CN105389795A - Garbage level detection method, garbage level detector and feeding board machine - Google Patents
Garbage level detection method, garbage level detector and feeding board machine Download PDFInfo
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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
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- 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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- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T2207/30108—Industrial image inspection
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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Abstract
The invention discloses a garbage level detection method, a garbage level detector and a feeding board machine. According to the garbage level detection method, a corresponding pit area in a pit garbage image can be identified through performing image processing on the acquired pit garbage image, and furthermore a garbage area contour map which is used for representing the garbage boundary of the pit area can be obtained through performing contour processing on the pit area. Furthermore the image height of the garbage in the kit is defined according to the garbage area contour map and a preset kit reference line. The actual height of the garbage in the pit is acquired according to the defined image height, thereby realizing automatic detection for the garbage level. Compared with an existing manual detection mode, the garbage level detection method has advantages of higher accuracy and higher efficiency.
Description
Technical field
The present invention relates to rubbish material level detection technique field, particularly relate to a kind of rubbish position detecting method, device and material loading trigger.
Background technology
In the binder process of garbage compression station, the reasons such as uneven and rubbish complicated are toppled over due to rubbish, more easily cause the rubbish putty in material hole stuck when rubbish feeds intake too much, rubbish is caused to fall to compressor, form " overflow bucket pneumatics " phenomenon, therefore, need to detect the material level of rubbish in real time or periodically, to solve the problem.
Particularly, because the composition of rubbish is very complicated, as polybag, bottle, trees and paper scrap etc. can be comprised, the curved surface that it is formed is generally non-rigid curved surface, thus, the existing detection method such as ultrasonic ranging, laser ranging being applicable to rigid body curved surface cannot be adopted to carry out the detection of material level, only judge corresponding rubbish material level by rule of thumb by manual supervisory mode.
Particularly, when adopting manual monitoring mode to carry out the detection of rubbish material level, the monitor video mainly through viewing material hole realizes.But, because video exists the disturbing factors such as distortion, visual angle change and neighbourhood noise in transmitting procedure, there is larger difference in the real image of cheating with material, thus, very easily cause artificial observation to video image be inaccurate, cause final material-level measure result to there is larger error, reduce the accuracy of material-level measure result.In addition, because rubbish is non-rigid material, with curve, non-directional form exists on its material level border, therefore, when adopting manual monitoring mode to carry out material-level measure, also need to carry out the artificial conversion of curve material level to straight line material level, thus reduce further material-level measure result accuracy, make the reliability of material-level measure result lower.Further, when adopting manual monitoring mode to carry out material-level measure, because major part operation all needs manually to have come, thus also can there is the low problem of automaticity, making the efficiency of rubbish material-level measure not high.
That is, there is lower etc. the problem of the lower and efficiency of accuracy in existing rubbish material level detection mode, therefore, needs badly and provide a kind of new rubbish material level detection mode to solve the problem.
Summary of the invention
Embodiments provide a kind of rubbish position detecting method, device and material loading trigger, in order to solve lower etc. the problem of the lower and efficiency of accuracy existing for existing rubbish material level detection mode.
Embodiments provide a kind of rubbish position detecting method, comprising:
The material hole rubbish image in rubbish level detecting apparatus collection material hole, and determine that region cheated by the corresponding material in the rubbish image of described material hole based on the image processing techniques of setting;
Profile process being carried out to region, described material hole, obtaining the garbage areas profile diagram on each rubbish border for characterizing region, described material hole;
According to the material pit foundation directrix of described garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determine the true altitude of rubbish in material hole of expecting in hole.
Correspondingly, the embodiment of the present invention additionally provides a kind of rubbish level detecting apparatus, comprising:
Image acquisition units, for gathering the material hole rubbish image in material hole;
Material hole area determination unit, for determining the region, corresponding material hole in the rubbish image of described material hole based on the image processing techniques of setting;
Profile processing unit, for carrying out profile process to region, described material hole, obtains the garbage areas profile diagram on each rubbish border for characterizing region, described material hole;
Rubbish material level determining unit, for the material pit foundation directrix according to described garbage areas profile diagram and setting, determines the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determines the true altitude of rubbish in material hole of expecting in hole.
Further, the embodiment of the present invention additionally provides a kind of material loading trigger, and described material loading trigger comprises the rubbish level detecting apparatus described in the embodiment of the present invention.
