CN104268850A - Mixed type vision processing method - Google Patents
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- CN104268850A CN104268850A CN201410438321.XA CN201410438321A CN104268850A CN 104268850 A CN104268850 A CN 104268850A CN 201410438321 A CN201410438321 A CN 201410438321A CN 104268850 A CN104268850 A CN 104268850A
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- 238000000034 method Methods 0.000 claims abstract description 32
- 101150053299 Mark1 gene Proteins 0.000 claims description 49
- 101150116075 Mark2 gene Proteins 0.000 claims description 40
- 101150059478 Mark3 gene Proteins 0.000 claims description 39
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- 238000006243 chemical reaction Methods 0.000 claims description 25
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- 238000010586 diagram Methods 0.000 description 5
- 238000003754 machining Methods 0.000 description 3
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- 230000001788 irregular Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/0006—Industrial image inspection using a design-rule based approach
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
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Abstract
A mixed type vision processing method comprises the following steps that first, a processing device and a camera shooting device connected with the processing device are provided, and an original graph needing to be processed is input by the processing device; second, two Mark points of the Mark 1 and the Mark 2 on the original graph are obtained; third, the camera shooting device acquires the actual coordinate values of a Mark 3, corresponding to the Mark 1 of the original graph, on a processing object and the actual coordinate values of a Mark 4, corresponding to the Mark 2 of the original graph, on the processing object; fourth, the processing device correspondingly converts the coordinates of all the points of the original graph into a final graph needing to be processed on the processing object according to the difference between the coordinate values of the Mark 3 on the processing object and the coordinate values of the Mark 1 on the original graph and the difference between the coordinate values of the Mark 4 on the processing object and the coordinate values of the Mark 2 on the original graph; fifth, the processing device processes the processing object according to the finial graph. Through the mixed type vision processing method, a graph with any size can be subjected to camera shooting processing, the processing accuracy of camera shooting is improved, and the intelligent level is high.
Description
Technical field
The present invention relates to a kind of laser processing, relate to a kind of mixed type vision job operation more specifically.
Background technology
Existing shooting processing mode mainly contains two kinds: template processing and gauge point processing.The condition of gauge point processing is the gauge point (hereinafter referred to as Mark point) that requirement client provides array way, and needs to search two Mark points, and the positional information of two Mark points can only be obtained by the line space of array and column pitch.The condition of template processing needs user first to create a template, and the template then by creating carries out mating identifying processing with the figure of processing.
But above two kinds of processing modes all exist drawback, the drawback of gauge point processing is that at this moment this processing mode just cannot realize if the information of two Mark points that client provides is irregular; Template processing needs the figure of processing all to capture, and then by mode of turning one's head, graph outline is extracted processing, just needs to carry out template splicing, thus add the operation easier of client when dimension of picture is greater than current image pickup scope.
Summary of the invention
Based on this, the object of the invention is to for the deficiencies in the prior art, provide a kind of and improve shooting machining precision, mixed type vision job operation that intelligent level is high.
A kind of mixed type vision job operation, comprises the following steps:
Step 1, provide a process equipment and connect the camera head of this process equipment, this process equipment typing needs the original figure of processing;
Step 2, to obtain on original figure at least two not identical Mark point Mark1 and Mark2, obtain the coordinate figure (X1 of Mark1 in map file, Y1), coordinate figure (the X2 of Mark2 in map file, Y2), the coordinate figure of any point A of original figure 10 is (Xa, Ya);
Step 3, described camera head obtain the actual coordinate value (X3, Y3) of the Mark3 of the Mark1 of corresponding original figure on processing object, obtain the actual coordinate value (X4, Y4) of the Mark4 of the Mark2 of corresponding original figure on processing object; Mark3, Mark4 are Mark1 and Mark2 setting corresponding original figure in advance on processing object, and camera head is determined according to the special symbol on Mark3, Mark4;
Step 4, process equipment according to the coordinate figure difference of Mark3, Mark4 on processing object and Mark1 and Mark2 on original figure, by original figure coordinate corresponding conversion be a little need processing in the final graphics of processing object;
Step 5, described process equipment are processed described processing object according to final graphics.
