CN116124081A

CN116124081A - Non-contact workpiece detection method and device, electronic equipment and medium

Info

Publication number: CN116124081A
Application number: CN202310409957.0A
Authority: CN
Inventors: 李雪梅; 胡江洪; 曹彬; 焦璐; 刘瑞芳; 陈立名; 袁帅鹏; 孙国栋; 王帅
Original assignee: Fitow Tianjin Detection Technology Co Ltd
Current assignee: Fitow Tianjin Detection Technology Co Ltd
Priority date: 2023-04-18
Filing date: 2023-04-18
Publication date: 2023-05-16
Anticipated expiration: 2043-04-18
Also published as: CN116124081B

Abstract

The invention discloses a non-contact workpiece detection method, a non-contact workpiece detection device, electronic equipment and a non-contact workpiece detection medium. Acquiring a workpiece to be detected in real time, and placing the workpiece to be detected on a preset detection station frame in a measurement pose to obtain measurement pose information and measurement distance readings detected by each detection sensor at each measurement point; acquiring a standard workpiece, and acquiring reference pose information and each reference distance reading of the standard workpiece; according to the measured pose information and the reference pose information, calculating to obtain pose offset variation and face difference data; and carrying out temperature compensation treatment on each surface difference data to obtain temperature compensation surface difference data, and comparing the temperature compensation surface difference data with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be detected. The problem of the work piece size measurement in-process because of factors such as environment measurement difficulty is solved, work piece size measurement's precision has been improved, work piece detection can be carried out better, the cost of manpower and materials has been reduced, has improved work piece measurement's automation.

Description

Non-contact workpiece detection method and device, electronic equipment and medium

Technical Field

The present invention relates to the field of workpiece dimension measurement, and in particular, to a non-contact workpiece detection method, device, electronic apparatus, and medium.

Background

As a part cast by using a die, a die casting is affected by various factors during casting, resulting in problems in its structure. In order to ensure that the die casting can be better applied as a part or a product, careful appearance measurement is required to be carried out after the die casting is cast, so as to judge whether the appearance size of the die casting is qualified or not, and avoid the problem that the appearance of the die casting cannot change in shape.

The inventors have found that the following drawbacks exist in the prior art in the process of implementing the present invention: currently, die casting measurements are made by structured light three-dimensional measurement techniques. Specifically, the basic principle of the structured light three-dimensional measurement technology is that a measured casting is placed in the allowed measurement space range, the numerical values of three coordinate positions of points on the surface of the measured casting are measured with high precision, the coordinate numerical values of the points are processed by a computer and are fitted to form measurement elements such as circles, balls, cylinders, cones, curved surfaces and the like, and the shape, the position tolerance and other geometric quantity data of the measured casting are obtained by a mathematical calculation method.

However, devices of structured light three-dimensional measurement technology are sensitive to ambient light and strong light environments may interfere with the measurement results. In addition, devices of structured light three-dimensional measurement techniques are sensitive to reflective properties, color and transparency of the object surface, and accurate data may be difficult to obtain for objects with highly reflective, dark or transparent surfaces. The equipment and software costs of structured light three-dimensional measurement techniques are relatively high, which may burden certain application scenarios. Structured light three-dimensional measurement techniques typically require measurements to be taken in a stationary state, and capturing accurate three-dimensional data in real time can become challenging for moving or deformed objects. Devices of structured light three-dimensional measurement technology require specialized software for data processing and analysis, and operation and learning of curves can be difficult for users who first contact such devices. Structured light three-dimensional measurement techniques may be affected by vibrations of the surrounding environment during the measurement process, which vibrations may lead to deviations of the measurement data.

Disclosure of Invention

The invention provides a non-contact workpiece detection method, a non-contact workpiece detection device, electronic equipment and a non-contact workpiece detection medium, so that the accuracy of workpiece size measurement is improved, workpiece detection can be better performed, the cost of manpower and material resources is reduced, and the automation of workpiece measurement is improved.

According to an aspect of the present invention, there is provided a non-contact workpiece inspection method, including:

acquiring a workpiece to be detected in real time, placing the workpiece to be detected on a preset detection station frame in a measurement pose, and measuring to obtain measurement pose information corresponding to the workpiece to be detected and measurement distance readings detected by each detection sensor at each measurement point;

the detection station frame comprises a first detection component and a second detection component, the first detection component is used for measuring the measurement pose information, and the second detection component comprises a plurality of detection sensors and is used for detecting distance readings of a plurality of measurement points corresponding to the workpiece to be detected;

acquiring a standard workpiece corresponding to the workpiece to be detected, and acquiring reference pose information of the standard workpiece measured on a preset detection station frame according to a reference pose and reference distance readings detected by each detection sensor on each measurement point;

according to the measured pose information and the reference pose information, calculating to obtain pose offset variation;

calculating to obtain the face difference data of each measuring point according to the pose offset variation, each measuring distance reading and each reference distance reading;

And carrying out temperature compensation processing on the surface difference data of each measuring point to obtain temperature compensation surface difference data of each measuring point, and comparing the temperature compensation surface difference data of each measuring point with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be detected.

According to another aspect of the present invention, there is provided a non-contact workpiece inspection apparatus, including:

the measuring pose information and measuring distance reading determining module is used for acquiring a workpiece to be measured in real time, placing the workpiece to be measured on a preset detecting station frame in a measuring pose, and measuring to obtain measuring pose information corresponding to the workpiece to be measured and measuring distance readings detected by each detecting sensor on each measuring point;

the reference pose information and reference distance reading acquisition module is used for acquiring a standard workpiece corresponding to the workpiece to be detected, and acquiring reference pose information measured by the standard workpiece on a preset detection station frame according to a reference pose and reference distance readings detected by each detection sensor on each measurement point;

The pose offset change amount calculation module is used for calculating the pose offset change amount according to the measured pose information and the reference pose information;

the surface difference data calculation module is used for calculating surface difference data of each measuring point according to the pose offset variation, each measuring distance reading and each reference distance reading;

the workpiece detection result determining module is used for carrying out temperature compensation processing on the surface difference data of each measuring point to obtain temperature compensation surface difference data of each measuring point, and comparing the temperature compensation surface difference data of each measuring point with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be detected.