Beneficial effect of the present invention is as follows:
Embodiments provide a kind of rubbish position detecting method, device and material loading trigger, in technical scheme described in the embodiment of the present invention, by carrying out image procossing to the material hole rubbish image in the material hole collected, identify the region, corresponding material hole in the rubbish image of discharging hole, and by carrying out profile process to region, this material hole, obtain the garbage areas profile diagram on each rubbish border for characterizing region, this material hole, and then can according to the material pit foundation directrix of this garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and obtain expecting that the true altitude in hole expected by the rubbish in hole according to the picture altitude determined, thus the automatic detection of rubbish material level can be realized, relative to existing manual detection mode, degree of accuracy is higher, efficiency is higher.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly introduced, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Figure 1 shows that the schematic flow sheet of the position detecting method of rubbish described in the embodiment of the present invention;
Figure 2 shows that a kind of possible positional structure schematic diagram of image capture device described in the embodiment of the present invention and light filling light fixture;
Fig. 3 (a) is depicted as the material hole rubbish image schematic diagram described in the embodiment of the present invention;
Fig. 3 (b) is depicted as the rubbish connected region figure described in the embodiment of the present invention;
Fig. 3 (c) is depicted as the garbage areas profile diagram described in the embodiment of the present invention;
Figure 4 shows that the determination schematic diagram of the rubbish boundary straight line described in the embodiment of the present invention;
Figure 5 shows that the structural representation of the level detecting apparatus of rubbish described in the embodiment of the present invention.
Embodiment
In order to make the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail, and obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
Embodiment one:
The embodiment of the present invention one provides a kind of rubbish position detecting method, and as shown in Figure 1, it can comprise the following steps for the schematic flow sheet of rubbish position detecting method described in the embodiment of the present invention one, described rubbish position detecting method:
Step 101: the material hole rubbish image gathering material hole;
Step 102: the image processing techniques based on setting determines the region, material hole in the rubbish image of described material hole;
Step 103: carry out profile process to region, described material hole, obtains the garbage areas profile diagram on each rubbish border for characterizing region, described material hole;
Step 104: according to the material pit foundation directrix of described garbage areas profile diagram and setting, determines the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determines the true altitude of rubbish in material hole of expecting in hole.
That is, in technical scheme described in the embodiment of the present invention one, by carrying out image procossing to the material hole rubbish image in the material hole collected, identify the region, corresponding material hole in the rubbish image of discharging hole, and by carrying out profile process to region, this material hole, obtain the garbage areas profile diagram on each rubbish border for characterizing region, this material hole, and then can according to the material pit foundation directrix of this garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and obtain expecting that the true altitude in hole expected by the rubbish in hole according to the picture altitude determined, thus the automatic detection of rubbish material level can be realized, relative to existing manual detection mode, degree of accuracy is higher, efficiency is higher.
Below, be described in detail to each step in the embodiment of the present invention:
Alternatively, the material hole rubbish image in the collection material hole described in step 101, can be embodied as:
Gather the material of being cheated by the material of light filling light fixture (as incandescent lamp, the LED etc.) adequate illumination being arranged on upper side, material hole by the image capture device (as video camera or camera etc.) being arranged on upper side, material hole and cheat rubbish image.
Wherein, as shown in Figure 2 (Fig. 2 is a kind of possible positional structure schematic diagram of image capture device and light filling light fixture), described image capture device can become to set angle (θ) with surface level and cheat the first setting height (H apart from described material
c), described light filling light fixture can cheat the second setting height apart from described material.And in order to avoid image capture device blocking light, when described image capture device and described light filling light fixture are positioned at the same upper side of expecting to cheat, described first setting height generally can be greater than described second setting height; And, in order to the complete comprehensive material hole rubbish image making image capture device can collect material hole, described setting angle generally can be greater than 0 degree and be less than 90 degree, as long as can ensure that image capture device can collect the complete comprehensive material hole rubbish image in material hole.
In addition, it should be noted that, described image capture device and described light filling light fixture also can not be positioned at the same upper side of expecting to cheat, e.g., and a side, upper left being positioned at material and cheating, a upper right side etc. being positioned at material and cheating; Now, described first setting height is except can being greater than described second setting height, and also can be less than or equal to described second setting height, the embodiment of the present invention does not repeat this.
More preferably, as shown in Figure 2, in order to save equipment installation resource, described image capture device and described light filling light fixture are generally arranged on the top not being provided with the side of the material loading trigger for carrying out feeding garbage of expecting to cheat, and the embodiment of the present invention does not also repeat this.
Further, it should be noted that, when gathering the material hole rubbish image in material hole, in order to realize the detection of rubbish material level more accurately, can the material hole rubbish image in Real-time Collection material hole.Certainly, it should be noted that, on the basis meeting corresponding precise requirements, in order to save image acquisition resource, also timing (as every 1 minute or 3 minutes etc.) can gather the material hole rubbish image in material hole, the embodiment of the present invention does not also repeat this.
