Object height difference measuring method and device and electronic equipment

Abstract

The invention discloses an object height difference measuring method and device and electronic equipment. The method comprises the following steps: receiving a measurement mode which is set through a display interface and aims at a target object; based on the measurement mode, determining a target configuration file for performing height difference measurement on the target object; based on the target configuration file, a three-dimensional camera is adopted to collect three-dimensional point cloud data of the target object, height difference measurement is carried out on the target object, a height difference measurement result is obtained, and the height difference measurement result is used for indicating the height difference between the measurement surface of the target object and the reference surface; and displaying the height difference measurement result on a display interface. According to the invention, the technical problem that the height difference measurement efficiency is low when the height difference measurement is carried out on the target object in a mode of independently setting the configuration file in the related technology is solved.

Description

Technical Field

[0001] This invention relates to the field of data processing, and more specifically, to a method, apparatus, and electronic device for measuring the height difference of an object. Background Technology

[0002] In the production process, to control the correctness and quality of product assembly, it is necessary to measure relevant data after each process. The correctness and quality of the assembly are judged by whether the data meets predetermined requirements. Height difference is a common type of production process monitoring data. In discrete manufacturing, height rulers are often used to measure the height difference of products, with data read, judged, and recorded manually. In process manufacturing, 3D cameras are often used for measurement, with data read, judged, and recorded automatically. However, the use of 3D cameras for height difference measurement in process manufacturing is complex because 3D processing software requires specialized technicians to establish measurement procedures and generate configuration files for different products and varying height difference measurement requirements. This process leads to low efficiency in height difference measurement.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a method, apparatus, and electronic device for measuring the height difference of an object, which at least solves the technical problem of low efficiency in height difference measurement when measuring the height difference of a target object by setting a separate configuration file in related technologies.

[0005] According to one aspect of the present invention, a method for measuring the height difference of an object is provided, comprising: receiving a measurement mode for a target object set through a display interface; determining a target profile for measuring the height difference of the target object based on the measurement mode; acquiring three-dimensional point cloud data of the target object using a three-dimensional camera based on the target profile, measuring the height difference of the target object, and obtaining a height difference measurement result, wherein the height difference measurement result is used to indicate the height difference between the measurement surface of the target object and a reference surface; and displaying the height difference measurement result on the display interface.

[0006] According to another aspect of the present invention, an object height difference measuring device is also provided, comprising: a receiving module for receiving a measurement mode for a target object set through a display interface; a determining module for determining a target profile for measuring the height difference of the target object based on the measurement mode; a measuring module for acquiring three-dimensional point cloud data of the target object using a three-dimensional camera based on the target profile, measuring the height difference of the target object, and obtaining a height difference measurement result, wherein the height difference measurement result is used to indicate the height difference between the measurement surface of the target object and a reference surface; and a display module for displaying the height difference measurement result on the display interface.

[0007] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement any one of the object height difference measurement methods.

[0008] In this embodiment of the invention, a measurement mode for a target object is received via a display interface; based on the measurement mode, a target configuration file for measuring the height difference of the target object is determined; based on the target configuration file, a 3D camera is used to collect 3D point cloud data of the target object, and the height difference of the target object is measured to obtain a height difference measurement result, wherein the height difference measurement result is used to indicate the height difference between the measurement surface and the reference surface of the target object; the height difference measurement result is displayed on the display interface, thereby achieving the purpose of selectively selecting the corresponding target configuration file according to the measurement mode to measure the height difference of the object, thus improving the technical effect of increasing the efficiency of height difference measurement for the target object, and solving the technical problem of low height difference measurement efficiency in related technologies that use separate configuration files to measure the height difference of the target object. Attached Figure Description

[0009] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0010] Figure 1 This is a flowchart of an object height difference measurement method according to an embodiment of the present invention;

[0011] Figure 2 This is a schematic diagram of an optional conventional measurement interface according to an embodiment of the present invention;

[0012] Figure 3This is a schematic diagram of an optional setting measurement interface according to an embodiment of the present invention;

[0013] Figure 4 This is a schematic diagram of an optional verification and measurement interface according to an embodiment of the present invention;

[0014] Figure 5 This is a schematic diagram of an optional parameter configuration interface for finding a planar position based on a height range according to an embodiment of the present invention;

[0015] Figure 6 This is an optional parameter configuration flowchart for finding a planar position based on a height range according to an embodiment of the present invention;

[0016] Figure 7 This is a schematic diagram of an optional planar point cloud processing flow based on height interval to find planar positions according to an embodiment of the present invention;

[0017] Figure 8 This is a schematic diagram of an optional parameter configuration interface for finding a planar position based on the center of a circle, according to an embodiment of the present invention.

[0018] Figure 9 This is an optional parameter configuration flowchart for finding a planar position based on the center of a circle according to an embodiment of the present invention;

[0019] Figure 10 This is a schematic diagram of an optional planar point cloud processing flow based on finding the planar position of a circle according to an embodiment of the present invention;

[0020] Figure 11 This is a schematic diagram of an optional software architecture according to an embodiment of the present invention;

[0021] Figure 12 This is a schematic diagram of an object height difference measuring device according to an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] KL nearest neighbors, when performing local geometric feature estimation, such as plane fitting or normal vector calculation, selects the K points closest to a given point (query point). Here, K is a pre-set parameter used to control the number of points considered when estimating local features. Random Sample Consensus (RANSAC) is a robust algorithm commonly used in computer vision, image processing, and machine learning for data fitting. Its main purpose is to estimate model parameters from datasets containing outliers.

[0025] According to an embodiment of the present invention, a method for measuring the height difference of an object is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0026] Figure 1 This is a flowchart of an object height difference measurement method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0027] Step S102: Receive the measurement mode for the target object set through the display interface;

[0028] Optionally, this embodiment is applied to a scenario where products are assembled based on production equipment. The target object can be a product produced by the production equipment, such as a robot or robot components.

[0029] Optionally, the display interface is the interface through which the software interacts with the user, including graphical user interface (GUI) elements such as buttons, drop-down menus, and text input boxes, as well as a three-dimensional (3D) display area for intuitively displaying point cloud data and measurement results for the target object. This measurement mode is used to instruct the user to select or set the measurement process according to specific products and measurement needs. It may include, but is not limited to, switching modes, regular measurement modes, setting measurement modes, calibration measurement modes, and other auxiliary modes. For example, in setting measurement mode, the user can select different measurement types (such as finding a plane based on the height center or finding a plane based on the circle center) and set relevant parameters, such as the positions of the standard plane, reference plane, and measurement plane, the point cloud processing method, and the control parameters of the camera and motors, through the menus and options on the display interface. When the user selects or configures a specific measurement mode, the software receives this setting information. The setting process can be completed by selecting predefined measurement types or custom parameters, thereby ensuring adaptability to various measurement scenarios, not just specific product or height difference measurement needs.

