A three-dimensional detection method, device, equipment, medium and program product

Abstract

The present invention discloses a three-dimensional detection method, which relates to the field of projection technology. The method includes: scanning a three-dimensional target object by a scanning device to obtain target scan data of the three-dimensional target object, where the target scan data includes three-dimensional data of at least a part of the 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 the standard three-dimensional data of the three-dimensional target object; 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 onto the three-dimensional target object according to the target projection mode. It is possible to project the deviation area on the target object according to its corresponding target projection mode, accurately project the deviation area onto the target object, improve the deviation readability of the deviation area, and further improve the correction efficiency and accuracy of the deviation area.

Description

Technical Field

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

[0002] With the rapid development of manufacturing technology, the accuracy of workpieces produced by modern industry has been greatly improved. However, in the actual manufacturing and production process, due to the influence of various factors, there will still be deviations between the produced workpieces and the standard workpieces. Especially for larger workpieces, due to their large area, it is easier to have deviations.

[0003] In the prior art, generally, a scanning device is used to scan the workpiece, and the deviation data between the workpiece and the standard workpiece data is determined according to the scanning result, and then the deviation data of the workpiece is displayed on the computer side. Technicians correct the deviation of the workpiece based on experience combined with the deviation data on the computer side.

[0004] However, by using this method of displaying deviations to display the deviation data, technicians can only judge the deviation position of the workpiece based on experience. Therefore, this display method may lead to the failure of deviation correction and further exacerbate the deviation between the workpiece and the standard workpiece. There are problems of poor readability of the workpiece deviation data and low accuracy of correcting 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 the workpiece deviation data displayed in the prior art and low accuracy of correcting the deviation data.

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

[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 the standard three-dimensional data of the three-dimensional target object;

[0009] Determining a target projection method of the target deviation area according to the area information of the target deviation area, and projecting the target deviation area onto the three-dimensional target object according to the target projection method.

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

[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, where 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 according to the three-dimensional data and standard three-dimensional data of the three-dimensional target object;

[0013] A projection module, configured to determine a target projection method 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 method.

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

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; where

[0017] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the three-dimensional detection method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the three-dimensional detection method according to any embodiment of the present invention when executed.

[0019] According to another aspect of the present invention, there is provided a computer program product including a computer program, where the computer program implements the three-dimensional detection method according to any embodiment of the present invention when executed by a processor.

[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 partial object area of the three-dimensional target object, and determines 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, which can improve the deviation detection efficiency of the target object. Determining a target projection method of the target deviation area according to the area information of the target deviation area, and projecting the target deviation area onto the three-dimensional target object according to the target projection method, can project the deviation area on the target object according to its corresponding target projection method, accurately project the deviation area onto the target object, improve the deviation readability of the deviation area, and further improve the correction efficiency and accuracy of the deviation area.

[0021] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become readily understood from 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 following will briefly introduce the drawings required for use in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

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

[0024] Figure 2 is a flowchart 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 is a schematic structural diagram of an electronic device for implementing the three-dimensional detection method of the embodiments of the present invention. Detailed Embodiments

[0027] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope 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 drawings 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 under appropriate circumstances 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 "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0029] Embodiment 1

[0030] Figure 1 The following is a flowchart of a three-dimensional detection method provided in Embodiment 1 of the present invention. This embodiment is applicable to determining the target projection method of the target deviation area according to the area information of the target deviation area of the three-dimensional target object, and projecting the target deviation area onto the three-dimensional target object according to the target projection method. This 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. As Figure 1 shown, the method includes:

[0031] S110. Scan the three-dimensional target object through a scanning device to obtain target scan data of the three-dimensional target object, where the target scan data includes three-dimensional data of at least part of the object area of the three-dimensional target object.

[0032] Among them, the scanning device can be a device for scanning the 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 the scanning device, three-dimensional data corresponding to the three-dimensional target object can be obtained. The three-dimensional data can include three-dimensional point cloud data corresponding to the three-dimensional target object or other forms of three-dimensional data. The three-dimensional target object can be a three-dimensional solid object that needs to be subjected to deviation detection. For example, large manufacturing parts such as mechanical equipment components, automobile bodies, or aircraft fuselages, as well as other three-dimensional solid objects that may have deviations. The three-dimensional target object is distributed with relatively significant feature points and / or marked feature points, and the feature points of the three-dimensional target object itself and the marked feature points can be used to locate the three-dimensional target object.

