Industrial augmented reality intelligent projection and inspection system and method based on multi-view blue-green double-color laser

Abstract

The invention provides an industrial augmented reality intelligent projection detection system and method based on multi-view blue-green double-color laser, and belongs to the technical field of laser projection. The system comprises a binocular camera, a galvanometer, a green laser and a blue laser. The galvanometer comprises an X mirror and a Y mirror. According to the invention, the blue laser and the green laser are fused, and closed-loop operation of laser projection indication and intelligent inspection and detection is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of laser projection, and in particular, to a multi-eye blue-green dual-color laser industrial augmented reality intelligent inspection system and method based thereon. Background Art

[0002] The laser projection system, also known as the laser layup positioning system, originated in the late 1980s. The Boeing Company and Airbus Company were the first to apply the laser projection technology to the composite material layup work. All laser projection systems applied in this field are visionless systems. It is generally installed at a fixed position in the workshop. During the working process, the relative position between the projection system and the workpiece to be projected cannot change (after the projection is installed, the positional relationship between the workpiece to be measured and the projection has been calibrated. If the relative positional relationship between the two changes, the position calibration needs to be redone). Therefore, visionless projections all work under static conditions.

[0003] After 2014, laser projection systems based on binocular vision produced by manufacturers such as Virtek in the United States and Extend 3D in Germany emerged. The appearance of this system enables the projection to work without being in a fixed position. That is, after the projection instrument or the workpiece to be projected moves, the system's binocular vision function can automatically track the position of the workpiece to be projected after movement, and project accurate contour and other features onto the workpiece to be projected again. The iris sps vision projection system produced by Virtek is currently the most advanced system in the industry. However, it still has the following disadvantages.

[0004] 1) It cannot provide an accurate foreign object inspection function. Traditional visionless laser projection systems (also called industrial augmented reality systems) do not have vision to collect images and cannot detect foreign objects remaining on workpieces or molds after installation. For laser projection systems with vision, different technical routes are adopted by each manufacturer at present. For example, LAP uses the method of selecting a monocular vision, and iris produced by Virtek uses binocular vision. The vision of both companies only helps the projection system to achieve the automatic positioning function and does not have the function of detecting foreign objects. The main reason is that the vision technology applied in the projection field currently uses cameras with black and white images. When the foreign object to be detected is close in color to the workpiece main body, there is a problem of poor contrast in the images collected by the camera, and it is very difficult to distinguish the main body from the foreign object. This results in the current vision + green laser projection method being able to achieve the function of foreign object detection in special scenarios (where the contrast between the foreign object and the main body image is high), but it is not applicable to most other scenarios. However, customers in various industries now have an urgent need for the automatic detection and inspection functions after projection-guided installation.

[0005] 2) It is impossible to automatically check whether the workpiece is installed and whether the installation is out of tolerance. The role of traditional laser projection systems (including systems with vision and systems without vision) is to project the contour lines of the parts to be installed or processed onto the correct position of the workpiece in the form of green laser lines, and the operator installs or processes according to the guidance and indication of the laser lines. As for the working results, that is, whether the installation (or processing) is completed and whether it is out of tolerance, the current projection systems cannot judge and need to be judged manually, which is inevitable to introduce errors.

[0006] Therefore, in actual work, the current projection systems cannot achieve closed-loop management of projection + automatic inspection for the entire process of the operator's operation. Summary of the Invention

[0007] In order to at least partially solve the technical problems existing in the above background art, the present invention provides a multi-camera blue-green dual-color laser industrial augmented reality intelligent inspection system, method, electronic device and computer storage medium.

