Method and device for detecting convex deformation of plate surface of container

Abstract

The invention relates to a container plate surface convex deformation detection method and device, and the method comprises the steps: obtaining the point cloud data of the container plate surface convex deformation, and obtaining the plate surface convex deformation corresponding to an external measurement method based on the point cloud data; on the basis of the point cloud data, cutting is conducted from the convex deformation highest point of the board downwards according to a preset distance, the surface area and the projection area of the upper end of the cutting face are calculated, and the extension rate of the board in the cutting face is calculated on the basis of the surface area and the projection area; obtaining the original thickness of the convex plate surface; calculating a thickness deviation based on the elongation rate and the original thickness; and according to the thickness deviation and the plate surface convex deformation, calculating the plate surface convex deformation corresponding to the inner measurement method. According to the invention, the deformation of the internal measurement method is obtained based on the deviation value and the deformation of the external measurement method, so that the external measurement method can accurately measure the convex deformation of the plate surface, and the detection accuracy of the external measurement method is improved.

Description

Technical Field

[0001] The present application relates to the field of container detection technology, and in particular to a method and device for detecting convex deformation of a container panel, a computing device, and a storage medium. Background Art

[0002] AI container inspection solutions generally refer to systems or methods that use artificial intelligence technology to inspect and verify containers or other types of boxes. These solutions can be widely applied in logistics, warehousing, security inspection, and other fields to improve efficiency, reduce human error, and enhance safety.

[0003] Among the current AI container inspection solutions, all known solutions use the collection of external 3D container data for data analysis. The main reasons are as follows:

[0004] 1. Operational Convenience: To collect 3D data from the container's exterior, simply install the acquisition equipment on both sides and above the gate. Static or dynamic scanning easily captures 3D data of all five exterior surfaces (excluding the bottom). However, collecting complete 3D data from within the container requires coordination and data exchange between drivers and vehicles, vehicles and equipment, and vehicles and computers. This requires more complex control procedures and safety measures in terms of processes, equipment, and security, making the operation more complex.

[0005] 2. Data Integrity: The five exterior surface data covers the data of the container's main components, such as corner fittings, corner posts, various beams and columns, and the decking. In contrast, the interior dimensions of the container are smaller than the exterior, so the amount of data collected by scanning is smaller. Only partial data on corner fittings, corner posts, and beams can be obtained, making it difficult to accurately analyze and determine component damage during data analysis.

[0006] 3. Safety and Accuracy: Containers carry a wide variety of cargo, and after unpacking and emptying, they often contain cargo residue, dirt, and unremoved pallets. Data collection without removing these residues can compromise the safety of the data collection equipment and data accuracy. However, the exterior of containers does not directly contact the cargo, and aside from labels and hazard signs, there are few foreign objects present, minimizing the impact on data accuracy.

[0007] At present, when IICL (The Institute of International Container Lessors) checks whether the internal structure of a container is deformed due to external forces, it measures the convex deformation of the container's surface and top plate through the internal measurement method, such as Figure 1 The deformation D1 is shown in the figure. In existing practice, 3D cameras are used to collect external data of containers, and the deformation of all components is detected by external measurement. Figure 1The deformation amount D0 is shown, but there may be deviations in the measurements of the existing external measurement method and the internal measurement method, so that the deformation amount D0 of the external measurement method is inconsistent with the deformation amount D1 of the internal measurement method. The external measurement method cannot accurately measure the outward convex deformation of the plate surface, and the detection accuracy is low. Summary of the Invention

[0008] In view of the above problems in the prior art, the present application provides a method and device for detecting the convex deformation of the container panel, a computing device and a storage medium, so that the external measurement method can accurately measure the convex deformation of the panel and improve the detection accuracy of the external measurement method.

