122 results about "Surface point" patented technology

The invention relates to the technical field of robot automatic polishing, in particular to a vision-guided robot polishing path planning method and system, and the method comprises the steps: obtaining a workpiece surface point cloud in real time through a three-dimensional vision sensor, generating a trajectory seed point with adaptive density in combination with curvature, a normal vector and a defect semantic tag, and carrying out the positioning of a workpiece surface point; and a polishing quality evaluation function is constructed based on force sense feedback and a visual reconstruction result, so that path online correction is realized. According to the method, the polishing path and the tool posture can be dynamically adjusted, high-precision differentiation processing is achieved on the free-form surface, the edge and the defect area, and the polishing consistency and efficiency are improved.

Disclosed in the present invention is a three-dimensional circle detection method for a freeform surface, comprising: acquiring freeform surface point cloud data, and using a normal vector-guided rolling ball method to extract a freeform surface circular-hole point cloud boundary contour from the point cloud data; performing Euclidean clustering-based boundary segmentation on the point cloud boundary contour to obtain a clustering result of all boundary point clouds, the clustering result consisting of a plurality of circular-hole contours; performing a density-based weighted iterative algorithm on each circular-hole contour to obtain a freeform surface circular-hole normal vector; and projecting a freeform surface circular hole along the freeform surface circular-hole normal vector onto a plane, and then performing circular-hole iterative fitting based on solving an overdetermined equation on the projected circular-hole point cloud to obtain final positioning information. The present invention is applicable to circular-hole positioning on freeform surfaces of different curvatures, has strong robustness, and effectively improves the accuracy of circular-hole positioning on the freeform surfaces.

The invention discloses a method for measuring the thickness based on laser profile scanning of a 3D wheel of a conveying belt, particularly relates to the field of laser scanning thickness measurement, and is used for solving the problems that shutdown is needed and the measurement range is limited in existing conveying belt thickness detection. According to the method, three-dimensional point cloud data of the upper surface and three-dimensional point cloud data of the lower surface are collected at the same time, initial segmentation of the upper surface and the lower surface is completed through double criteria based on curvature and normal, a dynamic stability threshold value is constructed in combination with the running speed and transverse swing of the conveying belt, and a stable surface point set is formed through screening; then, a thin-plate spline algorithm of dynamic tensor weight is adopted to respectively fit continuous upper surface and lower surface reference curved surface models; and finally, the sampling points on the upper surface are projected to the lower surface along the normal direction and the Euclidean distance is calculated, so that the real thickness distribution of the conveying belt in the full width and full length range is obtained. Non-stop, non-contact and high-coverage online thickness measurement is realized, and the operation safety and maintenance management efficiency of the conveyor belt are improved.

The invention discloses an industrial complex curved surface point cloud reconstruction method based on adaptive projection, and aims to solve the problem of surface reconstruction of high-noise, non-uniformly-distributed and complex geometric point clouds. The method comprises the following steps of firstly performing down-sampling based on spatial distribution on an original three-dimensional point cloud, and then denoising and homogenizing the point cloud through an adaptive weighted local optimal projection algorithm; fitting a local plane by adopting a local least square method, projecting the point cloud to two dimensions, and then carrying out Delaunay triangularization; mapping the two-dimensional triangulation network topological relation to three dimensions to generate a three-dimensional triangulation network; and finally, abnormal triangles are eliminated through side length constraint, and the grid quality is optimized. According to the method, through whole-process cooperative processing, the point cloud data quality and complex curved surface adaptability are remarkably improved, it is ensured that reconstructed grids are smooth, regular and consistent in precision, and the high-precision requirement of complex curved surface reverse engineering in the fields of aviation, molds and the like can be met.

