CN115265366A - Object deformation detection method, device, terminal device and storage medium - Google Patents

Abstract

The application is applicable to the technical field of laser detection, and provides a method and a device for detecting deformation of an object, terminal equipment and a storage medium. The method for detecting the deformation of the object specifically comprises the following steps: acquiring actual coordinates acquired by a laser sensor, wherein the actual coordinates comprise actual marking point coordinates of a target marking point and actual contour point coordinates of a contour point associated with the target marking point, and the target marking point and the contour point are both positioned on an object; acquiring actual environmental parameters of an environment when a laser sensor collects actual coordinates; acquiring reference coordinates according to the actual environment parameters, wherein the reference coordinates comprise reference mark point coordinates of the target mark points and reference contour point coordinates of contour points associated with the target mark points, and the reference environment parameters associated with the reference coordinates are consistent with the actual environment parameters; and comparing the actual coordinates with the reference coordinates to obtain a detection result of whether the object has deformation. The embodiment of the application can improve the accuracy and efficiency of object deformation detection.

Description

Object deformation detection method, device, terminal equipment and storage medium

technical field

The present application belongs to the technical field of laser detection, and in particular relates to an object deformation detection method, device, terminal equipment and storage medium.

Background technique

A hydropower station is composed of a hydraulic system, a mechanical system, and an electric energy generating device. It is a water conservancy project that realizes the conversion of water energy to electric energy. The sustainability of electric energy production requires that the utilization of hydropower in hydropower stations be uninterrupted. Hydropower stations are often equipped with a large number of pipelines. These pipelines have a large weight and a long length, and are prone to deformation under a certain temperature and temperature difference. If the pipelines are laid in a corrosive environment, deformation will occur. more common. These deformations cause the pipelines to be twisted and deformed to varying degrees, or the connection positions of some important pipelines are shifted, resulting in potential safety hazards in hydropower stations.

At present, the way to detect the deformation of objects generally needs to use point cloud data for point cloud splicing after collecting point cloud data to identify the shape of the object, and then judge whether the shape of the object has changed. In practical applications, it is found that this method has low efficiency and poor detection accuracy, and false detection often occurs.

Contents of the invention

Embodiments of the present application provide an object deformation detection method, device, terminal equipment, and storage medium, which can solve the current situation of low efficiency and poor accuracy of object deformation detection.

The first aspect of the embodiment of the present application provides a deformation detection method of an object, including:

Obtain the actual coordinates collected by the laser sensor, the actual coordinates include the actual marker point coordinates of the target marker point and the actual contour point coordinates of the contour points associated with the target marker point, the target marker point and the contour point are located at on said object;

Acquiring the actual environmental parameters of the environment when the laser sensor collects the actual coordinates;

According to the actual environment parameters, obtain reference coordinates, the reference coordinates include the reference marker point coordinates of the target marker point and the reference contour point coordinates of the contour points associated with the target marker point, wherein the reference coordinates are associated with The reference environment parameters are consistent with the actual environment parameters;

Coordinate comparison is performed between the actual coordinates and the reference coordinates to obtain a detection result of whether the object is deformed.

An object deformation detection device provided in the second aspect of the embodiment of the present application includes:

The actual coordinate acquisition unit is used to acquire the actual coordinates collected by the laser sensor, the actual coordinates include the actual marker point coordinates of the target marker point and the actual outline point coordinates of the outline points associated with the target marker point, the target marker point and the contour points are located on the object;

An environmental parameter acquisition unit, configured to acquire actual environmental parameters of the environment when the laser sensor collects the actual coordinates;

a reference coordinate acquisition unit, configured to acquire reference coordinates according to the actual environment parameters, the reference coordinates include reference marker point coordinates of the target marker point and reference contour point coordinates of contour points associated with the target marker point, Wherein, the reference environment parameters associated with the reference coordinates are consistent with the actual environment parameters;

The deformation detection unit is configured to compare the actual coordinates with the reference coordinates to obtain a detection result of whether the object is deformed.

The third aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, the above-mentioned Steps of the deformation detection method.

A fourth aspect of the embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above deformation detection method are implemented.

A fifth aspect of the embodiments of the present application provides a computer program product, which, when the computer program product is run on a terminal device, causes the terminal device to execute the deformation detection method described in the first aspect above.

