Dynamic liquid surface topography generating device, detection device, dynamic liquid surface topography generating method and detection method

Abstract

The application belongs to the technical field of 3D detection, and specifically discloses a dynamic liquid surface appearance generation device, a detection device, a generation method and a detection method. The generation device comprises a deformation executor, a to-be-detected liquid and a flexible film arranged on the surface of the to-be-detected liquid; a deformation driver, comprising a plurality of linear motors arranged in an array, the linear motors being arranged in the interior of the to-be-detected liquid, and the movable ends of the linear motors being matched with the flexible film; and the linear motors are used for receiving a motion track instruction, operating according to the motion track instruction and driving the deformation executor to deform. The application can generate a desired dynamic liquid surface, improve the accuracy of the obtained dynamic liquid surface, and realize the detection of the dynamic liquid surface appearance.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of 3D detection, and particularly relates to a dynamic liquid surface topography generation device, a detection device, a generation method and a detection method. BACKGROUND

[0002] In the field of automatic detection, the 3D detection technology of industrial parts is relatively mature. However, there is no solution for the measurement of the dynamic surface 3D topography of a liquid. The surface of the liquid that changes dynamically over time is referred to as a dynamic liquid surface, that is, the surface of the measured liquid is not static but changes dynamically over time.

[0003] Using a line laser camera to measure the surface profile of an object is a commonly used 3D detection method, which has the outstanding advantage of high measurement accuracy. When the line laser camera measures the surface of an object, the distance data between the points on the surface of the object and the sensor of the line laser camera can be obtained. Through the movement of the object or the movement of the laser line scanning camera, 3D point cloud data of the surface of the object can be obtained. Using these point cloud data, the 3D topography of the surface of the object can be drawn by computer software. This measurement method is very effective for the surface topography of industrial parts and the like; however, this measurement method is ineffective for the 3D topography measurement of the surface of a liquid that changes rapidly and dynamically. In addition, the existing surface topography reconstruction of a liquid reconstructs the liquid surface topography at the next moment based on the topography at the previous moment. Due to the difficulty in measuring the liquid surface topography distribution at the first moment and the large error, the reconstruction error of the surface topography of the liquid is large, and it is difficult to achieve high-precision ripple reconstruction; and a specific dynamic liquid surface cannot be directly obtained, which has certain application limitations. SUMMARY

[0004] The purpose of the present application is to provide a dynamic liquid surface topography generation device, a detection device, a generation method and a detection method, which can generate a desired dynamic liquid surface, improve the accuracy of the obtained dynamic liquid surface, and realize the detection of the dynamic liquid surface topography.

[0005] To achieve the above-mentioned purpose, the technical solutions adopted by the present application are as follows:

[0006] According to a first aspect of the present application, a dynamic liquid surface topography generation device is provided, comprising:

[0007] a deformation execution member comprising a to-be-measured liquid and a flexible membrane arranged on the surface of the to-be-measured liquid;

[0008] a deformation driving member comprising a plurality of linear motors arranged in an array, the linear motors being arranged inside the to-be-measured liquid, the movable ends of the linear motors being matched with the flexible membrane; the linear motors are used to receive a motion trajectory instruction, operate and drive the deformation execution member to deform according to the motion trajectory instruction.

[0009] The motion trajectory instruction is generated according to the expected surface.

[0010] According to the motion trajectory instruction, the deformation driving member operates, the deformation executing member deforms, the linear motor operates according to the planned trajectory, the flexible film moves according to a certain motion rule, and the to-be-measured liquid generates a dynamic liquid surface topography matching the expected surface, so that the generation of the specified dynamic liquid surface topography is realized, and the error between the obtained dynamic liquid surface and the expected surface is reduced.

[0011] According to the second aspect of the present application, a dynamic liquid surface topography detection device is provided, which is based on the above-mentioned dynamic liquid surface topography generation device and further comprises:

[0012] A line scan camera is arranged above the to-be-measured liquid and opposite to the flexible film.

[0013] A detection driving member is configured to drive the line scan camera to move, in particular, to rotate or swing.

[0014] According to the above technical solution, the dynamic liquid surface topography detection device is used in cooperation with the above-mentioned dynamic liquid surface topography generation device; after the dynamic liquid surface topography generation device generates the dynamic liquid surface, the detection driving member in the dynamic liquid surface topography detection device drives the line scan camera to swing according to a certain trajectory, the line scan camera scans the flexible film on the surface of the to-be-measured liquid from different angles, and the line profile point data of the liquid surface of the to-be-measured liquid under different angles of the line scan camera are obtained. According to the collected line profile data, the angle data of the line scan camera when the line profile data is collected, the positional relationship between the line scan camera and the to-be-measured liquid, and the like, the 3D point cloud data of the dynamic liquid surface topography generated by the dynamic liquid surface topography generation device are calculated. By comparing the 3D point cloud data of the dynamic liquid surface topography with the expected surface, the generated dynamic liquid surface can be detected. If necessary, the 3D point cloud data of the dynamic liquid surface topography can be used for image display, and then compared with the expected surface.

[0015] Further, the dynamic liquid surface topography detection device further comprises a data display configured to display images according to the line profile point data obtained by the line scan camera, and the images displayed by the data display are compared with the expected surface, so that whether the dynamic liquid surface generated by the dynamic liquid surface topography generation device conforms to the expected surface can be determined.

[0016] Further, the detection driving member comprises a driving motor and a transmission assembly; the transmission assembly comprises a synchronous belt and two synchronous belt gears, the synchronous belt is matched with the two synchronous belt gears; one synchronous belt gear is matched and connected with the line scan camera, and the other synchronous belt gear is coaxially matched and connected with the output shaft of the driving motor.

[0017] Specifically, the synchronous belt gear can be connected with the line scan camera through a rotating shaft or the like, so that the line scan camera rotates synchronously with the synchronous belt gear during operation of the synchronous belt.

