CN120160537A

CN120160537A - Fully automatic measurement method of image measuring instrument based on spatial three-dimensional CAD model

Info

Publication number: CN120160537A
Application number: CN202510639958.3A
Authority: CN
Inventors: 肖焕新; 何俊丽; 石慧慧; 杨轰; 傅雪年; 熊俊; 彭萌
Original assignee: Chotest Technology Inc
Current assignee: Chotest Technology Inc
Priority date: 2025-05-19
Filing date: 2025-05-19
Publication date: 2025-06-17
Anticipated expiration: 2045-05-19
Also published as: CN121089563A; CN120160537B; CN121048491A

Abstract

The application relates to a full-automatic measurement method of an image measuring instrument based on a space three-dimensional CAD model, which comprises the steps of importing a three-dimensional image of a part, taking a shooting direction determined based on part features in the three-dimensional image as a first direction, determining a first origin of a first coordinate axis in a first coordinate system according to the part features in the three-dimensional image, determining origins of other coordinate axes based on the part features determining the first origin or other part features in the three-dimensional image, fitting the first direction and the second direction to obtain all coordinate axes of the first coordinate system, determining origins of all coordinate axes of all the first coordinate system based on the part features in the three-dimensional image, and generating a measurement program file based on the first coordinate system. The method can prove the measurement accuracy and improve the processing efficiency.

Description

Full-automatic measurement method of image measuring instrument based on space three-dimensional CAD model

Technical Field

The application relates to the field of intelligent manufacturing equipment industry, in particular to a full-automatic measurement method of an image measuring instrument based on a space three-dimensional CAD model.

Background

The image measuring instrument can realize the precise measurement of the surface size, the contour, the angle, the position, the form and position tolerance and the like of various complex parts. Specifically, the image measuring instrument can extract geometric features (such as planes, lines and points) of the part, calculate length or angle information, and further judge whether the machining precision of the part meets the design requirement. However, in measuring complex parts in a batch, a large number of repeated operations are required, which is disadvantageous in improving the measurement efficiency.

In the prior art, in order to improve the measurement efficiency, the template programming can be performed according to the design requirement of the parts before starting batch measurement, the matched measurement program is customized, and the image measuring instrument can operate the measurement program to automatically measure the workpiece according to the planned measurement steps in the subsequent measurement process.

However, at present, the image measuring instrument uses a solid workpiece to program a template, and the dimensional accuracy of the solid workpiece may not be standard, and the image is blurred due to the fact that focusing is not performed when the solid workpiece is shot, and the situations easily cause errors in subsequent automatic measurement. The partial image measuring instrument can use CAD drawings to program templates, however, the CAD drawings only have one measuring surface, and the templates cannot be programmed according to different shooting directions.

In summary, there is an urgent need for a method that can improve the processing efficiency while ensuring the measurement accuracy.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a fully automatic measurement method of an image measuring instrument based on a spatial three-dimensional CAD model, which can ensure measurement accuracy and improve processing efficiency.

In a first aspect, the present application provides a full-automatic measurement method of an image measurement instrument based on a spatial three-dimensional CAD model, the method comprising:

importing a three-dimensional image of the part, wherein the three-dimensional image comprises a spatial three-dimensional CAD model;

Taking a shooting direction determined based on part features in the three-dimensional image as a first direction, determining a second direction according to the part features in the three-dimensional image, and fitting to obtain coordinate axes of a first coordinate system based on the first direction and the second direction;

Determining a first origin of a first coordinate axis in the first coordinate system based on the part features in the three-dimensional image, and determining origins of other coordinate axes based on the part features determining the first origin or other part features in the three-dimensional image;

generating a measurement program file based on the first coordinate system;

Acquiring a shot image to be processed, and establishing a second coordinate system based on the image to be processed;

And measuring the part in the image to be processed based on the measurement program and the second coordinate system.

In one embodiment, the taking the shooting direction determined based on the part features in the three-dimensional image as the first direction includes at least one of the following ways:

Determining a shooting direction based on a mode of a straight line selected in the three-dimensional image, wherein the shooting direction is taken as the first direction;

determining a shooting direction based on a first plane selected in the three-dimensional image, wherein the shooting direction is taken as the first direction comprises determining at least 3 non-collinear points in the part selected in the three-dimensional image, generating a first plane based on the at least 3 non-collinear points, and determining a normal vector direction of the first plane as the shooting direction.

In one embodiment, the determining the second direction from the feature of the part in the three-dimensional image includes at least one of:

Fitting to obtain a first straight line based on at least two points selected in the three-dimensional image, and determining the direction of the first straight line as the second direction;

and taking the straight line selected in the three-dimensional image as a first straight line, and determining the direction of the first straight line as the second direction.

In one embodiment, the determining the first origin of the first coordinate axis in the first coordinate system based on the feature in the three-dimensional image, and determining the origins of other coordinate axes based on the feature in the first origin or other features in the three-dimensional image includes:

obtaining an origin of an X axis of the first coordinate system based on projection of a first selected point selected in the three-dimensional image on the X axis of the first coordinate system;

generating a first option corresponding to the first selection point and a first option corresponding to a first straight line, and determining an origin of a Y axis of the first coordinate system according to the first option corresponding to the first selection point and a first selection result of the first option corresponding to the first straight line, wherein the origin of the Y axis of the first coordinate system is obtained on the basis of the first selection point in the case that the first selection result is the first option corresponding to the first selection point and the projection of the Y axis of the first coordinate system;

Generating a second option corresponding to the first selection point, a second option corresponding to the first straight line and an option corresponding to a first plane, determining an origin of the Z axis of the first coordinate system according to the second option corresponding to the first selection point, the second option corresponding to the first straight line and a second selection result of the option corresponding to the first plane, wherein the origin of the Z axis of the first coordinate system is obtained based on the projection of the Z axis of the first coordinate system on the basis of the first selection point when the second selection result is the second option corresponding to the first selection point, and the origin of the Z axis of the first coordinate system is obtained based on the projection of the first straight line on the Z axis of the first coordinate system when the second selection result is the second option corresponding to the first straight line.

In one embodiment, the generating a measurement program file based on the first coordinate system includes:

Determining an extraction mode of target features in the part based on the first coordinate system and the three-dimensional image, wherein the extraction mode comprises the steps of simulating based on the first coordinate system and the three-dimensional image to obtain a simulation image when shooting along the shooting direction;

determining a measurement mode of a target feature in the part in the three-dimensional image;

And generating a measurement program file based on the extraction mode of the target feature, the measurement mode of the target feature and the first coordinate system.

In one embodiment, the extraction method of the target feature includes at least one of a feature point extraction method, a feature straight line extraction method, a feature circle extraction method and a feature plane extraction method;

The characteristic point extraction mode comprises at least one mode of manually selecting and determining characteristic points and a mode of scanning and determining characteristic points, wherein the mode of determining the characteristic points based on scanning comprises the steps of determining two first candidate points selected in the three-dimensional image and scanning boundaries between the two first candidate points to obtain the characteristic points;

Determining at least two second candidate points selected in the three-dimensional image, displaying a first point taking area in the simulation image based on the at least two second candidate points, and fitting based on each feature point selected in the first point taking area to obtain a feature line;

The feature circle extraction method comprises the steps of determining a feature circle selected in the three-dimensional image, obtaining a target feature circle based on the selected feature circle, generating a second point taking area based on the feature circle, obtaining the feature circle based on feature point fitting characteristics obtained through recognition in the second point taking area, wherein the second point taking area is a fan-shaped point taking area or an annular point taking area, recognizing a point set at a junction based on a plurality of selected points selected near the feature circle, and obtaining the target feature circle based on the point set fitting;

The feature plane extraction mode comprises the step of determining a plane selected in the three-dimensional image as a feature plane.

