Hole site measurement method and device, three-dimensional scanning equipment and storage medium

Abstract

The invention relates to a hole site measurement method and device, three-dimensional scanning equipment and a storage medium, and the method comprises the steps: determining the parameter information related to a target hole and the prior information of the target hole based on each frame of hole site image of the target hole; the parameter information comprises spatial positioning parameters and image feature parameters; when the parameter information meets a preset constraint condition, prior information of the corresponding target hole is recorded; and determining three-dimensional hole position information of the target hole based on the recorded priori information of the target hole. Through the hole scanning method and device, the problem that the hole scanning precision and efficiency are low under the condition that the hole scanning result corresponding to the single-frame hole position image is poor is solved, the influence of the poor hole scanning result corresponding to the single-frame hole position image is avoided, and the hole scanning precision and efficiency are effectively improved.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional scanning technology, and in particular to a hole position measurement method, apparatus, three-dimensional scanning equipment, and storage medium. Background Art

[0002] In 3D scanning, hole location measurement technology involves the precise measurement and analysis of parameters such as the position, size, and shape of holes in an object. Existing hole location measurement methods typically acquire multiple hole location images, determine preliminary features of the target hole based on each image, and then identify the precise features of the target hole based on these preliminary features. However, these methods cannot guarantee hole scanning accuracy if the hole location image corresponding to a single frame does not produce good results, resulting in low hole scanning accuracy and efficiency.

[0003] With regard to the problem in related technologies that the hole scanning result corresponding to a single-frame hole position image is poor, and the hole scanning accuracy and efficiency are low, no effective solution has been proposed so far. Summary of the Invention

[0004] In this embodiment, a hole position measurement method, apparatus, three-dimensional scanning device and storage medium are provided to solve the problem of low hole scanning accuracy and efficiency when the hole scanning result corresponding to a single-frame hole position image is poor in the related art.

[0005] In a first aspect, a hole position measurement method is provided in this embodiment, comprising:

[0006] Based on each frame of the hole position image of the target hole, determining parameter information associated with the target hole and prior information of the target hole; the parameter information includes spatial positioning parameters and image feature parameters;

[0007] When the parameter information satisfies a preset constraint condition, recording the corresponding prior information of the target hole;

[0008] Based on the recorded prior information of the target holes, three-dimensional hole position information of the target holes is determined.

[0009] In some embodiments, determining the spatial positioning parameters in the parameter information associated with the target hole based on each frame of the hole position image of the target hole includes:

[0010] Determining position information of the target hole based on each frame of the hole position image of the target hole;

[0011] Based on the position information of the target hole, the spatial positioning parameters between the camera used to capture the hole position image and the target hole are determined; the spatial positioning parameters include hole scanning angle and / or distance information.

[0012] In some embodiments, determining the image feature parameters in the parameter information associated with the target hole based on each frame of the hole position image of the target hole includes:

[0013] Each frame of the hole position image of the target hole is identified to obtain the image feature parameters associated with the target hole; the image feature parameters include the number of points of the target hole contour.

[0014] In some embodiments, when the parameter information satisfies a preset constraint condition, recording the corresponding prior information of the target hole includes:

[0015] Determining a parameter threshold condition corresponding to the parameter information in the preset constraint condition;

[0016] In response to the parameter information satisfying the parameter threshold condition, the prior information of the target hole is recorded.

[0017] In some embodiments, determining the three-dimensional hole position information of the target hole based on the recorded prior information of the target hole includes:

[0018] Fitting the point cloud data around the target hole to obtain a corresponding constraint plane;

[0019] Projecting each of the recorded prior information of the target hole onto the constraint plane;

[0020] Based on each of the projected prior information, the three-dimensional hole position information of the target hole is determined.

[0021] In some embodiments, determining the three-dimensional hole position information of the target hole based on each of the projected prior information includes:

[0022] Based on each of the projected prior information, sub-pixel edge detection is performed on the target hole in the corresponding hole position image to obtain sub-pixel edge point information of the target hole;

[0023] Projecting the sub-pixel edge point information onto the constraint plane to obtain corresponding projection data;

[0024] Fitting is performed on each of the projection data to obtain the three-dimensional hole position information of the target hole.

