CN114777671A - Workpiece model processing method, server, front-end equipment and three-dimensional scanning system - Google Patents
Workpiece model processing method, server, front-end equipment and three-dimensional scanning system Download PDFInfo
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- CN114777671A CN114777671A CN202210441658.0A CN202210441658A CN114777671A CN 114777671 A CN114777671 A CN 114777671A CN 202210441658 A CN202210441658 A CN 202210441658A CN 114777671 A CN114777671 A CN 114777671A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The embodiment of the invention provides a workpiece model processing method, a server, front-end equipment and a three-dimensional scanning system, relates to the field of three-dimensional scanning, is applied to the server in the three-dimensional scanning system, and comprises the following steps: acquiring image data of a plurality of workpieces acquired by a plurality of scanning devices; generating models of a plurality of workpieces according to the image data of the workpieces; and sending the models of the workpieces to front-end equipment for displaying. By adopting the invention, the scanning efficiency of the workpiece can be improved, and the data safety of the workpiece can be ensured.
Description
Technical Field
The invention relates to the field of three-dimensional scanning, in particular to a workpiece model processing method, a server, front-end equipment and a three-dimensional scanning system.
Background
The three-dimensional scanning technology can scan real objects with high precision and acquire original mapping data, and is widely applied to the field of process measurement.
Most of the existing three-dimensional scanning schemes connect a scanner with a personal computer through a USB, and when a worker collects workpiece images by using the scanner, the workpiece images are directly transmitted to the personal computer through the USB.
However, because the number of transmission interfaces of the personal computer is limited, such a method is only suitable for simple and small workpieces, and when a large or medium-sized workpiece or a relatively complex workpiece is encountered, a large amount of time is consumed in the scanning stage, and the safety of the scanned data cannot be ensured.
Disclosure of Invention
The embodiment of the invention provides a workpiece model processing method, a server, front-end equipment and a three-dimensional scanning system, which can improve the scanning efficiency of workpieces and ensure the data security of the workpieces.
In a first aspect, an embodiment of the present invention provides a workpiece model processing method, which is applied to a server in a three-dimensional scanning system, and the method includes:
acquiring image data of a plurality of workpieces acquired by a plurality of scanning devices;
generating models of the workpieces according to the image data of the workpieces;
and sending the models of the workpieces to front-end equipment for displaying.
Optionally, the generating models of the multiple workpieces according to the image data of the multiple workpieces respectively includes:
converting the image data of the plurality of workpieces into three-dimensional point cloud data corresponding to the plurality of workpieces;
and respectively adopting a preset three-dimensional reconstruction method to reconstruct a model according to the three-dimensional point cloud data corresponding to the plurality of workpieces to obtain the models of the plurality of workpieces.
Optionally, the method further comprises:
receiving a measurement instruction aiming at a target workpiece model sent by the front-end equipment;
responding to the measurement instruction, and measuring the target workpiece model to obtain a measurement report of the target workpiece model;
and returning a measurement report of the target workpiece model to the front-end equipment.
Optionally, the measuring the target workpiece model to obtain a measurement report of the target workpiece model includes:
and measuring the target workpiece model by adopting a preset three-dimensional measuring method to obtain a measuring report of the target workpiece model.
In a second aspect, an embodiment of the present invention further provides a workpiece model processing method, applied to a front-end device in a three-dimensional scanning system, where the method includes:
receiving models of a plurality of workpieces sent by a server; the models of the workpieces are respectively generated by the server according to the image data of the workpieces acquired by the scanning equipment;
and rendering the models of the workpieces and displaying the pages.
Optionally, the method further comprises:
receiving a measurement operation input aiming at a target workpiece model in the models of the workpieces displayed on the page;
sending a measurement instruction for the target workpiece model to the server in response to the measurement operation; the measurement instruction is used for enabling the server to measure the target workpiece model to obtain a measurement report of the target workpiece model;
and receiving a measurement report of the target workpiece model returned by the server.
Optionally, the method further comprises:
generating a measurement effect graph of the target workpiece model according to the measurement report of the target workpiece model;
and displaying the measurement effect graph on a page, wherein the measurement effect graph displays that: deviation information of the characteristic parameters of each part in the target workpiece model and the corresponding calibration parameters.
In a third aspect, an embodiment of the present invention further provides a server, including: a first processor, a first memory and a first bus, the first memory storing program instructions executable by the first processor, the first processor and the first memory communicating via the first bus when the server is running, the first processor executing the program instructions to perform the steps of the workpiece model processing method according to any one of the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a front-end device, including: a second processor, a second memory and a second bus, wherein the second memory stores program instructions executable by the second processor, when the front-end device runs, the second processor and the second memory communicate with each other through the second bus, and the second processor executes the program instructions to perform the steps of the workpiece model processing method according to any one of the second aspect.
