CN106548480A - A kind of agricultural product volume rapid measurement device and measuring method based on machine vision - Google Patents
A kind of agricultural product volume rapid measurement device and measuring method based on machine vision Download PDFInfo
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- CN106548480A CN106548480A CN201611202105.0A CN201611202105A CN106548480A CN 106548480 A CN106548480 A CN 106548480A CN 201611202105 A CN201611202105 A CN 201611202105A CN 106548480 A CN106548480 A CN 106548480A
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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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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20081—Training; Learning
Abstract
The present invention discloses a kind of agricultural product volume rapid measurement device based on machine vision and measuring method, three CCD industrial cameras are arranged according to certain angle, three CCD industrial cameras are connected with camera driver and image acquisition and processing device, the image information of training sample is obtained parallel using three CCD industrial cameras, image is split and Edge Gradient Feature, again by greatest length size in boundary rectangle method acquisition three-view drawing picture and its greatest length size on orthogonal direction, carry out PLSR modelings and obtain agricultural product volume predictions model, again six size parameters of agricultural product three-view drawing picture to be measured are substituted in volume predictions model, the volume size of quick obtaining agricultural product.By the volume predictions model for pre-building, have ignored the low real-time of three-dimensional reproducing processes, in the cubing stage, by the volume size of volume predictions model quick obtaining agricultural product to be measured, the Intelligent agricultural product sorting for multiple features such as Color, volumes provides necessary classification foundation.
Description
Technical field
The invention belongs to agricultural product screen field, specifically a kind of agricultural product volume based on machine vision quickly measures dress
Put and measuring method.
Background technology
It is currently based on the agricultural product color characteristic detection technique of machine vision comparative maturity, color characteristic detection technique
It has been successfully applied in business-like farm products area screening plant, such as apparatus of selecting rice color, Semen Maydiss color selector etc., according to different face
Color and go mouldy, white belly color etc. removes the impaired grain in agricultural product, heterochromatic grain and other impurities to the degree of reflection of light.It is existing
Farm products area screening technique is mainly characterized as the color selecting technology of criterion with solid color, does not consider the outer of agricultural product as a whole
The feature such as sight, especially volume, volume so that the agricultural product screening technique for being currently based on color selecting technology has certain limitation,
And with growth in the living standard and the progress of science and technology, quality requirements more and more higher of the people to agricultural product, for agricultural product
Intensive processing, the sorting of agricultural product is according to also can more and more harsh and refinement, it is clear that be single sorting foundation with color characteristic
Agricultural product screening mode will be difficult in adapt to sort more and more harsh and refinement trend.In order to realize to agricultural product higher quality
Sorting, in addition to the color characteristic to agricultural product is detected, should also detect to other features such as volume size etc.,
Facilitate implementation the sorting to agricultural product greater degree.
It is currently based on the agricultural product color characteristic detection technique more maturation of machine vision and obtains practical application and popularization,
Also there are many scholars to conduct extensive research it based on the external appearance characteristic detection method of machine vision, but fast volume is special
Levy detection method need it is further perfect：Cubing based on single camera vision system is reproduced due to eliminating three-dimensional,
In the case of outward appearance is regular and knowable, by the volume of the size characteristic parameter prediction object under test of fetching portion, real-time
Height, but the quantity of information that single image contains is less, and when the factors such as profile incompleteness affect, cubing error is larger, and
Cubing precision based on three-dimensional reconstruction is higher, but as the process of virtual reappearance is time-consuming longer, real-time is not high.
The content of the invention
Mode is sorted mainly using single color characteristic as the defect of sorting foundation for current agricultural product, the present invention is carried
For a kind of agricultural product volume rapid measurement device based on machine vision, CCD industrial cameras Yi Santai at an angle to each other build and regard
Feel system, for the synergism of agricultural product fast volume measurement, and utilizes image acquisition and processing device and camera driver pair
Image carries out gray processing process, image segmentation and Edge Gradient Feature, so as to obtain the external appearance characteristic of agricultural product to be measured, in conjunction with
Agricultural product volume predictions model, the volume size of quick obtaining agricultural product.
To solve above-mentioned technical problem, the present invention is adopted the following technical scheme that：A kind of agricultural product body based on machine vision
Product rapid measurement device, including three CCD industrial cameras at an angle to each other, camera driver and image acquisition and processing devices, camera
Driver is connected with three CCD industrial cameras simultaneously, and image acquisition and processing device is driven with three CCD industrial cameras and camera simultaneously
Device is connected, and the visual line of three described CCD industrial cameras is intersected on same visual line intersection point, three CCD industrial cameras
Three-view drawing of the angle after being imaged is defined as the whole three-dimensional surface that coverage rate exceedes agricultural product to be measured, three CCD industrial cameras
Can be movable along its visual line；Each CCD industrial camera is also provided opposite to a light source and one piece of background board at which.