In the embodiment of the present application, by obtaining the actual coordinates collected by the laser sensor and the actual environmental parameters of the environment when the laser sensor collects the actual coordinates, and according to the actual environmental parameters, the reference coordinates are obtained to compare the actual coordinates with the reference coordinates Yes, the detection result of whether the object is deformed is obtained, wherein the actual coordinates include the actual marker point coordinates of the target marker point on the object and the actual contour point coordinates of the contour points on the object associated with the target marker point, and the reference coordinates include The reference marker point coordinates of the target marker point and the reference contour point coordinates of the contour points associated with the target marker point, because the reference environment parameters associated with the reference coordinates are consistent with the actual environment parameters, that is, the actual coordinates collected and the reference coordinates used for comparison All are obtained under the same environmental conditions, which can avoid the occurrence of false detection due to the influence of environmental factors such as humidity, light intensity, and temperature on the data collected by the laser sensor. At the same time, because the coordinates can be directly used for comparison, No point cloud splicing operation is required, and the detection efficiency is improved compared with the existing technology.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

FIG. 1 is a schematic diagram of an implementation flow of a method for detecting deformation of an object provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of a specific implementation process for obtaining reference coordinates provided by the embodiment of the present application;

FIG. 3 is a schematic diagram of a specific implementation process for determining the detection result provided by the embodiment of the present application;

FIG. 4 is a schematic structural diagram of an object deformation detection device provided in an embodiment of the present application;

FIG. 5 is a schematic structural diagram of a terminal device provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts shall belong to the protection of the present application.

At present, the way to detect the deformation of objects generally needs to use point cloud data for point cloud splicing after collecting point cloud data to identify the shape of the object, and then judge whether the shape of the object has changed.

This method needs to be realized based on the laser sensor, and the environmental sensitivity of the laser sensor is high, and environmental factors such as humidity, temperature, and light intensity are likely to affect the propagation process of the laser light emitted by the laser sensor, which in turn leads to certain problems in the collected point cloud data itself. At the same time, when the point cloud is relatively dense, it is easy to stitch different points as matching points for point cloud stitching, which further leads to the occurrence of deformation error detection and poor detection accuracy.

In addition, the process of point cloud stitching requires matching and fusion of multiple points. In order to detect the shape of an object, it is often necessary to detect all the outer surfaces of the object. At this time, the amount of point cloud data required for stitching is very large. , leading to a decrease in detection efficiency.

The solution provided by this application is just to solve the above problems.

In order to illustrate the technical solution of the present application, specific examples are used below to illustrate.

Fig. 1 shows a schematic flow chart of an implementation of a method for detecting deformation of an object provided by an embodiment of the present application. The method can be applied to a terminal device and is applicable to situations where the efficiency and accuracy of deformation detection need to be improved.

Wherein, the above-mentioned terminal device may be a smart terminal such as a computer, a mobile phone, or a robot, and the above-mentioned object may be an object that is easily deformed, such as a pipeline or a plastic product.

In some specific scenarios, the above-mentioned terminal equipment can be an inspection robot, which can detect whether the pipeline of the hydropower station is deformed through its own laser sensor during the inspection process, and then give an alarm when the pipeline is deformed to remind the work personnel to maintain the pipeline.

In other specific scenarios, the above-mentioned terminal equipment can also be an industrial computer on the production line, which can detect whether the produced product is deformed through the laser sensor on the production line, and then take out the product when the product is found to be deformed, so as to avoid deformed defective products into the market.

Specifically, the above object deformation detection method may include the following steps S101 to S104.

Step S101, acquiring the actual coordinates collected by the laser sensor.

In the embodiment of the present application, the staff can mark the marking points and outline points on the object. Specifically, marking points can be marked near important positions that are prone to deformation, so that the marking points can identify areas that are prone to deformation. Then, the contour points associated with the mark point are marked around the mark point, so that the contour point can identify the shape contour of the object in the easily deformed area.

At this time, the terminal device may acquire actual coordinates collected by the laser sensor, and the actual coordinates may specifically include actual marker point coordinates of the target marker point and actual contour point coordinates of contour points associated with the target marker point. The target marker is also the currently detected marker.

Specifically, both the actual marker point coordinates and the actual contour point coordinates may refer to three-dimensional coordinates in the device coordinate system of the laser sensor. The laser emitted by the laser sensor is reflected on the surface of the object. Based on the collected reflected light, the laser sensor can obtain the three-dimensional coordinates of the laser point irradiated on the surface of the object in the device coordinate system.

