Contour measurement system, measurement method, equipment and storage medium
By performing image processing on contour data on cameras or controllers, the problem of high resource consumption of industrial control computers is solved, thereby reducing costs, optimizing resource allocation, and improving the reliability and stability of the system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-18
- Publication Date
- 2026-03-13
AI Technical Summary
In existing contour measurement systems, the contour data acquired by the camera needs to be processed by an industrial control computer, which results in high resource consumption of the industrial control computer and increases system cost.
Image processing of contour data is performed on the camera or controller, and the processing results are transmitted to the industrial computer, reducing the image processing burden on the industrial computer.
It reduces the use of industrial control computer resources, lowers system costs, optimizes computing resource allocation, and improves system reliability, stability, and scalability.
Smart Images
Figure CN121661081A_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of computer technology, and in particular to contour measurement systems, measurement methods, devices and storage media. Background Technology
[0002] A contour measurement system is a measurement system used to measure the shape and contour of an object's surface, and typically includes equipment such as an industrial computer and a camera.
[0003] In existing technologies, contour data of objects is acquired by a camera and transmitted to an industrial control computer for image processing. However, the image processing process usually consumes a lot of resources of the industrial control computer, which places high demands on the configuration of the industrial control computer and increases the cost of the contour measurement system. Summary of the Invention
[0004] This disclosure provides various aspects of contour measurement systems, measurement methods, equipment, and storage media to reduce the resource consumption of industrial control computers during contour acquisition in the contour measurement system.
[0005] A first aspect of this disclosure provides a contour measurement system, the contour measurement system including an industrial control computer and a first camera, the first camera being communicatively connected to the industrial control computer;
[0006] The first camera is used to acquire contour data of the target object, perform image processing on the contour data, and transmit the image processing results to the industrial control computer.
[0007] In one possible design, the contour measurement system further includes at least one second camera, wherein the first camera and the second camera form a series link;
[0008] The first camera is also used to transmit the acquired signal to the downstream camera and acquire the contour data of the target object based on the acquired signal;
[0009] Any of the second cameras is used to receive the acquisition signal transmitted by the upstream camera and transmit it to the downstream camera, acquire contour data of the target object according to the acquisition signal and transmit it to the upstream camera, and receive contour data transmitted by the downstream camera and transmit it to the upstream camera.
[0010] The first camera is also used to stitch together the contour data collected by the camera and the contour data of each downstream camera to obtain first stitched contour data, and transmit the first stitched contour data to the industrial control computer.
[0011] In one possible design, the industrial control computer is further configured to determine the location information of the areas to be acquired by each camera based on the target area of the target object and transmit it to the first camera; wherein any area to be acquired is a part of the target area;
[0012] The first camera is also used to transmit the position information of the area to be acquired by each camera and the acquisition signal to the downstream camera, and to acquire local contour data of the target object based on the acquisition signal and the position information of the area to be acquired by this camera.
[0013] Any of the second cameras is further configured to receive position information and acquisition signals of the areas to be acquired by each camera transmitted by the upstream camera and transmit them to the downstream camera; acquire local contour data of the target object based on the acquisition signals and the position information of the area to be acquired by the camera and transmit it to the upstream camera; and receive local contour data transmitted by the downstream camera and transmit it to the upstream camera.
[0014] The first camera is also used to stitch together the local contour data acquired by the camera and the local contour data of each downstream camera to obtain the second stitched contour data of the target area, and transmit the second stitched contour data to the industrial control computer.
[0015] In one possible design, the industrial computer is also used to fuse the second spliced contour data with the first spliced contour data.
[0016] In one possible design, the contour measurement system further includes a camera bracket for securing the first camera and the second camera.
[0017] In one possible design, the industrial computer is also used to send camera configuration information to the first camera;
[0018] The first camera is also used to transmit the camera configuration information to the downstream camera, and to configure parameters according to the camera configuration information when it is determined that the camera configuration information includes the camera configuration information of this camera;
[0019] Any of the second cameras is further configured to receive camera configuration information transmitted from the upstream camera and transmit it to the downstream camera, and to configure parameters according to the camera configuration information when it is determined that the camera configuration information includes the camera configuration information of this camera.
[0020] In one possible design, the industrial computer is also used to transmit the acquired signals to the first camera; or
[0021] The contour measurement system also includes a signal generator, which is communicatively connected to the first camera and transmits the acquired signal to the first camera.
[0022] In one possible design, the contour measurement system also includes a moving platform for carrying the target object;
[0023] The industrial control computer is also communicatively connected to the mobile platform, used to send movement signals to the mobile platform to move the position of the target object via the mobile platform; or
[0024] The signal generator is also communicatively connected to the mobile platform and is used to send a movement signal to the mobile platform to move the position of the target object via the mobile platform.
[0025] A second aspect of this disclosure provides a contour measurement system, the contour measurement system including an industrial computer, a controller, and a third camera; the controller is communicatively connected to the third camera and the industrial computer respectively.
[0026] The third camera is used to acquire the contour data of the target object and transmit the contour data to the controller;
[0027] The controller is also used to perform image processing on the contour data and transmit the image processing results to the industrial control computer.
[0028] In one possible design, the contour measurement system further includes at least one second camera, and the third camera forms a series link with the second camera;
[0029] The third camera is also used to transmit the acquired signal to the downstream camera and acquire the contour data of the target object based on the acquired signal;
[0030] Any of the second cameras is used to receive the acquisition signal transmitted by the upstream camera and transmit it to the downstream camera, acquire contour data of the target object according to the acquisition signal and transmit it to the upstream camera, and receive contour data transmitted by the downstream camera and transmit it to the upstream camera.
