A part assembly error determination method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a part assembly error determination method and device, electronic equipment and storage medium, comprising obtaining point cloud data and measured coordinate data of a part to be measured; determining a to-be-measured matching point coordinate from the point cloud data; determining a size deviation value according to the to-be-measured matching point coordinate and the measured coordinate data; determining a positioning deviation value according to the to-be-measured matching point coordinate and the measured coordinate data; and determining part assembly error data by combining the size deviation value and the positioning deviation value. Embodiments of the present application only need to obtain measured coordinate data through actual measurement, and the remaining data can be obtained based on the corresponding model of the part, so that assembly analysis can be performed simply by measurement, without consuming a large amount of manpower and time cost, thereby reducing the work intensity and development cost of the measurement tooling; and the part assembly error data can be used for assembly, thereby improving the assembly precision.

Description

Technical Field

[0001] This invention relates to the field of parts manufacturing and assembly technology, and in particular to a method for determining parts assembly errors, a device for determining parts assembly errors, an electronic device, and a storage medium. Background Technology

[0002] In the trial production stage of new products in manufacturing, significant human and material resources are often required to cultivate dimensional quality to ensure high product quality. Currently, there are two common methods for matching components: physical matching or virtual matching using optical scanning equipment to display the point cloud of the physical component. The former requires substantial manpower for testing and is inefficient; while the latter requires significant investment in tooling and equipment for measurement, resulting in high costs. Neither method can efficiently and cost-effectively measure component 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 part assembly error, a device for determining part assembly error, an electronic device, and a storage medium to overcome or at least partially solve the above problems.

[0004] To address the aforementioned problems, in a first aspect of the present invention, an embodiment of the present invention discloses a method for determining part assembly errors, comprising:

[0005] Acquire point cloud data and measured coordinate data of the part to be tested;

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

[0007] The dimensional deviation value is determined based on the coordinates of the matching point to be measured and the measured coordinate data;

[0008] Based on the coordinates of the matching point to be measured and the measured coordinate data, the positioning deviation value is determined;

[0009] By combining the dimensional deviation value and the positioning deviation value, the assembly error data of the part is determined.

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

[0011] Determine the target measurement point from the point cloud data;

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

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

[0014] A polynomial fitting is performed between the measured coordinates of the measured coordinate data and the coordinates of the matching point to be measured to obtain the deviation function;

[0015] The dimensional deviation value is determined based on the deviation function.

[0016] Optionally, when the target matching point is a hole point, the step of determining the dimensional deviation value based on the target matching point coordinates and the measured coordinate data includes:

[0017] Construct the surface vector to be tested based on the coordinates of the matching points to be tested;

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

[0019] The rotation axis vector is generated by cross-multiplying the measured surface vector and the surface vector to be measured.

[0020] Based on the rotation axis vector, the coordinates of the matching point to be measured are converted into the coordinates of the first rotation point;

[0021] Calculate the difference between the coordinates of the rotation point and the measured coordinates of the measured coordinate data to determine the dimensional deviation value.

[0022] Optionally, 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:

[0023] The positioning vector is determined based on the coordinates of the matching point to be measured.

[0024] Based on the positioning vector, the coordinates of the matching point to be measured are converted 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] The offset deviation is determined based on the difference between the coordinates of the second rotation point and the measured coordinates of the measured coordinate data.

[0027] The positioning deviation value is determined by combining the rotational deviation and the offset deviation.

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

[0029] Determine the target reference plane;

[0030] 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 coordinates of the intersection node;

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

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

[0033] Optionally, the method further includes:

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

[0035] In a second aspect, embodiments of the present invention disclose a part assembly error determination device, comprising:

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

[0037] The first determining module is used to determine the coordinates of the matching point to be measured from the point cloud data;

[0038] The second determining module is used to determine the size deviation value based on the coordinates of the matching point to be measured and the measured coordinate data;

[0039] The third determining module is used to determine the positioning deviation value based on 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 dimensional deviation value and the positioning deviation value.

[0041] In a third aspect, 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, when executed by the processor, implements the part assembly error determination method as described above.

[0042] In a fourth aspect, embodiments of the present invention disclose a computer-readable storage medium storing a computer program that, when executed by a processor, implements the part assembly error determination method as described above.