[0009] To achieve the above-mentioned objectives, the present application provides, in a first aspect, a method for detecting convex deformation of a container panel, comprising:

[0010] Obtaining point cloud data of the convex deformation of the container panel, and obtaining the convex deformation amount of the panel corresponding to the external measurement method based on the point cloud data;

[0011] Based on the point cloud data, cutting the board surface downward from the highest point of the convex deformation according to a preset distance, calculating the surface area and projected area of ​​the upper end of the cutting surface, and calculating the elongation of the board surface within the cutting surface based on the surface area and the projected area;

[0012] Obtain the original thickness of the outer convex plate surface;

[0013] calculating a thickness deviation based on the elongation and the original thickness;

[0014] The convex deformation amount of the plate surface corresponding to the internal measurement method is calculated according to the thickness deviation and the convex deformation amount of the plate surface.

[0015] From the above, by obtaining the deviation between the deformation amount of the external measurement method and the deformation amount of the internal measurement method, the deformation amount of the internal measurement method is obtained based on the deviation amount and the deformation amount of the external measurement method, so that the external measurement method can accurately measure the outward convex deformation of the plate surface, thereby improving the detection accuracy of the external measurement method.

[0016] To achieve the above-mentioned purpose, the second aspect of the present application provides a device for detecting convex deformation of a container panel, comprising:

[0017] A first calculation module is used to obtain point cloud data of the convex deformation of the container panel, and obtain the convex deformation amount of the panel corresponding to the external measurement method based on the point cloud data;

[0018] a second calculation module for cutting the board surface downward from the highest point of the convex deformation according to a preset distance based on the point cloud data, calculating the surface area and projected area of ​​the upper end of the cut surface, and calculating the elongation of the board surface within the cut surface based on the surface area and the projected area;

[0019] An acquisition module is used to obtain the original thickness of the outer convex plate surface;

[0020] a third calculation module, configured to calculate a thickness deviation based on the elongation and the original thickness;

[0021] The fourth calculation module is used to calculate the convex deformation of the board surface corresponding to the internal measurement method based on the thickness deviation and the convex deformation of the board surface.

[0022] A third aspect of the present application provides a computing device, including:

[0023] processor, and

[0024] A memory having program instructions stored thereon, wherein the program instructions, when executed by the processor, cause the processor to execute any of the methods described in the first aspect above.

[0025] A fourth aspect of the present application provides a computer-readable storage medium having program instructions stored thereon, wherein the program instructions, when executed by a computer, enable the computer to implement any of the methods described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the deviation of deformation measured by the internal measurement method and the external measurement method provided in an embodiment of the present application;

[0027] Figure 2 This is a flow chart of a method for detecting convex deformation of a container panel provided in an embodiment of the present application;

[0028] Figure 3 A schematic diagram of calculating the plate elongation provided in an embodiment of the present application;

[0029] Figure 4 This is a schematic structural diagram of a device for detecting convex deformation of a container panel provided in an embodiment of the present application;

[0030] Figure 5 It is a structural schematic diagram of a computing device provided in an embodiment of the present application.

[0031] It should be understood that the sizes and shapes of the blocks in the above structural diagrams are for reference only and should not constitute an exclusive interpretation of the embodiments of the present invention. The relative positions and inclusion relationships between the blocks presented in the structural diagrams are merely schematic representations of the structural relationships between the blocks and do not limit the physical connection methods of the embodiments of the present invention. DETAILED DESCRIPTION

[0032] The technical solution provided by this application is further described below with reference to the accompanying drawings and examples. It should be understood that the system structure and business scenarios provided in the examples of this application are mainly for illustrating possible implementation methods of the technical solution of this application and should not be interpreted as the sole limitation of the technical solution of this application. It is known to those skilled in the art that with the evolution of the system structure and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0033] It should be understood that the embodiments of the present application provide solutions for detecting convex deformation of container panels, including methods and devices for detecting convex deformation of container panels. Because these technical solutions address the same or similar principles, some repetitions may not be repeated in the following descriptions of the specific embodiments. However, these specific embodiments should be considered as cross-references and can be combined with each other.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. In the event of any inconsistency, the meanings described in this specification or the meanings derived from the contents recorded in this specification shall prevail. In addition, the terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application. In order to accurately describe the technical content in this application and to accurately understand the present invention, the following explanations or definitions are given for the terms used in this specification before describing the specific embodiments:

[0035] 1. Internal measurement: This method involves measuring from inside the container. This method primarily uses a ruler, laser rangefinder, or other measuring tool to detect panel deformation inside the container. First, determine the measurement points—typically pre-marked locations or key areas selected as needed. Then, use the tool to measure the maximum distance from these points to the panel surface to determine the presence and extent of convex deformation.

