CN105823419B - Reference band for the detection of machine vision pose - Google Patents
Reference band for the detection of machine vision pose Download PDFInfo
- Publication number
- CN105823419B CN105823419B CN201610308102.9A CN201610308102A CN105823419B CN 105823419 B CN105823419 B CN 105823419B CN 201610308102 A CN201610308102 A CN 201610308102A CN 105823419 B CN105823419 B CN 105823419B
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- Prior art keywords
- band
- referring
- son
- identification code
- machine vision
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of reference bands for the detection of machine vision pose, including at least one son referring to band, son is strip rectangle referring to band, adjacent son splices mutually along its length referring to band, each height respectively includes respectively different identification codes referring to band, and identification code is fixed on son referring to the front of band.Identification code is text, color or the figure that can indicate sequence sequencing.Of the invention can assist the pose detection system of mobile platform quickly to be judged for the detection of machine vision pose referring to band, accurately and fast, the posture information of mobile platform is detected in real time, realize that safe and reliable, accurately closed-loop control provides important reference for mobile platform, its structure is simple, it is safe and reliable, economical and practical, be easily achieved, it is applied widely.
Description
Technical field
The present invention relates to the detection auxiliary tools of machine vision, are used for machine vision pose more specifically to one kind
The reference band of detection.
Background technique
Currently, the existing equipment for pose detection or displacement detecting is broadly divided into contact and two kinds contactless.
When working environment allows to detect pose or displacement by way of contact, the detection device of contact, but this can be selected
There are mechanical abrasions for a little equipment interconnection contact portion parts, so after equipment works long hours, it may appear that stability and accuracy decline
The case where.When working environment does not allow to contact with detected body, contactless detection device at this moment will be selected, it is such as some
The equipment detected using GPS, electromagnetic signal, ultrasonic wave and infrared light, but their testing result is easy to be done by electromagnetism
Disturb, environmental noise, received signal level fluctuation situations such as influence, or be easy by natural environments such as rainwater, dust, soda acids
Influence, so as to cause detection accuracy reduction, reliability reduce.The present invention overcomes disadvantages mentioned above, provide a kind of structure letter
Single, the high mobile platform pose detection system based on machine vision of detection accuracy.
Machine vision is the field of a multi-crossed disciplines, it combines optical engineering, electronic signal process, mode knowledge
Not, the multi-field knowledge such as artificial intelligence, mechanical engineering and soft project.NI Vision Builder for Automated Inspection is generally by light source, camera lens, image pick-up device
The equipment such as part, image memory bank, monitor and computer system composition.Light source provides enough illumination, mirror for vision system
For head by the imaging surface of the target imaging in tested scene to visual sensor (i.e. picture pick-up device), image memory bank is responsible for will be electric
Signal is changed into digital picture, i.e., is gray-scale data the brightness transition of each pixel, and be stored as one or more figure
Picture, computer system is responsible to be handled image, analyzed, judged and is identified, finally provides testing result.
Mobile platform pose detection system integrated use based on machine vision referring to the mark on body in the picture
Bulk information, the information content as based on are the image informations on two-dimensional space, i.e., extract position from entire image information
Appearance information, therefore, it can overcome various interference signals, obtain stable and reliable measurement result.
Summary of the invention
The complicated and not high detection accuracy problem for system structure present in existing mobile platform pose detection technique,
The purpose of the invention is to reduce the complexity of system and improve detection accuracy, provide a kind of for the detection of machine vision pose
Reference band.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of reference band for the detection of machine vision pose, including at least one son, referring to band, son is strip referring to band
Rectangle, adjacent son splice mutually along its length referring to band, and each height respectively includes respectively different identification codes referring to band,
Identification code is fixed on son referring to the front of band.Identification code is text, color or the figure that can indicate sequence sequencing.
An embodiment according to the present invention, adjacent son are spliced mutually referring to band by waist-shaped hole and half grooving.
An embodiment according to the present invention, identification code are thin strip-plate, are printed on thin strip-plate according to preset coding mode
Brush text, color or figure.
An embodiment according to the present invention, identification code are thin strip-plate, according to preset coding mode office on thin strip-plate
Portion's hollow out.
An embodiment according to the present invention, the son hardness or flexible material small using waterproof coefficient of thermal expansion and contraction referring to band.
An embodiment according to the present invention, son include power supply and light-emitting component referring to band, and identification code is transparent or semitransparent, hair
Optical element is set to the back side of identification code.
An embodiment according to the present invention, son include undercut slots referring to the front of band, and identification code is fixed in undercut slots.
