Three-dimensional detection method, device, equipment, medium and program product

Abstract

The invention discloses a three-dimensional detection method, and relates to the technical field of projection, and the method comprises the steps: scanning a three-dimensional target object through a scanning device, and obtaining the target scanning data of the three-dimensional target object, the target scanning data comprising the three-dimensional data of at least part of the object region of the three-dimensional target object; determining a target deviation area of the three-dimensional target object according to the three-dimensional data and standard three-dimensional data of the three-dimensional target object; and determining a target projection mode of the target deviation area according to the area information of the target deviation area, and projecting the target deviation area to the three-dimensional target object according to the target projection mode. The deviation area on the target object can be projected according to the corresponding target projection mode, the deviation area is accurately projected to the target object, the deviation readability of the deviation area is improved, and then the correction efficiency and accuracy of the deviation area are improved.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional detection technology, and in particular to a three-dimensional detection method, device, equipment, medium and program product. Background Art

[0002] With the rapid development of manufacturing technology, the precision of workpieces produced by modern industry has also been greatly improved. However, in the actual manufacturing and production process, due to the influence of various factors, the manufactured workpieces will still deviate from the standard workpieces. Especially for larger workpieces, due to their larger area, they are more likely to deviate.

[0003] In the prior art, the workpiece is generally scanned by a scanning device, and the deviation data between the workpiece and the standard workpiece data is determined based on the scanning results. The deviation data of the workpiece is then displayed on the computer. The technician corrects the deviation of the workpiece based on experience and the deviation data on the computer.

[0004] By displaying the deviation data in this way, the technician can only judge the deviation position of the workpiece based on experience. Therefore, this display method may cause the deviation correction to fail and further aggravate the deviation between the workpiece and the standard workpiece. There are problems such as poor readability of the workpiece deviation data and low correction accuracy of the workpiece deviation data. Summary of the invention

[0005] The present invention provides a three-dimensional detection method, device, equipment, medium and program product to solve the problems of poor readability of workpiece deviation data displayed in the prior art and low correction accuracy of the deviation data.

[0006] According to one aspect of the present invention, there is provided a three-dimensional detection method, comprising:

[0007] Scanning a three-dimensional target object by a scanning device to obtain target scanning data of the three-dimensional target object, wherein the target scanning data includes three-dimensional data of at least a partial object area of ​​the three-dimensional target object;

[0008] determining a target deviation area of ​​the three-dimensional target object according to the three-dimensional data and standard three-dimensional data of the three-dimensional target object;

[0009] A target projection mode of the target deviation area is determined according to the area information of the target deviation area, and the target deviation area is projected onto the three-dimensional target object according to the target projection mode.

[0010] According to another aspect of the present invention, there is provided a three-dimensional detection device, comprising:

[0011] A scanning module, configured to scan a three-dimensional target object through a scanning device to obtain target scanning data of the three-dimensional target object, wherein the target scanning data includes three-dimensional data of at least a partial object area of ​​the three-dimensional target object;

[0012] a deviation analysis module, configured to determine a target deviation area of ​​the three-dimensional target object based on the three-dimensional data and standard three-dimensional data of the three-dimensional target object;

[0013] The projection module is used to determine a target projection mode of the target deviation area according to the area information of the target deviation area, and project the target deviation area onto the three-dimensional target object according to the target projection mode.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the three-dimensional detection method described in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the three-dimensional detection method described in any embodiment of the present invention when executed by a processor.

[0019] According to another aspect of the present invention, a computer program product is provided. The computer program product includes a computer program. When the computer program is executed by a processor, the three-dimensional detection method described in any embodiment of the present invention is implemented.

[0020] The technical solution of the embodiment of the present invention scans a three-dimensional target object through a scanning device to obtain three-dimensional data of at least a part of the object area of ​​the three-dimensional target object, and determines the target deviation area of ​​the three-dimensional target object according to the three-dimensional data and the standard three-dimensional data of the three-dimensional target object, which can improve the efficiency of deviation detection of the target object. The target projection mode of the target deviation area is determined according to the area information of the target deviation area, and the target deviation area is projected onto the three-dimensional target object according to the target projection mode, and the deviation area on the target object can be projected according to its corresponding target projection mode, and the deviation area is accurately projected onto the target object, thereby improving the deviation readability of the deviation area, thereby improving the correction efficiency and accuracy of the deviation area.