[0018] Therefore, the line scan camera can be swung by cooperation of the driving motor and the transmission assembly, so as to adjust the scanning angle of the line scan motor relative to the liquid to be measured during operation.

[0019] According to a third aspect of the present application, a dynamic liquid surface topography generation method is provided, comprising the following steps:

[0020] The deformation driving member receives the motion trajectory instruction; the motion trajectory instruction is generated in the following manner: an expected surface is obtained; the expected surface is decomposed into a plurality of sub-surfaces by using a surface decomposition algorithm, and the plurality of sub-surfaces constitute a sub-surface set; the expected motion trajectory is generated by using a trained sub-surface generation algorithm based on the sub-surface set; and the motion trajectory instruction is generated based on the expected motion trajectory;

[0021] The deformation driving member operates according to the motion trajectory instruction to drive the deformation executing member to deform; the deformation executing member comprises a liquid to be measured and a flexible membrane arranged on the surface of the liquid to be measured; and the deformation driving member comprises a plurality of linear motors arranged in an array, the linear motors being arranged inside the liquid to be measured, and the moving end of the linear motor being matched with the flexible membrane.

[0022] By using the above technical solution, the expected motion trajectory of the plurality of linear motors in the deformation driving member is generated according to the expected surface, and the linear motors in the deformation driving member are controlled to operate according to the expected motion trajectory by issuing the corresponding motion trajectory instruction, so that the coincidence degree of the dynamic liquid surface topography obtained after the deformation executing member deforms under the driving of the deformation driving member and the expected surface can be ensured.

[0023] It should be noted that the expected surface is described by using a three-dimensional point set.

[0024] According to an embodiment of the present application, the step of decomposing the expected surface into a plurality of sub-surfaces by using a surface decomposition algorithm comprises:

[0025] The expected surface is grid processed based on the arrangement of the plurality of linear motors to obtain the surface corresponding to each grid; and the linear motor and the grid are in one-to-one correspondence.

[0026] A 3D point cloud set corresponding to the surface of each grid and its surrounding grid is obtained;

[0027] The 3D point cloud set corresponding to the surface of each grid and its surrounding grid is processed by linear transformation to obtain the sub-surface corresponding to each linear motor.

[0028] According to an embodiment of the present application, the step of processing the 3D point cloud set corresponding to the surface of each grid and its surrounding grid by linear transformation comprises:

[0029] Overlay the 3D point cloud sets corresponding to the surfaces of each grid;

[0030] The sum of two 3D point cloud sets is defined as the sum of the coordinate components of corresponding points in the two 3D point cloud sets in the direction of motion parallel to the moving end of the linear motor, multiplied by the corresponding discount factor.

[0031] By employing the above technical solution, a surface decomposition algorithm is used to decompose the desired surface into several sub-surfaces, and these sub-surfaces are matched one-to-one with linear motors and their corresponding meshes. This achieves a fine division of the desired surface, and the desired motion trajectories of the linear motors corresponding to each mesh and their surrounding linear motors are generated based on the sub-surfaces. In other words, the correspondence between the sub-surfaces and the operation of the linear motors is realized. This ensures the correspondence between the dynamic liquid surface morphology within each mesh and the sub-surfaces of the desired surface during the dynamic liquid surface generation process, thereby improving the accuracy of the obtained dynamic liquid surface.

[0032] According to one embodiment of the present invention, the training process of the trained subsurface generation algorithm is as follows:

[0033] A sample database is constructed, and the sample database, along with the specific sinusoidal trajectories of the linear motors corresponding to the sample database, are used as the training set.

[0034] Based on deep learning algorithms, the subsurface generation algorithm is trained to obtain a well-trained subsurface generation algorithm.

[0035] According to one embodiment of the present invention, the step of constructing a sample database includes:

[0036] To achieve a specific dynamic liquid level, a single linear motor is made to operate according to a specific sinusoidal trajectory.

[0037] Obtain a 3D point cloud set corresponding to a specific dynamic liquid surface; the 3D point cloud set corresponding to the specific dynamic liquid surface is the initial sample of the sub-surface corresponding to the linear motor operating according to a specific sinusoidal trajectory.

[0038] Traverse all linear motors in the deformation drive component, and obtain the subsurface sample corresponding to the specific sinusoidal trajectory based on the initial sample of the subsurface corresponding to the operation of each individual linear motor according to the specific sinusoidal trajectory.

[0039] Add the subsurface sample corresponding to a specific sinusoidal trajectory to the sample database;

[0040] By changing the parameters of a specific sinusoidal trajectory, the linear motors in the deformation drive are iterated to obtain the final sample database; the parameters of the specific sinusoidal trajectory include amplitude, frequency and phase.

[0041] Using the above technical solution, the trained subsurface generation algorithm generates the desired motion trajectory of the deformation drive component based on the subsurface set obtained from the desired surface. The deformation drive component operates according to the motion trajectory instructions, that is, it runs regularly according to the desired motion trajectory, driving the deformation actuator to generate a dynamic liquid surface that matches the desired surface.

[0042] According to a fourth aspect of the present invention, a method for detecting dynamic liquid surface morphology is provided, for detecting a dynamic liquid surface generated by the aforementioned dynamic liquid surface morphology generating device or a dynamic liquid surface generated according to any one of the aforementioned dynamic liquid surface morphology generating methods, comprising the following steps:

[0043] Collect line contour data of the liquid surface under test from different angles;

[0044] Based on the collected line contour data and the corresponding collection angle, a 3D point cloud set of the liquid surface morphology to be measured is calculated.

[0045] The 3D point cloud set of the liquid surface morphology to be tested is compared with the desired surface. Based on the comparison results, it is determined whether the dynamic liquid surface morphology generated by the dynamic liquid surface generation device matches the desired surface.