[0025] In some embodiments, when the parameter information satisfies a preset constraint condition, after recording the corresponding prior information of the target hole, the method further includes:

[0026] Obtaining category information of the target hole in each recorded prior information;

[0027] In response to the number of times that each category information indicates that the target hole is a target category is greater than a preset number, the three-dimensional hole position information of the target hole is determined based on each prior information indicating that the target hole is a target category.

[0028] In a second aspect, a hole position measuring device is provided in this embodiment, comprising:

[0029] An analysis module, configured to determine parameter information associated with the target hole and prior information of the target hole based on each frame of the hole position image of the target hole; the parameter information includes spatial positioning parameters and image feature parameters;

[0030] A judgment module, configured to record the corresponding prior information of the target hole when the parameter information satisfies a preset constraint condition;

[0031] A processing module is used to determine the three-dimensional hole position information of the target hole based on the recorded prior information of each target hole.

[0032] In a third aspect, a three-dimensional scanning device is provided in this embodiment, including a scanning device; the scanning device is used to execute the hole position measurement method described in the first aspect above.

[0033] In a fourth aspect, a storage medium is provided in this embodiment, on which a computer program is stored. When the program is executed by a processor, the hole position measurement method described in the first aspect is implemented.

[0034] Compared with the related art, the hole position measurement method, device, three-dimensional scanning equipment and storage medium provided in this embodiment determine the parameter information associated with the target hole and the prior information of the target hole based on each frame of the hole position image of the target hole; the parameter information includes spatial positioning parameters and image feature parameters; when the parameter information meets the preset constraints, the corresponding prior information of the target hole is recorded; based on the recorded prior information of the target hole, the three-dimensional hole position information of the target hole is determined, which solves the problem of low hole scanning accuracy and efficiency when the hole scanning result corresponding to the single-frame hole position image is poor, and avoids the influence of the poor hole scanning result corresponding to the single-frame hole position image, thereby effectively improving the hole scanning accuracy and efficiency.

[0035] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0037] Figure 1 This is a hardware structure block diagram of a terminal device for a hole position measurement method provided in one embodiment of the present application;

[0038] Figure 2 This is a flow chart of a hole position measurement method provided in one embodiment of the present application;

[0039] Figure 3 This is a flow chart of a parameter information detection method provided by an embodiment of the present application;

[0040] Figure 4 This is a flow chart of a precise hole scanning identification method provided in one embodiment of the present application;

[0041] Figure 5 1 is a flow chart of a hole position measurement method provided in one embodiment of the present application;

[0042] Figure 6 This is a flow chart of a hole position measurement method provided in a preferred embodiment of the present application;

[0043] Figure 7 This is a structural block diagram of a hole position measurement device provided in one embodiment of the present application.

[0044] In the figure: 102, processor; 104, memory; 106, transmission device; 108, input and output device; 10, analysis module; 20, judgment module; 30, processing module. DETAILED DESCRIPTION

[0045] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0046] Unless otherwise defined, technical or scientific terms used in this application shall have the ordinary meanings as understood by persons of ordinary skill in the art to which this application belongs. The terms "a," "an," "the," "these," and similar expressions in this application do not denote limitations on quantity and may be singular or plural. The terms "comprise," "include," "have," and any variations thereof, as used in this application, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include unlisted steps or modules (units) or other steps or modules (units) inherent to the process, method, product, or device. The terms "connected," "connected," "coupled," and similar expressions used in this application are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. As used in this application, "plurality" means two or more. "And / or" describes an association between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone; A and B exist simultaneously; or B exists alone. Generally, the character " / " indicates that the objects in the preceding and following relationship are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0047] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 FIG. 1 is a block diagram of the hardware structure of the terminal of the hole position measurement method of this embodiment. Figure 1 As shown, the terminal may include one or more ( Figure 1 The processor 102 (only one is shown) and a memory 104 for storing data, wherein the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The terminal may also include a transmission device 106 for communication functions and an input / output device 108. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0048] The memory 104 can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to the hole position measurement method in this embodiment. The processor 102 executes the computer programs stored in the memory 104 to execute various functional applications and data processing, thereby implementing the above-mentioned method. The memory 104 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, and such remote memory may be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0049] Transmission device 106 is used to receive or transmit data via a network. This network may include a wireless network provided by the terminal's communications provider. In one embodiment, transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0050] In this embodiment, a hole position measurement method is provided. Figure 2 Flowchart of the hole position measurement method of this embodiment, as shown in FIG. Figure 2 As shown, the process includes the following steps:

[0051] Step S210, based on each frame of the hole position image of the target hole, determining parameter information associated with the target hole and prior information of the target hole; the parameter information includes spatial positioning parameters and image feature parameters;

[0052] Specifically, a rough scan and identification process is performed on the target hole in advance. A hole position image of the target hole is captured by a camera. Based on each frame of the hole position image and camera calibration parameters, the spatial position information of the target hole is determined. Based on this spatial position information, spatial positioning parameters between the camera and the target hole are calculated. These spatial positioning parameters include the scanning angle and the distance between the camera and the target hole plane. Simultaneously, each frame of the hole position image of the target hole is identified to obtain image feature parameters. These image feature parameters include at least the number of hole contour points of the target hole in the hole position image. The spatial position information and image feature parameters of the target hole are used as the parameter information of the target hole.

[0053] Furthermore, the prior information of the target hole is determined. The prior information refers to the target hole features fitted based on the number of identified target hole contour points. The prior information includes but is not limited to characteristic parameters such as the center position coordinates and radius of the target hole, the category information of the target hole (such as round holes, square holes and polygonal holes), and the processing information of the target hole (such as processing direction and hole surface roughness).

[0054] Step S220, when the parameter information satisfies the preset constraint conditions, the corresponding prior information of the target hole is recorded;

[0055] Specifically, it is determined whether each parameter information associated with the target hole meets the corresponding preset constraint conditions. If each parameter information meets the preset constraint conditions, the prior information of the target hole is recorded, thereby avoiding the situation where a single-frame poor rough hole scanning process leads to poor hole scanning results. The poor hole scanning results are still used to execute the subsequent fine hole scanning process, which helps to improve the accuracy and precision of the hole scanning.

[0056] Exemplarily, the current target hole parameter information includes the scanning angle, the distance between the camera and the target hole plane, and the number of hole contour points of the target hole. If the scanning angle is less than a preset scanning angle threshold, the distance between the camera and the target hole plane is less than a preset distance threshold, and the number of hole contour points of the target hole reaches a preset point threshold, it indicates that the parameters meet the preset constraints, and the prior information of the target hole is recorded. If the scanning angle exceeds the preset scanning angle threshold, or the distance between the camera and the target hole plane exceeds the preset distance threshold, or the number of hole contour points of the target hole does not reach the preset point threshold, it indicates that the parameters do not meet the preset constraints, and the target hole is then subjected to coarse scanning identification until a coarse scanning result that meets the preset constraints is obtained.

[0057] Step S230 : determining the three-dimensional hole position information of the target hole based on the recorded prior information of the target hole.

[0058] Specifically, the point cloud data around the target hole is fitted to obtain a corresponding constraint plane, and each recorded prior information of the target hole is projected onto this constraint plane. Based on each projected prior information, sub-pixel edge detection is performed on the target hole in the corresponding hole position image to obtain sub-pixel edge point information of the target hole. This sub-pixel edge point information is projected onto the constraint plane to obtain corresponding projection data. The projection data is then fitted to obtain the 3D hole position information of the target hole. The 3D hole position information includes hole characteristics such as the center position coordinates, radius size, and actual contour shape of the target hole.

[0059] In 3D scanning, hole location measurement technology involves the precise measurement and analysis of parameters such as the position, size, and shape of holes in an object. Existing hole location measurement methods typically acquire multiple hole location images, determine preliminary features of the target hole based on each image, and then identify the precise features of the target hole based on these preliminary features. However, these methods cannot guarantee hole scanning accuracy if the hole location image corresponding to a single frame does not produce good results, resulting in low hole scanning accuracy and efficiency.