[0031] The third camera is also used to transmit the contour data of each downstream camera to the controller;
[0032] The controller is also used to stitch together the contour data collected by each camera to obtain first stitched contour data, and transmit the first stitched contour data to the industrial control computer.
[0033] A third aspect of this disclosure provides a measurement method for a contour measurement system, the method being applied to a first camera in a contour measurement system of any possible design in the first aspect; the method includes:
[0034] The first camera acquires the contour data of the target object, performs image processing on the contour data, and transmits the image processing results to the industrial control computer.
[0035] In one possible design, the contour measurement system further includes at least one second camera, with the first camera and the second camera forming a cascade link; the method further includes:
[0036] The first camera transmits the acquired signal to the downstream camera and acquires the contour data of the target object based on the acquired signal;
[0037] The first camera receives contour data of the target object acquired by the downstream camera based on the acquisition signal;
[0038] The first camera stitches together the contour data it collects and the contour data from each downstream camera to obtain the first stitched contour data, and then transmits the first stitched contour data to the industrial control computer.
[0039] In one possible design, the method further includes:
[0040] The first camera receives the location information of the areas to be acquired by each camera transmitted by the industrial control computer, and transmits the location information of the areas to be acquired by each camera and the acquisition signal to the downstream camera; wherein any area to be acquired is a part of the target area of the target object;
[0041] The first camera acquires local contour data of the target object based on the acquired signal and the position information of the area to be acquired by the camera.
[0042] The first camera receives local contour data of the target object collected by the downstream camera based on the acquisition signal and the position information of the corresponding area to be acquired;
[0043] The first camera stitches together the local contour data acquired by itself and the local contour data of each downstream camera to obtain the second stitched contour data of the target area, and transmits the second stitched contour data to the industrial control computer.
[0044] A fourth aspect of this disclosure provides a measurement method for a contour measurement system, the method being applied to a third camera in a contour measurement system of any possible design in the second aspect; the method includes:
[0045] The third camera acquires the contour data of the target object and transmits the contour data to the controller.
[0046] In one possible design, the contour measurement system further includes at least one second camera, and the third camera forms a series link with the second camera; the method further includes:
[0047] The third camera transmits the acquisition signal to the downstream camera and acquires the contour data of the target object based on the acquisition signal;
[0048] The third camera receives contour data of the target object collected by the downstream camera based on the acquisition signal;
[0049] The third camera transmits the contour data of each downstream camera to the controller.
[0050] A fifth aspect of this disclosure provides a measurement method for a contour measurement system, the method being applied to a second camera in a contour measurement system of any possible design of the first aspect or any possible design of the second aspect; the method includes:
[0051] Each of the second cameras receives the acquisition signal transmitted from the upstream camera and transmits it to the downstream camera;
[0052] The second camera acquires contour data of the target object based on the acquisition signal and transmits it to the upstream camera;
[0053] The second camera receives contour data transmitted from the downstream camera and transmits it to the upstream camera.
[0054] In one possible design, the method further includes:
[0055] The second camera receives the location information and acquisition signal of the area to be acquired from each camera transmitted by the upstream camera and transmits them to the downstream camera; wherein any area to be acquired is a part of the target area of the target object;
[0056] The second camera acquires local contour data of the target object based on the acquisition signal and the position information of the area to be acquired by this camera, and transmits it to the upstream camera;
[0057] The second camera receives local contour data transmitted from the downstream camera and transmits it to the upstream camera.
[0058] A sixth aspect of this disclosure provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method of the third aspect, the method of the fourth aspect, or the method of the fifth aspect.
[0059] The seventh aspect of this disclosure provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods of the third, fourth, or fifth aspects described above.
[0060] The fifth aspect of this disclosure provides a computer program product comprising: a computer program stored in a readable storage medium, at least one processor of an electronic device being able to read the computer program from the readable storage medium, and the at least one processor executing the computer program causing the electronic device to perform the methods of the third, fourth, or fifth aspects described above.
[0061] The contour measurement system, method, device, and storage medium disclosed in this embodiment can perform image processing on the contour data acquired by the camera or on the controller, and then transmit the image processing results to the industrial control computer. This eliminates the need for image processing by the industrial control computer, reducing the resource consumption and configuration requirements of the industrial control computer, and effectively reducing the cost of the contour measurement system. Furthermore, it can optimize the allocation of computing resources in the contour measurement system, enabling the contour measurement system to evolve towards edge computing and embedded modes, thereby reducing latency, improving reliability and stability, enhancing scalability, and improving the intelligence capabilities of edge devices. Attached Figure Description
[0062] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of the present disclosure and are used to explain the disclosure, but do not constitute an undue limitation of the disclosure. In the drawings:
[0063] Figure 1 A schematic diagram of a contour measurement system provided for an exemplary embodiment of this disclosure;
[0064] Figure 2 A schematic diagram of another contour measurement system provided as an exemplary embodiment of the present disclosure;
[0065] Figure 3 A schematic diagram of another contour measurement system provided as an exemplary embodiment of the present disclosure;
[0066] Figure 4 A schematic diagram of another contour measurement system provided as an exemplary embodiment of the present disclosure;
[0067] Figure 5 A schematic diagram of the structure of an electronic device provided for an exemplary embodiment of this disclosure. Detailed Implementation
[0068] To make the objectives, technical solutions, and advantages of this disclosure clearer, the technical solutions of this disclosure will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this disclosure, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.
