CN111815552A - A workpiece detection method, device, readable storage medium and terminal device - Google Patents

Abstract

The invention relates to the technical field of automatic detection, and in particular, to a workpiece detection method, device, storage medium and terminal equipment. The workpiece detection method provided by the present invention includes: acquiring a first depth image of a workpiece to be detected; extracting first depth data in the first depth image, and constructing a first data matrix corresponding to the workpiece to be detected according to the first depth data; A standard workpiece corresponding to the workpiece is detected, and a second data matrix corresponding to the standard workpiece is obtained; according to the first data matrix and the second data matrix, it is determined whether the workpiece to be detected has defects. In the embodiment of the present invention, when acquiring a depth image and extracting depth data of a workpiece to be detected, not only the acquisition and extraction speed is fast, but also the influence of ambient light can be avoided, and the detection accuracy of workpiece detection can be improved. In addition, in the analysis of the detected depth data, the matrix comparison method can be used for analysis, and the analysis method is simple, convenient and fast, which can improve the detection speed of workpiece detection.

Description

A workpiece detection method, device, readable storage medium and terminal device

technical field

The present invention relates to the technical field of automatic detection, and in particular, to a workpiece detection method, a device, a computer-readable storage medium and a terminal device.

Background technique

In the production of workpieces, in order to ensure the quality of workpiece production, it is often necessary to detect them. The existing detection methods are mainly based on manual sampling, while in the production line with high automation, video detection technology is used to detect workpieces. .

The existing video detection technologies mainly include two types, one is laser scanning and the other is structured light scanning. Among them, the scanning method of laser scanning is point scanning, and the scanning speed is relatively slow, which greatly reduces the detection speed of the workpiece. efficiency. Although structured light scanning is a faster surface scanning, it is more dependent on lasers and is easily affected by ambient light, resulting in low detection accuracy.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present invention provide a workpiece detection method, device, computer-readable storage medium, and terminal device to solve the problems of slow speed and low accuracy in existing workpiece detection.

A first aspect of the embodiments of the present invention provides a workpiece detection method, including:

obtaining a first depth image of the workpiece to be detected;

extracting the first depth data in the first depth image, and constructing a first data matrix corresponding to the workpiece to be detected according to the first depth data;

determining a standard workpiece corresponding to the workpiece to be detected, and acquiring a second data matrix corresponding to the standard workpiece;

According to the first data matrix and the second data matrix, it is determined whether the workpiece to be inspected has defects.

Further, obtaining the first depth image of the workpiece to be detected includes:

A first depth image of the workpiece to be inspected is acquired by a TOF camera.

Preferably, before acquiring the second data matrix corresponding to the standard workpiece, the method includes:

Acquiring a second depth image of the standard workpiece through the TOF camera;

extracting second depth data in the second depth image, and constructing a second data matrix corresponding to the standard workpiece according to the second depth data;

The second data matrix is associated with the standard workpiece and stored in a first preset database.

Optionally, determining whether the workpiece to be inspected has defects according to the first data matrix and the second data matrix includes:

obtaining the error matrix corresponding to the standard workpiece;

According to the error matrix and the second data matrix, determine each qualified data interval corresponding to the workpiece to be detected;

According to whether each first data of the first data matrix is located in the corresponding qualified data interval, it is determined whether the workpiece to be inspected has defects.

Further, determining each qualified data interval corresponding to the workpiece to be detected according to the error matrix and the second data matrix, including:

respectively calculating the sum and difference of each second data in the second data matrix and the error data at the corresponding position in the error matrix;

Each of the sum values is determined as the upper limit of the corresponding qualified data interval, and the difference value corresponding to each of the sum values is determined as the corresponding lower limit of the qualified data interval.

Preferably, according to whether each first data of the first data matrix is located in the corresponding qualified data interval, determining whether the workpiece to be inspected has defects, including:

If each first data in the first data matrix is in the corresponding qualified data interval, it is determined that the workpiece to be detected is qualified;

If there is any first data in the first data matrix that is not in the corresponding qualified data interval, it is determined that the workpiece to be inspected is defective.