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

[0044] This invention acquires point cloud data and measured coordinate data of the part to be tested; determines the coordinates of the matching point to be tested from the point cloud data; determines the dimensional deviation value based on the coordinates of the matching point to be tested and the measured coordinate data; determines the positioning deviation value based on the coordinates of the matching point to be tested and the measured coordinate data; and determines the assembly error data of the part by combining the dimensional 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; all other data can be obtained based on the model corresponding to the part. This allows for rapid measurement of individual parts to perform assembly analysis and determine the assembly error of the part, eliminating the need for additional measurement fixtures and significantly reducing measurement costs. Furthermore, it eliminates the need for matching analysis of the physical parts, reducing the need for significant manpower and time costs, thus reducing workload and improving efficiency. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating the steps of an embodiment of the method for determining part assembly errors according to the present invention.

[0046] Figure 2 This is a flowchart illustrating the steps of another embodiment of the method for determining part assembly errors according to the present invention;

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

[0048] Figure 4 This is a schematic diagram of the overall measurement points of the cutting edge in another embodiment of the part assembly error determination method of the present invention;

[0049] Figure 5a This is a schematic diagram of the cutting edge measurement points in another embodiment of the part assembly error determination method of the present invention. Figure 1 ;

[0050] Figure 5b This is a schematic diagram of the cutting edge measurement points in another embodiment of the part assembly error determination method of the present invention. Figure 2 ;

[0051] Figure 6 This is a schematic diagram of the deviation of the cutting edge measurement point in another embodiment of the part assembly error determination method of the present invention;

[0052] Figure 7 This is a schematic diagram of hole point deviation in another embodiment of the part assembly error determination method of the present invention;

[0053] Figure 8 This is a schematic diagram of the positioning deviation of another embodiment of the part assembly error determination method of the present invention;

[0054] Figure 9a This is a schematic diagram of the theoretical and actual points when part A and part B are matched in another embodiment of the part assembly error determination method of the present invention. Figure 1 ;

[0055] Figure 9b This is a schematic diagram of the theoretical and actual points when part A and part B are matched in another embodiment of the part assembly error determination method of the present invention. Figure 2 ;

[0056] Figure 10 This is a schematic diagram of the intersection node of another embodiment of the part assembly error determination method of the present invention;

[0057] Figure 11 This is a schematic diagram of the surface difference in another embodiment of the method for determining part assembly error according to the present invention. Figure 1 ;

[0058] Figure 12 This is a schematic diagram of the surface difference in another embodiment of the method for determining part assembly error according to the present invention. Figure 2 ;

[0059] Figure 13 This is a flowchart illustrating the steps of a method for determining part assembly errors according to the present invention.

[0060] Figure 14 This is a structural block diagram of an embodiment of a parts assembly error determination device according to the present invention;

[0061] Figure 15 This is a structural block diagram of an electronic device provided in an embodiment of the present invention;

[0062] Figure 16 This is a structural block diagram of a storage medium provided in an embodiment of the present invention. Detailed Implementation

[0063] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0064] Reference Figure 1 The diagram illustrates a flowchart of an embodiment of a method for determining part assembly errors according to the present invention. The method for determining part assembly errors may specifically include the following steps:

[0065] Step 101: Obtain the point cloud data and measured coordinate data of the part to be tested;

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

[0067] Step 102: Determine the coordinates of the matching point to be measured from the point cloud data;

[0068] Find the coordinates of the location to be measured from these point cloud data, i.e., the coordinates of the matching point to be measured.

[0069] Step 103: Determine the size deviation value based on the coordinates of the matching point to be measured and the measured coordinate data;

[0070] The dimensional error generated during the manufacturing process of the part is fitted based on the coordinates of the matching point to be measured and the actual coordinate data to determine the dimensional deviation value.

[0071] Step 104: Determine the positioning deviation value based on the coordinates of the matching point to be measured and the measured coordinate data;

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

[0073] Step 105: Combine the dimensional deviation value and the positioning deviation value to determine the part assembly error data.

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

[0075] This invention acquires point cloud data and measured coordinate data of the part to be tested; determines the coordinates of the matching point to be tested from the point cloud data; determines the dimensional deviation value based on the coordinates of the matching point to be tested and the measured coordinate data; determines the positioning deviation value based on the coordinates of the matching point to be tested and the measured coordinate data; and determines the assembly error data of the part by combining the dimensional 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; all other data can be obtained based on the model corresponding to the part. This allows for rapid measurement of individual parts to perform assembly analysis and determine the assembly error of the part, eliminating the need for additional measurement fixtures and significantly reducing measurement costs. Furthermore, it eliminates the need for matching analysis of the physical parts, reducing the need for significant manpower and time costs, thus reducing workload and improving efficiency.