According to another aspect of the present invention, there is provided an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the method for detecting a workpiece according to any of the embodiments of the present invention when the processor executes the computer program.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the method for non-contact workpiece detection according to any of the embodiments of the present invention.

The invention has the beneficial effects that:

1. according to the technical scheme, the workpiece to be measured is obtained in real time and is placed on a preset detection station frame in a measurement pose, and measurement pose information corresponding to the workpiece to be measured and measurement distance readings detected by all detection sensors at all measurement points are obtained through measurement; acquiring a standard workpiece corresponding to the workpiece to be detected, and acquiring reference pose information of the standard workpiece measured on a preset detection station frame according to a reference pose and reference distance readings detected by each detection sensor on each measurement point; according to the measured pose information and the reference pose information, calculating to obtain pose offset variation; calculating to obtain the face difference data of each measuring point according to the pose offset variation, each measuring distance reading and each reference distance reading; and carrying out temperature compensation processing on the surface difference data of each measuring point to obtain temperature compensation surface difference data of each measuring point, and comparing the temperature compensation surface difference data of each measuring point with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be detected. The problem of the work piece size measurement in-process because of factors such as environment measurement difficulty is solved, work piece size measurement's precision has been improved, work piece detection can be carried out better, the cost of manpower and materials has been reduced, work piece measurement's automation has been improved, work piece can be protected better, avoid because contact measurement size is to the wearing and tearing of work piece.

2. The invention has the advantage of being capable of carrying out temperature compensation on the surface difference of the workpiece, the conventional structured light three-dimensional measurement technology can only test the workpiece at normal temperature, the high temperature has great influence on hardware thereof, and the measured data has great deviation; the related hardware is not affected by temperature, and in practice, after the workpiece to be measured is processed at high temperature, the device is directly adopted for measurement, the reference pose information and the reference distance reading are obtained at normal temperature, the workpiece has a certain level difference change at the high temperature and the normal temperature, and the temperature compensation step is designed in consideration of temperature factors, so that the influence of different temperatures on measurement accuracy is avoided.

3. The conventional operation in the field is to directly use the readings of the characteristic points and the detection sensors to judge whether the workpiece to be detected is a qualified workpiece or not, and the invention adopts a least square fitting method to carry out association calculation on the midpoint of the characteristic points, the center coordinates and the data of each group of detection sensors, so that the model with the least square sum of errors is closest to real data, thereby removing abnormal points in the data and eliminating vibration interference.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a non-contact workpiece inspection method according to a first embodiment of the invention;

FIG. 2 is a flow chart of another non-contact workpiece inspection method according to a second embodiment of the invention;

fig. 3 is a schematic structural diagram of a non-contact workpiece inspection device according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "target," "current," and the like in the description and claims of the present invention and the above-described drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a flowchart of a non-contact workpiece detection method according to an embodiment of the present invention, where the method may be applied to a case where a workpiece to be detected is detected for surface difference and compared with a standard workpiece to determine whether the workpiece to be detected is a qualified workpiece in non-contact workpiece quality detection.

Accordingly, as shown in fig. 1, the method includes:

s110, acquiring a workpiece to be detected in real time, placing the workpiece to be detected on a preset detection station frame in a measurement pose, and measuring to obtain measurement pose information corresponding to the workpiece to be detected and measurement distance readings detected by each detection sensor on each measurement point.

The detection station frame comprises a first detection component and a second detection component, the first detection component is used for measuring the measurement pose information, and the second detection component comprises a plurality of detection sensors and is used for detecting distance readings of a plurality of measurement points corresponding to the workpiece to be detected.

The workpiece to be measured may be a workpiece to be measured in size and quality, for example, a die casting, which is a part cast by a die, may be a die casting to be measured produced by a die.

Specifically, the detection station frame may be a frame for collecting information of the workpiece to be detected. The inspection station frame may include a first inspection assembly and a second inspection assembly. The first detection assembly may be comprised of at least two cameras and at least three reference sensors. For example, images are acquired through two cameras, 30 images can be shot by each camera, H-shaped characteristic points of a workpiece are extracted from the image acquired by the first camera, 30 groups of data can be acquired through calculation to remove measurement data with deviation caused by vibration due to the fact that the production environment is always vibrating, and the influence of the vibration on measurement is eliminated; the workpiece O-type feature point extraction can be performed on the image acquired by the second camera.

Further, the workpiece H-type feature point extraction may include:

firstly, image preprocessing is carried out, the minimum value and the maximum value of the gray value of an image are calculated, the gray value of an original image is scaled to be within the range of 0-255, the contrast is enhanced according to the maximum proportion, the gray value of the image is maximized, the gray value range can be fully utilized, the number of different gray values is not changed, and the overall visual effect is enhanced.

Secondly, extracting edges, namely extracting sub-pixel precision edges by using Deriche, lanser, shen and Canny filters; screening certain characteristics of the contour (such as length, circumscribing radius, inscribing width, inscribing height, roundness, compactness, circumference, convexity, rectangle degree, ratio of elliptic long half axis to short half axis, and fluffiness of the contour, etc.), selecting a required contour, and combining the adjacent contours into one contour; fitting the edge to obtain a starting point and an end point of the edge, and finally obtaining the midpoint of the characteristic point.

Additionally, the workpiece O-type feature point extraction may include:

firstly, image preprocessing is carried out, the minimum value and the maximum value of the gray values of the image are calculated, the gray values of the original image are scaled to be within the range of 0-255, the contrast is enhanced according to the maximum proportion, the gray values of the image are maximized, the value range can be fully utilized, the number of different gray values is not changed, and the overall visual effect is enhanced.

And secondly, carrying out threshold segmentation, searching for a proper gray threshold, and selecting according to a gray histogram of the image. Dividing the gray level of the image into several parts by one or several thresholds, considering pixels belonging to the same part as the same object; the corrosion expansion has a good effect on removing the protruding areas of the object after image segmentation and the protruding areas of the area boundaries. The expansion has good effect on filling the hollow of the object after the image segmentation and the concave area of the area boundary; dividing the connected areas, and dividing the unconnected areas into independent areas; the closed operation is an operation of expanding and then corroding, which is helpful to close small holes in foreground objects or remove small black spots on the objects, and can connect different foreground images.