[0036] 2. External measurement: This method involves measuring from the outside of the container. Common methods include using laser scanners, 3D modeling technology, or traditional tape measures to assess the panel's external deformation. During this process, multiple measurement points are set around the container, and the location information of each point is recorded. By comparing the design dimensions with the actual measured data, the panel deformation can be calculated.

[0037] 3. Corner posts are located at both ends of the long sides of the container. Each corner post connects the top corner fittings and the bottom corner fittings. These corner fittings are important components for fixing, stacking and lifting containers.

[0038] [Example of a method for detecting convex deformation of a container panel]

[0039] The embodiment of the present application provides a method for detecting convex deformation of a container panel, such as Figure 2 As shown, the method includes:

[0040] S210: Acquire point cloud data of the convex deformation of the container panel, and obtain the convex deformation amount of the panel corresponding to the external measurement method based on the point cloud data;

[0041] S220: Based on the point cloud data, cutting the board surface downward from the highest point of the convex deformation according to a preset distance, calculating the surface area and the projected area of ​​the upper end of the cutting surface, and calculating the elongation of the board surface within the cutting surface based on the surface area and the projected area;

[0042] S230: obtaining the original thickness of the outer convex plate surface;

[0043] S240: Calculating a thickness deviation based on the elongation and the original thickness;

[0044] S250: Calculating the convex deformation of the board surface corresponding to the internal measurement method according to the thickness deviation and the convex deformation of the board surface.

[0045] In the above embodiment, the applicant has found through research and analysis that when the plate thickness remains unchanged, the theoretical value D1 measured by the internal measurement method is consistent with the value D0 measured by the external measurement method. However, due to the tensile deformation at the highest point of the actual deformation, the thickness T1 of the plate after deformation is thinner than the original plate thickness T0. Therefore, the deformation measured by the external measurement method will deviate from that by the internal measurement method. Figure 1 As shown, the deformation amount plus the thickness of the plate D = T0 + D0 = D1 + T1, then the deviation value Dx = |D0-D1| = |T1-T0|, or, Dx = D1-D0 = T0-T1, that is, the measurement value of the external measurement method is too small.

[0046] Based on the above problems, the applicant of this application proposes that the difference between the two measurement methods can be calculated and restored through 3D point cloud data collected by a 3D camera and 2D+3D fusion data recognition.

[0047] The specific method for restoring the difference between the two measurement methods is as follows: steps S210 to S250. Steps S210 to S250 are described in detail below.

[0048] During specific implementation, in S210, a 3D camera can be first used to collect 3D point cloud data of the convex deformation of the container's panel surface (a set of many spatial coordinate points, each point represents a position on the surface of the object, and the 3D point cloud includes all deformation information of the container and panel surface being measured). The 3D camera then sends the corresponding point cloud data to the data processing terminal for processing. The processing process can be based on artificial intelligence technology to simulate the manual inspection process, and from structural parts, such as the undeformed corner parts, fit the plane to screen out the damaged areas and quantity that exceed the plane. Simulate the IICL manual measurement method, and select the undeformed surface as the 0 reference plane to measure the actual deformation value D0. The above method is applied to the data processing terminal. Then, based on the point cloud data, the convex deformation of the panel surface corresponding to the external measurement method can be obtained, such as Figure 1 D0 shown.

[0049] The above-mentioned panel surface may include any panel on any of the five surfaces of the side panels and the top panel (except the bottom panel).