[0069] In the prior art, during the contour acquisition process of the contour measurement system, the contour data of the object is acquired by a camera and transmitted to an industrial control computer for image processing. However, the image processing process usually consumes a lot of resources of the industrial control computer, which places high demands on the configuration of the industrial control computer and increases the cost of the contour measurement system.
[0070] To address the aforementioned technical problems, embodiments of this disclosure provide a contour measurement system, measurement method, device, and storage medium. Contour data acquired by a camera can be image-processed on the camera or controller, and the image processing results can then be transmitted to an industrial control computer. This eliminates the need for image processing on the industrial control computer, reducing resource consumption and configuration requirements, thus effectively lowering the cost of the contour measurement system. Furthermore, it optimizes the allocation of computing resources, enabling the contour measurement system to evolve towards edge computing and embedded modes. This reduces latency, improves reliability and stability, enhances scalability, and improves the intelligence capabilities of edge devices.
[0071] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings and specific examples.
[0072] Figure 1 This is a schematic diagram of a contour measurement system provided for an exemplary embodiment of this disclosure. Figure 1 The contour measurement system shown includes an industrial control computer and a first camera. The first camera is communicatively connected to the industrial control computer. The first camera is used to acquire contour data of the target object based on the acquisition signal, perform image processing on the contour data, and transmit the image processing results to the industrial control computer.
[0073] The contour measurement system can be a contour measuring instrument, specifically including a laser light source, a camera, and an industrial control computer. Furthermore, the contour measurement system may also include a platform supporting the target object and a camera bracket for fixing the camera. The laser light source projects laser light onto the target object on the platform, and the camera captures the laser light reflected from the target object. Based on principles such as laser triangulation, the contour data of the target object can be obtained. The industrial control computer is used for system control and coordination, as well as data processing and management. The camera can include, but is not limited to, a global shutter camera, a rolling shutter camera, a high dynamic range camera, a polarized camera, or an infrared camera, etc.
[0074] In this embodiment, the first camera may specifically include an acquisition component and a controller. The acquisition component is used to acquire contour data of a target object placed below the first camera. The acquisition method can be any feasible method; for example, the acquisition component may be a sensing head that senses the laser light reflected after a laser light source is projected onto the target object to obtain the contour data of the target object. The controller is used to perform image processing on the contour data, including but not limited to image stitching (e.g., point cloud fusion), image cropping, contour reconstruction, center extraction, and meshing. After the first camera completes the image processing of the contour data, the image processing result is transmitted to the industrial control computer. This eliminates the need for the industrial control computer to perform image processing, reducing the resource consumption and configuration requirements of the industrial control computer. The contour measurement system also does not require an additional controller, effectively reducing the cost of the contour measurement system. Furthermore, it optimizes the allocation of computing resources in the contour measurement system, enabling the contour measurement system to evolve towards edge computing and embedded modes. This reduces latency, improves reliability and stability, enhances scalability, and improves the camera's intelligence capabilities.
[0075] In addition, the first camera can collect contour data of the target object, which can be triggered based on the acquisition signal. The acquisition signal can be transmitted from the industrial control computer to the first camera; or a signal generator (or signal distributor, signal synchronization controller) can be configured in the contour measurement system. The signal generator is connected to the first camera and transmits the acquisition signal to the first camera.
[0076] Optionally, the laser source can be a line source. The contour data of the target object acquired by the first camera is the contour data of one cross-section of the target object. Therefore, the relative movement between the target object and the first camera can be controlled, thus acquiring contour data of different cross-sections of the target object, which can then be fused to obtain the contour data of the entire target object. To achieve relative movement between the target object and the first camera, the contour measurement system also includes a moving platform for supporting the target object. The movement of the moving platform can drive the target object to move, and during the movement of the target object, the first camera acquires contour data of different cross-sections of the target object.
[0077] Furthermore, in this embodiment, the mobile platform can communicate with an industrial control computer, which sends a movement signal to the mobile platform to move the target object's position; or the mobile platform can communicate with a signal generator, which sends a movement signal to the mobile platform to move the target object's position. It should be noted that by configuring the triggering timing of the movement signal and the acquisition signal, contour data of the target object can be acquired only after it has moved.
[0078] Based on any of the above embodiments, since the field of view of a single camera is limited, multiple cameras are needed in some scenarios to work together. Each camera acquires a portion of the contour data of the target object, and then the data is stitched together to acquire contour data of a larger target object. Therefore, the contour measurement system of this embodiment may also include at least one second camera, enabling the first camera and at least one second camera to work together to acquire contour data of the target object.
[0079] Optionally, to reduce cable usage, minimize the occupation of industrial control computer interfaces, and lower costs, in this embodiment, the second camera can be connected in series with the first camera to form a series link, such as... Figure 2 As shown, this way only the first camera needs to occupy the industrial control computer interface, while the second camera does not need to occupy the industrial control computer interface; and all image processing tasks are handled by the first camera, especially the stitching of the contour data acquired by each camera, which reduces the configuration requirements of the second camera; or the second camera can also only include the acquisition component without the controller, which can lower the cost, reduce power consumption, and reduce the size; or the second camera can also include the acquisition component and the controller, but the controller of the second camera does not need to perform image processing.