Wherein, the device coordinate system may be a three-dimensional coordinate system established with the point where the laser sensor is located as the origin and the bottom surface of the laser sensor as the XOY plane. It should be understood that device coordinate systems established in other ways are also applicable to this application.

It should be noted that the marker points and the contour points can be marked with different symbols and colors, and the distance between the contour points and the marker points is generally within a certain range.

For example, the staff can mark the mark point with the symbol "red triangle point" on the surface of the object, and mark the contour point with the symbol "blue dot". The terminal device can identify the mark point through the camera. If the mark point is recognized, then The identified mark point is used as the target mark point, and the contour points appearing within a certain distance from the target mark point are identified as the contour points associated with the target mark point, and then the actual coordinates collected by the laser sensor are obtained.

Step S102, acquiring the actual environmental parameters of the environment when the laser sensor collects the actual coordinates.

The environmental parameters refer to parameter values that affect the environmental conditions of the laser sensor for point cloud data collection, specifically temperature values, humidity values, light intensity values, and the like. The actual environmental parameters are the environmental parameters of the environment when the laser sensor collects the actual coordinates.

Specifically, the above-mentioned temperature value and humidity value can be acquired by a temperature sensor and a humidity sensor respectively. The above-mentioned light intensity value can be obtained by a light intensity measuring instrument, or can be obtained by analyzing the pixel value of the environment image collected by the camera.

Step S103, acquiring reference coordinates according to actual environment parameters.

In the embodiments of the present application, the above-mentioned reference coordinates refer to theoretical coordinates for comparison with actual coordinates, and may include reference marker point coordinates of the target marker point and reference contour point coordinates of contour points associated with the target marker point. The reference environment parameters associated with the obtained reference coordinates should be consistent with the actual environment parameters.

That is to say, both the actual coordinates collected and the reference coordinates used for comparison are obtained under the same environmental conditions.

Specifically, after marking the marking points and contour points, the staff can obtain the reference coordinates under different environmental conditions through the laser sensor used in the experiment, and form a marking point library, so as to combine different reference coordinates with the reference coordinates of the corresponding environmental conditions. Environment parameter association. Furthermore, during actual use, the terminal device can acquire reference coordinates according to actual environment parameters.

In other implementation manners, the reference coordinates may also be directly input by the user.

In step S104, coordinate comparison is performed between the actual coordinates and the reference coordinates to obtain a detection result of whether the object is deformed.

In the embodiment of the present application, by comparing the actual coordinates with the reference coordinates, if the world coordinates are different from the reference coordinates, or the difference between the world coordinates and the reference coordinates is greater than the preset difference threshold, then the Confirm that the detection result shows that the object is deformed. Otherwise, it can be confirmed that the detection result shows no deformation of the object.

Wherein, the specific value of the difference threshold may be adjusted according to actual conditions.

In the embodiment of the present application, by obtaining the actual coordinates collected by the laser sensor and the actual environmental parameters of the environment when the laser sensor collects the actual coordinates, and according to the actual environmental parameters, the reference coordinates are obtained to compare the actual coordinates with the reference coordinates Yes, the detection result of whether the object is deformed is obtained, wherein the actual coordinates include the actual marker point coordinates of the target marker point on the object and the actual contour point coordinates of the contour points on the object associated with the target marker point, and the reference coordinates include The reference marker point coordinates of the target marker point and the reference contour point coordinates of the contour points associated with the target marker point, because the reference environment parameters associated with the reference coordinates are consistent with the actual environment parameters, that is, the actual coordinates collected and the reference coordinates used for comparison All are obtained under the same environmental conditions, which can avoid the occurrence of false detection due to the influence of environmental factors such as humidity, light intensity, and temperature on the data collected by the laser sensor. At the same time, because the coordinates can be directly used for comparison, No point cloud splicing operation is required, and the detection efficiency is improved compared with the existing technology.

In practical applications, there are often more than one marker point and contour point.

For example, in a hydropower station, there are often multiple connections on the same pipe at the same level. The staff can take a marker point at each connection, and take one or more contour points around each marker point. At this time, the reference coordinates of multiple marker points and contour points will be stored in the marker point library.

Based on this, in some embodiments of the present application, as shown in FIG. 2 , the terminal device may obtain reference coordinates from the marker point library through the following steps S201 to S204.

Step S201, acquiring multiple candidate marker point coordinates corresponding to each preset marker point among multiple preset marker points.