In one embodiment, the determining the measurement mode of the target feature in the part in the three-dimensional image includes:

determining at least one of a target feature length measurement mode, an angle measurement mode and a height measurement mode in the part in the three-dimensional image;

wherein the length measurement means is for measuring the length of the target feature;

The angle measurement mode is used for measuring the angle of the target feature;

the height measurement mode comprises measuring the height corresponding to the target feature based on a laser ranging device or measuring the height of the target feature based on a camera, wherein measuring the height of the target feature based on the camera comprises moving the camera to the position above the target feature, moving the camera along a Z axis, and taking the height of the camera as the height of the target feature when the quality of an image acquired by the camera meets the image quality requirement.

In one embodiment, the generating a measurement program based on the extraction method of the target feature, the measurement method of the target feature, and the first coordinate system includes:

generating a measurement program based on the extraction mode of the target feature, the measurement mode of the target feature and the first coordinate system for different measurement surfaces under the condition that the image measuring instrument can only shoot along one shooting direction;

When the image measuring instrument comprises a plurality of shooting directions, the extraction mode of the target feature, the measurement mode of the target feature and the first coordinate system corresponding to different measuring surfaces are stored into a measuring program.

In one embodiment, the measurement program stores the whole outline of the part in the shooting direction when being stored, and the establishing a second coordinate system based on the image to be processed comprises the following steps:

recognizing the gesture of the part in the image to be processed based on the integral outline;

and generating a second coordinate system based on the recognition result of the gesture and the first coordinate system corresponding to the shooting direction.

In one embodiment, the establishing a second coordinate system based on the image to be processed includes:

Determining a fourth direction and a fifth direction according to part characteristics in the image to be processed, determining a sixth direction according to a shooting direction, and fitting to obtain coordinate axes of a second coordinate system based on the fourth direction, the fifth direction and the sixth direction;

Determining the origin of each coordinate axis of each second coordinate system based on the feature of the part in the image to be processed;

a second coordinate system is determined based on the coordinate axes of the second coordinate system and the origin of the coordinate axes of the second coordinate system.

The method comprises the steps of fully automatically measuring an image measuring instrument based on a space three-dimensional CAD model, importing a three-dimensional image of a part, wherein the three-dimensional image comprises the space three-dimensional CAD model, taking a shooting direction determined based on part features in the three-dimensional image as a first direction, determining a second direction according to the part features in the three-dimensional image, fitting each coordinate axis of a first coordinate system based on the first direction and the second direction, determining a first origin of one coordinate axis of the first coordinate system based on the part features in the three-dimensional image, determining origins of other coordinate axes based on the first origin or the part features in the three-dimensional image, generating a measuring program based on the first coordinate system, acquiring a shot image to be processed, and establishing a second coordinate system based on the image to be processed, wherein template programming is directly performed in the three-dimensional image based on different shooting directions, programming is performed directly based on a three-dimensional image file of the part, the precision is higher, and establishing the first coordinate system based on the three-dimensional image ensures the first coordinate system, so that the measurement accuracy is guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related art, the drawings that are needed in the description of the embodiments of the present application or the related technologies will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other related drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.

FIG. 1 is an application environment diagram of an image measuring instrument measurement program generating method based on a spatial three-dimensional CAD model in one embodiment;

FIG. 2 is a flow chart of a method for generating an image measuring instrument measurement program based on a spatial three-dimensional CAD model according to one embodiment;

FIG. 3 is a flow chart of a first direction determination step in one embodiment;

FIG. 4 is a flow chart of a fully automatic measurement method of an image measuring instrument based on a spatial three-dimensional CAD model according to one embodiment;

FIG. 5 is a flowchart of a fully automatic measurement method of an image measuring instrument based on a spatial three-dimensional CAD model according to another embodiment;

FIG. 6 is a block diagram of an apparatus for generating an image measuring instrument measurement program based on a spatial three-dimensional CAD model according to one embodiment;

FIG. 7 is a block diagram of a fully automatic measurement device of an image measurement instrument based on a spatial three-dimensional CAD model in one embodiment;

fig. 8 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The full-automatic measurement method of the image measuring instrument based on the space three-dimensional CAD model comprises the steps of performing template programming on a three-dimensional image of a part, such as the space three-dimensional CAD model of the part, defining a corresponding first coordinate system when the template is programmed, customizing a measurement program based on the first coordinate system, and subsequently performing the automatic measurement method of the image measuring instrument based on the space three-dimensional CAD model, namely, the image measuring instrument can operate the measurement program to automatically measure the part according to a planned measurement step in the measurement process, so that the template programming can be directly performed in a three-dimensional image, the template programming can be performed based on different shooting directions, the efficiency is improved, the programming is directly performed based on a three-dimensional image file of the part, the precision is higher, the accuracy of the first coordinate system is ensured by the establishment of the three-dimensional image, and the measurement precision of a subsequent measurement process is laid.

The image measuring instrument measuring program generating method based on the space three-dimensional CAD model provided by the embodiment of the application can be applied to an application environment shown in figure 1. The image measuring instrument may include a platform, a camera, and a controller, and in other embodiments, the image measuring instrument may further include a motorized fixture with moving or rotating parts, or the platform may move or rotate parts. In other embodiments, the image measuring instrument may include a plurality of cameras to have a plurality of photographing angles. The controller may store a measurement program programmed with a template. The three-axis full-automatic programmable detection system comprises a precise linear slide rail and a servo control system, so that system precision is guaranteed, and complex characteristic batch detection is realized. The camera is a high-resolution lens and has a large visual field, so that the measurement efficiency and the measurement precision can be considered, the sectional programming control of surface light, transmitted light and coaxial light is supported, the measurement part is automatically identified, and a unified and stable measurement result can be obtained each time.

The template programming can be performed at a terminal or the like, an imported three-dimensional image is opened in the terminal, the three-dimensional image can be a spatial three-dimensional CAD model of the part, the three-dimensional image can be displayed in an interface, a user can rotate, move or select features on the part in the interface, and then the template programming is performed to obtain a measurement program. The measuring program is then introduced into the controller of the image measuring instrument, so that the controller can execute the measuring method according to the application on the basis of the measuring program, in order to measure the component.

In some alternative embodiments, the image measuring instrument of the present application may be used in the fields of machinery, electronics, molds, injection molding, hardware, rubber, low voltage appliances, magnetic materials, precision stamping, connectors, terminals, cell phones, appliances, printed circuit boards, medical instruments, watches, cutters, metrology inspection, etc.

In some alternative embodiments, the image measuring instrument of the present application can achieve precise measurement of surface dimensions, contours, angles and positions, form and position tolerances, etc. of various complex parts.

In an exemplary embodiment, as shown in fig. 2, a method for generating an image measuring instrument measurement program based on a spatial three-dimensional CAD model is provided, and the method is applied to the terminal in fig. 1 for illustration, and includes the following steps S202 to S208. Wherein:

S202, importing a three-dimensional image of the part, wherein the three-dimensional image comprises a space three-dimensional CAD model.

Wherein the three-dimensional image is a stereoscopic part image, which may include a spatial three-dimensional CAD model. After importing the three-dimensional image of the part, the three-dimensional image of the part may be presented in an interface where a user can rotate, move, or select part features on the part. That is, the terminal may receive an instruction to rotate, move or select a part feature on the part through the three-dimensional image and rotate, move or select the part feature on the part based on the instruction.