In a fifth aspect, an embodiment of the present invention further provides a three-dimensional scanning system, including: a plurality of scanning devices, a server and a front-end device; wherein the plurality of scanning devices are communicatively coupled to the server, the server is further communicatively coupled to the front-end device, the server is configured to execute the workpiece model processing method according to any of the first aspects, and the front-end device is configured to execute the workpiece model processing method according to any of the second aspects.
According to the workpiece model processing method, the server, the front-end equipment and the three-dimensional scanning system, the server acquires the image data of the plurality of workpieces acquired by the plurality of scanning equipment, respectively generates the models of the plurality of workpieces according to the image data of the plurality of workpieces, and finally sends the models of the plurality of workpieces to the front-end equipment for displaying. By the processing mode, a plurality of scanning devices can scan cooperatively, and the scanning efficiency of the workpiece is improved; meanwhile, the server is used for acquiring the image data of the workpiece and generating a workpiece model, so that the data of the workpiece can be stored on the server, and the data safety of the workpiece is effectively guaranteed; and finally, the front-end equipment displays the workpiece model, so that a user can quickly know the manufacturing conditions of all parts of the workpiece, and the workpiece is conveniently screened.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a three-dimensional scanning system according to the present invention;
FIG. 2 is a schematic flow chart illustrating a method for processing a workpiece model according to the present invention;
FIG. 3 is a schematic flow chart of a three-dimensional reconstruction method according to the present invention;
FIG. 4 is a schematic flow chart of a three-dimensional measurement method according to the present invention;
FIG. 5 is a schematic flow chart diagram of another workpiece model processing method provided by the present invention;
fig. 6 is a flowchart illustrating a method for receiving a measurement report according to the present invention;
FIG. 7 is a flowchart illustrating a method for generating a measurement effect graph according to the present invention;
FIG. 8 is a schematic view of a workpiece model processing apparatus according to the present invention;
FIG. 9 is a schematic view of another workpiece model processing apparatus provided in accordance with the present invention;
FIG. 10 is a schematic diagram of a server provided by the present invention;
fig. 11 is a schematic diagram of a front-end device provided in the present invention.
Icon: 1000, obtaining a module; 2000, generating a module; 3000, a first sending module; 4000, a receiving module; a display module 5000; 1, a server; 2, scanning the equipment; 3, front-end equipment; 11, a first processor; 12, a first memory; 13, a first bus; 31, a second processor; 32, a second memory; 33, a second bus.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Before explaining the present invention in detail, an application scenario of the present invention will be described.
In the information age, three-dimensional scanning technology has been widely used in various industries to acquire data information related to an objective object. Especially in the industrial production field, besides measuring basic dimensions such as the length and the diameter of a workpiece, the shape or a plurality of points of the workpiece are often required to be measured three-dimensionally with high precision, so that the surface information of the part can be quickly obtained, which cannot be obtained by manual measurement.
However, when a complex and large workpiece is faced, the existing scanner for data transmission through the USB is not careful, so that not only can cooperative scanning of multiple scanners be realized, which is time-consuming, but also data of the workpiece cannot be managed in a unified manner, which is easy to cause data leakage.
Based on the method, the server, the front-end equipment and the three-dimensional scanning system, the server acquires the image data of the plurality of workpieces acquired by the plurality of scanning equipment, the models of the plurality of workpieces are respectively generated according to the image data of the plurality of workpieces, and finally the models of the plurality of workpieces are sent to the front-end equipment for display, so that the cooperative scanning of the plurality of scanning equipment is realized, and the data safety of the workpieces is effectively guaranteed. The workpiece model processing method provided in the following embodiments of the present invention may be executed by a server in a three-dimensional scanning system, and may also be executed by a front-end device in the three-dimensional scanning system, where the server may be an integral server, a distributed server, a cloud server, and the like, and the front-end device may be a computer device with a processing function, and may be a computer device such as a notebook computer, a desktop computer, and the like, which is not limited by the present invention.
The following description is made by way of example with reference to the accompanying drawings. Fig. 1 is a schematic diagram of a three-dimensional scanning system provided in the present invention, as shown in fig. 1, the three-dimensional scanning system includes: a plurality of scanning devices 2, a server 1, and a front-end device 3; wherein, a plurality of scanning devices 2 are connected with the server 1 in a communication way, and the server 1 is also connected with the front-end device 3 in a communication way. In this embodiment, the number of the scanning devices 2 is N, and N is greater than or equal to 1; optionally, a wireless network card is loaded inside the scanning device 2, the multiple scanning devices 2 may establish connection with the server 1 through a network Transmission Protocol, such as TCP/IP (Transmission Control Protocol/Internet Protocol), based on the wireless network card, and the server 1 and the front-end device 3 also establish a communication connection relationship through the network Transmission Protocol.
During the three-dimensional scanning process, the scanning devices 2 can transmit scanning data to the server 1 and store the scanning data by the server; according to actual requirements, the server 1 may also transmit required data to the front-end device for display. Optionally, the front-end device 3 further includes a display for displaying the plurality of workpiece models, and the display may be a display screen with only a display function, or may be a display screen with both a touch screen function and a display function.
