CN112819752A - Fastener state detection method, system and readable storage medium - Google Patents
Fastener state detection method, system and readable storage medium Download PDFInfo
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Abstract
A fastener condition detection method, system and readable storage medium are provided according to embodiments of the present invention. The fastener state detection method comprises the following steps: acquiring point cloud data of a preset area provided with a fastener according to the position data of the fastener; establishing a three-dimensional image of a preset area according to the point cloud data; based on the three-dimensional image, a state of the fastener is determined. The fastener state detection method provided by the embodiment of the invention realizes non-contact acquisition of the three-dimensional image of the fastener, avoids the problem of damage to the shape of the fastener caused by contact detection of the state of the fastener, and reduces the detection cost. In addition, the state of the fastener is determined by using the three-dimensional image established by the point cloud data, the background of the fastener and the background of the fastener do not need to be distinguished, the accuracy and the efficiency of determining the state of the fastener are improved, and the influence of the installation environment of the fastener, the corrosion of the fastener and the stain of the fastener on the three-dimensional image is avoided.
Description
Technical Field
The invention relates to the technical field of connecting piece state detection, in particular to a fastener state detection method, a fastener state detection system and a readable storage medium.
Background
At present, most of detection on bolt states is in a manual inspection stage, and an intelligent inspection mode with practical engineering application value is still in a blank period.
In the related art, aiming at the detection of the bolt state, a sensor or other positioning marks are arranged on the bolt, and when the detection method is used for detecting the bolt state on the track, the investment cost of the sensor or other positioning marks is higher, the operation is complicated and the efficiency is low because the number of the bolts on the track is more; the other type is that an image processing technology is applied, a color mark is coated on a bolt, and identification is carried out through graying and binarization, however, when the detection method is used for detecting the bolt state on a track, the detected bolt is difficult to distinguish from the background of the detected bolt due to large environment change near the track, and in addition, the track environment, bolt corrosion and bolt stain all have serious influence on the detection precision of the image processing technology.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art or the related art.
To this end, a first aspect of embodiments of the present invention is to provide a fastener condition detection method.
A second aspect of embodiments of the present invention is to provide a fastener condition detection system.
A third aspect of embodiments of the present invention is to provide a readable storage medium.
In view of this, according to a first aspect of embodiments of the present invention, there is provided a fastener state detection method including: acquiring point cloud data of a preset area provided with a fastener according to the position data of the fastener; establishing a three-dimensional image of a preset area according to the point cloud data; based on the three-dimensional image, a state of the fastener is determined.
According to the fastener state detection method provided by the embodiment of the invention, the point cloud data of the area where the fastener is located is obtained according to the position data of the fastener, and then the three-dimensional image of the area where the fastener is located is established according to the point cloud data, so that the state of the fastener is determined according to the three-dimensional image, namely, whether the fastener is loosened or not is determined. Furthermore, the point cloud data is acquired to establish the three-dimensional image containing the fastener for determining the state of the fastener, so that the three-dimensional image of the fastener is acquired in a non-contact manner, the problem of damaging the shape of the fastener when the state of the fastener is detected in a contact manner is solved, and the detection cost is reduced. In addition, the state of the fastener is determined by using the three-dimensional image established by the point cloud data, the backgrounds of the fastener and the fastener do not need to be distinguished, the accuracy and the efficiency of determining the state of the fastener are improved, the influence of the installation environment of the fastener, the corrosion of the fastener and the stain of the fastener on the three-dimensional image is avoided, and the application range of the fastener state detection method is widened.
In this embodiment, the state of the fastener includes a fastened state and a loosened state. Wherein, the fastening state means that the fastening piece can still realize the fastening action meeting the preset standard. A loose condition means that the fastener is unable to achieve a fastening action.
In addition, according to the method for detecting the state of the fastener in the above technical solution provided by the present invention, the following additional technical features may be further provided:
in the above technical solution, before the step of determining the state of the fastener from the three-dimensional image is performed, the fastener state detection method further includes: determining a structural state of the fastener based on the three-dimensional image and the template image of the fastener; and confirming that the structural state of the fastener is a complete state, and acquiring initial parameter values of the fastener relative to the fixed part of the preset area, wherein the initial parameter values comprise initial angle values and/or initial height values.
In the technical scheme, before the current state of the fastener is detected, the initial parameter value of the fastener relative to the fixed part in the preset area is obtained, so that when the state of the fastener is detected subsequently, the initial parameter value is used as a reference value for determining the state of the fastener. By setting the initial parameter value, the judgment reference is improved for the current parameter value of the fastener, and the accuracy of fastener state detection is improved.
