Hole site information detection method and apparatus, and device and storage medium

Abstract

A hole site information detection method, comprising: acquiring first scanning data and second scanning data of a detected structure during the process of scanning the detected structure by using a three-dimensional scanner, wherein the first scanning data is photometric-stereo scanning data of a positioning hole in the detected structure, and the second scanning data comprises non-photometric-stereo scanning data of the positioning hole, or, the second scanning data is non-photometric-stereo scanning data of other feature points except the positioning hole (S110); and determining hole site information of the positioning hole on the basis of the first scanning data and the second scanning data (S120). The photometric-stereo scanning data is detected in a photometric-stereo scanning mode, can comprise tiny changes in the surface of an object, and has the effects of enhancing the contrast between different feature points and reducing noise, such that hole site information with higher precision can be determined on the basis of photometric-stereo scanning data and non-photometric-stereo scanning data, thereby satisfying high-precision industrial automatic detection requirements. Further provided are a hole site information detection apparatus (500), and an electronic device and a computer-readable storage medium.

Description

Hole position information detection method, device, equipment and storage medium

[0001] This disclosure claims priority to a Chinese patent application filed with the Patent Office of China on June 16, 2023, with application number 2023107154584 and invention name “Hole Position Information Detection Method, Device, Equipment and Storage Medium,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0002] The embodiments of the present disclosure relate to the field of industrial automation detection technology, and in particular to a hole position information detection method, device, equipment, and storage medium. Background Art

[0003] In industrial automation inspection, in addition to inspecting the surface information of the structure, it is more important to inspect the hole position information of the structure, such as the center position and diameter of the positioning hole.

[0004] There are two main methods used in the prior art to detect hole position information. Method 1: directly extract the hole position information from the two-dimensional image scanned by the three-dimensional scanner, and then perform three-dimensional reconstruction of the hole position information to obtain three-dimensional reconstruction data, and use the three-dimensional reconstruction data as the hole position information of the positioning hole. Method 2: Use non-photometric stereo scanning to collect three-dimensional data of the structure to be inspected, and then perform edge extraction and search on the three-dimensional data to fit the hole position information. However, Method 1 is greatly affected by factors such as the thickness and color of the positioning hole, and Method 2 is prone to edge noise and burrs. Therefore, the accuracy of the above-mentioned hole position information detection method is low, and it is difficult to meet the needs of high-precision industrial automation detection.

[0005] Summary of the Invention

[0006] (1) Technical issues to be solved

[0007] In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a hole position information detection method, device, equipment and storage medium.

[0008] (2) Technical solution

[0009] The present disclosure provides a method for detecting hole position information, the method comprising:

[0010] In a process of scanning a structure to be inspected using a 3D scanner, first scanning data and second scanning data of the structure to be inspected are acquired, wherein the first scanning data is photometric 3D scanning data of a positioning hole on the structure to be inspected, and the second scanning data includes non-photometric 3D scanning data of the positioning hole, or the second scanning data is non-photometric 3D scanning data of other feature points except the positioning hole;

[0011] Based on the first scanning data and the second scanning data, hole position information of the positioning hole is determined.

[0012] The present disclosure also provides a hole position information detection device, the device comprising:

[0013] a data acquisition module, configured to acquire first scanning data and second scanning data of the inspected structure during scanning of the inspected structure using a three-dimensional scanner, wherein the first scanning data is photometric stereo scanning data of a positioning hole on the inspected structure, and the second scanning data includes non-photometric stereo scanning data of the positioning hole, or the second scanning data is non-photometric stereo scanning data of other feature points other than the positioning hole;

[0014] A hole position detection module is used to determine hole position information of the positioning hole based on the first scanning data and the second scanning data.

[0015] The present disclosure also provides an electronic device, the device comprising:

[0016] one or more processors;

[0017] a storage device for storing one or more programs,

[0018] When one or more programs are executed by one or more processors, the one or more processors implement the hole position information detection method provided in the first aspect.

[0019] An embodiment of the present disclosure further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the hole position information detection method provided in the embodiment of the present disclosure.