In this embodiment, the single scanning device 2 may be a depth camera such as a monocular camera, a binocular camera, a multi-view camera, and the like, which is not limited in this application.
In order to clearly describe the processing method of the workpiece model based on the three-dimensional scanning system provided in fig. 1, the present invention also provides a possible implementation manner of the processing method of the workpiece model. Fig. 2 is a schematic flow chart of a workpiece model processing method according to the present invention. As shown in fig. 2, the workpiece model processing method, applied to the server 1 in the three-dimensional scanning system, includes:
and S110, acquiring image data of a plurality of workpieces acquired by a plurality of scanning devices.
The workpiece is an industrially manufactured device, and the size, the shape, the material, the appearance and the like of the workpiece are not limited at all.
It should be noted that, in actual operation, a plurality of users may operate a plurality of scanning devices 2 simultaneously to scan a plurality of workpieces, respectively, where the setting position and the shooting angle of each scanning device 2 are not particularly limited. The image data scanned by the scanning device 2 is two-dimensional data.
During the scanning process, a workpiece is scanned by at least one scanning device 2. In one possible implementation, multiple scanning devices 2 may simultaneously scan the same workpiece in coordination. For example, with 5 scanning apparatuses such as 1, 2, 3, 4, and 5 workpieces such as A, B, C, D, E, 1, 2, 3, 4, and 5 workpieces are acquired simultaneously in each scan, and finally image data of 5 workpieces are obtained. The mode that the plurality of scanning devices 2 carry out cooperative scanning on the same workpiece is particularly suitable for large and medium-sized or complex workpieces. The scanning device 2 is used for scanning a medium-large or complex workpiece in a coordinated mode, so that the scanning speed of the medium-large or complex workpiece is increased, long-time consumption caused by scanning of a single device is avoided, and the processing period of a medium-large or complex workpiece model is shortened.
In another possible implementation, a plurality of scanning devices 2 may scan a plurality of workpieces simultaneously, i.e., at least two workpieces are scanned by the plurality of scanning devices 2 in a single scan. For example, in a single scan, 1, 2, 3 devices scan a workpiece in coordination, and 4, 5 devices scan B workpiece in coordination; alternatively, in a single scan, device scan No. 1 a component, device scan No. 2B component, device scan No. 3C component, device scan No. 4D component, and device scan No. 5E component.
In the scanning process, it should be noted that if a plurality of scanning devices 2 are required to cooperatively scan the same workpiece, when the positions and angles of the plurality of scanning devices 2 are set, it should be noted that the image data of the workpiece scanned by two adjacent scanning devices 2 should have an overlapping portion, so as to generate a three-dimensional model of the workpiece based on the two-dimensional image data of the workpiece.
After the scanning process of the plurality of workpieces is implemented by the plurality of scanning devices 2, each scanning device 2 may transmit the image data of the plurality of workpieces to the server 1 through a network transmission protocol, such as TCP/IP, so that the server 1 may obtain the image data of the plurality of workpieces acquired by the plurality of scanning devices.
And S120, respectively generating models of a plurality of workpieces according to the image data of the plurality of workpieces.
In order to obtain a high-quality workpiece model, optionally, after the server 1 receives the image data of the multiple workpieces, the acquired image may be denoised first, for example, the noise in the image is filtered by using a filtering algorithm, and then the subsequent operation is performed.
In the present embodiment, the server 1 generates models of a plurality of workpieces by a stereoscopic vision method from the obtained video data of the plurality of workpieces. The stereo vision method is based on the comparison of multiple images, and utilizes the difference of the same point position to reconstruct a three-dimensional model of an object by the parallax principle. Generally, the method is divided into three types, namely a monocular vision method, a binocular vision method and a multi-ocular vision method.
In the present embodiment, if a single workpiece is scanned and photographed by only one scanning device 2, and the scanning device 2 is a monocular camera, a monocular vision method is adopted when acquiring a three-dimensional workpiece model of the workpiece. Specifically, a plurality of images of a single viewpoint or a plurality of images of multiple viewpoints of a workpiece are scanned and shot, the transformation of characteristic points of the plurality of images is analyzed by selecting the characteristic points of the images, a relation model of a space structure and the characteristic points is established, and a three-dimensional model of the workpiece is reconstructed.
If a single workpiece is scanned and shot by one scanning device 2, and the scanning device 2 is a binocular camera, or if two scanning devices 2 are scanned and shot, and the scanning device 2 is a monocular camera, a binocular vision method is adopted when a three-dimensional workpiece model of the workpiece is obtained. Specifically, images of the same workpiece are collected through two cameras respectively, and a three-dimensional stereo model of the workpiece is reconstructed by selecting feature points of the images and calculating depth distance to reconstruct a three-dimensional coordinate point directly according to a triangulation principle based on parallax information of the same feature points on the two collected images.
