Automatic blue light measurement method for liquid cooling plate for new energy automobile battery

Abstract

The invention relates to the technical field of new energy automobiles, and discloses an automatic blue light measurement method for a liquid cooling plate for a new energy automobile battery, which adopts an image scanning comparison type measurement method, and can realize high-precision, high-efficiency and high-automation measurement of parts of the liquid cooling plate according to the steps of image acquisition, phase calculation, phase unwrapping and matching reconstruction. According to the device, the liquid cooling plate parts are measured on the basis of a graph acquisition and reconstruction comparison principle, comparison models are stored and edited through software and are not limited by an entity structure, the use cost of equipment can be effectively reduced, the liquid cooling plate parts of different sizes and specifications can be measured by switching comparison data of a database, and the measurement efficiency is improved. The device can meet the measurement requirements of various liquid cooling plate parts, a four-step phase shift algorithm, a nonlinear least square method and an adjustment optimization method are adopted to calculate and optimize collected data parameters, data errors are eliminated through iterative optimization, and the accuracy of comparison measurement results of the liquid cooling plate parts can be effectively improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of new energy vehicles, and particularly relates to an automatic blue light measurement method for a liquid cooling plate of a new energy vehicle battery. BACKGROUND

[0002] The new energy vehicle refers to an automobile adopting unconventional vehicle fuel as a power source, and adopting advanced technologies of power control and driving of the automobile to form the automobile with advanced technical principles and new technologies and structures.

[0003] Due to different working scenes, the liquid cooling plates have different shapes and size specifications. The existing liquid cooling plate detection is mainly performed by manual detection or fixed mold measurement equipment. The manual detection is flexible but has low efficiency and is affected by many operation and measurement factors, so that the measurement precision fluctuates greatly and the measurement precision cannot be guaranteed. The fixed mold measurement equipment has high efficiency, but when different specifications of the liquid cooling plates are measured and detected, the measurement tooling needs to be replaced for measuring and detecting different liquid cooling plates, so that the working flexibility is poor and the use cost is high, and the measurement and detection requirements of different liquid cooling plates cannot be met. Therefore, the application provides an automatic blue light measurement method for a liquid cooling plate of a new energy vehicle battery. SUMMARY

[0004] The application aims to provide an automatic blue light measurement method for a liquid cooling plate of a new energy vehicle battery to solve the problems in the background.

[0005] To achieve the above-mentioned purpose, the application provides the following technical scheme: an automatic blue light measurement system for a liquid cooling plate of a new energy vehicle battery, comprising a six-degree-of-freedom industrial robot for measuring a liquid cooling plate part, a blue light scanning measurement instrument and a control assembly, wherein the control assembly is used for work control and data calculation of the six-degree-of-freedom industrial robot.

[0006] The blue light scanning measurement instrument is installed on the upper part of the six-degree-of-freedom industrial robot, and the blue light scanning measurement instrument completes data scanning and collection of the liquid cooling plate part under the driving of the six-degree-of-freedom industrial robot.

[0007] As a preferred, the lower part of the six-degree-of-freedom industrial robot is provided with a slide rail, the upper part of the slide rail is driven to slide by a servo structure and is provided with a rotary table, and the six-degree-of-freedom industrial robot is installed on the upper part of the rotary table.

[0008] As preferred, the side of the slide rail is provided with a detection platform, and the liquid cooling plate part is fixedly arranged on the upper portion of the detection platform.

[0009] As preferred, the blue light scanning measuring instrument is installed on the end of the support arm of the six-degree-of-freedom industrial robot.

[0010] As preferred, the blue light scanning measuring instrument comprises a light source generator and a high-resolution industrial CCD camera, the light source generator projects different coded grating stripes onto the upper portion of the liquid cooling plate part, and the high-resolution industrial CCD camera is used for image shooting.

[0011] As preferred, the high-resolution industrial CCD camera is provided in plurality, and the light source generator and the high-resolution industrial CCD camera are connected with the flange plate at the end of the arm of the six-degree-of-freedom industrial robot through a rigid connection structure.

[0012] As preferred, the control assembly comprises a computer workstation and a robot control cabinet, and the computer workstation and the robot control cabinet are arranged on the side of the six-degree-of-freedom industrial robot.