Further, after the material hole rubbish image collecting material hole, corresponding image procossing can be carried out to described material hole rubbish image, to identify the region, corresponding material hole in the rubbish image of described material hole, namely perform step 102.
Alternatively, the image processing techniques based on setting described in step 102 determines the region, material hole in the rubbish image of described material hole, can be embodied as:
Based on image masks technology, described material hole rubbish image is carried out to the mask product process in region, non-material hole, to determine the region, corresponding material hole in the rubbish image of described material hole.
That is, because region, the non-material hole major part in material hole is changeless, the mask product process in region, non-material hole can therefore be carried out to described material hole rubbish image, to remove non-material hole noise region.
Particularly, by following formula, described material hole rubbish image is carried out to the mask product process in region, non-material hole:
g(x,y)＝f(x,y)*m(x,y)；
Wherein, f (x, y) the original material hole rubbish image for representing with two-dimensional function form, m (x, y) be image masks function, g (x, y) be the material hole rubbish image after the mask product process that represents with two-dimensional function form, wherein, (x, y) be the air coordinates of the respective point in the rubbish image of material hole, f (x, y) value is that image is at point (x, y) (general interval is [0 for the intensity at place or gray scale, 255]), m (x, y) value is by point (x, y) whether be in material region, hole and determine, being in region, material hole is then 1, being in region, non-material hole is then 0.
Further, the image collected due to image capture device generally can be colour, and rubbish material-level measure generally only need disposal of refuse profile, without the need to chromatic information, therefore, determine the region, material hole in the rubbish image of described material hole in the image processing techniques based on setting described in execution step 102 before, described method also can comprise:
If determine, described material hole rubbish image is coloured image, then carry out gray processing process to described material hole rubbish image, obtain material hole rubbish gray level image, to accelerate successive image processing procedure.
Alternatively, gray processing process is carried out to described material hole rubbish image, can comprise:
If each pixel determining described material hole rubbish image is by the color image pixel of R (red), G (green), B (indigo plant) sub-pixel combinations, then for each pixel of described material hole rubbish image, be gray level image pixel by following formula by described pixel transitions:
Gray＝R*0.299+G*0.587+B*0.114；
Wherein, Gray represents the pixel of material hole rubbish gray level image, and R, G, B represent each sub-pixel point of the corresponding color pixel cell of material hole rubbish image.
Correspondingly, the image processing techniques based on setting described in step 102 determines the region, material hole in the rubbish image of described material hole, also can be embodied as:
Based on image masks technology, the material hole rubbish gray level image corresponding to described material hole rubbish image carries out the mask product process in region, non-material hole, to determine the region, corresponding material hole in the rubbish image of described material hole.
Wherein, similar with mask product processing procedure described before, by following formula, material hole rubbish gray level image is carried out to the mask product process in region, non-material hole:
g1(x,y)＝f1(x,y)*m(x,y)；
Wherein, g1 (x, y) be the material hole rubbish gray level image after the mask product process that represents with two-dimensional function form, f1 (x, y) the original material hole rubbish gray level image for representing with two-dimensional function form, m (x, y) be image masks function, wherein, (x, y) be the air coordinates of the respective point in the rubbish gray level image of material hole, f (x, y) value is that image is at point (x, y) (general interval is [0 for the intensity at place or gray scale, 255]), m (x, y) value is by point (x, y) whether be in material region, hole and determine, being in region, material hole is then 1, being in region, non-material hole is then 0.
Further, after determining the region, corresponding material hole in the rubbish image of discharging hole, the profile process operation described in step 103 can be performed.
Alternatively, described in step 103, profile process (namely carrying out profile process to the material hole rubbish image after the process of mask product) is carried out to region, described material hole, obtaining the garbage areas profile diagram on each rubbish border for characterizing region, described material hole, can be embodied as:
Based on the edge detecting technology (as technology such as Canny rim detection) of setting, rim detection is carried out to region, described material hole, forms rubbish edge image;
Following operation is performed to described rubbish edge image, form rubbish connected region figure (particularly, the material hole rubbish image formed before supposing can as shown in Fig. 3 (a), then now formed rubbish connected region figure can as Suo Shi Fig. 3 (b)):
Add up all marginal points in described rubbish edge image, and the marginal point counted on is added in S set 0; Choose a marginal point from the central area of described rubbish edge image, add and be communicated with marginal point S set 1, and upgrade S set 0=S0-S1; A point pi be communicated with is selected from S1, and by S0 and pixel distance between the some pi selected be less than setpoint distance (this setpoint distance can be arranged flexibly according to actual conditions, as 2 etc. can be set to) marginal point qj be connected, and all marginal point qj satisfying condition (pixel distance namely and between the some pi selected is less than setpoint distance) are added S set 1, upgrade S set 0=S0-S1; Repeat above-mentioned from S1 selected element pi and the qj satisfied condition is added S set 1 and upgrades the operation of S set 0, until determine that S set 0 is for empty;
On described rubbish connected region figure, each row from left to right successively on scan image, and connect first and last marginal point on direction from left to right, form the right boundary of rubbish; Meanwhile, each row from top to bottom successively on scan image, and using the coboundary of first marginal point on direction from top to bottom as rubbish; According to right boundary and the coboundary of rubbish, form garbage areas profile diagram (particularly, the rubbish connected region figure formed before supposing can as shown in Fig. 3 (b), then now formed garbage areas profile diagram can as Suo Shi Fig. 3 (c)).