When measuring agricultural product volume to be measured, agricultural product to be measured are placed on the visual line intersection point of three CCD industrial cameras, are adjusted
The distance between section three CCD industrial cameras and agricultural product to be measured, make three CCD industrial cameras after to agricultural product to be measured imaging
Three-view drawing exceed the whole three-dimensional surface of agricultural product to be measured as coverage rate, gather the three-view drawing picture of agricultural product to be measured, and utilize
Camera driver and image acquisition and processing device are analyzed to image and process, and obtain six size parameters of three-view drawing picture, generation
The volume of agricultural product to be measured can be predicted in entering the agricultural product volume predictions model for pre-building.The color of background board with it is to be measured
The color of agricultural product has obvious difference, it is ensured that the foreground of agricultural product imaging to be measured has significant difference with background colour
It is different, necessary precondition is provided for quick image segmentation.
In order to increase automaticity, the measurement apparatus of the present invention also include transporter, and described transporter includes
Conveyer belt and conveyance conduit, conveyer belt are corresponding with conveyance conduit upper end, and the outlet of conveyance conduit arranges two switching mode detections
Sensor, described switching mode detection sensor are connected with camera driver；Three described CCD industrial cameras are fixed on conveying
Below pipeline, the visual line intersection point of three CCD industrial cameras is located at immediately below conveyance conduit.Using transporter to agricultural production to be measured
Product are transmitted, when agricultural product fall into transmission pipeline by conveyer belt, then under when dropping down onto between switching mode detection sensor, switching mode
Detection sensor sends trigger and gives camera driver, through appropriate time delay, when agricultural product to be measured fall three industrial phases
During the visual line point of intersection of machine, the graphical information of camera driver three CCD industrial camera automatic data collections of triggering agricultural product to be measured.
The agricultural product volume rapid measurement device based on machine vision of the present invention is industrial using three CCD at an angle to each other
The three-view drawing picture of camera parallel acquisition agricultural product, and image is processed using camera driver and image acquisition and processing device,
Can be with the external appearance characteristic of quick obtaining agricultural product to be measured, can be quickly pre- in conjunction with the agricultural product volume predictions model for pre-building
The volume size of agricultural product to be measured is surveyed, quick and easy, predictive value is more nearly actual value, and real-time.
To solve above-mentioned technical problem, present invention also offers a kind of agricultural product volume based on machine vision is quickly measured
Method, the method obtain the image of agricultural product to be measured parallel using three mutually angled high-speed industrial CCD industrial cameras,
By the real-time processing to three-view drawing picture, the volume characteristic of quick obtaining agricultural product to be measured is that Color, volume size etc. are more
The Intelligent agricultural product sorting of feature provides classification foundation.
The agricultural product volume method for fast measuring based on machine vision of the present invention, comprises the following steps：
(1) set up volume predictions model：The agricultural product of several known volumes are chosen as training sample, by training sample
On the visual line intersection point of three CCD industrial cameras for being placed in measurement apparatus of the present invention, using three CCD industry phases at an angle to each other
The three-view drawing picture of machine parallel acquisition each training sample, the three-view drawing picture to gathering carry out image segmentation and Edge Gradient Feature,
Then the greatest length size in three-view drawing picture in greatest length size and orthogonal direction, knot are obtained respectively by boundary rectangle method
Close PLS algorithm and obtain the agricultural product volume predictions with six size parameters in three-view drawing picture as input variable
Model, is shown below,
V=α0+α1A1+α2B1+α3A2+α4B2+α5A3+α6B3
In formula, V --- the volume of agricultural product to be measured, α0--- return intercept, α1、α2、……、α6--- original argument
And the regression coefficient between original dependent variable；
(2) six size parameters of agricultural product to be measured are obtained：Agricultural product to be measured are placed in into the vision of three CCD industrial cameras
On line intersection point, the three-view drawing picture of agricultural product to be measured is gathered, and the three-view drawing picture to gathering carries out image segmentation and Edge Gradient Feature,
Then six size parameter A of agricultural product three-view drawing picture to be measured are obtained by boundary rectangle method respectively1、B1、A2、B2And A3、B3；
(3) calculate the volume of agricultural product to be measured：Six size parameters of the three-view drawing picture that step (2) is obtained substitute into step
(1), in volume predictions model, calculate volume V of agricultural product to be measured.