[0030] The measurement state switching mode controls the interaction between the software and production equipment, ensuring safe and accurate entry into or exit from the measurement mode. The regular measurement mode executes preset measurement procedures to perform batch height difference measurements on products, suitable for standardized inspections of known measurement types. The setting measurement mode allows users to customize measurement procedures and parameters and create new measurement type configuration files according to specific products and measurement needs, enabling the software to flexibly handle different measurement tasks. The calibration measurement mode is used to calibrate and verify the measurement system before formal measurement or after equipment adjustment, ensuring the normal operation of the 3D camera and the accuracy of its installation height, which is a key step in ensuring the validity of measurement results.

[0031] Optionally, the target configuration file contains all the parameters and instructions required for the measurement. Upon receiving the measurement mode set by the user through the display interface, a configuration file corresponding to that measurement mode is generated or loaded. This configuration file guides the 3D camera on how to acquire point cloud data and how to process this data to calculate the height difference measurement results.

[0032] Step S104: Based on the measurement mode, determine the target configuration file for measuring the height difference of the target object;

[0033] Optionally, in the software's "Set Measurement Mode" interface, users can select a predefined measurement mode from a drop-down menu. Based on this mode, the method for obtaining the corresponding target test file is determined. The configuration file is essentially a set of instructions for the software to execute measurement tasks. After the user selects a measurement mode and sets relevant parameters, a target configuration file is generated or defined based on this information. This target configuration file contains detailed parameters required for the 3D camera to acquire point cloud data, including but not limited to point cloud preprocessing parameters (such as sampling factor and surface roughness), point cloud processing algorithm parameters (such as the maximum angle between the point normal vector and the z-axis, and finding KL nearest neighbors for the normal vector), and settings for identifying the standard surface, reference surface, and measurement surface. Furthermore, the configuration file may also include motor control parameters (such as step size and area spacing) for precise control of the equipment's movement during measurement. The configuration file is automatically generated or loaded based on the user-selected measurement mode, adapting to different measurement scenarios. Even with new products or new measurement needs, measurement personnel only need to make minor parameter adjustments in the configuration file to quickly build a new measurement workflow, greatly simplifying the complex setup steps required by professional technicians in traditional measurement processes.

[0034] In one optional embodiment, based on the measurement mode, a target configuration file for measuring the height difference of the target object is determined, including: when the measurement mode is a regular measurement mode or a verification measurement mode, calling the target configuration file that matches the target object from multiple configuration files; or when the measurement mode is a setting measurement mode, displaying a parameter configuration page on the display interface and configuring the target configuration file through the parameter configuration page.

[0035] Optionally, the standard measurement mode indicates that product height difference measurements are performed via a configuration file, while the verification measurement mode indicates that the position parameters of the 3D camera are verified via a configuration file. In standard measurement mode, several configuration files are preset for different types of measurement tasks. When the user selects standard measurement mode for height difference measurement, the software retrieves the configuration file matching the target object from the preset configuration file library—the target configuration file. For example, the user only needs to enter the measurement number and select the corresponding measurement type; the software automatically loads the appropriate configuration file and starts the measurement process without requiring additional manual parameter settings. Similar to standard measurement mode, verification measurement mode also retrieves configuration files matching qualified and unqualified products from the preset configuration files to verify whether the 3D camera's installation height and operating status meet the measurement requirements. This process is also automated; after the user selects verification measurement mode, the software automatically loads and uses the preset configuration file for measurement.

[0036] Optionally, when a user measures a new product for the first time or needs to customize the measurement process, the software will enter a measurement setup mode. In this mode, a parameter configuration page will be displayed, where the user can customize the target profile. Profile settings include, but are not limited to, selecting the measurement type, setting parameters for the standard plane, reference plane, and measurement plane, as well as modifying the control parameters of the camera and motor. Through user interface elements such as sliders, input boxes, and selection menus, users can easily adjust these parameters and generate new target profiles based on their settings to suit specific measurement needs.

[0037] The above methods enhance the flexibility and adaptability of product height difference measurement in scenarios involving product assembly on production equipment. The standard measurement mode and calibration measurement mode, by calling preset configuration files, simplify the daily measurement and equipment calibration process, enabling measurement personnel to quickly perform batch measurements and equipment status checks. Setting measurement modes allows users to customize parameters and create new configuration files based on new production or measurement scenarios, ensuring adaptability to various height difference measurement needs. This approach not only improves measurement efficiency but also reduces the technical requirements for operators, allowing even non-professionals to perform accurate height difference measurements.

[0038] Optionally, different measurement modes can correspond to different operation pages; that is, the page format displayed on the screen will differ depending on the measurement mode selected by the user. Figure 2 This is a schematic diagram of an optional conventional measurement interface according to an embodiment of the present invention. When the user selects the conventional measurement mode, the display interface shows, as follows: Figure 2 The standard measurement interface shown allows you to select the target configuration file. Figure 3 This is a schematic diagram of an optional measurement setting interface according to an embodiment of the present invention. When the user selects the measurement mode as the measurement setting mode, the display interface shows, as follows: Figure 3 The settings measurement interface shown allows you to generate a configuration file by filling in the various configuration items included in the settings measurement interface; Figure 4 This is a schematic diagram of an optional verification measurement interface according to an embodiment of the present invention. When the user selects the verification measurement mode, the display interface shows, as follows: Figure 4 The calibration and measurement interface shown allows you to select a configuration file.

[0039] In one optional embodiment, when the measurement mode is set to measurement mode, a parameter configuration page is displayed on the display interface, and the target configuration file is configured through the parameter configuration page. This includes: when the measurement mode is set to measurement mode, detecting whether there is an associated configuration file among multiple configuration files that is associated with the target object, wherein the associated configuration file is the configuration file corresponding to the product associated with the target object; if no associated configuration file is detected, a first parameter configuration page is displayed on the display interface, and the target configuration file is configured through the first parameter configuration page; or if an associated configuration file is detected, a second parameter configuration page corresponding to the associated configuration file is displayed on the display interface, and the target configuration file is configured through the second parameter configuration page.