[0033] Among them, the target scan data can be the data obtained by scanning the three-dimensional target object through the scanning device. The target scan data can include three-dimensional data of at least part of the object area of the three-dimensional target object. The three-dimensional data can be the three-dimensional point cloud data corresponding to the object area scanned by the scanning device after scanning the object area of the three-dimensional target object by the scanning device. The three-dimensional data can be used to detect deviations in the scanned area of the three-dimensional target object. The object area can be the area scanned by the scanning device, and at least part of the object area can be one or more areas among the multiple object areas of the three-dimensional target object. For example, when the three-dimensional target object is a large 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, a scanning device can be used to scan one or more object regions of a three-dimensional target object, and then three-dimensional data of at least part of the object regions of the three-dimensional target object can be obtained based on the scanning results. 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 the deviation detection of the three-dimensional target object.

[0035] S120. Determine the target deviation region of the three-dimensional target object according to the three-dimensional data and the standard three-dimensional data of the three-dimensional target object.

[0036] Among them, the standard three-dimensional data can include standard three-dimensional point cloud data. The standard three-dimensional point cloud data can be pre-constructed and is a three-dimensional point cloud data set used to represent the standard shape, size, and structure of the three-dimensional target object. The standard three-dimensional point cloud data can be used as a reference or benchmark for comparison with the three-dimensional point cloud data obtained by actual scanning, and then the deviation region of the target object can be obtained according to the comparison result. The target deviation region can be the region where there are differences between the actual three-dimensional target object and the standard shape, size, or structure after comparing the three-dimensional point cloud data obtained by actual scanning with the standard three-dimensional point cloud data.

[0037] Exemplarily, after obtaining the three-dimensional point cloud data of the three-dimensional target object through a scanning device and obtaining the standard three-dimensional point cloud data, the two sets of data can be aligned to the same coordinate system, and parameters such as the distance or normal vector between each corresponding point can be calculated to quantify the differences. By analyzing the connected regions of the point clouds with differences in the point cloud data, the regions where the different points are connected and the differences are significant are determined as the deviation connected regions with deviations. Each deviation connected region can be composed of multiple discrete or continuous deviation points, and then these deviation connected regions are determined as multiple target deviation regions of the three-dimensional target object.

[0038] S130. Determine the target projection method of the target deviation region according to the region information of the target deviation region, and project the target deviation region onto the three-dimensional target object according to the target projection method.

[0039] Among them, the region information can be information used to characterize the region features within the target deviation region, and can include information such as the number of regions and the area of the regions. The area of the region can be the area information corresponding to the target deviation region with deviations in the object region of the three-dimensional target object. The number of regions can be the quantity information of the target deviation regions with deviations in the object region of the three-dimensional target object. The target projection method can be the projection method by which the target deviation region is projected onto the three-dimensional target object determined according to the number of target deviation regions in the three-dimensional target object. For example, it is possible to determine whether the number of target deviation regions obtained after scanning and comparison is greater than a preset quantity value, and then determine the projection method of the target deviation region when projecting the deviation image corresponding to the target deviation region onto the three-dimensional target object according to the determination result. By projecting the deviation data according to different projection methods, it is possible to determine the corresponding projection method according to different numbers of deviation regions, and then reasonably project the deviation regions, which can improve the recognition rate of the deviation regions while improving the correction efficiency of the deviation regions.

[0040] Preferably, determining the target projection method 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 method may include: when the number of regions is less than the preset deviation quantity threshold, determining the object region to be projected, and respectively determining the first projection color corresponding to each target deviation region according to the deviation size information of multiple target deviation regions within the object region; determining the second projection color corresponding to the normal region in the object region, and projecting the object region onto the three-dimensional target object according to the first projection color corresponding to the target deviation region and the second projection color corresponding to the normal region, where the normal region is the remaining region in the object region except the target deviation region.

[0041] Among them, the preset deviation quantity threshold can be a preset threshold. According to the comparison result between the number of target deviation regions and the preset deviation quantity threshold, the target projection method corresponding to the target deviation region can be determined. Exemplarily, when the number of regions is less than the preset deviation quantity threshold, it indicates that the number of target deviation regions is small, and the target deviation regions can be projected by a projection method suitable for a smaller number; when the number of regions is greater than or equal to the preset deviation quantity threshold, it indicates that the number of target deviation regions is large, and then the target deviation regions can be projected by another projection method suitable for a larger number of deviation regions.