Optionally, after determining that the workpiece to be detected has defects, the method includes:

Acquiring target data in the first data matrix that is not within the corresponding qualified data interval, and determining the marking color corresponding to the target data according to a preset correspondence;

The target data is marked with the marking color, and the color-marked first data matrix is associated with the workpiece to be detected and stored in a second preset database.

Further, obtaining the first depth image of the workpiece to be detected includes:

detecting the current position of the workpiece to be detected;

When the current position is a preset designated detection position, a first depth image of the workpiece to be detected is acquired.

In a second aspect of the embodiments of the present invention, a workpiece detection device is provided, including:

a first depth image acquisition module for acquiring a first depth image of the workpiece to be detected;

a first data matrix construction module, used for extracting the first depth data in the first depth image, and constructing a first data matrix corresponding to the workpiece to be detected according to the first depth data;

A second data matrix acquisition module, configured to determine a standard workpiece corresponding to the workpiece to be detected, and acquire a second data matrix corresponding to the standard workpiece;

A defect detection module, configured to determine whether the workpiece to be inspected has defects according to the first data matrix and the second data matrix.

In a third aspect of the embodiments of the present invention, a terminal device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program At the same time, the steps of the workpiece detection method described in the foregoing first aspect are implemented.

In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the workpiece detection according to the foregoing first aspect is implemented steps of the method.

As can be seen from the above technical solutions, the embodiments of the present invention have the following advantages:

In this embodiment of the present invention, a first depth image of the workpiece to be detected is first acquired, and first depth data in the first depth image is extracted, so as to construct a first depth image corresponding to the workpiece to be detected according to the first depth data data matrix, then determine the standard workpiece corresponding to the workpiece to be detected, and obtain the second data matrix corresponding to the standard workpiece, so as to determine the workpiece to be detected according to the first data matrix and the second data matrix whether there are defects. In the embodiment of the present invention, when acquiring the depth image of the workpiece to be detected and extracting the depth data from the depth image, not only the acquisition and extraction speed is fast, but also the influence of ambient light can be avoided, thereby improving the detection accuracy of workpiece detection. In addition, in the analysis of the detected depth data, the matrix comparison method can be used for analysis, and the analysis method is simple, convenient and fast, which can improve the detection speed of workpiece detection.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. In some embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of a detection system according to an embodiment of the present invention;

2 is a flowchart of an embodiment of a workpiece detection method in an embodiment of the present invention;

3 is a schematic flowchart of constructing a second data matrix in an application scenario by a workpiece detection method according to an embodiment of the present invention;

4 is a schematic flowchart of determining whether a defect exists in an application scenario of a workpiece detection method according to an embodiment of the present invention

5 is a structural diagram of an embodiment of a workpiece detection device in an embodiment of the present invention;

FIG. 6 is a schematic diagram of a terminal device according to an embodiment of the present invention.

Detailed ways

Embodiments of the present invention provide a workpiece detection method, a device, a computer-readable storage medium, and a terminal device, which are used to solve the problems of slow speed and low precision in the existing workpiece detection.

In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In addition, "first" and "second" and the like described in the embodiments of the present invention are used to distinguish different objects, but are not used to describe a specific order.

Referring to FIG. 1 , a workpiece detection method provided by an embodiment of the present invention is applied to the detection system shown in FIG. 1 . The detection system may include a TOF camera 10 , an image acquisition device 11 , a terminal device 12 , and a control mechanism 13 And the braking part 14, wherein, the TOF camera 10 is used to capture the depth image of the workpiece 15 to be detected, and transmit the captured depth image to the image acquisition device 11, the image acquisition device 11 is connected with the terminal device 12, and the terminal device 12 Then, the depth image stored in the image acquisition device 11 can be read, and whether the workpiece 15 to be inspected meets the production requirements can be analyzed according to the read depth image, that is, it is determined whether the workpiece 15 to be inspected has defects, and when the workpiece 15 to be inspected meets the requirements. At the time of production requirements, if the workpiece 15 to be inspected has no defects, the terminal device 12 can send a control command to move the workpiece 15 to be inspected to the qualified area 16 to the control mechanism 13 , and the control mechanism 13 can control the movement of the braking component 14 . , to move the workpiece 15 to be inspected to the qualified area 16; when the workpiece to be inspected 15 does not meet the production requirements, if the workpiece to be inspected 15 is defective, the terminal device 12 can send the workpiece to be inspected 15 Move to the unqualified area The control instruction of 17 is given to the control mechanism 13 , and the control mechanism 13 can move the workpiece 15 to be inspected to the unqualified area 17 by controlling the movement of the braking component 14 .