In the above-mentioned technical solutions, of the invention to assist mobile platform referring to band for the detection of machine vision pose
Pose detection system quickly judged, detect the posture information of mobile platform accurately and fast, in real time, be mobile flat
Platform realizes that safe and reliable, accurately closed-loop control provides important reference, and structure is simple, safe and reliable, economical and practical, easy
It is applied widely in realization.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the apparatus for detecting position and posture of mobile platform of the present invention；
Fig. 2A and 2B is the side view and top view of rack body；
Fig. 3 A and 3B are the main view and side view of support plate；
Fig. 3 C and 3D are the main view and side view of pressing plate；
Fig. 4 A and 4B are front view and rearview of the son referring to band；
Fig. 5 A and 5B are assembling schematic diagram of the son referring to band；
Fig. 6 A-6F is the schematic diagram of identification code；
Fig. 7 is the work flow diagram of mobile platform of the present invention.
Specific embodiment
Technical solution of the present invention is further illustrated with reference to the accompanying drawings and examples.
The present invention is directed to the pose detection technique of mobile platform, proposes a kind of mobile platform pose based on machine vision
Detection system, the patent system structure is simple, safe and reliable, economical and practical, environmentally protective, applied widely, can be shifting
The posture information of moving platform feeds back to the motion control unit of mobile platform in real time, to help to realize the appearance of mobile platform
State control.
As shown in Figure 1, the invention discloses a kind of apparatus for detecting position and posture of mobile platform, it mainly include the system by more
A bracket 1, reference band 2, identification code 3, camera 4, mobile platform 5 and processor 6.Multiple brackets 1 are fixed on ground, and are located at and move
The same side of the space of moving platform is arranged in a straight line, generally uniform arrangement.Bracket 1 is used to support referring to band 2, so that solid
Being in same level after fixed referring to band 2, surface is all perpendicular with horizontal plane.It is elongate in shape referring to band 2, corresponds to
The distribution of bracket 1, referring to a bracket 1 is just equipped on band 2 at a certain distance, referring to having identification code 3 on band 2, bracket 1 is solid
Due to the back side referring to band 2, identification code 3 is set to the front referring to band 2.Camera 4 is fixed on mobile platform 5, and guarantees phase
Corresponding identification code 3 can be located among the field range of camera 4 at machine 4.Acquired image data are transferred to place by camera 4
Device 6 is managed, the image processing program run in processor 6 is by obtaining the position of current mobile platform 5 to the processing of image data
Appearance information.
As shown in Figure 2 A and 2B, bracket 1 of the invention is made of rack body, support plate and pressing plate, and main body is into one
Step includes triangle section iron chassis 103 and iron plate 104.Rack body is made of triangle section iron chassis 103 and iron plate 104, and iron plate 104 is square
Shape is fixed on ground, and triangle section iron chassis 103 is welded and fixed perpendicular to iron plate 104 and with iron plate 104, using hot-galvanizing mode into
Row anti-oxidant treatment, in this way design can save cost and whole stability.In order to keep rack body secured
Ground fixes on the ground, buried screw fixing hole 102 is devised on rack body, specifically the both ends of iron plate 104 are equipped with
Buried screw fixing hole 102.It, i.e., can on direction perpendicular to the ground in order to make rack body can adapt to rugged ground
Support plate to be adjusted, the present invention devises waist-shaped hole 101 to fixed support plate, specifically on rack body
Triangle section iron chassis 103 is equipped with the waist-shaped hole 101 to fixed support plate, and this design method can guarantee the reference after assembly
Band 2 is in same level.
The design diagram of the support plate of bracket 1 and pressing plate is as shown in figs. 3 a-3d in the present invention.Support plate and pressing plate use
The small sturdy material of waterproof, coefficient of thermal expansion and contraction, by through-hole 105 between support plate and rack body, with the spiral shell of certain length
Silk is fixed.The screw of selection certain length is the verticality and levelness in order to adjust correction positioning plate.Support plate and pressing plate are logical
Tapping hole 106 and through-hole 107 are crossed to fix and lock referring to band 2.Pressing plate of the invention includes top board and lower platen, referring to band
Between top board and lower platen.Top board and lower platen are located at upper and lower pressure being fixed in support plate referring to band 2
Between plate.Top board and lower platen are respectively provided with half grooving 108, and half grooving 108 of top board is downward, half grooving of lower platen
108 upwards.
The surface of reference band 2 of the invention and horizontal plane, can make to be generally in together referring to band 2 by adjusting bracket 1
One horizontal plane.The small hardness of waterproof coefficient of thermal expansion and contraction or flexible material can be used referring to band 2.When too long referring to band 2, in order to
Ease of assembly, disassembly and transport, it is whole to be spliced by multiple sons referring to band referring to band 2.