The invention discloses an anchor rod corrosion morphology three-dimensional reconstruction method and system based on three-dimensional laser scanning. The method comprises the following steps: acquiring anchor rod surface point cloud data through three-dimensional laser scanning and preprocessing the anchor rod surface point cloud data; performing serialized slicing processing on the point cloud, and establishing a local coordinate system axially aligned with the anchor rod; adopting an improved RANSAC (Random Sample Consensus) algorithm with adjacent slice continuity constraint, fitting the contour of the non-rusted reference circle piece by piece, and reconstructing a reference geometric shape; the corrosion degree is quantified by calculating the corrosion deviation value of the actual contour point and the reference circle, and is converted into polar coordinates to analyze circumferential distribution; and on the basis of the corrosion deviation value, a three-dimensional morphology cloud picture and a polar coordinate expansion picture are generated through bidirectional dynamic color mapping, and multi-dimensional visualization of the corrosion morphology is achieved. According to the method, the limitation that original contour data cannot be obtained through a traditional method is overcome, accurate quantification and reconstruction of anchor rod corrosion under the standard-free condition are achieved, and high robustness and engineering applicability are achieved.

The application provides a nail contour extraction method and system. The extraction method based on the system comprises the following steps: a data acquisition step: 3D scanning to obtain finger 3D data of a target finger, the finger 3D data containing complete nail 3D data; a data point cloud step: converting the finger 3D data into 3D point cloud data to obtain finger point cloud, the finger point cloud containing nail curved surface point cloud; a nail point cloud acquisition step: segmenting the finger point cloud to obtain the nail curved surface point cloud; a nail point cloud flattening step: flattening the nail curved surface point cloud with equal surface area to obtain nail plane point cloud in a plane state; and a nail contour drawing step: drawing a nail contour according to the contour of the nail plane point cloud. The nail contour extraction method and system of the application obtain nail plane point cloud formed by flattening nail curved surface point cloud of a nail with an arc, and the shape of the peripheral contour point cloud of the flattened nail plane point cloud is more consistent with the peripheral contour of the nail with the arc.

The invention discloses a dynamic projection interaction calibration method and system for an annular science magic space, and belongs to the technical field of projection interaction. The method comprises the steps of obtaining three-dimensional point cloud data of an annular wall surface and spatial pose information of each projector, constructing a wall surface point cloud model, completing projector calibration according to the wall surface point cloud model, and obtaining a pose parameter data set; and based on the data set, mapping each frame of pixel of a preset picture sequence to a corresponding position of the wall surface in real time. And if user interaction is detected, determining an interaction area and executing corresponding logic. In the process, projection feedback images are continuously collected, dynamic calibration and tiny compensation are carried out in combination with pose parameters, calibration projection coordinates and real-time interaction response data are generated, and accordingly, all projectors are controlled to complete real-time and stable projection display on the annular wall surface. According to the scheme, the projection picture is highly consistent with the annular wall surface and user operation, dynamic calibration and real-time interaction are realized, the display precision and stability of projection are improved, and the immersion experience of a user is enhanced.

The invention discloses an intelligent wearable watch case precision detection method based on visual inspection, and relates to the technical field of machine vision, and the method comprises the steps: collecting a watch surface point cloud and a watch case image, carrying out the point cloud denoising and image distortion correction, and obtaining registration multi-modal data; performing multi-layer pyramid convolution on the registered multi-modal data, and outputting geometric-texture features of the watchcase; curvature gradient calculation and spatial relation modeling are carried out on the geometric-texture features of the watchcase, and curvature distribution parameters and a spatial relation adjacency matrix are obtained; the curvature distribution parameters are used as nodes of the topological structure, the spatial relation adjacent matrix is used as edges of the topological structure, and a case geometrical relation graph is constructed. According to the method, the watch surface point cloud and the watchcase image are fused and subjected to multi-layer pyramid convolution, the comprehensiveness and positioning precision of watchcase defect recognition are improved, and meanwhile, the engineering practicability of the detection process is effectively improved by utilizing a graph attention defect prediction model and an SPC statistical process control algorithm.

The invention discloses a mulberry leaf picking and positioning method and device based on machine vision, and relates to the technical field of machine vision. The method comprises the following steps: acquiring calibrated and synchronized multi-modal image data of a mulberry target area, wherein the data can be a binocular sequence or a depth camera color-depth pair; performing preprocessing including brightness color normalization and image degradation compensation on the data to obtain an enhanced frame; inputting the enhanced frame into a target detection and maturity evaluation joint network, identifying each mulberry leaf instance, and outputting an instance segmentation mask defining the contour of the mulberry leaf instance and a probability vector representing the maturity; based on the instance segmentation mask and depth information, pixels in the mask are converted into a three-dimensional leaf surface point cloud; according to the point cloud, the six-degree-of-freedom pose of each mulberry leaf target is obtained, and at least one candidate picking site is determined; and finally, performing priority ranking on the candidate picking sites according to a preset comprehensive scoring function, and generating a scheduling queue containing timestamps, six-degree-of-freedom poses and priorities.

