CN106094162A - A kind of focusing method - Google Patents
A kind of focusing method Download PDFInfo
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- CN106094162A CN106094162A CN201610729588.3A CN201610729588A CN106094162A CN 106094162 A CN106094162 A CN 106094162A CN 201610729588 A CN201610729588 A CN 201610729588A CN 106094162 A CN106094162 A CN 106094162A
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- sharpness value
- mechanical arm
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- imaging device
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/28—Systems for automatic generation of focusing signals
- G02B7/36—Systems for automatic generation of focusing signals using image sharpness techniques, e.g. image processing techniques for generating autofocus signals
- G02B7/38—Systems for automatic generation of focusing signals using image sharpness techniques, e.g. image processing techniques for generating autofocus signals measured at different points on the optical axis, e.g. focussing on two or more planes and comparing image data
Abstract
The invention provides a kind of focusing method: with mechanical arm in the moving range of Z axis to the spacing determining between imaging device and target object, when having maximum spacing between imaging device and target object, the mechanical arm the first coordinate figure on Z axis is Zb, and when having minimum spacing between imaging device and target object, the mechanical arm the second coordinate figure on Z axis is Za；Mobile mechanical arm is to the centre coordinate Zn between Zb and Za so that imaging device carries out image acquisition and obtains image target object, obtains sharpness value A of image；Respectively mobile mechanical arm is to Zn Y and Zn+Y so that imaging device carries out image acquisition acquisition image respectively to target object, and obtains sharpness value B and sharpness value C of image；Determine whether A is more than B, and more than C, if it is, imaging device is in optimum photographing position relative to target object when determining Zn position, mechanical arm place.Auto-focusing can be carried out in the case of imaging device aperture and focal length are fixing.
Description
Technical field
The present invention relates to robotics, particularly to a kind of focusing method.
Background technology
Along with popularization and the development of industry 4.0, wisdom factory is made to become the developing direction of manufacturer.Automated production
If flexibility can be accomplished, that production efficiency can be greatly improved, and production cost also can be substantially reduced.
Barcode scanning is carried out by vision, location, identification etc. has been the most universal as an important ring of automated production, and vision
Accomplish that quickly, precisely, the quality of captured image is most important.The quality of clapped image, with the resolution of industrial camera
Rate, visual field, time of exposure, the aperture of camera lens, the selection of focal length and light source has the biggest relation.At selected camera and light source,
And after setting corresponding parameter, for clapped object, we need aperture and the focusing ring manually going to regulate camera lens.That causes
When producing the product variations that line produces, when the device or camera heights capturing product changes, see there is no computer and display
When examining the clapped quality of image, manually aperture and the focusing ring of regulation camera lens is obviously difficult to be rapidly achieved us to image definition
Adjust.
Summary of the invention
Object of the present invention is to provide a kind of focusing method, it is possible in the situation that imaging device aperture and focal length are fixing
Under carry out auto-focusing so that shooting image clear.
Embodiments providing a kind of focusing method, the method includes:
Step 1, determine the spacing between imaging device and target object, imaging with mechanical arm in the moving range of Z axis
When having maximum spacing between device and target object, the mechanical arm the first coordinate figure on Z axis is Zb, imaging device and target
When having minimum spacing between object, the mechanical arm the second coordinate figure on Z axis is Za；
Step 2, mobile mechanical arm are to the centre coordinate Zn between the first coordinate figure Zb and the second coordinate figure Za so that imaging
Device carries out image acquisition and obtains image target object, obtains the first sharpness value of image；
Step 3, respectively mobile mechanical arm to the first offset coordinates Zn-1=Zn-Y and the second offset coordinates Zn+1=Zn+Y,
Make imaging device that target object carry out image acquisition respectively and obtain image, and respectively obtain second sharpness value and the of image
Three sharpness value；
Step 4, determine the first sharpness value whether more than the second sharpness value, and more than the 3rd sharpness value, if it is, determine
During Zn position, mechanical arm place, imaging device is in optimum photographing position relative to target object.
If the first sharpness value is more than the second sharpness value, but less than the 3rd sharpness value, then, is again composed by the second coordinate figure Za
Value is the first offset coordinates Zn-1=Zn-Y, and the value of the first coordinate figure Zb is constant, returns and performs step 2 to step 4, until first
Sharpness value is more than the second sharpness value, and more than the 3rd sharpness value.