[0050] During specific implementation, the applicant proposed after research that when measuring the convex deformation of the side panels, both the internal and external measurement methods should find reference points at the upper and lower ends of the highest point of the plate deformation. Since the container side panels are welded together with steel plates of different thicknesses and widths, the plates are thick near the front and rear corner columns, and thin in the middle area. For example, the part near the corner column may use an 8 mm thick steel plate, while the middle part may use a 4 mm thick steel plate. The original plate thickness in the same vertical direction is the same. For example, if an 8 mm thick steel plate is used for the part near the corner column, then all steel plates in this vertical direction will be 8 mm thick. By calculating the conversion relationship between T1 and T0, combined with the original plate thickness at the deformation position, the difference between the two measurement methods can be restored. Similarly, when measuring the convex deformation of the top plate, the above theoretical method can also be used to restore the difference between the two measurement methods.

[0051] The main purpose of finding reference points at the upper and lower ends of the highest point of deformation is:

[0052] Provide a stable reference plane: By selecting reference points above and below the highest point of deformation, a stable reference plane or line can be formed to facilitate accurate measurement of the height or depth of deformation.

[0053] Reducing errors: Selecting a reference point close to the highest point of deformation can minimize measurement errors caused by deformation or irregular shapes in other areas.

[0054] Specifically, in S220 , the acquired point cloud data is first processed to determine the highest point of the convex deformation of the panel surface. This can be done by loading a point cloud data file (e.g., in .ply format) acquired by a 3D camera using Open3D. The coordinates of all points in the point cloud data are extracted, and the point with the largest z coordinate (i.e., the highest point) is found. The z coordinate value of this highest point is recorded.

[0055] Then, taking the highest point as the reference point, set a preset distance according to the needs (for example, it can be 10mm, or other, set according to actual needs), and cut from the highest point of deformation downward by the preset distance. You can get a cutting (plane) surface with a preset distance from the highest point and a direction perpendicular to the surface normal, such as Figure 3 As shown in the figure, Open3D was used to filter points within 10 mm below the highest point of deformation to form a new point cloud. The filtered point cloud data was converted into a triangulated mesh using the Alpha Shape method. Alpha Shape is a commonly used surface reconstruction method that can generate an approximate 3D surface model from point cloud data.

[0056] Then, the surface area S and its projected area A_S of the upper end of the cutting (plane) surface (generated triangulated mesh) are calculated by the Open3D library, as shown in Figure 3 Then calculate the elongation of the plate 10mm inside the top of the deformation δ = S / A_S.

[0057] In specific implementation, before executing S230, it is first necessary to determine the position of the deformed panel. This can be done through 2D+3D data fusion, AI algorithms, combined with the ISO container size standards and ISO_9897-1 container data exchange code standards, to automatically identify ISO codes such as container type, deformed components, and deformed locations. The specific identification process includes box type identification, component identification, left and right side identification, and location identification. Among them:

[0058] Container identification: Corner fittings are identified based on the fused 2D / 3D image. The captured image is segmented based on the positions of the front and rear corner fittings to determine the positions of the front and rear corner columns, top and bottom side beams. If two sets of adjacent corner fittings are identified between the front and rear corner fittings, the image is segmented based on the position of the middle corner fitting to determine whether it is a single or double container, thereby determining the container location. The container type can also be determined based on the dimensions between the corner fittings.

[0059] Component identification: Based on the segmented box image, combined with component positions and image features, the corresponding components are marked according to the component codes.

[0060] Left and right side identification: Combined with the above component segmentation results, the door hinge location is identified based on the front and rear column data, the left and right sides of the container are determined, and the numbering sequence is determined.

[0061] Position identification: The length and height of the box are calculated based on the point cloud, and the box is segmented based on the length and height of the box to calculate the corresponding position of the defect. The physical location of the damaged box is determined based on the point cloud position.

[0062] The above method of obtaining the accurate position of the container type and damaged parts by 2D+3D is a common technology in this field and is not limited in detail.