It can be understood that TOF camera refers to a camera based on Time of Flight technology. TOF camera mainly calculates the round-trip time to measure the distance of each point through the reflection of its own light source, that is, the sensor emits a modulated signal. Near-infrared light is reflected after encountering an object, and the sensor converts the distance of the captured scene by calculating the time difference or phase difference between light emission and reflection to generate depth information. The TOF camera mainly relies on the physical characteristics of the sensor to calculate the reflection time of the light source to determine the distance, and uses a light source with a specific wavelength as the measurement light source, which is less affected by ambient light, has fast measurement speed, high measurement accuracy and low hardware cost, which can greatly improve Detection accuracy, detection speed and detection efficiency of workpiece detection.

The workpiece detection method will be described in detail below with reference to specific embodiments based on the above-mentioned detection system, wherein the execution subject of the workpiece detection method in this embodiment is the terminal device 12 .

As shown in FIG. 2, an embodiment of the present invention provides a workpiece detection method, and the workpiece detection method includes:

Step S201, obtaining a first depth image of the workpiece to be detected;

Specifically, in the embodiment of the present invention, the acquiring the first depth image of the workpiece to be inspected may include: acquiring the first depth image of the workpiece to be inspected through a TOF camera.

In the embodiment of the present invention, a designated inspection position may be set in the inspection system in advance, and the TOF camera 10 may be disposed around the designated inspection position to collect the depth image of the workpiece to be inspected located at the designated inspection position, Wherein, the number of TOF cameras 10 can be determined according to the detection requirements of the workpiece to be detected. For example, when all the appearances of the workpiece to be inspected need to be inspected, a TOF camera 10 can be set above the designated inspection position to collect a bird's-eye view test map of the workpiece to be inspected, so as to obtain a depth image of the top of the workpiece to be inspected, and at the same time Three TOF cameras 10 can be set at equal intervals on the side of the designated detection position, for example, three TOF cameras 10 can be set at 120-degree intervals on the side to collect the depth image of the side of the workpiece to be detected. The bottom of the designated detection position is set in a hollow state, and a TOF camera 10 may be set at the bottom of the designated detection position to collect a depth image of the bottom of the workpiece to be inspected.

It can be understood that after the TOF camera 10 collects each depth image of the workpiece to be detected, the TOF camera 10 can transmit the collected depth image to the image acquisition device 11, and the image acquisition device 11 can detect the received depth images. The image is saved, and the terminal device 12 can acquire the first depth image of the workpiece to be detected by reading the data saved in the image acquisition device 11 . Here, the image capture device 11 is preferably an image capture card, and the terminal device 12 may be an industrial computer or the like.

Further, the TOF camera 10 is often set at a specific position in the detection system. Therefore, in order to ensure the accuracy of the depth image acquisition in the TOF camera, and to improve the detection efficiency and detection accuracy of workpiece detection, the depth of the workpiece to be detected is collected. When the image is to be detected, the workpiece to be detected is located at a designated detection position in the detection system, that is, in the embodiment of the present invention, the acquisition of the first depth image of the workpiece to be detected may include:

Step a, detect the current position of the workpiece to be detected;

Step b. When the current position is a preset designated detection position, acquire a first depth image of the workpiece to be detected.

Here, when the workpiece to be detected enters the detection system for detection, the current position of the workpiece to be detected can be detected in real time, and it can be judged whether the current position is a predetermined designated detection position, if the current position is not the designated detection position If the detection position is detected, the current position of the workpiece to be detected can be adjusted so that the workpiece to be detected reaches the designated detection position, and when the workpiece to be detected reaches the designated detection position, the first The depth image, for example, can be started by controlling the TOF camera 10 to obtain the first depth image of the workpiece to be inspected.