[0046] According to one embodiment of the present invention, the step of acquiring the line profile data of the liquid surface of the liquid under test at different angles includes:

[0047] Drive the line scan camera to move; the line scan camera is positioned above the liquid to be tested, and a flexible membrane is provided on the surface of the liquid to be tested, with the line scan camera and the flexible membrane positioned opposite each other;

[0048] A line scan camera acquires the line profile data of the liquid surface under test when it is located at different angles.

[0049] According to one embodiment of the present invention, the step of comparing the 3D point cloud set of the liquid surface morphology to be measured with the desired surface, and determining whether the dynamic liquid surface morphology generated by the dynamic liquid surface generation device conforms to the desired surface based on the comparison result, includes:

[0050] Image display is performed based on a 3D point cloud set of the surface morphology of the liquid to be tested;

[0051] Compare the image displayed on the data display with the desired surface;

[0052] Based on the comparison results, determine whether the dynamic liquid surface morphology generated by the dynamic liquid surface generation device matches the desired surface.

[0053] By employing the above technical solution and utilizing a line scan camera, accurate detection of the dynamic and changing surface morphology of opaque liquids can be achieved. Furthermore, the data obtained from the line scan camera can be visualized and displayed, facilitating comparison with the desired surface and making the detection results more intuitive.

[0054] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0055] 1. This invention provides a dynamic liquid surface morphology generation device, which can generate a dynamic liquid surface according to a desired curved surface. It utilizes an array of linear motors to operate according to motion trajectory instructions planned according to the desired curved surface, driving a flexible membrane to move according to a certain motion law, thereby causing the liquid to be tested to produce a dynamic liquid surface morphology that matches the desired curved surface. This achieves the generation of a specified dynamic liquid surface morphology and reduces the error between the obtained dynamic liquid surface and the desired curved surface, that is, improves the accuracy of the obtained dynamic liquid surface.

[0056] 2. This invention provides a dynamic liquid surface morphology detection device, which is used in conjunction with a dynamic liquid surface morphology generation device. It uses a line scan camera to scan the flexible film on the surface of the liquid to be tested from different angles to obtain the line contour point data of the liquid surface under different angles of the line scan camera, thereby realizing the detection of the dynamic liquid surface generated by the dynamic liquid surface morphology generation device.

[0057] 3. This invention provides a dynamic liquid surface morphology generation method based on a dynamic liquid surface morphology generation device. It is simple to operate and generates the desired motion trajectory of several linear motors in the deformation drive component according to the desired curved surface. It can ensure the consistency between the morphology of the dynamic liquid surface obtained after the deformation drive component drives the deformation actuator to deform and the desired curved surface.

[0058] 4. This invention provides a dynamic liquid surface morphology detection device and method based on a dynamic liquid surface morphology generation device. It utilizes a line scan camera to rotate or swing within a certain angle range to acquire line contour data of dynamic liquid surface morphology at different angles, thereby improving the effectiveness and accuracy of the obtained dynamic liquid surface morphology data and enabling precise detection of the dynamic and changing liquid surface morphology of opaque liquids. Attached Figure Description

[0059] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0060] Figure 1 This is a schematic diagram of the dynamic liquid surface morphology generation device of the present invention;

[0061] Figure 2 This is a schematic diagram of the cooperative structure of the dynamic liquid surface morphology detection device and the dynamic liquid surface morphology generation device of the present invention.

[0062] Figure 3 This is a schematic diagram of the cooperation structure between the line scanning camera, the first support plate, and the second support plate in the dynamic liquid surface morphology detection device of the present invention.

[0063] Figure 4 This is a flowchart of the dynamic liquid surface morphology generation method of the present invention;

[0064] Figure 5 This is a schematic diagram of the surface decomposition algorithm in Embodiment 3 of the present invention;

[0065] Figure 6 This is a flowchart of the dynamic liquid surface morphology detection method of the present invention;

[0066] Figure 7 This is a schematic diagram illustrating the principle of calculating the coordinate data of a 3D point cloud based on a point on a certain liquid surface contour line and the rotation angle of a line scan camera in Embodiment 4 of the present invention.

[0067] Figure 8 This is a schematic diagram of the dynamic liquid surface morphology generation and detection device in Embodiment 5 of the present invention;

[0068] Figure 9 This is a schematic diagram of the software system corresponding to the dynamic liquid surface generation component of the dynamic liquid surface morphology generation and detection device in Embodiment 5 of the present invention.

[0069] The components are: 1. Base; 2. Execution tank; 21. First plate wall; 22. Second plate wall; 23. Third plate wall; 24. Fourth plate wall; 25. Flexible membrane; 26. Linear motor; 31. Line scan camera; 32. Drive motor; 33. Synchronous belt; 34. Synchronous belt gear; 41. First column; 42. Second column; 43. First support plate; 44. Second support plate; 45. First rotating shaft; 46. Second rotating shaft. Detailed Implementation

[0070] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0071] The following detailed description is exemplary and intended to provide further detailed explanation of the invention. Unless otherwise specified, all technical terms used in this invention have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention.

[0072] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0073] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. It should be noted in the description of this invention that, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0074] Example 1

[0075] This embodiment provides a dynamic liquid surface morphology generation device, such as... Figure 1 As shown, it includes: a dynamic liquid level generation component.

[0076] The dynamic liquid level generation component includes a deformation actuator and a deformation drive. The deformation actuator includes the liquid to be measured and a flexible membrane 25 disposed on the surface of the liquid to be measured. The deformation drive includes multiple linear motors 26 arranged in an array. The linear motors 26 are disposed inside the liquid to be measured, and the moving ends of the linear motors 26 cooperate with the flexible membrane 25.