Further, in the technical scheme, when the initial parameter value of the fastener is obtained, the structural state of the fastener is determined firstly, so that the initial parameter value is determined when the fastener is in a complete state, the accuracy of the initial parameter value is ensured, and the accuracy of the detection of the state of the fastener is further improved.
Further, in this technical solution, the stencil image of the fastener refers to the stencil image when the fastener is in the complete state. Specifically, the three-dimensional image containing the fastener is compared with a template image of the fastener, and whether the fastener is missing or broken is judged in advance in a template matching mode, so that the structural state of the fastener is determined.
Further, in this technical solution, the structural state includes a complete state and an incomplete state. Wherein, intact state refers to the state when the fastener is not missing and not broken.
In any of the above technical solutions, the step of determining the state of the fastener based on the three-dimensional image specifically includes: acquiring a first current angle value of the fastener relative to the fixed part according to the three-dimensional image based on the condition that the initial parameter value comprises the initial angle value; the state of the fastener is determined based on a relationship of the first current angle value to the initial angle value.
In the technical scheme, under the condition that the initial parameter value comprises the initial angle value, a first current angle value of the fastener relative to the fixed part is obtained, and then the state of the fastener is determined according to the relation between the first current angle value and the initial angle value. The state of the fastener is determined according to the relation between the first current angle value and the initial angle value, the loosening state of the fastener caused by inclination can be accurately judged, and the accuracy of detecting the state of the fastener is further improved.
In any of the above technical solutions, the step of determining the state of the fastener according to the relationship between the first current angle value and the initial angle value specifically includes: and determining that the fastener is in a loosening state when the difference value between the first current angle value and the initial angle value is larger than a preset angle threshold value.
In the technical scheme, when the difference value between the first current angle value and the initial angle value is larger than a preset angle threshold value, the fastener is determined to be in a loosening state. And when the difference value between the first current angle value and the initial angle value is not greater than a preset angle threshold value, determining that the fastener is in a fastening state. Specifically, the difference value between the first current angle value and the initial angle value reflects the angle of the fastener deviating from the reference position, the fastener is determined to be in a loosening state when the difference value is larger than a preset angle threshold value, a certain range of inclined space is reserved for the fastener, and the fastener is prevented from being determined to be in the loosening state when the fastener deviates from the reference position less, so that the fastener is prevented from being frequently fastened. Further, by reducing the fastening work for the fastener, the maintenance cost is reduced, and the service life of the fastener is improved.
Further, in the technical scheme, the preset angle threshold is 3 degrees. The preset angle threshold is 3 degrees, so that on one hand, the current state of the fastener can be guaranteed not to influence the fastening effect of the fastener on a part to be fastened, and on the other hand, the fastener is prevented from being fastened too frequently and influencing the service life of the fastener.
In any of the above technical solutions, the step of determining the state of the fastener based on the three-dimensional image specifically includes: acquiring a first current height value of the fastener relative to the fixed part according to the three-dimensional image based on the condition that the initial parameter value comprises the initial height value; the state of the fastener is determined based on the relationship of the first current height value to the initial height value.
According to the technical scheme, under the condition that the initial parameter value comprises the initial height value, a first current height value of the fastener relative to the fixed part is obtained, and then the state of the fastener is determined according to the relation between the first current height value and the initial height value. The state of the fastener is determined through the relation between the first current height value and the initial height value, the loosening state caused by the fact that the fastener is separated from the fixed part can be accurately judged, and therefore the accuracy of detecting the state of the fastener is improved.
In any of the above technical solutions, the step of determining the state of the fastener based on the relationship between the first current height value and the initial height value specifically includes: and when the difference value between the first current height value and the initial height value is greater than a first preset height threshold value, determining that the fastener is in a loosening state.
In the technical scheme, when the difference value between the first current height value and the initial height value is larger than a first preset height threshold value, the fastener is determined to be in a loosening state. And when the difference value between the first current height value and the initial height value is not greater than a first preset height threshold value, determining that the fastener is in a fastening state. Specifically, the difference value between the first current height value and the initial height value reflects the height of the fixed part of the fastener, the fastener is determined to be in a loosening state when the difference value is larger than the first preset height threshold value, a change space in a certain range is reserved between the fastener and the fixed part, and the situation that the fastener is determined to be in the loosening state when the distance between the fastener and the fixed part changes less, and the fastener is frequently fastened is avoided. Further, by reducing the fastening work for the fastener, the maintenance cost is reduced, and the service life of the fastener is improved.