If a single workpiece is scanned and photographed by one scanning device 2, and the scanning device is a multi-view camera, or if three or more scanning devices 2 are used for scanning and photographing, no matter what type of camera the scanning device 2 is, a multi-view vision method is adopted when a three-dimensional workpiece model of the workpiece is acquired. Specifically, similar to the binocular vision method, the depth distance is calculated according to the principle of triangulation through parallax information between feature points of target images acquired from different viewpoints to reconstruct a three-dimensional coordinate point, and a three-dimensional model of the workpiece is reconstructed.
In a possible implementation manner, when the stereoscopic vision method is used to generate the stereoscopic model of the workpiece in this embodiment, the SFM (Structure from motion) algorithm may be directly used to extract the three-dimensional information. For example, by using an incremental SFM algorithm, for a workpiece, two images with the most matched feature points are selected from a plurality of adjacent image pictures scanned and shot by the workpiece, the two images are triangulated to solve the spatial position of part of the feature points, and the pose relationship between cameras of the two images is solved, so that other images shot by the workpiece can be input one by one, the pose relationship between a newly input image and an initial image camera is solved by using an eight-point algorithm for the newly input image, and the spatial position of the feature points of the newly input image is solved by triangularization, so that a three-dimensional model of the workpiece can be reconstructed. When the common view field of the input different images is larger, the more feature matching points are generated, the denser the reconstructed point cloud is, and the more details are reconstructed.
And S130, sending the models of the workpieces to the front-end equipment for displaying.
Since the three-dimensional model of the workpiece contains a large amount of data that helps to accurately represent the model, the primary objective for the presentation of the front-end device 3 is to present the entire model of the workpiece. Moreover, if the server 1 directly sends the complete workpiece three-dimensional model data to the front-end device 3, not only the storage time and the processing time of the front-end device 3 are increased, but also the safe storage of the workpiece data is not facilitated.
Therefore, in the present embodiment, optionally, before the server 1 sends the models of the plurality of workpieces to the front-end device 3 for presentation, the model data of the workpieces needs to be thinned and simplified, so as to expect that the respective features of the workpieces are accurately expressed with less data. Alternatively, a system-based thinning method may be adopted, in which a point is randomly selected from complete workpiece model data, then the selected point is used as a starting point, a next point is selected at a predetermined sampling interval, the selection is stopped until all data are selected, a thinned workpiece model is obtained, and the thinned workpiece model is transmitted to the front-end device 3 through communication transmission.
In the embodiment, a plurality of scanning devices can scan cooperatively, so that the scanning efficiency of the workpiece is improved; meanwhile, the server is used for acquiring the image data of the workpiece and generating a workpiece model, so that the data of the workpiece can be stored on the server, and the data safety of the workpiece is effectively guaranteed; and finally, the front-end equipment displays the workpiece model, so that a user can quickly know the manufacturing conditions of all parts of the workpiece, and the workpiece is conveniently screened.
On the basis of the workpiece model processing method provided by the above-mentioned fig. 2, the present invention also provides a possible implementation manner of three-dimensional reconstruction of a workpiece. Fig. 3 is a schematic flow chart of a three-dimensional reconstruction method provided by the present invention. As shown in fig. 3, the generating of the model of each of the plurality of workpieces from the image data of the plurality of workpieces at S120 includes:
s210, converting the image data of the plurality of workpieces into three-dimensional point cloud data corresponding to the plurality of workpieces.
In this embodiment, after the server 1 obtains the two-dimensional image data of the plurality of workpieces, the two-dimensional image data may be converted into three-dimensional point cloud data corresponding to the plurality of workpieces.
The point cloud is three-dimensional data, which is a set of world coordinate systems (coordinate systems of objects in the real world) of discrete points on the surface of an object. The image data captured by the scanner 2 is a two-dimensional depth image, which is a mapping of object information in an image coordinate system (coordinate system of pixel points in the image captured by the scanner). Therefore, the depth image can be converted into point cloud data through the preset conversion relation from the image coordinate system to the world coordinate system.
Based on the above, each image can be converted, so as to obtain three-dimensional point cloud data corresponding to a plurality of workpieces.
And S220, respectively adopting a preset three-dimensional reconstruction method to reconstruct a model according to the three-dimensional point cloud data corresponding to the workpieces to obtain models of the workpieces.
After the three-dimensional point cloud data corresponding to the plurality of workpieces is obtained, optionally, the obtained point cloud data may contain some invalid point clouds or noise point clouds, and the point cloud data needs to be preprocessed, so that points containing noise in the original point cloud can be removed in a building and filtering manner.
Because when each workpiece is scanned and shot through the scanning equipment 2, a plurality of images are shot, before three-dimensional reconstruction is carried out, a plurality of pieces of point cloud data corresponding to the plurality of images shot by one workpiece need to be spliced, so that coordinates of two points at the same position in a plurality of pieces of point cloud images meet a preset conversion matrix, and a plurality of pieces of three-dimensional point cloud data corresponding to one workpiece can be based on the same coordinate system.