[0063] After identifying the ISO code of the container type and the exact location of the damaged parts under test, combined with the general design specifications of standard dry cargo containers (the thickness of the first plate at the front and rear ends of the side panels is T0 = 2.0 mm, and the thickness of the remaining middle side panels is T0 = 1.6 mm), the original thickness T0 of the panel surface can be obtained. Then, S240 is executed to deeply restore the measurement deviation DX = T0 - T0 / δ.

[0064] The "front and rear end first plates" refer to the first steel plates at the front and rear ends of the container's side panels. The front first plate refers to the first steel plate at the front of the container, near the front corner post. The rear first plate refers to the first steel plate at the rear of the container, near the rear corner post. Because these steel plates are located in critical stress-bearing areas of the container, they are often designed to be thicker than the central plates to enhance structural strength and durability.

[0065] Specifically, S240 may also be executed in the following manner:

[0066] Calculating the thickness of the plate at the highest point based on the elongation and the original thickness;

[0067] The thickness deviation is calculated based on the original thickness and the plate surface thickness at the highest point.

[0068] According to the volume invariance principle V = T0 * A_S = T1 * S, the plate thickness at the highest point can be calculated as T1 = T0 / δ. Then, the thickness deviation Dx can be calculated according to Dx = T1 - T0.

[0069] In specific implementation, in S250, after calculating the thickness deviation, the convex deformation of the board surface corresponding to the internal measurement method can be calculated based on the thickness deviation and the convex deformation of the board surface, so that the accurate convex deformation of the board surface can be obtained by the external measurement method.

[0070] Specifically, based on Dx = D0-D1 = T1-T0, the calculation formula for the convex deformation of the plate surface corresponding to the internal measurement method is:

[0071] D1=D0+Dx;

[0072] Among them, D1 is the convex deformation of the plate surface corresponding to the internal measurement method; D0 is the convex deformation of the plate surface corresponding to the external measurement method; DX is the thickness deviation.

[0073] In summary, this application can achieve the following beneficial effects:

[0074] 1. Simple and efficient operation: The external test method avoids the complicated coordination process between people, vehicles and vehicles in the internal test method. Data can be easily collected by simply installing the equipment at the gate, thereby improving the detection efficiency.

[0075] 2. Accurate and reliable data: Through precise analysis and calculation of the measurement deviations of the inner side method and the outer side method, combined with advanced algorithms and standard specifications, the convex deformation of the side panel can be accurately measured to improve the detection accuracy.

[0076] 3. High safety: No contact with possible dangerous residues in the box, ensuring the safety of testing equipment and operators.

[0077] 4. Strong compatibility: Combining international standards and specifications, it can identify container-related information and has wide applicability and compatibility.

[0078] [Embodiment of the device for detecting convex deformation of the plate surface of a container of the present application]

[0079] like Figure 4 As shown, the embodiment of the present application provides a device for detecting the convex deformation of the plate surface of a container. The device for detecting the convex deformation of the plate surface of a container can be used to implement the method for detecting the convex deformation of the plate surface of a container in the above embodiment, such as Figure 4 As shown, the device for detecting the convex deformation of the container panel comprises a first calculation module 410 , a second calculation module 420 , an acquisition module 430 , a third calculation module 440 , and a fourth calculation module 450 .

[0080] The first calculation module 410 is used to obtain point cloud data of the convex deformation of the container panel surface, and obtain the convex deformation amount of the panel surface corresponding to the external measurement method based on the point cloud data; that is, it is used to execute step S210 in the above-mentioned method for detecting the convex deformation of the container panel surface and the examples therein.

[0081] The second calculation module 420 is used to cut the panel surface downward at a preset distance from the highest point of the convex deformation based on the point cloud data, calculate the surface area of ​​the upper end of the cutting surface and its projected area, and calculate the elongation of the panel surface within the cutting surface based on the surface area and the projected area; that is, it is used to execute step S220 in the above-mentioned method for detecting the convex deformation of the panel surface of the container and the examples therein.