If the first sharpness value is more than the 3rd sharpness value, but less than the second sharpness value, is then again composed by the first coordinate figure Zb
Value is the second offset coordinates Zn+1=Zn+Y, and the value of the second coordinate figure Za is constant, returns and performs step 2 to step 4, until first
Sharpness value is more than the second sharpness value, and more than the 3rd sharpness value.
Preferably, according to an acutance formulaObtain each pixel in image
The sharpness value of point, is averaging the sharpness value of pixel each in image, obtains the sharpness value of image；
Wherein, Gx represents the gray scale of current pixel point x；G (m) represents m point in 8 neighborhood territory pixels of pixel x periphery
Gray scale；Represent 8 neighborhood territory pixels of pixel x and the difference of this pixel x gray scale
Absolute value, and the absolute value of each difference is carried out distance weighted, pixel m distance x is the most then weighed greatly, pixel m distance x
Remote then weigh little；D (m) is integer.
Further, described mechanical arm determines according to the intrinsic design of mechanical arm in the moving range of Z axis.
The beneficial effects of the present invention is, it is not necessary to manually remove to regulate aperture and the focusing ring of camera lens, it is only necessary to regulation machine
Position on mechanical arm Z axis, acquisition image has sharpness value during different spacing between imaging device and target object, by sharp
The comparison of angle value, auto-focusing, obtain the optimum position of imaging device shooting object.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of embodiment of the present invention focusing method.
Fig. 2 is the relation of image sharpness value captured by embodiment of the present invention mechanical arm coordinate on Z axis and imaging device
Schematic diagram.
Fig. 3 is that embodiment of the present invention acutance calculates weighting matrix schematic diagram.
Detailed description of the invention
For making the purpose of the present invention, technical scheme and advantage clearer, develop simultaneously embodiment referring to the drawings, right
Scheme of the present invention is described in further detail.
The present invention is by Z-direction mobile mechanical arm so that imaging device moves in Z-direction relative to target object
Dynamic, in the case of there is different spacing between imaging device and target object, acquisition image, and calculate the sharpness value of image,
By the comparison of each sharpness value of image, obtain the optimum photographing position of imaging device.Here, mechanical arm and imaging are introduced
Position relationship between device and target object.Mechanical arm is divided into vision and two kinds of angles of lower vision.Upper vision is specially into
As device is positioned on mechanical arm, down, target object is fixed on work table the camera lens of imaging device, the underface of camera lens,
By mobile mechanical arm, adjust the distance between camera lens and the target object of imaging device.It is solid that lower vision is specially imaging device
Being scheduled on work table, upward, mechanical arm captures target object to the camera lens of imaging device so that target object is just being positioned at camera lens
Top, by mobile mechanical arm, adjusts the distance between target object and the camera lens of imaging device.In a word, vision is either gone up
Or lower vision, at Z-direction mobile mechanical arm, adjustment be all between Z-direction imaging device and target object away from
From.
The schematic flow sheet of a kind of focusing method that the present invention provides is as it is shown in figure 1, the method includes:
Step 1, determine the spacing between imaging device and target object, imaging with mechanical arm in the moving range of Z axis
When having maximum spacing between device and target object, the mechanical arm the first coordinate figure on Z axis is Zb, imaging device and target
When having minimum spacing between object, the mechanical arm the second coordinate figure on Z axis is Za；
Step 2, mobile mechanical arm are to the centre coordinate Zn between the first coordinate figure Zb and the second coordinate figure Za so that imaging
Device carries out image acquisition and obtains image target object, obtains sharpness value A of image；
Wherein, acutance is exactly that picture edge clear still obscures, and acutance is the highest, and edge is the most clear, picture main body and background
Border the most obvious.It is to say, acutance is the highest, image is the most clear.
Step 3, difference mobile mechanical arm to Zn-1=Zn-Y and Zn+1=Zn+Y so that imaging device is respectively to object
Body carries out image acquisition and obtains image, and respectively obtains sharpness value B and sharpness value C of image；
Step 4, determine sharpness value A whether more than sharpness value B, and more than sharpness value C, if it is, determine mechanical arm institute
When Zn position, imaging device is in optimum photographing position relative to target object.