[0076] Reference Figure 2 The diagram illustrates a flowchart of another embodiment of the method for determining part assembly errors according to the present invention. The method for determining part assembly errors may specifically include the following steps:

[0077] Step 201: Obtain the point cloud data and measured coordinate data of the part to be tested;

[0078] It can acquire point cloud data and measured coordinate data of the part under test. For the point cloud data of the part under test, the part can be converted from a digital model to a surface point cloud. Point cloud data of the part to be tested.

[0079] Step 202: Determine the coordinates of the matching point to be measured from the point cloud data;

[0080] The coordinates of the matching points to be measured, corresponding to the measurement points required for the component, are determined from the point cloud data. The coordinates of the matching points to be measured can be represented using a Cartesian coordinate system or a polar coordinate system; this embodiment of the invention does not limit this representation. The measurement points required for the component include, but are not limited to, surface points. Hole points Cutting point Gap matching point The coordinates of the matching point to be measured can include surface points. Hole points Cutting point Gap matching point The coordinates and vectors of .

[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 the target measurement point in the point cloud data; and determining the coordinates of the matching point to be measured within a preset range of the target measurement point.

[0082] Specifically, for the coordinates of the matching point to be measured, the target measurement point can be determined first from the point cloud data. The target measurement point is the surface point that needs to be measured. Hole points Cutting point Gap matching point Then, determine the matching points to be measured within the vicinity of this target measuring point, and determine the coordinates of the matching points to be measured.

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

[0084] For pastries Pastries The nearby test matching points Satisfy the following formula

[0085] (1)

[0086] In the formula, δ is the distance filtering value, representing that the matching point to be tested is near the measurement point. This is the vector of the measurement point.

[0087] 2. Hole point Ph:

[0088] Hole Point Measurement Point The nearby test matching points Satisfy the following formula

[0089] (2)

[0090] In the formula, L is the radius of the hole.

[0091] 3. Cutting point Pts:

[0092] Cut edge measuring points The nearby test matching points Satisfy the following formula

[0093] (3)

[0094] 4. Gap matching point Pt:

[0095] Cut edge measuring points The nearby test matching points Satisfy the following formula

[0096] (4)

[0097] Step 203: Determine the size deviation value based on the coordinates of the matching point to be measured and the measured coordinate data;

[0098] After obtaining the coordinates of the matching point to be measured and the actual coordinate data, fitting can be performed based on the mapping relationship between the coordinates of the matching point to be measured and the actual coordinate data, thereby determining the dimensional deviation value of the part itself caused by 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] Regarding pastries Cutting point Gap matching point To calculate dimensional deviations, for each point, the measured coordinates of the corresponding actual coordinate data are fitted with the coordinates of the point to be measured. This process involves polynomial fitting of multiple points to obtain a deviation function. The dimensional deviation value is then determined using the fitted deviation function.

[0101] Specifically, it can be based on pastry Cutting point Please provide the corresponding explanation:

[0102] Reference Figure 3 The circles represent theoretical measurement points, and the squares represent actual measurement points after the theoretical points have been offset. P1, P2, and P3 represent theoretical node deviations. , This corresponds to the actual node deviation.

[0103] The deviation function can be expressed by the following formula:

[0104] (5)

[0105] In the formula, The deviation of the node; This is a 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 between the coordinates of each matching point to be measured and the measured coordinate data.

[0107] For the cutting point There are two types of measurements at the cut edge, refer to Figure 4 The measurement points include surface points and tangent edge measurement points, which together represent the contour dimensions of the part. There are two types of tangent edges: arcs and straight edges. Figure 5a The theoretical measuring point (circle) and the normal vector direction (arrow) of the measuring point are used for measuring the surface point and the tangent edge. Figure 5b This refers to the arrangement of the surface points and measurement points on the cut edge of the part's cross-section. The dimensional deviation value is as follows: Figure 6 As shown, the dots represent the deviation of the theoretical nodes, and the triangles represent the deviation of the actual nodes.