[0060] Compared with the prior art, the present application determines the parameter information associated with the target hole and the prior information of the target hole based on each frame of the hole position image of the target hole; the parameter information includes spatial positioning parameters and image feature parameters; when the parameter information meets the preset constraint conditions, the corresponding prior information of the target hole is recorded; based on the recorded prior information of the target hole, the three-dimensional hole position information of the target hole is determined. Based on this, the parameter information associated with the target hole and the prior information of the target hole are obtained by rough hole scanning, and whether the rough hole scanning result meets the preset constraint conditions is detected. When the rough hole scanning result meets the preset constraint conditions, the fine hole scanning recognition is performed based on the prior information of the target hole to obtain the three-dimensional hole position information of the target hole. This solves the problem of low hole scanning accuracy and efficiency when the hole scanning result corresponding to a single frame of hole position image is poor, and avoids the influence of the poor hole scanning result corresponding to the single frame of hole position image, effectively improving the hole scanning accuracy. At the same time, it can avoid switching scanning modes during the measurement process. The operation is simple and not prone to misoperation, improving the hole scanning efficiency and effectively meeting user needs.

[0061] In some embodiments, determining the spatial positioning parameters in the parameter information associated with the target hole based on each frame of the hole position image of the target hole in step S210 includes the following steps:

[0062] Determine the position information of the target hole based on each frame of the hole position image of the target hole;

[0063] Based on the position information of the target hole, the spatial positioning parameters between the camera used to capture the hole position image and the target hole are determined; the spatial positioning parameters include hole scanning angle and / or distance information.

[0064] Specifically, the calibration parameters of the shooting camera are determined, including the intrinsic and extrinsic parameters of the camera. According to the camera calibration parameters, the spatial position information of the target hole in the hole image is calculated, and then the target hole plane is determined based on the spatial position information of the target hole. The scanning angle is calculated according to the normal vector of the target hole plane and the light direction of the camera, and the distance information between the camera and the target hole is calculated in combination with the camera position.

[0065] It can be understood that the preset constraints correspond to the parameter information obtained by the rough hole scanning process. In the actual rough hole scanning process, the corresponding parameter information is identified and obtained by referring to the multiple parameter threshold conditions set by the preset constraints, so as to subsequently analyze whether there is a large deviation between the hole characteristics identified by the rough hole scanning and the actual hole characteristics.

[0066] Through this embodiment, the position information of the target hole is determined based on each frame of the hole position image of the target hole, and based on the position information of the target hole, the spatial positioning parameters between the camera used to shoot the hole position image and the target hole are determined, so as to accurately identify the spatial positioning information associated with the target hole.

[0067] In some embodiments, determining the image feature parameters in the parameter information associated with the target hole based on each frame of the hole position image of the target hole in step S210 includes the following steps:

[0068] Each frame of the hole position image of the target hole is identified to obtain image feature parameters associated with the target hole; the image feature parameters include the number of points of the target hole contour.

[0069] Specifically, a contour extraction algorithm is used to identify each frame of the hole position image of the target hole to extract the contour of the target hole. The contour of the target hole is composed of a series of pixel points. The number of identified target hole contour points is accumulated to obtain the number of target hole contour points.

[0070] For example, contour extraction is performed on each frame of the target hole image, and a two-dimensional rectangular coordinate system is established with the center of the target hole as the origin. Based on this coordinate system, the contour circumference is divided into eight directions. The number of pixel contour points identified in each direction is recorded and accumulated to obtain the number of points in the target hole contour. In other embodiments, pixel contour points can be accumulated based on four directions. Other implementation methods are not described here one by one.

[0071] Through this embodiment, each frame of the hole position image of the target hole is identified to obtain image feature parameters associated with the target hole. The image feature parameters include the number of points of the target hole contour, thereby accurately extracting the image feature parameters of the target hole.

[0072] In some of these embodiments, Figure 3 As shown, when the parameter information satisfies the preset constraint conditions, step S220 records the corresponding prior information of the target hole, including the following steps:

[0073] Step S221, determining a parameter threshold condition corresponding to the parameter information in the preset constraint condition;

[0074] Step S222 : In response to the parameter information satisfying the parameter threshold condition, the prior information of the target hole is recorded.

[0075] It is understood that the preset constraints correspond to the parameter information obtained during the rough hole scanning process, and the preset constraints include parameter thresholds corresponding to each parameter information. For example, the preset constraints include a preset hole scanning angle threshold and a preset distance threshold. Accordingly, the rough hole scanning process is required to obtain the target hole scanning angle and the distance between the camera and the target hole plane.

[0076] In this embodiment, it is determined whether each parameter information currently obtained satisfies the corresponding parameter threshold condition. If each parameter information currently obtained satisfies the corresponding parameter threshold condition, the target hole prior information obtained by the rough hole scanning is recorded.