[0040] Optionally, when the user selects to set a measurement mode, the software checks the configuration file library for a configuration file associated with the target object (the product or part to be measured). Associated configuration files refer to those previously created for similar or identical target objects, meaning they already contain basic parameters and procedures for measuring that type of object. If the software does not detect a configuration file associated with the target object in the configuration file library, it displays the first parameter configuration page. This first parameter configuration page can be blank, allowing the user to set all parameters from scratch, including the measurement type, point cloud processing flow, definitions of the standard surface, reference surface, and measurement surface, as well as control parameters for the camera and motors. Users can customize the configuration file to suit new measurement needs by selecting menus, input boxes, and sliders. Conversely, if a configuration file associated with the target object exists in the configuration file library, a second parameter configuration page—a parameter configuration page based on the associated configuration file—is displayed. The second parameter configuration page preloads the parameters from the associated configuration file, allowing users to fine-tune or modify them. This saves users time and avoids repeatedly setting the same parameters, especially when the types of products to be measured are similar or the parameter adjustments are minor.

[0041] Optionally, regardless of whether the parameters are configured through the first or second parameter configuration page, once the user completes the settings and saves them, the software will generate or update the target configuration file. Afterwards, the user can select this target configuration file in the normal measurement mode. The software will then control the 3D camera to acquire point cloud data of the target object based on the parameters in the target configuration file, and perform height difference measurements to obtain the final measurement results. This method ensures that the height difference measurement method in this embodiment can adapt to various measurement scenarios, and improves measurement efficiency and consistency through the saving and reuse of configuration files.

[0042] By employing the above methods, the displayed parameter configuration page is automatically adjusted based on the type of the target object, thereby simplifying the user's setup process. This is particularly beneficial when dealing with a large number of different products or when rapid adjustments to measurement parameters are required, significantly improving work efficiency. Furthermore, by detecting and displaying associated configuration files, it helps users quickly find a suitable starting point, reducing parameter setting time and the possibility of errors.

[0043] In one optional embodiment, configuring the target configuration file through the first parameter configuration page includes: receiving first configuration information for the configuration items included in the first parameter configuration page; and generating the target configuration file based on the first configuration information.

[0044] Optionally, in measurement mode, if a configuration file associated with the target object is not detected in the configuration file library (i.e., no parameter settings are predefined for similar products), the first parameter configuration page will be displayed. This page is blank and contains all necessary configuration items and input controls, allowing users to customize a complete configuration scheme for new measurement tasks. Configuration items may include, but are not limited to, measurement type, point cloud processing parameters, definitions of standard surface, reference surface, and measurement surface, as well as motor control parameters. While performing various configurations on the first parameter configuration page, the user receives the first configuration information generated by these operations in real time. The first configuration information consists of specific parameter values ​​input or selected by the user based on the characteristics of the target object and measurement requirements. For example, the user may need to define the measurement surface search process (such as a parameter configuration interface for finding plane positions based on height intervals or circle center), set the downsampling factor of the point cloud data, specify parameters such as surface roughness and the maximum angle between the point normal vector and the z-axis in the 3D plane. Once the user completes the configuration and confirms saving, a target configuration file is generated based on the received first configuration information. This target configuration file contains all parameters and settings defined by the user on the first parameter configuration page and serves as the instruction set for subsequent measurement tasks. The generation of the configuration file means that the software has a complete set of operating guidelines, which can be used to control the 3D camera to acquire 3D point cloud data of the target object, perform height difference measurement, and output the measurement results.

[0045] In this embodiment, through the first parameter configuration page, users can tailor a measurement plan for each new target object, including selecting the most suitable point cloud processing flow and adjusting parameters to optimize measurement accuracy and efficiency. By generating a target configuration file, the software ensures that the user-defined parameters are executed accurately, resulting in the most suitable measurement results. This ability to customize configuration files is crucial for handling diverse production environments and product types, as well as meeting specific measurement needs, thus contributing to improved measurement accuracy and production efficiency.

[0046] In an optional embodiment, when there are multiple first parameter configuration pages, configuring a target configuration file through the first parameter configuration pages includes: receiving a selection operation for a target parameter configuration page among the multiple first parameter configuration pages, wherein the multiple first parameter configuration pages include at least: a parameter configuration interface for finding a planar position based on a height range, and a parameter configuration interface for finding a planar position based on the center of a circle; determining a target planar point cloud processing flow that matches the target parameter configuration page from multiple planar point cloud processing flows, wherein the multiple first parameter configuration pages and multiple planar point cloud processing flows correspond one-to-one; receiving target configuration information for the configuration items included in the target parameter configuration page; and generating a target configuration file based on the target configuration information and the target planar point cloud processing flow.

[0047] Optionally, the parameter configuration interface for finding a plane based on a height interval refers to an interface where users set specific parameters in the software. By defining height intervals, point cloud processing details, etc., users can configure how the software identifies and measures a plane from point cloud data. This is particularly suitable for scenarios where the location of a plane is determined based on height differences. The parameter configuration interface for finding a plane based on the center of a circle refers to a software interface where users set parameters related to circular features, such as the theoretical diameter of the circle and point cloud calibration angles, to guide the software on how to determine a plane from point cloud data by identifying the center of the circle. This is suitable for measuring the height difference of planes with clearly defined center features.

[0048] Optionally, if no configuration file is found to be associated with the target object, it will display multiple first parameter configuration pages for the user to choose from. These pages correspond to different point cloud processing workflows. Each parameter configuration page has preset specific parameter configuration items, designed specifically for a particular point cloud processing workflow, such as a parameter configuration interface for finding planar positions based on height ranges and a parameter configuration interface for finding planar positions based on circle centers. Users can select the page that best suits their needs from the multiple first parameter configuration pages, i.e., the target parameter configuration page, based on the characteristics of the target object (such as surface shape, measurement accuracy requirements, etc.) and measurement requirements.

[0049] The selection process can be completed through, but is not limited to, clicking, drop-down menus, or other interactive methods. The target planar point cloud processing flow can be determined based on the user-selected target parameter configuration page. For example, if the user selects a parameter configuration interface that uses height intervals to find planar positions, then the target flow will be determined based on height interval point cloud processing, and vice versa. This flow determination is based on the design of the configuration page and the preset parameter configuration items, ensuring that subsequent point cloud processing can be targeted. When the user sets or adjusts parameters on the target parameter configuration page, the software will receive the target configuration information generated by these operations in real time. The target configuration information includes the parameter values ​​of all configuration items entered by the user according to the characteristics of the target object, such as surface roughness, the maximum angle between the point normal vector and the z-axis, the downsampling factor, and the interval surface number. These parameters will directly guide the subsequent point cloud processing flow.

