CN102912714A - Machine vision system used for acquiring and processing road crack images - Google Patents
Machine vision system used for acquiring and processing road crack images Download PDFInfo
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Abstract
The invention relates to a machine vision system used for acquiring and processing road crack images. According to the machine vision system, an illuminating module is connected with a CCD (charge coupled device) camera through a data line, the CCD camera is connected with a high-speed acquiring module through the data line, the high-speed acquiring module is connected with an image preprocessing module through the data line, the image preprocessing module is connected with an image display module through the data line, the image display module is connected with a motion control module through the data line, the high-speed acquiring module and the image preprocessing module are connected with a wireless image transmitting module through the data line, and the wireless image transmitting module 7 is connected with the motion control module through the data line. The machine vision system integrates modules for acquisition, storage, processing, communication, control and the like and is based on a modularization concept; and through tests, the machine vision system is convenient, flexible and reliable, low in price and interference-friendly and can meet the requirements of high-speed, real-time and automatic road crack detection. The machine vision system can be conveniently applied to occasions of acquisition and processing of road crack images.
Description
Technical field
What the present invention relates to is a kind of system of field of machine vision, particularly a kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing.
Background technology
NI Vision Builder for Automated Inspection utilizes machine to replace human eye to do various measurements and judgement exactly.It is an important branch of Computer Subject, and it combines the technology of the aspects such as optics, machinery, electronics, computer software and hardware, relates to a plurality of fields such as computer, image processing, pattern-recognition, artificial intelligence, signal processing, optical, mechanical and electronic integration.
In brief, machine vision replaces human eye to do measurement and judgement with machine exactly.NI Vision Builder for Automated Inspection can improve flexibility and the automaticity of production line, is not suitable for the dangerous work environment of manual work or the occasion that the artificial vision is difficult to meet the demands at some, and the machine in normal service vision substitutes the artificial vision; In industrial processes in enormous quantities, due to people's role of subjective intentions, efficient is low and precision is not high to cause the artificial vision to check the quality of the products simultaneously, detects the automaticity that can greatly enhance productivity and produce with machine vision method.In general, NI Vision Builder for Automated Inspection has comprised illuminator, camera lens, camera system and image processing system.On function, typical NI Vision Builder for Automated Inspection can be divided into: IMAQ part, image processing section and motion control part.
Existing pavement crack automatic checkout system majority is the collection for still image, then image is carried out processed offline, and view data will occupy very large hard-disc storage space, and needs more extra works, has reduced detection efficiency.Therefore, in conjunction with new and high technology exploitation and design efficiently, pavement crack online acquisition and treatment system have great importance fast and accurately.
Summary of the invention
The object of the invention is to overcome the weak point that prior art exists, provide the road surface crack image that a kind of project organization is reasonable, cost is low, easy to use, certainty of measurement is high to gather and the NI Vision Builder for Automated Inspection of processing.
Technical solution of the present invention is as follows:
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, comprising: CCD camera, high speed acquisition module, image pretreatment module, image display, illumination module, image wireless transport module and motion-control module; Wherein: the illumination module is connected with the CCD camera by data wire, the CCD camera is connected with the high speed acquisition module by data wire, the high speed acquisition module is connected with the image pretreatment module by data wire, the image pretreatment module is connected with image display by data wire, image display is connected with motion-control module by data wire, the high speed acquisition module is connected data wire and is connected with the image wireless transport module with the image pretreatment module, image wireless transport module 7 is connected with motion-control module by data wire.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: the CCD camera is with gigabit ethernet interface, its sampling rate is to 180 frame/seconds, the image of the road surface crackle under Real-time Collection optimum illumination condition, and the image of road surface crackle is sent to the image pretreatment module, for follow-up IMAQ and processing module provide the image information data of magnanimity to be processed, adopt IEEE1394b interfacing and image capture module and image pretreatment module to realize the real-time Data Transmission of high speed.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: thus mutually confidential the completing of CCD taken the task that the highway pavement image obtains information of road surface under the natural lighting condition, and the texture on road surface and color are more single, so use the black-white CCD camera can reach the requirement of acquisition system.Having of black-white CCD camera is simple in structure, and image data amount is little, and the speed of transmission is fast, also than the advantage such as color camera is fast, can realize dynamic acquisition to image processing speed.The fixed focal length of camera lens is respectively 4～8mm and 12～36mm, supports the automatic adjustment of aperture.