This invention discloses a method, system, and storage medium for interactive welding of the three-dimensional surface of a rudder workpiece, belonging to the field of automated welding technology. The welding method includes: acquiring complete raw point cloud data of the rudder workpiece through point cloud scanning; performing semantic segmentation on the three-dimensional surface structure in the raw point cloud data to obtain the rudder top surface point cloud; extracting the skeleton contour structure of the rudder workpiece based on the rudder top surface point cloud as welding guide lines; sorting the welding guide lines according to a pre-set arrangement; and adjusting the sorting of the welding guide lines interactively according to actual processing requirements to complete the interactive welding of the three-dimensional surface of the rudder workpiece. The welding system of this invention includes a structured light camera, a robotic arm, and an information processing computer. This invention automates the welding process of rudder workpieces, eliminating the problem of inconsistent results from manual welding, and also features interactive weld line selection functionality, adapting to different welding processes with high flexibility.

This invention provides a method, apparatus, electronic device, and storage medium for detecting tank deformation. The method includes: scanning the contour of the tank to be tested and its base surface to obtain contour point cloud data and base surface point cloud data; constructing a tank model and base surface in a coordinate system based on the contour point cloud data and base surface point cloud data; using a plane perpendicular to the Z-axis as a slicing plane, cutting the tank model at equal intervals to obtain multiple slices, and acquiring the slice feature points of each slice; cutting the base surface to obtain a base circle; fitting characteristic curves based on the slice feature points of each slice; determining the fitting circle based on the characteristic curves; and determining the deformation detection result of the tank to be tested based on the fitting circle and the base circle. This method achieves integrated, online detection and evaluation of tank body and base deformation, featuring high detection and evaluation accuracy, short time consumption, simplicity and speed, strong operability, and ease of engineering application.

A method for simultaneous localization and mapping (SLAM) employs dual event-based cameras. Event streams from the cameras are processed by an image processing system to stereoscopically detect surface points in an environment, dynamically compute pose of a camera as it moves, and concurrently update a map of the environment. A gradient descent based optimization may be utilized to update the pose for each event or for each small batch of events.

The present application relates to image simulation, data enhancement technical field, especially to a kind of involute surface image subpixel level rotation simulation method, comprising: S1, establish multidimensional conversion relationship, establish the mapping rule of image pixel and three-dimensional space point in world coordinate system;S2, determine the continuous space-time motion trajectory of surface point, and establish the dynamic corresponding relationship between the trajectory and image pixel;S3, solve the instantaneous surface point corresponding to target pixel in world coordinate system at t time and its involute angle;Original pixel and its original pixel value corresponding to the instantaneous surface point at initial time are deduced reversely;S4, original pixel value is corrected, and instantaneous gray value is obtained;S5, double integration operation is carried out on the motion trajectory corresponding to target pixel in space and time dimension;Synthesis has physical consistency motion blur image.The present application can efficiently generate dynamic blur image with space-time consistency and geometric reality.

The present application relates to the technical field of seepage mechanics, and particularly relates to a conical sealing surface leakage rate calculation method based on Darcy's law, comprising the following steps: a W-M function is used to simulate the random topography of the workpiece surface at a microscale, and a normalization method is used to generate surface point cloud data meeting roughness requirements; according to the surface point cloud data, a contact mechanics model is used to solve the change law between the contact state and the external load, and according to the Hertz contact theory, the contact between the rough surfaces is reconstructed as the contact between a rigid plane and a flexible rough surface; the surface is discretized into a three-dimensional grid model, the effective porosity is screened and calculated by using the connected domain discrimination method; a micro-leakage rate calculation method for the conical sealing surface in the flared pipe joint is obtained based on the effective porosity and the seepage mechanics theory algorithm; the leakage rate of the conical sealing interface is calculated, and the sealing performance of the interface is quantitatively evaluated. The present application improves the comprehensiveness and accuracy of the sealing performance evaluation.

