CN108058170A - A kind of vision robot's data acquisition processing system - Google Patents
A kind of vision robot's data acquisition processing system Download PDFInfo
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- CN108058170A CN108058170A CN201610974199.7A CN201610974199A CN108058170A CN 108058170 A CN108058170 A CN 108058170A CN 201610974199 A CN201610974199 A CN 201610974199A CN 108058170 A CN108058170 A CN 108058170A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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Abstract
The invention discloses a kind of vision robot's data acquisition processing systems, including image capture module, image segmentation module, camera calibration module and the target identification module to communicate with vision system module, its very multiple regions with similitude after splitting, it needs to carry out target identification module to realize that the segmentation in region with merging, completes the identification of target；In the process, it is necessary to set evaluation function, true and false target is distinguished.Vision robot's data acquisition processing system of the present invention can carry out full frame identifying processing to each two field picture gathered；Target need to only be scanned in the regional area of a two field picture and identifying processing, this method are exactly target following；Target following can greatly reduce the data volume of system processing, readily satisfy the requirement of system real time, and can save the other processing of progress of some times.
Description
Technical field
The present invention relates to a kind of vision robot's data acquisition processing systems, belong to vision robotics field.
Background technology
With the fast development of computer vision and computer hardware technology, visual information is combined with robot control
Vision servo system is formed, makes robot that there is the ability for carrying out intelligent interaction with external environment, is that current robot develops
One Main way；Visual Servoing System can obtain visual information to control by the target object in detection image
The movement of robot processed；Location-based visual servo method first according to the model of robot, accessibility working space with
And target object estimates the target object in rectangular co-ordinate space compared with the position of video camera；In Computer Image Processing
Vision tracking based on the analysis and understanding of dynamic image is as the hot spot studied；Since Visual Tracking can be applied
In many fields, and importance is increasingly enhanced, and image procossing is faced with complication and the challenge of high speed, and processing speed is slow,
Poor processing effect.
The content of the invention
To solve the above problems, the present invention proposes a kind of vision robot's data acquisition processing system, high treating effect,
And work efficiency is high.
Vision robot's data acquisition processing system of the present invention, including the Image Acquisition mould to communicate with vision system module
Block is made of image capture devices such as camera and image pick-up cards, complete to camera intake image scene acquisition into
For video image, video image is converted into digital picture using image pick-up card, is stored in the buffering queue of visual processes
In；
And the image segmentation module to communicate with vision system module, the color images based on color pass through selected figure
It, will according to principle of similarity and the consistency principle as dividing method carries out feature extraction, parameter measurement, Target Segmentation
Image is divided into the very multiple regions with similar features, completes the segmentation of image；
And the camera calibration module to communicate with vision system module, the deviation that camera lens distortion, video camera are installed
Deng all image being caused to be distorted, it is necessary to be corrected to image；The two dimensional image that video camera is got is on computers
Pixel coordinate, it is necessary to in world coordinate system corresponding three-dimensional body coordinate correspond, could truly reflect arena
The image information of ground；It determines the inside of video camera, external parameter by camera marking method, and completes image with this
Distortion correction；
And the target identification module to communicate with vision system module, segmentation after the very multiple regions with similitude, it is necessary to
Target identification module is carried out to realize that the segmentation in region with merging, completes the identification of target；In the process, it is necessary to set evaluation
Function distinguishes true and false target.
Further, it is described complete target identification its by setting evaluation function, distinguish true and false target.
Compared with prior art, vision robot's data acquisition processing system of the invention can be to being adopted by the present invention
Each two field picture of collection carries out full frame identifying processing；Only target need to be scanned in the regional area of a two field picture and identification at
Reason, this method is exactly target following；Target following can greatly reduce the data volume of system processing, readily satisfy system
The requirement of real-time, and the other processing of progress of some times can be saved.
Description of the drawings
Fig. 1 is the overall structure schematic block diagram of the present invention.