[0021] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 is a flow chart of a three-dimensional detection method provided according to Embodiment 1 of the present invention;

[0024] Figure 2 is a flow chart of another three-dimensional detection method provided according to Embodiment 2 of the present invention;

[0025] Figure 3 is a schematic structural diagram of a three-dimensional detection device provided according to Embodiment 3 of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of an electronic device for implementing the three-dimensional detection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment 1

[0030] Figure 1 A flowchart of a three-dimensional detection method is provided for the first embodiment of the present invention. This embodiment can be applied to the case where a target projection method of a target deviation area is determined based on the area information of the target deviation area of ​​a three-dimensional target object, and the target deviation area is projected onto the three-dimensional target object based on the target projection method. The method can be executed by a three-dimensional detection device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0031] S110. Scan a three-dimensional target object by using a scanning device to obtain target scanning data of the three-dimensional target object, wherein the target scanning data includes three-dimensional data of at least a partial object area of ​​the three-dimensional target object.

[0032] Among them, the scanning device can be a device for scanning a three-dimensional target object. The scanning device can be a handheld scanning device or a fixed-position scanning device. For example, scanning devices such as laser scanners, structured light scanners, stereo vision scanners and radar scanners. By scanning the three-dimensional target object with a scanning device, three-dimensional data corresponding to the three-dimensional target object can be obtained. The three-dimensional data may include three-dimensional point cloud data or other forms of three-dimensional data corresponding to the three-dimensional target object. The three-dimensional target object may be a three-dimensional object that needs to be detected for deviation. For example, large manufactured parts such as mechanical equipment parts, automobile bodies or aircraft bodies, and other three-dimensional objects that may have deviations. The three-dimensional target object is distributed with more significant feature points and / or marked feature points of the mark, and the feature points of the three-dimensional target object itself and the marked feature points of the mark can be used to locate the three-dimensional target object.

[0033] Among them, the target scanning data may be data obtained after scanning the three-dimensional target object by a scanning device. The target scanning data may include three-dimensional data of at least a part of the object area of ​​the three-dimensional target object. The three-dimensional data may be three-dimensional point cloud data corresponding to the object area scanned by the scanning device, which is obtained after the object area of ​​the three-dimensional target object is scanned by the scanning device. The three-dimensional data can be used to detect deviations in the scanning area of ​​the three-dimensional target object. The object area may be an area scanned by the scanning device, and at least a part of the object area may be one or more of the multiple object areas of the three-dimensional target object. For example, when the three-dimensional target object is a larger workpiece, it can be divided into multiple object areas. Each object area is scanned separately by the scanning device, and then the deviation result corresponding to each object area is determined according to its scanning result.

[0034] Specifically, one or more object regions of a three-dimensional target object can be scanned by a scanning device, and then three-dimensional data of at least a portion of the object region of the three-dimensional target object can be obtained according to the scanning result. By scanning the three-dimensional target object, three-dimensional data corresponding to the three-dimensional target object can be obtained, which can provide a data basis for deviation detection of the three-dimensional target object.

[0035] S120 , determining a target deviation area of ​​the three-dimensional target object according to the three-dimensional data and standard three-dimensional data of the three-dimensional target object.

[0036] Among them, the standard three-dimensional data may include standard three-dimensional point cloud data. The standard three-dimensional point cloud data may be a pre-constructed three-dimensional point cloud data set used to characterize the standard shape, size and structure of a three-dimensional target object. The standard three-dimensional point cloud data may be used as a reference or benchmark for comparison with the three-dimensional point cloud data obtained by actual scanning, and then the deviation area of ​​the target object may be obtained based on the comparison result. The target deviation area may be an area where there is a difference between the actual three-dimensional target object and the standard shape, size or structure, determined after comparing the three-dimensional point cloud data obtained by actual scanning with the standard three-dimensional point cloud data.

[0037] Exemplarily, after acquiring the 3D point cloud data of the 3D target object through a scanning device and acquiring the standard 3D point cloud data, the two sets of data can be aligned to the same coordinate system, and the distance or normal vector and other parameters between each corresponding point can be calculated to quantify the difference. And by analyzing the connected domains of the point cloud with differences in the point cloud data, the interconnected and significantly different areas in the difference points are determined as deviation connected domains with deviations. Each deviation connected domain can be composed of multiple discrete or continuous deviation points, and then these deviation connected domains are determined as multiple target deviation areas of the 3D target object.

[0038] S130 , determining a target projection mode of the target deviation region according to the region information of the target deviation region, and projecting the target deviation region onto the three-dimensional target object according to the target projection mode.

[0039] Among them, the regional information may be information used to characterize the regional features in the target deviation region, and may include information such as the number of regions and the area of ​​the region. The area of ​​the region may be the area information corresponding to the target deviation region with deviation in the object region of the three-dimensional target object. The number of regions may be the number information of the target deviation region with deviation in the object region of the three-dimensional target object. The target projection mode may be a projection mode of projecting the target deviation region onto the three-dimensional target object according to the number of target deviation regions in the three-dimensional target object. For example, it may be determined whether the number of regions of the target deviation region obtained after scanning and comparison is greater than a preset number value, and then the projection mode of the target deviation region when the deviation image corresponding to the target deviation region is projected onto the three-dimensional target object is determined according to the judgment result. By projecting the deviation data according to different projection modes, the corresponding projection mode can be determined according to the number of different deviation regions, and then the deviation region is reasonably projected, which can improve the recognition of the deviation region and improve the correction efficiency of the deviation region.