[0108] The deviation function can be expressed by the following formula:

[0109] (6)

[0110] In the formula, This refers to the dimensional deviation value; This is a 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 between the coordinates of each matching point to be measured and the measured coordinate data.

[0112] Furthermore, when the target matching point is a hole point, the step of determining the dimensional deviation value based on the target matching point coordinates and the measured coordinate data includes: constructing a surface vector to be measured based on the target matching point coordinates; constructing a measured surface vector based on the measured coordinate data; cross-multiplying the measured surface vector and the target surface vector to generate a rotation axis vector; converting the target matching point coordinates 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 dimensional deviation value.

[0113] Reference Figure 7 When the coordinates of the matching point to be measured correspond to a hole point, since the hole point needs to be rotated in addition to offset, both parts can be calculated to determine the dimensional deviation value. First, a surface vector to be measured can be constructed based on the coordinates of the matching point to be measured, and a measured surface vector can be constructed based on the measured coordinate data. The measured surface vector and the surface vector to be measured are then cross-multiplied to generate a rotation axis vector, thus determining the rotation centerline. (The rotation axis vector is then used.) It can be obtained from the surface vector to be measured and the measured surface vector, as shown in the following formula:

[0114] (7)

[0115] In the formula, The axis of rotation vector; Let be 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 transformed into the coordinates of the first rotated point. The coordinates of the first rotated point are the coordinates of the node corresponding to the rotated position of the matching point to be measured. That is, point P is rotated to point P', and the coordinates of the first rotated point can be solved by the following formula:

[0117] (8)

[0118] In the formula, O, P, and P' are the center point of the hole, the point before rotation, and the point after rotation, respectively. Let be the vector between the hole point and the point before and after rotation; , This represents the distance between the hole point and the point before and after rotation; The angle between the theoretical normal vector direction and the actual normal vector direction.

[0119] The rotated nodes satisfy The vector of the outer product and the vector of the rotation centerline Parallel; ② The angle between two vectors is equal to the angle between the theoretical normal vector direction and the actual normal vector direction. , They are of equal length.

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

[0121] The dimensional deviation value d, with the offset direction being the theoretical normal vector direction, therefore, the final position point P'' can be calculated by the following formula:

[0122] (9)

[0123] In the formula, and These represent the node after rotation and the node after offsetting the rotated node, respectively; d is the dimensional deviation value. It is a unit vector.

[0124] Step 204: Determine the positioning deviation value based on 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 referenced. Figure 8 . This is the main positioning direction of the part. , To be perpendicular to vector, , To bypass , The rotation.

[0126] Based on the coordinates of the matching point to be tested, i.e., the gap matching point The coordinates are fitted with the measured coordinate data to determine the positioning deviation value.

[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 the 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; combined with... Figure 8 Right now, The positioning vector is the direction of the main positioning vector of the measured part. If the main positioning vector is a surface element, then... For a vector of a surface, if the positioning element is a hole, then The vector is the center of the hole. Solve using two points P1 and P2 on the surface or the surface where the hole is located. Depend on Solution:

[0129] (10)

[0130] Then, based on the positioning vector, the coordinates of the matching point to be measured are converted 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 the 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] (11)

[0132] In the formula, For node wrap coordinate; For node wrap The angle of rotation; P is the coordinate of the part node before rotation; for , The unit vector.

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

[0134] (12)

[0135] In the formula, For nodes Around coordinate; For nodes around Rotated coordinates; For the node along The distance traveled.

[0136] Step 205: Combine the dimensional deviation value and the positioning deviation value to determine the part assembly error data;

[0137] After obtaining the dimensional deviation and positioning deviation of the part itself, the values ​​are transferred to the unmeasured theoretical node, thereby calculating the matching dimensions between parts and determining the assembly error data of the parts.

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

[0139] like Figure 9a As shown, the theoretical point is the measured gap point of an ideal part, and the solid line represents the length of the gap. Manufacturing errors and positioning errors of the part cause the theoretical point to shift to the actual point position. To ensure the consistency of measurement data, measurements should be taken at the same location and in the same direction. Figure 9b As shown, the actual measurement point can be found by the intersection line between the plane formed by the theoretical measurement position and the actual part node, and the corresponding surface difference and gap values, etc., of the part assembly error data can be calculated. To this end, the target reference plane is first determined; the coordinates of the matching point to be measured are transformed based on the dimensional deviation value and the positioning deviation value to obtain the coordinates of the intersection node. The intersection node can be as follows: Figure 10 As shown, one type of gap is a circular arc, and the other is a straight line segment. The gap point is the midpoint of the circular arc or the straight line segment, and the surface point is a node at a distance d from the inflection point.