The present invention uses for reference application of the machine vision in three-dimensional reconstruction, takes at an angle to each other three CCD industrial cameras simultaneously
Row obtains the image information of agricultural product, by carrying out Fast Segmentation, Edge Gradient Feature to three CCD industrial cameras output images
The external appearance characteristic of agricultural product is obtained etc. method, in order to avoid the low real-time of the volume measuring method based on three-dimensional reconstruction,
Obtain most greatly enhancing on greatest length size in the three-view drawing picture of parallel output and its orthogonal direction by boundary rectangle method respectively
Degree size, obtains with reference to the dimension-reduction algorithm in sample training and machine learning-PLS algorithm (PLSR) with three faces
Agricultural product volume predictions model of the six size parameters in image for input variable, and tested with the volume of training sample
Card, the volume of the agricultural product to be measured obtained using volume predictions model are more nearly actual value；The agricultural product to be measured that will be obtained again
Six size parameters of three-view drawing picture substitute in volume predictions models, the volume size of quick obtaining agricultural product, so as to realize
The quick measurement of agricultural product volume size to be measured.By the agricultural product volume predictions model set up in the sample training stage, ignore
The low real-time of three-dimensional reproducing processes, in the cubing stage, by volume predictions model quick obtaining agricultural production to be measured
The volume size of product, the Intelligent agricultural product sorting for multiple features such as Color, volumes provide necessary classification foundation：Retaining
On the basis of existing agricultural product color selecting technology, increase the detection of agricultural product volume characteristic on intelligent sorting unit, obtain agriculture to be measured
The multi-party region feature of product, according to more refining, the agricultural product of high-quality can preferably be ensured for the classification of agricultural product.
The present invention is by obtaining longest dimension and its apparent size parameter on orthogonal direction, it can be ensured that agricultural product to be measured
Rotational invariance in transmit process, and volume characteristic acquisition is by the sample independently of actual cubing process
What the volume predictions model that the training stage sets up was obtained, such that it is able to the efficiency of significant increase agricultural product multiple features measurement to be measured.
Description of the drawings
Fig. 1 is schematic diagram of the present invention based on the agricultural product volume rapid measurement device of machine vision.
Fig. 2 is flow chart of the present invention based on the agricultural product volume method for fast measuring of machine vision.
Fig. 3 is six size parameters of the agricultural product three-view drawing picture to be measured that the present invention is obtained by boundary rectangle method.
Specific embodiment
Below in conjunction with the embodiment of the present invention, technical scheme is clearly and completely described, it is clear that institute
The embodiment of description is only a part of embodiment of the invention, rather than the embodiment of whole.
Based on the agricultural product volume rapid measurement device of machine vision, as shown in figure 1, including transporter, switching mode inspection
Survey sensor 3, the CCD industrial cameras 41,42,43 of three high-speed colors at an angle to each other, three CCD industrial cameras 41,42,43
Camera lens all adopt Varifocal zoom lens, for the driving plate of core, camera driver 8 realizes that camera drives and related by FPGA
Algorithm (the such as pretreatment such as the filtering of image, image segmentation, volume predictions algorithm etc.), image acquisition and processing device 7 is by with DSP
Device realized for the process plate of core, camera driver 8 and image acquisition and processing device 7 all with 41,42,43 phase of CCD industrial cameras
Connect.Described transporter includes conveyer belt 1 and conveyance conduit 2, and conveyer belt 1 is corresponding with 2 upper end of conveyance conduit, conveyance conduit
2 outlet O ' places arrange two switching mode detection sensors 3, described switching mode detection sensor 3 and 8 phase of camera driver
Connect, camera driver 8 is connected with three CCD industrial cameras 41,42,43 simultaneously, described three CCD industrial cameras 41,42,43
It is fixed on below conveyance conduit 2, visual line L1, L2 of three CCD industrial cameras 41,42,43, L3 intersect at same point O ", depending on
Feel line intersection point O and " be located at immediately below conveyance conduit 2.The angle, θ 1 of described three CCD industrial cameras 41,42,43, θ 2, θ 3 with into
Three-view drawing as after is defined as the whole three-dimensional surface that coverage rate exceedes agricultural product to be measured, three CCD industrial cameras 41,42,43
Can move forward and backward along its visual line L1, L2, L3；Each CCD industrial camera 41,42,43 is also provided opposite to a light source at which
51st, 52,53 and one piece of background board 61,62,63, light source 51,52,53 adopt LED light source, its good stability and service life compared with
Long, the color of background board 61,62,63 has obvious difference with the color of agricultural product to be measured, it is ensured that agricultural product imaging to be measured
Foreground and background colour have significant difference, provide necessary precondition for quick image segmentation.