[0077] Through this embodiment, the parameter threshold conditions corresponding to the parameter information in the preset constraint conditions are determined, and in response to the parameter information satisfying the parameter threshold conditions, the prior information of the target hole is recorded, so as to avoid using the poor hole scanning results to execute the subsequent fine hole scanning process when the hole scanning result is poor due to a single-frame poor rough hole scanning process, which helps to improve the hole scanning accuracy and precision.

[0078] In some of these embodiments, Figure 4 As shown, determining the three-dimensional hole position information of the target hole based on the recorded prior information of the target hole in step S230 includes the following steps:

[0079] Step S231, fitting the point cloud data around the target hole to obtain the corresponding constraint plane;

[0080] Step S232, projecting each recorded prior information of the target hole onto the constraint plane;

[0081] Step S233 : determining the three-dimensional hole position information of the target hole based on each projected prior information.

[0082] In this embodiment, precise scanning and hole recognition are performed based on the currently recorded prior information of the target hole to obtain the three-dimensional hole position information of the target hole. Specifically, the point cloud data of the area surrounding the target hole is fitted using the least squares method, the least absolute deviation fitting algorithm, etc., to obtain a constraining plane representing the plane where the target hole is located. The previously recorded prior information of each target hole is projected onto the constraining plane. This projection operation avoids errors caused by factors such as image acquisition angle and perspective distortion, thereby preventing fly holes.

[0083] Furthermore, based on the prior information after projection, the sub-pixel edge point information of the target hole is re-searched and calculated on the hole position image, and the calculated sub-pixel edge point information is projected onto the constraint plane. Finally, the projection data of multiple frames are fitted to obtain the three-dimensional hole position information of the target hole.

[0084] Through this embodiment, the point cloud data around the target hole is fitted to obtain the corresponding constraint plane, each recorded prior information of the target hole is projected onto the constraint plane, and based on each projected prior information, the three-dimensional hole position information of the target hole is determined, so as to accurately fit the actual hole features and improve the accuracy of hole position measurement and hole scanning accuracy.

[0085] In some embodiments, determining the three-dimensional hole position information of the target hole based on each projected prior information in step S233 includes the following steps:

[0086] Based on each prior information after projection, sub-pixel edge detection is performed on the target hole in the corresponding hole position image to obtain the sub-pixel edge point information of the target hole;

[0087] Project the sub-pixel edge point information onto the constraint plane to obtain the corresponding projection data;

[0088] The projection data are fitted to obtain the three-dimensional hole position information of the target hole.

[0089] Specifically, after the prior information is projected, sub-pixel edge detection is performed on the target hole in the corresponding hole position image based on the projected prior information to obtain the sub-pixel edge point information of the target hole, thereby improving the accuracy to the sub-pixel level, and projecting the calculated sub-pixel edge point information onto the constraint plane.

[0090] Furthermore, the above steps are performed on the multiple frames of hole position images captured by the camera, and finally a fitting algorithm is used to fit the multiple frames of projection data to obtain the three-dimensional hole position information of the target hole. The fitting algorithm includes the least squares method, spline interpolation fitting algorithm, etc.

[0091] Through this embodiment, based on each prior information after projection, sub-pixel edge detection is performed on the target hole in the corresponding hole position image to obtain the sub-pixel edge point information of the target hole, and the sub-pixel edge point information is projected onto the constraint plane to obtain the corresponding projection data, and then each projection data is fitted to obtain the three-dimensional hole position information of the target hole, so as to accurately fit and obtain the actual hole characteristics.

[0092] In some embodiments, when the parameter information satisfies the preset constraint conditions, after recording the corresponding prior information of the target hole, the hole position measurement method further includes the following steps:

[0093] Obtain the category information of the target hole in each recorded prior information;

[0094] In response to the number of times that each category information indicates that the target hole is a target category is greater than a preset number, three-dimensional hole position information of the target hole is determined based on each prior information indicating that the target hole is a target category.