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

[0141] (13)

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

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

[0144] (14)

[0145] The intersection node is solved by the following formula:

[0146] (15)

[0147] In the formula, di is the distance between the i-th node of the part and the plane; The distance threshold represents the node's position on the surface; L is the distance filter value used to filter nodes near the measurement point.

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

[0149] Specifically, such as Figure 11 As shown, the theoretical gap point can be used to determine the gap measurement direction. The actual measurement point P and the gap measurement direction Draw a plane, plane S 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 opposing part. 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] (16)

[0151] In the formula, (i,j,k) represents the measurement direction. The amount; +k , ( , () represents the coordinates of the actual measurement point.

[0152] The distance between a node and surface S can be calculated using equation (14).

[0153] For example Figure 12 As shown, plane S1 is constructed with the normal vector direction of the measurement point and the measurement point. The equation is as shown in (16). The surface difference is the distance from point P to plane S1, which can be obtained from equation (14).

[0154] Step 206: Assemble the parts based on the assembly error data.

[0155] Parts assembly can be performed using part assembly error data, which can make the errors between mating parts better meet the requirements, ensuring assembly efficiency while maintaining assembly accuracy and improving production yield.

[0156] This invention acquires point cloud data and measured coordinate data of the part to be tested; determines the coordinates of the matching point to be tested from the point cloud data; determines the dimensional deviation value based on the coordinates of the matching point to be tested and the measured coordinate data; determines the positioning deviation value based on the coordinates of the matching point to be tested and the measured coordinate data; and determines the part assembly error data by combining the dimensional deviation value and the positioning deviation value. The part is then assembled 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; all other data can be obtained based on the model corresponding to the part. This allows for rapid measurement of individual parts to perform assembly analysis and determine the assembly error, eliminating the need for additional measuring fixtures and significantly reducing measurement costs. Furthermore, it eliminates the need for matching analysis of the physical parts, reducing labor and time costs and improving work efficiency. The use of part assembly error data also improves assembly accuracy.

[0157] To enable those skilled in the art to clearly understand the implementation process of the embodiments of the present invention, please refer to... Figure 13 Here's an example to illustrate the execution process:

[0158] S1: Part point cloudification and processing; S2: Transmission of dimensional deviations; S3: Transmission of positioning deviations; S4: Assembly dimension calculation (i.e., gap and surface difference values); S5: Output results, you can select any position of the matching dimension you want to obtain and substitute it into S4 to get the corresponding gap and surface difference values.

[0159] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0160] Reference Figure 14 The diagram shows a structural block diagram of an embodiment of a part assembly error determination device according to the present invention. The part assembly error determination device may specifically include the following modules:

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

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

[0163] The second determining module 1403 is used to determine the size deviation value based on the coordinates of the matching point to be measured and the measured coordinate data;

[0164] The third determining module 1404 is used to determine the positioning deviation value based on 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 dimensional deviation value and the positioning deviation value.

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

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

[0168] The submodule for determining the coordinates 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] The fitting submodule is used to perform polynomial fitting on the measured coordinates of the measured coordinate data and the coordinates of the matching point to be measured to obtain the deviation function.

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

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

[0173] The test surface vector construction submodule is used to construct the test surface vector based on the coordinates of the test matching point;

[0174] The measured surface vector construction submodule is used to construct measured surface vectors based on the measured coordinate data.

[0175] The cross-product submodule is used to cross-product the measured surface vector and the surface vector to be measured to generate a rotation axis vector;

[0176] The first rotation point coordinate transformation submodule is used to convert the coordinates of the matching point to be measured into the coordinates of the first rotation point based on the rotation axis vector.

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

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

[0179] The positioning vector determination submodule is used to determine the positioning vector based on the coordinates of the matching point to be measured.

[0180] The second rotation point coordinate determination submodule is used to convert the coordinates of the matching point to be measured into the coordinates of the second rotation point based on the positioning vector;

[0181] The rotation deviation determination submodule is 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 the rotation deviation.