Wherein, the preset marking point is also the marking point marked by the staff. The above-mentioned multiple preset markers can refer to all markers recorded in the marker library, and multiple candidate marker coordinates corresponding to each preset marker point are recorded in the marker library, and each candidate marker coordinate is respectively associated with a reference Environment parameter association.

That is to say, for each marker point, its corresponding candidate marker point coordinates under different environmental conditions are recorded in the marker point database.

Step S202, determining a preset marker point matching the target marker point from the plurality of preset marker points, and using the preset marker point matching the target marker point as a reference marker point.

That is, the terminal device needs to find a preset marker that is the same marker as the target marker from the multiple preset markers in the marker library.

Specifically, in some embodiments of the present application, the coordinates of the above candidate marker points may include first reference coordinates (x1, y1, z1) of the corresponding preset marker points in the device coordinate system of the laser sensor. Correspondingly, the above-mentioned actual marker point coordinates may include the first actual coordinates (X1, Y1, Z1) of the target marker point in the device coordinate system.

At this time, the terminal device can calculate the coordinate distance between the first actual coordinates and the first reference coordinates of each preset marker point, and use the preset marker point with the smallest coordinate distance as the preset marker point matching the target marker point .

In other embodiments of the present application, the laser sensor for collecting actual coordinates may be installed on the inspection robot. At this time, the terminal device can obtain the current position of the inspection robot and the orientation of the laser sensor when the laser sensor collects the actual coordinates. According to the current position and the orientation of the laser sensor, the terminal device can determine the laser emitting direction of the laser sensor, and then use the preset marking point located in the laser emitting direction of the laser sensor as the preset marking point matching the target marking point.

Step S203, among the multiple candidate marker point coordinates corresponding to the reference marker point, the candidate marker point coordinates whose associated reference environment parameters are consistent with the actual environment parameters are used as the reference marker point coordinates.

In the embodiment of the present application, after finding the reference marker point matching the target marker point, since the coordinates of the candidate marker points corresponding to the reference marker points under different environmental conditions are recorded in the marker point database, the terminal device can use each The reference environment parameters associated with the coordinates of the candidate marker points are compared with the actual environment parameters respectively, and the coordinates of the candidate marker points whose associated reference environment parameters are consistent with the actual environment parameters are determined, so that the associated reference environment parameters are consistent with the actual environment parameters Candidate marker coordinates are used as reference marker coordinates.

In step S204, the candidate contour point coordinates of the preset contour points associated with the reference mark point and whose associated reference environment parameters are consistent with the actual environment parameters are used as the reference contour point coordinates.

After the reference marker point is determined, the terminal device can obtain candidate contour points associated with the reference marker point. For each candidate contour point, the coordinates of each candidate contour point under different environmental conditions are also recorded in the marker point library. Based on this, the terminal device may use the candidate contour point coordinates of the preset contour points that are associated with the reference marker point and whose associated reference environment parameters are consistent with the actual environment parameters as the reference contour point coordinates.

In this way, in the marker library with a large amount of marker data and contour point data, the terminal device can obtain the reference coordinates corresponding to the target marker points.

Please refer to FIG. 3 , in some embodiments of the present application, after obtaining the reference coordinates, the terminal device may determine the detection result through the following steps S301 to S303.

Specifically, the actual marker point coordinates may include first actual coordinates (X ₁ , Y ₁ , Z ₁ ) of the target marker point in the device coordinate system of the laser sensor. The actual contour point coordinates may include second actual coordinates (X ₂ , Y ₂ , Z ₂ ) of the contour point associated with the target marker point in the device coordinate system. The coordinates of the reference marker point may include second reference coordinates (x ₂ , y ₂ , z ₂ ) of the target marker point in the world coordinate system. The reference contour point coordinates may include third reference coordinates (x ₃ , y ₃ , z ₃ ) of the contour point associated with the target marker point in the world coordinate system.

Step S301, calculating a conversion matrix between the world coordinate system and the device coordinate system according to the first actual coordinates and the second reference coordinates.

That is, based on the first actual coordinates (X ₁ , Y ₁ , Z ₁ ) and the second reference coordinates (x ₂ , y ₂ , z ₂ ), the coordinate offset rotation between the world coordinate system and the device coordinate system can be calculated The RT matrix used.

It should be understood that the RT matrix between the world coordinate system and the device coordinate system is fixed, and the RT matrix calculated based on the marker points can be applied to the contour points. Based on this, the terminal device can determine the detection result through step S302 or step S303.

