CN109016517A - A kind of 3D printing spray head end profile real time extracting method - Google Patents
A kind of 3D printing spray head end profile real time extracting method Download PDFInfo
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- CN109016517A CN109016517A CN201810848688.7A CN201810848688A CN109016517A CN 109016517 A CN109016517 A CN 109016517A CN 201810848688 A CN201810848688 A CN 201810848688A CN 109016517 A CN109016517 A CN 109016517A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
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- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
Abstract
The present invention provides a kind of 3D printing spray head end profile real time extracting methods, input a model to mechanical arm first；Secondly the inclined direction of detection mechanical arm, and start four magazine two for being right against inclined direction for being suspended on surrounding, form binocular vision system, printing head is tracked with correlation filtering, obtain the ROI area-of-interest of tracking, and the image in the region is operated with median filtering and dilation erosion, smooth image is obtained, then the outer profile of printing head end is obtained with canny algorithm.The problem of present invention solves in current 3D printing, lacks feedback system enables printing head end accurately and effectively detected in real time, provides reliably foundation for the positioning of subsequent end.
Description
Technical field
The present invention relates to a kind of 3D printing techniques, and in particular to a kind of new 3D printing spray head end profile extract real-time side
Method.
Background technique
3D printing technique refers to be superimposed by continuous physical layer, increases material successively to generate the technology of 3D solid,
It is different from traditional removal materials processing technology, therefore also known as addition manufacture (AM, Additive Manufacturing).Make
For a kind of comprehensive application technology, 3D printing combines digital modeling techniques, Electromechanical Control technology, information technology, material science
With all various cutting edge technology knowledge such as chemistry, there is very high scientific and technological content.
3D printing technique appears in mid-term the 1990s, actually most using the technologies such as photocuring and paper layer be folded
New rapid molding device.By the exploration and development of more than ten years, 3D printing technique has significant progress, has been able at present
The fine-resolution of 600dpi is realized on the thickness in monolayer of 0.01mm.More advanced product may be implemented per hour in the world at present
The vertical speed rate of 25mm thickness, and can realize the colour print of 24 colors.Since the 1990s, domestic more colleges and universities
The independent research of 3D printing technique is carried out.Tsinghua University is in sides such as modern times molding theory, layer separated growth, FDM techniques
There is certain Superiority of Scientific Research in face；The Central China University of Science and Technology is advantageous in layer separated growth process aspect, and HRP system has been introduced
Column molding machine and moulding material；Xi'an Communications University's independent development three-dimensional printer spray head, and develop Stereolithography system
System and corresponding shaping material, formed precision reach 0.2mm；Chinese University of Science and Technology voluntarily has developed eight spray heads combination injection apparatus,
It is expected to be applied in micro manufacturing, field of photoelectric devices.But in general, domestic 3D printing technique R & D Level is compared with foreign countries
There are also larger gaps.
Currently, the method that 3D printing equipment is mainly printed using three coordinates, the model of input is considered preferably,
But due to the step of lacking real-time monitoring correction, the equipment precision of printing is all less high.
Therefore, it is urgent to provide one kind can timely feedback printing monitoring method, to improve 3D printing precision.
Summary of the invention
The object of the present invention is to provide a kind of 3D printing spray head end profile real time extracting method, detect that mechanical arm prints
The profile of the spray head of end provides accurate profile information for end positioning, to make up the deficiencies in the prior art.
In order to achieve the above objectives, the present invention take the specific technical proposal is:
A kind of 3D printing spray head end profile real time extracting method inputs a model to mechanical arm first；Secondly it detects
The inclined direction of mechanical arm, and start four magazine two for being right against inclined direction for being suspended on surrounding, form binocular
Vision system tracks printing head with correlation filtering, obtains the ROI area-of-interest of tracking, the area Bing Duigai
The image in domain is operated with median filtering and dilation erosion, obtains smooth image, then obtain printing head with canny algorithm
The outer profile of end.
Further, before opening camera, computer is firstly received the ideal position of mechanical arm tail end, with the position
For the active position of image, it is set as initial ROI region, and sends in the feature vector of track algorithm；And to original video
Image zooms in and out, while also zooming in and out to initial ROI region, when which is that mechanical arm starts to carry out 3D printing
Initial position.
Further, the track algorithm is correlation filtering target tracking algorism, the process of this method are as follows: next frame, it should
Extracted region Hog feature of the method first to multiple surroundings of selected ROI region, then solution next frame is carried out with circular matrix
Selected ROI region, when obtaining a new selected ROI region, by the scaling of leading portion, the area zoom to original
Ratio, and tracking box is shown in original image.
Further, the selected ROI region new to original video image is carried out with median filtering and dilation erosion operation
The pretreatment of image, the method for directlying adopt canny detection later more can effectively obtain the edge of printing head end,
That is the profile of spray head.
The advantages of the present invention:
Compared with prior art, the end profile information of energy quick obtaining 3D printing spray head of the present invention, the end after being
The searching of point lays the foundation.The method of first passage vision of the present invention comes the track of real-time monitoring 3D printing spray head end.This hair
It is bright to solve in current 3D printing, the problem of lacking feedback system, printing head end is enable accurately and effectively to detect in real time
Come, provides reliably foundation for the positioning of subsequent end.