[0040] Preferably, determining a target projection mode of the target deviation area according to area information of the target deviation area, and projecting the target deviation area onto a three-dimensional target object according to the target projection mode may include: when the number of areas is less than a preset deviation number threshold, determining an object area to be projected, and determining a first projection color corresponding to each target deviation area according to deviation size information of multiple target deviation areas in the object area; determining a second projection color corresponding to a normal area in the object area, and projecting the object area onto the three-dimensional target object according to the first projection color corresponding to the target deviation area and the second projection color corresponding to the normal area, wherein the normal area is the remaining area in the object area except the target deviation area.

[0041] The preset deviation number threshold may be a pre-set threshold. According to the comparison result of the number of regions of the target deviation region and the preset deviation number threshold, the target projection mode corresponding to the target deviation region may be determined. Exemplarily, when the number of regions is less than the preset deviation number threshold, it means that the number of target deviation regions is small, and the target deviation regions may be projected by a projection mode adapted to a small number; when the number of regions is greater than or equal to the preset deviation number threshold, it means that the number of target deviation regions is large, and the target deviation regions may be projected by another projection mode adapted to a large number of deviation regions.

[0042] The object area to be projected may be a specific part or the entire area of ​​the three-dimensional target object that needs to be projected. For example, the three-dimensional target object may be divided into multiple object areas, and the object area to be projected may be at least one of the multiple object areas.

[0043] Exemplarily, when a three-dimensional target object is scanned by a scanning device, each object area can be scanned separately to obtain three-dimensional point cloud data corresponding to each area. After scanning an object area among multiple object areas by a scanning device, the target deviation area of ​​an object area can be detected first, and then the target deviation area corresponding to the object area and the projection method of the deviation area are determined according to the detection result, and the target deviation area is projected onto the three-dimensional target object according to the target projection method of each target deviation area in the object area. At this time, an object area can be determined as the object area to be projected. It is also possible to detect the target deviation areas of multiple object areas after scanning multiple object areas by a scanning device, determine the target deviation area corresponding to each object area and the projection method of the deviation area, and then determine one or more object areas as the object area to be projected, and project the target deviation area onto the three-dimensional target object according to the target projection method of each target deviation area in each object area.

[0044] The deviation size information may be the deviation size corresponding to each target deviation area determined by the number of point clouds in the deviation area or other methods. For example, the deviation size information may be the difference information of the area of ​​the target deviation area in the object area between the point cloud data of the target deviation area in the object area and the standard point cloud data of the object area. The difference information may be absolute difference information or relative difference information. The absolute difference information may be the actual deviation area information of the target deviation area, and the relative difference information may be the ratio information of the area of ​​the target deviation area to the total area of ​​the object area. The deviation size information may be used to determine the projection color corresponding to each target deviation area.

[0045] Among them, the first projection color can be the projection color corresponding to each target deviation area determined according to the deviation size of each target deviation area, and different deviation sizes can correspond to different projection colors. It should be noted that the deviation size information of the target deviation area may include positive deviation size information and negative deviation size information, wherein the positive deviation size information indicates that the size of the actual workpiece corresponding to the target deviation area is larger than the design size, that is, the workpiece corresponding to the target deviation area has an excess part in a certain dimension. The target deviation area corresponding to the positive deviation size information can be adjusted in size by grinding or other removal of excess material to ensure that the target deviation area can meet the design requirements after processing. On the contrary, when the target deviation size of the target deviation area is negative deviation size information, it means that the actual size of the target deviation area is smaller than the design size, that is, the workpiece corresponding to the target deviation area has an insufficient part in a certain dimension, which may need to be supplemented or processed in other ways. It should be emphasized that if the target deviation size information in the two target deviation areas is equal, but the two are positive deviation size information and negative deviation size information respectively, different colors need to be used to distinguish them, such as using dark blue and light blue as the first projection colors of the two target deviation areas to distinguish the target deviation areas corresponding to the positive deviation size information and negative deviation size information of the same deviation size. The normal area may be the remaining area in the object area except for the target deviation area.

[0046] Among them, the second projection color can be a pre-set projection color used to identify the normal area. It should be noted that the first projection color may include multiple projection colors to distinguish different deviation size ranges. The second projection color is different from the first projection color, and the two colors are visually distinct. For example, the projection color of the target deviation area with a larger deviation size may be a dark color, the projection color of the target deviation area with a smaller deviation size may be a light color, and the projection color of the normal area may be white. The embodiment of the present invention does not specifically limit the projection colors of the target deviation area and the normal area. It should be noted that the projection colors of the target deviation area and the normal area are different, and the target deviation area with deviations needs to be distinguished.