S204, taking a shooting direction determined based on the part features in the three-dimensional image as a first direction, determining a second direction according to the part features in the three-dimensional image, and fitting to obtain all coordinate axes of a first coordinate system based on the first direction and the second direction.

S206, determining a first origin of a first coordinate axis in the first coordinate system based on the part features in the three-dimensional image, and determining origins of other coordinate axes based on the part features determining the first origin or other part features in the three-dimensional image.

The origin of each coordinate axis of the first coordinate system is determined based on the feature of the part in the three-dimensional image, but in order to improve user experience, when defining the origin of each coordinate axis, the origin of other coordinate axes may be determined based on the feature of the part corresponding to the determined origin, or other features of the part, where other features of the part include the feature of the part defined when determining each coordinate axis or the feature of the part newly defined, which is not specifically limited herein.

The first coordinate system comprises coordinate axes and an origin of the coordinate axes. Each coordinate axis corresponds to each direction. According to the method, the directions are determined based on the part features in the three-dimensional image, the coordinate axes of the first coordinate system are obtained based on fitting of the directions, and the origin of the coordinate axes can be determined based on the part features in the three-dimensional image.

The part features in the three-dimensional image can be selected by a user, that is, the terminal can receive part feature selection instructions through the three-dimensional image, then determine the part features based on the part feature selection instructions, and determine the origins of the directions or coordinate axes based on the selected part features. In the case of determining the origin of each coordinate axis, a first origin of a first coordinate axis in a first coordinate system may be determined based on the feature of the part in the three-dimensional image, and then the origins of other coordinate axes may be determined based on the feature of the part for which the first origin is determined or other features in the three-dimensional image. That is, the part features corresponding to the determined coordinate origins or the new part features reselected by the user can be used for determining the coordinate origins of the subsequent coordinate axes, so that the user can select the existing part features as the reference without repeatedly defining the part features in the three-dimensional image.

Alternatively, the part features may include points, lines, faces, etc., without specific limitation.

Wherein the user can determine the location of the primary features to be measured by rotating the three-dimensional image and then determining the first direction and the second direction based on the location of the primary features.

In the application, the shooting direction can be determined based on the position of the main feature, for example, the main feature in the part features can be selected, then the shooting direction is determined based on the main feature, for example, the shooting direction faces the main feature, and the shooting direction is taken as a first direction, and the first direction is the Z-axis direction or basically consistent with the Z-axis direction.

In some alternative embodiments, in the case that the main features include a plurality of main features, and the shooting directions corresponding to the plurality of main features are not identical, a plurality of first directions may be determined, so as to generate a plurality of first coordinate systems, and then corresponding measurement programs are generated based on each first coordinate system, where the measurement programs may be separately stored or stored together, and not particularly limited herein.

The second direction may be an X-axis direction or a Y-axis direction, and for convenience in the present application, the second direction is taken as the X-axis direction, and the user may select some features from the main features and determine the second direction based on the features.

After the first direction (Z axis) and the second direction (X axis) are determined, a third direction (corresponding to Y axis) perpendicular to the first direction and the second direction can be determined, that is, XYZ axis direction of the first coordinate system is acquired.

It should be noted that, since this step is a manual operation and there is no necessarily a line segment perpendicular to the three-dimensional image, the first direction and the second direction are not necessarily perpendicular, and therefore, the XYZ axis of the obtained first coordinate system is a direction obtained by fitting based on the defined first direction and second direction, and the X axis is not necessarily completely coincident with the original second direction.

And S208, generating a measurement program file based on the first coordinate system.

When a plurality of first coordinate systems exist, a plurality of shooting directions are obtained, and then a feature extraction mode and a measurement mode are respectively determined based on the first coordinate systems so as to generate corresponding measurement program files.

In one alternative embodiment, the method for generating the measurement program based on the extraction mode of the target feature, the measurement mode of the target feature and the first coordinate system includes generating the measurement program based on the extraction mode of the target feature, the measurement mode of the target feature and the first coordinate system for different measurement surfaces when the image measuring instrument can only shoot along one shooting direction, and storing the extraction mode of the target feature, the measurement mode of the target feature and the first coordinate system corresponding to each different measurement surface into one measurement program when the image measuring instrument comprises a plurality of shooting directions.

If the image measuring device can only record images in one recording direction, different measuring programs can be stored for different measuring surfaces, i.e. different recording directions. If the image measuring apparatus has a plurality of shooting directions, for example, the image measuring apparatus has an electric clamp or a platform for moving or rotating the workpiece, so that a plurality of shooting directions or shooting cameras having a plurality of different shooting angles can be realized, the extraction mode of the target feature, the measurement mode of the target feature and the first coordinate system corresponding to each shooting direction are saved as one measurement program.

The method for generating the measurement program comprises the steps of importing a three-dimensional image of a part, taking a shooting direction determined based on part features in the three-dimensional image as a first direction, determining a second direction according to the part features in the three-dimensional image, fitting each coordinate axis of a first coordinate system based on the first direction and the second direction, determining the origin of each coordinate axis of each first coordinate system based on the part features in the three-dimensional image, and generating the measurement program based on the first coordinate system, wherein template programming can be directly performed in the three-dimensional image, template programming can be performed based on different shooting directions, efficiency is improved, programming is directly performed based on a three-dimensional image file of the part, accuracy is higher, and the accuracy of the first coordinate system is guaranteed by establishing the first coordinate system based on the three-dimensional image, so that a foundation is laid for the measurement accuracy of a subsequent measurement process.

In some alternative embodiments, taking the shooting direction determined based on the feature of the part in the three-dimensional image as the first direction includes at least one of determining the shooting direction based on a line selected in the three-dimensional image, taking the shooting direction as the first direction, determining the shooting direction based on a first plane selected in the three-dimensional image, and taking the shooting direction as the first direction.

The first coordinate system comprises three coordinate axes, namely an X axis, a Y axis and a Z axis, wherein the first party Xiang Mo considers the shooting direction of the camera of the image measuring instrument, namely the Z axis direction, so that the main characteristics of the part can be acquired in the visual field of the image measuring instrument, and the follow-up measurement is convenient.

Alternatively, the determination of the first direction may be defined by selecting a first plane or a straight line in the three-dimensional image, wherein the first plane is a plane in which the main feature is located or is in the vicinity of the first plane. The straight line is also determined because the main feature is in the vicinity of the straight line. It should be noted that, the first direction is determined with respect to the manner of selecting the straight line, and the manner of selecting the plane is advantageous for defining the origin of the first direction based on the first plane later.

In some alternative embodiments, as shown in connection with FIG. 3, FIG. 3 is a flow chart of a first direction determining step in one embodiment, wherein the first direction is based on a shooting direction, the determining of the shooting direction by selecting a first plane in the three-dimensional image includes determining at least 3 non-collinear points in the selected part in the three-dimensional image, generating the first plane based on the at least 3 non-collinear points, and determining a normal vector direction of the first plane as the shooting direction.

The user can select at least 3 non-collinear points in the part in the three-dimensional image, so that a first plane can be generated based on the 3 non-collinear points, and the direction of the normal vector of the first plane is the shooting direction, namely the first direction.

It should be noted that, in theory, 3 non-collinear selection points can fit an ideal plane, however, in the actual measurement process, the plane of the solid workpiece is not necessarily an ideal plane, so that the fitting accuracy of the first plane can be improved by selecting at least 4 selection points. In the application, at least 4 non-collinear points are arbitrarily selected in the three-dimensional image, and then a first plane is fitted based on the at least 4 non-collinear points, so that the direction of the normal vector of the first plane is the shooting direction, namely the first direction.