[0042] Among them, the object region to be projected can be a specific part or the entire region in the three-dimensional target object that needs to perform the projection operation. For example, the three-dimensional target object can be divided into multiple object regions, and the object region to be projected can be at least one of the multiple object regions.

[0043] Exemplarily, when scanning a three-dimensional target object by a scanning device, each object area can be scanned separately to obtain three-dimensional point cloud data corresponding to each area. After scanning one object area among multiple object areas by the scanning device, the target deviation area of the 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 can be determined according to the detection result, and the target deviation area can be 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 can also be that after scanning multiple object areas by the scanning device, the target deviation areas of the multiple object areas are detected, the target deviation area corresponding to each object area and the projection method of the deviation area are determined, and then one or more of the object areas are determined as the object areas to be projected, 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 each object area.

[0044] Among them, the deviation size information can be determined by the number of point clouds in the deviation area or other means, which is the deviation size corresponding to each target deviation area. For example, the deviation size information can be the difference information of the area of the target deviation area in the object area compared with the standard point cloud data of the object area in terms of the point cloud data of the target deviation area in the object area. The difference information can be absolute difference information or relative difference information. The absolute difference information can be the actual deviation area information of the target deviation area, and the relative difference information can be the proportion information of the area of the target deviation area to the total area of the object area. The deviation size information can 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 can include positive deviation size information and negative deviation size information. Among them, the positive deviation size information indicates that the size of the actual workpiece corresponding to the target deviation area is larger than the designed size, that is, there is an excess part of the workpiece corresponding to the target deviation area in a certain dimension. The target deviation area corresponding to the positive deviation size information can be adjusted in size by grinding or other methods of removing the excess material to ensure that the target deviation area can meet the design requirements after being processed. 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 designed size, that is, there is a shortage part of the workpiece corresponding to the target deviation area in a certain dimension, and it may be necessary to supplement or process it in other ways. It should be emphasized that if the target deviation size information in two target deviation areas is equal, but one is positive deviation size information and the other is negative deviation size information respectively, different colors need to be used for distinction. For example, dark blue and light blue can be used as the first projection colors of the two target deviation areas respectively to distinguish the target deviation areas corresponding to the positive deviation size information and the negative deviation size information of the same deviation size. The normal area can be the remaining area in the object area except the target deviation area.

[0046] Among them, the second projection color can be preset and used to identify the projection color of the normal area. It should be noted that the first projection color can include multiple projection colors for distinguishing 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 can be dark, the projection color of the target deviation area with a smaller deviation size can be light, and the projection color of the normal area can be white. The embodiments of the present invention do 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 it is necessary to distinguish the target deviation area with deviation.

[0047] Exemplarily, multiple size ranges and the deviation projection colors corresponding to each size range, as well as the deviation projection color corresponding to the normal area, can be set. After determining the deviation size information of the target deviation area, the projection color corresponding to each target deviation area is determined according to the deviation size information of each target deviation area. And 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 more intuitively displayed, thereby improving the correction efficiency of the deviation area.

[0048] Optionally, determining the target projection method of the target deviation area according to the area information of the target deviation area, and projecting the target deviation area onto the three-dimensional target object according to the target projection method may include: when the number of areas is greater than or equal to the preset deviation number threshold, determining the three-dimensional image data of the object area according to the three-dimensional data of at least part of the object area of the three-dimensional target object, and determining the target screenshot size corresponding to each target deviation area according to the deviation size information of the target deviation area; intercepting 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, 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] Among them, the three-dimensional image data is determined according to the three-dimensional data and is the three-dimensional image data corresponding to the object area. The three-dimensional image data can be image data used to characterize information such as the shape or size of the three-dimensional target object. The three-dimensional image data can be obtained by using the stereo vision measurement method to calculate the mapping relationship and depth information between images and combining the three-dimensional reconstruction algorithm to obtain the three-dimensional image data corresponding to the object area in the three-dimensional target object.

[0050] Among them, the target screenshot size can be the size of the screenshot preset 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 according to 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] Among them, the deviation image refers to a two-dimensional image intercepted from the three-dimensional image data corresponding to the three-dimensional target object and corresponding to each target deviation region. The deviation mark can be a mark added to the deviation image for identifying or highlighting the deviation region. The deviation mark can be in various forms such as color, line, arrow, or text. The deviation mark can emphasize the deviation region visually or in text, facilitating subsequent analysis and processing. By adding corresponding deviation marks to the deviation images corresponding to the deviation regions, the recognition efficiency and readability of the deviation regions can be improved when correcting the deviation regions in the object region, thereby enhancing the correction efficiency.