Further, the difference between the two areas obtained by the corrosion expansion and the closing operation is calculated, and the required area (the area extracted by the O-shaped characteristic) is screened to obtain the circle center coordinates of the O-shaped characteristic point.

Correspondingly, least square fitting is carried out according to the midpoint of the characteristic point, the center coordinates and the data of each group of detection sensors, so that the model with the least square sum of errors estimated is closest to real data. And removing abnormal points in the data to eliminate vibration interference. Outliers can be removed by weighted least squares and residual diagnostic outliers, as follows:

1) Using a weighted least squares method: since the least square method is to minimize the mean square error, the contribution degree of each sample is considered on the premise that the error accords with normal distribution and the mean value is 0, namely each sample has the same weight, and therefore the least square method is particularly sensitive to abnormal values in the middle of data. The weighted least square method also takes the distance as a measurement, and gives different weight values according to the distance, so that the interference of abnormal values can be reduced to a certain extent.

2) Using residual diagnostic outliers: and (3) judging an outlier in the sampled data by calculating a residual error by using a least square linear model, removing the outlier, then calculating the residual error again, finding out the outlier until the outlier does not appear any more, and calculating a least square regression equation.

In this embodiment, the H-type feature extraction is performed on the image acquired by the first camera, and the O-type feature extraction is performed on the image acquired by the second camera, and specifically, the H-type feature extraction requires an edge to be extracted. The O-shaped feature extraction needs to extract the circle center, and because the O-shaped feature extraction needs to be different, an unnecessary method is adopted, and the purpose is to extract corresponding midpoint and circle center coordinates respectively, so that the extracted data better describe the workpiece feature, and the extracted data and the data of the detection sensor are subjected to least square fitting, so that the obtained data can better eliminate the influence of abnormal values.

Wherein the second detection assembly comprises a plurality of detection sensors, which may be data detection sensors, for detecting the distance to the measuring point on the workpiece.

Further, fixed data is obtained, including three-dimensional coordinates of the sensor and the camera in a world coordinate system obtained by mechanical calibration, a calculated constant K value,

is constant; and obtaining the camera single pixel precision and the step coefficient of temperature (the temperature is compensated by the step) to determine the distance between the two sensors.

Establishing a coordinate system according to the calculated data, taking the top of one support column as the origin of the world coordinate system, keeping the XOY plane of the world coordinate system parallel to the plane determined by the 3 datum points, and establishing a pose coordinate system X, Y, rz by using the change values of the images acquired by the cameras; and (5) establishing pose coordinate systems Z, rx and Ry by using the change values of the distances of the 3 reference sensors. Thus, a new coordinate system is constructed, and the measured pose information of the workpiece to be measured is obtained.

The position and pose information can be fed back to obtain the position and pose change information of the workpiece to be measured in space. The measured distance readings can be distance readings corresponding to all measuring points on the workpiece to be measured, which are detected by the detection sensor.

S120, acquiring a standard workpiece corresponding to the workpiece to be detected, and acquiring reference pose information of the standard workpiece measured on a preset detection station frame according to a reference pose and reference distance readings detected by each detection sensor on each measurement point.

The standard workpiece can be a qualified standard workpiece corresponding to the workpiece to be measured, information of the standard workpiece can be stored in advance and used for comparing with information parameters of the workpiece to be measured, if the information parameters meet the requirements, the workpiece to be measured can be determined to be a qualified workpiece, otherwise, the workpiece to be measured is an unqualified workpiece, and the standard workpiece is equivalent to the reference function of the standard workpiece.

In addition, the reference pose information can feed back the pose change information of the standard workpiece in space. The reference distance reading may be a distance reading corresponding to each measurement point on the standard workpiece detected by the detection sensor.

The reference pose information and the reference distance reading are both constant, the reference distance reading is only related to the position sequence number of the measuring point, namely, the reference distance reading is only related to the position of the measuring point, after the position of the measuring point is determined, the sequence number of the measuring point is also determined, and then the reference distance reading of the measuring point is also determined and kept unchanged, that is, the measuring point of one position corresponds to one reference distance reading, and the reference distance reading of the measuring point of the position is kept unchanged.

In this embodiment, reference pose information and reference distance readings corresponding to a standard workpiece are required to be acquired, and compared with parameters measured by the workpiece to be measured to obtain a workpiece detection result.

Optionally, the acquiring the reference distance reading detected by each detection sensor at each measurement point includes: acquiring detection distances of all measurement points through all detection sensors; acquiring compensation face difference data corresponding to each measuring point respectively; based on each detected distance and each compensation surface differenceAccording to the calculation formula:

calculating to obtain the reference distance reading of each measuring point; wherein (1)>

For the detection distance of the i-th measuring point, is->

Compensating surface difference data for the i-th measurement point.

The detection distance can be the distance between the workpiece to be detected and each measurement point of the workpiece to be detected, which is measured directly by the detection sensor. The compensation face difference data may be data that compensates for different measurement points, and the compensation face difference data is a constant.

Specifically, since a standard workpiece generates a certain deviation during production, compensation is required. And the compensated standard workpiece is consistent with the drawing designed by the workpiece, and then other produced workpieces are detected to avoid errors caused by deviation of the standard workpiece in the production process, so that the accuracy of workpiece detection is improved.

Exemplary, assuming that the compensation face difference data of the 6 th measurement point is 0.02m, the detection distance is 0.2m, according to the formula

The reference distance corresponding to the 6 th measuring point can be calculated to be 0.22m, and the other measuring points are similarly compensated by the compensation surface difference data.

S130, calculating to obtain pose offset variation according to the measured pose information and the reference pose information.

The change amount of the pose shift may be a change amount describing the pose shift of the workpiece to be measured, which occurs with reference to a standard workpiece.