Step S302, using the conversion matrix to convert the second actual coordinates into coordinates of the world coordinate system, and comparing the converted coordinates with the third reference coordinates to obtain a detection result of whether the object is deformed.

That is, use the RT matrix to convert the second actual coordinates (X ₂ , Y ₂ , Z ₂ ) to obtain the coordinates (X ₃ , Y ₃ , Z ₃ ) in the world coordinate system, and convert the converted coordinates (X ₃ , Y ₃ , Z ₃ ) are compared with the third reference coordinates (x ₃ , y ₃ , z ₃ ). If the two are different, or the difference between the two is greater than the difference threshold, it can be confirmed that the detection result is that the object is deformed. Otherwise, it can be confirmed that the detection result shows no deformation of the object.

Step S303, using the conversion matrix to convert the third reference coordinates into coordinates of the device coordinate system, and comparing the converted coordinates with the second actual coordinates to obtain a detection result of whether the object is deformed.

That is, use the RT matrix to transform the third reference coordinates (x ₃ , y ₃ , z ₃ ) to obtain the coordinates (x ₄ , y ₄ , z ₄ ) of the device coordinate system, and convert the converted coordinates (x ₄ , y ₄ , z ₄ ) are compared with the second actual coordinates (X ₂ , Y ₂ , Z ₂ ). If the two are different, or the difference between the two is greater than the difference threshold, it can be confirmed that the detection result is that the object is deformed. Otherwise, it can be confirmed that the detection result shows no deformation of the object.

It should be noted that, if there are multiple contour points, the terminal device may perform coordinate comparison on each contour point through step S302 or step S303.

Since the number of contour points is often much greater than the number of marker points, in the embodiment of the present application, the matching is performed through the marker points, and then the contour points associated with the marker points are found, which can avoid the huge calculation caused by matching all the contour points , and at the same time, based on the immobility of the RT matrix, the RT matrix is calculated through the coordinates of a single marker point, and the coordinate comparison of all contour points associated with the marker point can be realized, which can improve the comparison efficiency.

In order to ensure the reliability of the detection result, if the detection result shows that the object is deformed, the terminal device can also obtain the new actual coordinates collected by another laser sensor, and use the new actual coordinates to determine whether the object is deformed or not.

If the result of the repeated verification is that there is no deformation of the object, indicating that there is a problem with the detection result, the terminal device can generate an error message, which can be used to remind the staff to recalibrate the laser sensor that obtained the detection result.

If the result of repeated verification is also that the object is deformed, it means that there is no problem with the detection result.

In a practical application scenario, the above-mentioned deformation detection method can be applied to an inspection robot, and the inspection robot can perform inspections on each floor of a building. Before detecting whether the object is deformed, the inspection robot can conduct a preliminary cruise. For example, the camera can be used to shoot the staff on the floor to identify the staff's operations. For another example, infrared sensors can be used to collect thermal imaging data of floors to determine the temperature of each device and the operation of staff. After the preliminary cruise is completed, deformation detection is performed on each easily deformable position (that is, each preset marker point).

Specifically, the terminal device can obtain the current floor where the inspection robot is located. If the current floor contains preset marker points, the inspection robot is controlled to collect the actual coordinates through the laser sensor. Otherwise, it is possible to leave the floor after completing the preliminary cruise.

Correspondingly, after obtaining the detection result of whether the object is deformed, if the total number of detected marking points is different from the total number of preset marking points contained in the current floor, the terminal device can control the movement of the inspection robot to Detect the undetected preset marker points in the current floor.

If the total number of detected markers is the same as the total number of preset markers contained in the current floor, and there are uninspected floors in the building where the inspection robot is located, the terminal device can control the inspection robot to perform the elevator operation , so that the robot leaves the current floor, and when the inspection robot reaches the uninspected floor, control the inspection robot to perform the elevator operation, so that the robot can perform inspection work on the uninspected floor.

If there is no uninspected floor in the building where the inspection robot is located, the terminal device can control the inspection robot to return to the charging pile to complete the inspection work.

It should be noted that for the foregoing method embodiments, for the sake of simple description, they are expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Because of this application, certain steps may be performed in other orders.

FIG. 4 is a schematic structural diagram of an object deformation detection apparatus 400 provided in an embodiment of the present application, and the object deformation detection apparatus 400 is configured on a terminal device.