[0013] As preferred, the computer workstation is used for data analysis and calculation, and the computer workstation is internally provided with a high-performance computing processor.

[0014] As preferred, the robot control cabinet is used for work control of the six-degree-of-freedom industrial robot, and the robot control cabinet is internally provided with a work processor and a servo drive controller.

[0015] The application also provides a new energy automobile battery liquid cooling plate automatic blue light measuring method, comprising the following steps:

[0016] S1, image acquisition, in the measurement process, the measured liquid cooling plate part is fixed on the upper portion of the detection platform in the work space of the six-degree-of-freedom industrial robot, the robot control cabinet controls the movement of the six-degree-of-freedom industrial robot by sending instructions, so that the blue light scanning measuring instrument automatically measures the liquid cooling plate part from multiple different positions according to the pre-planned path, the control system feeds back the position of the end of the arm of the six-degree-of-freedom industrial robot and the angle of the high-precision turntable to the computer workstation at each measurement, according to the turntable angle, the position of the end of the arm of the six-degree-of-freedom industrial robot and the conversion relationship between the six-degree-of-freedom industrial robot coordinate system and the measuring device coordinate system, the point cloud data obtained by analyzing each measurement is automatically spliced into the same coordinate system, and through continuous measurement, the complete three-dimensional point cloud data of the surface of the liquid cooling plate part is finally obtained.

[0017] S2, phase calculation, the light source generator projects multiple grating fringe images to the surface of the measured liquid cooling plate part, solves the images collected by the two high-resolution industrial CCD cameras through a four-step phase shift algorithm, obtains a phase diagram, and matches the corresponding points through phase correlation, realizes self-calibration of system parameters, and the matching function is:

[0018]

[0019] In the formula: is the vertical phase; is the horizontal phase; k is the camera index; i and j are the row and column indexes centered on m1; c is the phase correlation coefficient;

[0020] The corresponding point matching work is completed by using a nonlinear least squares method for iterative optimization, the high-resolution industrial CCD camera projection model is constructed according to the initial internal parameters of the high-resolution industrial CCD camera itself, and initial three-dimensional model estimation is performed;

[0021] The three-dimensional coordinate points corresponding to the high-resolution industrial CCD camera are optimized by using a adjustment optimization method, the internal parameters of the high-resolution industrial CCD camera are fixed, the relative pose and three-dimensional reconstruction structure are continuously iteratively optimized, a result similar to the correct solution is obtained, and the adjustment optimization method function is:

[0022] CostFun=ReprojErr(m obs ,m reproj (A t ,M)Q(m obs ))

[0023] In the formula: m obs is an image feature point; m reproj is a reverse projection point; A t is a system parameter; M is a three-dimensional point coordinate in space; and Q is a quality and distribution setting weight of the image feature point;

[0024] S3, phase unwrapping, based on a pose view point cloud registration method, using a global optimization multi-view measurement data splicing method to splice the profile measurement data of the liquid cooling plate part, to obtain point cloud data;

[0025] S4, matching reconstruction, using a depth map for fast matching, realizing multi-pose estimation of two adjacent view points, then combining the initial estimated pose, performing loop detection on the key frame, constructing a global multi-view cloud optimization model based on a pose graph, to perform global point cloud registration.

[0026] Compared with the prior art, the above technical scheme has the following technical effects:

[0027] 1、The system adopts image scanning contrast measurement method, utilizes light source generator and high resolution industrial CCD camera to cooperate with liquid cooling plate parts data acquisition, through matching technology and triangular measurement principle, the three-dimensional coordinates of the pixel points in the public view area of high resolution industrial CCD camera and light source generator are calculated, through the software interface of the scanner, the camera image is observed in real time and three-dimensional point cloud data is generated, according to the steps of image acquisition, phase calculation, phase unwrapping and matching reconstruction, the high precision, high efficiency and high automation measurement of liquid cooling plate parts can be realized.

[0028] 2, four-step phase shift algorithm, nonlinear least square method and adjustment optimization method are used to calculate and optimize the collected data parameters, through iterative optimization, the data error is eliminated, the accuracy of the contrast measurement result of the liquid cooling plate parts is effectively improved, and the measurement accuracy of the equipment is greatly improved.