Specific embodiment
As shown in Figure 1, vision robot's data acquisition processing system of the present invention, including what is communicated with vision system module
Image capture module is made of image capture devices such as camera and image pick-up cards, completes the scene to camera intake
Image Acquisition becomes video image, and video image is converted to digital picture using image pick-up card, is stored in visual processes
Buffering queue in；
And the image segmentation module to communicate with vision system module, the color images based on color pass through selected figure
It, will according to principle of similarity and the consistency principle as dividing method carries out feature extraction, parameter measurement, Target Segmentation
Image is divided into the very multiple regions with similar features, completes the segmentation of image；
And the camera calibration module to communicate with vision system module, the deviation that camera lens distortion, video camera are installed
Deng all image being caused to be distorted, it is necessary to be corrected to image；The two dimensional image that video camera is got is on computers
Pixel coordinate, it is necessary to in world coordinate system corresponding three-dimensional body coordinate correspond, could truly reflect arena
The image information of ground；It determines the inside of video camera, external parameter by camera marking method, and completes image with this
Distortion correction；
And the target identification module to communicate with vision system module, segmentation after the very multiple regions with similitude, it is necessary to
Target identification module is carried out to realize that the segmentation in region with merging, completes the identification of target；In the process, it is necessary to set evaluation
Function distinguishes true and false target.
It is described complete target identification its by setting evaluation function, distinguish true and false target.
Vision robot's data acquisition processing system of the present invention can carry out full frame knowledge to each two field picture gathered
It manages in other places；Target need to only be scanned in the regional area of a two field picture and identifying processing, this method are exactly target following；
Target following can greatly reduce the data volume of system processing, readily satisfy the requirement of system real time, and can save
Save the other processing of progress of some times.
Above-described embodiment, for the better embodiment of the present invention, therefore all constructions according to described in present patent application scope,
The equivalent change or modification that feature and principle are done, is included in the range of present patent application.
Claims (2)
1. a kind of vision robot's data acquisition processing system, it is characterised in that：Including the image to communicate with vision system module
Acquisition module is made of image capture devices such as camera and image pick-up cards, completes the image scene to camera intake
Acquisition becomes video image, and video image is converted to digital picture using image pick-up card, is stored in the slow of visual processes
It rushes in queue；
And the image segmentation module to communicate with vision system module, the color images based on color pass through selected figure
It, will according to principle of similarity and the consistency principle as dividing method carries out feature extraction, parameter measurement, Target Segmentation
Image is divided into the very multiple regions with similar features, completes the segmentation of image；
And the camera calibration module to communicate with vision system module, the deviation that camera lens distortion, video camera are installed
Deng all image being caused to be distorted, it is necessary to be corrected to image；The two dimensional image that video camera is got is on computers
Pixel coordinate, it is necessary to in world coordinate system corresponding three-dimensional body coordinate correspond, could truly reflect arena
The image information of ground；It determines the inside of video camera, external parameter by camera marking method, and completes image with this
Distortion correction；
And the target identification module to communicate with vision system module, segmentation after the very multiple regions with similitude, it is necessary to
Target identification module is carried out to realize that the segmentation in region with merging, completes the identification of target；In the process, it is necessary to set evaluation
Function distinguishes true and false target.
2. vision robot's data acquisition processing system according to claim 1, it is characterised in that：The completion target
Identify that it, by setting evaluation function, distinguishes true and false target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610974199.7A CN108058170A (en) | 2016-11-07 | 2016-11-07 | A kind of vision robot's data acquisition processing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610974199.7A CN108058170A (en) | 2016-11-07 | 2016-11-07 | A kind of vision robot's data acquisition processing system |
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| CN108058170A true CN108058170A (en) | 2018-05-22 |
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| CN201610974199.7A Pending CN108058170A (en) | 2016-11-07 | 2016-11-07 | A kind of vision robot's data acquisition processing system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454348A (en) * | 2019-09-06 | 2021-03-09 | 李臣学 | Intelligent robot |
| CN112975955A (en) * | 2021-02-03 | 2021-06-18 | 浙江明泉工业涂装有限公司 | Visual integrated system of coating production line robot |
-
2016
- 2016-11-07 CN CN201610974199.7A patent/CN108058170A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454348A (en) * | 2019-09-06 | 2021-03-09 | 李臣学 | Intelligent robot |
| CN112975955A (en) * | 2021-02-03 | 2021-06-18 | 浙江明泉工业涂装有限公司 | Visual integrated system of coating production line robot |
| CN112975955B (en) * | 2021-02-03 | 2024-02-02 | 浙江明泉工业涂装有限公司 | Robot vision integrated system for coating production line |
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Application publication date: 20180522 |