If sharpness value A is more than sharpness value B, but less than sharpness value C, then, the second coordinate figure Za is entered as Zn-1 again
=Zn-Y, the value of the first coordinate figure Zb is constant, and return execution step 2 is to step 4, until sharpness value A is more than sharpness value B, and greatly
In sharpness value C.
If sharpness value A is more than sharpness value C, but less than sharpness value B, then the first coordinate figure Zb is entered as Zn+1=again
Zn+Y, the value of the second coordinate figure Za is constant, and return execution step 2, to step 4, until sharpness value A is more than sharpness value B, and is more than
Sharpness value C.
Wherein, the method for the sharpness value obtaining image includes: according to an acutance formula Obtain the sharpness value of each pixel in image, the sharpness value of pixel each in image is averaging,
Sharpness value to image；
Wherein, Gx represents the gray scale of current pixel point x；G (m) represents m point in 8 neighborhood territory pixels of pixel x periphery
Gray scale；Represent 8 neighborhood territory pixels of pixel x and the difference of this pixel x gray scale
Absolute value, and the absolute value of each difference is carried out distance weighted, pixel m distance x is the most then weighed greatly, pixel m distance x
Remote then weigh little；D (m) is integer.
So far, complete in the present invention by realizing the scheme of auto-focusing at Z-direction mobile mechanical arm.
For understanding the explanation present invention, concrete scene is set forth below and illustrates.
Embodiment one
1) mechanical arm is that the intrinsic design according to mechanical arm determines in the moving range of Z-direction, say, that machine
Mechanical arm has moved up and down two end points, and mechanical arm the most at most can move to Zb, and now, imaging device and target object have
Maximum spacing, mechanical arm the most at most can move to Za, and now, imaging device and target object have minimum spacing.Machinery
The initial mobile range of arm is [Za, Zb].
Assume Za=50cm in the embodiment of the present invention, Zb=150cm.
2) mobile mechanical arm is to the center Zn between the first coordinate figure Zb and the second coordinate figure Za,
Zn=(Zb+Za)/2=(50+150)/2=100cm,
Now, target object is shot by imaging device, obtains image, is then calculated figure according to the image obtained
Sharpness value A of picture.
If f (z) represents when mechanical arm coordinate figure on Z axis is z, the sharpness value of captured image, then f (Zn)=A,
Zn=100cm.
3) due to the optimum photographing position of imaging device to be looked for, imaging device, on this optimum photographing position, shoots image,
The sharpness value obtained should be maximum, therefore, will move up and down, from the position of Zn=100cm, the distance that mechanical arm is identical
Y, the i.e. mechanical arm coordinate on Z axis is respectively Zn-1=Zn-Y and Zn+1=Zn+Y, according to the value of f (Zn-1), f's (Zn+1)
The value of value and f (Zn) judges whether f (Zn) is maximum, if it is, imaging device when determining Zn position, mechanical arm place
It is in optimum photographing position relative to target object.Otherwise, need to continue to adjust, redefine mechanical arm moveable model up and down
Enclose, i.e. by Za or Zb again assignment, reduce mechanical arm moveable scope up and down further, repeat step 2) to step 3),
Until searching out the optimum photographing position of imaging device.
Wherein, Y value is generally the small value floated near centre coordinate, can be grade, in the embodiment of the present invention
Assume Y=5cm.
Mobile mechanical arm is to Zn-1=Zn-Y=95cm, and now, target object is shot by imaging device, obtains figure
Picture, is then calculated sharpness value B of image according to the image obtained；
Mobile mechanical arm is to Zn+1=Zn+Y=105cm, and now, target object is shot by imaging device, obtains figure
Picture, is then calculated sharpness value C of image according to the image obtained.
The first situation, it is assumed that captured by mechanical arm coordinate on Z axis and imaging device, the relation of image sharpness value is shown
It is intended to, as shown in Figure 2.In Fig. 2, f (Zn)=A is maximum, more than f (Zn-1)=B, and more than f (Zn+1)=C.Therefore can be true
Determine the position of mechanical arm place Zn=100cm, be that imaging device is in optimal camera site relative to target object.
The second situation,
4) < A < C, then, the value that Za is entered as Za=Zn-1=Zn-Z=95cm, Zb again is constant, still to assume sharpness value B
It is so Zb=150cm.