[0029] 3, the device is based on the contrast principle of image acquisition reconstruction to measure the liquid cooling plate parts, the contrast models are stored and edited by software, which is not limited by the entity structure, the use cost of the equipment can be effectively reduced, the contrast data of the database can be switched, different size specifications of liquid cooling plate parts can be measured, the device can meet the measurement needs of various liquid cooling plate parts, and has good working applicability. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0031] Figure 1 It is a schematic diagram of the automatic blue light measurement system of the present application.

[0032] Figure 2 It is a schematic diagram of the three-dimensional measurement principle of the present application.

[0033] Figure 3 It is a schematic diagram of the three-dimensional reconstruction process of the surface structure light of the present application.

[0034] Figure 4 It is a phase matching schematic diagram of the present application.

[0035] The figure mark explanation: 1, detection platform; 2, liquid cooling plate parts; 3, light source generator; 4, high resolution industrial CCD camera; 5, computer workstation; 6, six degrees of freedom industrial robot; 7, slide rail; 8, robot control cabinet. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of the present application.

[0037] It should be understood that the structures, proportions, sizes, etc. shown in the drawings of the specification are only used to understand and read the disclosed content by those skilled in the art, and do not define the limiting conditions for the implementation of the present application, and therefore do not have technical substantive significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, which does not affect the effects and purposes that can be achieved by the present application, should still fall within the scope of the disclosed technical content.

[0038] Embodiments

[0039] Please refer to Figures 1-4 The present application provides a technical solution: an automatic blue light measurement system for a liquid cooling plate for a new energy vehicle battery, which comprises a six-degree-of-freedom industrial robot 6 for measuring liquid cooling plate parts 2, a blue light scanning measuring instrument, and a control assembly. The six-degree-of-freedom industrial robot 6 is an industrial six-axis robot. In order to facilitate the transverse movement support of the six-degree-of-freedom industrial robot 6, a slide rail 7 is arranged at the lower part of the six-degree-of-freedom industrial robot 6, as shown in the accompanying Figure 1 In order to facilitate the rotational movement of the six-degree-of-freedom industrial robot 6, a turntable is installed on the upper part of the slide rail 7 through a servo structure, and the six-degree-of-freedom industrial robot 6 is installed on the upper part of the turntable and can move in translation and rotation. In order to facilitate the installation and support of the liquid cooling plate parts 2, a detection placement platform 1 is arranged on the side of the slide rail 7, and the liquid cooling plate parts 2 are fixed and placed on the upper part of the detection placement platform 1. Figure 1

[0040] The control assembly is used for the work control and data calculation of the six-degree-of-freedom industrial robot 6. The control assembly comprises a computer workstation 5 and a robot control cabinet 8. The computer workstation 5 and the robot control cabinet 8 are arranged on the side of the six-degree-of-freedom industrial robot 6. The computer workstation 5 is used for the analysis and calculation of collected data. The computer workstation 5 is internally provided with a high-performance computing processor. The robot control cabinet 8 is used for the work control of the six-degree-of-freedom industrial robot 6. The robot control cabinet 8 is internally provided with a work processor and a servo drive controller.

[0041] As shown in the accompanying Figure 1 ​As shown, the blue light scanning measuring instrument is installed at the end of the arm of the six-degree-of-freedom industrial robot 6, and the blue light scanning measuring instrument completes data scanning collection of the liquid cooling plate part 2 under the driving of the six-degree-of-freedom industrial robot 6, the blue light scanning measuring instrument comprises a light source generator 3 and a high-resolution industrial CCD camera 4, the high-resolution industrial CCD camera 4 is provided in plurality, the light source generator 3 and the high-resolution industrial CCD camera 4 are connected with the flange at the end of the arm of the six-degree-of-freedom industrial robot 6 through a rigid connection structure, and are fixedly arranged during work, as shown in the accompanying Figure 2 As shown, it is a schematic diagram of the measurement principle of the blue light scanning measuring instrument, the light source generator 3 projects different coded grating stripes to the upper part of the liquid cooling plate part 2, and the high-resolution industrial CCD camera 4 is used for shooting and collecting corresponding images, as shown in the accompanying Figure 4 As shown, it is a schematic diagram of phase matching of the device work.