[0008] The first aspect of the present invention provides a multi-camera blue-green dual-color laser industrial augmented reality intelligent inspection system, including a binocular camera, a galvanometer, a green laser, and a blue laser; the galvanometer includes an X mirror and a Y mirror;

[0009] Among them, the green laser is used to project a green laser line onto the workpiece;

[0010] The blue laser is used to project a blue laser line onto the workpiece through the galvanometer;

[0011] The binocular camera is used to identify relevant positioning features on the workpiece during the projection operation, so that the projection software aligns the workpiece with the CAD model in the coordinate system; and, in the detection operation, it identifies the blue laser line and obtains the 3D scan data of the workpiece according to the blue laser line.

[0012] Further, the galvanometer includes a galvanometer G and a galvanometer B, and both the galvanometer G and the galvanometer B include an X mirror and a Y mirror; among them, the galvanometer G is used in cooperation with the green laser, and the galvanometer B is used in cooperation with the blue laser; and, the scanning of the blue laser line on the workpiece is realized by controlling the rotation of the X-axis lens and the Y-axis lens in the galvanometer B.

[0013] Further, the system further includes a high-resolution camera, and the system is also used to judge whether the fiber direction is correct according to the carbon fiber layup process data detected by the high-resolution camera.

[0014] The second aspect of the present invention provides an inspection method for a multi-camera blue-green dual-color laser industrial augmented reality intelligent inspection system, including the following steps:

[0015] The blue laser projects a blue laser line onto the workpiece;

[0016] During the projection operation, the binocular camera identifies relevant positioning features on the workpiece, so that the projection software aligns the coordinate systems of the workpiece and the CAD model; and during the detection operation, the binocular camera identifies the blue laser line and obtains 3D scan data of the workpiece based on the blue laser line.

[0017] Further, the blue laser projecting a blue laser line onto the workpiece includes:

[0018] By controlling the swing of one of the lenses in the galvanometer B, the laser forms a blue laser line of a certain length on the workpiece to be projected, and by controlling the swing of the other lens in the galvanometer B, the blue laser line is moved and scanned on the workpiece.

[0019] Further, obtaining 3D scan data of the workpiece based on the blue laser line includes:

[0020] While the lens swings to move the blue laser line on the workpiece, the binocular camera collects images of the blue laser line and calculates the 3D data of the contour of the workpiece scanned by the blue laser line;

[0021] Comparing and analyzing the 3D data with the CAD model, and then completing various detection functions for the workpiece.

[0022] Further, the detection functions include but are not limited to determining whether components are installed, whether critical installation dimensions exceed tolerances, and whether there are foreign objects.

[0023] Further, before the blue laser projects a blue laser line onto the workpiece, the method further includes:

[0024] The green laser projects a green laser line for guiding the processing operation onto the workpiece through the galvanometer G.

[0025] Further, the blue laser projecting a blue laser line onto the workpiece includes:

[0026] The binocular camera determines whether a specified identifier is detected. If detected, the blue laser projects a blue laser line onto the workpiece through the galvanometer B.

[0027] The fourth aspect of the present invention provides a computer storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the method described in any one of the above.

[0028] The beneficial effects of the present invention are as follows:

[0029] The present invention adopts an intelligent inspection and judgment system that combines visual inspection and blue-light 3D scanning detection, which has broad applicability in industrial scenarios. Especially in scenarios where pure vision cannot meet the requirements, its advantages become more obvious, such as in the inspection of foreign objects in scenes where it is difficult to distinguish by visual inspection of black (carbon fiber layup) or dark colors (engineering machinery welding), and in the automatic detection of whether a workpiece is installed and whether the installation exceeds the tolerance. A working closed-loop of projection positioning + intelligent detection is formed, which greatly improves the production efficiency, reduces the requirements for the operator's experience, and creates greater value. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0031] Figure 1 is a schematic structural diagram of an intelligent projection inspection system based on multi-eye blue-green dual-color laser industrial augmented reality disclosed in an embodiment of the present invention;

[0032] Figure 2 is a schematic flow diagram of an intelligent projection inspection method based on multi-eye blue-green dual-color laser industrial augmented reality disclosed in an embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of an implementation form of a specific coding point disclosed in an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0034] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0035] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "the", and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0036] It should be understood that the term "and / or" used herein is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, the character " / " in this text generally indicates that the associated objects before and after are in an "or" relationship.