[0050] Finally, based on the received target configuration information and the determined target plane point cloud processing flow, a target configuration file is generated. This configuration file contains all the parameters of the point cloud processing flow selected by the user and is the detailed instruction for the software to perform height difference measurement. The generated target configuration file not only includes the definitions of the measurement surface, reference surface, and standard surface, but can also include detailed steps and parameters for point cloud processing, thereby ensuring that the software can perform accurate measurements according to the conditions set by the user, thus obtaining accurate height difference measurement results.

[0051] Optional, Figure 5 This is a schematic diagram of an optional parameter configuration interface for finding planar positions based on height intervals according to an embodiment of the present invention. Figure 6 This is an optional parameter configuration flowchart for finding a planar position based on a height interval according to an embodiment of the present invention, such as... Figure 6 As shown, the parameter configuration process for finding planar positions based on height intervals specifically includes:

[0052] Step S61, configure the parameters for the height interval-based plane location search process: If the user-selected parameter configuration page is a schematic diagram of the parameter configuration interface for height interval-based plane location search, the display interface will show, as follows: Figure 5 The parameter configuration interface shown contains all configuration items related to finding the planar position based on the height interval, such as area spacing, movement step size, downsampling factor, surface roughness, maximum angle between the point normal vector and the z-axis, downsampling factor, and interval surface number. Users can input or select specific values ​​for these parameters according to the characteristics of the target object (product or component) and measurement requirements.

[0053] Step S62, modify the predefined parameters: the user, for example... Figure 5When setting parameters on the parameter configuration page, users can adjust parameter values ​​using interface elements such as input boxes, sliders, or drop-down menus to optimize the point cloud processing workflow. For example, users can set the region spacing to 10, meaning that the software will search for regions with a distance of 10 in the point cloud data to identify the plane; setting the movement step size to 1 means that during the search process, the software will move in increments of 1 unit to find the most suitable location of the plane.

[0054] Step S63, Selecting the Plane's Height Range with the Slider: After setting the parameters, the user can select the height range of the plane by sliding a specific slider. This step is a crucial operation in the actual point cloud processing workflow. The software will analyze and segment the point cloud data based on the user-selected range to identify the plane located within that height range.

[0055] Step S64, Check the interval plane: To ensure that a suitable plane does exist within the selected interval, a check step is performed to analyze the point cloud data and see if a plane that meets the preset parameters can be identified. If a target plane is found within the selected interval, the software will continue to the next step; if not, the software may prompt the user to reselect the interval or adjust other parameters, such as "surface roughness" or "normal vector to find KL nearest neighbor points," to optimize the interval plane identification process.

[0056] Step S65, Select the interval number of the plane: After the target plane is successfully identified, the user needs to select the interval number of the plane. This step is to ensure that the software can execute the point cloud processing flow in the correct order and logic. For example, if multiple planes are identified in multiple height intervals, the user needs to specify which plane is used as a standard plane, reference plane, or measurement plane, which directly affects the calculation of the height difference.

[0057] Step S66, Obtain the target plane: Through the above steps, the software will finally identify and obtain the target plane, which is a key achievement of the point cloud processing workflow. Obtaining the target plane means that the software can perform subsequent height difference calculations based on this plane, providing users with accurate measurement data.

[0058] Process End: Once the target plane is correctly identified and acquired, the parameter configuration process ends. All configuration parameters are saved, a target configuration file is generated, and the system is ready to perform the height difference measurement task on the target object in normal measurement mode according to the target configuration file. Figure 7 This is a schematic diagram of an optional planar point cloud processing flow based on height interval search of planar position according to an embodiment of the present invention. In the subsequent height difference measurement stage, based on the target configuration file, methods such as... Figure 7The illustrated planar point cloud processing workflow performs planar lookup to measure the height difference of a target object. The workflow first sorts the point cloud data along the Z-axis and performs pass-through filtering to segment the point cloud within the target height region. Then, by calculating the normal vectors of the point cloud, the RANSAC algorithm is used for planar fitting. Statistical filtering is applied to the fitted planar point cloud to remove outliers. Finally, the effective values ​​of the plane (mean and standard deviation) are calculated to identify the measurement surface and the reference surface.

[0059] The above process design ensures that users can flexibly adjust the parameters of the point cloud processing algorithm according to the specific needs of the product, enabling the software to achieve optimal measurement accuracy and efficiency when processing different products. Through an intuitive interface and interactive methods, users can easily configure parameters, while the software automatically performs complex point cloud analysis and processing, outputting accurate measurement results.

[0060] Optional, Figure 8 This is a schematic diagram of an optional parameter configuration interface for finding a planar position based on the center of a circle, according to an embodiment of the present invention. Figure 9 This is an optional parameter configuration flowchart for finding a planar position based on the center of a circle according to an embodiment of the present invention, such as... Figure 9 As shown, the parameter configuration process for finding planar positions based on height intervals specifically includes:

[0061] Step S91, Configure parameters for the circle center-based plane location search process: When the user selects the measurement type in the parameter configuration interface for the circle center-based plane location search, the software will display as follows: Figure 8 The parameter configuration page is shown. On this page, users can configure various parameters, including but not limited to: the theoretical diameter of the reference circle, the maximum diameter of the search circle, the minimum diameter of the search circle, the downsampling factor, the X-axis correction angle, and the Y-axis correction angle. These parameters will guide the software on how to identify and extract the target plane from the point cloud data.

[0062] Step S92, modify the predefined parameters: the user can, for example... Figure 8 On the parameter configuration page shown, you can adjust or enter specific values ​​for these parameters to suit the characteristics of the target object. For example, the theoretical diameter of the reference circle may need to be set based on the size of the circular features on the target object; finding the maximum and minimum diameters of the circular surface is used to determine the range of the target surface; the downsampling factor and correction angle are used to optimize the processing efficiency and accuracy of the point cloud data.

[0063] Step S93, Check the interval plane: After the parameters are configured, a check step is performed to ensure that a plane can be found around the selected center of the circle. Users can use the software's preview function to visually see whether the plane extracted from the point cloud data meets expectations. If it does not meet expectations, the diameter range of the search circle or other parameters can be further adjusted or corrected.

[0064] Step S94, Select the interval number of the plane: The software can identify multiple planes. The user needs to select the plane relevant to the measurement task, i.e., the interval number of the target plane. Selecting this number ensures that the software can accurately locate the specific plane on the target object for subsequent height difference measurements.

[0065] Step S95: Determine if the target plane has been acquired: Extract the target plane from the point cloud data according to the parameters set by the user. If the target plane is successfully acquired, proceed to the next step to perform measurement; if not acquired, the software may prompt the user to check the parameter settings again, or try other point cloud processing procedures.