[0042] The application also provides an automatic blue light measuring method for a liquid cooling plate of a new energy automobile battery, comprising: S1, image acquisition, S2, phase calculation, S3, phase unfolding, S4, matching reconstruction, the liquid cooling plate part 2 is collected by the light source generator 3 and the high-resolution industrial CCD camera 4, through matching technology and triangular measurement principle, the three-dimensional coordinates of the pixel points in the common view area of the high-resolution industrial CCD camera 4 and the light source generator 3 are calculated, the camera image is observed in real time through the software interface of the scanner, and three-dimensional point cloud data is generated, according to the image acquisition, phase calculation, phase unfolding and matching reconstruction steps, high-precision, high-efficiency and high-automation measurement of the liquid cooling plate part 2 can be realized.

[0043] The specific steps are as follows:

[0044] S1, image acquisition, in the measurement process, the measured liquid cooling plate part 2 is fixed on the upper part of the detection platform 1 in the working space of the six-degree-of-freedom industrial robot 6, the robot control cabinet 8 controls the movement of the six-degree-of-freedom industrial robot 6 by sending instructions, so that the blue light scanning measuring instrument automatically measures the liquid cooling plate part 2 from multiple different positions according to the pre-planned path, the control system feeds back the position of the end of the arm of the six-degree-of-freedom industrial robot 6 and the angle of the high-precision turntable to the computer workstation 5 at each measurement, according to the turntable angle, the position of the end of the arm of the six-degree-of-freedom industrial robot 6 and the conversion relationship between the six-degree-of-freedom industrial robot 6 coordinate system and the measuring device coordinate system, the point cloud data obtained by analyzing each measurement is automatically spliced into the same coordinate system, and through continuous measurement, the complete three-dimensional point cloud data of the surface of the liquid cooling plate part 2 is finally obtained;

[0045] S2, phase calculation, the light source generator 3 projects multiple grating fringe images to the surface of the measured liquid cooling plate part 2, solves the images collected by the two high-resolution industrial CCD cameras 4 through a four-step phase shift algorithm, obtains a phase diagram, and matches the corresponding points through phase correlation to realize system parameter self-calibration, and the matching function is:

[0046]

[0047] In the formula: is the vertical phase; is the horizontal phase; k is the camera index; i and j are the row and column indices centered on m1; c is the phase correlation coefficient;

[0048] The corresponding point matching work is completed by using the nonlinear least squares method, the high-resolution industrial CCD camera 4 projection model is constructed according to the initial internal parameters of the high-resolution industrial CCD camera 4 itself, and the initial three-dimensional model estimation is performed;

[0049] The three-dimensional coordinate points corresponding to the high-resolution industrial CCD camera 4 are optimized by using the adjustment optimization method, the internal parameters of the high-resolution industrial CCD camera 4 are fixed, the relative pose and three-dimensional reconstruction structure are continuously iteratively optimized, a result similar to the correct solution is obtained, and the adjustment optimization method function is:

[0050] CostFun=ReprojErr(m obs ,m reproj (A t ,M)Q(m obs ))

[0051] In the formula: m obs is the image feature point; m reproj is the inverse projection point; A t is the system parameter; M is the spatial three-dimensional point coordinate; Q is the quality and distribution setting weight of the image feature point;

[0052] The collected data parameters are calculated and optimized by using the four-step phase shift algorithm, the nonlinear least squares method and the adjustment optimization method, the data errors are eliminated through iterative optimization, the accuracy of the contrast measurement result of the liquid cooling plate part 2 can be effectively improved, and the measurement accuracy of the equipment is greatly improved.

[0053] Further, additional constraint conditions are added to the internal parameters of the high-resolution industrial CCD camera 4, and the specific conditions are as follows:

[0054] 1. The ratio of the horizontal and vertical normalized focal lengths of the two high-resolution industrial CCD cameras 4 is constant;

[0055] 2. The normalized focal length ratio of the two high-resolution industrial CCD cameras 4 remains unchanged.