In the above embodiment, since the user can rotate and move the three-dimensional image at will, the position of the main feature of the part can be determined, and then the corresponding part feature is selected based on the position of the main feature, so as to determine the first direction of the first coordinate system, that is, the shooting direction, so that the field of view during shooting can include the main feature of the part.

In one alternative embodiment, determining the second direction according to the feature of the part in the three-dimensional image comprises at least one of fitting a first straight line based on at least two points selected in the three-dimensional image and determining the direction of the first straight line as the second direction, and taking the straight line selected in the three-dimensional image as the first straight line and determining the direction of the first straight line as the second direction.

The second direction corresponds to the X-axis direction or the Y-axis direction, and the second direction corresponds to the X-axis direction. In other embodiments, the second direction may be a Y-axis direction, such that an X-axis direction is fitted based on the Z-axis direction and the Y-axis direction, and thus the first coordinate system.

Wherein the second direction may likewise be determined based on the selected part feature, which may comprise a point or a line, the second direction may be defined, for example, by clicking on a plurality of selected points or selecting a straight line.

The clicking of the plurality of selection points means that at least two selection points can be selected in the three-dimensional image, and then a first straight line is fitted based on the selected at least two selection points, and the direction of the fitted first straight line is used as a second direction. Since the three-dimensional image can directly select the straight line feature, the direction of the selected first straight line can be taken as the second direction.

After defining the first direction (corresponding to the Z axis) and the second direction (corresponding to the X axis), a third direction (corresponding to the Y axis) perpendicular to the first direction and the second direction can be defined, and at this time, the XYZ axis direction of the first coordinate system can be acquired. Since this step is a manual operation and there is no necessarily a line segment perpendicular to the three-dimensional image, the first direction and the second direction are not necessarily perpendicular to each other, and therefore, after the step S22 is completed, the XYZ axis of the first coordinate system obtained is a direction obtained by fitting the first direction and the second direction defined, and the X axis and the original second direction are not necessarily completely overlapped.

In the above-described embodiment, the second direction is determined by selecting the point or the straight line in the three-dimensional image, and since the three-dimensional image can be arbitrarily rotated, moved, and selected, the processing efficiency is improved.

In one alternative embodiment, the method comprises the steps of determining a first origin of a first coordinate axis in a first coordinate system based on part features in a three-dimensional image, determining origins of other coordinate axes based on part features determining the first origin or other part features in the three-dimensional image, wherein the method comprises the steps of obtaining the origins of the Y axes of the first coordinate system based on the projection of a first selected point selected in the three-dimensional image on the X axes of the first coordinate system, generating a first option corresponding to the first selected point and a first option corresponding to a first straight line, determining origins of the Y axes of the first coordinate system based on the first selected point and a first selected result corresponding to the first straight line, obtaining the origins of the Y axes of the first coordinate system based on the projection of the first selected point on the first straight line on the first selected point and the first selected point, obtaining the origins of the Y axes of the first coordinate system based on the projection of the first straight line based on the first selected point and the first selected point corresponding to the first selected point, obtaining the corresponding to the Z axes of the first selected point based on the first selected point and the first selected point corresponding to the first selected point, obtaining the corresponding to the first selected point and the first selected point corresponding to the first selected point, obtaining a first selected point corresponding to the first selected point, and a Z-axis corresponding to the first selected point, and a Z-selected point corresponding to the first selected point, and a first selected point corresponding to the first selected point, and obtaining the origin of the Z axis of the first coordinate system based on the projection of the first plane on the Z axis of the first coordinate system under the condition that the second selection result is the option corresponding to the first plane.

The first coordinate system comprises coordinate axes and an origin, and after the directions of the coordinate axes are determined, the origin of each coordinate axis is required to be determined, so that the first coordinate system can be used for marking the coordinates of each feature in the part.

The origin may be defined based on the part feature that the user has selected as a reference without requiring the user to redefine new part features, where the part feature that the user has selected may be determined when defining the origin of other coordinate axes.

The origin of the X axis may be determined based on the projection of the first selected point selected in the three-dimensional image on the X axis of the first coordinate system, for example, by clicking on a selected point to define the origin of the X axis, and taking the selected point clicked in this step as the first selected point, where the first selected point is used as a reference of the origin of the X axis, that is, the projection position of the first selected point on the X axis is the origin position of the X axis.

When the origin of the Y axis is determined, the interface displays a first option corresponding to a first selection point and a first option corresponding to a first straight line, wherein the first straight line is a part feature determined when the directions of all coordinate axes of the first coordinate axes are fitted, and if the directions of all coordinate axes of the first coordinate axes are fitted, the directions of all coordinate axes of the first coordinate axes are not in a first straight line mode, but in a first plane mode, the first option corresponding to the first straight line is not displayed at the moment. The subsequent terminal can receive a first option corresponding to the first selection point and a first selection result of the first option corresponding to the first straight line through the interface, and determine an origin of the Y axis based on the first selection result, wherein if the option corresponding to the first selection point is selected, a projection position of the first selection point on the Y axis is the origin position of the Y axis, and if the option corresponding to the first straight line is selected, the projection position of the first straight line on the Y axis is the origin position of the Y axis. Whichever selection may result in the first coordinate system being obtained, the user can make a selection based on the relative position of the first coordinate system and the part. Wherein the first straight line here is the first straight line selected when defining the X-axis.

When the origin of the Z axis is determined, the interface displays a second option corresponding to the first selection point, a second option corresponding to the first straight line and a selection corresponding to the first plane, wherein the first straight line and the first plane are part features determined when the directions of all coordinate axes of the first coordinate axes are fitted, the first option corresponding to the first straight line is not displayed at this time if the directions of all coordinate axes of the first coordinate axes are fitted in a mode of not adopting the first straight line but adopting the first plane, and the first option corresponding to the first plane is not displayed at this time if the directions of all coordinate axes of the first coordinate axes are fitted in a mode of not adopting the first plane but adopting the first straight line. The subsequent terminal can receive a second option corresponding to the first selection point, a second option corresponding to the first straight line and a second selection result of selection corresponding to the first plane through the interface, and determine the origin of the Y axis based on the second selection result. The method comprises the steps of obtaining an origin of a Z axis of a first coordinate system based on projection of the first selection point on the Z axis of the first coordinate system under the condition that a second selection result is a second option corresponding to the first selection point, obtaining the origin of the Z axis of the first coordinate system based on projection of the first straight line on the Z axis of the first coordinate system under the condition that the second selection result is a second option corresponding to the first straight line, and obtaining the origin of the Z axis of the first coordinate system based on projection of the first plane on the Z axis of the first coordinate system under the condition that the second selection result is an option corresponding to the first plane.

Wherein the first straight line here is the first straight line selected when defining the second direction. The first plane is the first plane selected when defining the first direction.

It should be noted that if the main features are all in the vicinity of the first plane, the first plane may be selected as a reference for the origin of the Z axis.

In some alternative embodiments, generating the measurement program file based on the first coordinate system includes determining a manner of extraction of the target feature in the part based on the first coordinate system and the three-dimensional image, determining a manner of measurement of the target feature in the part in the three-dimensional image, and generating the measurement program file based on the manner of extraction of the target feature, the manner of measurement of the target feature, and the first coordinate system.

The extraction method of the target feature comprises at least one of a feature point extraction method, a feature straight line extraction method, a feature circle extraction method and a feature plane extraction method.