It specifically, include at least one son referring to band referring to band 2, son is strip rectangle, adjacent sub- reference referring to band
Band splices mutually along its length, and each height respectively includes respectively different identification codes 3 referring to band, and identification code 3 is fixed on son
Referring to the front of band.Identification code 3 is text, color or the figure that can indicate sequence sequencing.
The design diagram of son reference band of the invention is as illustrated in figures 4 a and 4b.Undercut slots 201 are used for nCr code 3,
It is more stably mounted to convenient for identification code 3 referring on band 2.Son is used to set off identification code 3 referring to other regions 202 of band, reduces
Its interference in the environment, and then reduce the complexity of subsequent image Processing Algorithm.In order to which bundle is stitched together referring to band, simultaneously
It prevents from expanding with heat and contract with cold again and leads to overall deformation, adjacent son spells design side using the half of waist-shaped hole 203 and half grooving 204 referring to band
Formula.
Identification code 3 of the invention is thin strip-plate, the information such as whether can be by shape, color, active or passive, hollow out
Bearing mode is encoded, and the shape of identification code 3 can use number, letter, text, figure (such as bar code, two dimensional code)
Mode is realized, i.e., according to preset coding mode printing word, color or figure on thin strip-plate, or in thin strip-plate
On according to preset coding mode part hollow out.The size of coding unit will make its blur-free imaging in camera 4.The face of identification code
Color can realize using the active light emissive equipment of different colours or the passive reflectorized material of different colours, face referred herein
Color includes the light in all spectrum, that is, includes black light.For active identification code 3, son includes power supply and hair referring to band
Optical element, identification code 3 are transparent/translucent or partially transparent/translucent, and light-emitting component is set to the back side of identification code 3.
Camera 4 of the invention can be using the various equipment for obtaining image such as industrial camera, industrial camera, including image
Sensor CCD, camera lens and lighting apparatus.Camera 4 is fixed on mobile platform 5, and can be in camera 4 referring to the regional area of band 2
Middle blur-free imaging.The posture information of mobile platform 5 be by processor 6 to 4 acquired image data of camera handled come
It obtains, work flow diagram of the invention is as shown in Figure 7.
S1: processor obtains the image referring to band in the camera
S2: identification code is extracted from image
S3: according to the identification code extracted, the current posture information of mobile platform is calculated
S4: judge whether the current posture information for needing to continue to obtain mobile platform? if so, S1 is returned to, if it is not, then tying
Beam.
According to above-mentioned steps as it can be seen that when mobile platform 5 is when continuous mobile, camera 4 constantly obtain it is a series of
Identification code 3, and processor 6 can calculate the running track of mobile platform 5 according to this series of identification code 3.For example, mark
Code 3 is a series of tactic natural numbers: 1,2,3 ... ..., and processor 6 judges 3 sequence of identification code that camera 4 receives
It is 14,15,16, then can judges the current posture information of mobile platform 5 according to the position where these three identification codes.Into one
Step ground, processor 6 can not only identify the current posture information of mobile platform 5, moreover it is possible to by the figure for constantly obtaining camera 4
The running track of mobile platform 5 is judged as information.
It in order to enable technological means and creation characteristic of the invention to reach purpose and effect, and is apparent to, ties below
It closes specific implementation to illustrate, be further described.The pose that the present invention is applied to mobile platform detects, comprising the following steps:
The design of bracket 1.The design of rack body is as shown in Figure 2 A and 2B, by the triangle section iron chassis 103 with waist-shaped hole 101
It forms with the iron plate 104 with buried screw fixing hole 102, is fixed between them with the mode welded, and with hot-galvanizing side
Formula carries out anti-oxidant treatment.As shown in figs. 3 a-3d, support plate and pressing plate are all made of waterproof, heat expansion for the design of support plate and pressing plate
The small sturdy material of contraction coefficients, support plate have through-hole 105 and tapping hole 106, and pressing plate has through-hole 107 and half grooving 108.
The installation of bracket 1.Multiple rack bodies are fixed on ground by buried screw fixing hole 102 with setscrew,
Positioned at certain side of the space of mobile platform 5, generally uniform arrangement.Pass through waist type between each rack body and support plate
Hole 101 and through-hole 105 are fixed with the screw of 60mm length；Support plate and pressing plate are solid with screw by tapping hole 106 and through-hole 107
It is fixed.