Further, described step 4 comprises the steps:
Step 41, with one of them Mark point as the coordinate figure (X3 of Mark3, Y3) be reference point, the coordinate figure (X1, Y1) of the Mark1 of Mark3 corresponding in original figure is changed to (X3, and the all-pair of original figure should be offset Y3), now original figure changes to transition figure, wherein the coordinate figure of Mark1 is (X3, Y3), the coordinate figure of Mark2 is ((X2+ (X3-X1)), (Y2+ (Y3-Y1)), the coordinate figure of any point of transition figure is B ((Xa+ (X3-X1)), (Ya+ (Y3-Y1)), the Mark2 setting this transition figure is Mark5, the coordinate figure of Mark5 is (X5, Y5), the coordinate figure of any point of transition figure is B (Xb, Yb), X5=X2+ (X3-X1), Y5=Y2+ (Y3-Y1), Xb=(Xa+ (X3-X1), Yb=Yb+ (Y3-Y1),
Step 42, judge deformation coefficient, draw the distance K2 between Mark3 and Mark4 according to the coordinate figure of Mark3 and Mark4, draw the distance K1 between Mark1 and Mark2 according to the coordinate figure of Mark2 and Mark1, obtain deformation coefficient K3=K2/K1;
Step 43, select SYM1 or method SYM2 to carry out original figure according to the size of deformation coefficient K3 to carry out stretcher strain.
Further, at step 43, when 0.9≤K1/K2≤1.1, employing method SYM1 carries out stretcher strain to original figure, as K1/K2<0.9 or K1/K2>1.1, employing method SYM2 carries out stretcher strain to transition figure;
When employing method SYM1 carries out stretcher strain to transition figure, first obtain (X4-X3)/the ratio of (X5-X3), draw the horizontal ordinate drawing coefficient a of final graphics relative to transition figure, obtain (Y4-Y3)/the ratio of (Y5-Y3) again, draw the ordinate drawing coefficient b of final graphics relative to transition figure, finally again the lateral coordinates of other point on transition figure except Mark1 and longitudinal coordinate are multiplied by coefficient a, b respectively, thus draw the coordinate figure of final graphics every bit;
When employing method SYM2 carries out stretcher strain to transition figure, following steps are adopted to carry out:
I, the calculating of angle, by the coordinate figure of Mark1 and Mark2 on transition figure, draw the slope between Mark1 and Mark2, calculate the line between Mark1 and Mark2 and the angle α before X-axis, by the coordinate figure of Mark3 and Mark4 of final graphics, draw the slope between Mark4 and Mark3, calculate the line between Mark4 and Mark3 and the angle β before X-axis, the angle theta that the line being obtained the line of Mark1 and Mark2 of transition figure and Mark3 and Mark4 of final graphics by α and β is formed;
II, angular setting, figure 1 entirety is around Mark1 point anglec of rotation θ;
III, by the figure that obtains after step II with Mark1 point for basic point, overall convergent-divergent K3 doubly, obtains final graphics.
Further, before step 41, according to the different values of (X2-X1) (X4-X3), (Y2-Y1) (Y4-Y3), need conversion original figure being made to specular, and using the figure after adjustment as original figure, then carry out the operation of step 41:
(X2-X1) when (X4-X3) >0, (Y2-Y1) (Y4-Y3) >0, without the need to doing the conversion of specular to original figure 10;
(X2-X1) when (X4-X3) >=0, (Y2-Y1) (Y4-Y3) <0, be that benchmark does specular conversion with X-axis by original figure, the abscissa value of the every bit on the original figure after adjustment is constant, and ordinate value is the inverse value of former ordinate value;
(X2-X1) when (X4-X3) <0, (Y2-Y1) (Y4-Y3)≤0, be that benchmark does specular conversion with Y-axis by original figure, the abscissa value of the every bit on the original figure after adjustment is the inverse value of former abscissa value, and ordinate value is constant;
(X2-X1) when (X4-X3) <0, (Y2-Y1) (Y4-Y3) <0, be after benchmark does specular conversion with X-axis by original figure, be that benchmark does specular conversion again with Y-axis, the abscissa value of the every bit on the original figure after adjustment is the inverse value of former abscissa value, and ordinate value is the inverse value of former ordinate value.
Further, described Mark3, Mark4 are Mark1 and Mark2 setting corresponding original figure in advance on processing object, and camera head is determined according to the special symbol on Mark3, Mark4.
In sum, mixed type vision job operation of the present invention by obtaining two Mark points respectively on original figure and final graphics, overall ratio is carried out to original figure and carries out convergent-divergent, realize the shooting processing of the figure of any size, in addition, in final graphics, the information of Mark point can be irregularly be distributed on material, improve shooting machining precision, intelligent level is high, applied range, practical.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the final graphics of original figure and the processing object obtained in step 1 ~ 2 of mixed type vision job operation of the present invention.