Step S202, extracting the first depth data in the first depth image, and constructing a first data matrix corresponding to the workpiece to be detected according to the first depth data;

It can be understood that after acquiring the first depth image of the workpiece to be detected, the terminal device 12 can extract the first depth data in the first depth image, and can construct the to-be-detected workpiece according to the first depth data. The first data matrix corresponding to the workpiece, for example, the first data matrix corresponding to the workpiece to be detected can be constructed according to the arrangement position of the first depth data in the first depth image, that is, each of the The first data matrix is constructed by combining all the first depth data in the corresponding first depth image.

It should be noted that, in this embodiment of the present invention, the number of first data matrices constructed by the terminal device 12 corresponds to the number of first depth images. For example, when the image acquisition device 11 receives a first depth image including a top , one bottom first depth image and three side first depth images, when there are five first depth images in total, the terminal device 12 can construct five first data matrices, corresponding to each first depth image respectively .

Step S203, determining a standard workpiece corresponding to the workpiece to be detected, and acquiring a second data matrix corresponding to the standard workpiece;

In the embodiment of the present invention, when constructing each first data matrix corresponding to the workpiece to be detected, the terminal device 12 can simultaneously determine the standard workpiece corresponding to the workpiece to be detected. Scan the QR code and other information of the workpiece to be inspected to obtain the attribute information such as the category of the workpiece to be inspected, so that the standard workpiece corresponding to the workpiece to be inspected can be determined according to the attribute information such as the category, and can be obtained from the preset database. The second data matrix corresponding to the standard workpiece.

Further, as shown in FIG. 3 , in this embodiment of the present invention, before acquiring the second data matrix corresponding to the standard workpiece, it may further include:

Step S301, obtaining the second depth image of the standard workpiece through the TOF camera;

Here, each manually determined standard workpiece can be placed at a designated detection position in the detection system, and each second depth image of each standard workpiece can be acquired by the TOF camera 10, wherein the acquisition process of the second depth image is the same as the above-mentioned The above-mentioned acquisition process of the first depth image is similar, and the principle is the same. For the sake of brevity, it will not be repeated here.

Step S302, extracting the second depth data in the second depth image, and constructing a second data matrix corresponding to the standard workpiece according to the second depth data;

It can be understood that the construction method of the second data matrix corresponding to each standard workpiece is similar to the construction method of the first data matrix described above, and the principle is the same, and for the sake of brevity, it will not be repeated here.

Step S303 , storing the second data matrix and the standard workpiece in a first preset database in association with each other.

In the embodiment of the present invention, after each second data matrix corresponding to each standard workpiece is constructed, each second data matrix can be associated with each standard workpiece and stored in the first preset database. For example, each second data matrix can be stored in the first preset database. The matrix is stored in association with attribute information such as the type of each standard workpiece. Further, when associated and saved, the detection parts corresponding to each second data matrix can also be associated and saved. For example, if the second data matrix A is constructed according to the first depth image A on the top of the standard workpiece, and the second data matrix B If it is constructed according to the first depth image B at the bottom of the standard workpiece, when the second data matrix A is associated and saved, the attribute information such as the category of the standard workpiece and the top can be stored in association with the second data matrix A, and the second data matrix B can be saved. It is saved in association with attribute information such as the category of the standard workpiece and the bottom.

Step S204 , according to the first data matrix and the second data matrix, determine whether the workpiece to be inspected has defects.

It can be understood that after constructing each first data matrix corresponding to the workpiece to be detected and acquiring each second data matrix of the standard workpiece corresponding to the workpiece to be detected, each first data matrix can be combined with the corresponding second data matrix. The data matrix is compared, and whether the workpiece to be tested has defects can be determined according to each comparison result. For example, the first data matrix corresponding to the bottom of the workpiece to be tested can be compared with the first data matrix corresponding to the bottom of the standard workpiece. Yes, and it can be determined whether there is a defect in the bottom of the workpiece to be inspected according to the comparison result of the bottom, so that it can be determined whether the workpiece to be inspected is a qualified workpiece or an unqualified workpiece with defects according to the inspection results of each inspection part.