[0020] (3) Beneficial effects

[0021] The above technical solution provided by the embodiments of the present disclosure has the following advantages compared with the prior art:

[0022] The hole position information detection method, apparatus, device and storage medium provided by the embodiments of the present disclosure obtain first scanning data and second scanning data of the detected structure during the process of scanning the detected structure with a three-dimensional scanner, wherein the first scanning data is the photometric stereo scanning data of the positioning holes on the detected structure, and the second scanning data includes the non-photometric stereo scanning data of the positioning holes, or the second scanning data is the non-photometric stereo scanning data of other feature points other than the positioning holes; based on the first scanning data and the second scanning data, the hole position information of the positioning holes is determined. The photometric stereo scanning data is obtained by detection in the photometric stereo scanning mode, which can include slight changes on the surface of the object, and has the effect of enhancing the contrast between different feature points and reducing noise. Therefore, based on the photometric stereo scanning data and the non-photometric stereo scanning data, more accurate hole position information can be obtained, ultimately meeting the needs of high-precision industrial automation detection.

[0023] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0025] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] FIG1 is a schematic flow chart of a hole position information detection method in one or more embodiments of the present disclosure;

[0027] FIG2 is a schematic diagram of a three-dimensional scanner in one or more embodiments of the present disclosure;

[0028] FIG3 is a flow chart of another method for detecting hole position information in one or more embodiments of the present disclosure;

[0029] FIG4 is a logic diagram of a hole position information detection method in one or more embodiments of the present disclosure;

[0030] FIG5 is a schematic structural diagram of a hole position information detection device according to one or more embodiments of the present disclosure;

[0031] FIG6 is a schematic structural diagram of an electronic device in one or more embodiments of the present disclosure. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure are clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.

[0033] In order to improve the accuracy of hole position information detection, embodiments of the present disclosure provide a hole position information detection method, apparatus, device, and storage medium.

[0034] The following describes the hole position information detection method provided by the embodiments of the present disclosure in conjunction with Figures 1 to 4. In the embodiments of the present disclosure, the hole position information detection method can be performed by an electronic device. The electronic device can include a device with communication capabilities, such as a tablet computer, desktop computer, or laptop computer, and can also include a device simulated by a virtual machine or simulator.

[0035] FIG1 shows a schematic flow chart of a hole position information detection method provided by an embodiment of the present disclosure.

[0036] As shown in FIG1 , the hole position information detection method may include the following steps.

[0037] S110. In the process of scanning the inspected structure using a three-dimensional scanner, first scanning data and second scanning data of the inspected structure are obtained, wherein the first scanning data is photometric stereo scanning data of positioning holes on the inspected structure, and the second scanning data includes non-photometric stereo scanning data of the positioning holes, or the second scanning data is non-photometric stereo scanning data of other feature points except the positioning holes.

[0038] In this embodiment, when it is necessary to perform hole position detection on the inspected structure, the electronic device first imports the geometric information of the inspected structure, which includes the identification information of the positioning holes of the inspected structure. Then, the electronic device controls the robotic arm to drive the three-dimensional scanner to perform a curved surface scan on the inspected structure according to the planned path. When the positioning holes of the inspected structure are detected, the three-dimensional scanner is controlled to enter the photometric stereo scanning mode to collect the photometric stereo scanning data of the positioning holes based on this mode as the first scanning data.

[0039] In order to improve the accuracy of the hole position information, this embodiment needs to combine different scanning data to determine the hole position information of the positioning hole. In one case, during the process of the three-dimensional scanner performing a curved surface scanning on the structure to be inspected, the non-photometric stereo scanning mode can be used to collect non-photometric stereo scanning data of other feature points except the positioning hole as the second scanning data, and further combined with the first scanning data and the second scanning data to accurately determine the hole position information of the positioning hole. In another case, when the three-dimensional scanner detects the positioning hole of the structure to be inspected, the three-dimensional scanner is controlled to enter the photometric stereo scanning mode and the non-photometric stereo scanning mode at the same time, so that the photometric stereo scanning data of the positioning hole is collected in the photometric stereo scanning mode as the first scanning data, and the non-photometric stereo scanning data of the positioning hole is collected in the non-photometric stereo scanning mode as the second scanning data, and further combined with the first scanning data and the second scanning data to accurately determine the hole position information of the positioning hole.

[0040] It is understood that in order to enable the 3D scanner to scan the positioning holes in an optimal posture, when the electronic device detects the positioning holes of the structure being inspected, it controls the 3D scanner to collect first scan data and second scan data in a target scanning posture based on predetermined movement information. Specifically, the movement information may include a movement direction and a movement distance. Based on the movement direction, the 3D scanner is moved until the optical axis of the photometric camera coincides with the normal direction of the positioning holes. The movement distance refers to the optimal distance to be adjusted and can be determined based on user experience.