[0080] Optionally, to ensure that the contour data acquired by each camera can be stitched together, the first camera and the second camera need to acquire data synchronously. In this embodiment, the first camera can transmit the acquisition signal to the downstream camera (the downstream second camera) in the serial link, so that the downstream camera in the serial link can also trigger contour acquisition of the target object based on the acquisition signal, just like the first camera. Since the first camera and at least one second camera form a serial link, if there is only one second camera, the first camera directly transmits the acquisition signal to that second camera; if there are two or more second cameras, the first camera transmits the acquisition signal to the second camera connected to it, and then that second camera transmits it to the next second camera connected to it, and so on until the last second camera in the serial link is reached.
[0081] After each second camera collects contour data of the target object based on the acquisition signal, the contour data collected by each second camera can be aggregated to the first camera through a serial link. The first camera then stitches the contour data collected by itself and the contour data collected by each second camera to obtain the first stitched contour data, and then transmits the first stitched contour data to the industrial control computer.
[0082] Specifically, the contour data collected by each second camera is aggregated to the first camera through a serial link. In this case, any second camera can transmit the contour data it has collected to the upstream camera, and at the same time, it can receive the contour data transmitted by the downstream camera and also transmit the contour data transmitted by the downstream camera to the upstream camera.
[0083] It should be noted that the relative positions between the first camera and the second camera are fixed in this embodiment. For example, the contour measurement system may also include a camera bracket to fix the first camera and the second camera. Furthermore, when each second camera transmits the contour data it has collected to the upstream camera, it may also carry the camera's identification information so that the first camera can determine the relative positions between the contour data when stitching the contour data collected by each camera, thus ensuring the accuracy of the stitching.
[0084] Based on any of the above embodiments, considering that the contour data collected by each camera is stitched together by the first camera, the amount of data that the first camera needs to process will inevitably be huge. Therefore, this embodiment considers that only certain regions of the entire target object may be required for contour data. For example, the contour data of certain regions may be used in subsequent processing (including but not limited to size measurement, geometric tolerance calculation, feature recognition, etc.). Therefore, this embodiment adds the function of selecting target regions of the target object for contour scanning. The target region is also known as the region of interest (ROI). It can control each camera to only collect contour data of the target region of the target object, without having to pay attention to other regions of the target object. This can effectively reduce the amount of contour data collected, thereby reducing the computational pressure on the first camera.
[0085] More specifically, the target area of the target object can be configured on the industrial control computer, and then the position information of the area to be acquired by each camera can be determined according to the target area of the target object, and transmitted to the first camera; where any area to be acquired is a part of the target area. The position information of the area to be acquired by each camera can be determined based on the relative position between the target object and each camera, and the position of the target area in the target object. The position information of the area to be acquired by each camera can be determined by constructing a coordinate system of the target object and mapping (such as rotation, translation, etc.) between the coordinate system of the target object and the coordinate systems of each camera. The specific determination process can be implemented in any feasible way, which will not be elaborated here.
[0086] Furthermore, after receiving the areas to be acquired from each camera, the first camera can transmit the location information of the areas to be acquired and the acquisition signal to each of the downstream second cameras (the transmission method is the same as in the above embodiment). Then, the first camera and each of the downstream second cameras can acquire local contour data of the target object according to the acquisition signal and the location information of the area to be acquired by the camera. Similarly, the local contour data acquired by each camera are gathered on the first camera for stitching.
[0087] In this system, any second camera receives the location information and acquisition signal of the area to be acquired by each camera from the upstream camera and transmits them to the downstream camera. At the same time, it also acquires local contour data of the target object based on the acquisition signal and the location information of the area to be acquired by this camera and transmits it to the upstream camera. It can also receive local contour data transmitted by the downstream camera and transmit it to the upstream camera.
[0088] The first camera can stitch together the local contour data acquired by this camera and the local contour data of each downstream camera to obtain the second stitched contour data of the target area, and then transmit the second stitched contour data to the industrial control computer.
[0089] Optionally, since the target area is selected by the user, the larger the target area, the larger the local contour data collected by each camera will be, which will also increase the computational burden on the first camera. Therefore, in this embodiment, after the user selects the target area, the current performance of the first camera can be used to determine whether the first camera can properly process the stitching of the local contour data of the target area. If it cannot be properly processed, the industrial control computer can prompt the user so that the user can adjust the size of the target area to ensure the stability of operation.
[0090] Based on the above embodiments, considering that the final obtained second stitched contour data is only the contour data of the target area, which is not user-friendly, the second stitched contour data of the target area can be fused with the first stitched contour data of the target object on the industrial control computer to complete the contour data outside the target area and facilitate viewing.
[0091] The fusion of the second stitched contour data of the target region and the first stitched contour data of the target object can be achieved in any way, such as covering the position of the target region in the first stitched contour data of the target object with the second stitched contour data of the target region.
[0092] Based on any of the above embodiments, this embodiment can also configure parameters for any one or more cameras. Camera configuration information can be sent to the first camera via an industrial control computer, wherein the camera configuration information includes camera configuration information for any one or more cameras.
[0093] Furthermore, if the first camera determines that its own camera configuration information is included in the camera configuration information, it can configure its parameters according to this camera configuration information. Additionally, the first camera can transmit the camera configuration information to a downstream second camera (the transmission method is the same as in the above embodiment). Each second camera, upon receiving the camera configuration information transmitted from the upstream camera and transmitting it to the downstream camera, will configure its parameters according to this camera configuration information when it determines that the camera configuration information includes its own camera configuration information. Through the above process, parameter configuration for any one or more cameras can be achieved.