[0082] The obtaining module 430 is used to obtain the original thickness of the convex panel surface; that is, it is used to execute step S230 in the above-mentioned method for detecting the convex deformation of the panel surface of the container and the examples thereof.

[0083] The third calculation module 440 is used to calculate the thickness deviation based on the elongation and the original thickness; that is, to execute step S240 in the above-mentioned method for detecting the convex deformation of the plate surface of the container and the examples therein.

[0084] The fourth calculation module 450 is used to calculate the panel convex deformation amount corresponding to the internal measurement method based on the thickness deviation and the panel convex deformation amount, that is, to execute step S250 of the above-mentioned container panel convex deformation detection method and the examples therein.

[0085] For details, please refer to the detailed description in the method embodiment, which will not be repeated here.

[0086] [Embodiment of the computing device of the present application]

[0087] Figure 5 This is a schematic structural diagram of a computing device 900 provided in an embodiment of the present application. The computing device can be used as a detection device for the convex deformation of the container panel surface, and executes the optional embodiments of the above-mentioned detection method for the convex deformation of the container panel surface. The computing device can be a terminal, or a chip or chip system inside the terminal. Figure 5 As shown, the computing device 900 includes: a processor 910 , a memory 920 , and a communication interface 930 .

[0088] It should be understood that Figure 5 The communication interface 930 in the computing device 900 shown may be used to communicate with other devices, and may specifically include one or more transceiver circuits or interface circuits.

[0089] The processor 910 may be connected to a memory 920. The memory 920 may be used to store the program code and data. Therefore, the memory 920 may be a storage unit within the processor 910, an external storage unit independent of the processor 910, or a component including both a storage unit within the processor 910 and an external storage unit independent of the processor 910.

[0090] Optionally, the computing device 900 may further include a bus. The memory 920 and the communication interface 930 may be connected to the processor 910 via the bus. The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 A line without an arrow is used to represent the bus, but this does not mean that there is only one bus or one type of bus.

[0091] It should be understood that in the embodiment of the present application, the processor 910 can adopt a central processing unit (CPU). The processor can also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. Alternatively, the processor 910 uses one or more integrated circuits to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0092] The memory 920 may include a read-only memory and a random access memory, and provides instructions and data to the processor 910. A portion of the processor 910 may also include a non-volatile random access memory. For example, the processor 910 may also store information about the device type.

[0093] When the computing device 900 is running, the processor 910 executes the computer-executable instructions in the memory 920 to perform any operation step of the above method and any optional embodiment thereof.

[0094] It should be understood that the computing device 900 according to the embodiment of the present application can correspond to the corresponding subject in executing the method according to each embodiment of the present application, and the above-mentioned and other operations and / or functions of each module in the computing device 900 are respectively for implementing the corresponding processes of each method of the present embodiment. For the sake of brevity, they will not be repeated here.

[0095] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0096] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0097] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0098] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0099] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0100] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, 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. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0101] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the program is used to execute the above method, which includes at least one of the solutions described in the above embodiments.

[0102] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media.Computer-readable media can be computer-readable signal media or computer-readable storage media.Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or components, or any combination thereof.More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connection with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination thereof.In this document, computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0103] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0104] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0105] The computer program code for performing the operations of the present application can be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0106] In addition, the words "first, second, third, etc." or module A, module B, module C and other similar terms in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that the specific order or sequence can be interchanged where permitted so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0107] In the above description, the numbers representing the steps, such as S110, S120, etc., do not necessarily mean that the steps must be executed in this manner. If permitted, the order of the steps can be interchanged or they can be executed simultaneously.

[0108] The term "comprising" as used in the specification and claims should not be construed as limiting to what is listed thereafter; it does not exclude other elements or steps. Thus, it should be interpreted as specifying the presence of the features, integers, steps, or components mentioned, but not excluding the presence or addition of one or more other features, integers, steps, or components, or groups thereof. Thus, the expression "a device comprising means A and B" should not be limited to a device consisting solely of components A and B.

