 1403 is used to determine a size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0164] A third determination module 1404 is used to determine a positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0165] The error calculation module 1405 is used to determine the part assembly error data by combining the size deviation value and the positioning deviation value.

[0166] In an optional embodiment of the present invention, the first determining module 1402 includes:

[0167] A target measuring point determination submodule is used to determine the target measuring point in the point cloud data;

[0168] The coordinate determination submodule of the matching point to be measured is used to determine the coordinates of the matching point to be measured within the preset range of the target measuring point.

[0169] In an optional embodiment of the present invention, the second determining module 1403 includes:

[0170] A fitting submodule, used for performing polynomial fitting on the measured coordinates of the measured coordinate data and the coordinates of the matching points to be measured to obtain a deviation function;

[0171] The first size deviation value determining submodule is used to determine the size deviation value based on the deviation function.

[0172] In an optional embodiment of the present invention, when the to-be-detected matching point of the to-be-detected matching point coordinates is a hole point, the second determining module 1403 includes:

[0173] A surface vector construction submodule to be measured is used to construct the surface vector to be measured based on the coordinates of the matching points to be measured;

[0174] A measured surface vector construction submodule, used to construct a measured surface vector based on the measured coordinate data;

[0175] A cross multiplication submodule, used for cross-multiplying the measured surface vector and the surface vector to be measured to generate a rotation axis vector;

[0176] A first rotation point coordinate conversion submodule, used for first converting the coordinates of the to-be-measured matching point into first rotation point coordinates based on the rotation axis vector;

[0177] The second size deviation value determination submodule is used to calculate the difference between the rotation point coordinates and the measured coordinates of the measured coordinate data to determine the size deviation value.

[0178] In an optional embodiment of the present invention, the third determining module 1404 includes:

[0179] A positioning vector determination submodule, used to determine a positioning vector based on the coordinates of the matching point to be measured;

[0180] A second rotation point coordinate determination submodule, used for converting the coordinates of the to-be-measured matching point into the coordinates of the second rotation point based on the positioning vector;

[0181] A rotation deviation determination submodule, used to combine the coordinates of the second rotation point with the coordinates of the matching point to be measured based on a preset rotation formula to generate a rotation deviation;

[0182] an offset deviation determining submodule, configured to determine an offset deviation based on a difference between the coordinates of the second rotation point and the measured coordinates of the measured coordinate data;

[0183] The deviation combining submodule is used to combine the rotation deviation and the offset deviation to determine the positioning deviation value.

[0184] In an optional embodiment of the present invention, the error calculation module 1405 includes:

[0185] A target reference plane determination submodule is used to determine the target reference plane;

[0186] The intersection node coordinate determination submodule is used to convert the coordinates of the matching point to be measured based on the size deviation value and the positioning deviation value to obtain the intersection node coordinates;

[0187] A point-to-surface distance calculation submodule, used to calculate the point-to-surface distance between the intersection node coordinates and the target reference plane;

[0188] The part assembly error data determination submodule is used to determine the part assembly error data based on the point-to-surface distance.

[0189] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0190] Reference Fig.15 , an embodiment of the present invention further provides an electronic device, including:

[0191] A processor 1501 and a storage medium 1502, wherein the storage medium 1502 stores a computer program executable by the processor 1501, and when the electronic device is running, the processor 1501 executes the computer program to implement the method for determining the part assembly error as described in any one of the embodiments of the present invention.

[0192] The method for determining the parts assembly error comprises:

[0193] Obtain the point cloud data and measured coordinate data of the parts to be tested;

[0194] Determine the coordinates of the matching points to be measured from the point cloud data;

[0195] Determine the size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0196] Determine the positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0197] The part assembly error data is determined by combining the size deviation value and the positioning deviation value.

[0198] Optionally, the step of determining the coordinates of the matching points to be measured from the point cloud data includes:

[0199] Determining a target measuring point in the point cloud data;

[0200] Determine the coordinates of the matching points to be measured within the preset range of the target measuring point.

[0201] Optionally, the step of determining the size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data includes:

[0202] Performing polynomial fitting on the measured coordinates of the measured coordinate data and the coordinates of the matching points to be measured to obtain a deviation function;

[0203] A size deviation value is determined based on the deviation function.