Specifically, as shown in FIG. 4 , in this embodiment of the present invention, determining whether the workpiece to be inspected has defects according to the first data matrix and the second data matrix may include:

Step S401, obtaining the error matrix corresponding to the standard workpiece;

Step S402, according to the error matrix and the second data matrix, determine each qualified data interval corresponding to the workpiece to be detected;

Step S403 , according to whether each first data of the first data matrix is located in the corresponding qualified data interval, determine whether the workpiece to be inspected has defects.

Wherein, in step S403, determining whether the workpiece to be inspected has defects according to whether each first data of the first data matrix is located in the corresponding qualified data interval may further include:

Step S4030, if each first data in the first data matrix is in the corresponding qualified data interval, determine that the workpiece to be detected is qualified;

Step S4032: If there is any first data in the first data matrix that is not in the corresponding qualified data interval, it is determined that the workpiece to be inspected is defective.

It can be understood that certain errors are often allowed in the production of workpieces. Therefore, in the embodiment of the present invention, the user can set the allowable error according to the specific production requirements of each workpiece, and the terminal device 12 receives the error set by the user. Then, the corresponding error matrix can be constructed according to the error, and the error matrix can be stored in association with the corresponding standard workpiece. Among them, when each error matrix is stored in association with the corresponding standard workpiece, the detection part corresponding to each error matrix can also be stored in association. For example, if the detection part corresponding to error matrix A is the top of the workpiece and the detection part corresponding to error matrix B If the part is the bottom of the workpiece, when the error matrix is associated and saved, the error matrix A can be associated with the top of the workpiece, and the error matrix B can be associated with the bottom of the workpiece.

Here, in order to make the error setting more intuitive, in the embodiment of the present invention, a two-dimensional physical map can be superimposed on the interactive interface of the terminal device 12, and the user can use the two-dimensional physical map according to the production requirements of different parts of the workpiece. Set different errors, and in the error setting, the user can also use a brush to fill in one piece to uniformly fill the parts with the same error, which makes the error setting convenient and intuitive.

For the above step S401, when constructing the first data matrix of the workpiece to be detected, the terminal device 12 can simultaneously determine the standard workpiece corresponding to the workpiece to be detected, and can obtain the corresponding error matrix according to the determined standard workpiece.

For the above step S402, it can be understood that after acquiring the second data matrix and error matrix of the standard workpiece corresponding to the workpiece to be detected, the workpiece to be detected can be determined according to each second data matrix and the corresponding error matrix For the qualified data interval corresponding to each detection part, the qualified data interval corresponding to the top of the workpiece to be inspected can be determined according to the second data matrix corresponding to the top of the standard workpiece and the error matrix corresponding to the top, wherein the qualified data interval refers to The data interval allowed by each first data in the first data matrix corresponding to the workpiece to be detected. Here, each upper limit of the qualified data interval can be set as the sum of each second data in the second data matrix and the error data at the corresponding position in the error matrix, and each lower limit of the qualified data interval can be set It is set as the difference between each second data in the second data matrix and the error data at the corresponding position in the error matrix.

That is to say, when a certain qualified data interval is determined, the second data corresponding to the qualified data interval in the second data matrix and the error data corresponding to the qualified data interval in the error matrix may be calculated first. The sum and difference can be determined as the upper limit of the qualified data interval, and the obtained difference can be determined as the lower limit of the qualified data interval.

For the above step S403, step S4030 and step S4032, it can be understood that after each qualified data interval is determined, it can be determined whether each first data in each first data matrix is within the corresponding qualified data interval, if If each first data in each first data matrix is in the corresponding qualified data interval, it indicates that the error of the workpiece to be detected is within the allowable error range, therefore, it can be considered that the workpiece to be detected is a qualified workpiece, The terminal device 12 can determine that the workpiece to be inspected is qualified, and generates a control instruction for moving the workpiece to be inspected to the qualified area 16 and sends it to the control mechanism 13. The workpiece is moved to the qualified area 16; if there is one or more first data in a certain first data matrix that is not within the corresponding qualified data interval, it means that there is a part beyond the error range in the workpiece to be detected, so it can be Considering that the workpiece to be inspected is defective, the terminal device 12 can determine that the workpiece to be inspected is defective, and generate a control instruction for moving the workpiece to be inspected to the unqualified area 17 and send it to the control mechanism 13, and the control mechanism 13 can control the control mechanism 13. The moving part 14 moves to move the workpiece to be inspected to the unqualified area 17 .