[0037] It should be understood that although terms such as first, second, and third may be used to describe... in the embodiments of the present application, these... should not be limited to these terms. These terms are only used to distinguish... For example, without departing from the scope of the embodiments of the present application, the first... can also be referred to as the second..., and similarly, the second... can also be referred to as the first....

[0038] Depending on the context, as used herein, the words "if", "when" can be interpreted as "when...", "when...", "in response to determining", or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (stated condition or event)" can be interpreted as "when determined", "in response to determining", "when detecting (stated condition or event)", or "in response to detecting (stated condition or event)".

[0039] It should also be noted that the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a commodity or system including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such commodity or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the commodity or system including the said element.

[0040] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0041] Please refer to Figure 1 , an embodiment of the present invention discloses a multi - binocular blue - green dual - color laser industrial augmented reality intelligent inspection system, including a binocular camera 1, a galvanometer 2, a green laser 4, and a blue laser 5; the galvanometer 2 includes an X - mirror and a Y - mirror;

[0042] Among them, the green laser 4 is used to project a green laser line onto the workpiece;

[0043] The blue laser 5 is used to project a blue laser line onto the workpiece through the galvanometer 2;

[0044] The binocular camera 1 is used to identify relevant positioning features on the workpiece during the projection operation, so that the projection software aligns the coordinate systems of the workpiece and the CAD model; and, during the inspection operation, it identifies the blue laser line and obtains the 3D scan data of the workpiece based on the blue laser line.

[0045] As mentioned in the background art, currently, the vision + green laser projection method can only achieve the foreign object detection function in special scenarios where the contrast between the foreign object and the main image is high, and is not applicable to most other scenarios. In this regard, the above-mentioned multi-view blue and green dual-color laser industrial augmented reality intelligent inspection system provided by the present invention includes 1 green laser, 1 blue laser, 2 galvanometers (including control cards), and a binocular camera. Therefore, the system of the present invention adds a blue light 3D scanning function and organically integrates it with the green light projection system, can realize the 3D scanning function (black, bright color) of most objects, collect accurate 3D data of components, and achieve the effect of a closed-loop operation of laser projection indication + intelligent inspection and detection.

[0046] Further, the galvanometer 2 includes a galvanometer G2-1 and a galvanometer B2-2, and both the galvanometer G2-1 and the galvanometer B2-2 include an X mirror and a Y mirror; wherein, the galvanometer G2-1 is used in cooperation with the green laser 4, and the galvanometer B2-2 is used in cooperation with the blue laser 5; and, by controlling the rotation of the X-axis lens and the Y-axis lens in the galvanometer B2-2, the scanning of the blue laser line on the workpiece is realized.

[0047] Figure 1 In Figure 3-1, the XY lens of the galvanometer G2-1 is shown, and in Figure 3-2, the XY lens of the galvanometer B2-2 is shown.

[0048] Further, the system further includes a high-resolution camera, and the system is also used to judge whether the fiber direction is correct according to the carbon fiber laying process data detected by the high-resolution camera.

[0049] The present invention can reserve the installation interface and data interface for the third camera lens 6 assembly on the main body structure, and the third camera and lens can be selected according to the customer's application scenario and technical requirements, such as whether color images need to be collected, resolution, lens focal length, and whether the camera base needs to be rotated, etc. Of course, the installation interface and data interface for the I GPS receiving device can also be reserved to realize large-range and highly flexible projection and inspection operations based on I GPS.

[0050] For example, by selecting a higher-resolution camera (equipped with a camera rotation base) and a lens, the fiber direction during the carbon fiber laying process can be judged, and whether the fiber direction is correct can be displayed.

