Method, device and equipment for detecting clamp in aircraft line pipe assembly and medium

Abstract

The invention provides a method, a device, equipment and a medium for detecting a hoop in aircraft spool assembly, and relates to the technical field of computer vision. The method comprises the following steps: firstly, carrying out clamp area determination processing on a target clamp image to obtain an initial clamp extraction image; secondly, hoop graph determination processing is carried out on the initial hoop extraction image, so that other interference information influencing a representation hoop graph is discarded, and a target hoop extraction image is obtained; then, based on the target clamp extraction image, target clamp detection information is determined; on the basis of the content, the problem that in the prior art, the reliability and efficiency of hoop detection are not high can be solved.

Description

Technical Field

[0001] The present application relates to the field of computer vision technology, and in particular, to a method, device, equipment and medium for detecting clamps in aircraft wire tube assembly. Background Art

[0002] An aircraft uses a large number of components. A large number of cable harnesses are required on the aircraft to connect parts such as the control computer, sensors, and actuators of the aircraft. For example, some airliners have more than 40,000 types of components in total, and the total number of components reaches 2.5 million. Among them, there are about 724 cables and 2,328 ducts. The correctness and reliability of the laying, fixing and connection of aircraft wire harnesses and ducts will affect the normal working state and overall performance of each component on the aircraft, and the clamps for fixing these cables and ducts also need to be carefully designed. At present, the installation quality of wire tube clamps in aircraft final assembly is mainly achieved by multiple and repeated manual inspections. Manual inspections are prone to missed and misjudged detections, which is difficult to ensure the accuracy of the inspections. That is to say, in the prior art, there are problems that the reliability and efficiency of clamp detection are not high. Summary of the Invention

[0003] In view of this, the purpose of the present application is to provide a method, device, equipment and medium for detecting clamps in aircraft wire tube assembly, so as to improve the problems of low reliability and efficiency of clamp detection existing in the prior art.

[0004] To achieve the above purpose, the present application adopts the following technical solutions: A method for detecting a clamp in aircraft wire tube assembly includes: Performing a clamp area determination process on a target clamp image to obtain an initial clamp extraction image, where the target clamp image is formed by collecting an image of the area where the clamp is located after aircraft wire tube assembly, and the initial clamp extraction image is at least used to reflect the image information of the clamp; Performing a clamp graphic determination process on the initial clamp extraction image to discard other interference information that affects the characterization of the clamp graphic, and obtain a target clamp extraction image; Based on the target clamp extraction image, determining target clamp detection information, where the target clamp detection information is at least used to reflect one of the number of clamps and the installation direction of the clamps in the target clamp image.

[0005] In a preferred selection of the present application, in the above method for detecting a clamp in aircraft wire tube assembly, the step of determining target clamp detection information based on the target clamp extraction image includes: Performing a contour detection operation on the target clamp extraction image to obtain each candidate clamp contour in the target clamp extraction image; Perform a confirmation process on each of the candidate clamp profiles to obtain each target clamp profile, where the target clamp profile refers to the determined profile belonging to the clamp. Based on each of the target clamp profiles, determine the target clamp detection information.

[0006] In a preferred option of the present application, in the above-mentioned method for detecting a clamp in aircraft wire tube assembly, the step of performing a confirmation process on each of the candidate clamp profiles to obtain each target clamp profile includes: Determine the area of each of the candidate clamp profiles respectively. For each of the candidate clamp profiles, compare the area of the candidate clamp profile with a pre-determined area threshold, and when the area is greater than or equal to the area threshold, retain the candidate clamp profile, or when the area is less than the area threshold, discard the candidate clamp profile. For each retained candidate clamp profile, determine the minimum bounding rectangle of the candidate clamp profile, and determine the aspect ratio of the minimum bounding rectangle, and compare the aspect ratio with a pre-determined aspect ratio range, and when the aspect ratio belongs to the aspect ratio range, determine the candidate clamp profile as the target clamp profile, or when the aspect ratio does not belong to the aspect ratio range, do not determine the candidate clamp profile as the target clamp profile.

[0007] In a preferred option of the present application, in the above-mentioned method for detecting a clamp in aircraft wire tube assembly, the step of determining the target clamp detection information based on each of the target clamp profiles includes: Count the number of each of the target clamp profiles, where the number is used as the target clamp detection information; and / or Based on the contour feature information of each of the target clamp profiles respectively, determine the installation direction of each of the target clamp profiles, where the installation direction is used as the target clamp detection information.

[0008] In a preferred option of the present application, in the above-mentioned method for detecting a clamp in aircraft wire tube assembly, the step of determining the installation direction of each of the target clamp profiles based on the contour feature information of each of the target clamp profiles respectively includes: For each of the target clamp profiles, perform a polygon approximation process on the target clamp profile to form a clamp polygon profile corresponding to the target clamp profile. Based on the distribution feature information of the corner points on the clamp polygon profile, determine the installation direction of the target clamp profile.