Further, in this embodiment, when the fastener is provided with a thread structure, the first predetermined height threshold is 1/2 of one pitch of the fastener. By associating the second preset height threshold with the structure of the fastener, the application range of the fastener state detection method is improved, the application range of the detection method is wider, and the accuracy and precision of state detection cannot be improved when the type and the size of the fastener are changed.
In any of the above technical solutions, the step of determining the state of the fastener based on the three-dimensional image specifically includes: acquiring a second current angle value of the fastener relative to the fixed part and a second current height value of the fastener relative to the fixed part based on the three-dimensional image based on the condition that the initial parameter values comprise the initial angle value and the initial height value; a status of the fastener is determined based on a relationship of the second current angle value to the initial angle value, and a relationship of the second current height value to the initial height value.
In this technical scheme, through judging the state of fastener in two aspects from angle change and altitude variation, on the one hand, can accurately judge the not hard up state that the fastener leads to because the slope, on the other hand, can accurately judge the not hard up state that the fastener breaks away from and is led to by fixed part, has realized the state that the fastener was judged to the multidimension degree, has improved the accuracy and the precision that the fastener state detected.
In any of the above technical solutions, the step of determining the state of the fastener based on the relationship between the second current angle value and the initial angle value of the fastener, and the relationship between the second current height value and the initial height value of the fastener specifically includes: and when the difference value between the second current angle value and the initial angle value meets the preset condition and the difference value between the second current height value and the initial height value is greater than a second preset height threshold value, determining that the fastener is in a loosening state.
In the technical scheme, when the difference value between the second current angle value and the initial angle value meets the preset condition and the difference value between the second current height value and the initial height value is greater than a second preset height threshold value, the fastener is determined to be in a loosening state. And when the difference value between the second current angle value and the initial angle value does not meet the preset condition or the difference value between the second current height value and the initial height value is not greater than a second preset height threshold value, determining that the fastener is in a fastening state. Through judging the state of fastener in two aspects from angle change and altitude variation, on the one hand, can accurately judge the not hard up state that the fastener leads to because the slope, on the other hand, can accurately judge the not hard up state that the fastener breaks away from and is led to by fixed part, has realized the state that the fastener was judged to the multidimension degree, has improved the accuracy and the precision that the fastener state detected for the testing result of fastener state is more accurate.
Further, in the technical scheme, the preset condition is that the difference between the angle value and the initial angle value is a positive integer multiple of any angle between 50 degrees and 60 degrees.
Further, in the technical scheme, the preset condition is that the difference between the angle value and the initial angle value is a positive integer multiple of 60 °, that is, the difference is an angle value of 60 °, 120 °, 180 °, and the like. The problem that the state of the fastener cannot be determined through the angle due to the fact that the change of the angle cannot be recognized when the fastener is a hexagon bolt and the hexagon bolt rotates by 60 degrees in positive integer multiple is solved by setting the preset condition that the difference value between the angle value and the initial angle value is 60 degrees in positive integer multiple.
Further, in this embodiment, when the fastener is provided with a thread structure, the second predetermined height threshold is 1/6 of one pitch of the fastener. By associating the second preset height threshold with the structure of the fastener, the application range of the fastener state detection method is improved, the application range of the detection method is wider, and the accuracy and precision of state detection cannot be improved when the type and the size of the fastener are changed.
In any of the above technical solutions, the fastener state detection method further includes: determining the point cloud number of the fastener along the height direction according to the point cloud data; and performing fastening operation on the fastener based on the relation between the point cloud number and the preset value.