[0109] References in this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Therefore, the phrases "in one embodiment" or "in an embodiment" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics can be combined in any suitable manner, as would be apparent to one of ordinary skill in the art from this disclosure.

[0110] Note that the above are only preferred embodiments of the present application and the technical principles employed. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of protection of the present application, all of which fall within the scope of protection of the present application.

Claims

1. A method for detecting convex deformation of a container panel, characterized in that: include: Obtaining point cloud data of the convex deformation of the container panel, and obtaining the convex deformation amount of the panel corresponding to the external measurement method based on the point cloud data; Based on the point cloud data, cutting the board surface downward from the highest point of the convex deformation according to a preset distance, calculating the surface area and projected area of ​​the upper end of the cutting surface, and calculating the elongation of the board surface within the cutting surface based on the surface area and the projected area; Obtain the original thickness of the outer convex plate surface; calculating a thickness deviation based on the elongation and the original thickness; The convex deformation amount of the plate surface corresponding to the internal measurement method is calculated according to the thickness deviation and the convex deformation amount of the plate surface.

2. The method according to claim 1, wherein The elongation of the panel within the cut surface is calculated based on the surface area and the projected area according to the following formula: δ = S / A_S; Where δ is the elongation of the plate surface within the cutting surface; S is the surface area of ​​the upper end of the cutting surface; A_S is the projected area of ​​the cutting surface.

3. The method according to claim 1, wherein Based on the elongation and the original thickness, calculating the thickness deviation includes: Calculating the thickness of the plate at the highest point based on the elongation and the original thickness; The thickness deviation is calculated based on the original thickness and the plate surface thickness at the highest point.

4. The method according to claim 3, wherein The thickness of the panel at the highest point is calculated based on the elongation and the original thickness according to the following formula: T1=T0 / δ; Among them, T1 is the thickness of the plate surface at the highest point; T0 is the original thickness of the convex plate surface; δ is the elongation of the plate surface in the cut surface.

5. The method according to claim 3 or 4, wherein: The thickness deviation is calculated based on the original thickness and the plate thickness at the highest point using the following formula: DX = T0–T1; Among them, DX is the thickness deviation; T1 is the plate thickness at the highest point; T0 is the original thickness of the convex plate surface.

6. The method according to claim 1, wherein The convex deformation of the plate surface corresponding to the internal measurement method is calculated according to the thickness deviation and the convex deformation of the plate surface according to the following formula: D1=D0+Dx; Among them, D1 is the convex deformation of the plate surface corresponding to the internal measurement method; D0 is the convex deformation of the plate surface corresponding to the external measurement method; DX is the thickness deviation.

7. A device for detecting convex deformation of a container panel, characterized in that: include: A first calculation module is used to obtain point cloud data of the convex deformation of the container panel, and obtain the convex deformation amount of the panel corresponding to the external measurement method based on the point cloud data; a second calculation module for cutting the board surface downward from the highest point of the convex deformation according to a preset distance based on the point cloud data, calculating the surface area and projected area of ​​the upper end of the cut surface, and calculating the elongation of the board surface within the cut surface based on the surface area and the projected area; An acquisition module is used to obtain the original thickness of the outer convex plate surface; a third calculation module, configured to calculate a thickness deviation based on the elongation and the original thickness; The fourth calculation module is used to calculate the convex deformation of the board surface corresponding to the internal measurement method based on the thickness deviation and the convex deformation of the board surface.

8. The device according to claim 7, wherein The third calculation module is specifically used for: Calculating the thickness of the plate at the highest point based on the elongation and the original thickness; The thickness deviation is calculated based on the original thickness and the plate surface thickness at the highest point.

9. A computing device, characterized in that include: processor, and A memory having program instructions stored thereon, wherein when the program instructions are executed by the processor, the processor is caused to perform the method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that Program instructions are stored thereon, and when the program instructions are executed by a computer, the computer is caused to execute the method according to any one of claims 1 to 6.

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