[0066] Process End: Once the target plane is successfully acquired, the parameter configuration process ends. The software saves all user settings and generates a target configuration file to guide subsequent height difference measurement tasks. This target configuration file contains all the information entered by the user on the parameter configuration page and is the instruction set for the software to execute the measurement task. Figure 10 This is a schematic diagram of an optional planar point cloud processing flow based on finding the planar position based on the center of a circle, according to an embodiment of the present invention. In the subsequent height difference measurement stage, based on the target configuration file, methods such as... Figure 10 The illustrated planar point cloud processing workflow measures the height difference of a target object. The workflow first sorts the point cloud along the Z-axis and calibrates it along the X and Y axes, reducing its dimensionality to a two-dimensional depth map. Then, it extracts the depth map contour to determine the target region. Next, it calculates the normal vector of the point cloud in the target region, finds a reference point through circular contour matching, performs hierarchical clustering, sorting, and RANSAC plane fitting on the point cloud data, and finally performs statistical filtering and calculates the effective value to identify the measurement surface and the reference surface.

[0067] In summary, this embodiment provides multiple first parameter configuration pages, allowing users to select the most suitable point cloud processing flow based on the characteristics of the specific target object and measurement requirements. Then, by generating the corresponding target configuration file using relevant configuration information, the software ensures that it can execute the user-customized measurement tasks and achieve high-precision measurement results. This highly customizable configuration flow has significant application value for handling complex and ever-changing industrial measurement scenarios and meeting the personalized measurement needs of different products.

[0068] In one optional embodiment, configuring the target configuration file through the second parameter configuration page includes: receiving a modification operation on the configuration items of the associated configuration file included in the second parameter configuration page, obtaining the modified associated configuration file; and generating the target configuration file based on the modified associated configuration file.

[0069] Optionally, when the user selects to set a measurement mode, the software first checks the configuration file library for similar or identical associated configuration files to the target object (i.e., the new product or part to be measured). These associated configuration files include the basic parameters and process settings used when measuring similar objects previously. If an associated configuration file is detected, a second parameter configuration page is displayed. This page preloads the parameter settings from the associated configuration file, which may include, but are not limited to, measurement type, point cloud processing flow, definitions of standard surface, reference surface, and measurement surface, as well as camera and motor control parameters. The display of the second parameter configuration page provides users with a starting point based on prior experience, saving users time and effort. On the second parameter configuration page, users can adjust the parameters in the associated configuration file according to the characteristics of the new target object and measurement requirements. Through interface elements such as input boxes, sliders, and drop-down menus, users can modify various measurement-related parameters, such as the downsampling factor of the point cloud, surface roughness, the maximum angle between the point normal vector and the z-axis, and the interval surface number. The software receives these modifications in real time and updates the associated configuration file to reflect the user's specific needs. Once the user completes all necessary modifications and confirms saving, a target configuration file is generated based on the modified associated configuration file. This newly generated configuration file contains all the parameter settings adjusted by the user and serves as the instruction set for the software to execute new measurement tasks. Based on the target configuration file, it can control the 3D camera to acquire 3D point cloud data of the target object, perform height difference measurements, and output measurement results that meet the user's requirements.

[0070] In this embodiment, by displaying a second parameter configuration page and receiving user modifications to the associated configuration file, a starting point for parameter settings based on prior experience can be provided to the user. The user only needs to make necessary fine-tuning to generate a target configuration file adapted to the new measurement task. This not only saves the user's time and reduces errors during configuration, but also ensures the consistency and accuracy of measurements. This mechanism is particularly useful for production environments that require frequent measurements of different but similar product types, significantly improving measurement efficiency, reducing repetitive work, and ensuring high-quality measurement results.

[0071] Step S106: Based on the target configuration file, a 3D camera is used to collect 3D point cloud data of the target object, and the height difference of the target object is measured to obtain the height difference measurement result. The height difference measurement result is used to indicate the height difference between the measurement surface of the target object and the reference surface.

[0072] Optionally, if the target object is produced based on the production equipment and enters the height difference measurement stage for the target object, the height difference measurement result can be obtained by using a 3D camera to collect the 3D point cloud data of the target object based on the target configuration file.

[0073] Optionally, after determining the target configuration file, the 3D camera is activated to scan the target object according to the parameters and control commands specified in the target configuration file, thereby acquiring the 3D point cloud data of the target object. Point cloud data is a collection of data representing the positions of points on the surface of the target object in 3D space. It may include, but is not limited to, the X, Y, and Z coordinates of each point, and may also include additional attributes such as color and reflectivity. The acquired point cloud data will be analyzed according to the point cloud processing workflow in the target configuration file. Two typical point cloud processing workflows include: a planar point cloud processing workflow for finding planar positions based on height intervals and a planar point cloud processing workflow for finding planar positions based on the center of a circle. After processing the point cloud data and identifying the measurement surface and the reference surface, the height difference between the two planes is calculated. The height difference measurement result refers to the positional difference of the measurement surface relative to the reference surface in the vertical direction. This result is obtained through software analysis of the point cloud data and can reflect the height differences of the target object in a specific area. After obtaining the height difference measurement results, the height difference measurement results are displayed intuitively on the display interface. The height difference value can be displayed in numerical form, and the position and size of the height difference can be visualized on the 3D model using color coding or arrow markings, so that users can quickly understand and judge the measurement results.

[0074] Based on user-customized configuration files, the system automatically controls a 3D camera to acquire point cloud data and uses advanced algorithms to process the point cloud, identifying the measurement surface and the reference surface. This accurately calculates the height difference and displays the results intuitively. This not only improves measurement accuracy and efficiency but also greatly simplifies user operation, enabling even non-professionals to perform high-precision height difference measurements.

[0075] Step S108: Display the height difference measurement results on the display interface.

[0076] Optionally, the display interface serves as the window through which the software interacts with the user, and its design should balance functionality and intuitiveness. This display interface can contain several areas, Figure 2Taking a typical measurement interface as an example, the display may include, but is not limited to, a measurement option area, a control button area, a 3D display area, a status display area, and auxiliary function buttons. The measurement option area provides a drop-down menu for measurement types and a measurement number input box, facilitating pre-measurement settings. The control button area includes buttons such as "Manual Zeroing," "Start Test," and "Manual Stop," allowing users to control the measurement process. The 3D display area visualizes the 3D model of the target object and the measurement point cloud data, and displays measurement results through color coding or markings, such as the height difference between the measurement surface of the target object and the reference surface. The status display area may include a progress bar, an elapsed time display, and a measurement record display, helping users monitor the measurement progress and status. Auxiliary function buttons such as "Load Point Cloud" and "Export Point Cloud" allow users to import existing point cloud data for measurement or export measurement results in point cloud format for further analysis.