Fig. 2 ~ 4 are the schematic diagram of final graphics relative to original figure different rotation angle of mixed type vision job operation.
Fig. 5 ~ 7 are the schematic diagram of final graphics relative to adjustment original figure corresponding during original figure different rotation angle of mixed type vision job operation.
Fig. 8 is the schematic diagram in the step 4 of mixed type vision job operation, original figure being carried out to position adjustment.
Fig. 9 ~ 10 are schematic diagram when mixed type vision job operation employing method SYM2 carries out stretcher strain to transition figure.
Embodiment
In order to make technical scheme of the present invention more clearly show, below in conjunction with accompanying drawing, the invention will be further described.
Please refer to Fig. 1, the invention provides a kind of mixed type vision job operation, for processing a processing object, it comprises the following steps:
Step 1, provide a process equipment and connect the camera head of this process equipment, this process equipment typing needs all data of the original figure 10 of processing;
Step 2, to obtain on original figure 10 at least two not identical Mark point Mark1 and Mark2, namely coordinate figure (the X1 of Mark1 in map file is obtained, Y1), coordinate figure (the X2 of Mark2 in map file, Y2), the coordinate figure of any point A on original figure 10 is set to (Xa, Ya);
Step 3, described camera head obtain the actual coordinate value (X3 of the Mark3 of the Mark1 of corresponding original figure 10 on processing object, Y3), obtain the actual coordinate value (X4, Y4) of the Mark4 of the Mark2 of corresponding original figure 10 on processing object; Wherein, Mark3, Mark4 are Mark1 and Mark2 setting corresponding original figure 10 in advance on processing object, and camera head can be determined according to the special symbol on Mark3, Mark4 or alternate manner;
Step 4, process equipment according to the coordinate figure difference of Mark1 and Mark2 on Mark3, the Mark4 on processing object and original figure 10, by original figure 10 coordinate corresponding conversion be a little need processing in the final graphics 20 of processing object;
Step 5, described process equipment are processed described processing object according to final graphics 20.
Wherein, described step 4 comprises the steps:
Step 41, as shown in Figures 2 to 4, according to the angle of original figure 10 relative to processing object, namely according to the different values of (X2-X1) * (X4-X3), (Y2-Y1) * (Y4-Y3), judge whether the conversion needing original figure 10 to be made to specular, and using the figure 40 after adjustment as original figure 10, carry out the operation of step 42 again, particularly:
As shown in Figure 1, as (X2-X1) (X4-X3) >0, (Y2-Y1) (Y4-Y3) >0, without the need to doing the conversion of specular to original figure 10.
As shown in Figure 5, as (X2-X1) (X4-X3) >=0, (Y2-Y1) (Y4-Y3) <0, be that benchmark does specular conversion with X-axis by original figure, the abscissa value of the every bit on the original figure after adjustment is constant, ordinate value is the inverse value of former ordinate value, if former coordinate figure is for (c ,-d) after (c, d), conversion.
As shown in Figure 6, as (X2-X1) (X4-X3) <0, (Y2-Y1) (Y4-Y3)≤0, be that benchmark does specular conversion with Y-axis by original figure, the abscissa value of the every bit on the original figure after adjustment is the inverse value of former abscissa value, ordinate value is constant, as former coordinate figure be (-c, d), conversion after be (c, d).
As shown in Figure 7, as (X2-X1) (X4-X3) <0, (Y2-Y1) (Y4-Y3) <0, be after benchmark does specular conversion with X-axis by original figure, be that benchmark does specular conversion again with Y-axis, the abscissa value of the every bit on the original figure after adjustment is the inverse value of former abscissa value, ordinate value is the inverse value of former ordinate value, if former coordinate figure is (-c, d) be, (c ,-d) after conversion.