According to the technical scheme, the point cloud number of the fastener in the area along the direction of the high area is determined according to the point cloud data, whether an obstacle does not exist in the preset range of the fastener is judged according to the relation between the point cloud number and the preset value, when the judgment result is yes, namely the obstacle does not exist in the preset range of the fastener, and at the moment, the fastening operation can be carried out on the fastener. And if the judgment result is no, indicating that an obstacle exists in the preset range of the fastener, and if the fastening operation is continuously performed on the fastener, on one hand, the obstacle can hinder the fastening effect on the fastener, and on the other hand, the fastener can also damage the obstacle. Whether foreign matters invade the periphery of the fastening piece or not is judged, and then fastening operation is performed on the fastening piece, so that the fastening operation can be prevented from being influenced by the foreign matters around the fastening piece. In addition, whether there is not the barrier through the predetermined within range of judging the fastener, can also avoid when fastener carries out fastening operation to the fastener, destroy the peripheral part of fastener, promoted the security of overhauing the operation. Specifically, when the number of point clouds is greater than a preset value, it is judged that an obstacle exists in the preset range of the fastener, and at the moment, the obstacle needs to be processed first, so that the obstacle is prevented from influencing the fastening operation. When the number of the point clouds is smaller than the preset value, it is judged that no obstacle exists in the preset range of the fastener, and at the moment, the fastening operation can be directly performed on the fastener.
According to a second aspect of embodiments of the present invention, there is provided a fastener status detection system including: the line structured light sensor is used for acquiring point cloud data; a memory for storing a computer program; a processor for executing a computer program to: the method for detecting the state of the fastener in any technical scheme is realized.
The fastener state detection system provided in the embodiment of the present invention can implement the steps of the fastener state detection method in any one of the above technical solutions, and therefore, has all the technical effects of the fastener state detection method in any one of the above technical solutions, and is not described herein again.
According to a third aspect of embodiments of the present invention, there is provided a readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of the fastener status detection method of any one of the above-mentioned aspects.
The readable storage medium provided in the embodiment of the present invention stores thereon a computer program, and the computer program, when executed by a processor, implements the steps of the method for detecting a state of a fastener in any one of the above technical solutions.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 illustrates a flow diagram of a fastener condition detection method of one embodiment of the present invention;
FIG. 2 illustrates a flow chart of a fastener condition detection method of yet another embodiment of the present invention;
FIG. 3 shows a flow diagram of a fastener condition detection method of yet another embodiment of the present invention;
FIG. 4 shows a flow diagram of a fastener condition detection method of yet another embodiment of the present invention;
FIG. 5 shows a flow diagram of a fastener condition detection method of yet another embodiment of the present invention;
FIG. 6 shows a flow chart of a fastener condition detection method of yet another embodiment of the present invention;
FIG. 7 shows a schematic structural view of a fastener condition detection system of one embodiment of the present invention;
FIG. 8 shows a schematic structural view of a fastener of one embodiment of the present invention;
FIG. 9 shows a schematic structural view of a fastener of yet another embodiment of the present invention;
FIG. 10 shows a schematic structural view of a fastener of yet another embodiment of the invention;
FIG. 11 shows a schematic structural view of a fastener of yet another embodiment of the present invention.
Wherein, the corresponding relation between the reference signs and the component names is as follows:
the system comprises a 700 fastener state detection system, a 702 line structure light sensor, 704 memories, 706 processors, 800 fasteners, 802 nut upper surfaces of the fasteners, 804 screw upper surfaces of the fasteners and 900 steel rail embedded iron seat upper surfaces.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A fastener state detection method, a fastener state detection system, and a readable storage medium provided according to some embodiments of the present invention are described below with reference to fig. 1 to 11.
Example one
As shown in fig. 1, the first embodiment provides a method for detecting a fastener state, including:
102, acquiring point cloud data of a preset area provided with a fastener according to the position data of the fastener;
104, establishing a three-dimensional image of a preset area according to the point cloud data;
based on the three-dimensional image, a status of the fastener is determined, step 106.
According to the fastener state detection method provided by the embodiment of the invention, the point cloud data of the area where the fastener is located is obtained according to the position data of the fastener, and then the three-dimensional image of the area where the fastener is located is established according to the point cloud data, so that the state of the fastener is determined according to the three-dimensional image, namely, whether the fastener is loosened or not is determined. Furthermore, the point cloud data is acquired to establish the three-dimensional image containing the fastener for determining the state of the fastener, so that the three-dimensional image of the fastener is acquired in a non-contact manner, the problem of damaging the shape of the fastener when the state of the fastener is detected in a contact manner is solved, and the detection cost is reduced. In addition, the state of the fastener is determined by using the three-dimensional image established by the point cloud data, the backgrounds of the fastener and the fastener do not need to be distinguished, the accuracy and the efficiency of determining the state of the fastener are improved, the influence of the installation environment of the fastener, the corrosion of the fastener and the stain of the fastener on the three-dimensional image is avoided, and the application range of the fastener state detection method is widened.