[0094] Based on any of the above embodiments, since the laser light source can be a line light source, the contour data collected synchronously by the first camera and the second camera is the contour data on one cross section of the target object. Therefore, the relative movement between the target object and each camera can be controlled, so that contour data on different cross sections of the target object can be collected.
[0095] Based on any of the above embodiments, either the first camera or the second camera can also be used independently. If the first camera needs to be used independently, it does not need to transmit acquisition signals to the downstream camera, so that the downstream camera does not acquire contour data. If either of the second cameras needs to be used independently, and the second camera includes an acquisition component and a controller, it can be connected independently to an industrial control computer, for example, by connecting the second camera independently to the industrial control computer via a transmission line, forming a configuration similar to... Figure 1 The contour measurement system; if any second camera needs to be used independently, and the second camera only includes the acquisition component and does not include the controller, then the second camera can be connected to an independent controller (such as a board, microcontroller or other device), and then the controller can be connected to an industrial computer. The controller can realize image processing of the contour data acquired by the second camera.
[0096] Based on any of the above embodiments, the contour measurement system further includes a power supply device for the camera, wherein the power supply device can be connected to the first camera. If the contour measurement system includes at least one second camera and forms a series link with the first camera, then each second camera can be powered through the series link.
[0097] The contour measurement system provided in the above embodiments can transmit the image processing results to the industrial control computer after the first camera completes the image processing of the contour data. This eliminates the need for the industrial control computer to perform image processing, reducing the resource consumption of the industrial control computer and the configuration requirements of the industrial control computer. The contour measurement system also does not require an additional controller, effectively reducing the cost of the contour measurement system.
[0098] Furthermore, at least one second camera can be connected in series with the first camera to increase the field of view for contour data acquisition. The image processing tasks (such as stitching together the contour data acquired by each camera) can be entirely handled by the first camera, which reduces the configuration requirements for the second camera (for example, the second camera can only include the acquisition components without a controller). Moreover, only the first camera needs to occupy the industrial control computer interface, while the second camera does not need to occupy the industrial control computer interface, reducing cable usage and the occupation of the industrial control computer interface, further reducing costs.
[0099] Figure 3 This is a schematic diagram of a contour measurement system provided for an exemplary embodiment of this disclosure. Figure 3The contour measurement system shown includes an industrial computer, a controller, and a third camera; the controller is communicatively connected to the first camera and the industrial computer; the third camera is used to acquire contour data of the target object and transmit the contour data to the controller (to distinguish it from the first camera in the above embodiment, it is referred to as the third camera in this embodiment); the controller performs image processing on the contour data and transmits the image processing results to the industrial computer.
[0100] The contour measurement system in this embodiment is similar to the one described above. Figure 1 The difference in the contour measurement system shown is that the image processing is no longer performed on the camera, but by a separate controller (such as a board, microcontroller, or other device). The third camera only performs contour data acquisition and transmission. In this embodiment, the controller performs image processing on the contour data, including but not limited to image stitching (e.g., point cloud fusion), image cropping, contour reconstruction, center extraction, and meshing. After completing the image processing, the controller transmits the results to the industrial computer. This eliminates the need for the industrial computer to perform image processing, reducing resource consumption and configuration requirements, thus effectively lowering the cost of the contour measurement system. Furthermore, it also reduces the configuration requirements for the third camera.
[0101] Since the third camera does not need to perform image processing, it can consist only of an acquisition component without a controller, which can reduce costs, power consumption, and size; or the third camera can also include an acquisition component and a controller, but the controller of the third camera does not need to perform image processing.
[0102] In addition, the third camera can collect contour data of the target object, which can be triggered based on the acquisition signal. The acquisition signal can be generated by an industrial control computer and transmitted to the third camera through the controller; or it can be generated and transmitted to the third camera by the controller; or a signal generator (or signal distributor, signal synchronization controller) can be configured in the contour measurement system. The signal generator is connected to the third camera or the controller, and the acquisition signal is transmitted from the signal generator to the third camera or to the controller and then transmitted to the third camera by the controller.
[0103] Optionally, the laser source can be a line source. The contour data of the target object acquired by the third camera is the contour data of one cross-section of the target object. Therefore, the relative movement between the target object and the third camera can be controlled, thus acquiring contour data of different cross-sections of the target object, which can then be fused to obtain the contour data of the entire target object. To achieve relative movement between the target object and the third camera, the contour measurement system also includes a moving platform for carrying the target object. The movement of the moving platform can drive the target object to move, and the third camera can acquire contour data of different cross-sections of the target object during the movement. Furthermore, in this embodiment, the moving platform can be communicatively connected to an industrial control computer, which sends a movement signal to the moving platform to move the position of the target object; or the moving platform can be communicatively connected to a signal generator, which sends a movement signal to the moving platform to move the position of the target object. It should be noted that the triggering timing of the movement signal and the acquisition signal can be configured to control the target object to move before acquiring contour data.
[0104] Based on any of the above embodiments, in some scenarios multiple cameras need to be used in conjunction. Therefore, the contour measurement system of this embodiment may also include at least one second camera, so that the third camera can cooperate with at least one second camera to collect contour data of the target object.
[0105] Optionally, in this embodiment, the second camera and the third camera can be connected in series to form a series link, such as... Figure 4 As shown, this way only the first camera needs to be connected to the controller, while the second camera does not need to be connected to the controller. The second camera also does not need to perform image processing, which reduces the configuration requirements of the second camera. Alternatively, the second camera can only include the acquisition component without the controller, which can reduce costs, power consumption, and size. Or the second camera can include both the acquisition component and the controller, but the controller of the second camera does not need to perform image processing.