The measurement modes of the target feature comprise at least one of a target feature length measurement mode, an angle measurement mode and a height measurement mode.

After determining the extraction mode of the target features and the measurement mode of the target features, a measurement program file can be obtained.

In some alternative embodiments, the order of the extraction of the target feature and the determination of the measurement of the target feature may be exchanged, i.e. the measurement of the target feature is selected first and then the extraction of the target feature is determined. The order of the two is not particularly limited here.

In some alternative embodiments, the method for extracting the target feature in the part is determined based on the first coordinate system and the three-dimensional image, and comprises the steps of simulating based on the first coordinate system and the three-dimensional image to obtain a simulation image when shooting along the shooting direction, and determining the method for extracting the target feature in the part based on the simulation image and the three-dimensional image.

After the first coordinate system is determined, the Z-axis direction is set, so that a simulation image obtained when an actual workpiece is photographed can be simulated based on the three-dimensional image, the simulation image is a binary image, and the binary image is binarized based on the height, thereby reducing interference information and improving definition of contour information. Therefore, when a user programs on the three-dimensional image, the user can know the approximate position of the current selected area or scanning line in the image of the actual workpiece conveniently.

In other embodiments, if there are a plurality of first coordinate systems, each simulation image obtained when the actual workpiece is photographed along the Z axis of the corresponding first coordinate system may be obtained by performing the simulation based on each first coordinate system.

In one alternative embodiment, the extraction mode of the target feature comprises at least one of a feature point extraction mode, a feature straight line extraction mode, a feature circle extraction mode and a feature plane extraction mode, wherein the feature point extraction mode comprises at least one of a mode of determining feature points based on manual selection and a mode of determining feature points based on scanning, the mode of determining the feature points based on scanning comprises determining two first candidate points selected in a three-dimensional image and scanning a boundary between the two first candidate points to obtain each feature point, the feature straight line extraction mode comprises at least two second candidate points selected in the three-dimensional image and displaying a first candidate point area in a simulation image based on the at least two second candidate points, fitting is performed based on each feature point selected in the first candidate point area to obtain a feature straight line, the feature circle extraction mode comprises determining a feature circle selected in the three-dimensional image and obtaining the target feature circle based on the selected feature circle, and the feature plane extraction mode comprises determining a plane selected in the three-dimensional image as a feature plane.

For easy understanding, the above feature point extraction method, feature straight line extraction method, feature circle extraction method, and feature plane extraction method will be described.

Wherein the feature point extraction mode is the basis of other extraction modes, and the feature point extraction mode comprises at least one mode selected by hand to determine the feature point and a mode based on the scanned and determined feature point.

The method for manually selecting and determining the characteristic points is direct point taking, namely the terminal receives a point selecting instruction through the three-dimensional image and performs characteristic point identification based on the position corresponding to the point selecting instruction, specifically, a user directly clicks the point selecting on the three-dimensional image, and a subsequent program performs characteristic point identification at the position.

The method for determining the characteristic points based on scanning comprises the steps of determining two first candidate points selected in a three-dimensional image, scanning boundaries between the two first candidate points to obtain the characteristic points, specifically, a user directly clicks the two selection points on the three-dimensional image, and then, the boundary between connecting lines of the two selection points can be identified when a program is executed, and further, the characteristic points located at the boundary are identified. The boundary recognition method may be to calculate the contrast of each position in the selected point connecting line, and select the position with the highest contrast as the boundary between the connecting lines.

The feature straight line extraction mode may include that the terminal receives a selection instruction for the second candidate points through the three-dimensional image, then determines at least two second candidate points in the three-dimensional image based on the selection instruction, further displays a first point taking area in the simulation image based on the at least two second candidate points, and when the program is executed subsequently, the program identifies a plurality of feature points in corresponding first point taking areas in the image, and fits the feature points to obtain the feature straight line. In this embodiment, the first point-taking area may be a rectangular area, and a plurality of scan lines perpendicular to the connecting line direction of the second candidate point may be set in the rectangular area, so as to identify the boundary of each scan line, and further identify and obtain the feature point located at the boundary.

The characteristic circle extraction mode comprises that the terminal receives a characteristic circle selection instruction through a three-dimensional image, and then obtains a target characteristic circle based on the selected characteristic circle, wherein the characteristic circle extraction mode specifically comprises at least one mode of sector point taking, annular point taking, multi-point taking, scanning line point taking and the like.

In some alternative embodiments, the target feature circle is obtained based on the selected feature circle, and the method comprises any one of generating a second point taking area based on the feature circle, fitting the feature circle based on the feature points obtained through recognition in the second point taking area, wherein the second point taking area is a sector point taking area or an annular point taking area, recognizing a point set at a junction based on a plurality of selected points near the feature circle, fitting the point set to obtain the target feature circle, obtaining the set number of scanning lines, generating each scanning line passing through the feature circle in a simulation image, generating each feature point based on the scanning line, and fitting the generated each feature point to obtain the target feature circle.

The fan-shaped point taking can be that after a user clicks a feature circle on a three-dimensional image, namely, a terminal receives a feature circle selection instruction through the three-dimensional image, then a second point taking area in a fan-ring shape is formed near the feature circle of the simulated image, and when a program is executed subsequently, the program identifies a point set at a black-white juncture in the second point taking area, the feature circle is obtained through fitting the point set, and then the position of a target feature circle on a part can be confirmed.

The annular point is different from the fan-shaped point in that the second point area corresponding to the annular point is a circular ring. The width of the ring can be adjusted, so that the size of the second dotting area can be enlarged or reduced. The annular width can be enlarged to avoid that the characteristic circle on the actual part deviates from the design position in the process of executing the program and cannot be identified in the image, and the annular width can be reduced to improve the accuracy of identifying the characteristic circle in the process of executing the program.

The multi-point taking is that a user clicks a plurality of point selecting instructions near a feature circle in a three-dimensional image, namely, a point selecting instruction is received, the point selecting instruction is used for a terminal to obtain a plurality of point selecting points near the feature circle, the distance between the point selecting points and the feature circle can be understood to be within a preset distance range, and when a program is executed subsequently, the program can identify a point set at a black-white juncture near the point selecting point, and the feature circle is obtained through point set fitting.

The scanning line point taking is that after a user clicks a feature circle on a three-dimensional image, the number of the scanning lines is set, the system can generate a plurality of scanning lines on the simulated image, optionally, the plurality of scanning lines pass through the center of the feature circle and are distributed in a central symmetry mode, and when a program is executed subsequently, the program obtains the feature point in each scanning line based on the scanning line point taking in the extracted feature point, and then fits a circle based on the feature point in the scanning line.

The feature plane extraction mode includes receiving a plane selection instruction through the three-dimensional image, and selecting a plane in the three-dimensional image based on the selection instruction as a feature plane.

In the above embodiment, the determining process of the extracting mode of each target feature is provided, so that the user can directly operate in the three-dimensional image to determine the extracting mode of each target feature, which is more visual and improves the processing efficiency.

In one optional embodiment, determining a measurement mode of a target feature in a part in a three-dimensional image comprises determining at least one of a length measurement mode, an angle measurement mode and a height measurement mode of the target feature in the part in the three-dimensional image, wherein the length measurement mode is used for measuring the length of the target feature, the angle measurement mode is used for measuring the angle of the target feature, the height measurement mode comprises measuring the height corresponding to the target feature based on a laser ranging device or measuring the height of the target feature based on a camera, wherein the measuring of the height of the target feature based on the camera comprises moving the camera to the position above the target feature and moving the camera along a Z axis, and when the quality of an image acquired by the camera meets the image quality requirement, the height of the camera is used as the height of the target feature.