Note that, in this embodiment, the state of the fastener includes a fastened state and a loosened state. Wherein, the fastening state means that the fastening piece can still realize the fastening action meeting the preset standard. A loose condition means that the fastener is unable to achieve a fastening action.
Further, on the basis of the above-described embodiment, before the step of determining the state of the fastener from the three-dimensional image is performed, the fastener state detection method further includes: determining a structural state of the fastener based on the three-dimensional image and the template image of the fastener; and confirming that the structural state of the fastener is a complete state, and acquiring initial parameter values of the fastener relative to the fixed part of the preset area, wherein the initial parameter values comprise initial angle values and/or initial height values.
In one particular embodiment, as shown in FIG. 2, a fastener condition detection method includes:
based on the three-dimensional image, a status of the fastener is determined, step 210.
In this embodiment, before the current state of the fastener is detected, an initial parameter value of the fastener with respect to the fixed member in the preset region is acquired, so that when the state of the fastener is detected subsequently, the initial parameter value is used as a reference value for determining the state of the fastener. By setting the initial parameter value, the judgment reference is improved for the current parameter value of the fastener, and the accuracy of fastener state detection is improved.
It should be noted that the predetermined area has at least two fixing members. When the initial angle value and the initial height value are obtained, the same fixing component and/or different fixing components in the preset area can be selected as reference bases.
As shown in fig. 8 and 9, in one particular embodiment, the fastener 800 is a single toe spring clip and the fastening component of the predetermined area is a rail. Wherein, the initial height H is the vertical distance between the nut upper surface 802 of the fastener and the embedded iron seat upper surface 900 of the steel rail. The initial angle beta is the angle between the extension of the nut-side line L1 of the fastener and the rail-oriented line L2. In this embodiment, when the initial angle value and the initial height value are acquired, the same fixed member in the preset area is used as a reference.
In this embodiment, the ground may be used as a reference line, the height of the nut upper surface 802 of the fastener relative to the ground is H1, the height of the embedded iron seat upper surface 900 of the steel rail relative to the ground is H2, and the initial height is the difference between H1 and H2. The L2 and H2 are selected as the fixing reference of the single-toe spring fastener, and cannot generate large change due to the looseness of the single-toe spring fastener.
Further, as shown in fig. 10 and 11, in a further specific embodiment, the fastener 800 is a spring I-type fastener, the fastening element of the predetermined region is a rail when the initial angle value is obtained, and the initial angle γ is an angle between an extension of a nut-side line L3 of the fastener and an edgewise line L4 of the rail. In obtaining the initial height value, the fixed component of the predetermined area is the shank of the fastener, where the initial height H is the vertical distance between the nut upper surface 802 of the fastener and the shank upper surface 804 of the fastener. In this embodiment, when the initial angle value and the initial height value are acquired, different fixing members within a preset area are used as reference bases.
In this embodiment, the ground may be used as a reference line, the height of the nut upper surface 802 of the fastener relative to the ground is H3, and the height of the screw upper surface 804 of the fastener relative to the ground is H4, in which case, the initial height is the difference between H3 and H4. Wherein, L4 and H4 select the fixed benchmark of bullet strip I type fastener, can not produce great change because of the not hard up of bullet strip I type fastener.
Further, in the embodiment, when the initial parameter value of the fastener is obtained, the structural state of the fastener is determined first, so that the initial parameter value is determined when the fastener is in the complete state, the accuracy of the initial parameter value is ensured, and the accuracy of the detection of the state of the fastener is further improved.
Further, in this embodiment, the stencil image of the fastener refers to the stencil image when the fastener is in the complete state. Specifically, the three-dimensional image containing the fastener is compared with a template image of the fastener, and whether the fastener is missing or broken is judged in advance in a template matching mode, so that the structural state of the fastener is determined.
Further, in this embodiment, the structural state includes a complete state and an incomplete state. Wherein, intact state refers to the state when the fastener is not missing and not broken.
Example two
On the basis of any of the above embodiments, the step of determining the state of the fastener based on the three-dimensional image specifically includes: acquiring a first current angle value of the fastener relative to the fixed part according to the three-dimensional image based on the condition that the initial parameter value comprises the initial angle value; the state of the fastener is determined based on a relationship of the first current angle value to the initial angle value.
In one particular embodiment, as shown in FIG. 3, a fastener condition detection method includes:
308, acquiring initial parameter values of the fastener relative to the fixed part in a preset area, wherein the initial parameter values comprise initial angle values;
at step 312, a status of the fastener is determined based on a relationship of the first current angle value to the initial angle value.