[0077] Specifically, both the deformation actuator and the deformation drive are located inside the execution groove 2. In this embodiment, the execution groove 2 is a rectangular groove structure with an open top, including a base and a first plate wall 21, a second plate wall 22, a third plate wall 23, and a fourth plate wall 24 located above the base and connected end to end. In other embodiments, the execution groove 2 can be configured with other shapes, such as a polygonal groove, a circular groove, etc.

[0078] The liquid to be tested is contained inside the execution tank 2, and a flexible membrane 25 is placed on the surface of the liquid to be tested, completely covering the surface of the liquid. The flexible membrane 25 is a deformable film, which can be made of strong and durable plastic film or rubber film, but is not limited to these materials, and can also be made of other strong, durable and flexible materials.

[0079] The fixed end of the linear motor 26 is mounted on the base, and the movable end is mounted on the flexible membrane 25. The number and distribution of the linear motors 26 in the deformation drive can be arranged according to the geometric properties of the execution tank 2. In this embodiment, multiple linear motors 26 are linearly arrayed at the bottom of the execution tank 2. The movement of the linear motors 26 drives the flexible membrane 25, causing the flexible membrane 25 to move according to a certain pattern, thereby forming the desired dynamic liquid surface. The linear motors 26 are driven by corresponding motor drivers, and each motor driver can drive one or more linear motors 26 to operate.

[0080] The dynamic liquid surface morphology generation device also includes a central control component, which generates motion trajectory instructions based on the desired surface; the central control component sends the motion trajectory instructions to the deformation drive component; multiple linear motors 26 in the deformation drive component operate according to the motion trajectory instructions under the drive of the corresponding motor drivers, thereby driving the deformation actuator to deform.

[0081] Using the dynamic liquid surface morphology generation device provided in this embodiment, the deformation drive unit operates according to the motion trajectory command generated based on the desired surface, driving the deformation actuator to deform. The linear motor 26 operates according to the planned trajectory, pushing the flexible membrane 25 to move according to a certain motion law, causing the liquid to be tested to generate a dynamic liquid surface morphology that matches the desired surface. This achieves the generation of the specified dynamic liquid surface morphology and can reduce the error between the obtained dynamic liquid surface and the desired surface, that is, improve the accuracy of the obtained dynamic liquid surface.

[0082] Example 2

[0083] This embodiment provides a dynamic liquid surface morphology detection device, which is based on the dynamic liquid surface morphology generation device provided in Embodiment 1. (See also...) Figure 2 The dynamic liquid surface morphology detection device includes an execution tank 2 positioned above a base 1. The base 1 provides fundamental support for the entire device, ensuring its stability during operation. In practice, the base 1 is placed on a horizontal work platform or the ground. The dynamic liquid surface morphology detection device comprises a line scan camera 31 and a detection drive unit.

[0084] Specifically, the line scan camera 31 is a laser line scan camera 31, positioned above the liquid to be tested and opposite to the flexible membrane 25. A support assembly is configured above the base 1 of the dynamic liquid surface morphology generation device to support the line scan camera 31. The support assembly includes a first column 41 and a second column 42 positioned opposite each other, located on the left and right sides of the execution tank 2. Between the first column 41 and the second column 42, a first support plate 43 and a second support plate 44 are also positioned opposite each other, rotatably connected to the first column 41 and the second column 42 via a first rotating shaft 45 and a second rotating shaft 46, respectively. The first support plate 43, the second support plate 44, the first rotating shaft 45, and the second rotating shaft 46 are all located at the top of the first column 41 and the second column 42, that is, at the end furthest from the base 1. The first rotating shaft 45 and the second rotating shaft 46 can drive the first support plate 43 and the second support plate 44 to rotate synchronously.

[0085] See Figure 3 The line scan camera 31 is positioned between the first support plate 43 and the second support plate 44. The first and second support plates 43 and 44 clamp the line scan camera 31, ensuring a tight connection between the line scan camera 31 and the support assembly, allowing the line scan camera 31 to rotate synchronously with the first and second support plates 43 and 44. If necessary, the first and second support plates 43 and 44 can be equipped with a locking structure to limit and fix the line scan camera 31, preventing it from falling off. Through the cooperation of the first column 41, the second column 42, the first support plate 43, and the second support plate 44, the line scan camera 31 is suspended above the execution groove 2 and opposite the flexible membrane 25.

[0086] It should be noted that after the support components and the line scan camera 31 are assembled, the first rotating shaft 45 and the second rotating shaft 46 are coaxial, and the line scan camera is centered between the first column 41 and the second column 42.

[0087] The detection drive component, used to drive the line scan camera 31, includes a drive motor 32 and a transmission assembly. The transmission assembly includes a synchronous belt 33 and two synchronous belt gears 33, with the synchronous belt 33 engaging with the two synchronous belt gears 33. One synchronous belt gear 33 is coaxially connected to the first rotating shaft 45, and the other synchronous belt gear 33 is coaxially connected to the output shaft of the drive motor 32. Utilizing the cooperation between the transmission assembly and the drive motor 32, the rotation or oscillation of the first rotating shaft 45 and the second rotating shaft 46, as well as the first support plate 43, the second support arm, and the line scan camera 31 positioned between them, can be achieved. The line scan camera 31 rotates according to a predetermined motion trajectory, enabling scanning of the deformable actuator from different angles.

[0088] The drive motor 32 can be a servo motor, stepper motor, or torque motor, etc., and motion control is performed through the corresponding motor driver. Generally, a servo motor can be used to ensure fast response and high position control accuracy.

[0089] Furthermore, the dynamic liquid surface morphology detection device also includes a data display (not shown in the figure), which is used to display images based on the data of the line contour points obtained by the scanning camera. By comparing the image presented on the data display with the desired surface, it can be determined whether the dynamic liquid surface generated by the dynamic liquid surface morphology generation device conforms to the desired surface.