Further, after obtaining garbage areas profile diagram, the material pit foundation directrix according to described garbage areas profile diagram and setting described in step 104 can be performed, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determine the operation of the true altitude of rubbish in material hole of expecting in hole.
Alternatively, the material pit foundation directrix according to described garbage areas profile diagram and setting described in step 104, determines the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determine the true altitude of rubbish in material hole of expecting in hole, can be embodied as:
According to the material pit foundation directrix of described garbage areas profile diagram and setting (this material pit foundation directrix can cheat the boundary line in region according to material region, hole and non-material and determine), add up each frontier point of rubbish along X direction (i.e. the u direction of principal axis of image coordinate), and record the longitudinal axis value (i.e. the v axle value of image coordinate) corresponding to each frontier point counted on;
Mean operation (namely getting average) is carried out to the longitudinal axis value (longitudinal axis value of each point in the rubbish contour curve that the frontier point namely counted on along X direction is formed) corresponding to each frontier point counted on, and the longitudinal axis value mean value obtained is being expected the picture altitude in hole as the rubbish in material hole; (alternatively, now, also can form the rubbish boundary straight line shown in Fig. 4 according to this longitudinal axis value mean value, repeat no more herein);
According to the transformational relation between image coordinate system (for representing the coordinate system of the image projection of real world) and image acquisition coordinate system (for representing the coordinate system at the visual angle of image capture device), and the transformational relation between image acquisition coordinate system and world coordinate system (for representing the coordinate system of real world), convert the picture altitude of the rubbish in material hole in material hole to world coordinates, obtain the true altitude of rubbish in material hole.
Wherein, according to the transformational relation between image coordinate system and image acquisition coordinate system, and the transformational relation between image acquisition coordinate system and world coordinate system, convert the picture altitude of the rubbish in material hole in material hole to world coordinates, obtain the true altitude of rubbish in material hole of expecting in hole, can comprise:
Transformational relation according between following image coordinate system and image acquisition coordinate system:
u＝f×X
c/Z
c
v＝f×Y
c/Z
c；
The picture altitude v of rubbish in material hole in material hole is converted to the corresponding height Y in image acquisition coordinate system
c; And
Transformational relation according between following image acquisition coordinate system and world coordinate system:
By the corresponding height Y in image acquisition coordinate system
cbe converted to the corresponding height Y in world coordinate system
w, obtain the true altitude of rubbish in material hole of expecting in hole;
Wherein, u represents the pixel horizontal ordinate of image, and v represents the pixel ordinate of image, and f is the focal length of image capture device; X
c, Y
c, Z
cbe respectively the x-axis in image acquisition coordinate system OcXcYcZc, y-axis, the coordinate figure of z-axis; X
w, Y
w, Z
wbe respectively the x-axis in world coordinate system OwXwYwZw, y-axis, the coordinate figure of z-axis; θ is the setting angle between image capture device and surface level, H
cfor image capture device and material cheat between vertical range, namely image capture device distance material cheat the first setting height; And, when the relative position between image capture device and material are cheated is fixed, Z
wvalue be fixing value, as usually can be along θ direction, image capture device and material cheat between distance.
Such as, suppose that the picture altitude of rubbish in material hole in determined material hole is v, then by determining the true altitude of rubbish in material hole of expecting in hole with under type:
First according to formula (1) v=f × Y in the transformational relation between image coordinate system and image acquisition coordinate system
c/ Z
c, determine the Y corresponding with this v
cvalue, obtains formula (2) Y
c=Z
cv/f; Meanwhile, according to the transformational relation between image acquisition coordinate system and world coordinate system, formula (3) can be obtained: Y
c=(Y
w+ H
c) cos θ+Z
wsin θ and formula (4): Z
c=(Y
w+ H
c) (-sin θ)+Z
wcos θ; And then, according to formula (1), formula (2) and formula (3), formula (4) can be obtained:
finally, according to formula (4), the Y that this v is corresponding can be obtained
w, that is, the true altitude of rubbish in material hole in material hole.