It should be noted that, in the embodiment of the present invention, only when all the first data in each first data matrix must be in the corresponding qualified data interval, the workpiece to be inspected can be considered as a qualified workpiece. It should be understood as a limitation on the embodiment of the present invention. In the embodiment of the present invention, of course, the allowed data ratio that is not between the corresponding qualified area data can also be preset, so as to finally determine the existence of the workpiece to be detected according to the data ratio. When the first data is not in the qualified data interval, whether the workpiece to be detected is qualified or not.

Further, in the embodiment of the present invention, after it is determined that the workpiece to be detected has defects, it may further include:

Step c, acquiring the target data in the first data matrix that is not within the corresponding qualified data interval, and determining the marking color corresponding to the target data according to a preset correspondence;

In step d, the target data is marked with the marking color, and the color-marked first data matrix is associated with the workpiece to be detected and stored in a second preset database.

For the above steps c and d, in the embodiment of the present invention, after the terminal device 12 completes the defect detection of the workpiece to be detected, the result of the defect detection and each first data matrix corresponding to the workpiece to be detected can also be compared with the The workpiece to be detected is associated and stored in the second preset database, so that the relevant personnel can understand the detection data of the workpiece to be detected. Further, when it is determined that the workpiece to be detected is defective, the terminal device 12 can obtain the target data that is not in the corresponding qualified data interval in each first data matrix of the workpiece to be detected, and can obtain the unqualified workpiece in the workpiece to be detected. The target data corresponding to the part, and the mark color corresponding to each target data can be determined according to the preset correspondence, so that the corresponding mark color can be used to color mark each unqualified target data, and after the color mark, then The result of defect detection and each first data matrix corresponding to the workpiece to be detected can be associated with the workpiece to be detected and stored in the second preset database, so that the inconsistent data can be marked with eye-catching colors, so as to facilitate the relevant personnel according to the marking. The data is used to repair the workpiece to be detected, so as to improve the maintenance efficiency of the workpiece.

It can be understood that, in the embodiment of the present invention, the marking color corresponding to each detection part can be set in advance according to the specific detection requirements. Therefore, when the workpiece to be detected has unqualified target data, it can be determined where the target data is located. The detection part corresponding to the first data matrix, so that the mark color corresponding to the target data can be determined according to the determined detection part.

In this embodiment of the present invention, a first depth image of the workpiece to be detected is first acquired, and first depth data in the first depth image is extracted, so as to construct a first depth image corresponding to the workpiece to be detected according to the first depth data data matrix, then determine the standard workpiece corresponding to the workpiece to be detected, and obtain the second data matrix corresponding to the standard workpiece, so as to determine the workpiece to be detected according to the first data matrix and the second data matrix whether there are defects. In the embodiment of the present invention, when acquiring the depth image of the workpiece to be detected and extracting the depth data from the depth image, not only the acquisition and extraction speed is fast, but also the influence of ambient light can be avoided, thereby improving the detection accuracy of workpiece detection. In addition, in the analysis of the detected depth data, the matrix comparison method is used for analysis, and the analysis method is simple, convenient and fast, which can improve the detection speed of workpiece detection.

It should be understood that the size of the sequence numbers of the steps in the above embodiments does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

A workpiece detection method is mainly described above, and a workpiece detection device will be described in detail below.

As shown in FIG. 5 , an embodiment of the present invention provides a workpiece detection device, and the workpiece detection device includes:

a first depth image acquisition module 501, configured to acquire a first depth image of the workpiece to be detected;

a first data matrix construction module 502, configured to extract the first depth data in the first depth image, and construct a first data matrix corresponding to the workpiece to be detected according to the first depth data;

A second data matrix acquisition module 503, configured to determine a standard workpiece corresponding to the workpiece to be detected, and acquire a second data matrix corresponding to the standard workpiece;

The defect detection module 504 is configured to determine whether the workpiece to be inspected has defects according to the first data matrix and the second data matrix.

Further, the first depth image acquisition module 501 is specifically configured to acquire the first depth image of the workpiece to be detected through a TOF camera.