[0204] Optionally, when the to-be-measured matching point of the to-be-measured matching point coordinates is a hole point, the step of determining the size deviation value according to the to-be-measured matching point coordinates and the measured coordinate data includes:

[0205] Constructing a surface vector to be measured based on the coordinates of the matching points to be measured;

[0206] Constructing a measured surface vector based on the measured coordinate data;

[0207] Cross-product the measured surface vector and the surface vector to be measured to generate a rotation axis vector;

[0208] Converting the coordinates of the matching point to be measured into the coordinates of the first rotation point based on the rotation axis vector;

[0209] The difference between the coordinates of the rotation point and the measured coordinates of the measured coordinate data is calculated to determine the size deviation value.

[0210] Optionally, the step of determining the positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data includes:

[0211] Determine a positioning vector based on the coordinates of the matching point to be measured;

[0212] Based on the positioning vector, converting the coordinates of the matching point to be measured into the coordinates of the second rotation point;

[0213] Based on a preset rotation formula, the coordinates of the second rotation point are combined with the coordinates of the matching point to be measured to generate a rotation deviation;

[0214] determining an offset deviation based on a difference between the coordinates of the second rotation point and the measured coordinates of the measured coordinate data;

[0215] A positioning deviation value is determined by combining the rotation deviation and the offset deviation.

[0216] Optionally, the step of determining part assembly error data by combining the size deviation value and the positioning deviation value comprises:

[0217] Determine the target reference surface;

[0218] Convert the coordinates of the matching point to be measured based on the size deviation value and the positioning deviation value to obtain the intersection node coordinates;

[0219] Calculating the point-to-surface distance between the intersection node coordinates and the target reference plane;

[0220] Part assembly error data is determined based on the point-to-surface distance.

[0221] Optionally, the method further comprises:

[0222] Parts are assembled based on the parts assembly error data.

[0223] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the processor.

[0224] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0225] Reference Fig.16 The embodiment of the present invention further provides a computer-readable storage medium 1601, on which a computer program is stored. When the computer program is executed by a processor, the method for determining the part assembly error as described in any one of the embodiments of the present invention is executed.

[0226] The method for determining the parts assembly error comprises:

[0227] Obtain the point cloud data and measured coordinate data of the parts to be tested;

[0228] Determine the coordinates of the matching points to be measured from the point cloud data;

[0229] Determine the size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0230] Determine the positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data;

[0231] The part assembly error data is determined by combining the size deviation value and the positioning deviation value.

[0232] Optionally, the step of determining the coordinates of the matching points to be measured from the point cloud data includes:

[0233] Determining a target measuring point in the point cloud data;

[0234] Determine the coordinates of the matching points to be measured within the preset range of the target measuring point.

[0235] Optionally, the step of determining the size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data includes:

[0236] Performing polynomial fitting on the measured coordinates of the measured coordinate data and the coordinates of the matching points to be measured to obtain a deviation function;

[0237] A size deviation value is determined based on the deviation function.

[0238] Optionally, when the to-be-measured matching point of the to-be-measured matching point coordinates is a hole point, the step of determining the size deviation value according to the to-be-measured matching point coordinates and the measured coordinate data includes:

[0239] Constructing a surface vector to be measured based on the coordinates of the matching points to be measured;

[0240] Constructing a measured surface vector based on the measured coordinate data;

[0241] Cross-product the measured surface vector and the surface vector to be measured to generate a rotation axis vector;

[0242] Converting the coordinates of the matching point to be measured into the coordinates of the first rotation point based on the rotation axis vector;

[0243] The difference between the coordinates of the rotation point and the measured coordinates of the measured coordinate data is calculated to determine the size deviation value.

[0244] Optionally, the step of determining the positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data includes:

[0245] Determine a positioning vector based on the coordinates of the matching point to be measured;

[0246] Based on the positioning vector, converting the coordinates of the matching point to be measured into the coordinates of the second rotation point;

[0247] Based on a preset rotation formula, the coordinates of the second rotation point are combined with the coordinates of the matching point to be measured to generate a rotation deviation;

[0248] determining an offset deviation based on a difference between the coordinates of the second rotation point and the measured coordinates of the measured coordinate data;

[0249] A positioning deviation value is determined by combining the rotation deviation and the offset deviation.