This invention discloses a 3D defect detection method, system, and device based on typical geometric alignment and multi-view adaptive rendering, comprising the following steps: S1, acquiring the initial 3D point cloud of the object to be detected, and performing unsupervised feature analysis on the initial 3D point cloud through typical geometric alignment to obtain a standardized aligned point cloud of the object to be detected; S2, converting the standardized aligned point cloud of the object to be detected into a set of geometric feature maps from multiple camera views; S3, inputting the geometric feature maps of the object to be detected from the camera views into a general 2D image anomaly detection network, outputting point-level anomaly scores, and then back-projecting them onto the corresponding surface points of the standardized aligned point cloud to obtain object-level anomaly indicators for 3D defects. This invention does not rely on the geometric structure and observation posture of the object to be detected, and can achieve robust anomaly defect detection on unaligned object 3D point clouds, achieving high-precision point-level anomaly localization.

The application provides a fine narrow weld seam identification method, computer equipment and a readable storage medium, and relates to the technical field of welding control. On the basis of determining the original plane set of a target welding part based on the surface point cloud data of the target welding part, the original plane set is divided into an original fine narrow plane set and a reference plane set through a fine narrow plane identification operation, and each original fine narrow plane in the original fine narrow plane set is traversed to detect whether each original reference plane in the reference plane set has a real intersection line segment with the original fine narrow plane. Then, the real intersection line segments involved by all original fine narrow planes are subjected to intersection line segment collinear voting, and the original fine narrow planes are integrated according to the intersection line segment collinear voting result, so as to take the effective intersection line segments between at least one integrated effective fine narrow plane and the corresponding target reference plane as a fine narrow weld seam of the target welding part, thereby realizing a high-precision fine narrow weld seam identification effect.

The application discloses a method for registering a skeleton model to a world coordinate system of a body surface point cloud, which comprises the following steps: S1. scanning a human structure by using a CT scanning device to obtain a CT skeleton three-dimensional model and a CT human structure body surface point cloud; S2. scanning the human structure by using a structured light 3D camera to obtain a 3D structured light body surface point cloud of a 3D structured light human structure; S3. selecting an antegrade registration or a retrograde registration mode to register the body surface and the skeleton of the human structure according to the scanned human structure; the method for registering the skeleton model to the world coordinate system of the body surface point cloud: registering the torso and the pelvic bone of the human body by using the antegrade registration mode; registering the limbs of the human body by using the retrograde registration mode; constructing a virtual puncture channel, so that even if the spatial position of a puncture instrument is adjusted at will in a process of orthopedic puncture, the relative position relationship between the puncture instrument and the human structure can be acquired in real time, and the navigation puncture based on dynamic three-dimensional visualization is realized.

The invention relates to a three-dimensional scene model cutting method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a three-dimensional scene model at a cutting view angle; obtaining a target direction vector of a drawing surface in the three-dimensional scene model, and calculating a distance between the target direction vector and a surface point in the drawing surface to obtain a cutting plane; acquiring contour data of the three-dimensional scene model, and projecting the contour data into the cutting plane to obtain an initial cutting boundary line; based on the distance relationship between the cutting boundary line and the model surface, performing boundary line fitting by using the initial cutting boundary line and the reference point in the cutting plane to obtain a target cutting boundary line; and cutting the three-dimensional scene model according to the target cutting boundary line to obtain a cutting scene model corresponding to the three-dimensional scene model. By adopting the method, the accuracy of model cutting can be improved.

The invention discloses an LBM model simulation system and method for monitoring and calibrating a denudation area based on in-situ surface topography, and belongs to the field of metal additive manufacturing. The system comprises a transparent box body and metal additive manufacturing equipment, wherein a movable line laser contourgraph is arranged in the box body. Based on the system, every time a layer is formed, the line laser contourgraph enters equipment to collect surface point cloud data and then exits, and the operation is repeated until printing is completed; after preprocessing the point cloud data, carrying out statistical analysis to obtain the length and width of a first layer denudation area and the maximum depth when the first layer denudation area is stable; and constructing and updating the denudation area in the LBM model based on the parameters, and completing calibration. According to the method, the problem that an existing LBM model lacks denudation area coupling capacity is solved, and simulation accuracy and forming quality are improved.