After the point cloud splicing of a workpiece is completed, a preset three-dimensional reconstruction algorithm, such as a three-dimensional mesh reconstruction method, can be adopted to quickly generate triangular patches from the point cloud data in the same coordinate system, and all the triangular patches are connected to form a complete three-dimensional model of the workpiece.
Optionally, the point cloud data corresponding to the workpiece may be directly imported to an open source program platform, and the point cloud three-dimensional reconstruction algorithm compiled by the program is used to realize automatic modeling of the workpiece through a computer, so as to obtain a model of the workpiece.
Optionally, after the three-dimensional model of the workpiece is obtained, since the point cloud data ensures data of the workpiece surface model and the image data ensures information of the workpiece edge, the three-dimensional model of the workpiece can be described in detail based on the obtained workpiece image data and the point cloud data by using preset automation software.
Based on the method, a preset three-dimensional reconstruction method can be respectively adopted for each workpiece to carry out model reconstruction, and models of a plurality of workpieces are obtained.
In this embodiment, the two-dimensional image data of the workpiece is converted into three-dimensional point cloud data, and then a preset three-dimensional reconstruction method is applied to realize three-dimensional modeling of the workpiece, so that the front-end equipment can perform all-dimensional display based on a three-dimensional model of the workpiece, and the cognitive plane of the workpiece of a user is improved.
On the basis of the workpiece model processing method provided by the above fig. 2, the present invention also provides a possible implementation manner of three-dimensional measurement of the workpiece. Fig. 4 is a schematic flow chart of a three-dimensional measurement method provided by the present invention. As shown in fig. 4, the method further includes:
and S310, receiving a measurement instruction aiming at the target workpiece model sent by the front-end equipment.
After the server 1 sends the models of the multiple workpieces to the front-end device 3, the user may select a workpiece on the front-end device 3 for measurement, and send a measurement instruction for the target workpiece based on the selected workpiece to the server 1, so as to instruct the server 1 to measure the target workpiece.
Specifically, when the server 1 receives a measurement instruction for a target workpiece sent by the front-end device, the target workpiece may be measured according to the content of the measurement instruction.
And S320, responding to the measurement instruction, and measuring the target workpiece model to obtain a measurement report of the target workpiece model.
In a possible implementation manner, all feature positions (for example, all round holes in a workpiece) that need to be measured on the workpiece may be preset in the server 1, and if the measurement instruction sent by the front-end device 3 is "overall measurement", the server 1 may automatically calculate feature parameters of all feature positions in the model based on the preset feature positions that need to be measured on the workpiece, where the feature parameters include: comparing the characteristic parameters of any round hole with corresponding preset target measurement parameters in the X-position coordinate, the Y-position coordinate, the Z-position coordinate, the position degree and the diameter of any round hole in a model coordinate system, calculating the deviation between each round hole characteristic parameter and the target measurement parameters, comparing the deviation with preset calibration parameters, if the deviation is less than or equal to the preset calibration parameters, indicating that the characteristic parameter test of the round hole passes, and if the deviation is greater than the preset calibration parameters, indicating that the characteristic parameter test of the round hole does not pass. For example, if the diameter of a round hole is measured 5.900, the deviation is 1.100 if the diameter of the target measurement parameter is 7.000, and the predetermined calibration parameter is 1.000, and obviously the deviation is larger than the predetermined calibration parameter, the diameter measurement information of the round hole fails the test.
In another possible implementation manner, if the measurement instruction sent by the front-end device 3 is "designated measurement", that is, the user only generates the characteristic parameters of the round hole at the characteristic position selected by the front-end device 3 based on the displayed workpiece model, for example, designates any round hole, and can perform subsequent comparison with the target measurement parameters.
And S330, returning a measurement report of the target workpiece model to the front-end equipment.
Each time based on a measurement instruction, a measurement report corresponding to the instruction can be obtained, and finally, a measurement report of the target workpiece can be returned to the front-end device 3.
Based on the method, the measurement report of the target workpiece model comprises the following steps: the method comprises the steps of measuring the actual measured X position coordinate, Y position coordinate, Z position coordinate, position degree and diameter of a characteristic position, measuring the target parameters of the characteristic position by using a sensor, measuring the target parameters of the characteristic position by using the sensor, measuring the X position coordinate, the Y position coordinate, the Z position coordinate, the position degree and the diameter of the characteristic position of the actual measurement of the characteristic position, measuring the target position by using the target position, the target measurement parameters of the target position by using the target measurement, the target parameter of the target position by using the target parameter of the target position, and the target position coordinate, measuring the target position coordinate, and the difference between the actual measurement before the characteristic parameter and the actual measurement before the difference between the actual measurement before the characteristic parameter before the actual measurement before the deviation before the actual measurement before the characteristic parameter before the actual measurement before the characteristic parameter and before the deviation before the actual measurement before the deviation before the actual measurement before the characteristic parameter before the deviation before the characteristic parameter before the actual measurement before the deviation before the actual measurement.