Step 42, as shown in Figure 8, with step 41 change after figure into original figure, a Mark point in Mark3, Mark4 on processing object is as the coordinate figure (X3 of Mark3, Y3) be reference point, by the coordinate figure (X1 of the Mark1 of Mark3 corresponding in original figure 10, Y1) be converted into (X3, Y3), and the all-pair of original figure 10 should be offset; Now original figure 10 changes to transition figure 30, wherein the coordinate figure of Mark1 is (X3, Y3), the coordinate figure of Mark2 is ((X2+ (X3-X1)), (Y2+ (Y3-Y1)), the coordinate conversion of the arbitrfary point A of original figure 10 is the coordinate figure of any point B of transition figure 30 is ((Xa+ (X3-X1)), (Ya+ (Y3-Y1)); In order to describe more easily, the Mark2 setting this transition figure 30 is Mark5, the coordinate figure of Mark5 is (X5, Y5), the coordinate figure of any point B of transition figure 30 is (Xb, Yb), i.e. X5=X2+ (X3-X1), Y5=Y2+ (Y3-Y1), Xb=(Xa+ (X3-X1), Yb=Yb+ (Y3-Y1);
Step 43, judge deformation coefficient, draw the air line distance K2 between Mark3 and Mark4 according to the coordinate figure of Mark3 and Mark4, in like manner, draw the distance K1 between Mark1 and Mark2 according to the coordinate figure of Mark2 and Mark1, obtain deformation coefficient K3=K2/K1;
Step 44, select SYM1 or method SYM2 to carry out original figure according to the size of deformation coefficient K3 to carry out stretcher strain.
When 0.9≤K1/K2≤1.1, employing method SYM1 carries out stretcher strain to original figure, and as K1/K2<0.9 or K1/K2>1.1, employing method SYM2 carries out stretcher strain to transition figure 30.
When employing method SYM1 carries out stretcher strain to transition figure 30, first obtain (X4-X3)/the ratio of (X5-X3), draw the horizontal ordinate drawing coefficient a of final graphics 20 relative to transition figure 30, obtain (Y4-Y3)/the ratio of (Y5-Y3) again, draw the ordinate drawing coefficient b of final graphics 20 relative to transition figure 30, finally again the lateral coordinates of other point on transition figure 30 except Mark1 and longitudinal coordinate are multiplied by coefficient a, b respectively, thus draw the coordinate figure of final graphics every bit.
See also Fig. 9 and Figure 10, when employing method SYM2 carries out stretcher strain to transition figure, adopt following steps to carry out:
I, the calculating of angle, by the coordinate figure of Mark1 and Mark2 on transition figure 30, draws the slope between Mark1 and Mark2, calculates the line between Mark1 and Mark2 and the angle α before X-axis.In like manner, by the coordinate figure of Mark3 and Mark4 of final graphics 20, draw the slope between Mark4 and Mark3, calculate the line between Mark4 and Mark3 and the angle β before X-axis, the angle theta that the line being obtained the line of Mark1 and Mark2 of transition figure and Mark3 and Mark4 of final graphics by α and β is formed;
II, angular setting, figure 1 entirety is around Mark1 point anglec of rotation θ;
III, by the figure that obtains after step II with Mark1 point for basic point, overall convergent-divergent K3 (deformation coefficient) doubly, obtains final graphics.
In sum, mixed type vision job operation of the present invention by obtaining 2 Mark points respectively on original figure 10 and final graphics 20, overall ratio is carried out to original figure 10 and carries out convergent-divergent, realize the shooting processing of the figure of any size, and in final graphics 20, the information of Mark point can be irregularly be distributed on material, improve shooting machining precision, intelligent level is high, applied range, practical.
The above embodiment only have expressed one embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (5)
1. a mixed type vision job operation, is characterized in that: comprise the following steps: step 1, provide a process equipment and connect the camera head of this process equipment, and this process equipment typing needs the original figure of processing;
Step 2, to obtain on original figure at least two not identical Mark point Mark1 and Mark2, obtain the coordinate figure (X1 of Mark1 in map file, Y1), coordinate figure (the X2 of Mark2 in map file, Y2), the coordinate figure of any point A of original figure is (Xa, Ya);
Step 3, described camera head obtain the actual coordinate value (X3, Y3) of the Mark3 of the Mark1 of corresponding original figure on processing object, obtain the actual coordinate value (X4, Y4) of the Mark4 of the Mark2 of corresponding original figure on processing object;
Step 4, process equipment according to the coordinate figure difference of Mark3, Mark4 on processing object and Mark1 and Mark2 on original figure, by original figure coordinate corresponding conversion be a little need processing in the final graphics of processing object;
Step 5, described process equipment are processed described processing object according to final graphics.