[0051] Please refer to Figure 2, an embodiment of the present invention also discloses an inspection method based on a multi - binocular blue - green dual - color laser industrial augmented reality intelligent inspection system, including the following steps:

[0052] The blue laser 5 projects a blue laser line onto the workpiece;

[0053] During the projection operation, the binocular camera 1 identifies relevant positioning features on the workpiece so that the projection software aligns the coordinate systems of the workpiece and the CAD model; and during the inspection operation, the binocular camera 1 identifies the blue laser line and obtains 3D scan data of the workpiece based on the blue laser line.

[0054] Further, the blue laser 5 projecting a blue laser line onto the workpiece includes:

[0055] By controlling the swing of one of the lenses in the galvanometer B2 - 2 to form a blue laser line of a certain length on the workpiece to be projected, and by controlling the swing of the other lens in the galvanometer B2 - 2 to move and scan the blue laser line on the workpiece.

[0056] Among them, a line laser can also be used for the blue laser to improve the scanning speed.

[0057] Further, obtaining the 3D scan data of the workpiece based on the blue laser line includes:

[0058] While the lens swings to move the blue laser line on the workpiece, the binocular camera 1 collects images of the blue laser line and calculates the 3D data of the contour of the workpiece scanned by the blue laser line;

[0059] Compare and analyze the 3D data with the CAD model, and then complete various inspection functions for the workpiece.

[0060] In this embodiment, while the blue laser line moves on the workpiece, the binocular camera 1 can detect the shape and structure data of the blue laser line through image recognition technology, which represents the contour of the workpiece. Based on the shape and structure data of the blue laser line at all workpiece points, the 3D data of the workpiece contour can be calculated.

[0061] Further, the inspection functions include but are not limited to determining whether components are installed, whether key installation dimensions are out of tolerance, and whether there are foreign objects.

[0062] In this embodiment, the present invention compares and analyzes the obtained 3D scan data with the standard CAD model corresponding to the current workpiece, and then can realize inspection functions such as whether components are installed, whether key installation dimensions are out of tolerance, and whether there are foreign objects, achieving a working closed - loop of projection positioning + intelligent inspection.

[0063] For example, defect detection after hot press solidification forming: 3D data of carbon fiber components after hot press forming is obtained through blue light 3D scanning, and compared and analyzed with CAD model data to determine whether there are defects such as warping and deformation in the formed components.

[0064] During the production and installation process, the projection software automatically determines whether the part is installed, whether the installation is out of tolerance. If the installation is completed and qualified, the projection software automatically projects the next task; if it is not installed or the positioning is out of tolerance, the system automatically projects an "X" - shaped mark on the part to prompt the operator for improvement and records this problem in the log file. After the operator repairs the above - mentioned error, the projection system checks again until the error is corrected, and the correction process is recorded in the log file.

[0065] In addition, the best - fit alignment of the workpiece coordinate system without features (points, lines, surfaces, holes, etc.) can also be achieved through 3D scan data. For example, the upper surface of a car hood, a typical advanced surface, has no obvious features such as points, lines, and surfaces. To achieve coordinate system alignment, traditional methods require a light pen or other auxiliary means to align the coordinate systems of the CAD model and the physical object. Based on the above - mentioned blue laser line scanning function of the present invention, the coordinate system alignment can be quickly and efficiently achieved. The specific operation is as follows: Place the hood within the projection working range, obtain partial 3D data of the hood through 3D scanning. In the projection software, perform the best - fit of the 3D scan data with the CAD model, and the coordinate system alignment of the workpiece without obvious features can be efficiently and highly accurately achieved. After the coordinate alignment, subsequent work such as projection operation + automatic detection can be carried out.

[0066] Further, before the blue laser 5 projects a blue laser line onto the workpiece, the method further includes:

[0067] The green laser 4 projects a green laser line for guiding the processing operation onto the workpiece through the galvanometer G2 - 1.