[0056] Optimize globally using nonlinear least squares method, get global optimal solution, so as to realize the self-calibration of camera internal and external parameters,

[0057] S3, phase expansion, based on the point cloud registration method of pose view, using global optimization multi-view measurement data splicing method to splice the profile measurement data of liquid cooling plate part 2, and the obtained point cloud data;

[0058] S4, matching reconstruction, using depth map for fast matching, realizing two adjacent view point multi-pose estimation, then combining with the initial estimated pose, the device based on the principle of graphic acquisition reconstruction compares the measurement of liquid cooling plate part 2, and the comparison model is stored and edited by software, which is not limited by the entity structure, and can effectively reduce the use cost of the equipment. By switching the comparison data of the database, different size specifications of liquid cooling plate part 2 can be measured, so that the device can meet the measurement needs of various liquid cooling plate parts 2, and has good working applicability. Global optimization eliminates cumulative error after relative pose calculation is completed. The error is eliminated by using loop detection.

[0059] In summary, the system adopts image scanning comparison measurement method, uses light source generator 3 and high-resolution industrial CCD camera 4 to cooperate with liquid cooling plate part 2 data acquisition, solves the three-dimensional coordinates of the pixel points in the common view area of high-resolution industrial CCD camera 4 and light source generator 3 through matching technology and triangular measurement principle, and generates three-dimensional point cloud data through the software interface of the scanner. Real-time observation of camera image, according to the steps of image acquisition, phase calculation, phase expansion and matching reconstruction, high-precision, high-efficiency and high-automation measurement of liquid cooling plate part 2 can be realized. Four-step phase shift algorithm, nonlinear least squares method and adjustment optimization method are used to calculate and optimize the collected data parameters. Through iterative optimization to eliminate data error, the accuracy of liquid cooling plate part 2 comparison measurement result can be effectively improved, so that the measurement accuracy of the equipment is greatly improved. The device based on the principle of graphic acquisition reconstruction compares the measurement of liquid cooling plate part 2, and the comparison model is stored and edited by software, which is not limited by the entity structure, and can effectively reduce the use cost of the equipment. By switching the comparison data of the database, different size specifications of liquid cooling plate part 2 can be measured, so that the device can meet the measurement needs of various liquid cooling plate parts 2, and has good working applicability.

[0060] It will be appreciated by those skilled in the art that features of the various embodiments and / or claims of the present application can be combined or / and integrated, even if such combinations or integrations are not expressly disclosed in the present application. In particular, features of the various embodiments and / or claims of the present application can be combined or / and integrated in any number of ways, without departing from the spirit and scope of the present application. All such combinations and / or integrations are within the scope of the present application.

Claims

1. A new energy automobile battery liquid cooling plate automatic blue light measurement system, comprising a six-degree-of-freedom industrial robot (6) for measuring liquid cooling plate parts (2), a blue light scanning measuring instrument and a control assembly, characterized in that: The control assembly is used for work control and data calculation of the six-degree-of-freedom industrial robot (6); The blue light scanning measuring instrument is installed on the upper part of the six-degree-of-freedom industrial robot (6), and the blue light scanning measuring instrument completes data scanning collection of the liquid cooling plate part (2) under the driving of the six-degree-of-freedom industrial robot (6).

2. The automatic blue light measurement system for a liquid cooling plate for a new energy vehicle battery according to claim 1, characterized in that: The lower part of the six-degree-of-freedom industrial robot (6) is provided with a slide rail (7), a rotary table is installed on the upper part of the slide rail (7) through a servo structure driving sliding, and the six-degree-of-freedom industrial robot (6) is installed on the upper part of the rotary table.

3. The automatic blue light measurement system for a liquid cooling plate for a new energy vehicle battery according to claim 2, characterized in that: The side of the slide rail (7) is provided with a detection placing platform (1), and the liquid cooling plate part (2) is fixed and placed on the upper part of the detection placing platform (1).

4. The automatic blue light measurement system for a liquid cooling plate for a new energy vehicle battery according to claim 3, characterized in that: The blue light scanning measuring instrument is installed on the end of the supporting arm of the six-degree-of-freedom industrial robot (6).