After or before the extraction mode programming of the target features is completed, the programming of the measurement mode of the target features, which analyzes at least one of the length, the angle and the height, may be performed, for example, a ranging tool may be selected, the distance between the target features may be displayed after the corresponding target features are selected, and when the program is subsequently executed, the analysis action of at least one of the same length, angle and height may be executed when the program completes the extraction of the target features, so as to directly determine whether the processing of the part meets the design requirement.

For the height measurement mode, a point selection command can be clicked in a three-dimensional image, a terminal receives the point selection command, a corresponding characteristic point is determined based on the point selection command, when a program is executed subsequently, a lens of the image measuring instrument can be moved to the position above the position corresponding to the selected characteristic point in the part, the lens is moved along a Z axis, the height of the clearest view field is recorded, and when the height is measured in the mode, the magnification of the lens can be adjusted until the lens has smaller depth of field, so that when the lens is moved to the vicinity of the clearest view field, the depth of field of the lens of the image measuring instrument is smaller, the visual field can be quickly blurred or cleared, and the current height can be determined more accurately.

In addition, for the image measuring instrument provided with the laser distance measuring device, the height of the position corresponding to the selected characteristic point in the part can be directly measured by the laser distance measuring device.

In the template programming process, a plurality of tools can be used for identifying different target features, and then the analysis tools are used for measuring the length, the angle and the height of the features among the different target features, so that the parts can be comprehensively detected.

In an exemplary embodiment, as shown in fig. 4, a measurement method is provided, and the method is applied to the image measuring apparatus in fig. 1, and is described as an example, and includes the following steps S402 to S406. Wherein:

s402, acquiring a shot image to be processed.

The method comprises the steps of formally starting automatic measurement, and shooting part images in real time by an image tester to obtain images to be processed, wherein the images to be processed are used for feature extraction.

In some alternative embodiments, the image to be processed may be an image captured by an image measuring instrument (for example, an image under an illumination system such as bottom lighting, coaxial lighting or annular lighting), or may be a binary image obtained after processing, where the binary image corresponds to the above simulation image, and the simulation image is obtained by simulation.

S404, establishing a second coordinate system based on the image to be processed.

Wherein the second coordinate system is established based on the image to be processed, and the second coordinate system may be completely coincident with the first coordinate system or not completely coincident with the first coordinate system, which is not particularly limited herein. Since the measuring program can identify each feature in a relatively large range, the second coordinate system and the first coordinate system do not need to be completely overlapped, and therefore the use difficulty of a user can be reduced.

The second coordinate system is established by automatic establishment and manual establishment, and is more suitable for workpieces with complex shapes or difficult to directly identify gestures according to contours compared with the mode of automatically establishing the second coordinate system.

In one alternative embodiment, an example of an automatic establishment mode is given, the measurement program stores the whole outline of the part in the shooting direction when being stored, and a second coordinate system is established based on the image to be processed, wherein the method comprises the steps of identifying the gesture of the part in the image to be processed based on the whole outline, and generating the second coordinate system based on the identification result of the gesture and the first coordinate system corresponding to the shooting direction.

In this embodiment, when the automatic measurement program is stored, the outline of the three-dimensional image can be stored in the shooting direction. When the program is operated subsequently, the workpiece gesture in the image to be processed can be identified based on the general overall outline, so that a first coordinate system corresponding to the outline with the highest similarity of the image to be processed is determined, then a second coordinate system is generated based on the first coordinate system, and the second coordinate system is basically overlapped with the first coordinate system when the second coordinate system is automatically generated.

In one alternative embodiment, an example of a manual establishment method is given, wherein the manual establishment method of the second coordinate system is similar to the establishment method of the first coordinate system, specifically, the establishment of the second coordinate system based on the to-be-processed image comprises the steps of determining a fourth direction and a fifth direction according to the feature of the part in the to-be-processed image, determining a sixth direction according to the shooting direction, fitting the fourth direction, the fifth direction and the sixth direction to obtain each coordinate axis of the second coordinate system, determining the origin of each coordinate axis of each second coordinate system based on the feature of the part in the to-be-processed image, and determining the second coordinate system based on each coordinate axis of the second coordinate system and the origin of each coordinate axis of the second coordinate system.

The parts are placed in the visual field of the image tester, then an image is shot to obtain an image to be processed, two directions are determined on the image to be processed, one direction is a fourth direction, the other direction is a fifth direction, the fourth direction and the fifth direction respectively correspond to the X-axis direction and the Y-axis direction of the second coordinate system, the shooting direction defaults to the Z-axis direction of the second coordinate system, and therefore the second coordinate system can be fitted based on the selected two directions and the shooting direction. The Z-axis origin position may be located on a plane that can be clearly displayed in the image measuring instrument.

And S406, measuring the part in the image to be processed based on a measuring program and a second coordinate system, wherein the measuring program is generated based on the measuring program generating method in any one embodiment.

After the second coordinate system is determined, the subsequent measurement procedure can identify each feature in a relatively large range and calculate information such as the size corresponding to each feature.

In one alternative embodiment, and in conjunction with FIG. 5, FIG. 5 is a flow chart of the measurement method of one embodiment, first, a three-dimensional image is imported, wherein the three-dimensional image may be presented in an interface where a user is able to rotate, move or select features on a part.

And defining a first coordinate system based on the three-dimensional image, wherein the determining process of the first coordinate system comprises the steps of taking a shooting direction determined based on the feature of the part in the three-dimensional image as a first direction, determining a second direction according to the feature of the part in the three-dimensional image, fitting the first direction and the second direction to obtain each coordinate axis of the first coordinate system, and determining the origin of each coordinate axis of each first coordinate system based on the feature of the part in the three-dimensional image.

Thirdly, determining the extraction mode of the target features.

Fourth, a measurement mode of the target feature is determined.

Fifth, save the measurement program file.

And sixthly, shooting the part by the image measuring instrument to obtain an image to be processed.

Seventh, define the second coordinate system, and carry out the measurement program file kept.

In the measuring method, the template programming is directly carried out in the three-dimensional image, the template programming can be carried out based on different shooting directions, the efficiency is improved, the programming is directly carried out based on the three-dimensional image file of the part, the precision is higher, the accuracy of the first coordinate system is guaranteed by establishing the first coordinate system based on the three-dimensional image, and a foundation is laid for the measuring precision of the subsequent measuring process.

It should be understood that, although the steps in the flowcharts related to the above embodiments are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a measurement program generating device for realizing the above related measurement program generating method and a measurement device corresponding to the measurement method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitations in one or more measurement procedure generating devices and embodiments of the measurement device provided below may be referred to above for the limitations of the measurement procedure generating method and the measurement method, and are not repeated here.

In an exemplary embodiment, as shown in fig. 6, there is provided a measurement program generating apparatus of an image measuring instrument based on a spatial three-dimensional CAD model, including an importing module 601, a first coordinate system generating module 602, and a measurement program generating module 603, wherein:

an importing module 601, configured to import a three-dimensional image of a part, where the three-dimensional image includes a spatial three-dimensional CAD model;

The first coordinate system generating module 602 is configured to determine a first origin of a first coordinate axis in the first coordinate system based on the feature of the part in the three-dimensional image, and determine origins of other coordinate axes based on the feature of the part determined the first origin or other feature of the part in the three-dimensional image;

The measurement program generating module 603 is configured to generate a measurement program file based on the first coordinate system.