[0090] The dynamic liquid surface morphology detection device of this embodiment is used in conjunction with the dynamic liquid surface morphology generation device of Embodiment 1. After the dynamic liquid surface morphology generation device generates a dynamic liquid surface, the detection drive component in the dynamic liquid surface morphology detection device drives the line scan camera 31 to rotate or swing along a certain trajectory. The line scan camera 31 scans the flexible film 25 of the liquid surface to be tested from different angles, obtaining the line contour point data of the liquid surface to be tested at different angles. Based on the collected line contour data, the angle data of the line scan camera 31 when collecting the line contour data, and the positional relationship between the line scan camera 31 and the liquid to be tested, the 3D point cloud data of the dynamic liquid surface morphology generated by the dynamic liquid surface morphology generation device is calculated. By comparing the 3D point cloud data of the dynamic liquid surface morphology with the desired curved surface, the generated dynamic liquid surface can be detected. If necessary, the 3D point cloud data of the dynamic liquid surface morphology can be used to display an image, which can then be compared with the desired curved surface to detect the dynamic liquid surface morphology.

[0091] Example 3

[0092] Based on the dynamic liquid surface morphology generation device of Embodiment 1, a method for generating dynamic liquid surface morphology is provided. (See [link to previous document]). Figure 4 This includes the following steps:

[0093] Deformation drive unit receives motion trajectory instructions;

[0094] The deformation drive operates according to the motion trajectory command, driving the deformation actuator to deform.

[0095] The method for generating motion trajectory instructions is as follows:

[0096] S1-1. Obtain the desired surface;

[0097] S1-2. The desired surface is decomposed into several sub-surfaces using a surface decomposition algorithm, and the several sub-surfaces constitute a sub-surface set;

[0098] S1-3. Based on the subsurface set, the trained subsurface generation algorithm is used to generate the desired motion trajectory;

[0099] S1-4. Generate motion trajectory instructions based on the desired motion trajectory.

[0100] By adopting the above technical solution, the desired motion trajectory of several linear motors 26 in the deformation drive component is generated according to the desired curved surface. By issuing the corresponding motion trajectory command, the linear motors 26 in the deformation drive component are controlled to operate according to the desired motion trajectory. This can ensure the conformity between the shape of the dynamic liquid surface obtained after the deformation drive component drives the deformation actuator to deform and the desired curved surface.

[0101] The software system corresponding to the dynamic liquid surface morphology generation device includes a dynamic liquid surface algorithm module and a deformation driving component control module.

[0102] The dynamic liquid surface algorithm module is used to generate the motion trajectories of multiple linear motors 26 in the deformation drive component based on the desired surface input by the user. The dynamic liquid surface algorithm module mainly consists of two core parts: a surface decomposition algorithm and a sub-surface generation algorithm. The surface decomposition algorithm decomposes the desired surface input by the user into several sub-surfaces; the sub-surface generation algorithm uses a single linear motor 26 to drive the flexible membrane 25 to generate local sub-surfaces on the liquid surface.

[0103] The method for generating motion trajectory commands is explained in detail below:

[0104] S1-1. Obtain the desired surface.

[0105] The user inputs the desired surface into the dynamic liquid surface algorithm module. It should be noted that the desired surface is described using a three-dimensional point set and can be generated using relevant software.

[0106] S1-2. Use a surface decomposition algorithm to decompose the desired surface into several sub-surfaces, and the several sub-surfaces constitute a sub-surface set.

[0107] The desired surface is meshed based on the arrangement of multiple linear motors 26 to obtain the surface corresponding to each mesh; the linear motors 26 correspond one-to-one with the meshes.

[0108] Obtain the 3D point cloud set of each grid and the corresponding surface of its surrounding grids.

[0109] A linear transformation is performed on the 3D point cloud set of each grid and the corresponding surface of the surrounding grid. This is done by superimposing the 3D point cloud sets of the corresponding surfaces of each grid to obtain the sub-surface corresponding to each linear motor 26. The sum of two 3D point cloud sets is defined as the sum of the coordinate components of corresponding points in the two 3D point cloud sets in the direction of motion parallel to the moving end of the linear motor 26, multiplied by the corresponding discount factor.

[0110] For example, see Figure 5The image shows the desired surface of a rectangle input by the user. Assuming that multiple linear motors 26 in the deformation actuator are arranged in a linear array of m rows and n columns, then... Figure 5 The rectangle in the image is decomposed into a grid of m rows and n columns, where each grid cell is a square. The calculation process to obtain the subsurface in the i-th row and j-th column is as follows:

[0111] Suppose Figure 5 The 3D point cloud sets corresponding to the i-th row, j-th column, and their surrounding square grids are shown in the figure below: , , , , , , , , Then the 3D point cloud set of the subsurface used by the linear motor 26 in the i-th row and j-th column is:

[0112] ;

[0113] in, It is a discount factor. The addition operation of point cloud sets is defined as the sum of the coordinate components of corresponding points in two point cloud sets, in the direction parallel to the motion of the linear motor 26, multiplied by a discount factor. The discount factor can be obtained empirically or using relevant algorithms.

[0114] A surface decomposition algorithm is used to decompose the desired surface into several sub-surfaces, and these sub-surfaces are matched one-to-one with the linear motor 26 and the corresponding mesh of the linear motor 26. In this way, the desired surface is finely divided, and the desired motion trajectory of the linear motor 26 and its surrounding linear motors is generated according to the sub-surfaces corresponding to the mesh. In other words, the correspondence between the sub-surfaces and the operation of the linear motor 26 is realized. This ensures the correspondence between the dynamic liquid surface morphology in each mesh and the sub-surfaces of the desired surface during the dynamic liquid surface generation process, thereby improving the accuracy of the obtained dynamic liquid surface.

[0115] S1-3. Based on the subsurface set, the trained subsurface generation algorithm is used to generate the desired motion trajectory.