Specifically, the deformation detection device 400 of the object may include:

The actual coordinate acquisition unit 401 is used to acquire the actual coordinates collected by the laser sensor, the actual coordinates include the actual marker point coordinates of the target marker point and the actual outline point coordinates of the outline points associated with the target marker point, the target marker points and said contour points are located on said object;

An environmental parameter acquisition unit 402, configured to acquire the actual environmental parameters of the environment when the laser sensor collects the actual coordinates;

A reference coordinate acquiring unit 403, configured to acquire reference coordinates according to the actual environment parameters, the reference coordinates including reference marker point coordinates of the target marker point and reference outline point coordinates of outline points associated with the target marker point , wherein the reference environment parameters associated with the reference coordinates are consistent with the actual environment parameters;

The deformation detection unit 404 is configured to compare the actual coordinates with the reference coordinates to obtain a detection result of whether the object is deformed.

In some embodiments of the present application, the above-mentioned reference coordinate acquiring unit 403 may be specifically configured to: acquire multiple candidate marker point coordinates corresponding to each preset marker point among multiple preset marker points, wherein each of the preset marker points The coordinates of the candidate marker points are respectively associated with one of the reference environment parameters; a preset marker point matching the target marker point is determined from a plurality of preset marker points, and the target marker point matched The preset mark point is used as a reference mark point; among the plurality of candidate mark point coordinates corresponding to the reference mark point, the candidate mark point coordinates whose associated reference environment parameters are consistent with the actual environment parameters are used as the reference Marking point coordinates: the candidate contour point coordinates of preset contour points associated with the reference mark point and whose associated reference environment parameters are consistent with the actual environment parameters are used as the reference contour point coordinates.

In some embodiments of the present application, the coordinates of the candidate marker points may include the first reference coordinates of the corresponding preset marker points in the device coordinate system of the laser sensor; the actual marker point coordinates may include the coordinates of the target marker point in the device coordinate system The first actual coordinates in the above-mentioned reference coordinate acquisition unit 403 may be specifically configured to: calculate the coordinate distance between the first actual coordinates and the first reference coordinates of each of the preset marker points, and obtain the The preset marker point with the smallest coordinate distance is used as the preset marker point matching the target marker point.

In some embodiments of the present application, the laser sensor is installed on the inspection robot; the above-mentioned reference coordinate acquisition unit 403 can be specifically used to: acquire the current location where the inspection robot is located when the laser sensor collects the actual coordinates. position and the orientation of the laser sensor; according to the current position and the orientation, the preset marking point located in the laser emission direction of the laser sensor is used as the preset marking point matching the target marking point .

In some embodiments of the present application, the actual marker point coordinates may include the first actual coordinates of the target marker point in the device coordinate system of the laser sensor; the actual contour point coordinates may include the contour point associated with the target marker point on the device The second actual coordinates in the coordinate system; the reference marker point coordinates may include the second reference coordinates of the target marker point in the world coordinate system; the reference contour point coordinates may include the first coordinate of the contour point associated with the target marker point in the world coordinate system Three reference coordinates; the above-mentioned deformation detection unit 404 may be specifically configured to: calculate the conversion matrix between the world coordinate system and the device coordinate system according to the first actual coordinates and the second reference coordinates; use the The conversion matrix converts the second actual coordinates into coordinates of the world coordinate system, and compares the converted coordinates with the third reference coordinates to obtain a detection result of whether the object is deformed; or, using The conversion matrix converts the third reference coordinates into coordinates of the device coordinate system, and compares the converted coordinates with the second actual coordinates to obtain a detection result of whether the object is deformed.

In some embodiments of the present application, the laser sensor is installed on the inspection robot; the above-mentioned actual coordinate acquisition unit 403 can be specifically used to: obtain the current floor where the inspection robot is located; if the current floor contains a preset mark point, the inspection robot is controlled to collect the actual coordinates through the laser sensor.

In some embodiments of the present application, the object deformation detection device 400 may further include a verification unit, configured to: after obtaining the detection result of whether the object is deformed, if the detection result is that the object is deformed, then Obtain new actual coordinates collected by another laser sensor, and use the new actual coordinates to determine whether there is a repeated verification result of deformation of the object; if the repeated verification result is that the object does not have deformation, then An error message is generated, and the error message is used to remind the staff to re-calibrate the laser sensor that obtains the detection result.

It should be noted that, for the convenience and brevity of description, the specific working process of the above object deformation detection device 400 can refer to the corresponding process of the method described in FIG. 1 to FIG. 3 , which will not be repeated here.