Optionally, the calculating to obtain the pose offset variation according to the measured pose information and the reference pose information includes: calculating difference according to the measured pose information and the reference pose information to obtain a change pose signalExtinguishing; wherein the reference pose information comprises the offset of the standard workpiece on the X axis when the standard workpiece is in the reference pose

Offset on Y-axis +.>

Offset in Z-axis +.>

Deflection angle about the X-axis>

Deflection angle around Y-axis>

Deflection angle about the Z axis>

The method comprises the steps of carrying out a first treatment on the surface of the The measurement pose information comprises the offset amount +_ of the workpiece to be measured on the X axis when the workpiece is in the measurement pose>

Offset on Y-axis +. >

Offset in Z-axis +.>

Deflection angle about the X-axis>

Deflection angle around Y-axis>

Deflection angle about the Z axis>

The method comprises the steps of carrying out a first treatment on the surface of the The change pose information comprises a change amount in the X-axis +.>

Variation on Y-axis +.>

Variation in Z-axis +.>

Angle of change about the X-axis>

Angle of change around Y-axis>

Angle of change about the Z-axis

；

According to the following calculation formula:

calculating the pose offset variation of each measuring point>

；

Wherein i is the number of position sequences of the ith measuring point, and the number of position sequences of the ith measuring point is the same as the number of position sequences of the ith measuring point

For a fixed value +.>

Different.

The change pose information may be change information obtained by performing difference calculation according to the measurement pose information and the reference pose information.

For example, assuming that the reference pose information is (6,5,2,0.3,0.2,0.1), the measured pose information is (7,6,2,0.4,0.2,0.1), and thus the changed pose information can be calculated as (1,1,0,0.1,0,0).

Further, because

As a constant, the pose shift change amount can be calculated according to the calculated change pose information.

The advantages of this arrangement are that: the pose offset change amount is calculated according to the changed pose information, so that the calculated pose offset change amount is more accurate, and the quality problem of the workpiece to be measured can be reflected better.

And S140, calculating to obtain the face difference data of each measuring point according to the pose offset variation, each measuring distance reading and each reference distance reading.

The surface difference data can be situation data describing the change of the workpiece to be measured and the standard workpiece.

Optionally, the calculating to obtain the face difference data of each measurement point according to the pose offset variation, each measurement distance reading and each reference distance reading includes: according to the pose offset variation, each measured distance reading and each reference distance reading, a calculation formula is adopted:

calculating to obtain the face difference data of each measuring point; wherein (1)>

For the reference distance reading of the ith measuring point, is->

For the measurement distance reading of the i-th measurement point,

is the face difference data of the i-th measuring point.

In this embodiment, each measurement point includes a corresponding reference distance reading, and the measurement distance reading may be processed according to a corresponding parameter of each measurement point, so as to obtain face difference data of each measurement point. That is, the surface difference data corresponding to different measurement points corresponding to the workpiece to be measured needs to be calculated, so that the data of the workpiece to be measured can be reflected more comprehensively, and the quality detection operation can be performed more accurately.

And S150, performing temperature compensation processing on the surface difference data of each measuring point to obtain temperature compensation surface difference data of each measuring point, and comparing the temperature compensation surface difference data of each measuring point with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be detected.

The temperature compensation surface difference data may be data obtained after performing temperature compensation processing on the surface difference data, and since the workpiece to be measured changes in length, area and volume according to its own temperature, the temperature compensation operation is required.

Specifically, the threshold value of the range of the qualified workpiece can be a preset threshold value according to experience, for example, the threshold value of the range of the qualified workpiece can be set to be [ -2mm,2mm ], that is, when the temperature compensation surface difference data hits the threshold value of the range of the qualified workpiece, the workpiece to be detected can be determined to be the qualified workpiece; if the temperature compensation surface difference data does not hit the qualified workpiece range threshold, the workpiece to be detected can be determined to be a unqualified workpiece.

The workpiece detection result may include a qualified workpiece and a disqualified workpiece.

Optionally, the comparing the temperature compensation surface difference data of each measurement point with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be detected includes: if the temperature compensation surface difference data of all the measuring points meet a preset qualified workpiece range threshold value, determining that a workpiece detection result corresponding to the workpiece to be detected is a qualified workpiece; and if the temperature compensation surface difference data of any measuring point does not meet a preset qualified workpiece range threshold, determining that the workpiece detection result corresponding to the workpiece to be detected is a unqualified workpiece.

In this embodiment, the temperature compensation surface difference data corresponding to all the measurement points on the workpiece to be measured needs to be compared with the qualified workpiece range threshold value respectively, and if each temperature compensation surface difference data meets the qualified workpiece range threshold value, the workpiece is determined to be a qualified workpiece.

Further, if at least one temperature compensated face difference data does not meet the acceptable workpiece range threshold, determining as an unacceptable workpiece.

According to the technical scheme, the workpiece to be measured is obtained in real time and is placed on a preset detection station frame in a measurement pose, and measurement pose information corresponding to the workpiece to be measured and measurement distance readings detected by all detection sensors at all measurement points are obtained through measurement; acquiring a standard workpiece corresponding to the workpiece to be detected, and acquiring reference pose information of the standard workpiece measured on a preset detection station frame according to a reference pose and reference distance readings detected by each detection sensor on each measurement point; according to the measured pose information and the reference pose information, calculating to obtain pose offset variation; calculating to obtain the face difference data of each measuring point according to the pose offset variation, each measuring distance reading and each reference distance reading; and carrying out temperature compensation processing on the surface difference data of each measuring point to obtain temperature compensation surface difference data of each measuring point, and comparing the temperature compensation surface difference data of each measuring point with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be detected. The problem of the work piece size measurement in-process because of factors such as environment measurement difficulty is solved, work piece size measurement's precision has been improved, work piece detection can be carried out better, the cost of manpower and materials has been reduced, work piece measurement's automation has been improved, work piece can be protected better, avoid because contact measurement size is to the wearing and tearing of work piece.

Example two

Fig. 2 is a flowchart of another non-contact workpiece detection method according to a second embodiment of the present invention, which is based on the above embodiments, in this embodiment, the temperature compensation process is performed on the surface difference data of each measurement point, so as to obtain temperature compensation surface difference data of each measurement point, and further refine the temperature compensation surface difference data.

Accordingly, as shown in fig. 2, the method includes:

s210, acquiring a workpiece to be detected in real time, placing the workpiece to be detected on a preset detection station frame in a measurement pose, and measuring to obtain measurement pose information corresponding to the workpiece to be detected and measurement distance readings detected by each detection sensor on each measurement point.

S220, acquiring a standard workpiece corresponding to the workpiece to be detected, and acquiring reference pose information of the standard workpiece measured on a preset detection station frame according to a reference pose and reference distance readings detected by each detection sensor on each measurement point.

S230, calculating to obtain pose offset variation according to the measured pose information and the reference pose information.