In this embodiment, in a case where the initial parameter value includes an initial angle value, a first current angle value of the fastener with respect to the fixed member is acquired, and the state of the fastener is determined by a relationship between the first current angle value and the initial angle value. The state of the fastener is determined according to the relation between the first current angle value and the initial angle value, the loosening state of the fastener caused by inclination can be accurately judged, and the accuracy of detecting the state of the fastener is further improved.
Further, on the basis of the above embodiment, the step of determining the state of the fastener according to the relationship between the first current angle value and the initial angle value specifically includes: and determining that the fastener is in a loosening state when the difference value between the first current angle value and the initial angle value is larger than a preset angle threshold value.
In this embodiment, the fastener is determined to be in a loose state when the difference between the first current angle value and the initial angle value is greater than a preset angle threshold. And when the difference value between the first current angle value and the initial angle value is not greater than a preset angle threshold value, determining that the fastener is in a fastening state. Specifically, the difference value between the first current angle value and the initial angle value reflects the angle of the fastener deviating from the reference position, the fastener is determined to be in a loosening state when the difference value is larger than a preset angle threshold value, a certain range of inclined space is reserved for the fastener, and the fastener is prevented from being determined to be in the loosening state when the fastener deviates from the reference position less, so that the fastener is prevented from being frequently fastened. Further, by reducing the fastening work for the fastener, the maintenance cost is reduced, and the service life of the fastener is improved.
Further, in this embodiment, the preset angle threshold is 3 degrees. The preset angle threshold is 3 degrees, so that on one hand, the current state of the fastener can be guaranteed not to influence the fastening effect of the fastener on a part to be fastened, and on the other hand, the fastener is prevented from being fastened too frequently and influencing the service life of the fastener.
EXAMPLE III
On the basis of any of the above embodiments, the step of determining the state of the fastener based on the three-dimensional image specifically includes: acquiring a first current height value of the fastener relative to the fixed part according to the three-dimensional image based on the condition that the initial parameter value comprises the initial height value; the state of the fastener is determined based on the relationship of the first current height value to the initial height value.
In one particular embodiment, as shown in FIG. 4, a fastener condition detection method includes:
at step 412, a status of the fastener is determined based on the relationship of the first current height value to the initial height value.
In this embodiment, where the initial parameter value includes an initial height value, a first current height value of the fastener relative to the fixed component is obtained, and the condition of the fastener is determined by the relationship of the first current height value to the initial height value. The state of the fastener is determined through the relation between the first current height value and the initial height value, the loosening state caused by the fact that the fastener is separated from the fixed part can be accurately judged, and therefore the accuracy of detecting the state of the fastener is improved.
Further, on the basis of the above embodiment, the step of determining the state of the fastener based on the relationship between the first current height value and the initial height value specifically includes: and when the difference value between the first current height value and the initial height value is greater than a first preset height threshold value, determining that the fastener is in a loosening state.
In this embodiment, the fastener is determined to be in a loose condition when the difference between the first current height value and the initial height value is greater than a first preset height threshold. And when the difference value between the first current height value and the initial height value is not greater than a first preset height threshold value, determining that the fastener is in a fastening state. Specifically, the difference value between the first current height value and the initial height value reflects the height of the fixed part of the fastener, the fastener is determined to be in a loosening state when the difference value is larger than the first preset height threshold value, a change space in a certain range is reserved between the fastener and the fixed part, and the situation that the fastener is determined to be in the loosening state when the distance between the fastener and the fixed part changes less, and the fastener is frequently fastened is avoided. Further, by reducing the fastening work for the fastener, the maintenance cost is reduced, and the service life of the fastener is improved.
Further, in this embodiment, when the fastener is provided with a thread formation, the first predetermined height threshold is 1/2 of one thread pitch of the fastener. By associating the second preset height threshold with the structure of the fastener, the application range of the fastener state detection method is improved, the application range of the detection method is wider, and the accuracy and precision of state detection cannot be improved when the type and the size of the fastener are changed.
Example four
On the basis of the first embodiment, the step of determining the state of the fastener based on the three-dimensional image specifically includes: acquiring a second current angle value of the fastener relative to the fixed part and a second current height value of the fastener relative to the fixed part based on the three-dimensional image based on the condition that the initial parameter values comprise the initial angle value and the initial height value; a status of the fastener is determined based on a relationship of the second current angle value to the initial angle value, and a relationship of the second current height value to the initial height value.