2. mixed type vision job operation as claimed in claim 1, is characterized in that: described step 4 comprises the steps:
Step 41, with one of them Mark point as the coordinate figure (X3 of Mark3, Y3) be reference point, the coordinate figure (X1, Y1) of the Mark1 of Mark3 corresponding in original figure is changed to (X3, and the all-pair of original figure should be offset Y3), now original figure changes to transition figure, wherein the coordinate figure of Mark1 is (X3, Y3), the coordinate figure of Mark2 is ((X2+ (X3-X1)), (Y2+ (Y3-Y1)), the coordinate figure of any point of transition figure is B ((Xa+ (X3-X1)), (Ya+ (Y3-Y1)), the Mark2 setting this transition figure is Mark5, the coordinate figure of Mark5 is (X5, Y5), the coordinate figure of any point of transition figure is B (Xb, Yb), X5=X2+ (X3-X1), Y5=Y2+ (Y3-Y1), Xb=(Xa+ (X3-X1), Yb=Yb+ (Y3-Y1),
Step 42, judge deformation coefficient, draw the distance K2 between Mark3 and Mark4 according to the coordinate figure of Mark3 and Mark4, draw the distance K1 between Mark1 and Mark2 according to the coordinate figure of Mark2 and Mark1, obtain deformation coefficient K3=K2/K1;
Step 43, select SYM1 or method SYM2 to carry out original figure according to the size of deformation coefficient K3 to carry out stretcher strain.
3. mixed type vision job operation as claimed in claim 2, it is characterized in that: at step 43, when 0.9≤K1/K2≤1.1, employing method SYM1 carries out stretcher strain to original figure, as K1/K2<0.9 or K1/K2>1.1, employing method SYM2 carries out stretcher strain to transition figure;
When employing method SYM1 carries out stretcher strain to transition figure, first obtain (X4-X3)/the ratio of (X5-X3), draw the horizontal ordinate drawing coefficient a of final graphics relative to transition figure, obtain (Y4-Y3)/the ratio of (Y5-Y3) again, draw the ordinate drawing coefficient b of final graphics relative to transition figure, finally again the lateral coordinates of other point on transition figure except Mark1 and longitudinal coordinate are multiplied by coefficient a, b respectively, thus draw the coordinate figure of final graphics every bit;
When employing method SYM2 carries out stretcher strain to transition figure, following steps are adopted to carry out:
I, the calculating of angle, by the coordinate figure of Mark1 and Mark2 on transition figure, draw the slope between Mark1 and Mark2, calculate the line between Mark1 and Mark2 and the angle α before X-axis, by the coordinate figure of Mark3 and Mark4 of final graphics, draw the slope between Mark4 and Mark3, calculate the line between Mark4 and Mark3 and the angle β before X-axis, the angle theta that the line being obtained the line of Mark1 and Mark2 of transition figure and Mark3 and Mark4 of final graphics by α and β is formed;
II, angular setting, figure 1 entirety is around Mark1 point anglec of rotation θ;
III, by the figure that obtains after step II with Mark1 point for basic point, overall convergent-divergent K3 doubly, obtains final graphics.
4. mixed type vision job operation as claimed in claim 2, it is characterized in that: before step 41, according to the different values of (X2-X1) (X4-X3), (Y2-Y1) (Y4-Y3), need conversion original figure being made to specular, and using the figure after adjustment as original figure, then carry out the operation of step 41:
(X2-X1) when (X4-X3) >0, (Y2-Y1) (Y4-Y3) >0, without the need to doing the conversion of specular to original figure 10:
(X2-X1) when (X4-X3) >=0, (Y2-Y1) (Y4-Y3) <0, be that benchmark does specular conversion with X-axis by original figure, the abscissa value of the every bit on the original figure after adjustment is constant, and ordinate value is the inverse value of former ordinate value;
(X2-X1) when (X4-X3) <0, (Y2-Y1) (Y4-Y3)≤0, be that benchmark does specular conversion with Y-axis by original figure, the abscissa value of the every bit on the original figure after adjustment is the inverse value of former abscissa value, and ordinate value is constant;
(X2-X1) when (X4-X3) <0, (Y2-Y1) (Y4-Y3) <0, be after benchmark does specular conversion with X-axis by original figure, be that benchmark does specular conversion again with Y-axis, the abscissa value of the every bit on the original figure after adjustment is the inverse value of former abscissa value, and ordinate value is the inverse value of former ordinate value.
5. mixed type vision job operation as claimed in claim 1, is characterized in that: described Mark3, Mark4 are Mark1 and Mark2 setting corresponding original figure in advance on processing object, and camera head is determined according to the special symbol on Mark3, Mark4.
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| CN107145127A (en) * | 2017-05-12 | 2017-09-08 | 广东大族粤铭智能装备股份有限公司 | A kind of method and system based on the asynchronous vision positioning flight processing of double end |
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| CN107145127A (en) * | 2017-05-12 | 2017-09-08 | 广东大族粤铭智能装备股份有限公司 | A kind of method and system based on the asynchronous vision positioning flight processing of double end |
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