[0047] Exemplarily, multiple size intervals and the deviation projection color corresponding to each size interval, as well as the deviation projection color corresponding to the normal area, can be set. After the deviation size information of the target deviation area is determined, the corresponding projection color of each target deviation area is determined according to the deviation size information. The normal area in the object area, that is, the projection color corresponding to the remaining area except the target deviation area, is determined. According to the projection color corresponding to the target deviation area and the projection color corresponding to the normal area, the target deviation area and the normal area in the object area are projected onto the three-dimensional target object according to their corresponding colors. By setting different deviation colors for deviation areas of different sizes, the size of the deviation can be displayed more intuitively, thereby improving the correction efficiency of the deviation area.

[0048] Optionally, determining a target projection mode of the target deviation area based on area information of the target deviation area, and projecting the target deviation area onto the three-dimensional target object based on the target projection mode may include: when the number of areas is greater than or equal to a preset deviation number threshold, determining the three-dimensional image data of the object area based on the three-dimensional data of at least a portion of the object area of ​​the three-dimensional target object, and determining a target screenshot size corresponding to each target deviation area based on the deviation size information of the target deviation area; intercepting a deviation image corresponding to each target deviation area on the three-dimensional image data of the object area based on the target screenshot size, adding a deviation mark to the deviation image corresponding to each target deviation area, and projecting the marked deviation image onto the three-dimensional target object.

[0049] The three-dimensional image data is three-dimensional image data corresponding to the object area determined according to the three-dimensional data. The three-dimensional image data can be used to represent the image data of the shape or size of the three-dimensional target object. The three-dimensional image data can be obtained by calculating the mapping relationship and depth information between images through stereo vision measurement method, and combining with the three-dimensional reconstruction algorithm to obtain the three-dimensional image data corresponding to the object area in the three-dimensional target object.

[0050] The target screenshot size can be a pre-set screenshot size used to match the size characteristics of the target deviation area when converting the three-dimensional target object into a two-dimensional image. The target screenshot size can be determined based on the deviation size information of the target deviation area, which can ensure that the screenshot can accurately reflect the size and shape of the deviation area.

[0051] The deviation image refers to a two-dimensional image corresponding to each target deviation area, which is extracted from the three-dimensional image data corresponding to the three-dimensional target object. The deviation mark can be a mark added to the deviation image to identify or highlight the deviation area. The deviation mark can be in various forms such as color, line, arrow or text. The deviation mark can emphasize the deviation area visually or textually to facilitate subsequent analysis and processing. By adding corresponding deviation marks to the deviation images corresponding to the deviation areas, the recognition efficiency and readability of the deviation areas can be improved when correcting the deviation areas in the object area, thereby improving the correction efficiency.

[0052] Optionally, projecting the marked deviation image onto a three-dimensional target object includes: acquiring area size information of the object area, determining a target scaling size of the marked deviation image according to the area size information; scaling the marked deviation image according to the target scaling size, and projecting the scaled deviation image onto the three-dimensional target object.

[0053] Among them, the area size information can be the area size of the object area in the three-dimensional target object. The area size information can be the distance information between each two reference points in the multiple reference points on the object area and / or the area corresponding to the object area. The object area can include regular object areas and irregular object areas. The distance information between two reference points can be the geometric size information of the regular object area such as the length, width, height or radius of the object area when the object area is a regular object area. For example, if the object area is a regular circle, the corresponding area size information can be the distance information from the first reference point (such as the center of the circle) to the second reference point (such as any point on the arc) of the object area and the area information of the circle, that is, the radius size information of the circle and the area information of the circle. If the object area is a rectangle, the corresponding area size information can determine the four vertices of the rectangle as four reference points, and calculate the length information, width information and area information of the rectangle between the four reference points. If the object area is an ellipse, the area size information can be the major and minor axes of the ellipse and the area information. The distance information between two reference points can also be the distance information between two reference points when the object area is an irregular image. When the object area is an irregular image, multiple reference points with a high density can be set, and the distance information between each two reference points in the multiple reference points and the estimated perimeter or estimated area and other size information of the irregular object area can be calculated through the corresponding algorithm (such as the shortest path algorithm or the algorithm for irregular object areas such as geometric distance calculation). The area size information can be directly measured by a measuring tool, or the size of the object can be estimated by methods such as image processing technology and distance calculation algorithms. The target scaling size can be determined according to the area size information to determine the size to which the deviation image needs to be scaled after adding the mark. By scaling the deviation image by the target scaling size, the size of the three-dimensional target object can be matched, and the deviation image can be more accurately projected to the corresponding deviation area, thereby improving the recognizability of the deviation area and improving the correction efficiency.