[0106] Optionally, in order to ensure that the contour data acquired by each camera can be stitched together, the third camera and the second camera need to acquire data synchronously. In this embodiment, the third camera can transmit the acquisition signal to the downstream camera (the downstream second camera) in the serial link, so that the downstream camera in the serial link can also trigger the acquisition of the contour of the target object based on the acquisition signal, just like the third camera.
[0107] After each second camera acquires contour data of the target object based on the acquisition signal, the contour data acquired by each second camera can be aggregated to the third camera through a serial link. The third camera then transmits the contour data acquired by itself and the contour data acquired by each second camera to the control computer. The controller then stitches the data together to obtain the first stitched contour data, which is then transmitted to the industrial control computer.
[0108] Specifically, the contour data collected by each second camera is aggregated to the third camera through a serial link. In this case, any second camera can transmit the contour data it has collected to the upstream camera, and at the same time, it can receive the contour data transmitted by the downstream camera and also transmit the contour data transmitted by the downstream camera to the upstream camera.
[0109] It should be noted that in this embodiment, the relative positions between the third camera and the second camera are fixed. For example, the contour measurement system may also include a camera bracket to fix the third camera and the second camera. Furthermore, after each camera collects the contour data, it may also carry its own identification information so that the controller can determine the relative positions between the contour data when stitching the contour data collected by each camera, thus ensuring the accuracy of the stitching.
[0110] Based on any of the above embodiments, in order to reduce the amount of data that the controller needs to process, this embodiment adds a function to select a target area for contour scanning of the target object. More specifically, the target area of the target object can be configured on the industrial control computer, and then the position information of the area to be collected by each camera can be determined according to the target area of the target object and transmitted to the controller, wherein any area to be collected is a part of the target area. Furthermore, the controller can transmit the position information of the area to be collected by each camera to a third camera.
[0111] Furthermore, after receiving the areas to be acquired from each camera, the third camera can transmit the location information of the areas to be acquired and the acquisition signal to each of the downstream second cameras (the transmission method is the same as in the above embodiment). Then, the third camera and each of the downstream second cameras can acquire local contour data of the target object according to the acquisition signal and the location information of the area to be acquired by the camera. Similarly, the local contour data acquired by each camera is collected on the controller. The controller can stitch the local contour data acquired by each camera to obtain the second stitched contour data of the target area and transmit the second stitched contour data to the industrial control computer.
[0112] Based on the above embodiments, considering that the final obtained second stitched contour data is only the contour data of the target area, which is not user-friendly, the second stitched contour data of the target area can be fused with the first stitched contour data of the target object on the industrial control computer to complete the contour data outside the target area and facilitate viewing.
[0113] The fusion of the second stitched contour data of the target region and the first stitched contour data of the target object can be achieved in any way, such as covering the position of the target region in the first stitched contour data of the target object with the second stitched contour data of the target region.
[0114] Based on any of the above embodiments, this embodiment can also configure parameters for any one or more cameras. The camera configuration information can be transmitted from an industrial control computer to a controller, which then transmits it to a third camera. This camera configuration information includes configuration information for any one or more cameras. Furthermore, if the third camera determines that the camera configuration information includes its own configuration information, it can configure its parameters accordingly. Additionally, the third camera can transmit the camera configuration information to a downstream second camera (transmission method is the same as in the above embodiments). Any second camera, upon receiving camera configuration information from an upstream camera and transmitting it to a downstream camera, will configure its parameters based on its own configuration information when it determines that the camera configuration information includes its own. Through the above process, parameter configuration for any one or more cameras can be achieved.
[0115] Based on any of the above embodiments, since the laser light source can be a line light source, the contour data collected synchronously by the third camera and the second camera is the contour data on one cross section of the target object. Therefore, the relative movement between the target object and each camera can be controlled, so that contour data on different cross sections of the target object can be collected.
[0116] Based on any of the above embodiments, the contour measurement system further includes a power supply device for the camera, wherein the power supply device can be connected to the third camera. If the contour measurement system includes at least one second camera and forms a series link with the third camera, then each second camera can be powered through the series link.
[0117] Based on the above embodiments, this disclosure also provides a measurement method for a contour measurement system, applicable to, for example... Figure 1 and Figure 2 The first camera in the contour measurement system shown. The method specifically includes:
[0118] The first camera acquires the contour data of the target object, performs image processing on the contour data, and transmits the image processing results to the industrial control computer.
[0119] Optionally, if the contour measurement system further includes at least one second camera, the first camera and the second camera form a series link; the method further includes:
[0120] The first camera transmits the acquired signal to the downstream camera and acquires the contour data of the target object based on the acquired signal;
[0121] The first camera receives contour data of the target object acquired by the downstream camera based on the acquisition signal;
[0122] The first camera stitches together the contour data it collects and the contour data from each downstream camera to obtain the first stitched contour data, and then transmits the first stitched contour data to the industrial control computer.
[0123] Optionally, the method further includes:
[0124] The first camera receives the location information of the areas to be acquired by each camera transmitted by the industrial control computer, and transmits the location information of the areas to be acquired by each camera and the acquisition signal to the downstream camera; wherein any area to be acquired is a part of the target area of the target object;
[0125] The first camera acquires local contour data of the target object based on the acquired signal and the position information of the area to be acquired by the camera.