[0068] In this embodiment, the solution of the present invention organically combines the blue laser with the original green laser to achieve the function of projecting green and blue double - color laser lines. Specifically, first, control the green laser to project a green laser line onto the workpiece, and the operator can perform processing operations on the workpiece according to the guidance of the green laser line; after the processing operation is completed, then control the blue laser to project a blue laser line onto the workpiece through the galvanometer. The binocular camera locks and extracts the shape structure data of the blue laser line through image recognition technology, calculates the 3D data of the workpiece contour, and completes the above - mentioned detection function through comparison and analysis with the CAD model.

[0069] Further, the blue laser 5 projects a blue laser line onto the workpiece, including:

[0070] The binocular camera 1 determines whether a specified identifier is detected. If detected, the blue laser 5 projects a blue laser line onto the workpiece through the galvanometer B2-2.

[0071] In this embodiment, the specified identifier can be a specific coding point (refer to Figure 3 shown), a two-dimensional code, etc. After the worker completes the processing operation on the workpiece under the guidance of the green laser line, the above-mentioned specified identifier is aligned with the binocular camera. After the binocular camera recognizes the above-mentioned specific coding point or two-dimensional code, the automatic detection function can be activated. Of course, the trigger of the blue laser line projection scan can also be completed by means of gesture recognition, remote control, setting and adjusting the frequency (time interval), etc.

[0072] Next, the above solution of the present invention will be described in more detail through the following examples:

[0073] S1. Import the CAD model of the workpiece to be projected into the projection software.

[0074] S2. Select the features and contours to be projected to form a projection task:

[0075] 2.1. Set and activate the "out-of-tolerance detection" function (in the projection task set, not every task needs to detect whether it is out of tolerance. Therefore, only the projection tasks that need to be detected are set to activate the "out-of-tolerance detection" function);

[0076] 2.2. For the composite material layup industry, the "foreign object inspection" function can be set and activated.

[0077] S3. Align the coordinate systems of the physical workpiece to be projected and the CAD model in the software.

[0078] S4. Click the "Projection" command in the projection software to project the projection task onto the object in the form of a green laser line.

[0079] S5. The worker operates according to the laser line indication.

[0080] After the projection task that does not require the out-of-tolerance detection function is completed, directly jump to step S7. The jump can be achieved through various methods such as gesture recognition, remote control, setting and adjusting the frequency (time interval), or aligning a specific coding point or two-dimensional code with the multi-camera, etc.

[0081] S6. After the operation is completed, the worker aligns a specific coding point or two-dimensional code with the multi-camera system. After the multi-camera system recognizes the specific coding point or two-dimensional code, the automatic detection function is activated. After 3D scanning + software analysis, a conclusion of whether it is out of tolerance is given:

[0082] 6.1. If the detection result is not out of tolerance or there is no foreign object, jump to step S7;

[0083] 6.2 If the detection result is that there is a foreign object, project a green laser in the shape of "X" onto the surface of the foreign object. After the worker removes the foreign object, jump to step S7 (the software can set the frequency of image acquisition. After the worker removes the foreign object, the software automatically judges. After confirming that there is no foreign object, then jump to step S7;

[0084] 6.3) If the detection result is out of tolerance, project -shaped green laser onto the surface of the out-of-tolerance workpiece to prompt the worker to intervene and correct. After the correction is completed, align the coding point or QR code with the multi-camera and start the automatic detection function. Repeat this process until the detection result is not out of tolerance, then the software jumps to step S7.

[0085] 7) The software automatically jumps to the next task.

[0086] An embodiment of the present invention also discloses an electronic device, including: a memory storing executable program code; a processor coupled to the memory; the processor calls the executable program code stored in the memory and executes the method as described in the foregoing embodiment.

[0087] An embodiment of the present invention also discloses a computer storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the method as described in the foregoing embodiment.