[0077] The height difference measurement results can be displayed on the screen in one or a combination of the following ways:

[0078] 1) Numerical results: The measured height difference is displayed directly on the interface in numerical form for easy reading by the user;

[0079] 2) Color coding: Color coding is used on the 3D model to indicate the height difference between the measurement surface and the reference surface. The depth or variation of the color indicates the magnitude of the difference. This intuitive visual feedback helps users to immediately identify the problem area.

[0080] 3) Arrows or markers: Add arrows or markers to the model to indicate the position of the measurement surface relative to the reference surface, as well as the height changes in the direction, providing more specific spatial information;

[0081] 4) Reports or logs: The software may also provide options for displaying and exporting detailed reports or logs, recording detailed measurement data and results for easy archiving and subsequent analysis.

[0082] This display interface also allows for user feedback and operational guidance, ensuring users can take appropriate actions based on the displayed results. For example, if the measurement results show an elevation difference exceeding the tolerance range, the software can warn the user through the interface or highlight the abnormal area, while providing options for remeasurement or configuration file adjustment. These methods help improve measurement efficiency and accuracy, reducing user confusion in judgment and operation.

[0083] The above methods provide an intuitive and clear display of measurement results, including numerical values, color coding, and markings, helping users quickly understand the measurement situation, judge the assembly quality of the product, and make necessary adjustments. This visualization is an important component of the software's user experience and functionality.

[0084] In an optional embodiment, the method further includes: during the process of measuring the height difference of the target object, detecting whether there is a trigger signal for the production equipment to perform a predetermined action, wherein the production equipment is the equipment that produces the target object; if the trigger signal is detected, stopping the process of measuring the height difference of the target object, and controlling the production equipment to perform the predetermined action.

[0085] Optionally, during the height difference measurement of the target object, signals emitted by the production equipment are continuously monitored. These signals indicate the status of the production equipment or specific operational points in the production process. The production equipment can be any device used to manufacture or assemble the target object, such as a robotic arm or a specific machine on an automated production line. Trigger signals may include, but are not limited to, emergency stop signals, left and right limit reach signals, and motion command completion signals. These can be emitted by the production equipment when encountering an emergency or reaching a specific position during production or measurement. When the software detects a trigger signal from the production equipment, it immediately stops the ongoing height difference measurement process. For example, if an emergency stop signal is received, the software ensures that all measuring equipment and related operations stop immediately to ensure operator safety and prevent equipment damage. Similarly, if the production equipment reaches a pre-set limit position or completes a certain motion command, the measurement is interrupted, and the production equipment waits to execute the next predetermined action. After stopping the measurement, the software further controls the production equipment to execute predetermined subsequent actions. These actions can be pre-set according to the production process and safety regulations. For example, the production equipment may need to return to zero, stop, reposition, or perform self-checks and maintenance when certain conditions are detected. By communicating with the production equipment through its interface, commands can be issued to control the behavior of the production equipment, ensuring the continuity and safety of the production process.

[0086] The above process takes into account the complexity and safety of industrial measurement scenarios. Through real-time interaction between the software and production equipment, it not only avoids potential risks during production or measurement but also ensures the accuracy of measurement results and the efficient operation of production equipment. For example, when the production equipment reaches a limit position, the software can immediately stop the measurement to prevent the equipment from exceeding its safe operating range; upon receiving an emergency stop signal, the software can respond quickly to ensure the personal safety of operators. Simultaneously, by controlling the production equipment to execute predetermined actions, the software can also be tightly integrated with the production process to achieve automated measurement and production control, improving overall production efficiency and automation levels. This real-time detection and response mechanism is a crucial guarantee for achieving safe, efficient, and accurate measurement.

[0087] In an optional embodiment, when the measurement mode is a verification measurement mode and the target objects include qualified and unqualified products, the method further includes: acquiring 3D point cloud data corresponding to qualified and unqualified products respectively using a 3D camera based on the target configuration file; measuring the height difference between qualified and unqualified products respectively based on the 3D point cloud data corresponding to qualified and unqualified products to obtain the height difference measurement results corresponding to qualified and unqualified products respectively; and adjusting the position parameters of the 3D camera based on the height difference measurement results corresponding to qualified and unqualified products respectively, and the actual height difference corresponding to qualified and unqualified products respectively.

[0088] Optionally, in the verification measurement mode, based on the previously set target configuration file, the 3D camera is controlled to acquire 3D point cloud data corresponding to both qualified and unqualified products. The target configuration file contains specific product measurement procedures and parameter settings, such as point cloud processing algorithms, measurement surface definitions, and camera parameters. This target configuration file ensures that the 3D camera acquires point cloud data for all products in a consistent manner, providing foundational information for subsequent measurement and verification. Using the acquired 3D point cloud data, height difference measurements are performed on both qualified and unqualified products. During the measurement process, point cloud processing procedures are applied, such as procedures for finding plane positions based on height intervals or circle centers, to extract and analyze features in the point cloud data and calculate the height difference between the two planes. Finally, the software obtains the height difference measurement results for both qualified and unqualified products, which will be used for subsequent verification and adjustment. The obtained height difference measurement results are then compared with the actual height differences of both qualified and unqualified products. The actual height difference refers to the known correct value obtained under other measurement conditions or through other measurement methods. This comparison allows for the evaluation of the 3D camera's measurement accuracy and the accuracy of its position. If the measurement results differ significantly from the actual height difference, the position parameters of the 3D camera can be adjusted based on these differences to optimize the camera's measurement position and improve measurement accuracy. Adjustments may include changing the camera's tilt angle, horizontal position, and height to ensure the camera can more accurately capture the product's key measurement features.

[0089] This embodiment ensures the measurement accuracy of the software and the effective utilization of the 3D camera. By measuring the height difference between known qualified and unqualified products in the calibration measurement mode, and adjusting the camera position parameters based on the measurement results, the measurement process can be continuously optimized, improving the reliability and accuracy of the measurement. This is of significant practical importance for applications requiring high-precision measurement, such as robot assembly and precision parts manufacturing, as it helps users promptly identify and resolve measurement problems, ensuring quality control throughout the production process.

[0090] Through the above steps S102 to S108, the purpose of selecting the corresponding target configuration file according to the measurement mode and measuring the height difference of the object can be achieved, thereby improving the technical effect of measuring the height difference of the target object and solving the technical problem of low height difference measurement efficiency in related technologies that measure the height difference of the target object by setting a separate configuration file.