Based on the agricultural product volume method for fast measuring of machine vision, its flow process is as shown in Fig. 2 comprise the following steps：
(1) set up volume predictions model：The agricultural product for choosing several known volumes are placed in transmission as training sample
On band 1, adjust the CCD industrial cameras 41,42,43 and visual line intersection point O of three high-speed colors " distance and enter rower respectively
It is fixed, as shown in figure 1, making three-view drawing of the three CCD industrial cameras 41,42,43 after being imaged to training sample as coverage rate exceedes
The whole three-dimensional surface of training sample.When training sample is sent in conveyance conduit 2 by conveyer belt 1, when O' positions are fallen, at a high speed
Switching mode detection sensor 3 sends trigger to camera driver 8, through appropriate time delay, when training sample falls O " position
When putting, camera driver 8 triggers the three-view drawing picture of three 41,42,43 parallel acquisition training samples of CCD industrial cameras and is transferred to
Image acquisition and processing device 7, image acquisition and processing device 7 carry out gray processing process, image segmentation and Edge Gradient Feature to image.For
Ensure rotational invariance of the agricultural product in transmit process, obtained using the calibrating parameters of the method combining camera of boundary rectangle
Full-size parameter in three-view drawing picture on respective longest dimension and its orthogonal direction, as shown in figure 3, and as input
Variable, is set up based on the dimension-reduction algorithm in machine learning-PLS algorithm (PLSR) with reference to during sample training
Volume predictions model, is shown below：
V=α0+α1A1+α2B1+α3A2+α4B2+α5A3+α6B3
In formula：V --- the volume of agricultural product to be measured, α0--- return intercept, α1、α2、…、α6--- original argument and
Regression coefficient between original dependent variable, A1、B1、A2、B2And A3、B3--- six size parameters of agricultural product three-view drawing picture to be measured.
And the known volume using training sample is verified to volume predictions model, if precision reaches requirement, is illustrated
Volume predictions model is qualified, can be used for the cubing of agricultural product to be measured；If precision is not up to required, need to re-start
PLSR is modeled, until precision reaches requirement；
(2) six size parameters of agricultural product to be measured are obtained：Agricultural product to be measured are gathered according to the method described in step (1)
Three-view drawing picture, the three-view drawing picture to gathering carry out image segmentation and Edge Gradient Feature, are then obtained by boundary rectangle method respectively
Take six size parameter A of agricultural product three-view drawing picture to be measured1、B1、A2、B2、A3、B3；
(3) calculate the volume of agricultural product to be measured：Six size parameter A of the three-view drawing picture that step (2) is obtained1、B1、A2、
B2、A3、B3Substitute in the volume predictions model that step (1) is obtained, calculate volume V of agricultural product to be measured.
The volume of the Rhizoma Solani tuber osi measured using the method for the present invention is 88.60cm3, the same Rhizoma Solani tuber osi that drainage is measured
Volume be 89.28cm3, error is 0.76%.
With reference to the detailed process that Fig. 2 and Fig. 3 explanation volume predictions models are set up：
Dimension-reduction algorithm-partial least square method (PLS) in machine learning combine multiple regression analysis, principal component analysiss and
The functions such as correlation analysiss, the PLS (PLSR) based on partial least square method principle can be used to solve multiple regression point
The problems such as multiple correlation or sample size in analysis between independent variable is less than variable number, has in numerous regression analyses
Other regression analyses do not have the advantage that, have been widely used for multiple fields at present and achieve good effect.
Assume agricultural product to be measured volume be V, six size parameters A as shown in Figure 31、B1、A2、B2And A3、B3, it is just
In analysis, make following substitution of variable：If single dependent variable y=V, six size parameters are independent variable, and are set to：x1=A1,x2
=B1,x3=A2,x4=B2,x5=A3,x6=B3。
Select the agricultural product of u different known volume as training sample, obtain the sample number of independent variable and dependent variable
According to X and Y, wherein Xu×6To explain matrix, Yu×1For response matrix.According to descending and Cross gain modulation principle, to sample matrix X
It is standardized, and selects successively to make variance Var (t in the matrix from after standardizationi) and covariance Cov (ti, y)
All as big as possible composition t1,t2,…,th(h≤6), then by setting up y and t1,t2,…,thRegression equation finally give y
With x1,x2,…,xhRegression equation.