[0052] Optionally, projecting the deviation image with marks added onto the three-dimensional target object includes: obtaining the regional dimension information of the object region, determining the target scaling dimension of the deviation image with marks added according to the regional dimension information; scaling the deviation image with marks added according to the target scaling dimension, and projecting the scaled deviation image onto the three-dimensional target object.

[0053] Among them, the regional dimension information may be the regional dimension of the object area in the three-dimensional target object. The regional dimension information may be the distance information between every two of multiple reference points on the object area and / or information such as the area corresponding to the object area. The object area may include a regular object area and an irregular object area. The distance information between two reference points may be the geometric dimension information such as the length, width, height, or radius of the regular object area when the object area is a regular object area. For example, if the object area is a regular circle, the corresponding regional dimension information may 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 dimension information and the area information of the circle, etc. If the object area is a rectangle, the corresponding regional dimension information may determine the four vertices of the rectangle as four reference points and calculate the length information, width information, and area information of the rectangle, etc. If the object area is an ellipse, the regional dimension information may be the major and minor axes of the ellipse and the area, etc. The distance information between two reference points may 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, a relatively large number of reference points with high density may be set, and the distance information between every two of the multiple reference points and the estimated perimeter or estimated area of the irregular object area, etc., may be calculated through corresponding algorithms (such as the shortest path algorithm or algorithms for irregular object areas such as geometric distance calculation). The regional dimension information may be obtained by directly measuring the object with a measuring tool or by estimating the size of the object through methods such as image processing technology and distance calculation algorithms. The target scaling size may be the size to which the deviation image needs to be scaled after adding a mark according to the regional dimension information. Scaling the deviation image by the target scaling size can make the size of the three-dimensional target object match, and then project the deviation image more accurately onto the corresponding deviation area, improving the recognizability of the deviation area and enhancing the correction efficiency.

[0054] Exemplarily, the regional dimension information of the object region in the three-dimensional target object can be obtained through professional measurement tools or image processing techniques. For example, if there are three reference points, namely the first reference point, the second reference point, and the third reference point, on the object region, then the distance information between each two of the multiple feature points in the object region, such as the distance between 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, and dimension information such as the area of the object region can be calculated. And based on the distance information between each two of the multiple reference points on the object region and / or the area information of the object region, the target size to which the deviation image after adding marks needs to be scaled is determined, and then the scaling ratio of the deviation image is determined. By scaling the deviation image with marks according to the ratio, the size of the deviation image can be matched with the actual size of the three-dimensional target object, so as to ensure that the deviation image can be accurately projected onto the corresponding deviation region. After the scaling is completed, the scaled deviation image can be rotated and transformed through a transformation matrix, and the pixel coordinates in the scaled and transformed deviation image are mapped into the coordinate system of the three-dimensional target object. Then, through the transformation matrix, each pixel point in the deviation image is accurately projected onto the corresponding position on the three-dimensional target object, realizing the alignment of the projection coordinates of the deviation image and the three-dimensional target object, further improving the recognizability of the deviation region, and enhancing the subsequent correction efficiency of the target deviation region.

[0055] Optionally, marked feature points are marked on the three-dimensional target object; projecting the target deviation region onto the three-dimensional target object according to the target projection method includes: determining a projection matrix according to the three-dimensional data and actual coordinate data of the marked feature points, determining a target projection region according to the target deviation region and the projection matrix, and projecting the target deviation region onto the target projection region on the three-dimensional target object according to the target projection method.

[0056] Among them, the marked feature points can be points clearly marked or recognized on the three-dimensional target object. These points can be physical marks or feature points identified through image processing techniques. The three-dimensional data of the marked feature points can be the coordinate data of the marked feature points in the three-dimensional space in the three-dimensional data scanned by the scanning device. 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 corresponding to 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 region onto the target object in the three-dimensional space. The projection matrix can be calculated according to the three-dimensional data and actual coordinate data of the marked feature points. The target projection region can be the region displayed on the three-dimensional target object after projecting the target deviation region according to the projection matrix. The target projection region can be used to display or mark deviation information.