[0041] The photometric stereo scanning mode can be understood as a scanning mode that uses multiple light source directions to estimate the surface geometry. This mode is capable of collecting detailed data of the structure being inspected. To enable the 3D scanner to collect photometric stereo scanning data of the positioning holes in the photometric stereo scanning mode, multiple ring lights are set around the lens of the camera on the 3D scanner. The multiple ring lights are sequentially illuminated based on a preset lighting sequence and a preset interval sequence, so that the 3D scanner can scan the positioning holes on the structure being inspected in the photometric stereo scanning mode. This means that the 3D scanner uses multiple light sources to estimate the geometry of the surface of the structure being inspected and obtain photometric stereo scanning data of the positioning holes.

[0042] Optionally, a monocular camera, a binocular camera, or a multi-camera can be used on the 3D scanner. Further, if the 3D scanner uses a binocular camera or a multi-camera, the binocular camera or the multi-camera can be a coaxial camera.

[0043] Optionally, the number of ring lights provided around the lens of the camera on the three-dimensional scanner may be 8 or other numbers, which is not specifically limited.

[0044] To facilitate understanding of the scanning process of a three-dimensional scanner, the schematic diagram of a three-dimensional scanner shown in Figure 2 is used as an example for explanation. As shown in Figure 2, the three-dimensional scanner includes a projector and two coaxial cameras. During the scanning process of the three-dimensional scanner, the projector includes but is not limited to projecting a pattern onto the structure to be detected using a laser or structured light method. The two cameras capture an image of the pattern and an image of the structure to be detected. The three-dimensional scanner then determines the first scanning data and the second scanning data based on the image of the pattern and the pattern of the structure to be detected. It should be noted that each ring light and lens set around the lens of the camera on the three-dimensional scanner are not blocked; when any one of the multiple ring lights is illuminated, the brightness of the illuminated ring light is greater than or equal to a preset brightness threshold, and the wavelength of the light emitted by the illuminated ring light is equal to the wavelength of the filter in front of the lens.

[0045] Through this approach, first, since neither the lens nor the ring light is blocked, light transmission is not affected, thereby improving the camera's image acquisition quality. Second, because the brightness of the illuminated ring light is sufficiently high, it can block out interference from ambient light. Furthermore, because the wavelength of the light emitted by the illuminated ring light is equal to the wavelength of the filter in front of the lens, the wavelength of the ring light and the wavelength of the filter in front of the lens can be matched, thus eliminating interference from ambient light and purifying the image captured by the camera.

[0046] S120 : Determine hole position information of the positioning hole based on the first scanning data and the second scanning data.

[0047] In this embodiment, after the electronic device acquires the first scanning data and the second scanning data, the hole position information of the positioning hole can be determined by a correction method or a splicing method.

[0048] Among them, the first scanning data and the second scanning data are scanning data in the camera coordinate system. During the specific calculation, first, based on the conversion relationship between the camera coordinate system and the scanner coordinate system, the first scanning data and the second scanning data are transferred from the camera coordinate system to the scanner coordinate system. Then, the first scanning data and the second scanning data are processed in the scanner coordinate system to obtain the hole position information of the positioning hole.

[0049] A method for detecting hole position information in an embodiment of the present disclosure obtains first scanning data and second scanning data of the structure being detected during the process of scanning the structure being detected with a three-dimensional scanner, wherein the first scanning data is photometric stereo scanning data of positioning holes on the structure being detected, and the second scanning data includes non-photometric stereo scanning data of the positioning holes, or the second scanning data is non-photometric stereo scanning data of other feature points other than the positioning holes; based on the first scanning data and the second scanning data, the hole position information of the positioning holes is determined. The photometric stereo scanning data is obtained by detection in a photometric stereo scanning mode, and can include slight changes on the surface of an object, and has the effect of enhancing the contrast between different feature points and reducing noise. Therefore, based on the photometric stereo scanning data and the non-photometric stereo scanning data, more accurate hole position information can be obtained, ultimately meeting the needs of high-precision industrial automation detection.

[0050] In another embodiment of the present disclosure, different methods are used to determine the hole position information of the positioning hole for different second scanning data.