[0182] The offset deviation determination submodule is used to determine the offset deviation based on the difference between the coordinates of the second rotation point and the measured coordinates of the measured coordinate data;

[0183] The deviation combination submodule is used to combine the rotational 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] The target datum plane determination submodule is used to determine the target datum 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] The point-to-surface distance calculation submodule is used to calculate the point-to-surface distance between the coordinates of the intersection node and the target reference surface;

[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 the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0190] Reference Figure 15 The present invention also provides an electronic device, comprising:

[0191] The processor 1501 and the storage medium 1502 store a computer program executable by the processor 1501. When the electronic device is running, the processor 1501 executes the computer program to implement the part assembly error determination method as described in any of the embodiments of the present invention.

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

[0193] Acquire point cloud data and measured coordinate data of the part to be tested;

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

[0195] The dimensional deviation value is determined based on the coordinates of the matching point to be measured and the measured coordinate data;

[0196] Based on the coordinates of the matching point to be measured and the measured coordinate data, the positioning deviation value is determined;

[0197] By combining the dimensional deviation value and the positioning deviation value, the assembly error data of the part is determined.

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

[0199] Determine the target measurement point from the point cloud data;

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

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

[0202] A polynomial fitting is performed between the measured coordinates of the measured coordinate data and the coordinates of the matching point to be measured to obtain the deviation function;

[0203] The dimensional deviation value is determined based on the deviation function.

[0204] Optionally, when the target matching point is a hole point, the step of determining the dimensional deviation value based on the target matching point coordinates and the measured coordinate data includes:

[0205] Construct the surface vector to be tested based on the coordinates of the matching points to be tested;

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

[0207] The rotation axis vector is generated by cross-multiplying the measured surface vector and the surface vector to be measured.

[0208] Based on the rotation axis vector, the coordinates of the matching point to be measured are converted into the coordinates of the first rotation point;

[0209] Calculate the difference between the coordinates of the rotation point and the measured coordinates of the measured coordinate data to determine the dimensional deviation value.

[0210] Optionally, 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:

[0211] The positioning vector is determined based on the coordinates of the matching point to be measured.

[0212] Based on the positioning vector, the coordinates of the matching point to be measured are converted 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] The offset deviation is determined based on the difference between the coordinates of the second rotation point and the measured coordinates of the measured coordinate data.

[0215] The positioning deviation value is determined by combining the rotational deviation and the offset deviation.

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

[0217] Determine the target reference plane;

[0218] 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 coordinates of the intersection node;

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

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

[0221] Optionally, the method further includes:

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

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

[0224] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0225] Reference Figure 16The present invention also provides a computer-readable storage medium 1601, on which a computer program is stored, and the computer program is executed by a processor to perform the part assembly error determination method as described in any one of the embodiments of the present invention.

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

[0227] Acquire point cloud data and measured coordinate data of the part to be tested;

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

[0229] The dimensional deviation value is determined based on the coordinates of the matching point to be measured and the measured coordinate data;

[0230] Based on the coordinates of the matching point to be measured and the measured coordinate data, the positioning deviation value is determined;

[0231] By combining the dimensional deviation value and the positioning deviation value, the assembly error data of the part is determined.

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

[0233] Determine the target measurement point from the point cloud data;

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

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

[0236] A polynomial fitting is performed between the measured coordinates of the measured coordinate data and the coordinates of the matching point to be measured to obtain the deviation function;

[0237] The dimensional deviation value is determined based on the deviation function.

[0238] Optionally, when the target matching point is a hole point, the step of determining the dimensional deviation value based on the target matching point coordinates and the measured coordinate data includes:

[0239] Construct the surface vector to be tested based on the coordinates of the matching points to be tested;

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

[0241] The rotation axis vector is generated by cross-multiplying the measured surface vector and the surface vector to be measured.

[0242] Based on the rotation axis vector, the coordinates of the matching point to be measured are converted into the coordinates of the first rotation point;

[0243] Calculate the difference between the coordinates of the rotation point and the measured coordinates of the measured coordinate data to determine the dimensional deviation value.

[0244] Optionally, 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:

[0245] The positioning vector is determined based on the coordinates of the matching point to be measured.

[0246] Based on the positioning vector, the coordinates of the matching point to be measured are converted 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] The offset deviation is determined based on the difference between the coordinates of the second rotation point and the measured coordinates of the measured coordinate data.