5) mobile mechanical arm is to the center Zn between Zb=150cm and Za=95cm,
Zn=(Zb+Za)/2=(150+95)/2=122.5cm,
Now, target object is shot by imaging device, obtains image, is then calculated figure according to the image obtained
Sharpness value A of picture '.That is, f (Zn)=A ', Zn=122.5cm.
6) mobile mechanical arm is to Zn-1=Zn-Y=122.5-5=117.5cm, and now, target object is entered by imaging device
Row shooting, obtains image, is then calculated sharpness value B of image according to the image obtained '；
Mobile mechanical arm is to Zn+1=Zn+Y=122.5+5=127.5cm, and now, target object is carried out by imaging device
Shooting, obtains image, is then calculated sharpness value C of image according to the image obtained '.
Now, f (Zn) is judged according to the value of f (Zn-1)=B ', the value of f (Zn+1)=C ' and the value of f (Zn)=A '
Whether=A ' is maximum, if it is, imaging device is relative to target object when determining Zn=122.5cm position, mechanical arm place
It is in optimum photographing position.Otherwise, need to continue to adjust, redefine mechanical arm moveable scope up and down, i.e. by Za or
Zb assignment again, reduces mechanical arm moveable scope up and down further, repeats step 2) to step 3), until searching out imaging
The optimum photographing position of device.
The third situation,
4 ') sharpness value B is assumed > A > C, then, the value that Zb is entered as Zb=Zn+1=Zn+Y=105cm, Za again is constant,
Remain as Za=50cm.
5 ') mobile mechanical arm is to the center Zn between Zb=105cm and Za=50cm,
Zn=(Zb+Za)/2=(105+50)/2=77.5cm,
Now, target object is shot by imaging device, obtains image, is then calculated figure according to the image obtained
Sharpness value A of picture ".That is, f (Zn)=A ", Zn=77.5cm.
6 ') mobile mechanical arm is to Zn-1=Zn-Y=77.5-5=72.5cm, and now, target object is carried out by imaging device
Shooting, obtains image, is then calculated sharpness value B of image according to the image obtained "；
Mobile mechanical arm is to Zn+1=Zn+Y=77.5+5=82.5cm, and now, target object is clapped by imaging device
Take the photograph, obtain image, be then calculated sharpness value C of image according to the image obtained ".
Now, according to f (Zn-1)=B " value, f (Zn+1)=C " value and f (Zn)=A " value judge f (Zn)
=A " whether it is maximum, if it is, imaging device is relative to target object when determining Zn=77.5cm position, mechanical arm place
It is in optimum photographing position.Otherwise, need to continue to adjust, redefine mechanical arm moveable scope up and down, i.e. by Za or
Zb assignment again, reduces mechanical arm moveable scope up and down further, repeats step 2) to step 3), until searching out imaging
The optimum photographing position of device.
In sum, the embodiment of the present invention finds the process of imaging device optimum photographing position, it is simply that constantly reduce machinery
Arm finds the maximum sharpness value of image near the moving range of Z-direction, the centre coordinate in moving range, if mechanical
When arm is in the centre coordinate in moving range, the sharpness value of image is maximum, it is determined that mechanical arm position is exactly imaging dress
Put and be in optimum photographing position relative to target object.
Embodiment two
In the embodiment of the present invention, the acutance for image calculates, and is to be obtained, specifically by a method for acutance weighting matrix
For:
1) image obtained according to imaging device, carries out an acutance and calculates, according to an acutance formula imageObtain the sharpness value of each pixel in image；
2) sharpness value of pixel each in image is averaging, i.e. the sharpness value of pixel each in image is added,
Again divided by the number of pixel in image, the sharpness value obtaining image obtains the sharpness value of image.
Each sharpness value in embodiment one is all to be obtained by said method.
Acutance calculates weighting matrix as shown in Figure 3.For in 8 neighborhood territory pixels of pixel x, horizontally and vertically direction
Pixel is close to pixel x, and weighting weight D (m) is 3；The pixel in 45 degree and 135 degree directions is away from pixel, and weighting weighs D (m)
It is 2.It should be noted that in the present invention, D (m) is integer, pixel m distance x is the most then weighed greatly, and pixel m distance x is the most then weighed
Little.