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: as to have adopted the LED light source illumination in order to the illumination module of shining the road surface target image, with the road surface crack image quality that guarantees to be gathered.LED is connected with the LED array substrate in the mode of activity plug, forms unit module and is built into LED array, and LED array is connected with the LED constant-current drive circuit, and circuit is connected with controller by data wire and power line, then is connected with power supply.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: the illumination module comprises light source module and light compensation module, light source module is used for regulating the photoenvironment at crack image place, road surface, with the acquisition condition of the image that obtains best road surface crackle.The light compensation module is used for compensating the uneven situation of light that the CCD camera may exist at the image that gathers the road surface crackle.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: the image pretreatment module is at first by the real-time video information of industrial camera collection from the scene, then use two wireless network cards to build a WLAN between ARM development board and host computer, use Real-time Transport Protocol that real-time Data Transmission is arrived host side, thereby realize the acquisition and processing function of road pavement crack image in host side.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: the image pick-up card that the image pretreatment module adopts is a kind of high-performance data capture card able to programme based on the PCI-E interface.Onboard memory has the shorter response time from 128MB to 512MB, and higher bandwidth.Can realize the synchronous acquisition of a plurality of capture cards, thereby realize the real-time processing of high speed image data, but FPGA ability and RAM capacity on expansion board.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: the image pretreatment module comprises: global logic control module and image pretreatment module, global logic control module realize the logic control of dynamic road surface crack image input processing and the control of view data buffering.The image pretreatment module is carried out the pretreatment of the aspects such as figure image intensifying, image smoothing, image sharpening to the road surface crack image that collects, to obtain being more suitable for the view data in machine recognition.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: the image pretreatment module mainly is made of road surface crack image process software and the computer that MATLAB GUI writes.Be used for the processing of road surface crack image, the road pavement crackle is classified, and determines its width; Process GPS, range sensor signal, and calculate road surface crackle current geographic position; Storage road surface crack image information and related data.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: the preprocessing process of image pretreatment module is divided into following three parts:
(1) figure image intensifying: adopt the comparison diagram Enhancement Method.By changing the Luminance Distribution situation of image picture elements, expansion intensity profile interval changes the image picture elements contrast, thereby improves the image processing method of picture quality.
(2) Threshold segmentation: adopt the local auto-adaptive Threshold Segmentation Algorithm, the steps include: that the view picture m that will collect * n road surface crack image is divided into M * N number of sub images, m and n are respectively the integral multiple of M and N; Calculate its histogram of gradients, the gradient of namely calculating pixel in every number of sub images distributes; Every width image is carried out OTSU to be cut apart; Through after the cutting apart of image, former attempting to change is bianry image, with the structural element of 9 points of 3 * 3, this bianry image corroded, then deducts the image of corrosion with this bianry image, namely obtains the edge of road surface crack image.
(3) image characteristics extraction and coupling: adopt geometric method, it is a kind of analysis of texture method that is based upon on crack image texture primitive theoretical foundation, realizes classification and the final result evaluation of crack image.
a kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: the S3C2410 microprocessor that the image wireless transport module is selected, see Fig. 2, a for the design of the related application such as handheld device, low-power consumption, the microprocessor of high integration, adopt 272 pin FBGA encapsulation, comprise a kernel, can satisfy the requirement of the low cost low-power consumption high-performance small size in embedded system, has Harvard's buffer structure, be mainly used in full storage management, high-performance and low-power all important multiprogramming are used, support ARM debugging structure, the auxiliary logic that comprises hardware debug and software debugging, and support coprocessor, can export the instruction and data bus of following simple handshake.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: the image wireless transport module is by wireless transmission method and host computer real-time transmission data.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: motion-control module is to adopt the RS485 bus, based on the motor drive module of S3C2410 single-chip microcomputer, decide single-chip microcomputer how to control the motion of each motor according to the road surface crack image evaluation result after processing.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: image display is used for showing man-machine interface and image, real-time institute's road surface crack image that collects and the treated road surface crack image of showing.
A kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, wherein: the high speed acquisition module is comprised of industrial camera, optical lens, image pick-up card, image capture software, computer etc.But the Real-time Obtaining pavement image, and it is carried out digitized processing.
The invention has the advantages that: cost is cheaper: the existing general price of overseas equipment is more than 4,500,000 yuans, and the general price of domestic equipment is also more than 3,000,000 yuans;
Process software is more friendly convenient, can carry out online fast transmission and the processing of view data: existing process software is because complexity and the particularity of pavement detection parameter cause signal processing software to be difficult to process in real time, particularly pavement crack, damaged recognition system, need a large amount of manual interventions, efficient is lower; Measurement result can be immediately provided, and the evaluation of pavement quality can be completed voluntarily.The modules such as collection, storage, processing, communication and control that the present invention is integrated, system adopts modularization idea, and empirical tests is convenient, flexible reliable, and cheap, friendly interface, the high speed that can be competent at pavement distress survey, real-time, requirement automatically.The present invention can be conveniently used in the occasion of collection and the processing of road surface crack image.
Description of drawings
Fig. 1 is system architecture schematic diagram of the present invention.
Fig. 2 is the system hardware structure schematic diagram of image wireless transport module 7 of the present invention.
Reference numeral: road surface crackle 1, CCD camera 2, high speed acquisition module 3, image pretreatment module 4, image display 5, illumination module 6, image wireless transport module 7, motion-control module 8, SDRAM 9, NAND Flash 10, serial communication 11, usb 12, JTAG debugging 13, NOR Flash14, reset 15, power supply 16, S3C2410 microprocessor 17.
The specific embodiment
1. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment comprise: CCD camera 2, high speed acquisition module 3, image pretreatment module 4, image display 5, illumination module 6, image wireless transport module 7 and motion-control module 8; Wherein: illumination module 6 is connected with CCD camera 2 by data wire, CCD camera 2 is connected with high speed acquisition module 3 by data wire, high speed acquisition module 3 is connected with image pretreatment module 4 by data wire, image pretreatment module 4 is connected with image display 5 by data wire, image display 5 is connected with motion-control module 8 by data wire, high speed acquisition module 3 is connected with the image pretreatment module and is connected with image wireless transport module 7 by data wire, and image wireless transport module 7 is connected with motion-control module 8 by data wire.
2. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: CCD camera 2 is with gigabit ethernet interface, its sampling rate is to 180 frame/seconds, the image of the road surface crackle 1 under Real-time Collection optimum illumination condition, and the image of road surface crackle 1 is sent to image pretreatment module 4, for follow-up IMAQ and processing module provide the image information data of magnanimity to be processed, adopt IEEE1394b interfacing and image capture module 3 and image pretreatment module 4 to realize the real-time Data Transmission of high speeds.All the other are with embodiment 1.
3. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: thus CCD camera 2 will be completed under the natural lighting condition task that the highway pavement image obtains information of road surface of taking, and the texture on road surface and color are more single, so use the black-white CCD camera can reach the requirement of acquisition system.Having of black-white CCD camera is simple in structure, and image data amount is little, and the speed of transmission is fast, also than the advantage such as color camera is fast, can realize dynamic acquisition to image processing speed.The fixed focal length of camera lens is respectively 4～8mm and 12～36mm, supports the automatic adjustment of aperture.All the other are with embodiment 1 or 2.
4. 1 kinds of embodiment are used for the road surface crack image and gather and the NI Vision Builder for Automated Inspections of processing, wherein: adopted the LED light source illumination in order to the illumination module 6 of shining the road surface target image, with the quality of the image of the road surface crackle 1 that guarantees to be gathered.LED is connected with the LED array substrate in the mode of activity plug, forms unit module and is built into LED array, and LED array is connected with the LED constant-current drive circuit, and circuit is connected with controller by data wire and power line, then is connected with power supply.All the other are with embodiment 1.
5. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: illumination module 6 comprises light source module and light compensation module, light source module is used for regulating the photoenvironment at the image place of road surface crackle 1, with the acquisition condition of the image that obtains best road surface crackle 1.The light compensation module is used for compensating the uneven situation of light that the CCD camera may exist at the image that gathers road surface crackle 1.All the other are with embodiment 1 or 4.
6. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: image pretreatment module 4 is at first by the real-time video information of industrial camera collection from the scene, then use two wireless network cards to build a WLAN between ARM development board and host computer, use Real-time Transport Protocol that real-time Data Transmission is arrived host side, thereby realize the acquisition and processing function of the image of road pavement crackle 1 in host side.All the other are with embodiment 1.
7. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: the image pick-up card that image pretreatment module 4 adopts is a kind of high-performance data capture card able to programme based on the PCI-E interface.Onboard memory has the shorter response time from 128MB to 512MB, and higher bandwidth.Can realize the synchronous acquisition of a plurality of capture cards, thereby realize the real-time processing of high speed image data, but FPGA ability and RAM capacity on expansion board.All the other are with embodiment 1 or 5.
8. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: image pretreatment module 4 comprises: global logic control module and pretreatment module, global logic control module realize the logic control of image input processing of dynamic road surface crackle 1 and the control of view data buffering.The image pretreatment module is carried out pretreatment to the image of the road surface crackle 1 that collects, and wherein pretreatment comprises: figure image intensifying, image smoothing, image sharpening, and to obtain being more suitable for the view data in machine recognition.All the other are with embodiment 1 or 5.
9. 1 kinds of embodiment are used for the road surface crack image and gather and the NI Vision Builder for Automated Inspections of processing, and wherein: image processing software and the computer of the road surface crackle 1 that image pretreatment module 4 is mainly write by MATLAB GUI consist of.Be used for the processing of the image of road surface crackle 1, the road pavement crackle is classified, and determines its width; Process GPS, range sensor signal, and calculate road surface crackle current geographic position; Image information and the related data of storage road surface crackle 1.All the other are with embodiment 1 or 5.
10. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: the preprocessing process of image pretreatment module 4 is divided into following three parts:
(1) figure image intensifying: the present invention adopts the comparison diagram Enhancement Method.By changing the Luminance Distribution situation of image picture elements, expansion intensity profile interval changes the image picture elements contrast, thereby improves the image processing method of picture quality.
(2) Threshold segmentation: adopt the local auto-adaptive Threshold Segmentation Algorithm, the steps include: that the image of the view picture m that will collect * n road surface crackle 1 is divided into M * N number of sub images, m and n are respectively the integral multiple of M and N; Calculate its histogram of gradients, the gradient of namely calculating pixel in every number of sub images distributes; Every width image is carried out OTSU to be cut apart; Through after the cutting apart of image, former attempting to change is bianry image, with the structural element of 9 points of 3 * 3, this bianry image corroded, then deducts the image of corrosion with this bianry image, namely obtains the edge of the image of road surface crackle 1.
(3) image characteristics extraction and coupling: the present invention adopts geometric method, and it is a kind of analysis of texture method that is based upon on crack image texture primitive theoretical foundation, realizes classification and the final result evaluation of crack image.All the other are with embodiment 1 or 5.
11. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: the S3C2410 microprocessor 17 that image wireless transport module 7 is selected, as Figure of description 2, a for the design of the related application such as handheld device, low-power consumption, the microprocessor of high integration, adopt 272 pin FBGA encapsulation, comprise a kernel, can satisfy the requirement of the low cost low-power consumption high-performance small size in embedded system, has Harvard's buffer structure, be mainly used in full storage management, high-performance and low-power all important multiprogramming are used, support ARM debugging structure, the auxiliary logic that comprises hardware debug and software debugging, and support coprocessor, can export the instruction and data bus of following simple handshake.All the other are with embodiment 1.
12. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: image wireless transport module 7 is by wireless transmission method and host computer real-time transmission data.All the other are with embodiment 1 or 8.
13. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: motion-control module 8 is to adopt the RS485 bus, based on the motor drive module of S3C2410 single-chip microcomputer, decide single-chip microcomputer how to control the motion of each motor according to the picture appraisal result of the road surface crackle 1 after processing.All the other are with embodiment 1.
14. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: image display 5 is used for showing man-machine interface and image, shows in real time the image of the road surface crackle 1 that collects and the image of treated road surface crackle 1.All the other are with embodiment 1.
15. 1 kinds of NI Vision Builder for Automated Inspections that are used for road surface crack image collection and process of embodiment, wherein: high speed acquisition module 3 is comprised of industrial camera, optical lens, image pick-up card, image capture software, computer etc.But the Real-time Obtaining pavement image, and it is carried out digitized processing.All the other are with embodiment 1.
Operating principle:
By the road surface crackle 1 under CCD camera 2 Real-time Collection optimum illumination conditions, and the image of road surface crackle 1 is sent to image pretreatment module 4, for follow-up IMAQ and processing module provide the image information data of magnanimity to be processed, adopt IEEE1394b interfacing and image capture module 3 and image pretreatment module 4 to realize the real-time Data Transmission of high speeds.Image display 5 is used for showing man-machine interface and image, shows in real time the image of the road surface crackle 1 that collects and the image of treated road surface crackle 1.Illumination module 6 is in order to shine the road surface target image, image wireless transport module 7 is by wireless transmission method and host computer real-time transmission data, and motion-control module 8 decides single-chip microcomputer how to control the motion of each motor according to the picture appraisal result of the road surface crackle 1 after processing.
Claims (6)
1. one kind is used for the NI Vision Builder for Automated Inspection that the road surface crack image gathers and processes, and comprising: CCD camera (2), high speed acquisition module (3), image pretreatment module (4), image display (5), illumination module (6), image wireless transport module (7) and motion-control module (8), it is characterized in that: illumination module (6) is connected with CCD camera (2) by data wire, CCD camera (2) is connected with high speed acquisition module (3) by data wire, high speed acquisition module (3) is connected with image pretreatment module (4) by data wire, image pretreatment module (4) is connected with image display (5) by data wire, image display (5) is connected with motion-control module (8) by data wire, high speed acquisition module (3) is connected 4 with the image pretreatment module) be connected with image wireless transport module (7) by data wire, image wireless transport module (7) is connected with motion-control module (8) by data wire.
2. according to claim 1 a kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, it is characterized in that: illumination module (6) comprises light source module and light compensation module.
3. according to claim 1 a kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, it is characterized in that: image pretreatment module (4) comprises global logic control module and pretreatment module.
4. according to claim 1 a kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, it is characterized in that: image wireless transport module (7) adopts S3C2410 microprocessor (17), and S3C2410 microprocessor (17) is by wire and SDRAM(9), NAND Flash(10), serial communication (11), USB interface (12), JTAG debug (13), NOR Flash(14), reset (15), the two-way connection of power supply (16).
5. according to claim 1 a kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, it is characterized in that: motion-control module (8) is to utilize the RS485 bus, SCM Based motor drive module decides single-chip microcomputer how to control the motion of each motor according to road surface crackle (1) the picture appraisal result after processing.
6. according to claim 1 or 3 is described a kind of for the collection of road surface crack image and the NI Vision Builder for Automated Inspection of processing, and wherein: the preprocessing process of image pretreatment module 4 is divided into following three parts:
(1) figure image intensifying: the present invention adopts the comparison diagram Enhancement Method; By changing the Luminance Distribution situation of image picture elements, expansion intensity profile interval changes the image picture elements contrast, thereby improves the image processing method of picture quality;
(2) Threshold segmentation: adopt the local auto-adaptive Threshold Segmentation Algorithm, the steps include: that the image of the view picture m that will collect * n road surface crackle (1) is divided into M * N number of sub images, m and n are respectively the integral multiple of M and N; Calculate its histogram of gradients, the gradient of namely calculating pixel in every number of sub images distributes; Every width image is carried out OTSU to be cut apart; Through after the cutting apart of image, former attempting to change is bianry image, with the structural element of 9 points of 3 * 3, this bianry image corroded, then deducts the image of corrosion with this bianry image, namely obtains the edge of the image of road surface crackle (1);
(3) image characteristics extraction and coupling: the present invention adopts geometric method, and it is a kind of analysis of texture method that is based upon on crack image texture primitive theoretical foundation, realizes classification and the final result evaluation of crack image.
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