[0095] Specifically, after each recording of prior information, the target hole category information is obtained from the currently recorded prior information, such as whether the target hole is a round hole, a square hole, etc. The hole classification method can be set according to actual application needs, and examples are not given here one by one. When the number of times the target hole is identified as a target category exceeds the preset number, the target hole is determined to be a valid hole, and fine scanning hole recognition is performed based on the various prior information indicating that the target hole is a target category to obtain the three-dimensional hole position information of the target hole. For example, if the preset number is 3, if the total number of rough scanning hole recognition results of 4 times indicates that the target hole is a type A square hole, the target hole is determined to be a valid hole.

[0096] In this embodiment, the precise scanning hole identification process is the same as the aforementioned three-dimensional hole position information acquisition method, and will not be described in detail here.

[0097] Through this embodiment, the category information of the target hole in each recorded prior information is obtained, and in response to the number of times that each category information indicates that the target hole is a target category is greater than a preset number, the three-dimensional hole position information of the target hole is determined based on each prior information indicating that the target hole is a target category, so as to avoid the coarse hole scanning algorithm from having misidentification resulting in poor subsequent fine hole scanning recognition results.

[0098] The present embodiment is described and illustrated below through specific examples.

[0099] Figure 5 : is a flow chart of the hole position measurement method of this embodiment, as shown in FIG. Figure 5 As shown, the hole position measurement method specifically includes the following steps

[0100] A rough hole scanning process is performed on the target hole in advance (S510). For each hole image of the target hole, parameter information associated with the target hole is identified. The parameter information includes the rough hole scanning angle, the distance between the camera and the target hole plane, and the number of hole contour points of the target hole in the hole image. Based on this, a determination is made as to whether the rough hole scanning angle between the camera and the target hole is less than a preset hole scanning angle threshold (S520). If the hole scanning angle is greater than or equal to the preset hole scanning angle threshold, rough hole scanning continues for the target hole. Otherwise, a determination is made as to whether the distance between the camera and the target hole plane is less than a preset distance threshold (S530). If the distance is greater than or equal to the preset distance threshold, rough hole scanning continues for the target hole. Otherwise, a determination is made as to whether the number of hole contour points of the target hole in the hole image reaches a preset point threshold (S540). If the number of hole contour points of the target hole does not reach the preset point threshold, rough hole scanning continues for the target hole. Otherwise, it indicates that all parameter information satisfies the preset constraints, and the prior information of the target hole is recorded.

[0101] Furthermore, after each recording of the prior information, the target hole category information is obtained from the currently recorded prior information to determine the target hole category ( S550 ). If the target hole is identified as a target category more than a preset number of times, the target hole is determined to be a valid hole, and fine scanning hole identification is performed based on the prior information indicating that the target hole is a target category, obtaining hole position feature information ( S560 ) of the target hole.

[0102] The present embodiment is described and illustrated below through preferred embodiments.

[0103] Figure 6 Flowchart of the hole position measurement method of the preferred embodiment is as follows: Figure 6 As shown, the hole position measurement method includes the following steps:

[0104] Step S610: determining the position information of the target hole based on each frame of the hole position image of the target hole; determining the spatial positioning parameters between the camera used to capture the hole position image and the target hole based on the position information of the target hole; the spatial positioning parameters include hole scanning angle and / or distance information;

[0105] Step S620: Identify each frame of the hole position image of the target hole to obtain image feature parameters associated with the target hole; the image feature parameters include the number of points of the target hole contour; and use the spatial positioning parameters and the image feature parameters as parameter information of the target hole;

[0106] Step S630: determining the prior information of the target hole based on each frame of the hole position image of the target hole; when the parameter information satisfies the preset constraint conditions, recording the corresponding prior information of the target hole;

[0107] Step S640 , fitting the point cloud data around the target hole to obtain a corresponding constraint plane, and projecting each recorded prior information of the target hole onto the constraint plane;

[0108] Step S650, based on each projected prior information, performing sub-pixel edge detection on the target hole in the corresponding hole position image to obtain sub-pixel edge point information of the target hole;

[0109] Step S660 , projecting the sub-pixel edge point information onto the constraint plane to obtain corresponding projection data; and fitting the projection data of each frame to obtain the three-dimensional hole position information of the target hole.

[0110] This embodiment determines the position information of the target hole based on each frame of the hole position image. Based on this target hole position information, the spatial positioning parameters between the camera used to capture the hole position image and the target hole are determined. The spatial positioning parameters include the hole scanning angle and / or distance information. Simultaneously, each frame of the hole position image of the target hole is recognized to obtain image feature parameters associated with the target hole. The image feature parameters include the number of points in the target hole outline. The spatial positioning parameters and image feature parameters are used as parameter information of the target hole.