[0091] Based on the above embodiments and optional embodiments, the present invention proposes an optional implementation method. Figure 11 This is a schematic diagram of an optional software architecture according to an embodiment of the present invention. This software architecture is applicable to any of the foregoing object height difference measurement methods, such as... Figure 11 As shown, the software architecture supports: measurement status switching mode, normal measurement mode, measurement setting mode, calibration mode, and other auxiliary modes, among which:

[0092] Regarding the switching mode of measurement states, when the software starts, it is initially in a non-measurement state, performing initialization operations and listening for status signals from the production equipment, such as emergency stop, left and right limit switches, and motion commands, to ensure that the equipment is in a safe and stable state before measurement begins. When the user issues a measurement command through the software interface, the software switches from the non-measurement state to the measurement state and begins executing the measurement task.

[0093] In standard measurement mode, the software first prompts the user to select the measurement type, i.e., the characteristics and requirements of the target object to be measured. Next, the user needs to enter a unique measurement number, which helps the software manage different measurement tasks and ensures data traceability. Then, the software loads a configuration file associated with the selected measurement type, containing the specific measurement parameters and process settings. Afterward, the software controls a 3D camera to perform batch measurements, acquiring 3D point cloud data of the target object, while simultaneously controlling motors to perform left and right movements, acquiring point cloud data from different perspectives or positions. Finally, the software processes the point cloud data, calculates the height difference, and outputs the measurement results.

[0094] In measurement mode settings, the software provides users with a configuration file interface. Users can choose online measurement or load local point cloud data, fill in the basic information for the measurement type, then set the parameters for the standard plane, reference plane, and measurement plane, and finally save the configuration file. This step is used to create new measurement types or adjust the parameters of existing measurement types, ensuring that the software can accurately measure the height difference of a specific product.

[0095] The verification measurement mode is used to verify the accuracy of the software measurements and the correctness of the 3D camera installation position. In verification mode, users can perform measurements using qualified (OK) and unqualified (NG) products with known height differences. The software will output the measurement results. By comparing the measurement results with the known height differences, it can be determined whether the 3D camera needs adjustment and the accuracy of the software measurement process can be verified.

[0096] The software also provides some auxiliary functions, such as displaying measured records, set types, running time, importing and exporting measurement point cloud data and 2D images, etc. These functions help users manage and analyze measurement data, as well as maintain and upgrade the software.

[0097] The overall software architecture is designed to ensure automated measurement processes, efficient data processing, and accurate measurement results. Through interaction between the user interface and hardware devices, the software enables rapid measurement of height differences. Furthermore, the configuration file settings and calibration modes allow the software to adapt to various product measurement needs, improving measurement efficiency and flexibility. In real-world production environments, this architecture significantly enhances the automation level of product quality control, reduces labor costs, and increases production efficiency.

[0098] It should be noted that the software architecture in this embodiment can be a device that can be used independently in many height difference measurement scenarios, with both the final absolute accuracy and repeatability within 5 microns. Replacing a height gauge with this device allows for rapid measurement, accurate data acquisition, and data storage. Replacing conventional 3D camera measurement software solutions with this device, supported by two typical point cloud workflows, allows surveyors to add height difference measurements between two planes of a new product with only minor parameter modifications.

[0099] This embodiment also provides an object height difference measuring device, which is used to implement the above embodiments and preferred embodiments, and will not be repeated as already described. As used below, the terms "module" and "device" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0100] According to an embodiment of the present invention, an apparatus embodiment for implementing the above-described object height difference measurement method is also provided. Figure 12 This is a schematic diagram of the structure of an object height difference measuring device according to an embodiment of the present invention, as shown below. Figure 12 As shown, the above-mentioned object height difference measuring device includes: a receiving module 200, a determining module 202, a measuring module 204, and a display module 206, wherein:

[0101] The receiving module 200 is used to receive the measurement mode for the target object set through the display interface;

[0102] The determining module 202, connected to the receiving module 200, is used to determine the target configuration file for measuring the height difference of the target object based on the measurement mode;

[0103] The measurement module 204, connected to the determination module 202, is used to acquire three-dimensional point cloud data of the target object using a three-dimensional camera based on the target configuration file, measure the height difference of the target object, and obtain the height difference measurement result. The height difference measurement result is used to indicate the height difference between the measurement surface of the target object and the reference surface.

[0104] Display module 206, connected to measurement module 204, is used to display the height difference measurement results on the display interface.

[0105] In this embodiment of the invention, a receiving module 200 is configured to receive a measurement mode for a target object set via a display interface; a determining module 202, connected to the receiving module 200, is configured to determine a target configuration file for measuring the height difference of the target object based on the measurement mode; a measuring module 204, connected to the determining module 202, is configured to acquire 3D point cloud data of the target object using a 3D camera based on the target configuration file, measure the height difference of the target object, and obtain a height difference measurement result, wherein the height difference measurement result is used to indicate the height difference between the measurement surface and the reference surface of the target object; and a display module 206, connected to the measuring module 204, is configured to display the height difference measurement result on the display interface. This achieves the purpose of selectively choosing the appropriate target configuration file based on the measurement mode to measure the height difference of the object, thereby improving the technical effect of increasing the efficiency of height difference measurement for the target object. This solves the technical problem of low height difference measurement efficiency in related technologies where height difference measurement is performed by separately setting a configuration file.

[0106] It should be noted that the above modules can be implemented by software or hardware. For example, for the latter, it can be implemented in the following ways: the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0107] It should be noted that the receiving module 200, determining module 202, measuring module 204, and display module 206 correspond to steps S102 to S108 in the embodiments. The instances and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should be noted that the above modules, as part of the device, can run in a computer terminal.

[0108] It should be noted that the optional or preferred implementation methods of this embodiment can be found in the relevant descriptions in the embodiments, and will not be repeated here.

[0109] The aforementioned object height difference measuring device may also include a processor and a memory. The aforementioned receiving module 200, determining module 202, measuring module 204, display module 206, etc., are all stored in the memory as program modules, and the processor executes the aforementioned program modules stored in the memory to realize the corresponding functions.

[0110] The processor contains a core that retrieves the corresponding program modules from memory. One or more cores may be configured. Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory includes at least one memory chip.

[0111] According to an embodiment of this application, an embodiment of a non-volatile storage medium is also provided. Optionally, in this embodiment, the non-volatile storage medium includes a stored program, wherein, when the program is executed, it controls the device where the non-volatile storage medium is located to perform any of the above-mentioned object height difference measurement methods.

[0112] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals, and the non-volatile storage medium includes stored programs.