[0250] Optionally, the step of determining part assembly error data by combining the size deviation value and the positioning deviation value comprises:

[0251] Determine the target reference surface;

[0252] Convert the coordinates of the matching point to be measured based on the size deviation value and the positioning deviation value to obtain the intersection node coordinates;

[0253] Calculating the point-to-surface distance between the intersection node coordinates and the target reference plane;

[0254] Part assembly error data is determined based on the point-to-surface distance.

[0255] Optionally, the method further comprises:

[0256] Parts are assembled based on the parts assembly error data.

[0257] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0258] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0259] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0260] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0261] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0262] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0263] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0264] The above is a detailed introduction to a method for determining a part assembly error, a device for determining a part assembly error, an electronic device and a storage medium provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for a person skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for determining part assembly errors, characterized in that: include: Obtain the point cloud data and measured coordinate data of the parts to be tested; Determine the coordinates of the matching points to be measured from the point cloud data; Determine the size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data; Determine the positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data; The part assembly error data is determined by combining the size deviation value and the positioning deviation value.

2. The method according to claim 1, characterized in that The step of determining the coordinates of the matching points to be measured from the point cloud data comprises: Determining a target measuring point in the point cloud data; Determine the coordinates of the matching points to be measured within the preset range of the target measuring point.

3. The method according to claim 1, characterized in that The step of determining the size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data comprises: Performing polynomial fitting on the measured coordinates of the measured coordinate data and the coordinates of the matching points to be measured to obtain a deviation function; A size deviation value is determined based on the deviation function.

4. The method according to claim 1, characterized in that When the to-be-measured matching point of the to-be-measured matching point coordinates is a hole point, the step of determining the size deviation value according to the to-be-measured matching point coordinates and the measured coordinate data comprises: Constructing a surface vector to be measured based on the coordinates of the matching points to be measured; Constructing a measured surface vector based on the measured coordinate data; Cross-product the measured surface vector and the surface vector to be measured to generate a rotation axis vector; Converting the coordinates of the to-be-measured matching point into the coordinates of the first rotation point based on the rotation axis vector; The difference between the coordinates of the rotation point and the measured coordinates of the measured coordinate data is calculated to determine the size deviation value.

5. The method according to claim 1, characterized in that The step of determining the positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data comprises: Determine a positioning vector based on the coordinates of the matching point to be measured; Based on the positioning vector, converting the coordinates of the matching point to be measured into the coordinates of the second rotation point; Based on a preset rotation formula, the coordinates of the second rotation point are combined with the coordinates of the matching point to be measured to generate a rotation deviation; determining an offset deviation based on a difference between the coordinates of the second rotation point and the measured coordinates of the measured coordinate data; A positioning deviation value is determined by combining the rotation deviation and the offset deviation.

6. The method according to claim 1, characterized in that The step of determining the part assembly error data by combining the size deviation value and the positioning deviation value comprises: Determine the target reference surface; Convert the coordinates of the matching point to be measured based on the size deviation value and the positioning deviation value to obtain the intersection node coordinates; Calculating the point-to-surface distance between the intersection node coordinates and the target reference plane; Part assembly error data is determined based on the point-to-surface distance.

7. The method according to claim 1, characterized in that The method further comprises: Parts are assembled based on the parts assembly error data.

8. A device for determining a part assembly error, characterized in that: include: An acquisition module is used to acquire point cloud data and measured coordinate data of the part to be tested; A first determination module, used to determine the coordinates of the matching points to be measured from the point cloud data; A second determination module is used to determine the size deviation value according to the coordinates of the matching point to be measured and the measured coordinate data; A third determination module is used to determine the positioning deviation value according to the coordinates of the matching point to be measured and the measured coordinate data; The error calculation module is used to determine the part assembly error data by combining the size deviation value and the positioning deviation value.

9. An electronic device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the method for determining part assembly errors as claimed in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for determining part assembly errors according to any one of claims 1 to 7 are implemented.

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