[0009] In a preferred option of the present application, in the above-mentioned method for detecting a clamp in an aircraft wire tube assembly, the step of performing polygon approximation processing on each of the target clamp profiles to form a clamp polygon profile corresponding to the target clamp profile includes: Determine the perimeter of the target clamp profile to obtain the corresponding profile perimeter, and determine a target approximation threshold based on the profile perimeter; For each curve on the target clamp profile, determine a straight-line segment connecting the two end points of the curve, and determine a point on the curve that has the maximum distance from the straight-line segment. When the distance between the point on the curve and the straight-line segment is less than or equal to the target approximation threshold, use the straight-line segment as the approximate segment of the curve. Or, when the distance between the point on the curve and the straight-line segment is greater than the target approximation threshold, divide the curve into two new curves based on the point on the curve, and respectively determine the approximate segments of each new curve; Based on the approximate segments of each curve on the target clamp profile, combine them to form a clamp polygon profile corresponding to the target clamp profile.

[0010] In a preferred option of the present application, in the above-mentioned method for detecting a clamp in an aircraft wire tube assembly, the step of determining the installation direction of the target clamp profile based on the distribution characteristic information of the corner points on the clamp polygon profile includes: Determine the minimum circumscribed rectangle corresponding to the target clamp profile; Divide the minimum circumscribed rectangle into a first partial rectangle and a second partial rectangle in the row direction of pixel distribution, and respectively determine the number of corner points in the first partial rectangle and the second partial rectangle to obtain a first number and a second number, and determine the absolute difference between the first number and the second number to obtain a first difference, where the corner point refers to the connection point of two adjacent sides on the clamp polygon profile; Divide the minimum circumscribed rectangle into a third partial rectangle and a fourth partial rectangle in the column direction of pixel distribution, and respectively determine the number of corner points in the third partial rectangle and the fourth partial rectangle to obtain a third number and a fourth number, and determine the absolute difference between the third number and the fourth number to obtain a second difference; If the first difference is greater than the second difference, determine that the installation direction of the target clamp contour is the row direction of the pixel distribution. And when the first quantity is greater than the second quantity, determine that the installation direction of the target clamp contour is the first direction in the row direction of the pixel distribution; when the first quantity is not greater than the second quantity, determine that the installation direction of the target clamp contour is the second direction in the row direction of the pixel distribution, where the first direction and the second direction are opposite to each other. If the first difference is less than the second difference, determine that the installation direction of the target clamp contour is the column direction of the pixel distribution. And when the third quantity is greater than the fourth quantity, determine that the installation direction of the target clamp contour is the third direction in the column direction of the pixel distribution; when the third quantity is not greater than the fourth quantity, determine that the installation direction of the target clamp contour is the fourth direction in the column direction of the pixel distribution, where the third direction and the fourth direction are opposite to each other.

[0011] In a preferred selection of the present application, in the above-mentioned method for detecting a clamp in the aircraft wire tube assembly, the step of performing a clamp area determination process on the target clamp image to obtain an initial clamp extraction image includes: Convert the target clamp image belonging to the RGB image into the HSV color space to obtain a converted clamp image corresponding to the target clamp image; Based on the range of the clamp color in the HSV color space, perform a clamp area determination process on the converted clamp image to obtain an initial clamp extraction image, where the lower limit of the range of the clamp color in the HSV color space is (26, 43, 46) and the upper limit is (34, 255, 255).

[0012] In a preferred selection of the present application, in the above-mentioned method for detecting a clamp in the aircraft wire tube assembly, the step of performing a clamp graphic determination process on the initial clamp extraction image to discard other interference information affecting the representation of the clamp graphic and obtain a target clamp extraction image includes: Perform a morphological process on the initial clamp extraction image to remove the stainless steel strip used to fix the clamp rubber strip and obtain a target clamp extraction image.

[0013] In a preferred selection of the present application, in the above-mentioned method for detecting a clamp in the aircraft wire tube assembly, the step of performing a morphological process on the initial clamp extraction image to remove the stainless steel strip used to fix the clamp rubber strip and obtain a target clamp extraction image includes: In the initial clamp extraction image, through morphological closing operation, the binary clamp regions separated by the stainless steel strips used to fix the clamp rubber strips are connected to form a closed clamp graph, so as to obtain a target clamp extraction image. Wherein, in the morphological closing operation, the shape of the corresponding structural element kernel is a rectangle, and the size of the rectangle is 17 * 17.

[0014] This application also provides a detection device for clamps in aircraft wire tube assembly, including: A clamp region determination module, configured to perform clamp region determination processing on a target clamp image to obtain an initial clamp extraction image. Wherein, the target clamp image is formed by collecting an image of the region where the clamp is located after the aircraft wire tube is assembled, and the initial clamp extraction image is at least used to reflect the image information of the clamp; A clamp graph determination module, configured to perform clamp graph determination processing on the initial clamp extraction image to discard other interference information that affects the characterization of the clamp graph, so as to obtain a target clamp extraction image; A clamp detection information determination module, configured to determine target clamp detection information based on the target clamp extraction image. Wherein, the target clamp detection information is at least used to reflect one of the number of clamps and the installation direction of the clamps in the target clamp image.

[0015] On the above basis, this application also provides an electronic device, including: A memory, configured to store a computer program; A processor connected to the memory, configured to execute the computer program stored in the memory to implement the above-mentioned detection method for clamps in aircraft wire tube assembly.

[0016] On the above basis, this application also provides a computer-readable storage medium, in which a computer program is stored, and when the computer program runs, it executes each step of the above-mentioned detection method for clamps in aircraft wire tube assembly.