S240, calculating to obtain the face difference data of each measuring point according to the pose offset variation, each measuring distance reading and each reference distance reading.

S250, acquiring a temperature value corresponding to the workpiece to be detected, and inputting the temperature value into a pre-constructed temperature change data model to obtain a temperature calibration coefficient.

The temperature value may be a data value of the current temperature of the workpiece to be measured. The temperature change data model can be a model which can be processed according to the temperature value corresponding to the workpiece to be detected and can obtain a correction coefficient. The temperature calibration coefficient may be a magnitude value describing a coefficient of the workpiece to be measured that needs to be calibrated according to the current temperature value.

And S260, carrying out temperature compensation processing on the surface difference data of each measuring point according to the temperature calibration coefficient to obtain temperature compensation surface difference data of each measuring point.

In this embodiment, it is necessary to first obtain a temperature value of the workpiece to be measured, and then obtain a temperature calibration coefficient according to the temperature value.

Correspondingly, according to the temperature calibration coefficient, temperature compensation processing is carried out on the face difference data, and corresponding temperature compensation face difference data are obtained. Specifically, the temperature compensation face difference data can be obtained through the operation of multiplying the temperature calibration coefficient and the face difference data. It should be noted that each measurement point corresponds to one temperature compensation surface difference data.

S270, comparing the temperature compensation surface difference data of each measuring point with a preset qualified workpiece range threshold value, and determining a workpiece detection result corresponding to the workpiece to be detected.

Optionally, before the temperature compensation processing is performed on the surface difference data of each measurement point to obtain temperature compensated surface difference data of each measurement point, the method further includes: acquiring the initial length, the initial area and the initial volume of the standard workpiece at the initial temperature of the standard workpiece respectively; obtaining standard workpiece variable temperature lengths, standard workpiece variable temperature areas and standard workpiece variable temperature volumes which correspond to the standard workpiece at different temperatures respectively; according to the initial length of the standard workpiece and the variable-temperature length of each standard workpiece, the standard workpiece is processed by the following formula

Calculating to obtain a linear expansion coefficient alpha; wherein (1)>

The temperature change length of the standard workpiece is changed; l is the initial length of the standard workpiece, < >>

Is a temperature change; according to the initial area of the standard workpiece and the variable temperature area of each standard workpiece, the standard workpiece is processed by the formula +.>

Calculating to obtain a surface expansion coefficient beta; wherein (1)>

The temperature change area is the standard workpiece; s is the initial area of a standard workpiece; according to the initial volume and the variable temperature volume of each standard workpiece, the standard workpiece is processed through the formula +. >

Calculating to obtain a volume expansion coefficient gamma; wherein (1)>

Changing the temperature volume for a standard workpiece; v is the initial body of the standard workpieceAccumulating; and constructing and obtaining a temperature change data model according to the linear expansion coefficient, the surface expansion coefficient and the volume expansion coefficient.

The initial length of the standard workpiece may describe the length of the standard workpiece at normal temperature. The original area of the standard workpiece may describe the area of the standard workpiece at normal temperature. The original volume of the standard workpiece may describe the volume of the standard workpiece at room temperature.

In addition, the gauge work piece varying temperature length may describe the length of the gauge work piece at a very temperature condition. The standard workpiece temperature change area may describe the area of the standard workpiece in a very temperature state. The proof mass may describe the mass of the proof mass at a very temperature. Different parameters at different temperatures can be acquired. The linear expansion coefficient may be the coefficient of variation of the standard workpiece length at different temperatures. The surface expansion coefficient may be the coefficient of variation of the standard workpiece area at different temperatures. The coefficient of bulk expansion may be the coefficient of variation of the standard workpiece volume at different temperatures.

In this embodiment, the length, the area and the volume of the standard workpiece collected at the initial temperature (i.e., normal temperature) and the abnormal temperature state are compared to obtain the corresponding linear expansion coefficient, the surface expansion coefficient and the volume expansion coefficient, so as to construct and obtain the temperature change data model, and thus the calibration processing of the surface difference data can be performed more accurately according to the temperature value corresponding to the workpiece to be detected, and the accuracy and the precision of the workpiece to be detected are improved.

Optionally, the method further comprises: the first detection assembly comprises at least two cameras and at least three reference sensors; the second detection assembly includes a plurality of detection sensors; wherein the detection sensor is composed of at least three first detection sensors, at least eight second detection sensors and at least fifteen third detection sensors; the first detection sensor is a detection sensor in the X-axis direction; the second detection sensor is a detection sensor in the Y-axis direction; the third detection sensor is a detection sensor in the Z-axis direction; the step of obtaining the initial length of the standard workpiece and the variable-temperature length of the standard workpiece corresponding to the standard workpiece comprises the following steps: acquiring the initial length of the standard workpiece and the variable-temperature length of the standard workpiece corresponding to the standard workpiece through at least eight second detection sensors; the step of obtaining the initial area of the standard workpiece and the variable temperature area of the standard workpiece corresponding to the standard workpiece comprises the following steps: acquiring an initial area of a standard workpiece and a variable temperature area of the standard workpiece corresponding to the standard workpiece through at least three reference sensors; the step of obtaining the initial volume of the standard workpiece and the variable temperature volume of the standard workpiece corresponding to the standard workpiece comprises the following steps: and acquiring the initial volume of the standard workpiece and the variable temperature volume of the standard workpiece corresponding to the standard workpiece through at least eight second detection sensors and at least three reference sensors.

By way of example, assume that the first detection component includes 2 cameras and 3 reference sensors; the second detection assembly includes 3 first detection sensors, 8 second detection sensors, and 15 third detection sensors.

Specifically, 3 detection sensors are arranged in the X-axis direction; 8 detection sensors are arranged in the Y-axis direction; there are 15 detection sensors in the Z-axis direction.

The initial length of the standard workpiece and the variable temperature length of the standard workpiece can be measured by 8 detection sensors in the Y-axis direction, so that the linear expansion coefficient is calculated. The initial area of the standard workpiece and the variable temperature area of the standard workpiece can be measured through 3 reference sensors, so that the surface expansion coefficient is calculated. And measuring the initial volume of the standard workpiece and the variable temperature volume of the standard workpiece by 8 detection sensors and 3 reference sensors in the Y-axis direction, so as to calculate the volume expansion coefficient.