As shown in FIG. 5 , it is a schematic diagram of a terminal device provided in the embodiment of the present application. The terminal device 5 may include: a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and operable on the processor 50, such as a deformation detection program of an object. When the processor 50 executes the computer program 52 , the steps in the embodiments of the deformation detection method of each object mentioned above are implemented, such as steps S101 to S104 shown in FIG. 1 . Alternatively, when the processor 50 executes the computer program 52, it realizes the functions of each module/unit in the above-mentioned device embodiments, such as the actual coordinate acquisition unit 401, the environmental parameter acquisition unit 402, and the reference coordinate acquisition unit shown in FIG. 4 403 and deformation detection unit 404.

The computer program can be divided into one or more modules/units, and the one or more modules/units are stored in the memory 51 and executed by the processor 50 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program in the terminal device.

For example, the computer program may be divided into: an actual coordinate acquisition unit, an environmental parameter acquisition unit, a reference coordinate acquisition unit and a deformation detection unit.

The specific functions of each unit are as follows: the actual coordinate acquisition unit is used to obtain the actual coordinates collected by the laser sensor, and the actual coordinates include the actual marker point coordinates of the target marker point and the actual outline point coordinates of the outline points associated with the target marker point , the target mark point and the contour point are both located on the object; the environmental parameter acquisition unit is used to acquire the actual environmental parameters of the environment when the laser sensor collects the actual coordinates; the reference coordinate acquisition unit is used for According to the actual environment parameters, obtain reference coordinates, the reference coordinates include the reference marker point coordinates of the target marker point and the reference contour point coordinates of the contour points associated with the target marker point, wherein the reference coordinates are associated with The reference environment parameters are consistent with the actual environment parameters; the deformation detection unit is configured to compare the actual coordinates with the reference coordinates to obtain a detection result of whether the object is deformed.

The terminal device may include, but not limited to, a processor 50 and a memory 51 . Those skilled in the art can understand that FIG. 5 is only an example of a terminal device, and does not constitute a limitation on the terminal device. It may include more or less components than those shown in the figure, or combine certain components, or different components, such as The terminal device may also include an input and output device, a network access device, a bus, and the like.

The so-called processor 50 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.

The storage 51 may be an internal storage unit of the terminal device, such as a hard disk or memory of the terminal device. The memory 51 may also be an external storage device of the terminal device, such as a plug-in hard disk equipped on the terminal device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, Flash card (Flash Card), etc. Further, the memory 51 may also include both an internal storage unit of the terminal device and an external storage device. The memory 51 is used to store the computer program and other programs and data required by the terminal device. The memory 51 can also be used to temporarily store data that has been output or will be output.

It should be noted that, for the convenience and brevity of description, the structure of the above-mentioned terminal device can also refer to the specific description of the structure in the method embodiment, and details are not repeated here.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units, Completion of modules means that the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment may be integrated into one processing unit, or each unit may exist separately physically, or two or more units may be integrated into one unit, and the above-mentioned integrated units may adopt hardware It can also be implemented in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above system, reference may be made to the corresponding process in the foregoing method embodiments, and details will not be repeated here.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not detailed or recorded in a certain embodiment, refer to the relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the device/terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units Or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

If the integrated module/unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments in the present application can also be completed by instructing related hardware through computer programs. The computer programs can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (Read-Only Memory, ROM) , random access memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, computer-readable media Excludes electrical carrier signals and telecommunication signals.

The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still implement the foregoing embodiments Modifications to the technical solutions described in the examples, or equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims (10)