[0051] FIG3 shows a schematic flow chart of another hole position information detection method provided by an embodiment of the present disclosure.

[0052] As shown in FIG3 , the hole position information detection method may include the following steps.

[0053] S310. In the process of scanning the inspected structure using a three-dimensional scanner, first scanning data and second scanning data of the inspected structure are obtained, wherein the first scanning data is photometric stereo scanning data of positioning holes on the inspected structure, and the second scanning data includes non-photometric stereo scanning data of the positioning holes, or the second scanning data is non-photometric stereo scanning data of other feature points except the positioning holes.

[0054] Among them, S310 is similar to S110 and will not be described in detail here.

[0055] S320: Correct the second scanning data based on the first scanning data to determine hole position information of the positioning hole.

[0056] In this embodiment, the second scanning data is non-photometric stereoscopic scanning data of the positioning hole, that is, the first scanning data and the second scanning data include scanning data of the same positioning hole under two scanning modes.

[0057] Specifically, S320 includes the following steps: obtaining first scanning data and second scanning data corresponding to any current feature point on the positioning hole; based on the first scanning data corresponding to the current feature point, removing abnormal data in the second scanning data corresponding to the current feature point, until the abnormal data in the second scanning data corresponding to each feature point on the positioning hole is removed, and the second scanning data without abnormal data is obtained; obtaining the center position and diameter of the positioning hole from the second scanning data after removing all abnormal data, and using the center position and diameter as the hole position information of the positioning hole.

[0058] The current feature point refers to any feature point on the positioning hole.

[0059] Specifically, starting from the current feature point, based on the first scanning data corresponding to the current feature point, the abnormal data in the second scanning data corresponding to the current feature point is removed, and along the clockwise direction or counterclockwise direction, based on the first scanning data corresponding to the next feature point, the abnormal data in the second scanning data corresponding to the next feature point is removed, until the abnormal data in the second scanning data corresponding to each feature point on the positioning hole is removed, and the second scanning data with the abnormal data removed is obtained. Finally, the hole center position and the diameter of the positioning hole are directly searched from the second scanning data after all the abnormal data have been removed, so as to obtain the hole position information of the positioning hole.

[0060] Therefore, the first scanning data including the detailed information of the positioning holes is utilized to correct the second scanning data, thereby obtaining the second scanning data with the abnormal data removed. Since the second scanning data with the abnormal data removed has a higher accuracy, the hole position information with a higher accuracy can also be obtained based on the second scanning data with the abnormal data removed.

[0061] S330 , based on the coordinate data of each feature point on the detected structure, splice the first scan data and the second scan data to obtain spliced ​​scan data.

[0062] In this embodiment, the second scanning data is non-photometric stereo scanning data of feature points other than the positioning holes.

[0063] It can be understood that the coordinate data of each feature point on the inspected structure includes the coordinate data of the feature point on the positioning hole and the coordinate data of the feature point adjacent to the feature point on the positioning hole. Based on the coordinate data of the feature point on the positioning hole and the coordinate data of the feature point adjacent to the feature point on the positioning hole, the first scanning data and the second scanning data are spliced ​​to obtain the spliced ​​scanning data, that is, the scanning data of the inspected structure is obtained.

[0064] S340 , obtaining the hole center position and diameter of the positioning hole from the spliced ​​scan data, and using the hole center position and diameter as hole position information of the positioning hole.

[0065] In this embodiment, the coordinate data of the reference point on the inspected structure and the scanning data corresponding to the reference point are first determined. Then, based on the coordinate data of the reference point and the scanning data corresponding to the reference point, the center position and diameter of the positioning hole are directly read from the spliced ​​scanning data as the hole position information of the positioning hole.

[0066] Thus, by combining the first and second scan data, the scan data of the inspected structure is determined, and then the hole position information is directly obtained based on the coordinate data and scan data corresponding to the reference point. In this way, the coordinate data and scan data of the entire inspected structure are taken into account, thereby improving the accuracy of the hole position information.

[0067] In yet another embodiment of the present disclosure, the overall process of hole position information detection is explained.

[0068] FIG4 shows a logic diagram of a hole position information detection method provided by an embodiment of the present disclosure.

[0069] As shown in FIG4 , the hole position information detection method may include the following steps.

[0070] S410: Import geometric information of the structure to be detected.