[0054] Exemplarily, the area size information of the object area in the three-dimensional target object can be obtained through professional measurement tools or image processing technology. For example, the object area includes three reference points, namely, a first reference point, a second reference point, and a third reference point. Then, by respectively calculating the first reference point and the second reference point, the second reference point and the third reference point, and the first reference point and the third reference point, the distance information between each two reference points in the multiple feature points in the object area, as well as the dimensional information such as the area of ​​the object area, can be obtained. And based on the distance information between each two reference points in the multiple reference points in the object area and / or the area information of the object area, the target size to which the deviation image after adding the mark needs to be scaled is determined, and then the scaling ratio of the deviation image is determined. By scaling the deviation image after adding the mark according to the ratio, the size of the deviation image can be matched with the actual size of the three-dimensional target object, thereby ensuring that the deviation image can be accurately projected onto the corresponding deviation area. After the scaling is completed, the scaled deviation image can be rotated and transformed through the transformation matrix, and the pixel coordinates in the scaled and transformed deviation image can be mapped to the coordinate system of the three-dimensional target object. Then, through the transformation matrix, each pixel point in the deviation image can be accurately projected to the corresponding position on the three-dimensional target object, so as to realize the alignment of the deviation image and the projection coordinates of the three-dimensional target object, further improve the recognizability of the deviation area, and improve the subsequent correction efficiency of the target deviation area.

[0055] Optionally, the three-dimensional target object is marked with marked feature points; and the target deviation area is projected onto the three-dimensional target object according to the target projection method, including: determining the projection matrix according to the three-dimensional data of the marked feature points and the actual coordinate data, determining the target projection area according to the target deviation area and the projection matrix, and projecting the target deviation area to the target projection area on the three-dimensional target object according to the target projection method.

[0056] Among them, the marked feature points can be points that are clearly marked or identified on the three-dimensional target object. These points can be physical marks or feature points identified by image processing technology. The three-dimensional data of the marked feature points can be the coordinate data of the marked feature points in the three-dimensional data scanned by the scanning device in the three-dimensional space. The three-dimensional data of the marked feature points can be used to represent the position of the feature points in the three-dimensional space. The actual coordinate data can be the actual coordinates on the three-dimensional target object with the marked feature points. The actual coordinate data can be used to determine the projection position of the projection data. The projection matrix can be a matrix used to map a two-dimensional image or area to a target object in the three-dimensional space. The projection matrix can be calculated based on the three-dimensional data of the marked feature points and the actual coordinate data. Target projection area The target projection area can be the area displayed on the three-dimensional target object after projecting the target deviation area according to the projection matrix. The target projection area can be used to display or mark deviation information.

[0057] Exemplarily, the target deviation area of ​​the three-dimensional target object and the number of target deviation areas can be determined by the three-dimensional data and the standard three-dimensional data of the three-dimensional target object. When the number of areas is less than the preset deviation number threshold, it means that there are fewer target deviation areas in the object area. At this time, different display colors can be used to splice the target deviation area and the normal area in the object area to obtain projection data corresponding to the object area, and the projection data corresponding to the object area is projected onto the three-dimensional target object. Since there are fewer target deviation areas, the difficulty of splicing is lower, and the generation efficiency of the projection data can be improved while improving the readability of the deviation data. When the number of areas is greater than or equal to the preset deviation number threshold, it means that there are more target deviation areas in the object area. At this time, if the deviation data is projected in a splicing manner, the generation efficiency of the projection data will be reduced. And since there are more target deviation areas in the object area, it is easier to have new errors when splicing, so a screenshot method can be used to project multiple target deviation areas in the object area, thereby improving the generation efficiency of the projection data, and the deviation image corresponding to each target deviation area can be intuitively projected to the corresponding area, thereby improving the correction efficiency of the deviation on the three-dimensional target object.

[0058] The technical solution of the embodiment of the present invention scans a three-dimensional target object through a scanning device to obtain three-dimensional data of at least a part of the object area of ​​the three-dimensional target object, and determines the target deviation area of ​​the three-dimensional target object based on the three-dimensional data and the standard three-dimensional data of the three-dimensional target object, which can improve the efficiency of deviation detection of the target object. The target projection mode of the target deviation area is determined according to the area information of the target deviation area, and the target deviation area is projected onto the three-dimensional target object according to the target projection mode, so that the deviation area on the target object can be projected according to its corresponding target projection mode, thereby increasing the readability of the deviation area. For object areas with more target deviation areas, screenshots are used to display them, which can improve the correction efficiency and accuracy of the deviation area on the basis of improving the readability of the deviation of the deviation area.