Preferably, the workpiece detection device may also include:

A second depth image acquisition module, configured to acquire a second depth image of the standard workpiece through the TOF camera;

A second data matrix construction module, configured to extract the second depth data in the second depth image, and construct a second data matrix corresponding to the standard workpiece according to the second depth data;

The second data matrix saving module is used for saving the second data matrix and the standard workpiece in the first preset database in association.

Optionally, the defect detection module 504 may include:

an error matrix obtaining unit, used for obtaining the error matrix corresponding to the standard workpiece;

a qualified interval determination unit, configured to determine each qualified data interval corresponding to the workpiece to be detected according to the error matrix and the second data matrix;

A defect detection unit, configured to determine whether the workpiece to be inspected has defects according to whether each first data of the first data matrix is located in the corresponding qualified data interval.

Further, the qualified interval determination unit may include:

and a difference calculation subunit, used for calculating the sum and difference of each second data in the second data matrix and the error data at the corresponding position in the error matrix;

The qualified interval determination subunit is used to determine each of the sums as the upper limit of the corresponding qualified data interval, and to determine the difference corresponding to each of the sums as the corresponding lower limit of the qualified data interval.

Preferably, the defect detection unit may include:

a first detection subunit, configured to determine that the workpiece to be detected is qualified if each first data in the first data matrix is in the corresponding qualified data interval;

The second detection subunit is configured to determine that the workpiece to be detected is defective if any first data in the first data matrix is not in the corresponding qualified data interval.

Optionally, the workpiece detection device may also include:

A color determination module, configured to acquire target data in the first data matrix that is not within the corresponding qualified data interval, and determine the mark color corresponding to the target data according to a preset correspondence;

The color marking module is configured to use the marking color to mark the target data, and save the color-marked first data matrix and the workpiece to be detected in a second preset database in association.

Preferably, the first depth image acquisition module 501 may include:

A current position detection unit for detecting the current position of the workpiece to be detected;

A first depth image acquisition unit, configured to acquire a first depth image of the workpiece to be detected when the current position is a preset designated detection position.

FIG. 6 is a schematic diagram of a terminal device provided by an embodiment of the present invention. As shown in FIG. 6 , the terminal device 6 of this embodiment includes: a processor 60 , a memory 61 , and a computer program 62 stored in the memory 61 and executable on the processor 60 , such as a workpiece detection program. When the processor 60 executes the computer program 62, the steps in each of the above embodiments of the workpiece detection method are implemented, for example, steps S201 to S204 shown in FIG. 2 . Alternatively, when the processor 60 executes the computer program 62, the functions of the modules/units in each of the foregoing apparatus embodiments, such as the functions of the modules 501 to 504 shown in FIG. 5, are implemented.

Exemplarily, the computer program 62 may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 61 and executed by the processor 60 to complete the this invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 62 in the terminal device 6 . For example, the computer program 62 can be divided into a first depth image acquisition module, a first data matrix construction module, a second data matrix acquisition module, and a detection result determination module. The specific functions of each module are as follows:

a first depth image acquisition module for acquiring a first depth image of the workpiece to be detected;

a first data matrix construction module, used for extracting the first depth data in the first depth image, and constructing a first data matrix corresponding to the workpiece to be detected according to the first depth data;

A second data matrix acquisition module, configured to determine a standard workpiece corresponding to the workpiece to be detected, and acquire a second data matrix corresponding to the standard workpiece;

A defect detection module, configured to determine whether the workpiece to be inspected has defects according to the first data matrix and the second data matrix.

The terminal device 6 may be a computing device such as a desktop computer, a notebook, a palmtop computer, and a cloud server. The terminal device may include, but is not limited to, the processor 60 and the memory 61 . Those skilled in the art can understand that FIG. 6 is only an example of the terminal device 6, and does not constitute a limitation on the terminal device 6, and may include more or less components than the one shown, or combine some components, or different components For example, the terminal device may further include an input and output device, a network access device, a bus, and the like.