[0126] The first camera receives local contour data of the target object collected by the downstream camera based on the acquisition signal and the position information of the corresponding area to be acquired;
[0127] The first camera stitches together the local contour data acquired by itself and the local contour data of each downstream camera to obtain the second stitched contour data of the target area, and transmits the second stitched contour data to the industrial control computer.
[0128] Based on the above embodiments, this disclosure also provides a measurement method for a contour measurement system, applicable to, for example... Figure 3 and Figure 4 The third camera in the contour measurement system shown. The method specifically includes:
[0129] The third camera acquires the contour data of the target object and transmits the contour data to the controller.
[0130] Optionally, if the contour measurement system further includes at least one second camera, the third camera and the second camera form a series link; the method further includes:
[0131] The third camera transmits the acquisition signal to the downstream camera and acquires the contour data of the target object based on the acquisition signal;
[0132] The third camera receives contour data of the target object collected by the downstream camera based on the acquisition signal;
[0133] The third camera transmits the contour data of each downstream camera to the controller.
[0134] Based on the above embodiments, this disclosure also provides a measurement method for a contour measurement system, applicable to, for example... Figure 2 and Figure 4 The second camera in the contour measurement system shown. The method specifically includes:
[0135] Each of the second cameras receives the acquisition signal transmitted from the upstream camera and transmits it to the downstream camera;
[0136] The second camera acquires contour data of the target object based on the acquisition signal and transmits it to the upstream camera;
[0137] The second camera receives contour data transmitted from the downstream camera and transmits it to the upstream camera.
[0138] Optionally, the method further includes:
[0139] The second camera receives the location information and acquisition signal of the area to be acquired from each camera transmitted by the upstream camera and transmits them to the downstream camera; wherein any area to be acquired is a part of the target area of the target object;
[0140] The second camera acquires local contour data of the target object based on the acquisition signal and the position information of the area to be acquired by this camera, and transmits it to the upstream camera;
[0141] The second camera receives local contour data transmitted from the downstream camera and transmits it to the upstream camera.
[0142] Furthermore, some processes described in the above embodiments include multiple operations that appear in a specific order. However, it should be clearly understood that these operations may not be executed in the order they appear in this document, or they may be executed in parallel. The sequence numbers are merely used to distinguish different operations, and the sequence number itself does not represent any execution order. Additionally, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first," "second," etc., in this document are used to distinguish different messages, devices, modules, etc., and do not represent a sequential order, nor do they limit "first" and "second" to different types. Moreover, the technical solutions in the various embodiments described above can be combined with each other without conflict.
[0143] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an example embodiment of this disclosure. For example... Figure 5As shown, the electronic device 50 includes a processor 51 and a memory 52 communicatively connected to the processor 51. The memory 52 stores computer-executable instructions. Specifically, the electronic device can be the first camera, second camera, third camera, controller, or industrial computer described in the above embodiments. The processor executes the computer-executable instructions stored in the memory to implement the methods performed by the first camera, second camera, third camera, controller, or industrial computer described in the above embodiments. Specific functions and achievable technical effects will not be elaborated here.
[0144] This disclosure also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the methods performed by the first camera, second camera, third camera, controller, or industrial control computer in any of the above embodiments.
[0145] This disclosure also provides a computer program product, which includes: a computer program stored in a readable storage medium, at least one processor of an electronic device being able to read the computer program from the readable storage medium, and at least one processor executing the computer program causing the electronic device to perform the methods performed by the first camera, second camera, third camera, controller, or industrial control computer in any of the above embodiments.
[0146] In the embodiments provided in this disclosure, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.
[0147] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0148] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.
[0149] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods of the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0150] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is merely an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.
[0151] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.
[0152] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.
Claims
1. A contour measurement system, characterized in that, The contour measurement system includes an industrial computer and a first camera, and the first camera is communicatively connected to the industrial computer. The first camera is used to acquire contour data of the target object, perform image processing on the contour data, and transmit the image processing results to the industrial control computer.
2. The contour measurement system according to claim 1, characterized in that, The contour measurement system further includes at least one second camera, and the first camera and the second camera form a series link; The first camera is also used to transmit the acquired signal to the downstream camera and acquire the contour data of the target object based on the acquired signal; Any of the second cameras is used to receive the acquisition signal transmitted by the upstream camera and transmit it to the downstream camera, acquire contour data of the target object according to the acquisition signal and transmit it to the upstream camera, and receive contour data transmitted by the downstream camera and transmit it to the upstream camera. The first camera is also used to stitch together the contour data collected by the camera and the contour data of each downstream camera to obtain first stitched contour data, and transmit the first stitched contour data to the industrial control computer.
3. The contour measurement system according to claim 2, characterized in that, The industrial control computer is also used to determine the location information of the area to be collected by each camera according to the target area of the target object and transmit it to the first camera. Any region to be collected is a part of the target region; The first camera is also used to transmit the position information of the area to be acquired by each camera and the acquisition signal to the downstream camera, and to acquire local contour data of the target object based on the acquisition signal and the position information of the area to be acquired by this camera. Any of the second cameras is further configured to receive position information and acquisition signals of the areas to be acquired by each camera transmitted by the upstream camera and transmit them to the downstream camera; acquire local contour data of the target object based on the acquisition signals and the position information of the area to be acquired by the camera and transmit it to the upstream camera; and receive local contour data transmitted by the downstream camera and transmit it to the upstream camera. The first camera is also used to stitch together the local contour data acquired by the camera and the local contour data of each downstream camera to obtain the second stitched contour data of the target area, and transmit the second stitched contour data to the industrial control computer.