[0116] For each subsurface in the subsurface set, a trained subsurface generation algorithm is invoked to generate the motion trajectory of the corresponding linear motor 26. The set of motion trajectories of all linear motors 26 constitutes the desired motion trajectory.

[0117] The training process of the trained subsurface generation algorithm is as follows:

[0118] A sample database is constructed, and the sample database, along with the specific sinusoidal trajectory of the linear motor 26 corresponding to the sample database, is used as the training set.

[0119] The subsurface generation algorithm is trained using deep learning algorithms to obtain a trained subsurface generation algorithm. The deep learning algorithm can be set according to the actual situation. In practical applications, convolutional neural network algorithms, long short-term memory network algorithms, or recurrent neural network algorithms, etc., can be selected.

[0120] The steps to build a sample database include:

[0121] S(1) causes a single linear motor 26 to operate according to a specific sinusoidal trajectory to obtain a specific dynamic liquid level.

[0122] S(2) Scan the liquid surface morphology obtained in step S(1) to obtain a 3D point cloud set corresponding to a specific dynamic liquid surface. The 3D point cloud set corresponding to the specific dynamic liquid surface is the initial sample of the subsurface corresponding to the operation of the linear motor 26 according to a specific sinusoidal trajectory.

[0123] S(3) Iterates through all the linear motors 26 in the deformation drive and obtains the subsurface sample corresponding to the specific sinusoidal trajectory based on the initial sample of the subsurface corresponding to the operation of all individual linear motors 26 according to the specific sinusoidal trajectory.

[0124] S(4) Add the subsurface sample corresponding to the specific sinusoidal trajectory obtained in step S(3) to the sample database.

[0125] S(5) Change the parameters of a specific sinusoidal trajectory and iterate over all linear motors 26 in the deformation drive to obtain the final sample database; the parameters of the specific sinusoidal trajectory include amplitude, frequency and phase.

[0126] In actual operation, during the training of the subsurface generation algorithm, the deep learning algorithm can be used to train the subsurface generation algorithm of a single linear motor 26 based on the sample database obtained in step S(4), and it can be determined whether enough samples have been obtained. If enough samples have been obtained, the training process ends. If not enough samples have been obtained, step S(5) is executed. After training, the subsurface generation algorithm can calculate the expected motion trajectory of all linear motors 26 in the deformation drive component based on the subsurface set.

[0127] The trained subsurface generation algorithm generates the desired motion trajectory of the deformation drive component based on the subsurface set obtained from the desired surface. The deformation drive component operates according to the motion trajectory instructions, that is, it runs regularly according to the desired motion trajectory, driving the deformation actuator to generate a dynamic liquid surface that matches the desired surface.

[0128] The subsurface generation algorithm and sample database settings can improve the matching accuracy between the subsurface of the desired surface and the operating trajectory of the linear motor 26, and reduce the difference between the generated dynamic liquid surface morphology and the desired surface.

[0129] S1-4. Generate motion trajectory instructions based on the desired motion trajectory.

[0130] The deformation actuator operates according to the motion trajectory command, driving the deformation actuator to deform. Specifically, the deformation actuator control module communicates with the linear motor 26 through its corresponding motor driver to control the motion of the linear motor 26 and read its real-time position. The deformation actuator control module controls the start or stop of the motor driver corresponding to the linear motor 26 based on the motion trajectory command and the real-time position of the linear motor 26, driving the linear motor 26 to operate according to the motion trajectory command. The linear motor 26 moves according to the motion trajectory command, causing the flexible membrane 25 to move, which in turn pushes the liquid under test; the movement of the liquid under test results in different liquid surface morphologies.

[0131] The dynamic liquid surface morphology generation method provided in this embodiment generates the desired motion trajectory of several linear motors 26 in the deformation drive component based on the desired curved surface. By issuing corresponding motion trajectory commands, the linear motors 26 in the deformation drive component are controlled to operate according to the desired motion trajectory, which can ensure the consistency between the morphology of the dynamic liquid surface obtained after the deformation drive component drives the deformation actuator to deform and the desired curved surface.

[0132] Example 4

[0133] Based on the dynamic liquid surface morphology detection device of Embodiment 2, a dynamic liquid surface morphology detection method is provided for detecting dynamic liquid surfaces generated by the dynamic liquid surface morphology generation device of Embodiment 1, or dynamic liquid surfaces generated by the dynamic liquid surface morphology generation method of Embodiment 3. (See also...) Figure 6 This includes the following steps:

[0134] Collect the line profile data of the liquid surface under test at different angles.

[0135] Based on the collected line contour data and the corresponding collection angle, a 3D point cloud set of the liquid surface morphology to be measured is calculated.

[0136] The 3D point cloud set of the liquid surface morphology to be tested is compared with the desired surface. Based on the comparison results, it is determined whether the dynamic liquid surface morphology generated by the dynamic liquid surface generation device matches the desired surface.

[0137] By using a line scan camera, the dynamic and changing surface morphology of opaque liquids can be accurately detected. The data obtained from the line scan camera can also be visualized and displayed, which facilitates comparison with the desired surface and makes the detection results more intuitive.

[0138] S4-1. Collect the line profile data of the liquid surface under test at different angles.

[0139] The line scan camera is driven to move; the line scan camera is positioned above the liquid to be tested, and a flexible membrane is provided on the surface of the liquid to be tested, with the line scan camera and the flexible membrane positioned opposite each other.

[0140] A line scan camera acquires the line profile data of the liquid surface under test when it is located at different angles.

[0141] S4-2. Based on the collected line contour data and the corresponding collection angle, calculate the 3D point cloud set of the liquid surface morphology of the liquid to be measured.

[0142] S4-3. Compare the 3D point cloud set of the liquid surface morphology to be tested with the desired surface, and determine whether the dynamic liquid surface morphology generated by the dynamic liquid surface generation device matches the desired surface based on the comparison results.