[0071] The geometric information includes identification information of the positioning holes of the detected structure.

[0072] S420 , controlling the robotic arm to drive the three-dimensional scanner to perform curved surface scanning on the inspected structure according to the planned path, and collecting non-photometric stereoscopic scanning data of other feature points except the positioning holes as second scanning data.

[0073] S430: Determine whether the positioning hole is detected.

[0074] Specifically, if the positioning hole of the detected structure is detected, S440 is executed; otherwise, the process returns to S420.

[0075] S440 : Based on the predetermined movement information, control the three-dimensional scanner to collect the first scanning data and the second scanning data in the target scanning state.

[0076] The movement information includes the movement direction and the movement distance.

[0077] S450. Control the three-dimensional scanner to enter the photometric stereo scanning mode to collect the photometric stereo scanning data of the positioning hole based on the mode as the first scanning data, and control the three-dimensional scanner to enter the non-photometric stereo scanning mode to collect the non-photometric stereo scanning data of the positioning hole based on the mode as the second scanning data.

[0078] S460 , after performing coordinate conversion on the first scanning data and the second scanning data, determine the hole position information of the positioning hole.

[0079] Specifically, based on the conversion relationship between the camera coordinate system and the scanner coordinate system, the first scan data and the second scan data are converted from the camera coordinate system to the scanner coordinate system. Then, in the scanner coordinate system, the second scan data is corrected based on the first scan data to determine the hole position information of the positioning hole. Alternatively, in the scanner coordinate system, abnormal data in the second scan data is removed based on the first scan data, and the positioning information of the positioning hole is obtained from the second scan data after the abnormal data is removed.

[0080] The present disclosure also provides a hole position information detection device for implementing the above-mentioned hole position information detection method, which is described below in conjunction with FIG5 . In the present disclosure, the hole position information detection device can be an electronic device. The electronic device can include a device with communication capabilities, such as a tablet computer, desktop computer, or laptop computer, and can also include a device simulated by a virtual machine or simulator.

[0081] FIG5 shows a schematic structural diagram of a hole position information detection device provided by an embodiment of the present disclosure.

[0082] As shown in FIG5 , the hole position information detection device 500 may include:

[0083] The data acquisition module 510 is configured to acquire first scanning data and second scanning data of the inspected structure during scanning of the inspected structure using a 3D scanner, wherein the first scanning data is photometric stereo scanning data of a positioning hole on the inspected structure, and the second scanning data includes non-photometric stereo scanning data of the positioning hole, or the second scanning data is non-photometric stereo scanning data of other feature points other than the positioning hole;

[0084] The hole position detection module 520 is configured to determine hole position information of the positioning hole based on the first scanning data and the second scanning data.

[0085] A hole position information detection device according to an embodiment of the present disclosure obtains first scanning data and second scanning data of the detected structure during the process of scanning the detected structure with a three-dimensional scanner, wherein the first scanning data is photometric stereo scanning data of positioning holes on the detected structure, and the second scanning data includes non-photometric stereo scanning data of positioning holes, or the second scanning data is non-photometric stereo scanning data of other feature points other than positioning holes; based on the first scanning data and the second scanning data, the hole position information of the positioning holes is determined. The photometric stereo scanning data is obtained by detection in a photometric stereo scanning mode, and can include slight changes on the surface of an object, and has the effect of enhancing the contrast between different feature points and reducing noise. Therefore, based on the photometric stereo scanning data and the non-photometric stereo scanning data, more accurate hole position information can be obtained, ultimately meeting the needs of high-precision industrial automation detection.

[0086] In some embodiments of the present disclosure, the device further includes:

[0087] The control module is configured to control the three-dimensional scanner to collect the first scanning data and the second scanning data in a target scanning state based on predetermined movement information when the three-dimensional scanner scans the positioning hole of the detected structure.

[0088] In some embodiments of the present disclosure, the second scanning data is non-photometric stereo scanning data of the positioning hole; the hole position detection module 520 includes:

[0089] A correction unit is used to correct the second scanning data based on the first scanning data to determine the hole position information of the positioning hole.