The processor 60 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 61 may be an internal storage unit of the terminal device 6 , such as a hard disk or a memory of the terminal device 6 . The memory 61 may also be an external storage device of the terminal device 6, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the terminal device 6. card, flash card (Flash Card) and so on. Further, the memory 61 may also include both an internal storage unit of the terminal device 6 and an external storage device. The memory 61 is used to store the computer program and other programs and data required by the terminal device. The memory 61 can also be used to temporarily store data that has been output or will be output.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, device and unit described above may refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

In the foregoing embodiments, the description of each embodiment has its own emphasis. For parts that are not described or described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

Those of ordinary skill in the art can realize that the modules, units and/or method steps of various embodiments described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

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

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

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps of the foregoing method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, RandomAccess Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable media Electric carrier signals and telecommunication signals are not included.

As mentioned above, the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions described in the embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (11)

1. A method of inspecting a workpiece, comprising:

acquiring a first depth image of a workpiece to be detected;

extracting first depth data in the first depth image, and constructing a first data matrix corresponding to the workpiece to be detected according to the first depth data;

determining a standard workpiece corresponding to the workpiece to be detected, and acquiring a second data matrix corresponding to the standard workpiece;

and determining whether the workpiece to be detected has defects according to the first data matrix and the second data matrix.

2. The workpiece inspection method of claim 1, wherein said obtaining a first depth image of the workpiece to be inspected comprises:

and acquiring a first depth image of the workpiece to be detected through a TOF camera.

3. The method of claim 2, wherein prior to obtaining the second data matrix corresponding to the standard workpiece, comprising:

acquiring a second depth image of the standard workpiece by the TOF camera;

extracting second depth data in the second depth image, and constructing a second data matrix corresponding to the standard workpiece according to the second depth data;

and storing the second data matrix and the standard workpiece in a first preset database in an associated manner.

4. The method of claim 1, wherein said determining whether the workpiece to be inspected has a defect based on the first data matrix and the second data matrix comprises:

acquiring an error matrix corresponding to the standard workpiece;

determining qualified data intervals corresponding to the workpieces to be detected according to the error matrix and the second data matrix;

and determining whether the workpiece to be detected has defects according to whether the first data of the first data matrix are all located in the corresponding qualified data interval.

5. The workpiece inspection method of claim 4, wherein determining qualified data intervals corresponding to the workpieces to be inspected based on the error matrix and the second data matrix comprises:

respectively calculating the sum and difference of each second data in the second data matrix and the error data at the corresponding position in the error matrix;

and determining each sum as the upper limit of the corresponding qualified data interval, and determining the difference value corresponding to each sum as the lower limit of the corresponding qualified data interval.

6. The method according to claim 4, wherein determining whether the workpiece to be detected has a defect according to whether each first data of the first data matrix is located in the corresponding qualified data interval comprises:

if all the first data in the first data matrix are in the corresponding qualified data interval, determining that the workpiece to be detected is qualified;

and if any first data in the first data matrix is not in the corresponding qualified data interval, determining that the workpiece to be detected has defects.

7. The workpiece inspection method of claim 6, after determining that the workpiece to be inspected is defective, comprising:

acquiring target data which is not in the corresponding qualified data interval in the first data matrix, and determining a marking color corresponding to the target data according to a preset corresponding relation;

marking the target data by adopting the marking color, and storing the first data matrix subjected to color marking and the workpiece to be detected in a second preset database in an associated manner.

8. The workpiece inspection method of any of claims 1 to 7, wherein the obtaining a first depth image of a workpiece to be inspected comprises:

detecting the current position of the workpiece to be detected;

and when the current position is a preset appointed detection position, acquiring a first depth image of the workpiece to be detected.

9. A workpiece detection apparatus, comprising:

the first depth image acquisition module is used for acquiring a first depth image of a workpiece to be detected;

the first data matrix construction module is used for extracting first depth data in the first depth image and constructing a first data matrix corresponding to the workpiece to be detected according to the first depth data;

the second data matrix acquisition module is used for determining a standard workpiece corresponding to the workpiece to be detected and acquiring a second data matrix corresponding to the standard workpiece;

and the defect detection module is used for determining whether the workpiece to be detected has defects according to the first data matrix and the second data matrix.

10. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the workpiece detection method according to any one of claims 1 to 8 when executing the computer program.

11. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method for workpiece inspection according to any one of claims 1 to 8.

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