In one alternative embodiment, the first coordinate system generating module 602 is further configured to determine the first direction based on at least one of determining the shooting direction based on a line selected in the three-dimensional image, determining the shooting direction based on a first plane selected in the three-dimensional image, and taking the shooting direction as the first direction.

In one alternative embodiment, the first coordinate system generating module 602 is further configured to determine at least 3 non-collinear points in the part selected in the three-dimensional image, generate a first plane based on the at least 3 non-collinear points, and determine a normal vector direction of the first plane as the shooting direction.

In one alternative embodiment, the first coordinate system generating module 602 is further configured to determine the second direction based on at least one of fitting a first straight line based on at least two points selected in the three-dimensional image, and determining the direction of the first straight line as the second direction, and determining the straight line selected in the three-dimensional image as the first straight line, and determining the direction of the first straight line as the second direction.

In one alternative embodiment, the first coordinate system generating module 602 is further configured to obtain an origin of the X-axis of the first coordinate system based on the projection of the first selected point selected in the three-dimensional image on the X-axis of the first coordinate system; generating a first option corresponding to a first selection point and a first option corresponding to a first straight line, determining an origin of a Y axis of a first coordinate system according to a first selection result of the first option corresponding to the first selection point and the first option corresponding to the first straight line, wherein when the first selection result is the first option corresponding to the first selection point, the origin of the Y axis of the first coordinate system is obtained based on the projection of the first selection point on the Y axis of the first coordinate system, when the first selection result is the first option corresponding to the first straight line, the origin of the Y axis of the first coordinate system is obtained based on the projection of the first straight line on the Y axis of the first coordinate system, generating a second option corresponding to the first selection point, a second option corresponding to the first straight line and an option corresponding to the first straight line, and determining a Z axis of the first coordinate system based on the second selection result of the first selection point, when the first selection result is the first choice point is the first straight line, and the second option corresponding to the first straight line is the first origin of the first coordinate system, the origin of the Z axis of the first coordinate system is obtained based on the projection of the first plane on the Z axis of the first coordinate system.

In one alternative embodiment, the measurement program generating module 603 is further configured to determine an extraction manner of the target feature in the part based on the first coordinate system and the three-dimensional image, determine a measurement manner of the target feature in the part in the three-dimensional image, and generate a measurement program file based on the extraction manner of the target feature, the measurement manner of the target feature, and the first coordinate system.

In one alternative embodiment, the measurement program generating module 603 is further configured to simulate based on the first coordinate system and the three-dimensional image to obtain a simulated image when the image is captured along the capturing direction, and determine an extraction manner of the target feature in the part based on the simulated image and the three-dimensional image.

In one optional embodiment, the extraction mode of the target feature includes at least one of a feature point extraction mode, a feature straight line extraction mode, a feature circle extraction mode and a feature plane extraction mode;

The feature point extraction mode comprises at least one mode of determining feature points based on manual selection and a mode of determining feature points based on scanning, wherein the mode of determining the feature points based on scanning comprises the steps of determining two first candidate points selected in a three-dimensional image and scanning boundaries between the two first candidate points to obtain each feature point;

Determining at least two second candidate points selected in the three-dimensional image, displaying a first point taking area in the simulation image based on the at least two second candidate points, and fitting based on each characteristic point selected in the first point taking area to obtain a characteristic line;

Determining a feature circle selected in a three-dimensional image, and obtaining a target feature circle based on the selected feature circle;

The feature plane extraction method includes determining a plane selected in the three-dimensional image as a feature plane.

In one optional embodiment, the measurement program generating module 603 is further configured to determine the target feature circle based on any one of generating a second point taking area based on the feature circle, fitting the feature circle based on the feature points obtained by identifying the second point taking area, wherein the second point taking area is a sector point taking area or an annular point taking area, identifying a point set at the boundary based on a plurality of selected points near the feature circle, fitting the point set to obtain the target feature circle, obtaining a set number of scan lines, generating each scan line passing through the feature circle in the simulation image, generating each feature point based on the scan line, and fitting the generated each feature point to obtain the target feature circle based on the generated each feature point.

In one optional embodiment, the above-mentioned measurement program generating module 603 is further configured to determine at least one of a length measurement mode, an angle measurement mode and a height measurement mode of a target feature in a part in the three-dimensional image, where the length measurement mode is used to measure a length of the target feature, the angle measurement mode is used to measure an angle of the target feature, and the height measurement mode includes measuring a height corresponding to the target feature based on a laser ranging device or measuring a height of the target feature based on a camera, where the measuring the height of the target feature based on the camera includes moving the camera above the target feature and moving the camera along a Z-axis, and when quality of an image acquired by the camera meets an image quality requirement, the height of the camera is used as a height of the target feature.

In an alternative embodiment, the measurement program generating module 603 is further configured to generate, for different measurement planes, a measurement program based on the extraction method of the target feature, the measurement method of the target feature, and the first coordinate system when the image measuring apparatus can only capture images along one capturing direction, and store, for a measurement program, the extraction method of the target feature, the measurement method of the target feature, and the first coordinate system corresponding to each different measurement plane when the image measuring apparatus includes a plurality of capturing directions.

In an exemplary embodiment, as shown in fig. 7, a full-automatic measurement device of an image measuring instrument based on a spatial three-dimensional CAD model is provided, which includes an image acquisition module 701, a second coordinate system generation module 702, and a measurement module 703, wherein:

an image acquisition module 701, configured to acquire a captured image to be processed;

A second coordinate system generating module 702, configured to establish a second coordinate system based on the image to be processed;

the measurement module 703 is configured to measure the part in the image to be processed based on a measurement program and the second coordinate system, where the measurement program is generated based on the measurement program generating device in any one of the embodiments.

In one alternative embodiment, the measurement program stores the overall profile of the part in the shooting direction when stored, and the second coordinate system generating module 702 is further configured to identify the pose of the part in the image to be processed based on the overall profile, and generate the second coordinate system based on the identification result of the pose and the first coordinate system corresponding to the shooting direction.

In one alternative embodiment, the second coordinate system generating module 702 is further configured to determine a fourth direction and a fifth direction according to the feature of the part in the image to be processed, determine a sixth direction according to the shooting direction, obtain each coordinate axis of the second coordinate system based on the fourth direction, the fifth direction and the sixth direction, determine an origin of each coordinate axis of the second coordinate system based on the feature of the part in the image to be processed, and determine the second coordinate system based on each coordinate axis of the second coordinate system and the origin of each coordinate axis of the second coordinate system.

The above-mentioned measuring program generating device of the image measuring apparatus based on the space three-dimensional CAD model and the full-automatic measuring device of the image measuring apparatus based on the space three-dimensional CAD model may be all or partially implemented by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In an exemplary embodiment, a computer device, which may be a terminal, is provided, and an internal structure thereof may be as shown in fig. 8. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The Communication interface of the computer device is used for conducting wired or wireless Communication with an external terminal, and the wireless Communication can be realized through WIFI, a mobile cellular network, near field Communication (NEAR FIELD Communication) or other technologies. The computer program when executed by the processor is used for realizing a measuring program generating method of the image measuring instrument based on the space three-dimensional CAD model and a full-automatic measuring method of the image measuring instrument based on the space three-dimensional CAD model. The display unit of the computer device is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in FIG. 8 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are both information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data are required to meet the related regulations.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile memory and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (RESISTIVE RANDOM ACCESS MEMORY, reRAM), magneto-resistive Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computation, an artificial intelligence (ARTIFICIAL INTELLIGENCE, AI) processor, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the present application.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A fully automatic measurement method using an image measuring instrument based on a spatial three-dimensional CAD model, characterized in that the method comprises:

Importing a three-dimensional image of a part, wherein the three-dimensional image includes a spatial three-dimensional CAD model;

Taking a shooting direction determined based on the part features in the three-dimensional image as a first direction, determining a second direction based on the part features in the three-dimensional image, and fitting each coordinate axis of a first coordinate system based on the first direction and the second direction;

Determine a first origin of a first coordinate axis in the first coordinate system based on the part feature in the three-dimensional image, and determine origins of other coordinate axes based on the part feature used to determine the first origin or other part features in the three-dimensional image;

Generate a measurement program file based on the first coordinate system;

Acquire the captured image to be processed, and establish a second coordinate system based on the image to be processed;

The part in the image to be processed is measured based on the measurement program and the second coordinate system.