[0057] Exemplarily, the target deviation region of the three-dimensional target object and the number of regions of the target deviation region can be determined through the three-dimensional data and the standard three-dimensional data of the three-dimensional target object. When the number of regions is less than the preset deviation number threshold, it indicates that there are fewer target deviation regions in the object region. At this time, different display colors can be used to splice the target deviation region and the normal region in the object region to obtain the projection data corresponding to the object region, and the projection data corresponding to the object region is projected onto the three-dimensional target object. Since there are fewer target deviation regions, the splicing difficulty is lower, which can improve the readability of the deviation data while improving the generation efficiency of the projection data. When the number of regions is greater than or equal to the preset deviation number threshold, it indicates that there are more target deviation regions in the object region. At this time, if the splicing method is continued to project the deviation data, the generation efficiency of the projection data will be reduced. Moreover, since there are more target deviation regions in the object region, new errors are more likely to occur during splicing. Therefore, the screenshot method can be used to project multiple target deviation regions in the object region, thereby improving the generation efficiency of the projection data and being able to intuitively project the deviation image corresponding to each target deviation region onto the corresponding region, 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 the three-dimensional target object through a scanning device to obtain the three-dimensional data of at least part of the object region of the three-dimensional target object, and determines the target deviation region 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. Determining the target projection method 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 method, can project the deviation region on the target object according to its corresponding target projection method, increasing the readability of the deviation region. For the object region with more target deviation regions, the screenshot method is used to display it, which can improve the deviation readability of the deviation region and enhance the correction efficiency and accuracy of the deviation region.

[0059] Embodiment 2

[0060] Figure 2The flowchart of a three-dimensional detection method provided in the second embodiment of the present invention. On the basis of the above embodiment, after projecting the target deviation area onto the three-dimensional target object, the method further includes: displaying the 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, where the first editing instruction includes a region color editing instruction and / or a text editing instruction for the target deviation area. The same features as the above embodiment will not be described in detail. As Figure 2 shown, the method includes:

[0061] S210. Scan a three-dimensional target object through a scanning device to obtain target scan data of the three-dimensional target object, where the target scan data includes three-dimensional data of at least a part of the object area of the three-dimensional target object.

[0062] S220. Determine 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.

[0063] S230. Determine the target projection method 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 method.

[0064] S240. Display the target deviation data corresponding to the target deviation area on a 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, where the first editing instruction includes a region color editing instruction and / or a text editing instruction for the target deviation area.

[0065] Among them, the target deviation data may be data associated with the target deviation area projected onto the three-dimensional target object. For example, the target deviation data may display the data projected onto the three-dimensional target object in a graphical or three-dimensional manner. The target display device may be a device for displaying the target deviation data. Displaying the target deviation data projected onto the three-dimensional target object through a visual interface can more intuitively display the corresponding deviation data in the object area, improve the readability of the deviation area, and enable users to intuitively and comprehensively understand the deviation situation of the object area.

[0066] Among them, the first editing instruction can be an instruction input by the user through the target display device for modifying or updating contents such as the display color or display size of the target deviation data. The first editing instruction can include an area color editing instruction and / or a text editing instruction for the target deviation area. The area color editing instruction can be an instruction specified by the user for changing the color of the target deviation area. For example, the default display color of the target deviation area is orange, and if the user feels that the recognition rate of red is higher, the projection color of the target deviation area can be modified from orange to red according to the user's 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 the text editing instruction, the corrector can add annotations, explanations, or other custom relevant text information to the target projection area. When correcting the deviation, since the projected text information is customized by the corrector, it can better help the corrector understand the deviation data and improve the correction efficiency. The first editing information can be the information for updating the target projection data projected on the three-dimensional target object determined according to the first editing instruction. The first editing information can include information such as the updated color value, text content, and font style, and these information can be updated to the target deviation area for the subsequent correction operation of the corrector on the deviation area.

[0068] Optionally, after projecting the target projection data onto the three-dimensional target object, it can further 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, where the second editing instruction includes at least one of a screenshot size editing instruction, a text editing instruction, and a deviation marking editing instruction.