[0111] Furthermore, based on each frame of the hole position image of the target hole, the prior information of the target hole is determined, and when the parameter information meets the preset constraint conditions, the corresponding prior information of the target hole is recorded. The point cloud data around the target hole is fitted to obtain the corresponding constraint plane, and each recorded prior information of the target hole is projected onto the constraint plane. Based on each projected prior information, sub-pixel edge detection is performed on the target hole in the corresponding hole position image to obtain the sub-pixel edge point information of the target hole. The sub-pixel edge point information is projected onto the constraint plane to obtain the corresponding projection data, and then the projection data of each frame is fitted to obtain the three-dimensional hole position information of the target hole. This solves the problem of low hole scanning accuracy and efficiency when the hole scanning result corresponding to a single frame of the hole position image is poor, avoids the influence of the poor hole scanning result corresponding to the single frame of the hole position image, and effectively improves the hole scanning accuracy and efficiency.

[0112] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0113] This embodiment also provides a hole position measurement device for implementing the above-mentioned embodiments and preferred embodiments. Details already described will not be repeated. The terms "module," "unit," "subunit," etc. used below may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0114] Figure 7 This is a structural diagram of the hole position measuring device of this embodiment. Figure 7 As shown, the device includes:

[0115] An analysis module 10 is configured to determine parameter information associated with the target hole and prior information of the target hole based on each frame of the hole position image of the target hole; the parameter information includes spatial positioning parameters and image feature parameters;

[0116] The judgment module 20 is used to record the corresponding prior information of the target hole when the parameter information meets the preset constraint conditions;

[0117] The processing module 30 is configured to determine the three-dimensional hole position information of the target hole based on the recorded prior information of the target hole.

[0118] Through the device provided by this embodiment, parameter information associated with the target hole and prior information of the target hole are determined based on each frame of the hole position image of the target hole; the parameter information includes spatial positioning parameters and image feature parameters; when the parameter information meets the preset constraint conditions, the corresponding prior information of the target hole is recorded; based on the recorded prior information of the target hole, the three-dimensional hole position information of the target hole is determined, which solves the problem of low hole scanning accuracy and efficiency when the hole scanning result corresponding to the single frame hole position image is poor, and avoids the influence of the poor hole scanning result corresponding to the single frame hole position image, effectively improving the hole scanning accuracy and efficiency.

[0119] In some embodiments, the analysis module 10 is further used to determine the position information of the target hole based on each frame of the hole position image of the target hole; based on the position information of the target hole, determine the spatial positioning parameters between the camera used to capture the hole position image and the target hole; the spatial positioning parameters include the scanning angle and / or distance information.

[0120] In some embodiments, the analysis module 10 is further configured to identify each frame of the hole position image of the target hole to obtain image feature parameters associated with the target hole; the image feature parameters include the number of points of the target hole contour.

[0121] In some embodiments, the judgment module 20 is further configured to determine a parameter threshold condition corresponding to the parameter information in the preset constraint condition; and in response to the parameter information satisfying the parameter threshold condition, record the prior information of the target hole.

[0122] In some embodiments, the processing module 30 is also used to fit the point cloud data around the target hole to obtain a corresponding constraint plane; project each recorded prior information of the target hole onto the constraint plane; and determine the three-dimensional hole position information of the target hole based on each projected prior information.

[0123] In some of the embodiments, the processing module 30 is further used to perform sub-pixel edge detection on the target hole in the corresponding hole position image based on each prior information after projection to obtain sub-pixel edge point information of the target hole; project the sub-pixel edge point information onto the constraint plane to obtain corresponding projection data; and fit each projection data to obtain three-dimensional hole position information of the target hole.

[0124] In some embodiments, the processing module 30 is further used to obtain category information of the target hole in each recorded prior information; in response to the number of times that each category information indicates that the target hole is a target category is greater than a preset number, based on each prior information indicating that the target hole is a target category, the three-dimensional hole position information of the target hole is determined.

[0125] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0126] This embodiment further provides a three-dimensional scanning device, including a scanning device, which is used to execute the steps in any of the above method embodiments.