[0017] The detection method, device, equipment and medium of the clamp in the aircraft wire tube assembly provided by the present application. First, perform clamp area determination processing on the target clamp image to obtain an initial clamp extraction image; secondly, perform clamp graphic determination processing on the initial clamp extraction image to discard other interference information that affects the representation of the clamp graphic, and obtain a target clamp extraction image; then, based on the target clamp extraction image, determine the target clamp detection information. Based on the above content, since the number and installation direction of the clamp can be detected by analyzing the image corresponding to the clamp, compared with the conventional technical solution based on manual detection, the detection efficiency and reliability can be improved to a certain extent. In addition, since other interference information that affects the representation of the clamp graphic is discarded during the process of performing clamp graphic determination processing, the interference information in the formed target clamp extraction image is reduced, which is convenient for effectively determining the target clamp detection information in subsequent detection and analysis. Therefore, the problems of low reliability and efficiency in clamp detection existing in the prior art are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To make the above objects, features and advantages of the present application more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows.

[0019] Figure 1 It is a structural block diagram of the electronic device provided by the embodiment of the present application.

[0020] Figure 2 It is a schematic flowchart of the detection method of the clamp in the aircraft wire tube assembly provided by the embodiment of the present application.

[0021] Figure 3 It is a schematic diagram of the target clamp image provided by the embodiment of the present application.

[0022] Figure 4 It is a schematic diagram of the initial clamp extraction image provided by the embodiment of the present application.

[0023] Figure 5 It is a schematic diagram of the target clamp extraction image provided by the embodiment of the present application.

[0024] Figure 6 It is a schematic diagram of the clamp image marked with the installation direction provided by the embodiment of the present application.

[0025] Figure 7 It is a schematic block diagram of the detection device of the clamp in the aircraft wire tube assembly provided by the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are only a part rather than all of the embodiments of this application. Usually, the components of the embodiments of this application described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of this application that is claimed, but is merely representative of selected embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts shall fall within the scope of protection of this application.

[0028] As Figure 1 shown, an embodiment of this application provides an electronic device. Among them, the electronic device may include a memory, a processor, and a detection device for clamps in aircraft wire harness assembly.

[0029] Specifically, the memory and the processor are electrically connected to achieve data transmission or interaction. For example, the memory and the processor may be electrically connected through one or more communication buses or signal lines. The detection device for clamps in aircraft wire harness assembly includes at least one software function module stored in the memory in the form of software or firmware. The processor is used to execute the executable computer program stored in the memory, for example, the software function module and computer program included in the detection device for clamps in aircraft wire harness assembly, etc., to implement the method for detecting clamps in aircraft wire harness assembly provided by the embodiments of this application.

[0030] Optionally, the memory may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0031] Moreover, the processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), a System on Chip (SoC), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0032] It can be understood that Figure 1 the structure shown is only schematic, and the electronic device may further include more or fewer components than those shown Figure 1 herein, or have a different configuration from that shown Figure 1 herein. For example, it may further include a communication unit for information interaction with other devices (such as an image acquisition device, etc.).

[0033] In combination with Figure 2 , an embodiment of the present application further provides a method for detecting a clamp in the aircraft wire tube assembly applicable to the above electronic device. Among them, the method steps defined by the process related to the method for detecting the clamp in the aircraft wire tube assembly can be implemented by the electronic device.

[0034] Next, the Figure 2 specific process shown will be elaborated in detail.

[0035] Step S110, perform a clamp area determination process on the target clamp image to obtain an initial clamp extraction image.

[0036] In an embodiment of the present application, the electronic device can perform a clamp area determination process on the target clamp image to obtain an initial clamp extraction image. Among them, the target clamp image is formed by image acquisition of the area where the clamp is located after the aircraft wire tube assembly, and the initial clamp extraction image is at least used to reflect the image information of the clamp. That is to say, since there is a lot of background information, such as wire harnesses, etc., in the area where the clamp is located, the information of the position where the clamp is located can be initially determined.

[0037] Step S120, perform a clamp graphic determination process on the initial clamp extraction image to discard other interference information that affects the characterization of the clamp graphic, and obtain a target clamp extraction image.

[0038] In an embodiment of the present application, after determining the initial clamp extraction image, the electronic device may perform a clamp graphic determination process on the initial clamp extraction image to discard other interference information that affects the representation of the clamp graphic, thereby obtaining a target clamp extraction image. That is to say, after preliminarily determining the position of the clamp, other interference information that affects the representation of the clamp graphic can be discarded on this basis, so that the information of the clamp can be further confirmed.

[0039] Step S130: Based on the target clamp extraction image, determine the target clamp detection information.

[0040] In an embodiment of the present application, after obtaining the target clamp extraction image, the electronic device may determine the target clamp detection information based on the target clamp extraction image. Among them, the target clamp detection information is at least used to reflect one of the number of clamps and the installation direction of the clamp in the target clamp image, that is, to reflect at least one of the number and the installation direction, or, on the basis of these two pieces of information, other information may also be reflected. That is to say, due to the confirmation of the two-level clamp-related information in steps S110 and S120, the representation accuracy of the formed target clamp extraction image for the clamp is relatively high. Therefore, the reliability of the target clamp detection information determined based on this target clamp extraction image can also be higher.