5. The automatic blue light measurement system for a liquid cooling plate for a new energy vehicle battery according to claim 4, characterized in that: The blue light scanning measuring instrument comprises a light source generator (3) and a high-resolution industrial CCD camera (4), the light source generator (3) projects different coded grating stripes onto the upper part of the liquid cooling plate part (2), and the high-resolution industrial CCD camera (4) is used for shooting and collecting corresponding images. 6.The automatic blue light measurement system for liquid cooling plate of new energy vehicle battery according to claim 5, characterized in that: A plurality of high-resolution industrial CCD cameras (4) are arranged, and the light source generator (3) and the high-resolution industrial CCD camera (4) are connected with the flange at the end of the arm of the six-degree-of-freedom industrial robot (6) through a rigid connection structure.

7. The automatic blue light measurement system for a liquid cooling plate for a new energy vehicle battery according to claim 1, characterized in that: The control assembly comprises a computer workstation (5) and a robot control cabinet (8), and the computer workstation (5) and the robot control cabinet (8) are arranged on the side of the six-degree-of-freedom industrial robot (6). 8.The automatic blue light measurement system for a liquid cooling plate for a new energy vehicle battery according to claim 7, characterized in that: The computer workstation (5) is used for analysis and calculation of collected data, and a high-performance computing processor is arranged in the computer workstation (5). 9.The automatic blue light measurement system for liquid cooling plate of new energy vehicle battery according to claim 8, characterized in that: The robot control cabinet (8) is used for work control of the six-degree-of-freedom industrial robot (6), and a work processor and a servo driving controller are arranged in the robot control cabinet (8). 10.The automatic blue light measurement method of a liquid cooling plate for a new energy vehicle battery according to any one of claims 1-9, characterized in that, The method comprises the following steps: S1, image collection, in the measurement process, the measured liquid cooling plate part (2) is fixed on the upper part of the detection placing platform (1) in the work space of the six-degree-of-freedom industrial robot (6), the robot control cabinet (8) controls the movement of the six-degree-of-freedom industrial robot (6) through sending instructions, the blue light scanning measuring instrument automatically measures the liquid cooling plate part (2) from multiple different positions according to the pre-planned path, the control system feeds back the position of the end of the arm of the six-degree-of-freedom industrial robot (6) and the angle of the high-precision rotary table to the computer workstation (5) at each measurement, according to the rotary table angle, the position of the end of the arm of the six-degree-of-freedom industrial robot (6), and the conversion relationship between the coordinate system of the six-degree-of-freedom industrial robot (6) and the coordinate system of the measuring device, the point cloud data obtained by analyzing each measurement is automatically spliced into the same coordinate system, and through continuous measurement, the complete three-dimensional point cloud data of the surface of the liquid cooling plate part (2) is finally obtained. S2, phase calculation, light source generator (3) to the measured liquid cooling plate parts (2) surface projection of a number of grating fringe image, through four-step phase shift algorithm to solve two high-resolution industrial CCD camera (4) collected images, get the phase diagram, and then through the phase correlation corresponding points are matched, realize the system parameter self-calibration, matching function is: wherein: is the vertical phase; is the horizontal phase; k is the camera index; i and j are the row and column indices centered on m1; c is the phase correlation coefficient; Using nonlinear least squares method for iterative optimization, complete the corresponding point matching work, according to the high-resolution industrial CCD camera (4) itself initial internal parameters of high-resolution industrial CCD camera (4) projection model construction, initial three-dimensional model estimation; Using adjustment optimization method to optimize the corresponding three-dimensional coordinate points of high-resolution industrial CCD camera (4), fix the internal parameters of high-resolution industrial CCD camera (4), and continuously iterate and optimize the relative pose and three-dimensional reconstruction structure, get the result similar to the correct solution, adjustment optimization method function is: CostFun = ReprojErr(m obs ,m reproj (A t ,M) Q(m obs )) wherein: m obs is an image feature point; m reproj is a back-projection point; A t is a system parameter; M is a spatial three-dimensional point coordinate; Q is a quality and distribution setting weight of an image feature point; S3, phase unwrapping, based on the pose view point cloud registration method, using global optimization of multi-view measurement data splicing method for contour measurement data of liquid cooling plate parts (2) splicing, the point cloud data obtained; S4, matching reconstruction, using depth map for fast matching, realizing two adjacent view point multi-pose estimation, then combining with the initial estimated pose, the key frame is detected, and the global multi-view cloud optimization model based on pose graph is constructed to perform global point cloud registration.

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