2. The method according to claim 1, characterized in that the taking of the shooting direction determined based on the part features in the three-dimensional image as the first direction comprises at least one of the following methods:

determining a shooting direction based on a straight line selected in the three-dimensional image, and taking the shooting direction as the first direction;

The shooting direction is determined based on a first plane selected in the three-dimensional image, and the shooting direction is used as the first direction, including: determining at least three non-collinear points in the part selected in the three-dimensional image; generating a first plane based on the at least three non-collinear points, and determining the normal vector direction of the first plane as the shooting direction.

3. The method according to claim 1, characterized in that the determining the second direction according to the part features in the three-dimensional image comprises at least one of the following methods:

fitting a first straight line based on at least two points selected in the three-dimensional image, and determining the direction of the first straight line as the second direction;

A straight line selected in the three-dimensional image is used as a first straight line, and a direction of the first straight line is determined as the second direction.

4. The method according to claim 1, characterized in that the determining the first origin of the first coordinate axis in the first coordinate system based on the part feature in the three-dimensional image, and determining the origins of other coordinate axes based on the part feature used to determine the first origin or other part features in the three-dimensional image, comprises:

Obtaining the origin of the X-axis of the first coordinate system based on the projection of the first selected point selected in the three-dimensional image on the X-axis of the first coordinate system;

Generate a first option corresponding to the first selected point and a first option corresponding to the first straight line, and determine the origin of the Y axis of the first coordinate system according to the first selection results of the first option corresponding to the first selected point and the first option corresponding to the first straight line, wherein when the first selection result is the first option corresponding to the first selected point, the origin of the Y axis of the first coordinate system is obtained based on the projection of the first selected point on the Y axis of the first coordinate system; when the first selection result is the first option corresponding to the first straight line, the origin of the Y axis of the first coordinate system is obtained based on the projection of the first straight line on the Y axis of the first coordinate system;

Generate a second option corresponding to the first selected point, a second option corresponding to the first straight line, and an option corresponding to the first plane, and determine the origin of the Z axis of the first coordinate system according to the second selection result of the second option corresponding to the first selected point, the second option corresponding to the first straight line, and the option corresponding to the first plane, wherein when the second selection result is the second option corresponding to the first selected point, the origin of the Z axis of the first coordinate system is obtained based on the projection of the first selected point on the Z axis of the first coordinate system; when the second selection result is the second option corresponding to the first straight line, the origin of the Z axis of the first coordinate system is obtained based on the projection of the first straight line on the Z axis of the first coordinate system; when the second selection result is the option corresponding to the first plane, the origin of the Z axis of the first coordinate system is obtained based on the projection of the first plane on the Z axis of the first coordinate system.

5. The method according to any one of claims 1 to 4, characterized in that generating a measurement program file based on the first coordinate system comprises:

Determining a method for extracting target features in the part based on the first coordinate system and the three-dimensional image, including: performing simulation based on the first coordinate system and the three-dimensional image to obtain a simulation image when shooting along the shooting direction; determining a method for extracting target features in the part based on the simulation image and the three-dimensional image;

determining a measurement method for a target feature in the part in the three-dimensional image;

A measurement program file is generated based on the target feature extraction method, the target feature measurement method and the first coordinate system.

6. The method according to claim 5, characterized in that the target feature extraction method includes at least one of a feature point extraction method, a feature line extraction method, a feature circle extraction method and a feature plane extraction method;

The feature point extraction method includes at least one of a method based on manual selection to determine the feature points and a method based on scanning to determine the feature points, wherein the method based on scanning to determine the feature points includes determining two first candidate points selected in the three-dimensional image, and scanning the boundary between the two first candidate points to obtain each feature point;

The characteristic line extraction method includes: determining at least two second candidate points selected in the three-dimensional image, and displaying a first point selection area in the simulation image based on the at least two second candidate points, and performing fitting based on each characteristic point selected in the first point selection area to obtain a characteristic line;

The characteristic circle extraction method includes: determining the characteristic circle selected in the three-dimensional image, obtaining the target characteristic circle based on the selected characteristic circle, including any one of the following methods: generating a second point-taking area based on the characteristic circle, fitting the characteristic circle based on the characteristic points identified in the second point-taking area, wherein the second point-taking area is a fan-shaped point-taking area or a ring-shaped point-taking area; identifying the point set at the intersection based on a plurality of selected points selected near the characteristic circle, and obtaining the target characteristic circle based on the point set fitting; and obtaining the set number of scan lines, generating each scan line passing through the characteristic circle in the simulation image, generating each characteristic point based on the scan line, and obtaining the target characteristic circle based on the generated each characteristic point fitting;

The feature plane extraction method includes: determining a plane selected in the three-dimensional image as a feature plane.

7. The method according to claim 5, characterized in that the determining of the measurement method of the target feature in the part in the three-dimensional image comprises:

Determine at least one of a length measurement method, an angle measurement method, and a height measurement method of a target feature in the part in the three-dimensional image;

Wherein the length measurement method is used to measure the length of the target feature;

The angle measurement method is used to measure the angle of the target feature;

The height measurement method includes measuring the height corresponding to the target feature based on a laser ranging device or measuring the height of the target feature based on a camera, wherein measuring the height of the target feature based on a camera includes: moving the camera above the target feature and moving the camera along the Z axis, and when the quality of the image captured by the camera meets the image quality requirements, the height of the camera is used as the height of the target feature.

8. The method according to claim 5, characterized in that the generating of the measurement program based on the target feature extraction method, the target feature measurement method and the first coordinate system comprises:

In the case where the image measuring instrument can only shoot along one shooting direction, for different measuring surfaces, a measurement program is generated based on the target feature extraction method, the target feature measurement method and the first coordinate system;

In the case where the image measuring instrument includes multiple shooting directions, the target feature extraction method corresponding to each different measuring surface, the target feature measurement method and the first coordinate system are stored in a measurement program.

9. The method according to claim 1, characterized in that the measurement program stores the overall profile of the part in the shooting direction when it is stored; and the second coordinate system is established based on the image to be processed, comprising:

Recognizing the posture of the part in the image to be processed based on the overall contour;

A second coordinate system is generated based on the recognition result of the posture and the first coordinate system corresponding to the shooting direction.

10. The method according to claim 1, characterized in that establishing a second coordinate system based on the image to be processed comprises:

Determine a fourth direction and a fifth direction according to the part features in the image to be processed, determine a sixth direction according to the shooting direction, and obtain coordinate axes of a second coordinate system by fitting based on the fourth direction, the fifth direction and the sixth direction;

Determine the origin of each coordinate axis of each second coordinate system based on the part features in the image to be processed;

The second coordinate system is determined based on the coordinate axes of the second coordinate system and the origins of the coordinate axes of the second coordinate system.