In one particular embodiment, as shown in FIG. 5, a fastener condition detection method includes:
502, acquiring point cloud data of a preset area provided with a fastener according to the position data of the fastener;
at step 512, a status of the fastener is determined based on a relationship of the second current angle value to the initial angle value and a relationship of the second current height value to the initial height value.
In the embodiment, the state of the fastener is judged from the two aspects of angle change and height change, on one hand, the loosening state of the fastener caused by inclination can be accurately judged, on the other hand, the loosening state of the fastener caused by separation from a fixed part can be accurately judged, the state of the fastener is judged in multiple dimensions, and the accuracy and precision of detection of the state of the fastener are improved.
Further, on the basis of the above embodiment, the step of determining the state of the fastener based on the relationship between the second current angle value and the initial angle value of the fastener, and the relationship between the second current height value and the initial height value of the fastener specifically includes: and when the difference value between the second current angle value and the initial angle value meets the preset condition and the difference value between the second current height value and the initial height value is greater than a second preset height threshold value, determining that the fastener is in a loosening state.
In this embodiment, the fastener is determined to be in a loose state when the difference between the second current angle value and the initial angle value satisfies the preset condition, and the difference between the second current height value and the initial height value is greater than the second preset height threshold value. And when the difference value between the second current angle value and the initial angle value does not meet the preset condition or the difference value between the second current height value and the initial height value is not greater than a second preset height threshold value, determining that the fastener is in a fastening state. Through judging the state of fastener in two aspects from angle change and altitude variation, on the one hand, can accurately judge the not hard up state that the fastener leads to because the slope, on the other hand, can accurately judge the not hard up state that the fastener breaks away from and is led to by fixed part, has realized the state that the fastener was judged to the multidimension degree, has improved the accuracy and the precision that the fastener state detected for the testing result of fastener state is more accurate.
Further, in this embodiment, the preset condition is that the difference between the angle value and the initial angle value is a positive integer multiple of any one of angles between 50 ° and 60 °.
Further, in this embodiment, the preset condition is that the difference between the angle value and the initial angle value is a positive integer multiple of 60 °, that is, the difference is an angle value of 60 °, 120 °, 180 °, and the like. The problem that the state of the fastener cannot be determined through the angle due to the fact that the change of the angle cannot be recognized when the fastener is a hexagon bolt and the hexagon bolt rotates by 60 degrees in positive integer multiple is solved by setting the preset condition that the difference value between the angle value and the initial angle value is 60 degrees in positive integer multiple.
Further, in this embodiment, when the fastener is provided with a thread formation, the second predetermined height threshold is 1/6 of one thread pitch of the fastener. By associating the second preset height threshold with the structure of the fastener, the application range of the fastener state detection method is improved, the application range of the detection method is wider, and the accuracy and precision of state detection cannot be improved when the type and the size of the fastener are changed.
EXAMPLE five
On the basis of any one of the above embodiments, the fastener state detection method further includes: determining the point cloud number of the fastener along the height direction according to the point cloud data; and performing fastening operation on the fastener based on the relation between the point cloud number and the preset value.
In one particular embodiment, as shown in fig. 6, a fastener status detection method includes:
at step 612, a fastening operation is performed on the fastener.
In this embodiment, the point cloud number in the region of the fastener along the direction of the high region is determined according to the point cloud data, and then whether there is no obstacle in the preset range of the fastener is determined according to the relationship between the point cloud number and the preset value. And if the judgment result is no, indicating that an obstacle exists in the preset range of the fastener, and if the fastening operation is continuously performed on the fastener, on one hand, the obstacle can hinder the fastening effect on the fastener, and on the other hand, the fastener can also damage the obstacle. Whether foreign matters invade the periphery of the fastening piece or not is judged, and then fastening operation is performed on the fastening piece, so that the fastening operation can be prevented from being influenced by the foreign matters around the fastening piece. In addition, whether there is not the barrier through the predetermined within range of judging the fastener, can also avoid when fastener carries out fastening operation to the fastener, destroy the peripheral part of fastener, promoted the security of overhauing the operation. Specifically, when the number of point clouds is greater than a preset value, it is judged that an obstacle exists in the preset range of the fastener, and at the moment, the obstacle needs to be processed first, so that the obstacle is prevented from influencing the fastening operation. When the number of the point clouds is smaller than the preset value, it is judged that no obstacle exists in the preset range of the fastener, and at the moment, the fastening operation can be directly performed on the fastener.