The advantages of this arrangement are that: the standard workpiece is measured by the sensors in different directions, so that a more accurate expansion coefficient is obtained, temperature compensation can be more accurately performed, and more accurate temperature compensation face difference data is obtained.

Optionally, obtaining first offset data corresponding to the standard workpiece or the workpiece to be measured respectively through at least two cameras; acquiring second offset data corresponding to the standard workpiece or the workpiece to be detected respectively through at least three reference sensors; detecting the distance from the standard workpiece or the measuring point on the workpiece to be detected by a plurality of detection sensors; obtaining first data according to second offset data corresponding to each reference sensor and a distance corresponding to each detection sensor; extracting characteristic points from the first offset data, and determining characteristic point coordinates; and carrying out least square fitting on the first data and the characteristic point coordinates so as to remove abnormal data corresponding to the abnormal measurement points.

The first offset data is formed by obtaining the offset on the X axis, the offset on the Y axis and the deflection angle around the Z axis, which are respectively corresponding to the standard workpiece or the workpiece to be detected, through at least two cameras. The second offset data is formed by acquiring the offset on the Z axis, the deflection angle around the X axis and the deflection angle around the Y axis, which are respectively corresponding to the standard workpiece or the workpiece to be detected, through at least three reference sensors. The first data may be constituted by the second offset data and the distance corresponding to each of the detection sensors.

In this embodiment, assuming that 3 reference sensors acquire 3 sets of data and 26 detection sensors detect 26 sets of data, it can be determined that 29 sets of data (i.e., first data) are acquired in total. And carrying out feature extraction on the data acquired by the 2 cameras through the H-type feature points and the O-type feature points respectively to obtain feature point coordinates.

Further, least square fitting is performed on 29 groups of data and feature point coordinates, so that abnormal measurement points in the data can be effectively removed, and vibration interference is eliminated. Thus, the detection processing operation of the workpiece to be detected can be better performed.

According to the technical scheme, the workpiece to be measured is obtained in real time and is placed on a preset detection station frame in a measurement pose, and measurement pose information corresponding to the workpiece to be measured and measurement distance readings detected by all detection sensors at all measurement points are obtained through measurement; acquiring a standard workpiece corresponding to the workpiece to be detected, and acquiring reference pose information of the standard workpiece measured on a preset detection station frame according to a reference pose and reference distance readings detected by each detection sensor on each measurement point; according to the measured pose information and the reference pose information, calculating to obtain pose offset variation; calculating to obtain the face difference data of each measuring point according to the pose offset variation, each measuring distance reading and each reference distance reading; acquiring a temperature value corresponding to the workpiece to be detected, and inputting the temperature value into a pre-constructed temperature change data model to obtain a target linear expansion coefficient, a target surface expansion coefficient and a target body expansion coefficient; calculating to obtain a temperature calibration value according to the target linear expansion coefficient, the target surface expansion coefficient and the target body expansion coefficient; and carrying out temperature compensation processing on the surface difference data of each measuring point according to the temperature calibration value to obtain temperature compensation surface difference data of each measuring point, and comparing the temperature compensation surface difference data of each measuring point with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be detected. The precision of workpiece size measurement is improved, workpiece detection can be better performed, the cost of manpower and material resources is reduced, the automation of workpiece measurement is improved, the workpiece can be better protected, the abrasion of the workpiece due to the contact type measurement of the size is avoided, and the accuracy of workpiece quality detection is improved.

Example III

Fig. 3 is a schematic structural diagram of a non-contact workpiece detecting device according to a third embodiment of the present invention. The non-contact workpiece detection device provided by the embodiment of the invention can be realized through software and/or hardware, and can be configured in a terminal device or a server to realize the non-contact workpiece detection method in the embodiment of the invention. As shown in fig. 3, the apparatus includes: the measured pose information and measured distance reading determination module 310, the reference pose information and reference distance reading acquisition module 320, the pose offset variation calculation module 330, the face difference data calculation module 340, and the workpiece detection result determination module 350.

The measuring pose information and measuring distance reading determining module 310 is configured to obtain a workpiece to be measured in real time, and place the workpiece to be measured on a preset detecting station frame in a measuring pose, and measure to obtain measuring pose information corresponding to the workpiece to be measured and measuring distance readings detected by each detecting sensor at each measuring point;

The reference pose information and reference distance reading acquisition module 320 is configured to acquire a standard workpiece corresponding to the workpiece to be measured, and acquire reference pose information measured by the standard workpiece on a preset detection station frame according to a reference pose and reference distance readings detected by each detection sensor on each measurement point;

a pose offset variation calculation module 330, configured to calculate a pose offset variation according to the measured pose information and the reference pose information;

a face difference data calculation module 340, configured to calculate face difference data of each measurement point according to the pose offset variation, each measurement distance reading, and each reference distance reading;

the workpiece detection result determining module 350 is configured to perform temperature compensation processing on the surface difference data of each measurement point to obtain temperature compensated surface difference data of each measurement point, and compare the temperature compensated surface difference data of each measurement point with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be detected.

Optionally, the pose offset variation amount calculation module 330 may be specifically configured to: calculating a difference according to the measured pose information and the reference pose information to obtain changed pose information; wherein the reference pose information comprises the offset of the standard workpiece on the X axis when the standard workpiece is in the reference pose

Offset on Y-axis +.>

Offset in Z-axis +.>

Deflection angle about the X-axis>

Deflection angle around Y-axis>

Deflection angle about the Z axis>

Offset on Y-axis +.>

Offset in Z-axis +.>

Deflection angle about the X-axis>

Deflection angle around Y-axis>

Deflection angle about the Z axis>

Variation on Y-axis +.>

Variation in Z-axis +.>

Angle of change about the X-axis>

Angle of change around Y-axis>

Angle of change about the Z axis>

The method comprises the steps of carrying out a first treatment on the surface of the According to the following calculation formula:

calculating to obtain eachThe pose shift change of the measuring point +.>

The method comprises the steps of carrying out a first treatment on the surface of the Wherein i is the number of position sequences of the ith measuring point, and the number of position sequences of the ith measuring point is the same as the number of position sequences of the ith measuring point

For a fixed value +. >

Different.