[0041] Based on the above content, since the detection of the number and installation direction of the clamp can be realized by analyzing the image corresponding to the clamp, compared with the conventional technical solution based on manual detection, the detection efficiency and reliability can be improved to a certain extent. In addition, since other interference information that affects the representation of the clamp graphic is discarded during the process of performing the clamp graphic determination process, the interference information in the formed target clamp extraction image is reduced, which facilitates the effective determination of the target clamp detection information in subsequent detection and analysis. Therefore, the problem that the reliability and efficiency of clamp detection in the prior art are not high is improved.

[0042] In the first aspect, it should be noted that for step S110, the specific method for determining the clamp area of the target clamp image is not limited and can be selected according to actual needs.

[0043] For example, in an alternative embodiment, a neural network model formed through training may be used to identify the target clamp image to determine the area where the clamp is located therein, thereby obtaining the corresponding initial clamp extraction image.

[0044] For another example, in another alternative embodiment, in order to reduce the computational cost, the above step S110 may further include step S111 and step S112, and the specific content is described as follows.

[0045] Step S111: Convert the target clamp image belonging to the RGB image into the HSV color space to obtain a converted clamp image corresponding to the target clamp image.

[0046] In the embodiments of the present application, the target clamp image belonging to the RGB image may be converted into the HSV color space to obtain a converted clamp image corresponding to the target clamp image. That is to say, the converted clamp image may be an image in the HSV color space.

[0047] Step S112: Based on the range of the color of the clamp in the HSV color space, perform a clamp area determination process on the converted clamp image to obtain an initial clamp extraction image.

[0048] In the embodiments of the present application, after obtaining the converted clamp image, a clamp area determination process may be performed on the converted clamp image based on the range of the color of the clamp in the HSV color space to obtain an initial clamp extraction image. That is to say, since the color of the clamp is generally different from that of other components such as wire harnesses, in the preliminary area determination process, screening can be performed based on the color. For example, the lower limit of the range of the color of the clamp in the HSV color space is (26, 43, 46), and the upper limit is (34, 255, 255). The three values respectively refer to H (hue), S (saturation), and V (brightness). In some other embodiments, the three values may also be mapped to between 0 and 1 for representation. That is to say, each pixel point in the converted clamp image whose parameters are between the aforementioned lower limit and upper limit may be determined as the area where the clamp is located. As Figure 3 shown, it is an image containing three continuous rubber strip clamps, that is, the target clamp image. Then, through the processing of step S111 and step S112, the Figure 4 shown initial clamp extraction image can be obtained.

[0049] Regarding the above step S111, it should be further noted that before performing the conversion of the HSV color space, the target clamp image may be first converted into an image with a target size, and then the image is converted into the HSV color space. For example, the size of the target clamp image may be 1797*1187, and the size of the converted image may be 900*600.

[0050] Alternatively, in an alternative embodiment, let (r, g, b) represent the coordinate components of red, green, and blue respectively, and the selected value range is a real number between 0 and 255. Let max be the maximum of r, g, and b, and let min be the minimum of r, g, and b. To obtain the (h, s, v) values in the HSV space, the calculation formula is:

[0051]

[0052]

[0053] In the second aspect, it should be noted that for step S120, the specific method for determining the clamp pattern from the initial clamp extraction image is not limited and can be selected according to actual needs.

[0054] For example, in an alternative embodiment, the initial clamp extraction image can be restored by a trained neural network model to discard other interference information that affects the representation of the clamp pattern, thereby obtaining a reliable target clamp extraction image.

[0055] For another example, in another alternative embodiment, to reduce the computational cost of the clamp pattern determination process, step S120 described above may include the following: Perform morphological processing on the initial clamp extraction image to remove the stainless steel strip used to fix the clamp rubber strip and obtain a target clamp extraction image.

[0056] As Figure 3 shown, the stainless steel strip used to fix the clamp rubber strip will divide the clamp area into two areas, affecting the normal representation of the clamp area. Therefore, to improve the reliability of subsequent detection, the interference information corresponding to the stainless steel strip can be discarded or removed so that the divided clamp area can form a connected area. Specifically, it can be achieved through morphological operations.

[0057] Exemplarily, in an alternative embodiment, in the initial clamp extraction image, the binary clamp areas separated by the stainless steel strip used to fix the clamp rubber strip can be connected through morphological closing operations to form a closed clamp pattern, so as to obtain a target clamp extraction image. Among them, in the morphological closing operation, the shape of the corresponding structural element kernel is a rectangle, and the size of the rectangle can be 17*17. Based on this, a target clamp extraction image as Figure 5 shown can be obtained.

[0058] Thirdly, regarding step S130, it should be noted that the specific method for determining the target clamp detection information is not limited and can be selected according to actual needs.

[0059] For example, in an alternative embodiment, the target clamp extraction image can be recognized based on a trained neural network model to obtain the target clamp detection information.

[0060] Again, for example, in another alternative embodiment, in order to reduce the computational cost of determining the target clamp detection information, the above step S130 can further include step S131, step S132, and step S133. The specific content of each step is described as follows.

[0061] Step S131: Perform a contour detection operation on the target clamp extraction image to obtain each candidate clamp contour in the target clamp extraction image.