[0069] Among them, the second editing instruction can be an instruction input by the user through the target display device for modifying or updating the target deviation data. The second editing instruction can 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 can be an instruction specified by the user for changing the size or scale of the target deviation data. The user can adjust the size of the displayed deviation data through the screenshot size editing instruction so as to better adapt to the resolution of the target display device or the viewing needs of the user. The text editing instruction can be an instruction for adding, deleting, or modifying text on the target deviation data. The deviation mark editing instruction can be an instruction for the user to add, delete, or modify deviation marks on the target deviation data. The deviation mark can be a graphic element (such as an arrow, a circle, or a rectangle, etc.). Among them, the second editing information can be determined according to the second editing instruction and is information for updating the target projection data projected on the three-dimensional target object. For example, data such as 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.

[0070] Specifically, after projecting the target deviation area onto the three-dimensional target object, the target deviation data corresponding to the target deviation area can be displayed on the target display device. The user can issue corresponding editing instructions according to the displayed target deviation data, determine the corresponding editing information according to the editing instructions, and then update the target projection data projected on the three-dimensional target object according to the editing information. Updating the target projection data projected on the three-dimensional target object through the editing information determined by the editing instruction enables the correction personnel to 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 the three-dimensional target object through a scanning device to obtain three-dimensional data of at least part of the object 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, the target deviation area of the three-dimensional target object is determined, which can improve the deviation detection efficiency of the target object. Determining the target projection method of the target deviation area according to the area information of the target deviation area and projecting the target deviation area onto the three-dimensional target object according to the target projection method can project the deviation area on the target object according to its corresponding target projection method. After projecting the target deviation area 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, which enables the correction personnel to customize the display mode of the deviation, thereby improving the deviation readability of the deviation area and enhancing the correction efficiency and accuracy of the deviation area.

[0072] Embodiment III

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

[0074] The scanning module 310 is configured to scan a three-dimensional target object through a scanning device to obtain target scan data of the three-dimensional target object, where the target scan data includes three-dimensional data of at least part of the object area of the three-dimensional target object; the deviation analysis module 320 is configured to determine 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; the projection module 330 is configured to determine a target projection method for 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 method.

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

[0076] Further, the projection module 330 is specifically further configured to: when the number of areas is greater than or equal to the preset deviation number threshold, determine the three-dimensional image data of the object area according to 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 according to the deviation size information of the target deviation area; intercept a deviation image corresponding to each target deviation area from 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 deviation image with the mark added onto the three-dimensional target object.

[0077] Further, the projection module 330 is specifically further configured to: obtain the area size information of the object area, and determine the target scaling size of the deviation image with the mark added according to the area size information; scale the deviation image with the mark added according to the target scaling size, and project the scaled deviation image onto the three-dimensional target object.

[0078] Further, the three-dimensional detection device further includes a projection mode selection module, which is specifically configured to, after projecting the target deviation area onto the three-dimensional target object, display the 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 onto the three-dimensional target object according to the first editing information, where the first editing instruction includes an area color editing instruction and / or a text editing instruction for the target deviation area.

[0079] Further, the projection mode selection module is further specifically configured to: after projecting the target deviation area onto the three-dimensional target object, display the 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 onto the three-dimensional target object according to the second editing information, where the second editing instruction includes at least one of a screenshot size editing instruction, a text editing instruction, and a deviation marking editing instruction.

[0080] Further, the projection module 330 is further specifically configured to: determine a projection matrix according to the three-dimensional data and actual coordinate data of the marked feature points, determine a target projection area according to the target deviation area and the projection matrix, and project the target deviation area onto the target projection area on the three-dimensional target object according to the target projection method, where the three-dimensional target object is marked with marked feature points.

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

[0082] Embodiment 4

[0083] Figure 4 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, for example, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, for example, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0084] As Figure 4As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can execute 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 into 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] Multiple 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 disc, 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 can be various general-purpose and / or special-purpose 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 dedicated 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 the three-dimensional detection method.

[0087] In some embodiments, the three-dimensional detection method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto 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 can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the three-dimensional detection method by any other appropriate means (for example, by means of firmware).