[0127] In addition, in combination with the hole position measurement method provided in the above embodiments, a storage medium may be provided in this embodiment to implement the hole position measurement method. The storage medium stores a computer program; when the computer program is executed by a processor, any one of the hole position measurement methods in the above embodiments is implemented.

[0128] It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0129] Obviously, the accompanying drawings are merely examples or embodiments of the present application. A person skilled in the art can also apply the present application to other similar situations based on these drawings without inventive effort. Furthermore, it is understandable that, although the work involved in this development process may be complex and lengthy, certain design, manufacturing, or production changes based on the technical content disclosed in this application are merely routine technical means for a person skilled in the art and should not be considered to constitute a deficiency in the disclosure of the present application.

[0130] The term "embodiment" as used in this application refers to specific features, structures, or characteristics described in conjunction with the embodiment that can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily mean that the embodiment is the same, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is understood, either explicitly or implicitly, by those skilled in the art that the embodiments described in this application can be combined with other embodiments when there is no conflict.

[0131] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A hole position measurement method, characterized in that: include: Determining parameter information associated with the target hole and prior information of the target hole based on each frame of the hole position image of the target hole; The parameter information includes spatial positioning parameters and image feature parameters; When the parameter information satisfies a preset constraint condition, recording the corresponding prior information of the target hole; Based on the recorded prior information of the target holes, three-dimensional hole position information of the target holes is determined.

2. The hole position measurement method according to claim 1, characterized in that: The determining of the spatial positioning parameters in the parameter information associated with the target hole based on each frame of the hole position image of the target hole includes: Determining position information of the target hole based on each frame of the hole position image of the target hole; Based on the position information of the target hole, the spatial positioning parameters between the camera used to capture the hole position image and the target hole are determined; the spatial positioning parameters include hole scanning angle and / or distance information.

3. The hole position measurement method according to claim 1, characterized in that: The determining of image feature parameters in parameter information associated with the target hole based on each frame of the hole position image of the target hole includes: Each frame of the hole position image of the target hole is identified to obtain the image feature parameters associated with the target hole; the image feature parameters include the number of points of the target hole contour.

4. The hole position measurement method according to claim 1, characterized in that: When the parameter information satisfies a preset constraint condition, recording the corresponding prior information of the target hole includes: Determining a parameter threshold condition corresponding to the parameter information in the preset constraint condition; In response to the parameter information satisfying the parameter threshold condition, the prior information of the target hole is recorded.

5. The hole position measurement method according to claim 1, characterized in that: The determining of the three-dimensional hole position information of the target hole based on the recorded prior information of the target hole includes: Fitting the point cloud data around the target hole to obtain a corresponding constraint plane; Projecting each of the recorded prior information of the target hole onto the constraint plane; Based on each of the projected prior information, the three-dimensional hole position information of the target hole is determined.

6. The hole position measurement method according to claim 5, characterized in that: The determining the three-dimensional hole position information of the target hole based on each of the projected prior information includes: Based on each of the projected prior information, sub-pixel edge detection is performed on the target hole in the corresponding hole position image to obtain sub-pixel edge point information of the target hole; Projecting the sub-pixel edge point information onto the constraint plane to obtain corresponding projection data; Fitting is performed on each of the projection data to obtain the three-dimensional hole position information of the target hole.

7. The hole position measurement method according to claim 1, characterized in that: When the parameter information satisfies the preset constraint condition, after recording the corresponding prior information of the target hole, the method further includes: Obtaining category information of the target hole in each recorded prior information; In response to the number of times that each category information indicates that the target hole is a target category is greater than a preset number, the three-dimensional hole position information of the target hole is determined based on each prior information indicating that the target hole is a target category.

8. A hole position measuring device, characterized in that: include: An analysis module, configured to determine parameter information associated with the target hole and prior information of the target hole based on each frame of the hole position image of the target hole; The parameter information includes spatial positioning parameters and image feature parameters; A judgment module, configured to record the corresponding prior information of the target hole when the parameter information satisfies a preset constraint condition; A processing module is used to determine the three-dimensional hole position information of the target hole based on the recorded prior information of each target hole.

9. A three-dimensional scanning device, characterized in that: including a scanning device; The scanning device is used to perform the steps of the hole position measurement method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the hole position measurement method according to any one of claims 1 to 7 are implemented.

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