[0062] In the embodiment of the present application, a contour detection operation can be performed on the target clamp extraction image to obtain each candidate clamp contour in the target clamp extraction image. After the processing of step S120, a target clamp extraction image as shown can be obtained. The target clamp extraction image can be a binary image, and there will be some connected regions (such as the contours formed by components such as clamps) in the target clamp extraction image. Therefore, a contour detection operation can be performed on the target clamp extraction image (the technology of contour detection can refer to relevant existing technologies and will not be specifically limited here) to extract each contour in the image. Since there may be contours of components other than the clamp in each contour, it can be used as a candidate, that is, a candidate clamp contour, and further confirmation is required. Figure 5

[0063] Step S132: Perform a confirmation process on each candidate clamp contour to obtain each target clamp contour.

[0064] In the embodiment of the present application, after obtaining the candidate clamp contours, a confirmation process can be performed on each candidate clamp contour to obtain each target clamp contour. Among them, the target clamp contour refers to the determined contour belonging to the clamp. That is to say, in step S131, only the contour of the clamp is initially extracted. In order to ensure the detection accuracy, further confirmation is required to obtain a reliable target clamp contour.

[0065] Step S133: Determine the target clamp detection information based on each target clamp contour.

[0066] ​In the embodiments of the present application, after obtaining the target clamp contour, based on each of the target clamp contours, target clamp detection information can be determined, that is, the target clamp contour is further analyzed to determine the corresponding target clamp detection information, such as counting the number of the target clamp contours to obtain the number of the clamps, etc.

[0067] It can be understood that in the above step S132, the specific manner of performing the confirmation process on each of the candidate clamp contours is not limited. For example, in an alternative embodiment, in order to improve the reliability of the determined target clamp contour, the above step S132 may further include the following content: First, the area of each of the candidate clamp contours can be determined respectively, where the calculation method of the area can refer to relevant existing technologies and will not be specifically limited herein; Second, for each of the candidate clamp contours, the area of the candidate clamp contour is compared with a pre-determined area threshold, and when the area is greater than or equal to the area threshold, the candidate clamp contour is retained, or when the area is less than the area threshold, the candidate clamp contour is discarded. The area threshold can be 100 (set according to the size of the clamp), that is, generally, the area of the clamp will be greater than 100; Then, for each retained candidate clamp contour, the minimum circumscribed rectangle of the candidate clamp contour is determined, and the aspect ratio of the minimum circumscribed rectangle is determined, and the aspect ratio is compared with a pre-determined aspect ratio range. When the aspect ratio belongs to the aspect ratio range, the candidate clamp contour is determined as the target clamp contour, or when the aspect ratio does not belong to the aspect ratio range, the candidate clamp contour is not determined as the target clamp contour; the aspect ratio range can be 0.5 - 2, that is, generally, the aspect ratio of the minimum circumscribed rectangle of the clamp belongs to the range of 0.5 - 2.

[0068] It can be understood that in the above step S133, the specific manner of determining the target clamp detection information based on each of the target clamp contours is not limited. For example, in an alternative embodiment, in order to effectively determine the target clamp detection information, the above step S133 may further include step S133a and / or step S133b, and the specific content of each step is as follows.

[0069] Step S133a: Count the number of each of the target clamp contours.

[0070] In an embodiment of the present application, the quantity of each of the target clamp profiles can be counted. Among them, this quantity serves as the target clamp detection information. That is to say, the target clamp detection information may include the quantity of the target clamp profiles, namely the quantity of the clamps. As shown in Figure 5 it is 3.

[0071] Step S133b: Based on the profile feature information of each of the target clamp profiles, determine the installation direction of each of the target clamp profiles.

[0072] In an embodiment of the present application, the installation direction of each of the target clamp profiles can be determined based on the profile feature information of each of the target clamp profiles respectively, that is, by further analyzing the profile feature information of the target clamp profiles to determine the corresponding installation direction. Among them, this installation direction serves as the target clamp detection information. That is to say, the target clamp detection information may include the installation direction of the clamp.

[0073] It can be understood that in the above step S133b, the specific manner of determining the installation direction of each of the target clamp profiles is not limited. For example, in an alternative embodiment, in order to reliably determine the installation direction, the above step S133b may further include step b1 and step b2, and the specific content of each step is as follows.

[0074] Step b1: For each of the target clamp profiles, perform polygon approximation processing on the target clamp profile to form a clamp polygon profile corresponding to the target clamp profile.

[0075] In an embodiment of the present application, for each of the target clamp profiles, perform polygon approximation processing on the target clamp profile to form a clamp polygon profile corresponding to the target clamp profile. That is to say, since the target clamp profile may include curves, therefore, for the convenience of subsequent analysis, approximation processing can be performed first so that corresponding polygons can be formed, that is, the curves are approximated as straight line segments so that corresponding polygons can be formed.

[0076] Step b2: Based on the distribution feature information of the corner points on the clamp polygon profile, determine the installation direction of the target clamp profile.

[0077] In an embodiment of the present application, after obtaining the clamp polygon profile, the installation direction of the target clamp profile can be determined based on the distribution feature information of the corner points (connection points of sides) on the clamp polygon profile, that is, analyze the distribution of the corner points. It should be noted that corresponding analysis can be performed for each of the clamp polygon profiles.