Optionally, the workpiece detection result determining module 350 may be specifically configured to: acquiring a temperature value corresponding to the workpiece to be detected, and inputting the temperature value into a pre-constructed temperature change data model to obtain a temperature calibration coefficient; and carrying out temperature compensation processing on the surface difference data of each measuring point according to the temperature calibration coefficient to obtain temperature compensation surface difference data of each measuring point.

Optionally, the temperature change data model building module may be specifically configured to: before the temperature compensation processing is carried out on the surface difference data of each measuring point to obtain temperature compensation surface difference data of each measuring point, respectively obtaining the initial length, the initial area and the initial volume of the standard workpiece at the initial temperature of the standard workpiece; obtaining standard workpiece variable temperature lengths, standard workpiece variable temperature areas and standard workpiece variable temperature volumes which correspond to the standard workpiece at different temperatures respectively; according to the initial length of the standard workpiece and the variable-temperature length of each standard workpiece, the standard workpiece is processed by the following formula

Calculating to obtain a linear expansion coefficient alpha; wherein (1)>

The temperature change length of the standard workpiece is changed; l is the initial length of the standard workpiece, < > >

Is a temperature change; based on the initial area of the standard workpiece and each standard workpieceTemperature change area is ∈10 by the formula>

Calculating to obtain a surface expansion coefficient beta; wherein (1)>

The temperature change area is the standard workpiece; s is the initial area of a standard workpiece; according to the initial volume and the variable temperature volume of each standard workpiece, the standard workpiece is processed through the formula +.>

Calculating to obtain a volume expansion coefficient gamma; wherein (1)>

Changing the temperature volume for a standard workpiece; v is the initial volume of the standard workpiece; and constructing and obtaining a temperature change data model according to the linear expansion coefficient, the surface expansion coefficient and the volume expansion coefficient.

Optionally, the method can be specifically used for: the first detection assembly comprises at least two cameras and at least three reference sensors; the second detection assembly includes a plurality of detection sensors; wherein the detection sensor is composed of at least three first detection sensors, at least eight second detection sensors and at least fifteen third detection sensors; the first detection sensor is a detection sensor in the X-axis direction; the second detection sensor is a detection sensor in the Y-axis direction; the third detection sensor is a detection sensor in the Z-axis direction; the step of obtaining the initial length of the standard workpiece and the variable-temperature length of the standard workpiece corresponding to the standard workpiece comprises the following steps: acquiring the initial length of the standard workpiece and the variable-temperature length of the standard workpiece corresponding to the standard workpiece through at least eight second detection sensors; the step of obtaining the initial area of the standard workpiece and the variable temperature area of the standard workpiece corresponding to the standard workpiece comprises the following steps: acquiring an initial area of a standard workpiece and a variable temperature area of the standard workpiece corresponding to the standard workpiece through at least three reference sensors; the step of obtaining the initial volume of the standard workpiece and the variable temperature volume of the standard workpiece corresponding to the standard workpiece comprises the following steps: and acquiring the initial volume of the standard workpiece and the variable temperature volume of the standard workpiece corresponding to the standard workpiece through at least eight second detection sensors and at least three reference sensors.

Optionally, the method can be specifically used for: acquiring first offset data corresponding to the standard workpiece or the workpiece to be measured respectively through at least two cameras; acquiring second offset data corresponding to the standard workpiece or the workpiece to be detected respectively through at least three reference sensors; detecting the distance from the standard workpiece or the measuring point on the workpiece to be detected by a plurality of detection sensors; obtaining first data according to second offset data corresponding to each reference sensor and a distance corresponding to each detection sensor; extracting characteristic points from the first offset data, and determining characteristic point coordinates; and carrying out least square fitting on the first data and the characteristic point coordinates so as to remove abnormal data corresponding to the abnormal measurement points.

Optionally, the workpiece detection result determining module 350 may be specifically configured to: if the temperature compensation surface difference data of all the measuring points meet a preset qualified workpiece range threshold value, determining that a workpiece detection result corresponding to the workpiece to be detected is a qualified workpiece; and if the temperature compensation surface difference data of any measuring point does not meet a preset qualified workpiece range threshold, determining that the workpiece detection result corresponding to the workpiece to be detected is a unqualified workpiece.

The non-contact workpiece detection device provided by the embodiment of the invention can execute the non-contact workpiece detection method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example IV

Fig. 4 shows a schematic diagram of an electronic device 10 that may be used to implement a fourth embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a non-contact workpiece inspection method.

In some embodiments, the non-contact workpiece inspection method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the non-contact workpiece inspection method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the non-contact workpiece detection method in any other suitable manner (e.g., by means of firmware).

The method comprises the following steps: acquiring a workpiece to be detected in real time, placing the workpiece to be detected on a preset detection station frame in a measurement pose, and measuring to obtain measurement pose information corresponding to the workpiece to be detected and measurement distance readings detected by each detection sensor at each measurement point; acquiring a standard workpiece corresponding to the workpiece to be detected, and acquiring reference pose information of the standard workpiece measured on a preset detection station frame according to a reference pose and reference distance readings detected by each detection sensor on each measurement point; according to the measured pose information and the reference pose information, calculating to obtain pose offset variation; calculating to obtain the face difference data of each measuring point according to the pose offset variation, each measuring distance reading and each reference distance reading; and carrying out temperature compensation processing on the surface difference data of each measuring point to obtain temperature compensation surface difference data of each measuring point, and comparing the temperature compensation surface difference data of each measuring point with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be detected.

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Example five

A fifth embodiment of the present invention also provides a computer-readable storage medium containing computer-readable instructions, which when executed by a computer processor, is configured to perform a method of non-contact workpiece inspection, the method comprising: acquiring a workpiece to be detected in real time, placing the workpiece to be detected on a preset detection station frame in a measurement pose, and measuring to obtain measurement pose information corresponding to the workpiece to be detected and measurement distance readings detected by each detection sensor at each measurement point; acquiring a standard workpiece corresponding to the workpiece to be detected, and acquiring reference pose information of the standard workpiece measured on a preset detection station frame according to a reference pose and reference distance readings detected by each detection sensor on each measurement point; according to the measured pose information and the reference pose information, calculating to obtain pose offset variation; calculating to obtain the face difference data of each measuring point according to the pose offset variation, each measuring distance reading and each reference distance reading; and carrying out temperature compensation processing on the surface difference data of each measuring point to obtain temperature compensation surface difference data of each measuring point, and comparing the temperature compensation surface difference data of each measuring point with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be detected.