EXAMPLE six
As shown in fig. 7, a sixth embodiment provides a fastener condition detection system 700, comprising: a line structured light sensor 702 for acquiring point cloud data; a memory 704 for storing a computer program; a processor 706 for executing a computer program to: the method for detecting the state of the fastener in any technical scheme is realized.
The fastener state detection system 700 provided in the embodiment of the present invention can implement the steps of the fastener state detection method in any one of the above technical solutions, and therefore, has all the technical effects of the fastener state detection method in any one of the above technical solutions, and is not described herein again.
EXAMPLE seven
An embodiment seventh proposes a readable storage medium, on which a computer program is stored, the computer program, when executed by a processor, implementing the steps of the fastener status detection method of any of the above-mentioned technical solutions.
The readable storage medium provided in the embodiment of the present invention stores thereon a computer program, and the computer program, when executed by a processor, implements the steps of the method for detecting a state of a fastener in any one of the above technical solutions.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A fastener condition detection method, characterized by comprising:
acquiring point cloud data of a preset area provided with the fastener according to the position data of the fastener;
establishing a three-dimensional image of the preset area according to the point cloud data;
based on the three-dimensional image, a status of the fastener is determined.
2. The fastener state detection method according to claim 1, characterized in that, before performing the step of determining the state of the fastener from the three-dimensional image, the fastener state detection method further comprises:
determining a structural state of the fastener based on the three-dimensional image and a stencil image of the fastener;
confirming that the structural state of the fastener is a complete state, acquiring an initial parameter value of the fastener relative to a fixed part of the preset area,
wherein the initial parameter value comprises an initial angle value and/or an initial height value.
3. The method for detecting the state of a fastener according to claim 2, wherein the step of determining the state of the fastener based on the three-dimensional image specifically includes:
acquiring a first current angle value of the fastener relative to the fixed part according to the three-dimensional image based on the condition that the initial parameter value comprises the initial angle value;
determining a status of the fastener based on a relationship of the first current angle value to the initial angle value.
4. The method for detecting the state of a fastener according to claim 3, wherein the step of determining the state of the fastener according to the relationship between the first current angle value and the initial angle value specifically comprises:
and determining that the fastener is in a loosening state when the difference value between the first current angle value and the initial angle value is larger than a preset angle threshold value.
5. The method for detecting the state of a fastener according to claim 2, wherein the step of determining the state of the fastener based on the three-dimensional image specifically includes:
acquiring a first current height value of the fastener relative to the fixed part according to the three-dimensional image based on the condition that the initial parameter value comprises the initial height value;
determining a state of the fastener based on a relationship of the first current height value to the initial height value.
6. The method for detecting the state of a fastener according to claim 5, wherein the step of determining the state of the fastener based on the relationship between the first current height value and the initial height value specifically comprises:
and when the difference value between the first current height value and the initial height value is greater than a first preset height threshold value, determining that the fastener is in a loosening state.
7. The method for detecting the state of a fastener according to claim 2, wherein the step of determining the state of the fastener based on the three-dimensional image specifically includes:
acquiring a second current angle value of the fastener relative to the fixed component and a second current height value of the fastener relative to the fixed component based on the three-dimensional image based on a condition that the initial parameter values include an initial angle value and an initial height value;
determining a status of the fastener based on a relationship of the second current angle value to the initial angle value and a relationship of the second current height value to the initial height value.
8. The method of claim 7, wherein the step of determining the status of the fastener based on the relationship between the second current angle value and the initial angle value of the fastener and the relationship between the second current height value and the initial height value of the fastener comprises:
and when the difference value between the second current angle value and the initial angle value meets a preset condition and the difference value between the second current height value and the initial height value is greater than a second preset height threshold value, determining that the fastener is in a loosening state.
9. The fastener state detection method according to any one of claims 1 to 8, characterized by further comprising:
determining the point cloud number of the fastener along the height direction according to the point cloud data;
and performing fastening operation on the fastener based on the relation between the point cloud number and a preset value.
10. A fastener condition detection system, comprising:
the line structured light sensor is used for acquiring point cloud data;
a memory for storing a computer program;
a processor for executing the computer program to implement the steps of the fastener status detection method according to any one of claims 1 to 9.
11. A readable storage medium, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor;
the computer program, when executed by a processor, implements the steps of the fastener status detection method of any one of claims 1 to 9.
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