4. The contour measurement system according to claim 3, characterized in that, The industrial control computer is also used to fuse the second spliced contour data with the first spliced contour data.
5. The contour measurement system according to claim 2, characterized in that, The contour measurement system also includes a camera bracket for fixing the first camera and the second camera.
6. The contour measurement system according to claim 2, characterized in that, The industrial control computer is also used to send camera configuration information to the first camera; The first camera is also used to transmit the camera configuration information to the downstream camera, and to configure parameters according to the camera configuration information when it is determined that the camera configuration information includes the camera configuration information of this camera; Any of the second cameras is further configured to receive camera configuration information transmitted from the upstream camera and transmit it to the downstream camera, and to configure parameters according to the camera configuration information when it is determined that the camera configuration information includes the camera configuration information of this camera.
7. The contour measurement system according to any one of claims 2-6, characterized in that, The industrial control computer is also used to transmit the acquired signals to the first camera; or The contour measurement system also includes a signal generator, which is communicatively connected to the first camera and transmits the acquired signal to the first camera.
8. The contour measurement system according to claim 7, characterized in that, The contour measurement system also includes a moving platform for carrying the target object; The industrial control computer is also communicatively connected to the mobile platform, used to send movement signals to the mobile platform to move the position of the target object via the mobile platform; or The signal generator is also communicatively connected to the mobile platform and is used to send a movement signal to the mobile platform to move the position of the target object via the mobile platform.
9. A contour measurement system, characterized in that, The contour measurement system includes an industrial computer, a controller, and a third camera; the controller is communicatively connected to both the third camera and the industrial computer. The third camera is used to acquire the contour data of the target object and transmit the contour data to the controller; The controller is also used to perform image processing on the contour data and transmit the image processing results to the industrial control computer.
10. The contour measurement system according to claim 9, characterized in that, The contour measurement system further includes at least one second camera, and the third camera forms a series link with the second camera; The third camera is also used to transmit the acquired signal to the downstream camera and acquire the contour data of the target object based on the acquired signal; Any of the second cameras is used to receive the acquisition signal transmitted by the upstream camera and transmit it to the downstream camera, acquire contour data of the target object according to the acquisition signal and transmit it to the upstream camera, and receive contour data transmitted by the downstream camera and transmit it to the upstream camera. The third camera is also used to transmit the contour data of each downstream camera to the controller; The controller is also used to stitch together the contour data collected by each camera to obtain first stitched contour data, and transmit the first stitched contour data to the industrial control computer.
11. A measurement method for a contour measurement system, characterized in that, The method is applied to a first camera in a contour measurement system as described in any one of claims 1-8; the method includes: The first camera acquires the contour data of the target object, performs image processing on the contour data, and transmits the image processing results to the industrial control computer.
12. The method according to claim 11, characterized in that, The contour measurement system further includes at least one second camera, wherein the first camera and the second camera form a series link; the method further includes: The first camera transmits the acquisition signal to the downstream camera and acquires the contour data of the target object based on the acquisition signal; The first camera receives contour data of the target object acquired by the downstream camera based on the acquisition signal; The first camera stitches together the contour data it collects and the contour data from each downstream camera to obtain the first stitched contour data, and then transmits the first stitched contour data to the industrial control computer.
13. The method according to claim 12, characterized in that, The method further includes: The first camera receives the location information of the areas to be acquired by each camera transmitted by the industrial control computer, and transmits the location information of the areas to be acquired by each camera and the acquisition signal to the downstream camera; wherein any area to be acquired is a part of the target area of the target object; The first camera acquires local contour data of the target object based on the acquired signal and the position information of the area to be acquired by the camera. The first camera receives local contour data of the target object collected by the downstream camera based on the acquisition signal and the position information of the corresponding area to be acquired; The first camera stitches together the local contour data acquired by itself and the local contour data of each downstream camera to obtain the second stitched contour data of the target area, and transmits the second stitched contour data to the industrial control computer.
14. A measurement method for a contour measurement system, characterized in that, The method is applied to a third camera in a contour measurement system as claimed in claim 9 or 10; the method includes: The third camera acquires the contour data of the target object and transmits the contour data to the controller.
15. The method according to claim 14, characterized in that, The contour measurement system further includes at least one second camera, and the third camera forms a series link with the second camera; the method further includes: The third camera transmits the acquired signal to the downstream camera and acquires the contour data of the target object based on the acquired signal; The third camera receives contour data of the target object collected by the downstream camera based on the acquisition signal; The third camera transmits the contour data of each downstream camera to the controller.
16. A measurement method for a contour measurement system, characterized in that, The method is applied to a second camera in a contour measurement system as claimed in any one of claims 2-8 or claim 10; the method includes: Each of the second cameras receives the acquisition signal transmitted from the upstream camera and transmits it to the downstream camera; The second camera acquires contour data of the target object based on the acquisition signal and transmits it to the upstream camera; The second camera receives contour data transmitted from the downstream camera and transmits it to the upstream camera.
17. The method according to claim 16, characterized in that, The method further includes: The second camera receives the location information and acquisition signal of the area to be acquired from each camera transmitted by the upstream camera and transmits them to the downstream camera; wherein any area to be acquired is a part of the target area of the target object; The second camera acquires local contour data of the target object based on the acquisition signal and the position information of the area to be acquired by this camera, and transmits it to the upstream camera; The second camera receives local contour data transmitted from the downstream camera and transmits it to the upstream camera.
18. An electronic device, characterized in that, include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as described in any one of claims 11-17.
19. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method described in any one of claims 11-17.