[0078] It is understandable that, in the above step b1, the specific manner of performing polygonal approximation processing on the target clamp profile is not limited. For example, in an alternative embodiment, in order to achieve effective approximation of the polygon, the above step b1 may further include the following contents: First, the perimeter of the target clamp profile can be determined to obtain the corresponding profile perimeter, and the target approximation threshold can be determined based on the profile perimeter; illustratively, the product between the profile perimeter and a ratio value can be calculated to obtain the corresponding target approximation threshold, wherein the specific value of the ratio value can be configured according to actual needs, such as 0.02, etc.; Secondly, for each curve on the target clamp contour, determine the straight line segment connecting the first and last endpoints of the curve (i.e., construct a straight line segment to connect the two endpoints, such as straight line segment AB), and determine a contour point (such as point C) on the curve whose distance to the straight line segment is the maximum value, and when the distance between the contour point and the straight line segment is less than or equal to the target approximation threshold, use the straight line segment as the approximate line segment of the curve, or, when the distance between the contour point and the straight line segment is greater than the target approximation threshold, segment the curve into two new curves (i.e., curve AC and curve CB) based on the contour point, and determine the approximate line segment of each new curve respectively (the determination method is performed in the above-mentioned manner); Then, based on the approximate line segments of each curve on the target clamp profile, a clamp polygonal profile corresponding to the target clamp profile can be combined to form; illustratively, when there are straight line segments in addition to the curves on the target clamp profile, the straight line segments are also combined to form the edges of the clamp polygonal profile.

[0079] It is understandable that, in the above step b2, the specific manner of determining the installation direction of the target clamp profile is not limited. For example, in an alternative embodiment, in order to effectively determine the installation direction, the above step b2 may further include the following contents: First, determine the minimum circumscribed rectangular frame corresponding to the target clamp contour; Secondly, the minimum circumscribed rectangular frame can be equally divided into a first partial rectangular frame and a second partial rectangular frame in the row direction of pixel distribution (such as the X-axis of pixel distribution), and the number of corner points in the first partial rectangular frame and the second partial rectangular frame is determined respectively to obtain a first number and a second number, and the absolute difference between the first number and the second number is determined to obtain a first difference, wherein the corner point refers to a connection point of two edges connected together on the clamp polygonal contour; Then, the minimum circumscribed rectangular frame may be equally divided into a third partial rectangular frame and a fourth partial rectangular frame in the column direction of pixel distribution (such as the Y axis of pixel distribution), and the number of corner points in the third partial rectangular frame and the fourth partial rectangular frame may be determined respectively to obtain a third number and a fourth number, and an absolute difference between the third number and the fourth number may be determined to obtain a second difference; Further, if the first difference is greater than the second difference, the installation direction of the target clamp profile is determined to be the row direction of the pixel distribution, and when the first number is greater than the second number, the installation direction of the target clamp profile is determined to be the first direction in the row direction of the pixel distribution (such as left), and when the first number is not greater than the second number, the installation direction of the target clamp profile is determined to be the second direction in the row direction of the pixel distribution (such as right), wherein the first direction is opposite to the second direction; Finally, if the first difference is less than the second difference, the installation direction of the target clamp profile is determined to be the column direction of the pixel distribution, and when the third number is greater than the fourth number, the installation direction of the target clamp profile is determined to be the third direction in the column direction of the pixel distribution (as above), and when the third number is not greater than the fourth number, the installation direction of the target clamp profile is determined to be the fourth direction in the column direction of the pixel distribution (as below), wherein the third direction is opposite to the fourth direction, as shown in Figure 6 shown.

[0080] In addition, it should be noted that, in an alternative implementation, if the first difference is equal to the second difference, detection information that cannot determine the installation direction may be generated.

[0081] In summary, based on the above-mentioned detection method of clamps in aircraft wire tube assembly, it can be achieved: The collected RGB image is transferred to the HSV color space, and the color features are used to filter out objects with a color close to that of the clamp rubber strip through the threshold. Since the rubber strips on both sides of the clamp are separated by the stainless steel strips used for installation and fixation, the selected clamp is cut off in the middle. Therefore, the cut-off clamp area is then processed through morphological closing operations to form a connected domain. After that, the contour of the connected domain is found, and it is converted into a polygon using the polygon approximation method to calculate its area and minimum circumscribed rectangle. Then, whether it is a clamp is determined based on the area, the length-width ratio of the minimum circumscribed rectangle, and the number of polygon vertices, thereby obtaining the number of clamps. According to the midpoint, length and width of the circumscribed rectangle of the clamp outline, it is divided into four areas: up, down, left and right. The corner point detection method is used to detect the difference between the two groups of corner points. The direction with the most corner points is checked, that is, the direction where the screws are located, so as to obtain the installation direction of the clamp.

[0082] CombinationFigure 7 The embodiment of the present application also provides a detection device for clamps in aircraft wire tube assembly that can be applied to the above electronic equipment. The detection device for clamps in aircraft wire tube assembly can include a clamp area determination module, a clamp graphic determination module, and a clamp detection information determination module.

[0083] The clamp region determination module is used to perform clamp region determination processing on the target clamp image to obtain an initial clamp extraction image, wherein the target clamp image is formed by collecting images of the area where the clamp is located after the aircraft wire tube is assembled, and the initial clamp extraction image is at least used to reflect the image information of the clamp. In the embodiment of the present application, the clamp region determination module can be used to perform Figure 2 As shown in step S110, the relevant contents of the clamp area determination module can refer to the above description of step S110.