In this embodiment, the server may further generate a measurement report of the target workpiece based on the measurement instruction and return the measurement report to the front end, so that the measurement report of the target workpiece may be displayed at the front end, and a user may obtain a measurement result of the workpiece in time.
Optionally, in the step S320, the measuring the target workpiece model in response to the measurement instruction to obtain a measurement report of the target workpiece model includes:
and S410, measuring the target workpiece model by adopting a preset three-dimensional measuring method to obtain a measuring report of the target workpiece model.
In this embodiment, measurement information that needs to be measured on the feature position may be preset, and if one or more of measurement information such as an X position coordinate, a Y position coordinate, a Z position coordinate, a position degree, a diameter, a radius, flatness, and the like of the feature position that needs to be measured in the model coordinate system are preset in advance as measurement information that needs to be measured in a preset three-dimensional measurement method, in actual operation, the measurement information of the target workpiece model is calculated and obtained by using the three-dimensional coordinates of the feature position according to the preset three-dimensional measurement method, so as to obtain a measurement report.
Alternatively, the server 1 may also form a management module of each artifact on a per-artifact basis. That is, after a model of a single workpiece is generated, the initial image data, model data, and subsequent measurement reports of the workpiece are stored in the corresponding management modules, so that data management is performed on a plurality of workpieces, that is, data of a plurality of workpieces are stored in the server 1, and thus, the data can be managed and stored in a unified manner, and the safety of workpiece data is guaranteed.
In this embodiment, a preset measurement method is used to perform corresponding measurement on the workpiece model, so as to obtain a measurement report of the target workpiece model, which is convenient for the front-end device to rapidly determine the workpiece based on the measurement report, thereby improving the automation level.
In order to clearly describe the processing method of the workpiece model on the basis of the three-dimensional scanning system provided in fig. 1, the present invention also provides another possible implementation of the processing method of the workpiece model. FIG. 5 is a schematic flow chart of another workpiece model processing method provided by the present invention. As shown in fig. 5, the workpiece model processing method, applied to the front-end device 3 in the three-dimensional scanning system, includes:
and S510, receiving the models of the plurality of workpieces sent by the server.
The models of the plurality of workpieces are generated by the server 1 according to the image data of the plurality of workpieces acquired by the plurality of scanning devices 2.
In the present embodiment, after the server 1 generates models of a plurality of workpieces based on the image data of the plurality of workpieces, the models of the plurality of workpieces are transmitted to the front-end device 3 for display.
Alternatively, in order to save resources of the front-end device 3, the thinned multiple workpiece models may be sent to the front-end device 3 through communication transmission, and then the front-end device 3 may receive the models of the multiple workpieces sent by the server 1.
S520, rendering the models of the workpieces and displaying the pages.
In this embodiment, the front-end device 3 further includes a rendering module, and after receiving the models of the plurality of workpieces sent by the server 1, needs to perform rendering processing on the models of the plurality of workpieces. For example, the texture rendering can be performed through a preset mesh model; or, color information of pixel points in the two-dimensional image data of the workpiece can be added to the three-dimensional model through preset complex correction calculation, so that a color workpiece model is formed. In a possible implementation manner, the three-dimensional workpiece model may be directly rendered through an open-source image rendering framework, which is not limited in this embodiment.
By obtaining the rendered workpiece model at the front-end device 3, the workpiece model can be displayed through a display screen in the front-end device 3. Optionally, the user may adjust the pose of the workpiece model by touching the screen with a mouse or a finger, so as to observe information of each angle of the three-dimensional workpiece model.
In the implementation, the front-end equipment renders and displays the model of the workpiece after receiving the model, so that the information of each part of the workpiece is displayed to a user in a more three-dimensional and ornamental manner, and the user can conveniently evaluate the workpiece.
On the basis of the three-dimensional scanning system provided in fig. 5, the present invention also provides a possible implementation manner for receiving the measurement report. Fig. 6 is a flowchart illustrating a method for receiving a measurement report according to the present invention. As shown in fig. 6, the method further includes:
s610, receiving measurement operation input aiming at a target workpiece model in the models of a plurality of workpieces displayed on the page.
In actual operation, a user can select a target workpiece model in models of a plurality of workpieces in a mouse or finger touch screen mode, then, a mode needing measurement is selected for the target workpiece model in the mouse or finger touch screen mode, such as 'integral measurement' or 'appointed measurement', and if 'integral measurement' is selected, no operation is needed; if "specified measurement" is selected, it is also necessary to arbitrarily select the feature position of the workpiece model, and finally confirm the selection.
Based on the above operation, the front-end device 3 may receive a measurement operation input for a target workpiece model among models of a plurality of workpieces displayed on a page.
And S620, responding to the measurement operation, and sending a measurement instruction aiming at the target workpiece model to the server.