The invention relates to the technical field of three-dimensional scanning, and particularly discloses an automatic scanning method and system based on a high-precision scanner, and the method comprises the steps: configuring a scanning parameter set comprising a rotating disc, a scanner and an overturning control parameter; scanning the front surface of the workpiece based on the set and intelligently eliminating turntable interference point clouds to obtain pure front surface data; controlling automatic turn-over based on the front point cloud features, verifying the pose, and compensating the deviation; and finally scanning the bottom surface and fusing the bottom surface and front surface data into a complete three-dimensional model. The system comprises a central processing module, a scanner, a turntable and an overturning module. According to the method, full-process automation from front scanning and automatic turning to bottom scanning is realized, manual intervention is remarkably reduced through configuration parameter setting and interference point cloud automatic elimination, and scanning efficiency and data consistency are improved.

This invention discloses a robot path planning method and application based on three-dimensional perception for variable stiffness surfaces, comprising the following steps: processing workpiece surface point cloud data; establishing a surface defect detection model to compensate for deformation deviations caused by workpiece surface defects in the point cloud data; performing path planning analysis on the point cloud model to generate an adaptive tool path. During the robot's execution of the planned path, passive analysis is performed using a variable stiffness impedance control law under energy constraints, and force feedback trajectories are collected as a reference. Combined with a quadratic programming optimization controller, force-controlled surface processing is achieved, completing the robot's planned path execution task. This invention also incorporates the planned path model to design an AI-assisted programming framework, guiding users to parameterize tasks and tools through a natural language interface and knowledge representation engine. This invention not only enhances the robot's adaptability to complex variable stiffness surfaces but also significantly improves processing consistency and efficiency, demonstrating broad application prospects.

Techniques for generating a stylized drawing of three-dimensional (3D) shapes using neural networks are disclosed. A processing device generates a set of vector curve paths from a viewpoint of a 3D shape; extracts, using a first neural network of a plurality of neural networks of a machine learning model, surface geometry features of the 3D shape based on geometric properties of surface points of the 3D shape; determines, using a second neural network of the plurality of neural networks of the machine learning model, a set of at least one predicted stroke attribute based on the surface geometry features and a predetermined drawing style; generates, based on the at least one predicted stroke attribute, a set of vector stroke paths corresponding to the set of vector curve paths; and outputs a two-dimensional (2D) stylized stroke drawing of the 3D shape based at least on the set of vector stroke paths.

The application relates to the technical field of visual detection, and discloses a visual detection device and a detection method suitable for appearance detection of special-shaped workpieces. The device comprises a pre-compensation weight module, a shape-dependent parameter module, a pose solution module, a driving instruction module, a uniform light imaging module and a defect analysis module. Three-dimensional numerical models are subjected to grid division, normal vectors and curvature values are calculated, and a pre-compensation light weight atlas is constructed. A shape-dependent lighting parameter table is established. Surface point cloud data is acquired, the surface point cloud data is matched with the three-dimensional numerical models, and a spatial pose offset is obtained. Index coordinates in the shape-dependent lighting parameter table are subjected to spatial transformation, and light source driving instructions are generated. Uniform light projection is carried out on the surface of the special-shaped workpiece to be detected, and a shape-dependent uniform light image is obtained. The shape-dependent uniform light image is enhanced and defect features are extracted. Difference analysis is carried out on the defect features and preset defect criteria, and appearance defects are determined. The application can improve the visual detection efficiency of appearance detection of special-shaped workpieces.

A method of image rendering quality prediction and path planning for large-scale scenes is provided. In the method, multiple surface points of a proxy model within a viewpoint range of a virtual viewpoint are obtained. For each surface point, a photometric error among multiple photometric information corresponding to the surface point is determined. The multiple photometric information refers to the photometric information of the surface point at multiple visible acquisition viewpoints respectively. The visible collection viewpoint are those acquisition viewpoints where the surface point is visible among the multiple acquisition viewpoints. Based on the photometric error, a viewing angle similarity and a resolution similarity between the virtual viewpoint and the visible acquisition viewpoints with respect to the surface point are determined. A rendering quality information of the proxy model at the virtual viewpoint is determined based on the viewing angle similarities and the resolution similarities.