[0084] The clamp pattern determination module is used to perform clamp pattern determination processing on the initial clamp pattern extraction image to discard other interference information that affects the characterization of the clamp pattern and obtain a target clamp pattern extraction image. Figure 2 As shown in step S120, the relevant contents of the clamp pattern determination module can refer to the above description of step S120.

[0085] The clamp detection information determination module is used to determine target clamp detection information based on the target clamp extraction image, wherein the target clamp detection information is used to reflect at least one of the number of clamps in the target clamp image and the installation direction of the clamp. In the embodiment of the present application, the clamp detection information determination module can be used to perform Figure 2 As shown in step S130, the relevant contents of the clamp detection information determination module can refer to the above description of step S130.

[0086] In an embodiment of the present application, corresponding to the above-mentioned method for detecting clamps in aircraft wire tube assembly applied to the electronic device, a computer-readable storage medium is also provided, in which a computer program is stored, and when the computer program is run, each step of the method for detecting clamps in aircraft wire tube assembly is executed.

[0087] The steps executed when the aforementioned computer program is running will not be described one by one here, and reference may be made to the aforementioned explanation of the method for detecting the clamp in the aircraft wire tube assembly.

[0088] In summary, the present application provides a method, device, equipment and medium for detecting clamps in aircraft wire tube assembly. First, the target clamp image is processed for clamp area determination to obtain an initial clamp extraction image; second, the initial clamp extraction image is processed for clamp pattern determination to discard other interference information that affects the representation of the clamp pattern to obtain a target clamp extraction image; then, based on the target clamp extraction image, the target clamp detection information is determined. Based on the above content, since the image corresponding to the clamp can be analyzed to detect the number and installation direction of the clamp, the efficiency and reliability of the detection can be improved to a certain extent compared with the conventional technical solution based on manual detection. In addition, since other interference information that affects the representation of the clamp pattern will be discarded during the process of clamp pattern determination, the interference information in the formed target clamp extraction image is reduced, so that it is convenient to effectively determine the target clamp detection information in the subsequent detection analysis, thereby improving the problem of low reliability and efficiency of clamp detection in the prior art.

[0089] In several embodiments provided in the embodiments of the present application, it should be understood that the disclosed device and method can also be implemented in other ways. The device and method embodiments described above are merely schematic, for example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the device, method and computer program product according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0090] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0091] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, electronic device, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code. It should be noted that in this article, the term "include", "include" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0092] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A detection method for a clamp in the assembly of aircraft wire tubes, characterized in that, Including: Performing a clamp area determination process on a target clamp image to obtain an initial clamp extraction image, where the target clamp image is formed by collecting an image of the area where the clamp is located after the aircraft wire tube is assembled, and the initial clamp extraction image is at least used to reflect the image information of the clamp; Performing a clamp graphic determination process on the initial clamp extraction image to discard other interference information that affects the representation of the clamp graphic, and obtaining a target clamp extraction image; Based on the target clamp extraction image, determining target clamp detection information, where the target clamp detection information is at least used to reflect one of the number of clamps and the installation direction of the clamps in the target clamp image.

2. The inspection method of the clamp in the aircraft wire tube assembly according to claim 1, characterized in that, The step of determining the target clamp detection information based on the target clamp extraction image includes: Performing a contour detection operation on the target clamp extraction image to obtain each candidate clamp contour in the target clamp extraction image; Performing a confirmation process on each candidate clamp contour to obtain each target clamp contour, where the target clamp contour refers to the determined contour belonging to the clamp; Based on each target clamp contour, determining the target clamp detection information.

3. The detection method of the clamp in the aircraft wire tube assembly according to claim 2, characterized in that The step of performing a confirmation process on each candidate clamp contour to obtain each target clamp contour includes: Respectively determining the area of each candidate clamp contour; For each candidate clamp contour, comparing the area of the candidate clamp contour with a pre-determined area threshold, and when the area is greater than or equal to the area threshold, retaining the candidate clamp contour, or when the area is less than the area threshold, discarding the candidate clamp contour; For each retained candidate clamp contour, determining the minimum circumscribed rectangle of the candidate clamp contour, and determining the aspect ratio of the minimum circumscribed rectangle, and comparing the aspect ratio with a pre-determined aspect ratio range, and when the aspect ratio belongs to the aspect ratio range, determining the candidate clamp contour as the target clamp contour, or when the aspect ratio does not belong to the aspect ratio range, not determining the candidate clamp contour as the target clamp contour.

4. The inspection method of the clamp in the aircraft wire tube assembly according to claim 2, characterized in that, The step of determining the target clamp detection information based on each target clamp contour includes: Counting the number of each target clamp contour, where this number is used as the target clamp detection information; and / or Based on the contour feature information of each target clamp contour respectively, determining the installation direction of each target clamp contour, where this installation direction is used as the target clamp detection information.

5. The detection method of the clamp in the aircraft wire tube assembly according to claim 4, characterized in that, The step of determining the installation direction of each target clamp contour based on the contour feature information of each target clamp contour respectively includes: For each target clamp contour, performing a polygon approximation process on the target clamp contour to form a clamp polygon contour corresponding to the target clamp contour; Based on the distribution feature information of the corner points on the clamp polygon contour, determining the installation direction of the target clamp contour.