That is, can according to the transformational relation between image acquisition coordinate system and image coordinate system, and the transformational relation between image acquisition coordinate system and world coordinate system, obtain the transformational relation between image coordinate system and world coordinate system, final realization image coordinate represents the effect of the distance in world coordinate system.
Further, determine discharging hole in rubbish material hole in true altitude while or afterwards, described method also can comprise:
The rubbish true altitude of described material hole rubbish image and correspondence thereof is shown, so that user checks.
The embodiment of the present invention one provides a kind of rubbish position detecting method, by carrying out image procossing to the material hole rubbish image in the material hole collected, identify the region, corresponding material hole in the rubbish image of discharging hole, and by carrying out profile process to region, this material hole, obtain the garbage areas profile diagram on each rubbish border for characterizing region, this material hole, and then can according to the material pit foundation directrix of this garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, obtain the true altitude of rubbish in material hole of expecting in hole, thus the automatic detection of rubbish material level can be realized, relative to existing manual detection mode, degree of accuracy is higher, efficiency is higher.
Embodiment two:
Based on the inventive concept identical with embodiment one, the embodiment of the present application two provides a kind of rubbish level detecting apparatus, the concrete enforcement of this rubbish level detecting apparatus can see the associated description in said method embodiment one, repetition part repeats no more, as shown in Figure 5, this rubbish level detecting apparatus mainly can comprise:
Image acquisition units 51, can be used for the material hole rubbish image gathering material hole;
Material hole area determination unit 52, can be used for the region, material hole determined based on the image processing techniques of setting in the rubbish image of described material hole;
Profile processing unit 53, can be used for carrying out profile process to region, described material hole, obtaining the garbage areas profile diagram on each rubbish border for characterizing region, described material hole;
Rubbish material level determining unit 54, can be used for the material pit foundation directrix according to described garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determine the true altitude of rubbish in material hole of expecting in hole.
Alternatively, described image acquisition units 51 can comprise the image acquisition subelement and light filling illumination subelement that are arranged on upper side, material hole; Wherein, described image acquisition subelement becomes to set angle with surface level and cheats the first setting height apart from described material, and described light filling illumination subelement cheats the second setting height apart from described material, and described setting angle is greater than 0 degree and is less than 90 degree; And, when described image acquisition subelement and described light filling throw light on subelement be positioned at the same upper side of expecting to cheat time, described first setting height is greater than described second setting height;
Described light filling illumination subelement, can be used for carrying out light filling illumination to material hole;
Described image acquisition subelement, can be used for gathering the material of being cheated by the material of described light filling illumination subelement adequate illumination and cheats rubbish image.
Further, described rubbish level detecting apparatus also can comprise gray processing processing unit 55:
Described gray processing processing unit 55, before the image processing techniques be used in based on setting determines the region, material hole in the rubbish image of described material hole, if determine, described material hole rubbish image is coloured image, then gray processing process is carried out to described material hole rubbish image, obtain material hole rubbish gray level image.
Further, described material hole area determination unit 52 specifically can be used for based on image masks technology, described material hole rubbish image is carried out to the mask product process in region, non-material hole, to determine the region, corresponding material hole in the rubbish image of described material hole.
Alternatively, described material hole area determination unit 52 specifically can be used for based on image masks technology, the material hole rubbish gray level image corresponding to described material hole rubbish image carries out the mask product process in region, non-material hole, to determine the region, corresponding material hole in the rubbish image of described material hole.
Further, described profile processing unit 53 specifically can be used for the edge detecting technology based on setting, carries out rim detection, form rubbish edge image to region, described material hole; And following operation is performed to described rubbish edge image, form rubbish connected region figure: add up all marginal points in described rubbish edge image, and add in S set 0 by the marginal point counted on; Choose a marginal point from the central area of described rubbish edge image, add and be communicated with marginal point S set 1, and upgrade S set 0=S0-S1; From S1, select a some pi be communicated with, and the marginal point qj pixel distance in S0 and between the some pi selected being less than setpoint distance is connected, and all marginal point qj satisfied condition are added S set 1, upgrade S set 0=S0-S1; Repeat above-mentioned from S1 selected element pi and the qj satisfied condition is added S set 1 and upgrades the operation of S set 0, until determine that S set 0 is for empty; And,
On described rubbish connected region figure, each row from left to right successively on scan image, and connect first and last marginal point on direction from left to right, form the right boundary of rubbish; Meanwhile, each row from top to bottom successively on scan image, and using the coboundary of first marginal point on direction from top to bottom as rubbish; And, according to right boundary and the coboundary of rubbish, form garbage areas profile diagram.