Sharpness value computational methods of the present invention, measuring and calculating speed is fast, and computational accuracy is higher.
To sum up, the invention has the beneficial effects as follows,
One, the focusing method of the present invention, only needs when, replacing or the mechanical arm etc. that such as produce line production product move
Dynamic operating platform make after causing shock due to long-play or operational error the image taken unintelligible when carry out.
Two, need not manually regulate aperture and the focusing ring of camera lens, it is possible to realize auto-focusing, so that the image of shooting
Clearly.
Three, the process of auto-focusing calculates weighting matrix owing to have employed acutance, and weights take into integer the most accordingly, make
Calculate speed faster.
Four, the initial mobile range of mechanical arm is that the intrinsic design according to movable operating devices such as mechanical arms determines
, this make initial mobile range will not span the biggest, it is possible to make the process of searching filmed image optimum position faster
Fast and more accurate.
Five, the inventive method is changed product can accomplish seamless link for being produced line, is truly realized flexible production.
Six, the inventive method need not, exclusively for obtaining optimal images increase computer and display, reduce cost.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement etc. done, within should be included in the scope of protection of the invention.
Claims (5)
1. a focusing method, the method includes:
Step 1, determine the spacing between imaging device and target object, imaging device with mechanical arm in the moving range of Z axis
With the mechanical arm the first coordinate figure on Z axis is Zb, imaging device and target object when having maximum spacing between target object
Between time there is minimum spacing the mechanical arm the second coordinate figure on Z axis be Za；
Step 2, mobile mechanical arm are to the centre coordinate Zn between the first coordinate figure Zb and the second coordinate figure Za so that imaging device
Target object is carried out image acquisition and obtains image, obtain the first sharpness value of image；
Step 3, respectively mobile mechanical arm are to the first offset coordinates Zn-1=Zn-Y and the second offset coordinates Zn+1=Zn+Y so that
Imaging device carries out image acquisition respectively and obtains image target object, and respectively obtains the second sharpness value of image and the 3rd sharp
Angle value；
Step 4, determine the first sharpness value whether more than the second sharpness value, and more than the 3rd sharpness value, if it is, determine machinery
During Zn position, arm place, imaging device is in optimum photographing position relative to target object.
2. the method for claim 1, it is characterised in that if the first sharpness value is more than the second sharpness value, but less than the
Three sharpness value, then, be again entered as the first offset coordinates Zn-1=Zn-Y by the second coordinate figure Za, and the value of the first coordinate figure Zb is not
Becoming, return execution step 2 is to step 4, until the first sharpness value is more than the second sharpness value, and more than the 3rd sharpness value.
3. the method for claim 1, it is characterised in that if the first sharpness value is more than the 3rd sharpness value, but less than the
Two sharpness value, then be entered as the second offset coordinates Zn+1=Zn+Y again by the first coordinate figure Zb, and the value of the second coordinate figure Za is not
Becoming, return execution step 2 is to step 4, until the first sharpness value is more than the second sharpness value, and more than the 3rd sharpness value.
4. the method for claim 1, it is characterised in that according to an acutance formula
Obtain the sharpness value of each pixel in image, the sharpness value of pixel each in image is averaging, obtains the acutance of image
Value；
Wherein, Gx represents the gray scale of current pixel point x；G (m) represents the gray scale of m point in 8 neighborhood territory pixels of pixel x periphery；Represent 8 neighborhood territory pixels of pixel x and the exhausted of the difference of this pixel x gray scale
To value, and carrying out distance weighted by the absolute value of each difference, pixel m distance x is the most then weighed greatly, and pixel m distance x is remote then
Weigh little；D (m) is integer.
5. the method for claim 1, it is characterised in that described mechanical arm in the moving range of Z axis according to mechanical arm
Intrinsic design determines.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107682681A (en) * | 2017-09-29 | 2018-02-09 | 微鲸科技有限公司 | Atomatic focusing method, device and projector equipment |
| CN110632735A (en) * | 2019-08-16 | 2019-12-31 | 俞庆平 | Method for searching optimal focal plane in laser direct imaging system |
| CN111541842A (en) * | 2020-03-09 | 2020-08-14 | 厦门世菱科技有限公司 | Large multifunctional material evidence copying machine and control method thereof |
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