Of course, the computer-readable storage medium according to the embodiments of the present invention may include computer-executable instructions not only for performing the method operations described above, but also for performing the related operations in the non-contact workpiece inspection method according to any of the embodiments of the present invention.

From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments of the present invention.

It should be noted that, in the above-mentioned embodiment of the non-contact workpiece detection device, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.

Claims

1. A non-contact workpiece inspection method, comprising:

2. The method according to claim 1, wherein calculating the pose offset variation according to the measured pose information and the reference pose information includes:

calculating a difference according to the measured pose information and the reference pose information to obtain changed pose information;

wherein the reference pose information comprises the offset of the standard workpiece on the X axis when the standard workpiece is in the reference pose

Offset on Y-axis +.>

Offset in Z-axis +.>

Deflection angle about the X-axis>

Deflection angle around Y-axis>

Deflection angle about the Z axis>

Offset on Y-axis +.>

Offset in Z-axis +.>

Deflection angle about the X-axis>

Angle of deflection about Y-axis

Deflection angle about the Z axis>

On the Y-axisVariation of>

Variation in Z-axis +.>

Angle of change about the X-axis>

Angle of change around Y-axis>

Angle of change about the Z axis>

；

According to the following calculation formula:

calculating the pose offset variation of each measuring point>

；

For a fixed value +.>

Different.

3. The method according to claim 2, wherein the performing temperature compensation processing on the surface difference data of each measurement point to obtain temperature compensated surface difference data of each measurement point includes:

acquiring a temperature value corresponding to the workpiece to be detected, and inputting the temperature value into a pre-constructed temperature change data model to obtain a temperature calibration coefficient;

And carrying out temperature compensation processing on the surface difference data of each measuring point according to the temperature calibration coefficient to obtain temperature compensation surface difference data of each measuring point.

4. The method according to claim 3, wherein before the obtaining the temperature value corresponding to the workpiece to be measured, inputting the temperature value into a pre-constructed temperature change data model to obtain the target linear expansion coefficient, the target surface expansion coefficient and the target bulk expansion coefficient, further comprises:

acquiring the initial length, the initial area and the initial volume of the standard workpiece, which correspond to the standard workpiece at the initial temperature respectively;

obtaining standard workpiece variable temperature lengths, standard workpiece variable temperature areas and standard workpiece variable temperature volumes which correspond to the standard workpiece at different temperatures respectively;

according to the initial length of the standard workpiece and the variable-temperature length of each standard workpiece, the standard workpiece is processed by the following formula

Calculating to obtain a linear expansion coefficient alpha; wherein (1)>

Is a temperature change;

according to the initial area of the standard workpiece and the variable temperature area of each standard workpiece, the method passes through the formula

Calculating to obtain a surface expansion coefficient beta; wherein (1) >

The temperature change area is the standard workpiece; s is the initial area of a standard workpiece;

according to the initial volume and the variable temperature volume of each standard workpiece, the standard workpiece is processed through the formula

Calculating to obtain a volume expansion coefficient gamma; wherein (1)>

Changing the temperature volume for a standard workpiece; v is the initial volume of the standard workpiece;

and constructing and obtaining a temperature change data model according to the linear expansion coefficient, the surface expansion coefficient and the volume expansion coefficient.

5. The method as recited in claim 4, further comprising:

the first detection assembly comprises at least two cameras and at least three reference sensors; the second detection assembly includes a plurality of detection sensors; wherein the detection sensor is composed of at least three first detection sensors, at least eight second detection sensors and at least fifteen third detection sensors; the first detection sensor is a detection sensor in the X-axis direction; the second detection sensor is a detection sensor in the Y-axis direction; the third detection sensor is a detection sensor in the Z-axis direction;

the step of obtaining the initial length of the standard workpiece and the variable-temperature length of the standard workpiece corresponding to the standard workpiece comprises the following steps:

acquiring the initial length of the standard workpiece and the variable-temperature length of the standard workpiece corresponding to the standard workpiece through at least eight second detection sensors;

The step of obtaining the initial area of the standard workpiece and the variable temperature area of the standard workpiece corresponding to the standard workpiece comprises the following steps:

acquiring an initial area of a standard workpiece and a variable temperature area of the standard workpiece corresponding to the standard workpiece through at least three reference sensors;

the step of obtaining the initial volume of the standard workpiece and the variable temperature volume of the standard workpiece corresponding to the standard workpiece comprises the following steps:

and acquiring the initial volume of the standard workpiece and the variable temperature volume of the standard workpiece corresponding to the standard workpiece through at least eight second detection sensors and at least three reference sensors.

6. The method of claim 5, wherein comparing the temperature compensated face difference data of each measurement point with a preset qualified workpiece range threshold value to determine a workpiece detection result corresponding to the workpiece to be measured comprises:

if the temperature compensation surface difference data of all the measuring points meet a preset qualified workpiece range threshold value, determining that a workpiece detection result corresponding to the workpiece to be detected is a qualified workpiece;

and if the temperature compensation surface difference data of any measuring point does not meet a preset qualified workpiece range threshold, determining that the workpiece detection result corresponding to the workpiece to be detected is a unqualified workpiece.

7. The method as recited in claim 5, further comprising:

acquiring first offset data corresponding to the standard workpiece or the workpiece to be measured respectively through at least two cameras;

acquiring second offset data corresponding to the standard workpiece or the workpiece to be detected respectively through at least three reference sensors;

detecting the distance from the standard workpiece or the measuring point on the workpiece to be detected by a plurality of detection sensors;

obtaining first data according to second offset data corresponding to each reference sensor and a distance corresponding to each detection sensor;

extracting characteristic points from the first offset data, and determining characteristic point coordinates;

and carrying out least square fitting on the first data and the characteristic point coordinates so as to remove abnormal data corresponding to the abnormal measurement points.

8. A non-contact workpiece inspection apparatus, comprising:

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the non-contact workpiece detection method of any of claims 1-7 when the computer program is executed by the processor.

10. A computer readable storage medium storing computer instructions for causing a processor to perform the non-contact workpiece inspection method of any of claims 1-7.