Further, described rubbish material level determining unit 54 specifically can be used for the material pit foundation directrix according to described garbage areas profile diagram and setting, along each frontier point of X direction statistics rubbish, and record the longitudinal axis value corresponding to each frontier point counted on, and, mean operation is carried out to the longitudinal axis value corresponding to each frontier point, and the longitudinal axis value mean value obtained is being expected the picture altitude in hole as the rubbish in material hole; According to the transformational relation between image coordinate system and image acquisition coordinate system, and the transformational relation between image acquisition coordinate system and world coordinate system, convert the picture altitude of the rubbish in material hole in material hole to world coordinates, obtain the true altitude of rubbish in material hole of expecting in hole.
Wherein, described rubbish material level determining unit, specifically for according to the transformational relation between following image coordinate system and image acquisition coordinate system:
u＝f×X
c/Z
c
v＝f×Y
c/Z
c；
The picture altitude v of rubbish in material hole in material hole is converted to the corresponding height Y in image acquisition coordinate system
c; And
Transformational relation according between following image acquisition coordinate system and world coordinate system:
By the corresponding height Y in image acquisition coordinate system
cbe converted to the corresponding height Y in world coordinate system
w, obtain the true altitude of rubbish in material hole of expecting in hole;
Wherein, u represents the pixel horizontal ordinate of image, and v represents the pixel ordinate of image, and f is the focal length of image capture device; X
c, Y
c, Z
cbe respectively the x-axis in image acquisition coordinate system OcXcYcZc, y-axis, the coordinate figure of z-axis; X
w, Y
w, Z
wbe respectively the x-axis in world coordinate system OwXwYwZw, y-axis, the coordinate figure of z-axis, and, Z
wconcrete value be along θ direction, image capture device and material cheat between distance; θ is the setting angle between image capture device and surface level, H
cfor image capture device and material cheat between vertical range, namely image capture device distance material cheat the first setting height.
Further, described rubbish level detecting apparatus also can comprise information display unit 56:
Described information display unit 56, to be used in while determining to expect rubbish in the hole true altitude in material hole or afterwards, the rubbish true altitude of described material hole rubbish image and correspondence thereof to be shown.
Further, the embodiment of the present invention additionally provides a kind of material loading trigger, and described material loading trigger comprises the rubbish level detecting apparatus described in the embodiment of the present invention, repeats no more herein.
It will be understood by those skilled in the art that embodiments of the invention can be provided as method, device (equipment) or computer program.Therefore, the present invention can adopt the form of complete hardware embodiment, completely software implementation or the embodiment in conjunction with software and hardware aspect.And the present invention can adopt in one or more form wherein including the upper computer program implemented of computer-usable storage medium (including but not limited to magnetic disk memory, CD-ROM, optical memory etc.) of computer usable program code.
The present invention describes with reference to according to the process flow diagram of the method for the embodiment of the present invention, device (equipment) and computer program and/or block scheme.Should understand can by the combination of the flow process in each flow process in computer program instructions realization flow figure and/or block scheme and/or square frame and process flow diagram and/or block scheme and/or square frame.These computer program instructions can being provided to the processor of multi-purpose computer, special purpose computer, Embedded Processor or other programmable data processing device to produce a machine, making the instruction performed by the processor of computing machine or other programmable data processing device produce device for realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be stored in can in the computer-readable memory that works in a specific way of vectoring computer or other programmable data processing device, the instruction making to be stored in this computer-readable memory produces the manufacture comprising command device, and this command device realizes the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
These computer program instructions also can be loaded in computing machine or other programmable data processing device, make on computing machine or other programmable devices, to perform sequence of operations step to produce computer implemented process, thus the instruction performed on computing machine or other programmable devices is provided for the step realizing the function of specifying in process flow diagram flow process or multiple flow process and/or block scheme square frame or multiple square frame.
Although describe the preferred embodiments of the present invention, those skilled in the art once obtain the basic creative concept of cicada, then can make other change and amendment to these embodiments.So claims are intended to be interpreted as comprising preferred embodiment and falling into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (15)
1. a rubbish position detecting method, is characterized in that, comprising:
Gather the material hole rubbish image in material hole, and determine the region, material hole in the rubbish image of described material hole based on the image processing techniques set;
Profile process being carried out to region, described material hole, obtaining the garbage areas profile diagram on each rubbish border for characterizing region, described material hole;
According to the material pit foundation directrix of described garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determine the true altitude of rubbish in material hole of expecting in hole.
2. the method for claim 1, is characterized in that, the described material hole rubbish image gathering material hole, comprising:
Rubbish image cheated by the material of being cheated by the material of the light filling light fixture adequate illumination being arranged on upper side, material hole by the image capture device collection being arranged on upper side, material hole.