Referring to the design of band.Referring to the aluminium sheet small using waterproof coefficient of thermal expansion and contraction of band 2.In order to facilitate assembling, disassembly and
Transport, it is whole to be designed as being spliced by multiple sons referring to band referring to band 2.Son is designed as band as illustrated in figures 4 a and 4b referring to band
There is the aluminium sheet of undercut slots 201, waist-shaped hole 203 and half grooving 204, and other regions 202 have carried out the pitch-dark oxidation processes of spray, uses
In setting off identification code 3.
Referring to the installation of band 2.It is to be fixed simultaneously using support plate and pressing plate by tapping hole 106 and through-hole 107 referring to band 2
Locking, it is fixed between support plate and half grooving 108 of pressing plate referring to band 2.Surface and horizontal plane referring to band 2,
It can make to be generally in same level referring to band 2 by adjusting bracket 1.Assembling schematic diagram such as Fig. 5 A and 5B institute of the son referring to band
Show.
The design and installation of identification code 3.As shown in Fig. 6 A-6F, identification code 3 be designed as passive number, letter, text and
Figure (such as bar code, two dimensional code), but the identification code in the present invention is not limited thereto.In order to realize the extensive batch of product
Production, identification code 3 are utilized in the mode printed on reflectorized material come what is realized, and the place printed on material will lose
Go reflecting power.Identification code is fixed on the door through an adhesive method in the undercut slots 201 referring to band.
The installation and debugging of camera 4.Infrared light supply of the camera 4 using 850nm, the CCD that resolution ratio is 656 × 494, focal length
For the camera lens and infrared fileter (filtering out visible light, eliminate interference) of 16mm.Camera 4 is fixed on robot moving platform 5, is adjusted
The relevant parameter of whole camera 4, it is ensured that its observation area is located at the corresponding position of identification code 3, and enables identification code 3
The blur-free imaging in the central area of 4 imaging plane of camera.
Using industrial computer as image processing unit, the developing operation environment of image processing program is processor 6
WinXP+Visual Studio2010, wherein third party's image procossing library OpenCV2.20 also can be used.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, as long as the change in spirit of the invention, to embodiment described above
Change, modification will all be fallen within the scope of claims of the present invention.
Claims (5)
1. a kind of reference band for the detection of machine vision pose, including at least one son is referring to band, it is characterised in that:
The son is strip rectangle referring to band, and the son is equipped with undercut slots, waist-shaped hole and half grooving, adjacent sub- reference referring to band
Band passes through waist-shaped hole along its length and half grooving splices mutually；
Each described son respectively includes respectively different identification codes referring to band, and the identification code is fixed on son referring to the described of band
In undercut slots；
The identification code is text, color or the figure that can indicate sequence sequencing,
The son has carried out the pitch-dark oxidation processes of spray referring to other regions in addition to undercut slots, waist-shaped hole and half grooving of band,
For setting off identification code.
2. as described in claim 1 for the reference band of machine vision pose detection, it is characterised in that:
The identification code is thin strip-plate, according to preset coding mode printing word, color or figure on the thin strip-plate.
3. as claimed in claim 2 for the reference band of machine vision pose detection, it is characterised in that:
According to preset coding mode part hollow out on the thin strip-plate.
4. as described in claim 1 for the reference band of machine vision pose detection, it is characterised in that:
The son hardness or flexible material small using waterproof, coefficient of thermal expansion and contraction referring to band.
5. as described in claim 1 for the reference band of machine vision pose detection, it is characterised in that:
The son includes power supply and light-emitting component referring to band, and the identification code is transparent or semitransparent, and the light-emitting component is set to
The back side of the identification code.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610308102.9A CN105823419B (en) | 2016-05-11 | 2016-05-11 | Reference band for the detection of machine vision pose |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610308102.9A CN105823419B (en) | 2016-05-11 | 2016-05-11 | Reference band for the detection of machine vision pose |
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| Publication Number | Publication Date |
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| CN105823419A CN105823419A (en) | 2016-08-03 |
| CN105823419B true CN105823419B (en) | 2019-07-12 |
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| CN205718840U (en) * | 2016-05-11 | 2016-11-23 | 上海振华重工电气有限公司 | Reference band for the detection of machine vision pose |
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|---|---|---|---|---|
| DE3541969C2 (en) * | 1985-11-25 | 1987-03-26 | Jörg 1000 Berlin Moebius | Device for measuring lateral deviation (vertical distance between vehicle and target trajectory) and relative yaw angle (angle between vehicle longitudinal axis and tangent to target trajectory) of a vehicle |
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| CN105823419A (en) | 2016-08-03 |
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