[0090] In some embodiments of the present disclosure, the correction unit is specifically configured to:

[0091] Acquire first scanning data and second scanning data corresponding to any current feature point on the positioning hole;

[0092] Based on the first scan data corresponding to the current feature point, removing abnormal data in the second scan data corresponding to the current feature point, until the abnormal data in the second scan data corresponding to each feature point on the positioning hole is removed, thereby obtaining second scan data without the abnormal data;

[0093] The center position and diameter of the positioning hole are obtained from the second scanning data after all abnormal data are removed, and the center position and the diameter are used as the hole position information of the positioning hole.

[0094] In some embodiments of the present disclosure, the second scanning data is non-photometric stereo scanning data of other feature points except the positioning hole; the hole position detection module 520 includes:

[0095] a splicing unit, configured to splice the first scan data and the second scan data based on coordinate data of each feature point on the detected structure to obtain spliced ​​scan data;

[0096] The hole position information acquisition unit is used to acquire the hole center position and diameter of the positioning hole from the spliced ​​scan data, and use the hole center position and the diameter as the hole position information of the positioning hole.

[0097] In some embodiments of the present disclosure, multiple ring lights are arranged around the lens of the camera on the three-dimensional scanner; each ring light and the lens are not blocked; when any one of the multiple ring lights is illuminated, the brightness of the illuminated ring light is greater than or equal to a preset brightness threshold, and the wavelength of the light emitted by the illuminated ring light is equal to the wavelength of the filter in front of the lens.

[0098] In some embodiments of the present disclosure, the multiple ring lights are lit one by one based on a preset lighting sequence and a preset interval time, so that the three-dimensional scanner scans the positioning holes on the inspected structure in a photometric stereo scanning mode to obtain photometric stereo scanning data of the positioning holes.

[0099] It should be noted that the hole position information detection device 500 shown in Figure 5 can execute the various steps in the method embodiments shown in Figures 1 to 4, and realize the various processes and effects in the method embodiments shown in Figures 1 to 4, which will not be elaborated here.

[0100] FIG6 shows a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure.

[0101] As shown in FIG6 , the electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0102] Specifically, the processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0103] Memory 602 may include a large-capacity memory for information or instructions. By way of example, and not limitation, memory 602 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, magnetic tape, or a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway device. In certain embodiments, memory 602 is non-volatile solid-state memory. In certain embodiments, memory 602 includes read-only memory (ROM). Where appropriate, the ROM may be mask-programmed ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0104] The processor 601 reads and executes the computer program instructions stored in the memory 602 to perform the steps of the hole position information detection method provided in the embodiment of the present disclosure.

[0105] In one example, the electronic device may further include a transceiver 603 and a bus 604. As shown in FIG6, the processor 601, the memory 602, and the transceiver 603 are connected via the bus 604 and communicate with each other.

[0106] Bus 604 includes hardware, software or both. For example, and not limitation, bus may include Accelerated Graphics Port (AGP) or other graphics bus, Extended Industry Standard Architecture (EISA) bus, Front Side Bus (FSB), Hyper Transport (HT) interconnection, Industrial Standard Architecture (ISA) bus, InfiniBand interconnection, Low Pin Count (LPC) bus, memory bus, Micro Channel Architecture (MCA) bus, Peripheral Component Interconnect (PCI) bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local Bus (VLB) bus or other suitable bus or two or more of these combinations. Where appropriate, bus 604 may include one or more buses. Although the present application embodiment describes and illustrates a specific bus, the present application considers any suitable bus or interconnection.

[0107] The following is an embodiment of a computer-readable storage medium provided in an embodiment of the present disclosure. The computer-readable storage medium and the hole position information detection method of the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiment of the computer-readable storage medium, please refer to the embodiment of the above-mentioned hole position information detection method.

[0108] This embodiment provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, they are used to perform a hole position information detection method. The method includes:

[0109] In a process of scanning a structure to be inspected using a 3D scanner, first scanning data and second scanning data of the structure to be inspected are acquired, wherein the first scanning data is photometric 3D scanning data of a positioning hole on the structure to be inspected, and the second scanning data includes non-photometric 3D scanning data of the positioning hole, or the second scanning data is non-photometric 3D scanning data of other feature points except the positioning hole;

[0110] Based on the first scanning data and the second scanning data, hole position information of the positioning hole is determined.

[0111] Of course, the computer executable instructions of the storage medium provided in the embodiment of the present disclosure are not limited to the above method operations, but can also execute the relevant operations in the hole position information detection method provided in any embodiment of the present disclosure.