[0059] Embodiment 2

[0060] Figure 2A flowchart of a three-dimensional detection method provided for the second embodiment of the present invention. Based on the above embodiment, after projecting the target deviation area onto the three-dimensional target object, this embodiment further includes: displaying target deviation data corresponding to the target deviation area on a target display device, receiving a first editing instruction for the target deviation data through the target display device, determining first editing information according to the first editing instruction, and updating the target projection data projected on the three-dimensional target object according to the first editing information, wherein the first editing instruction includes an area color editing instruction and / or a text editing instruction for the target deviation area. Features identical to those in the above embodiment will not be repeated. Figure 2 As shown, the method includes:

[0061] S210. Scan a three-dimensional target object by using a scanning device to obtain target scanning data of the three-dimensional target object, wherein the target scanning data includes three-dimensional data of at least a partial object area of ​​the three-dimensional target object.

[0062] S220 , determining a target deviation area of ​​the three-dimensional target object according to the three-dimensional data and the standard three-dimensional data of the three-dimensional target object.

[0063] S230 , determining a target projection mode of the target deviation region according to the region information of the target deviation region, and projecting the target deviation region onto the three-dimensional target object according to the target projection mode.

[0064] S240. Display target deviation data corresponding to the target deviation area on the target display device, receive a first editing instruction for the target deviation data through the target display device, determine first editing information according to the first editing instruction, and update the target projection data projected on the three-dimensional target object according to the first editing information, wherein the first editing instruction includes an area color editing instruction and / or a text editing instruction for the target deviation area.

[0065] The target deviation data may be data associated with a target deviation area projected onto a three-dimensional target object. For example, the target deviation data may be a graphical or three-dimensional display of data projected onto a three-dimensional target object. The target display device may be a device for displaying the target deviation data. By displaying the target deviation data projected onto a three-dimensional target object through a visual interface, the corresponding deviation data in the object area can be displayed more intuitively, the readability of the deviation area can be improved, and the user can intuitively and comprehensively understand the deviation of the object area.

[0066] Among them, the first editing instruction can be an instruction input by the user through the target display device to modify or update the display color or display size of the target deviation data. The first editing instruction may include regional color editing instructions and / or text editing instructions for the target deviation area. The regional color editing instruction may be an instruction specified by the user to change the color of the target deviation area. For example, the default display color of the target deviation area is orange, and the user feels that red is more recognizable, then the projection color of the target deviation area can be changed from orange to red according to their own needs. After receiving the user's modification instruction, the projection device can update the projection color of the target deviation area from orange to red.

[0067] Among them, the text editing instruction can be an instruction specified by the user for adding, deleting or modifying text on the target deviation area. By issuing a text editing instruction, the correction personnel can add comments, instructions or other customized related text information to the target projection area. When correcting the deviation, because the projected text information is customized by the correction personnel, it can better help the correction personnel to better understand the deviation data and improve the correction efficiency. The first editing information can be information determined according to the first editing instruction for updating the target projection data projected on the three-dimensional target object. The first editing information may include updated color values, text content, font style and other information, which can be updated to the target deviation area to facilitate the correction personnel's subsequent correction operations on the deviation area.

[0068] Optionally, after projecting the target projection data onto the three-dimensional target object, it may also include: displaying the target deviation data corresponding to the target deviation area on the target display device, receiving a second editing instruction for the target deviation data through the target display device, determining second editing information according to the second editing instruction, and updating the target projection data projected on the three-dimensional target object according to the second editing information, wherein the second editing instruction includes at least one of a screenshot size editing instruction, a text editing instruction, and a deviation mark editing instruction.

[0069] The second editing instruction may be an instruction input by the user through the target display device for modifying or updating the target deviation data. The second editing instruction may include at least one of a screenshot size editing instruction, a text editing instruction, and a deviation mark editing instruction. The screenshot size editing instruction may be an instruction specified by the user for changing the size or ratio of the target deviation data. The user may adjust the size of the displayed deviation data through the screenshot size editing instruction to better adapt to the resolution of the target display device or the viewing needs of the user. The text editing instruction may be an instruction for adding, deleting or modifying text on the target deviation data. The deviation mark editing instruction may be an instruction for the user to add, delete or modify the deviation mark on the target deviation data. The deviation mark may be a graphic element (such as an arrow, a circle, or a rectangle, etc.). The second editing information may be information determined according to the second editing instruction for updating the target projection data projected on the three-dimensional target object. For example, the screenshot size of the deviation image, the text content displayed in the target deviation area, the text font style, the shape, color or position of the deviation mark, and other data.

[0070] Specifically, after the target deviation area is projected onto the three-dimensional target object, the target deviation data corresponding to the target deviation area can be displayed on the target display device, and the user can issue a corresponding editing instruction according to the displayed target deviation data, and determine the corresponding editing information according to the editing instruction, and then update the target projection data projected on the three-dimensional target object according to the editing information. By updating the target projection data projected on the three-dimensional target object with the editing information determined by the editing instruction, the correction personnel can customize the display mode of the deviation, which can further improve the correction efficiency of the target deviation area.