1. A deformation detection method of an object, comprising: Obtain the actual coordinates collected by the laser sensor, the actual coordinates include the actual marker point coordinates of the target marker point and the actual contour point coordinates of the contour points associated with the target marker point, the target marker point and the contour point are located at on said object; Acquiring the actual environmental parameters of the environment when the laser sensor collects the actual coordinates; According to the actual environment parameters, obtain reference coordinates, the reference coordinates include the reference marker point coordinates of the target marker point and the reference contour point coordinates of the contour points associated with the target marker point, wherein the reference coordinates are associated with The reference environment parameters are consistent with the actual environment parameters; Coordinate comparison is performed between the actual coordinates and the reference coordinates to obtain a detection result of whether the object is deformed. 2. The deformation detection method of an object as claimed in claim 1, wherein said obtaining reference coordinates according to said actual environment parameters comprises: Acquiring a plurality of candidate marker point coordinates corresponding to each of the preset marker points among the plurality of preset marker points, wherein each of the candidate marker point coordinates is respectively associated with one of the reference environment parameters; determining a preset marker point matching the target marker point from a plurality of preset marker points, and using the preset marker point matching the target marker point as a reference marker point; Using the coordinates of the candidate marker points whose associated reference environment parameters are consistent with the actual environment parameters among the plurality of candidate marker point coordinates corresponding to the reference marker point as the reference marker point coordinates; The coordinates of candidate contour points of preset contour points that are associated with the reference mark point and whose associated reference environment parameters are consistent with the actual environment parameters are used as the coordinates of the reference contour points. 3. The method for detecting deformation of an object according to claim 2, wherein the coordinates of the candidate markers include the first reference coordinates of the corresponding preset markers in the device coordinate system of the laser sensor; The actual marker point coordinates include the first actual coordinates of the target marker point in the device coordinate system; The determining the preset marker point matching the target marker point from the plurality of preset marker points includes: calculating the coordinate distance between the first actual coordinates and the first reference coordinates of each of the preset marker points, and using the preset marker point with the smallest coordinate distance as the target marker point matching Preset markers. 4. the deformation detection method of object as claimed in claim 2, is characterized in that, described laser sensor is installed on the inspection robot; The determining the preset marker point matching the target marker point from the plurality of preset marker points includes: Obtaining the current position of the inspection robot and the orientation of the laser sensor when the actual coordinates are collected by the laser sensor; According to the current position and the orientation, the preset marking point located in the laser emitting direction of the laser sensor is used as the preset marking point matching the target marking point. 5. The deformation detection method of an object according to any one of claims 1 to 4, wherein the actual marker point coordinates include the first actual position of the target marker point in the device coordinate system of the laser sensor Coordinates; the actual contour point coordinates include the second actual coordinates of the contour point associated with the target marker point in the device coordinate system; the reference marker point coordinates include the target marker point in the world coordinate system second reference coordinates; the reference contour point coordinates include third reference coordinates of contour points associated with the target marker point in the world coordinate system; The coordinate comparison of the actual coordinates and the reference coordinates to obtain the detection result of whether the object is deformed includes: calculating a transformation matrix between the world coordinate system and the device coordinate system according to the first actual coordinates and the second reference coordinates; converting the second actual coordinates into coordinates of the world coordinate system by using the conversion matrix, and comparing the converted coordinates with the third reference coordinates to obtain a detection result of whether the object is deformed; Or, using the conversion matrix to convert the third reference coordinates into coordinates of the device coordinate system, and comparing the converted coordinates with the second actual coordinates to obtain a detection of whether the object is deformed result. 6. The deformation detection method of an object according to any one of claims 1 to 4, wherein the laser sensor is mounted on an inspection robot; The acquiring the actual coordinates collected by the laser sensor includes: Obtain the current floor where the inspection robot is located; If the current floor contains a preset marker point, the inspection robot is controlled to collect the actual coordinates through the laser sensor. 7. The deformation detection method of an object according to any one of claims 1 to 4, wherein, after obtaining the detection result of whether the object is deformed, the deformation detection method further comprises: If the detection result is that the object is deformed, then obtain new actual coordinates collected by another laser sensor, and use the new actual coordinates to determine whether the object is deformed or not; If the result of the repeated verification is that there is no deformation of the object, an error message is generated, and the error message is used to remind the staff to re-calibrate the laser sensor that obtained the detection result. 8. A deformation detection device for an object, comprising: The actual coordinate acquisition unit is used to acquire the actual coordinates collected by the laser sensor, the actual coordinates include the actual marker point coordinates of the target marker point and the actual outline point coordinates of the outline points associated with the target marker point, the target marker point and the contour points are located on the object; An environmental parameter acquisition unit, configured to acquire actual environmental parameters of the environment when the laser sensor collects the actual coordinates; a reference coordinate acquisition unit, configured to acquire reference coordinates according to the actual environment parameters, the reference coordinates include reference marker point coordinates of the target marker point and reference contour point coordinates of contour points associated with the target marker point, Wherein, the reference environment parameters associated with the reference coordinates are consistent with the actual environment parameters; The deformation detection unit is configured to compare the actual coordinates with the reference coordinates to obtain a detection result of whether the object is deformed. 9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, characterized in that, when the processor executes the computer program, the computer program according to claim The steps of the deformation detection method described in any one of 1 to 7. 10. A computer-readable storage medium, the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by a processor, the deformation detection method according to any one of claims 1 to 7 is realized A step of.

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