[0112] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present disclosure can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., and includes several instructions for enabling a computer cloud platform (which can be a personal computer, server, or network cloud platform, etc.) to execute the hole position information detection method provided by each embodiment of the present disclosure.

[0113] Note that the above are only preferred embodiments of the present disclosure and the technical principles employed. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims. Industrial Applicability

[0114] The hole position information detection method provided by the present disclosure is a photometric stereo scanning data obtained by detection in a photometric stereo scanning mode, which can include slight changes on the surface of an object, and has the effect of enhancing the contrast between different feature points and reducing noise. Therefore, based on the photometric stereo scanning data and the non-photometric stereo scanning data, more accurate hole position information can be obtained, ultimately meeting the needs of high-precision industrial automation detection.

Claims

1. A hole position information detection method, characterized in that: include: In the process of scanning the inspected structure by using a three-dimensional scanner, first scanning data and second scanning data of the inspected structure are obtained, wherein the first scanning data is photometric stereo scanning data of a positioning hole on the inspected structure, and the second scanning data includes non-photometric stereo scanning data of the positioning hole, or the second scanning data is non-photometric stereo scanning data of other feature points except the positioning hole; Based on the first scanning data and the second scanning data, hole position information of the positioning hole is determined.

2. The method according to claim 1, before acquiring the first scanning data and the second scanning data of the detected structure, the method further comprises: When the three-dimensional scanner scans the positioning hole of the detected structure, based on the predetermined movement information, the three-dimensional scanner is controlled to collect the first scanning data and the second scanning data in a target scanning state.

3. The method according to claim 1, characterized in that The second scanning data is non-photometric stereoscopic scanning data of the positioning hole; and determining the hole position information of the positioning hole based on the first scanning data and the second scanning data includes: The second scanning data is corrected based on the first scanning data to determine the hole position information of the positioning hole.

4. The method according to claim 3, characterized in that The correcting the second scanning data based on the first scanning data to determine the hole position information of the positioning hole includes: Acquire first scanning data and second scanning data corresponding to any current feature point on the positioning hole; Based on the first scanning data corresponding to the current feature point, remove the abnormal data in the second scanning data corresponding to the current feature point until all the feature points on the positioning hole are removed. corresponding to the abnormal data in the second scan data, to obtain the second scan data without the abnormal data; The hole center position and diameter of the positioning hole are acquired from the second scanning data after all abnormal data are removed, and the hole center position and the diameter are used as the hole position information of the positioning hole.

5. The method according to claim 1, characterized in that The second scanning data is non-photometric stereoscopic scanning data of other feature points except the positioning hole; and determining the hole position information of the positioning hole based on the first scanning data and the second scanning data includes: Based on the coordinate data of each feature point on the detected structure, the first scanning data and the second scanning data are spliced ​​to obtain spliced ​​scanning data; The hole center position and diameter of the positioning hole are acquired from the spliced ​​scan data, and the hole center position and the diameter are used as the hole position information of the positioning hole.

6. The method according to claim 1, characterized in that A plurality of ring lights are arranged around the lens of the camera on the three-dimensional scanner; each ring light and the lens are not blocked; when any one of the plurality of ring lights is lit, the brightness of the lit ring light is greater than or equal to a preset brightness threshold, and the wavelength of the light emitted by the lit ring light is equal to the wavelength of the filter in front of the lens.

7. The method according to claim 6, characterized in that The multiple ring lights are lit up one by one based on a preset lighting sequence and a preset interval time, so that the three-dimensional scanner scans the positioning holes on the inspected structure in a photometric stereo scanning mode to obtain photometric stereo scanning data of the positioning holes.

8. A hole position information detection device, characterized in that: include: A data acquisition module, used for acquiring first scanning data and second scanning data of the inspected structure in the process of scanning the inspected structure with a three-dimensional scanner, wherein the first scanning data is photometric stereo scanning data of a positioning hole on the inspected structure, and the second scanning data includes non-photometric stereo scanning data of the positioning hole, or the second scanning data is non-photometric stereo scanning data of other feature points except the positioning hole; A hole position detection module is used to determine hole position information of the positioning hole based on the first scanning data and the second scanning data.

9. An electronic device, characterized in that: include: processor; A memory for storing executable instructions; The processor is used to read the executable instructions from the memory and execute the executable instructions to implement the method described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method according to any one of claims 1 to 7.

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