3. the method for claim 1, is characterized in that, determine the region, material hole in the rubbish image of described material hole in the image processing techniques based on setting before, described method also comprises:
If determine, described material hole rubbish image is coloured image, then carry out gray processing process to described material hole rubbish image, obtain material hole rubbish gray level image.
4. the method for claim 1, is characterized in that, the described image processing techniques based on setting determines the region, material hole in the rubbish image of described material hole, comprising:
Based on image masks technology, described material hole rubbish image is carried out to the mask product process in region, non-material hole, to determine the region, corresponding material hole in the rubbish image of described material hole.
5. the method for claim 1, is characterized in that, describedly carries out profile process to region, described material hole, obtaining the garbage areas profile diagram on each rubbish border for characterizing region, described material hole, comprising:
Based on the edge detecting technology of setting, rim detection is carried out to region, described material hole, forms rubbish edge image;
Following operation is performed to described rubbish edge image, forms rubbish connected region figure:
Add up all marginal points in described rubbish edge image, and the marginal point counted on is added in S set 0; Choose a marginal point from the central area of described rubbish edge image, add and be communicated with marginal point S set 1, and upgrade S set 0=S0-S1; From S1, select a some pi be communicated with, and the marginal point qj pixel distance in S0 and between the some pi selected being less than setpoint distance is connected, and all marginal point qj satisfied condition are added S set 1, upgrade S set 0=S0-S1; Repeat above-mentioned from S1 selected element pi and the qj satisfied condition is added S set 1 and upgrades the operation of S set 0, until determine that S set 0 is for empty;
On described rubbish connected region figure, each row from left to right successively on scan image, and connect first and last marginal point on direction from left to right, form the right boundary of rubbish; Meanwhile, each row from top to bottom successively on scan image, and using the coboundary of first marginal point on direction from top to bottom as rubbish; According to right boundary and the coboundary of rubbish, form garbage areas profile diagram.
6. the method for claim 1, is characterized in that, according to the material pit foundation directrix of described garbage areas profile diagram and setting, determine the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determine the true altitude of rubbish in material hole of expecting in hole, comprising:
According to the material pit foundation directrix of described garbage areas profile diagram and setting, along each frontier point of X direction statistics rubbish, and record the longitudinal axis value corresponding to each frontier point counted on;
Mean operation is carried out to the longitudinal axis value corresponding to each frontier point, and the longitudinal axis value mean value obtained is being expected the picture altitude in hole as the rubbish in material hole;
According to the transformational relation between image coordinate system and image acquisition coordinate system, and the transformational relation between image acquisition coordinate system and world coordinate system, convert the picture altitude of the rubbish in material hole in material hole to world coordinates, obtain the true altitude of rubbish in material hole of expecting in hole.
7. method as claimed in claim 6, it is characterized in that, according to the transformational relation between image coordinate system and image acquisition coordinate system, and the transformational relation between image acquisition coordinate system and world coordinate system, convert the picture altitude of the rubbish in material hole in material hole to world coordinates, obtain the true altitude of rubbish in material hole of expecting in hole, comprising:
Transformational relation according between following image coordinate system and image acquisition coordinate system:
u＝f×X
c/Z
c
v＝f×Y
c/Z
c；
The picture altitude v of rubbish in material hole in material hole is converted to the corresponding height Y in image acquisition coordinate system
c; And
Transformational relation according between following image acquisition coordinate system and world coordinate system:
By the corresponding height Y in image acquisition coordinate system
cbe converted to the corresponding height Y in world coordinate system
w, obtain the true altitude of rubbish in material hole of expecting in hole;
Wherein, u represents the pixel horizontal ordinate of image, and v represents the pixel ordinate of image, and f is the focal length of image capture device; X
c, Y
c, Z
cbe respectively the x-axis in image acquisition coordinate system OcXcYcZc, y-axis, the coordinate figure of z-axis; X
w, Y
w, Z
wbe respectively the x-axis in world coordinate system OwXwYwZw, y-axis, the coordinate figure of z-axis, and, Z
wconcrete value be along θ direction, image capture device and material cheat between distance; θ is the setting angle between image capture device and surface level, H
cfor image capture device and material cheat between vertical range.
8. a rubbish level detecting apparatus, is characterized in that, comprising:
Image acquisition units, for gathering the material hole rubbish image in material hole;
Material hole area determination unit, for determining the region, material hole in the rubbish image of described material hole based on the image processing techniques of setting;
Profile processing unit, for carrying out profile process to region, described material hole, obtains the garbage areas profile diagram on each rubbish border for characterizing region, described material hole;
Rubbish material level determining unit, for the material pit foundation directrix according to described garbage areas profile diagram and setting, determines the picture altitude of rubbish in material hole of expecting in hole, and according to the picture altitude determined, determines the true altitude of rubbish in material hole of expecting in hole.