[0249] The positioning deviation value is determined by combining the rotational deviation and the offset deviation.

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

[0251] Determine the target reference plane;

[0252] 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 coordinates of the intersection node;

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

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

[0255] Optionally, the method further includes:

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

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

[0258] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products 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 code.

[0259] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0260] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The 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 equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0262] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0263] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0264] The foregoing has provided a detailed description of a method for determining part assembly error, a device for determining part assembly error, an electronic device, and a storage medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method of determining a part assembly error, the method comprising: The method comprises the following steps: obtaining point cloud data and measured coordinate data of a part to be measured; determining a to-be-measured matching point coordinate from the point cloud data; determining a size deviation value according to the to-be-measured matching point coordinate and the measured coordinate data; determining a positioning deviation value according to the to-be-measured matching point coordinate and the measured coordinate data; combining the size deviation value and the positioning deviation value to determine part assembly error data; the step of combining the size deviation value and the positioning deviation value to determine part assembly error data comprises: determining a target reference surface; converting the to-be-measured matching point coordinate based on the size deviation value and the positioning deviation value to obtain an intersection node coordinate; calculating the point-surface distance between the intersection node coordinate and the target reference surface; determining part assembly error data based on the point-surface distance.

2. The method of claim 1, wherein, The step of determining a to-be-measured matching point coordinate from the point cloud data comprises: determining a target measurement point in the point cloud data; determining a to-be-measured matching point coordinate within a preset range of the target measurement point.

3. The method of claim 1, wherein, The step of determining a size deviation value according to the to-be-measured matching point coordinate and the measured coordinate data comprises: performing polynomial fitting on the measured coordinate of the measured coordinate data and the to-be-measured matching point coordinate to obtain a deviation function; determining a size deviation value based on the deviation function.

4. The method of claim 1, wherein, When the to-be-measured matching point of the to-be-measured matching point coordinate is a hole point, the step of determining a size deviation value according to the to-be-measured matching point coordinate and the measured coordinate data comprises: constructing a to-be-measured surface vector based on the to-be-measured matching point coordinate; constructing a measured surface vector based on the measured coordinate data; cross-multiplying the measured surface vector and the to-be-measured surface vector to generate a rotation axis vector; converting the to-be-measured matching point coordinate into a first rotated point coordinate based on the rotation axis vector; calculating the difference between the rotated point coordinate and the measured coordinate of the measured coordinate data to determine a size deviation value.

5. The method of claim 1, wherein, The step of determining a positioning deviation value according to the to-be-measured matching point coordinate and the measured coordinate data comprises: determining a positioning vector based on the to-be-measured matching point coordinate; converting the to-be-measured matching point coordinate into a second rotated point coordinate based on the positioning vector; combining the second rotated point coordinate and the to-be-measured matching point coordinate based on a preset rotation formula to generate a rotation deviation; determining an offset deviation based on the difference between the second rotated point coordinate and the measured coordinate of the measured coordinate data; combining the rotation deviation and the offset deviation to determine a positioning deviation value.

6. The method of claim 1, wherein, The method further comprises: performing part assembly based on the part assembly error data.

7. A part fit error determination apparatus, characterized by, The method comprises the following steps: an acquisition module for obtaining point cloud data and measured coordinate data of a part to be measured; a first determination module for determining a to-be-measured matching point coordinate from the point cloud data; a second determination module for determining a size deviation value according to the to-be-measured matching point coordinate and the measured coordinate data; a third determination module for determining a positioning deviation value according to the to-be-measured matching point coordinate and the measured coordinate data; an error calculation module for combining the size deviation value and the positioning deviation value to determine part assembly error data; the error calculation module comprises: The target reference surface determining submodule is configured to determine a target reference surface; The intersection node coordinate determining submodule is configured to convert the to-be-tested matching point coordinate based on the size deviation value and the positioning deviation value to obtain an intersection node coordinate; The point-to-surface distance calculating submodule is configured to calculate a point-to-surface distance between the intersection node coordinate and the target reference surface; The part assembly error data determining submodule is configured to determine part assembly error data based on the point-to-surface distance.

8. An electronic device, comprising: A computer program is stored on the computer readable storage medium and is executable on the processor to implement the steps of the part assembly error determining method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer readable storage medium and is executable on the processor to implement the steps of the part assembly error determining method according to any one of claims 1 to 6.

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