[0071] The technical solution of the embodiment of the present invention scans a three-dimensional target object through a scanning device to obtain three-dimensional data of at least a part of the object area of ​​the three-dimensional target object, and determines the target deviation area of ​​the three-dimensional target object according to the three-dimensional data and the standard three-dimensional data of the three-dimensional target object, which can improve the deviation detection efficiency of the target object. The target projection mode of the target deviation area is determined according to the area information of the target deviation area, and the target deviation area is projected onto the three-dimensional target object according to the target projection mode, so that the deviation area on the target object can be projected according to its corresponding target projection mode. After the target deviation area is projected onto the three-dimensional target object, the target projection data projected on the three-dimensional target object can be updated through the editing information determined by the editing instruction, so that the correction personnel can customize the display mode of the deviation, thereby improving the deviation readability of the deviation area, and improving the correction efficiency and accuracy of the deviation area.

[0072] Embodiment 3

[0073] Figure 3This is a schematic diagram of the structure of a three-dimensional detection device provided in Embodiment 3 of the present invention. Figure 3 As shown, the device includes: a scanning module 310, a deviation analysis module 320 and a projection module 330.

[0074] The scanning module 310 is used to scan a three-dimensional target object through a scanning device to obtain target scanning data of the three-dimensional target object, wherein the target scanning data includes three-dimensional data of at least a partial object area of ​​the three-dimensional target object; the deviation analysis module 320 is used to determine a target deviation area of ​​the three-dimensional target object based on the three-dimensional data and standard three-dimensional data of the three-dimensional target object; the projection module 330 is used to determine a target projection mode of the target deviation area based on area information of the target deviation area, and project the target deviation area onto the three-dimensional target object according to the target projection mode.

[0075] Furthermore, the projection module 330 is specifically used to: determine the object area to be projected when the number of areas is less than a preset deviation number threshold, and determine a first projection color corresponding to each target deviation area according to deviation size information of multiple target deviation areas in the object area; determine a second projection color corresponding to a normal area in the object area, and project the object area onto a three-dimensional target object according to the first projection color corresponding to the target deviation area and the second projection color corresponding to the normal area, wherein the normal area is the remaining area in the object area except the target deviation area.

[0076] Furthermore, the projection module 330 is specifically used to: when the number of areas is greater than or equal to a preset deviation number threshold, determine the three-dimensional image data of the object area based on the three-dimensional data of at least part of the object area of ​​the three-dimensional target object, and determine the target screenshot size corresponding to each target deviation area based on the deviation size information of the target deviation area; capture the deviation image corresponding to each target deviation area on the three-dimensional image data of the object area according to the target screenshot size, add a deviation mark to the deviation image corresponding to each target deviation area, and project the marked deviation image onto the three-dimensional target object.

[0077] Furthermore, the projection module 330 is specifically used to: obtain area size information of the object area, determine the target scaling size of the deviation image after adding the mark according to the area size information; scale the deviation image after adding the mark according to the target scaling size, and project the scaled deviation image onto the three-dimensional target object.

[0078] Furthermore, the three-dimensional detection device also includes a projection mode selection module, which is specifically used to display target deviation data corresponding to the target deviation area on a target display device after projecting the target deviation area onto the three-dimensional target object, receive a first editing instruction for the target deviation data through the target display device, determine first editing information according to the first editing instruction, and update the target projection data projected on the three-dimensional target object according to the first editing information, wherein the first editing instruction includes an area color editing instruction and / or a text editing instruction for the target deviation area.

[0079] Furthermore, the projection mode selection module is also specifically used to: after projecting the target deviation area onto the three-dimensional target object, display target deviation data corresponding to the target deviation area on the target display device, receive a second editing instruction for the target deviation data through the target display device, determine second editing information according to the second editing instruction, and update the target projection data projected on the three-dimensional target object according to the second editing information, wherein the second editing instruction includes at least one of a screenshot size editing instruction, a text editing instruction, and a deviation mark editing instruction.

[0080] Furthermore, the projection module 330 is specifically used to: determine the projection matrix based on the three-dimensional data of the marked feature points and the actual coordinate data, determine the target projection area based on the target deviation area and the projection matrix, and project the target deviation area to the target projection area on the three-dimensional target object according to the target projection method, wherein the marked feature points are marked on the three-dimensional target object.

[0081] The three-dimensional detection device provided in the embodiment of the present invention can execute the three-dimensional detection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0082] Embodiment 4

[0083] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0084] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0085] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0086] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a three-dimensional detection method.