9. rubbish level detecting apparatus as claimed in claim 8, is characterized in that, described image acquisition units comprises the image acquisition subelement and light filling illumination subelement that are arranged on upper side, material hole;
Described light filling illumination subelement, for carrying out light filling illumination to material hole;
Described image acquisition subelement, cheats rubbish image for gathering the material of being cheated by the material of described light filling illumination subelement adequate illumination.
10. rubbish level detecting apparatus as claimed in claim 8, it is characterized in that, described rubbish level detecting apparatus also comprises gray processing processing unit:
Described gray processing processing unit, for determine the region, material hole in the rubbish image of described material hole in the image processing techniques based on setting before, if determine, described material hole rubbish image is coloured image, then carry out gray processing process to described material hole rubbish image, obtain material hole rubbish gray level image.
11. rubbish level detecting apparatus as claimed in claim 8, is characterized in that,
Described material hole area determination unit, specifically for based on image masks technology, carries out the mask product process in region, non-material hole to described material hole rubbish image, to determine the region, corresponding material hole in the rubbish image of described material hole.
12. rubbish level detecting apparatus as claimed in claim 8, is characterized in that,
Described profile processing unit, specifically for the edge detecting technology based on setting, carries out rim detection to region, described material hole, forms rubbish edge image; And following operation is performed to described rubbish edge image, form rubbish connected region figure: add up all marginal points in described rubbish edge image, and add in S set 0 by the marginal point counted on; Choose a marginal point from the central area of described rubbish edge image, add and be communicated with marginal point S set 1, and upgrade S set 0=S0-S1; From S1, select a some pi be communicated with, and the marginal point qj pixel distance in S0 and between the some pi selected being less than setpoint distance is connected, and all marginal point qj satisfied condition are added S set 1, upgrade S set 0=S0-S1; Repeat above-mentioned from S1 selected element pi and the qj satisfied condition is added S set 1 and upgrades the operation of S set 0, until determine that S set 0 is for empty; And,
On described rubbish connected region figure, each row from left to right successively on scan image, and connect first and last marginal point on direction from left to right, form the right boundary of rubbish; Meanwhile, each row from top to bottom successively on scan image, and using the coboundary of first marginal point on direction from top to bottom as rubbish; And, according to right boundary and the coboundary of rubbish, form garbage areas profile diagram.
13. rubbish level detecting apparatus as claimed in claim 8, is characterized in that,
Described rubbish material level determining unit, specifically for the material pit foundation directrix according to described garbage areas profile diagram and setting, along each frontier point of X direction statistics rubbish, and record the longitudinal axis value corresponding to each frontier point counted on, and, mean operation is carried out to the longitudinal axis value corresponding to each frontier point, and the longitudinal axis value mean value obtained is being expected the picture altitude in hole as the rubbish in material hole; According to the transformational relation between image coordinate system and image acquisition coordinate system, and the transformational relation between image acquisition coordinate system and world coordinate system, convert the picture altitude of the rubbish in material hole in material hole to world coordinates, obtain the true altitude of rubbish in material hole of expecting in hole.
14. rubbish level detecting apparatus as claimed in claim 13, is characterized in that, described rubbish material level determining unit, specifically for according to the transformational relation between following image coordinate system and image acquisition coordinate system:
u＝f×X
c/Z
c
v＝f×Y
c/Z
c；
The picture altitude v of rubbish in material hole in material hole is converted to the corresponding height Y in image acquisition coordinate system
c; And
Transformational relation according between following image acquisition coordinate system and world coordinate system:
By the corresponding height Y in image acquisition coordinate system
cbe converted to the corresponding height Y in world coordinate system
w, obtain the true altitude of rubbish in material hole of expecting in hole;
Wherein, u represents the pixel horizontal ordinate of image, and v represents the pixel ordinate of image, and f is the focal length of image capture device; X
c, Y
c, Z
cbe respectively the x-axis in image acquisition coordinate system OcXcYcZc, y-axis, the coordinate figure of z-axis; X
w, Y
w, Z
wbe respectively the x-axis in world coordinate system OwXwYwZw, y-axis, the coordinate figure of z-axis, and, Z
wconcrete value be along θ direction, image capture device and material cheat between distance; θ is the setting angle between image capture device and surface level, H
cfor image capture device and material cheat between vertical range.
15. 1 kinds of material loading triggers, is characterized in that, described material loading trigger comprises the arbitrary described rubbish level detecting apparatus of claim 8 ~ 14.
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