[0088] According to an embodiment of the present disclosure, the apparatus / system may include a processor, a memory for storing program data and executing the program data, a permanent memory such as a disk drive, a communication port for processing communication with an external device, and a user interface device, etc. The method is implemented as a software module or can be stored as computer-readable code or program commands executable by a processor on a computer-readable recording medium. Examples of computer-readable recording media may include magnetic storage media (e.g., read-only memory (ROM), random access memory (RAM), floppy disks, hard disks, etc.), optical reading media (e.g., CD-ROM, digital versatile disc (DVD), etc.), etc. The computer-readable recording medium may be distributed in computer systems connected in a network, and the computer-readable code may be stored and executed in a distributed manner. The medium may be computer-readable, stored in the memory and executed by the processor.

[0089] Embodiments of the present disclosure may be represented as functional block components and various processing operations. The functional blocks may be implemented as various numbers of hardware and / or software components that perform specific functions. For example, embodiments of the present disclosure may implement direct circuit components that can perform various functions under the control of one or more microprocessors or other control devices, such as memories, processing circuits, logic circuits, look-up tables, etc. The components of the present disclosure may be implemented by software programming or software components. Similarly, embodiments of the present disclosure may include various algorithms implemented by a combination of data structures, procedures, routines, or other programming components, and may be implemented by programming or scripting languages such as C, C++, Java, assembler, etc. The functional aspects may be implemented by algorithms executed by one or more processors. In addition, embodiments of the present disclosure may implement related technologies for electronic environment setting, signal processing, and / or data processing. Terms such as "mechanism", "element", "unit", etc. may be used broadly and are not limited to mechanical and physical components. These terms may represent a series of software routines related to processors, etc.

[0090] Specific embodiments are described as examples in the present disclosure, and the scope of the embodiments is not limited thereto.

[0091] Although embodiments of the present disclosure have been described, those of ordinary skill in the art will understand that various changes in form and detail may be made therein without departing from the spirit and scope of the present disclosure as defined by the appended claims. Therefore, the above embodiments of the present disclosure should be construed as examples and do not limit the embodiments in all aspects. For example, each component described as a single unit may be executed in a distributed manner, and similarly, components described as distributed may be executed in a combined manner.

[0092] In embodiments of the present disclosure, all examples or example terms (e.g., etc.) are used for the purpose of describing embodiments of the present disclosure and are not intended to limit the scope of embodiments of the present disclosure.

[0093] In addition, unless otherwise clearly stated, expressions such as "necessary", "important", etc. associated with certain components may not indicate an absolute need for the components.

[0094] Those of ordinary skill in the art will understand that embodiments of the present disclosure may be implemented in a modified form without departing from the spirit and scope of the present disclosure.

[0095] Since the present disclosure allows various changes to embodiments of the present disclosure, the present disclosure is not limited to specific embodiments, and it will be understood that all changes, equivalents, and alternatives that do not depart from the spirit and technical scope of the present disclosure are included in the present disclosure. Therefore, the embodiments of the present disclosure described herein should be understood as examples in all aspects and should not be construed as limiting.

[0096] In addition, terms such as "unit" and "module" denote units that process at least one function or operation and can be implemented as hardware or software or a combination of hardware and software. "Unit" and "module" can be stored in a storage medium to be addressed and can be implemented as programs executable by a processor. For example, "unit" and "module" can refer to components such as software components, object-oriented software components, class components, and task components, and can include processes, functions, attributes, procedures, subroutines, program code segments, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, or variables.

[0097] In the present disclosure, the expression "A may include one of a1, a2, and a3" can broadly mean that examples that can be included in element A include a1, a2, or a3. This expression should not be construed as limiting the examples included in element A to necessarily mean a1, a2, and a3. Therefore, as examples included in element A, it should not be construed as excluding elements other than a1, a2, and a3. Additionally, this expression means that element A may include a1, a2, or a3. This expression does not mean that the elements included in element A must be selected from a specific set of elements. That is, this expression should not be restrictively understood as meaning that a1, a2, or a3, which must be selected from the set including a1, a2, and a3, is included in element A.