[0143] Specifically, the image is displayed based on the 3D point cloud set of the liquid surface morphology of the liquid to be tested;

[0144] Compare the image displayed on the data display with the desired surface;

[0145] Based on the comparison results, determine whether the dynamic liquid surface morphology generated by the dynamic liquid surface generation device matches the desired surface.

[0146] For details, see Figure 7 As shown, the OXZ plane is... Figure 2 A plane parallel to the plane containing the center of the line scan camera 31 passes through the dynamic liquid level generating device. Point O is the origin of the measurement coordinate system of the line scan camera 31, located between the first support plate 43 and the second support plate 44, and on the axis of the first rotating shaft 45 and the second rotating shaft 46.

[0147] The OZ direction is the direction in which the laser beam measured by the line scan camera 31 is perpendicular to the dynamic liquid surface generating device. The OX direction is the direction to the left of OZ, as shown in the figure. The OY direction is perpendicular to the plane formed by OXY.

[0148] The detection drive unit rotates the line scan camera 31, as shown in the figure, with a rotation angle of [missing information]. Let point P be a point on the surface of the liquid to be measured. Let the distance from point OP measured by line scan camera 31 be... Therefore, the coordinates of point P in the OXZ plane are:

[0149] ;

[0150] If we assume the line scan camera 31 is located at a rotation angle of... At that time, a set C of points of a line contour is obtained, which contains distance data of several points. Let the first... i The distance data of each point is represented as follows: Let the horizontal distance (along the OY direction) between any two points on the line profile be... (For a specific line scan camera, this distance is a constant). Then the... i The 3D coordinates of a point can be represented as:

[0151] ;

[0152] When the line scan camera 31 swings, different results are obtained. The coordinate data of the line profile points under the corners, the set of these points constitutes the line profile data of the liquid surface profile.

[0153] The dynamic liquid surface morphology detection method of this embodiment utilizes a line scan camera 31 to accurately detect the dynamic and changing liquid surface morphology of opaque liquids. It can also visualize the data obtained by the line scan camera 31, making it easier to compare with the desired surface and making the detection results more intuitive.

[0154] Example 5

[0155] This embodiment provides a dynamic liquid surface morphology generation and detection device, see [link / reference]. Figure 8 It includes: a dynamic liquid level generation component, a dynamic liquid level scanning component, and a control system computer.

[0156] The dynamic liquid level generation assembly includes a deformation actuator and a deformation drive, both located inside the execution tank. The deformation actuator includes the liquid to be measured and a flexible membrane disposed on the surface of the liquid. The deformation drive includes multiple linear motors arranged in an array, each located inside the liquid, with its moving end engaging with the flexible membrane. The linear motors are driven by corresponding motor drivers, each driver capable of driving one or more linear motors.

[0157] The dynamic liquid level scanning assembly includes a line scan camera, a detection drive unit, and a data display. The line scan camera is a laser line scan camera, positioned above the liquid to be measured and opposite the flexible membrane. The line scan camera is started and stopped via a camera controller. The detection drive unit, including a drive motor, drives the line scan camera to rotate or oscillate within a certain angle range. The drive motor is motion-controlled by a corresponding motor driver. The data display shows an image based on the line contour points obtained by the scanning camera. By comparing the image displayed with the desired surface, it can be determined whether the dynamic liquid level generated by the dynamic liquid level morphology generation device conforms to the desired surface.

[0158] The control system computer is used to execute the dynamic liquid surface morphology generation and detection device of this embodiment. The software system corresponding to the dynamic liquid surface generation component is described in [reference needed]. Figure 9 The control system computer, the motor driver corresponding to the linear motor, the motor driver corresponding to the drive motor, and the camera controller are interconnected via an Ethernet bus to enable communication between the devices.

[0159] The central control component generates motion trajectory instructions based on the desired surface; the central control component sends the motion trajectory instructions to the deformation drive component; multiple linear motors in the deformation drive component operate according to the motion trajectory instructions under the drive of the corresponding motor drivers, thereby driving the deformation actuator to deform.

[0160] The dynamic liquid surface morphology generation and detection device of this embodiment generates a dynamic liquid surface, which mainly includes the following steps:

[0161] Step 1: The user inputs the desired liquid surface into the control system computer. It should be noted that the desired surface is described using a three-dimensional point set, which can be generated using relevant software.

[0162] Step 2: The control system computer calls the surface decomposition algorithm in the dynamic liquid surface algorithm module to decompose the desired surface into several sub-surfaces, and the several sub-surfaces constitute a sub-surface set.

[0163] Step 3: Based on the subsurface set, the system computer calls the trained subsurface generation algorithm in the dynamic liquid surface algorithm module to generate the desired motion trajectory.

[0164] Step 4: The control system computer generates motion trajectory instructions based on the desired motion trajectory and sends the motion trajectory instructions to the deformation drive component control module.

[0165] Step 5: The deformation drive control module sends instructions to the motor driver corresponding to the linear motor according to the motion trajectory instructions; the deformation drive operates according to the motion trajectory instructions, driving the deformation actuator to deform. Specifically, the motor driver corresponding to the linear motor drives the corresponding linear motor to operate, driving the flexible membrane to move, and the flexible membrane pushes the liquid to be tested to move; the movement of the liquid to be tested results in different liquid surface morphologies.

[0166] After a dynamic liquid surface is generated in the liquid to be tested, the process of detecting the dynamic liquid surface morphology using the dynamic liquid surface morphology generation and detection device of this embodiment includes the following steps:

[0167] Step 1: The control system computer sends instructions to the detection drive component in the dynamic liquid level scanning assembly. The motor driver corresponding to the drive motor receives the instructions and controls the drive motor to operate according to the instructions, driving the line scan camera to perform rapid and repetitive oscillations.

[0168] Step 2: The control system computer sends a command to the camera controller, which then activates the line scan camera. The line scan camera collects the line contour data of the liquid surface under test when it is located at different angles.