[0087] In some embodiments, the three-dimensional detection method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the three-dimensional detection method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the three-dimensional detection method in any other appropriate manner (e.g., by means of firmware).

[0088] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0089] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0090] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0091] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0092] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0093] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0094] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0095] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-dimensional detection method, characterized in that: include: Scanning a three-dimensional target object by a scanning device to obtain target scanning data of the three-dimensional target object, wherein the target scanning data includes three-dimensional data of at least a partial object area of ​​the three-dimensional target object; determining a target deviation area of ​​the three-dimensional target object according to the three-dimensional data and standard three-dimensional data of the three-dimensional target object; A target projection mode of the target deviation area is determined according to the area information of the target deviation area, and the target deviation area is projected onto the three-dimensional target object according to the target projection mode.

2. The three-dimensional detection method according to claim 1, characterized in that: The region information includes the number of regions, determining the target projection mode of the target deviation region according to the region information of the target deviation region, and projecting the target deviation region onto the three-dimensional target object according to the target projection mode, comprises: When the number of regions is less than a preset deviation number threshold, determining an object region to be projected, and determining a first projection color corresponding to each target deviation region according to deviation size information of a plurality of target deviation regions in the object region; Determine a second projection color corresponding to a normal area in the object area, and project the object area onto the three-dimensional target object according to a first projection color corresponding to the target deviation area and a second projection color corresponding to the normal area, wherein the normal area is the remaining area in the object area except the target deviation area.

3. The three-dimensional detection method according to claim 2, characterized in that: The step of determining a target projection mode of the target deviation region according to the region information of the target deviation region, and projecting the target deviation region onto the three-dimensional target object according to the target projection mode, comprises: In the case where the number of regions is greater than or equal to a preset deviation number threshold, determining the three-dimensional image data of the object region according to the three-dimensional data of at least part of the object region of the three-dimensional target object, and determining the target screenshot size corresponding to each of the target deviation regions according to the deviation size information of the target deviation regions; According to the target screenshot size, a deviation image corresponding to each target deviation area is intercepted on the three-dimensional image data of the object area, a deviation mark is added to the deviation image corresponding to each target deviation area, and the deviation image with the mark is projected onto the three-dimensional target object.

4. The three-dimensional detection method according to claim 3, characterized in that: The step of projecting the marked deviation image onto the three-dimensional target object comprises: Acquire area size information of the object area, and determine a target scaling size of the deviation image after adding the mark according to the area size information; The deviation image after adding the mark is scaled according to the target scaling size, and the scaled deviation image is projected onto the three-dimensional target object.

5. The three-dimensional detection method according to claim 1, characterized in that: After projecting the target deviation area onto the three-dimensional target object, the method further includes: The target deviation data corresponding to the target deviation area is displayed on a target display device, a first editing instruction for the target deviation data is received through the target display device, first editing information is determined according to the first editing instruction, and the target projection data projected on the three-dimensional target object is updated according to the first editing information, wherein the first editing instruction includes an area color editing instruction and / or a text editing instruction for the target deviation area.

6. The three-dimensional detection method according to claim 1, characterized in that: After projecting the target deviation area onto the three-dimensional target object, the method further includes: The target deviation data corresponding to the target deviation area is displayed on a target display device, a second editing instruction for the target deviation data is received through the target display device, second editing information is determined according to the second editing instruction, and the target projection data projected on the three-dimensional target object is updated according to the second editing information, wherein the second editing instruction includes at least one of a screenshot size editing instruction, a text editing instruction and a deviation mark editing instruction.

7. The three-dimensional detection method according to claim 1, characterized in that: The three-dimensional target object is marked with a marked feature point; and projecting the target deviation area onto the three-dimensional target object according to the target projection method includes: A projection matrix is ​​determined according to the three-dimensional data and actual coordinate data of the marked feature points, a target projection area is determined according to the target deviation area and the projection matrix, and the target deviation area is projected onto the target projection area on the three-dimensional target object according to the target projection method.

8. A three-dimensional detection device, characterized in that: include: A scanning module, configured to scan a three-dimensional target object through a scanning device to obtain target scanning data of the three-dimensional target object, wherein the target scanning data includes three-dimensional data of at least a partial object area of ​​the three-dimensional target object; a deviation analysis module, configured to determine a target deviation area of ​​the three-dimensional target object based on the three-dimensional data and standard three-dimensional data of the three-dimensional target object; The projection module is used to determine a target projection mode of the target deviation area according to the area information of the target deviation area, and project the target deviation area onto the three-dimensional target object according to the target projection mode.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the three-dimensional detection method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the three-dimensional detection method described in any one of claims 1 to 7 when executed.

11. A computer program product comprising a computer program / instructions, wherein: When the computer program / instructions are executed by a processor, the three-dimensional detection method according to any one of claims 1 to 7 is implemented.

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