And the measurement instruction is used for enabling the server to measure the target workpiece model to obtain a measurement report of the target workpiece model.
And S630, receiving a measurement report of the target workpiece model returned by the server.
After receiving the measurement operation input for the target workpiece model in the models of the multiple workpieces displayed on the page, the front-end device 3 needs to respond to the measurement operation and send a measurement instruction for the target workpiece model to the server 1. For example, if the measurement operation is "overall measurement", the front-end device 3 transmits a measurement command for the target workpiece model to the server 1 as "overall measurement", and receives a measurement report of all the feature positions of the workpiece generated based on the measurement command of "overall measurement" returned by the server 1. If the measurement operation is "measurement specification", the front-end device 3 transmits a measurement command for the target workpiece model to the server 1 as "measurement specification", transmits a specified characteristic position, and then receives a measurement report for the specified characteristic position generated based on the measurement command for the "measurement specification" returned by the server 1.
In this embodiment, the front-end device may send a measurement instruction to the server based on the measurement operation, and receive a measurement report returned by the server, so as to implement interaction between the front-end device and the server based on the workpiece, and facilitate displaying of information of the workpiece.
On the basis of the received measurement report provided in fig. 6, the present invention also provides a possible implementation manner for generating a measurement effect map. Fig. 7 is a schematic flow chart of a method for generating a measurement effect graph according to the present invention. As shown in fig. 7, the method further includes:
s710, according to the measurement report of the target workpiece model, a measurement effect graph of the target workpiece model is generated.
S720, displaying the measurement effect graph on a page.
Wherein, the measurement effect graph shows that: deviation information of the characteristic parameters of each part in the target workpiece model and the corresponding calibration parameters.
Since the measurement report based on the target workpiece model sent by the server 1 is in a pure data format, and is not convenient for the user to browse, in this embodiment, the front-end device 3 may generate the measurement effect map of the target workpiece model according to the measurement report of the target workpiece model, the feature value that should be in the preset target measurement parameter of the feature position included in the measurement report, the preset calibration parameter corresponding to each feature parameter, the deviation between the preset calibration parameter corresponding to each feature parameter and the actual measurement feature parameter, and the test result of each actual feature parameter, and perform the page display on the measurement effect map.
Specifically, in the measurement effect graph, the measured characteristic parameters corresponding to the target workpiece model, the preset target measurement parameters corresponding to the target workpiece model, the preset calibration parameters corresponding to each characteristic parameter, the deviation information between the characteristic parameters of each part and the corresponding calibration parameters, and the test results of each characteristic parameter may be displayed in a one-to-one correspondence manner.
In the display process, the characteristic parameters of which the test results pass can be marked with green, and the characteristic parameters of which the test results do not pass can be marked with red; or, the feature parameter that passes the test result is marked as "O", and the feature parameter that does not pass the test result is marked as "X", which is not limited in this embodiment.
In this embodiment, by generating and displaying the measurement effect graph of the target workpiece model, a user can clearly obtain various measurement data of the target workpiece, so that the target workpiece can be checked conveniently, and whether the workpiece is in a production standard or not can be judged.
Fig. 8 is a schematic diagram of a workpiece model processing apparatus according to the present invention, and as shown in fig. 8, the workpiece model processing apparatus is applied to a server in a three-dimensional scanning system, and includes:
the acquiring module 1000 is configured to acquire image data of a plurality of workpieces acquired by a plurality of scanning devices.
The generating module 2000 is configured to generate models of a plurality of workpieces according to the image data of the plurality of workpieces.
The first sending module 3000 is configured to send the models of the multiple workpieces to the front-end device for display.
Optionally, the generating module 2000 is further configured to convert the image data of the multiple workpieces into three-dimensional point cloud data corresponding to the multiple workpieces; and respectively adopting a preset three-dimensional reconstruction method to reconstruct a model according to the three-dimensional point cloud data corresponding to the workpieces to obtain models of the workpieces.
Optionally, the workpiece model processing apparatus further includes a measurement module, configured to receive a measurement instruction for the target workpiece model sent by the front-end device; responding to the measurement instruction, and measuring the target workpiece model to obtain a measurement report of the target workpiece model; and returning a measurement report of the target workpiece model to the front-end equipment.
Optionally, the measurement module is specifically configured to measure the target workpiece model by using a preset three-dimensional measurement method to obtain a measurement report of the target workpiece model.
Fig. 9 is a schematic view of another workpiece model processing apparatus provided by the present invention, as shown in fig. 9, the workpiece model processing apparatus is applied to a front-end device in a three-dimensional scanning system, and includes:
a receiving module 4000, configured to receive models of multiple workpieces sent by a server; the models of the workpieces are respectively generated by the server according to the image data of the workpieces acquired by the scanning devices;
and the display module 5000 is configured to render the models of the multiple workpieces and perform page display.