6. The detection method of the clamp in the aircraft wire tube assembly according to claim 5, characterized in that, The step of performing polygon approximation on each of the target clamp profiles to form a clamp polygon profile corresponding to the target clamp profile includes: Determining the perimeter of the target clamp profile to obtain the corresponding profile perimeter, and determining a target approximation threshold based on the profile perimeter; For each curve on the target clamp profile, determining a straight line segment connecting the two end points of the curve, and determining a point on the curve that has the maximum distance from the straight line segment. When the distance between the point on the curve and the straight line segment is less than or equal to the target approximation threshold, the straight line segment is used as the approximate segment of the curve. Or, when the distance between the point on the curve and the straight line segment is greater than the target approximation threshold, the curve is divided into two new curves based on the point, and the approximate segments of each new curve are determined respectively; Combining the approximate segments of each curve on the target clamp profile to form a clamp polygon profile corresponding to the target clamp profile.

7. The inspection method of the clamp in the aircraft wire tube assembly according to claim 5, characterized in that, The step of determining the installation direction of the target clamp profile based on the distribution feature information of the corner points on the clamp polygon profile includes: Determining the minimum circumscribed rectangle corresponding to the target clamp profile; Dividing the minimum circumscribed rectangle into a first partial rectangle and a second partial rectangle in the row direction of pixel distribution, and respectively determining the number of corner points in the first partial rectangle and the second partial rectangle to obtain a first number and a second number, and determining the absolute difference between the first number and the second number to obtain a first difference, where the corner point refers to the connection point of two adjacent sides on the clamp polygon profile; Dividing the minimum circumscribed rectangle into a third partial rectangle and a fourth partial rectangle in the column direction of pixel distribution, and respectively determining the number of corner points in the third partial rectangle and the fourth partial rectangle to obtain a third number and a fourth number, and determining the absolute difference between the third number and the fourth number to obtain a second difference; If the first difference is greater than the second difference, it is determined that the installation direction of the target clamp profile is the row direction of pixel distribution. When the first number is greater than the second number, it is determined that the installation direction of the target clamp profile is the first direction in the row direction of pixel distribution. When the first number is not greater than the second number, it is determined that the installation direction of the target clamp profile is the second direction in the row direction of pixel distribution, where the first direction and the second direction are opposite; If the first difference is less than the second difference, it is determined that the installation direction of the target clamp profile is the column direction of pixel distribution. When the third number is greater than the fourth number, it is determined that the installation direction of the target clamp profile is the third direction in the column direction of pixel distribution. When the third number is not greater than the fourth number, it is determined that the installation direction of the target clamp profile is the fourth direction in the column direction of pixel distribution, where the third direction and the fourth direction are opposite.

8. The detection method of the clamp in the aircraft wire tube assembly according to any one of claims 1-7, characterized in that The step of performing a clamp area determination process on the target clamp image to obtain an initial clamp extraction image includes: Converting the target clamp image belonging to the RGB image into the HSV color space to obtain a converted clamp image corresponding to the target clamp image; Based on the range of the clamp color in the HSV color space, performing a clamp area determination process on the converted clamp image to obtain an initial clamp extraction image, wherein the lower limit of the range of the clamp color in the HSV color space is (26, 43, 46), and the upper limit is (34, 255, 255).

9. The detection method of the clamp in the aircraft wire tube assembly according to any one of claims 1-7, characterized in that, The step of performing a clamp graphic determination process on the initial clamp extraction image to discard other interference information affecting the representation of the clamp graphic and obtain a target clamp extraction image includes: Performing a morphological process on the initial clamp extraction image to remove the stainless steel strip for fixing the clamp rubber strip to obtain a target clamp extraction image.

10. The detection method of the clamp in the aircraft wire tube assembly according to claim 9, characterized in that, The step of performing a morphological process on the initial clamp extraction image to remove the stainless steel strip for fixing the clamp rubber strip to obtain a target clamp extraction image includes: In the initial clamp extraction image, through morphological closing operation, connecting the binarized clamp areas separated by the stainless steel strip for fixing the clamp rubber strip to form a closed clamp graphic to obtain a target clamp extraction image, wherein in the morphological closing operation, the shape of the corresponding structural element kernel is a rectangle, and the size of the rectangle is 17*17.

11. A detection device for a clamp in the assembly of aircraft wire tubes, characterized in that, Includes: A clamp area determination module, configured to perform a clamp area determination process on the target clamp image to obtain an initial clamp extraction image, wherein the target clamp image is formed by collecting an image of the area where the clamp is located after the aircraft wire tube is assembled, and the initial clamp extraction image is at least used to reflect the image information of the clamp; A clamp graphic determination module, configured to perform a clamp graphic determination process on the initial clamp extraction image to discard other interference information affecting the representation of the clamp graphic and obtain a target clamp extraction image; A clamp detection information determination module, configured to determine target clamp detection information based on the target clamp extraction image, wherein the target clamp detection information is at least used to reflect one of the number of clamps and the installation direction of the clamps in the target clamp image.

12. An electronic device, characterized in that, Includes: A memory, configured to store a computer program; A processor connected to the memory, configured to execute the computer program stored in the memory to implement the method for detecting a clamp in the aircraft wire tube assembly according to any one of claims 1-10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program runs, it executes the method for detecting a clamp in the aircraft wire tube assembly according to any one of claims 1-10.

Images