[0088] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0089] A computer program for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0090] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc 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 can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

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

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

[0094] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0095] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A three-dimensional detection method, characterized in that, Including: Scanning a three-dimensional target object through a scanning device to obtain target scan data of the three-dimensional target object, where the target scan data includes three-dimensional data of at least part of the 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 the standard three-dimensional data of the three-dimensional target object; Determining a target projection method of the target deviation area according to the area information of the target deviation area, and projecting the target deviation area onto the three-dimensional target object according to the target projection method, where the area information includes the number of areas, and the number of areas is the quantity information of the target deviation areas with deviations in the object areas of the three-dimensional target object; The determining the target projection method of the target deviation area according to the area information of the target deviation area and projecting the target deviation area onto the three-dimensional target object includes: When the number of areas is greater than or equal to a preset deviation number threshold, determining three-dimensional image data of the object area according to the three-dimensional data of at least part of the object area of the three-dimensional target object, and determining a target screenshot size corresponding to each target deviation area according to the deviation size information of the target deviation area, where the three-dimensional image data is determined by calculating the mapping relationship and depth information between images through stereo vision measurement method and combining with a three-dimensional reconstruction algorithm, and is image data used to characterize the shape or size information of the three-dimensional target object; Cropping deviation images corresponding to each target deviation area from the three-dimensional image data of the object area according to the target screenshot size, adding deviation marks to the deviation images corresponding to each target deviation area, and projecting the deviation images with marks added onto the three-dimensional target object; Displaying target deviation data corresponding to the target deviation area on a 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 onto the three-dimensional target object according to the second editing information, where the second editing instruction includes at least one of a screenshot size editing instruction, a text editing instruction, and a deviation mark editing instruction.

2. The three-dimensional detection method according to claim 1, wherein The determining the target projection method of the target deviation area according to the area information of the target deviation area and projecting the target deviation area onto the three-dimensional target object includes: When the number of areas is less than the preset deviation number threshold, determining the object area to be projected, and respectively determining a first projection color corresponding to each target deviation area according to the deviation size information of the multiple target deviation areas in the object area; Determining a second projection color corresponding to the 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, where 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 1, wherein Projecting the deviation image with the added mark onto the three-dimensional target object includes: Obtaining the regional dimension information of the object region, and determining the target scaling dimension of the deviation image with the added mark according to the regional dimension information; Scaling the deviation image with the added mark according to the target scaling dimension, and projecting the scaled deviation image onto the three-dimensional target object.

4. The three-dimensional detection method according to claim 1, wherein After projecting the target deviation region onto the three-dimensional target object, it further includes: Displaying the target deviation data corresponding to the target deviation region 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 onto the three-dimensional target object according to the first editing information, where the first editing instruction includes a regional color editing instruction and / or a text editing instruction for the target deviation region.

5. The three-dimensional detection method according to claim 1, wherein Marking feature points are marked on the three-dimensional target object; projecting the target deviation region onto the three-dimensional target object according to the target projection method includes: Determining a projection matrix according to the three-dimensional data and the actual coordinate data of the marking feature points, determining a target projection region according to the target deviation region and the projection matrix, and projecting the target deviation region onto the target projection region of the three-dimensional target object according to the target projection method.

6. A three-dimensional detection device, characterized in that, It includes: A scanning module for scanning a three-dimensional target object through a scanning device to obtain target scanning data of the three-dimensional target object, where the target scanning data includes three-dimensional data of at least part of the object region of the three-dimensional target object; A deviation analysis module for determining the target deviation region of the three-dimensional target object according to the three-dimensional data and the standard three-dimensional data of the three-dimensional target object; A projection module for determining the target projection method of the target deviation region according to the regional information of the target deviation region, and projecting the target deviation region onto the three-dimensional target object according to the target projection method, where the regional information includes the number of regions, and the number of regions is the quantity information of the target deviation regions with deviations in the object regions of the three-dimensional target object; The projection module is specifically configured to: when the number of regions is greater than or equal to a preset deviation number threshold, determine 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 determine the target screenshot size corresponding to each target deviation region according to the deviation size information of the target deviation region, where the three-dimensional image data is determined by calculating the mapping relationship and depth information between images through a stereovision measurement method and combining a three-dimensional reconstruction algorithm, and is image data used to characterize the shape or size information of the three-dimensional target object; Cut deviation images corresponding to each of the target deviation regions on the three-dimensional image data of the object region according to the target screenshot size, add deviation marks to the deviation images corresponding to each of the target deviation regions, and project the deviation images with marks added onto the three-dimensional target object; A projection mode selection module, configured to, after projecting a target deviation region onto a three-dimensional target object, display target deviation data corresponding to the target deviation region on a 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 target projection data projected onto 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.

7. An electronic device, characterized in that, The electronic device includes: 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 according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a processor to execute the three-dimensional detection method according to any one of claims 1-7 when executed.

9. A computer program product comprising computer programs / instructions, wherein, The computer program / instructions, when executed by a processor, implement the three-dimensional detection method according to any one of claims 1-5.

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