The application relates to a grouting and filling mining surface subsidence dynamic prediction method, which comprises the following steps of: dividing a rectangular working face into a plurality of mining units; calculating the subsidence influence of each mining unit on any surface point by using a probability integral method; calculating a Weibull model time function value of each mining unit at a preset time; and multiplying the subsidence amount of each mining unit at any surface point and the Weibull model time function value, so as to obtain the dynamic subsidence value of any surface point affected by mining and grouting of each mining unit at the preset time. n T T The application improves the subsidence coefficient in the probability integral method according to the technical features of the mining and grouting technology of the bed separation grouting and filling mining, and simultaneously considers the influences of the mining and grouting on the surface deformation; the Weibull model with the improved subsidence coefficient is used as a theoretical model of the grouting and filling mining surface subsidence dynamic prediction, the model basis is more reasonable, and the surface subsidence dynamic prediction precision is higher.​​

The present application belongs to the field of machine vision and robot application, and in particular to a visual positioning method for polishing in a local discontinuous area by a robot, comprising the following steps: scanning a workpiece by a linear array camera to obtain point cloud of the surface of the workpiece; obtaining the size information of the bounding box of the workpiece, and dividing the bounding box into multiple planar cubes along the maximum and minimum of the edge length of the bounding box; fitting a fitting plane for each planar cube; calculating the distance of each point cloud in each planar cube to the fitting plane, and the average of all distances is the roughness; counting the roughness of all planar cubes and dividing them into different grades; selecting all planar cubes that need to be polished, setting a polishing threshold, and transmitting the polishing threshold, the centroid coordinates of the point cloud in the planar cube and the fitted surface normal vector to the robot controller to make the robot polish; the present application expands from two-dimensional image data to three-dimensional point cloud data, the data volume is improved, and the accuracy of the obtained roughness is improved.

This invention provides a machine vision-based quality inspection method and apparatus for injection molding processes. The method includes: identifying regions where the light intensity gradient direction undergoes discontinuous transitions within a preset time window after demolding of the injection molded part, based on the spatial distribution of light intensity on the surface of the injection molded part, thus obtaining gradient anomaly regions; determining the three-dimensional position evolution trajectory based on the three-dimensional positions of the surface points of the injection molded part corresponding to the gradient anomaly regions within consecutive time frames within the preset time window; performing displacement evolution analysis based on the relative spatial relationship between the three-dimensional position evolution trajectory and the geometric center of the injection molded part to obtain a displacement evolution pattern; if the displacement evolution pattern is a continuous unidirectional displacement pattern, it is determined that the injection molded part is in an unstable deformation state due to the release of internal stress during the injection molding process. This invention enables forward-looking judgment of the long-term dimensional reliability of injection molded parts, improving the consistency between quality inspection results and the actual performance of the product.

A method of generating a robot path is provided. The method includes identifying a drawing pose set for a manipulator included in a robot in order to draw a two-dimensional (2D) image on a three-dimensional (3D) target surface, setting a profile curve by projecting surface points of the 3D target surface onto an xy-plane, determining coverage circles of the manipulator that are capable of covering all surface points of the profile curve, deriving bounding circles for a mobile platform of the robot mounting the manipulator, corresponding to each of the determined coverage circles, and generating a translation path of the robot for drawing the 2D image on the 3D target surface based on the derived bounding circles.

This invention provides a digital measurement method and system for aircraft skin depression areas based on point cloud scanning, relating to the field of parts inspection technology. The method includes: acquiring point clouds of the skin surface; locating feature regions based on local curvature; extracting and fitting feature contour lines using projection and envelope methods; selecting measurement points on the contour lines; determining the search range on the opposite side; searching and calculating the shortest geodesic length between the two contour lines; establishing a cross-section at the geodesic endpoint and projecting the local point cloud; fitting a linear segment and determining the theoretical contour points based on a deviation threshold; calculating the projection compensation distance; and obtaining the final size of the depression area by combining the geodesic length. The advantages are: acquiring point clouds through 3D scanning eliminates the need for dedicated molds, reducing costs and improving inspection accuracy and efficiency; the feature extraction method based on local curvature perception accurately extracts the required feature contour lines; and the use of the shortest geodesic and projection distance compensation effectively reduces contour recognition errors, achieving accurate measurement of the depression area.