[0169] Step 3: The control system computer calculates a 3D point cloud set of the liquid surface morphology of the liquid under test based on the collected line contour data, the corresponding acquisition angle, and the geometric relationship between the line scan camera and the liquid under test.

[0170] Step 4: Dynamically display the 3D point cloud data of the liquid surface topography in the liquid surface topography data display module.

[0171] Step 5: Compare the 3D point cloud set of the liquid surface morphology to be tested or the image displayed by the data display module with the desired surface. Based on the comparison results, determine whether the dynamic liquid surface morphology generated by the dynamic liquid surface generation device matches the desired surface.

[0172] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0173] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or its equivalents are included in this invention.

Claims

1. A method for generating dynamic liquid surface morphology, characterized in that, The dynamic liquid surface morphology generation device includes: Deformation actuator, including the liquid to be tested and a flexible membrane (25) disposed on the surface of the liquid to be tested. The deformation actuator includes multiple linear motors (26) arranged in an array. The linear motors (26) are located inside the liquid to be tested. The movable end of the linear motor (26) cooperates with the flexible membrane (25). The linear motor (26) is used to receive motion trajectory commands, operate according to the motion trajectory commands, and drive the deformation actuator to deform. The dynamic liquid surface morphology generation method includes the following steps: The deformation drive receives a motion trajectory command; wherein the motion trajectory command is generated as follows: obtaining a desired surface; decomposing the desired surface into several sub-surfaces using a surface decomposition algorithm, the several sub-surfaces constituting a sub-surface set; generating a desired motion trajectory using a trained sub-surface generation algorithm based on the sub-surface set; and generating a motion trajectory command based on the desired motion trajectory. The deformation drive operates according to the motion trajectory command, driving the deformation actuator to deform. The step of decomposing the desired surface into several sub-surfaces using a surface decomposition algorithm includes: The desired surface is meshed based on the arrangement of the multiple linear motors (26) to obtain the surface corresponding to each mesh; the linear motors (26) correspond one-to-one with the mesh; Obtain the 3D point cloud set of each grid and the corresponding surface of its surrounding grids; Linear transformation is performed on the 3D point cloud set of each grid and the corresponding surface of the surrounding grid to obtain the sub-surface corresponding to each linear motor (26); The training process of the trained subsurface generation algorithm is as follows: Construct a sample database, and use the sample database and the specific sinusoidal trajectory of the linear motor (26) corresponding to the sample database as the training set. Based on deep learning algorithms, the subsurface generation algorithm is trained to obtain a well-trained subsurface generation algorithm.

2. The method for generating dynamic liquid surface morphology according to claim 1, characterized in that, The dynamic liquid surface morphology generation device further includes: A line scan camera (31) is positioned above the liquid to be tested and opposite to the flexible membrane (25); A detection drive is used to drive the line scan camera (31) to move.

3. The method for generating dynamic liquid surface morphology according to claim 2, characterized in that, The detection drive includes a drive motor (36) and a transmission assembly; The transmission assembly includes a synchronous belt (33) and two synchronous belt gears (34), the synchronous belt (33) cooperating with the two synchronous belt gears (34); one of the synchronous belt gears (34) is connected to the line scan camera (31), and the other synchronous belt gear (34) is coaxially connected to the output shaft of the drive motor (36).

4. The method for generating dynamic liquid surface morphology according to claim 1, characterized in that, The step of performing linear transformation processing on the 3D point cloud set of each grid and the corresponding surface of its surrounding grids includes: Overlay the 3D point cloud sets corresponding to the surfaces of each grid; The sum of two 3D point cloud sets is defined as the sum of the coordinate components of the corresponding points in the two 3D point cloud sets in the direction of motion of the moving end of the linear motor (26) multiplied by the corresponding discount factor.

5. The method for generating dynamic liquid surface morphology according to claim 1, characterized in that, The steps for constructing the sample database include: A single linear motor (26) is made to operate according to a specific sinusoidal trajectory to obtain a specific dynamic liquid level; Obtain a 3D point cloud set corresponding to a specific dynamic liquid surface; the 3D point cloud set corresponding to the specific dynamic liquid surface is the initial sample of the subsurface corresponding to the operation of the linear motor (26) according to a specific sinusoidal trajectory. Traverse all linear motors (26) in the deformation drive, and obtain the subsurface sample corresponding to the specific sinusoidal trajectory based on the initial sample of the subsurface corresponding to the operation of all individual linear motors (26) according to the specific sinusoidal trajectory. Add the subsurface sample corresponding to a specific sinusoidal trajectory to the sample database; By changing the parameters of a specific sinusoidal trajectory, all linear motors (26) in the deformation drive are iterated to obtain the final sample database; the parameters of the specific sinusoidal trajectory include amplitude, frequency and phase.

6. A dynamic liquid surface morphology detection method, used for generating a dynamic liquid surface based on the dynamic liquid surface morphology generation method according to any one of claims 1-5, characterized in that, Includes the following steps: Collect line contour data of the liquid surface under test from different angles; Based on the collected line contour data and the corresponding collection angle, a 3D point cloud set of the liquid surface morphology to be measured is calculated. The 3D point cloud set of the liquid surface morphology to be tested is compared with the desired surface, and the dynamic liquid surface morphology generated is judged according to the comparison results to determine whether it matches the desired surface.

7. The dynamic liquid surface morphology detection method according to claim 6, characterized in that, The step of comparing the 3D point cloud set of the liquid surface morphology to be tested with the desired surface, and determining whether the generated dynamic liquid surface morphology conforms to the desired surface based on the comparison result, includes: Image display is performed based on a 3D point cloud set of the surface morphology of the liquid to be tested; Compare the image displayed on the data display with the desired surface; The comparison results are used to determine whether the generated dynamic liquid surface morphology matches the desired surface.

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