[0098] In addition, in the present disclosure, the expression "at least one of a1, a2, and / or a3" means one of "a1", "a2", "a3", "a1 and a2", "a1 and a3", "a2 and a3", and "a1, a2, and a3". Therefore, it should be noted that unless explicitly described as "at least one of a1, at least one of a2, and at least one of a3", the expression "at least one of a1, a2, and / or a3" should not be construed as "at least one of a1", "at least one of a2", and "at least one of a3".

Claims

1. An industrial augmented reality intelligent inspection system based on multi-camera blue-green dual-color lasers, characterized in that: It includes a binocular camera, a galvanometer, a green laser, and a blue laser; the galvanometer includes an X mirror and a Y mirror; Among them, the green laser is used to project a green laser line onto the workpiece; The blue laser is used to project a blue laser line onto the workpiece through the galvanometer; The binocular camera is used to identify relevant positioning features on the workpiece during the projection operation, so that the projection software aligns the workpiece with the CAD model in the coordinate system; and, during the inspection operation, it identifies the blue laser line and obtains the 3D scan data of the workpiece based on the blue laser line.

2. The intelligent inspection system for industrial augmented reality based on multi-camera blue-green dual-color laser according to claim 1, wherein: The galvanometer includes galvanometer G and galvanometer B, and both galvanometer G and galvanometer B include an X mirror and a Y mirror; among them, galvanometer G is used in cooperation with the green laser, and galvanometer B is used in cooperation with the blue laser; and, the scanning of the blue laser line on the workpiece is achieved by controlling the rotation of the X-axis lens and the Y-axis lens in galvanometer B.

3. The intelligent inspection system for industrial augmented reality based on multi - vision blue - green dual - color laser according to claim 2, wherein: The system further includes a high-resolution camera, and the system is also used to judge whether the fiber direction is correct according to the carbon fiber laying process data detected by the high-resolution camera.

4. The inspection method of a multi-eye blue-green dual-color laser industrial augmented reality intelligent inspection system according to any one of claims 2 or 3, includes the following steps: The blue laser projects a blue laser line onto the workpiece; During the projection operation, the binocular camera identifies relevant positioning features on the workpiece, so that the projection software aligns the workpiece with the CAD model in the coordinate system; and, during the inspection operation, the binocular camera identifies the blue laser line and obtains the 3D scan data of the workpiece based on the blue laser line.

5. The inspection method according to claim 4, characterized in that: The blue laser projects a blue laser line onto the workpiece, including: By controlling the swing of one of the lenses in galvanometer B, the laser forms a blue laser line of a certain length on the workpiece to be projected, and by controlling the swing of the other lens in galvanometer B, the blue laser line is moved and scanned on the workpiece.

6. The inspection method according to claim 5, characterized in that: Obtaining the 3D scan data of the workpiece based on the blue laser line, including: While the lens swings to move the blue laser line on the workpiece, the binocular camera collects images of the blue laser line and calculates the 3D data of the workpiece contour scanned by the blue laser line; Comparing and analyzing the 3D data with the CAD model, and then completing various inspection functions for the workpiece.

7. The inspection method according to claim 6, characterized in that: The inspection functions include but are not limited to judging whether components are installed, whether key installation dimensions exceed tolerances, and whether there are foreign objects.

8. The inspection method according to claim 7, characterized in that: Before the blue laser projects a blue laser line onto the workpiece, the method further includes: The green laser projects a green laser line for guiding the processing operation onto the workpiece through galvanometer G.

9. The inspection method according to claim 8, characterized in that: The blue laser projects a blue laser line onto the workpiece, including: The binocular camera judges whether a specified identifier is detected. If detected, the blue laser projects a blue laser line onto the workpiece through galvanometer B.

10. An electronic device, comprising: A memory storing executable program code; A processor coupled to the memory; characterized in that: the processor calls the executable program code stored in the memory and executes the method according to any one of claims 4-9.

Images