Optionally, the receiving module 4000 is further configured to receive a measurement operation input for a target workpiece model in a model of a plurality of workpieces displayed on a page;
optionally, the workpiece model processing apparatus further comprises a second sending module, configured to send a measurement instruction for the target workpiece model to the server in response to the measurement operation; the measurement instruction is used for enabling the server to measure the target workpiece model to obtain a measurement report of the target workpiece model;
optionally, the receiving module 4000 is further specifically configured to receive a measurement report of the target workpiece model returned by the server.
Optionally, the display module 5000 is further configured to generate a measurement effect map of the target workpiece model according to the measurement report of the target workpiece model and a target measurement parameter corresponding to the target workpiece model; and displaying the measurement effect graph on a page, wherein the measurement effect graph is displayed with: deviation information of the characteristic parameters of each part in the target workpiece model and the corresponding calibration parameters.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, the modules may be integrated together and implemented in the form of a System-on-a-Chip (SOC).
Fig. 10 is a schematic diagram of a server according to the present invention. As shown in fig. 10, the server 1 includes: the server comprises a first processor 11, a first memory 12 and a first bus 13, wherein the first memory 12 stores program instructions executable by the first processor 11, when the server 1 runs, the first processor 11 communicates with the first memory 12 through the first bus 13, and the first processor 11 executes the program instructions to execute the method using the server as an execution subject in the method embodiment.
Fig. 11 is a schematic diagram of a front-end device provided in the present invention. As shown in fig. 11, the front-end apparatus 3 includes: the second processor 31, the second memory 32 and the second bus 33, the second memory 32 stores program instructions executable by the second processor 31, when the front-end device runs, the second processor 31 communicates with the second memory 32 through the second bus 33, and the second processor 31 executes the program instructions to execute the method using the front-end device as an execution subject in the above method embodiments.
Optionally, the present invention also provides a program product, for example a computer-readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer-readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) or a Processor (english: Processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a portable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method for processing a workpiece model, the method being applied to a server in a three-dimensional scanning system, the method comprising:
acquiring image data of a plurality of workpieces acquired by a plurality of scanning devices;
generating models of the workpieces according to the image data of the workpieces;
and sending the models of the workpieces to front-end equipment for displaying.
2. The method of claim 1, wherein generating models of the plurality of workpieces from the image data of the plurality of workpieces, respectively, comprises:
converting the image data of the plurality of workpieces into three-dimensional point cloud data corresponding to the plurality of workpieces;
and respectively adopting a preset three-dimensional reconstruction method to reconstruct a model according to the three-dimensional point cloud data corresponding to the plurality of workpieces to obtain the models of the plurality of workpieces.
3. The method of claim 1, further comprising:
receiving a measurement instruction aiming at a target workpiece model sent by the front-end equipment;
responding to the measurement instruction, and measuring the target workpiece model to obtain a measurement report of the target workpiece model;
and returning a measurement report of the target workpiece model to the front-end equipment.
4. The method of claim 3, wherein said measuring the target workpiece model to obtain a measurement report of the target workpiece model comprises:
and measuring the target workpiece model by adopting a preset three-dimensional measuring method to obtain a measurement report of the target workpiece model.
5. A method of workpiece model processing for use in a front end apparatus of a three-dimensional scanning system, the method comprising:
receiving models of a plurality of workpieces sent by a server; the models of the workpieces are respectively generated by the server according to the image data of the workpieces acquired by the scanning equipment;
rendering the models of the workpieces and displaying the models on a page.
6. The method of claim 5, further comprising:
receiving a measurement operation input aiming at a target workpiece model in the models of the workpieces displayed on the page;
sending a measurement instruction for the target workpiece model to the server in response to the measurement operation; the measurement instruction is used for enabling the server to measure the target workpiece model to obtain a measurement report of the target workpiece model;
and receiving a measurement report of the target workpiece model returned by the server.
7. The method of claim 6, further comprising:
generating a measurement effect graph of the target workpiece model according to the measurement report of the target workpiece model;
and displaying the measurement effect graph on a page, wherein the measurement effect graph displays: deviation information of the characteristic parameters of each part in the target workpiece model and the corresponding calibration parameters.
8. A server, comprising: a first processor, a first memory and a first bus, the first memory storing program instructions executable by the first processor, the first processor and the first memory communicating via the first bus when the server is running, the first processor executing the program instructions to perform the steps of the workpiece model processing method of any of claims 1 to 4.
9. A front-end device, comprising: a second processor, a second memory and a second bus, wherein the second memory stores program instructions executable by the second processor, when the front-end device is running, the second processor and the second memory communicate with each other through the second bus, and the second processor executes the program instructions to perform the steps of the workpiece model processing method according to any one of claims 5 to 7.
10. A three-dimensional scanning system, comprising: a plurality of scanning devices, a server and a front-end device; wherein the plurality of scanning devices are communicatively coupled to the server, the server being further communicatively coupled to the front end device, the server being configured to perform the workpiece model processing method of any of claims 1 to 4, and the front end device being configured to perform the workpiece model processing method of any of claims 5 to 7.
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