Matrix X is standardized with dependent variable Y, standardized variable matrix E is obtained0With column vector ζ0：
Wherein
μ in formulajx、Sjx-- j-th independent variable xjSample average and sample standard deviation, μy、Sy-- dependent variable yjSample standard deviation
Value and sample standard deviation；
From E0The 1st composition of middle extraction：
And perform E0And ζ0To the 1st composition t1Recurrence：
Wherein
P in formula1、r1-- regression coefficient, E1、ζ1-- the residual matrix and vector of regression equation；
Continue to extract the 2nd composition t2, and perform E1And ζ1To the 2nd composition t2Recurrence：
Wherein
P in formula2、r2--- regression coefficient, E2、ζ2--- the residual matrix and vector of regression equation；
Continue extract component, if obtaining m composition t1, t2..., tm, and perform ζ0Recurrence to m composition, i.e.,：
ζ0=r1t1+r2t2+r3t3+…+rmtm, the form of original variable is most reduced at last, obtains agricultural product body to be measured
Product regression model：
Y=α0+α1x1+α2x2+...+α6x6,
Volume V of agricultural product i.e. to be measured and 6 size parameter A1、B1、A2、B2、A3、B3Between relational expression be：
V=α0+α1A1+α2B1+α3A2+α4B2+α5A3+α6B3,
α in formula0--- return intercept, α1、α2、…、α6--- the regression coefficient between original argument and original dependent variable.
Claims (5)
1. a kind of agricultural product volume rapid measurement device based on machine vision, it is characterised in that：It is at an angle to each other including three
CCD industrial cameras, camera driver and image acquisition and processing device, camera driver are connected with three CCD industrial cameras, and image is adopted
Set processor is connected with three CCD industrial cameras and camera driver simultaneously, the visual line phase of described three CCD industrial cameras
Meet on same visual line intersection point, the angle of three CCD industrial cameras is with the three-view drawing after being imaged as coverage rate exceedes agriculture to be measured
The whole three-dimensional surface of product is defined, and three CCD industrial cameras can be movable along its visual line；Each CCD industrial camera
Also a light source and one piece of background board are provided opposite at which.
2. the agricultural product volume rapid measurement device based on machine vision according to claim 1, it is characterised in that also wrap
Transporter is included, described transporter includes conveyer belt and conveyance conduit, and conveyer belt is corresponding with conveyance conduit upper end, conveyed
The outlet of pipeline arranges two switching mode detection sensors, and described switching mode detection sensor is connected with camera driver；Institute
The three CCD industrial cameras stated are fixed on below conveyance conduit, and the visual line intersection point of three CCD industrial cameras is located at conveyance conduit
Underface.
3. a kind of agricultural product volume method for fast measuring based on machine vision, it is characterised in that comprise the following steps：
(1) set up volume predictions model：The agricultural product of several known volumes are chosen as training sample, training sample is placed in
On the visual line intersection point of the measurement apparatus described in claim 1 or 2, adopted using three CCD industrial cameras at an angle to each other parallel
Collect the three-view drawing picture of each training sample, the three-view drawing picture to gathering carries out image segmentation and Edge Gradient Feature, then passes through
Boundary rectangle method obtains the greatest length size in three-view drawing picture in greatest length size and orthogonal direction respectively, with reference to partially minimum
Two take advantage of regression algorithm to obtain the agricultural product volume predictions model with six size parameters in three-view drawing picture as input variable；
(2) six size parameters of agricultural product to be measured are obtained：Agricultural product to be measured are placed in into the dress of the measurement described in claim 1 or 2
On the visual line intersection point put, the three-view drawing picture of agricultural product to be measured is gathered, and the three-view drawing picture to gathering carries out image segmentation and edge
Feature extraction, then obtains six size parameter A of agricultural product three-view drawing picture to be measured respectively by boundary rectangle method1、B1、A2、B2
And A3、B3；
(3) calculate the volume of agricultural product to be measured：Six size parameters of the three-view drawing picture that step (2) is obtained substitute into step (1)
Volume predictions model in, calculate volume V of agricultural product to be measured.
4. the agricultural product volume method for fast measuring based on machine vision according to claim 3, it is characterised in that：It is described
Volume predictions model be shown below：
V=α0+α1A1+α2B1+α3A2+α4B2+α5A3+α6B3
In formula, α0--- return intercept, α1、α2、……、α6--- the regression coefficient between original argument and original dependent variable.
5. the agricultural product volume method for fast measuring based on machine vision according to claim 3, it is characterised in that：Step
(1) agricultural product volume predictions model is also verified with the known volume of training sample, if the result does not meet precision and wants
Ask, then re-start PLSR modelings, until the result meets required precision.
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