Detailed description of the invention
Fig. 1 is basic flow chart of the invention.
Fig. 2 is the Outside contour extraction figure of printing head in embodiment 1.
Specific embodiment
The present invention is explained further and is illustrated below by way of specific embodiment and in conjunction with attached drawing.
Embodiment 1:
A kind of 3D printing spray head end profile real time extracting method, as shown in Figure 1, inputting a mould to mechanical arm first
Type；Secondly the inclined direction of detection mechanical arm, and start and be suspended on four of surrounding and magazine be right against the two of inclined direction
It is a, binocular vision system is formed, printing head is tracked with correlation filtering, obtains the ROI region of interest of tracking
Domain, and the image in the region is operated with median filtering and dilation erosion, smooth image is obtained, then use canny algorithm
Obtain the outer profile of printing head end.Specifically includes the following steps:
(1) before opening camera, computer is firstly received the ideal position of mechanical arm tail end, using the position as image
Active position, be set as initial ROI region, and send in the feature vector of track algorithm；And original video frame is carried out
Scaling, while initial ROI region is also zoomed in and out.
(2) track algorithm is correlation filtering target tracking algorism, the process of this method are as follows: next frame, this method are first
First to the extracted region Hog feature of multiple surroundings of selected ROI region, then carried out solving what next frame was selected with circular matrix
ROI region, when obtaining a new selected ROI region, by the scaling of leading portion, the area zoom to original ratio,
And tracking box is shown in original image.
Motion target tracking is exactly to establish the positional relationship for the object of being tracked in continuous video sequence, obtain object
The complete motion profile of body.Currently, there are mainly two types of thinkings for more classical target tracking algorism: 1) knowing independent of priori
Know, moving target is measured directly from image sequence, and carry out target identification, finally determine interested moving target；
2) priori knowledge for depending on target, is first modeling target, then finds matched movement in real time in image sequence
Target.In current research, more outstanding several mainstream algorithms: Meanshift, Particle Filter and Kalman
Filter, the optical flow algorithm based on characteristic point and the method based on deep learning and correlation filtering.
(3) the selected ROI region new to original video image carries out image with median filtering and dilation erosion operation
Pretreatment, the method for directlying adopt canny detection later more can effectively obtain the edge of printing head end, i.e. spray head
Profile (as shown in Figure 2), final obtains.
Claims (4)
1. a kind of 3D printing spray head end profile real time extracting method, which is characterized in that the extracting method includes: first to machinery
Arm inputs a model；Secondly the inclined direction of detection mechanical arm, and start and be suspended on four of surrounding and magazine be right against
Two of inclined direction form binocular vision system, track with correlation filtering to printing head, obtain tracking
ROI area-of-interest, and the image in the region is operated with median filtering and dilation erosion, smooth image is obtained, then transport
The outer profile of printing head end is obtained with canny algorithm.
2. extracting method as described in claim 1, which is characterized in that before opening camera, computer is firstly received machine
The ideal position of tool arm end is set as initial ROI region using the position as the active position of image, and sends tracking to
In the feature vector of algorithm；And original video image is zoomed in and out, while initial ROI region is also zoomed in and out, the ideal
Position is initial position when mechanical arm starts to carry out 3D printing.
3. extracting method as described in claim 1, which is characterized in that the track algorithm is correlation filtering target following calculation
Method, the process of this method are as follows: next frame, this method are special to the extracted region Hog of multiple surroundings of selected ROI region first
Sign, then carried out solving the selected ROI region of next frame with circular matrix, when obtaining a new selected ROI region, by preceding
The scaling of section the area zoom to former ratio, and shows tracking box in original image.
4. extracting method as claimed in claim 3, which is characterized in that the selected ROI region new to original video image is used
Median filtering and dilation erosion operation carry out the pretreatment of image, and the method for directlying adopt canny detection later can be effective
Obtain the edge of printing head end, the i.e. profile of spray head.
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| CN201810848688.7A CN109016517A (en) | 2018-07-28 | 2018-07-28 | A kind of 3D printing spray head end profile real time extracting method |
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| CN201810848688.7A CN109016517A (en) | 2018-07-28 | 2018-07-28 | A kind of 3D printing spray head end profile real time extracting method |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103077532A (en) * | 2012-12-24 | 2013-05-01 | 天津市亚安科技股份有限公司 | Real-time video object quick tracking method |
| CN109080144A (en) * | 2018-07-10 | 2018-12-25 | 泉州装备制造研究所 | 3D printing spray head end real-time tracking localization method based on central point judgement |
-
2018
- 2018-07-28 CN CN201810848688.7A patent/CN109016517A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103077532A (en) * | 2012-12-24 | 2013-05-01 | 天津市亚安科技股份有限公司 | Real-time video object quick tracking method |
| CN109080144A (en) * | 2018-07-10 | 2018-12-25 | 泉州装备制造研究所 | 3D printing spray head end real-time tracking localization method based on central point judgement |
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Application publication date: 20181218 |