[0113] Optionally, during program execution, the device containing the non-volatile storage medium performs the following functions: receiving the measurement mode for the target object set through the display interface; determining the target configuration file for height difference measurement of the target object based on the measurement mode; acquiring 3D point cloud data of the target object using a 3D camera based on the target configuration file, performing height difference measurement on the target object, and obtaining the height difference measurement result, wherein the height difference measurement result is used to indicate the height difference between the measurement surface of the target object and the reference surface; and displaying the height difference measurement result on the display interface.

[0114] According to an embodiment of this application, an embodiment of a processor is also provided. Optionally, in this embodiment, the processor is used to run a program, wherein the program executes any of the above-described object height difference measurement methods.

[0115] According to an embodiment of this application, an embodiment of a computer program product is also provided, which, when executed on a data processing device, is adapted to execute a program that initializes the object height difference measurement method steps described above.

[0116] Optionally, when the above-mentioned computer program product is executed on a data processing device, it is suitable to execute an initialization program having the following method steps: receiving a measurement mode for a target object set through a display interface; determining a target configuration file for measuring the height difference of the target object based on the measurement mode; acquiring three-dimensional point cloud data of the target object using a three-dimensional camera based on the target configuration file, measuring the height difference of the target object, and obtaining a height difference measurement result, wherein the height difference measurement result is used to indicate the height difference between the measurement surface of the target object and the reference surface; and displaying the height difference measurement result on the display interface.

[0117] This invention provides an electronic device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: receiving a measurement mode for a target object set through a display interface; determining a target configuration file for measuring the height difference of the target object based on the measurement mode; acquiring three-dimensional point cloud data of the target object using a three-dimensional camera based on the target configuration file, measuring the height difference of the target object, and obtaining a height difference measurement result, wherein the height difference measurement result is used to indicate the height difference between the measurement surface of the target object and the reference surface; and displaying the height difference measurement result on the display interface.

[0118] The order of the above embodiments of the present invention is merely for description and does not represent the superiority or inferiority of the embodiments.

[0119] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of modules described above can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between modules, and may be electrical or other forms.

[0121] The modules described above as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0122] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0123] If the aforementioned integrated modules are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable non-volatile storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a non-volatile storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned non-volatile storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0124] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for measuring height difference of an object, characterized in that: include: receiving a measurement mode for a target object set through a display interface; Based on the measurement mode, determining a target configuration file for performing height difference measurement on the target object; Based on the target configuration file, a three-dimensional camera is used to collect three-dimensional point cloud data of the target object, and a height difference measurement is performed on the target object to obtain a height difference measurement result, wherein the height difference measurement result is used to indicate a height difference between a measurement surface and a reference surface of the target object; The height difference measurement result is displayed on the display interface.

2. The method according to claim 1, characterized in that The step of determining a target configuration file for performing height difference measurement on the target object based on the measurement mode includes: In a case where the measurement mode is a normal measurement mode or a verification measurement mode, calling the target configuration file that matches the target object from a plurality of configuration files; or When the measurement mode is a setting measurement mode, a parameter configuration page is displayed on the display interface, and the target configuration file is configured through the parameter configuration page.

3. The method according to claim 2, characterized in that When the measurement mode is the setting measurement mode, displaying a parameter configuration page on the display interface, and configuring the target configuration file through the parameter configuration page includes: In a case where the measurement mode is the set measurement mode, detecting whether there is an associated configuration file associated with the target object in the multiple configuration files, wherein the associated configuration file is a configuration file corresponding to a product associated with the target object; In the case where it is detected that the associated configuration file does not exist, displaying a first parameter configuration page on the display interface, and configuring the target configuration file through the first parameter configuration page; or In the case where the associated configuration file is detected to exist, a second parameter configuration page corresponding to the associated configuration file is displayed on the display interface, and the target configuration file is configured through the second parameter configuration page.

4. The method according to claim 3, characterized in that Configuring the target configuration file through the first parameter configuration page includes: Receiving first configuration information for configuration items included in the first parameter configuration page; Based on the first configuration information, the target configuration file is generated.

5. The method according to claim 3, characterized in that: In the case that there are multiple first parameter configuration pages, configuring the target configuration file through the first parameter configuration page includes: A selection operation for a target parameter configuration page among a plurality of first parameter configuration pages is received, wherein the plurality of first parameter configuration pages at least include: a parameter configuration interface for searching a plane position based on a height interval, and a parameter configuration interface for searching a plane position based on a circle center; Determining a target plane point cloud processing process that matches the target parameter configuration page from a plurality of plane point cloud processing processes, wherein the plurality of first parameter configuration pages correspond one to one to the plurality of plane point cloud processing processes; receiving target configuration information for configuration items included in the target parameter configuration page; The target configuration file is generated based on the target configuration information and the target plane point cloud processing flow.

6. The method according to claim 3, characterized in that Configuring the target configuration file through the second parameter configuration page includes: receiving a modification operation on a configuration item of the associated configuration file included in the second parameter configuration page, and obtaining a modified associated configuration file; The target configuration file is generated based on the modified associated configuration file.

7. The method according to claim 1, characterized in that The method further comprises: In the process of measuring the height difference of the target object, detecting whether there is a trigger signal for a production device to perform a predetermined action, wherein the production device is a device for producing the target object; When the trigger signal is detected, the process of measuring the height difference of the target object is stopped, and the production equipment is controlled to perform the predetermined action.

8. The method according to claim 2, characterized in that: When the measurement mode is a verification measurement mode and the target objects include qualified products and unqualified products, the method further includes: Based on the target configuration file, using the 3D camera to collect 3D point cloud data corresponding to the qualified product and the unqualified product respectively; Based on the three-dimensional point cloud data corresponding to the qualified product and the unqualified product, respectively, the height difference of the qualified product and the unqualified product is measured to obtain the height difference measurement results corresponding to the qualified product and the unqualified product; Based on the height difference measurement results respectively corresponding to the qualified product and the unqualified product, and the actual height difference respectively corresponding to the qualified product and the unqualified product, the position parameters of the three-dimensional camera are adjusted.

9. An object height difference measuring device, characterized in that: include: A receiving module, used for receiving a measurement mode for a target object set through a display interface; A determination module, configured to determine a target configuration file for performing height difference measurement on the target object based on the measurement mode; A measurement module, configured to collect three-dimensional point cloud data of the target object using a three-dimensional camera based on the target configuration file, perform height difference measurement on the target object, and obtain a height difference measurement result, wherein the height difference measurement result is used to indicate a height difference between a measurement surface and a reference surface of the target object; A display module is used to display the height difference measurement result on the display interface.

10. An electronic device, characterized in that: It includes one or more processors and a memory, wherein the memory is used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the object height difference measurement method described in any one of claims 1 to 8.

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