CN109130167A - A kind of 3D printing spray head end tracking based on correlation filtering - Google Patents
A kind of 3D printing spray head end tracking based on correlation filtering Download PDFInfo
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- CN109130167A CN109130167A CN201810754695.0A CN201810754695A CN109130167A CN 109130167 A CN109130167 A CN 109130167A CN 201810754695 A CN201810754695 A CN 201810754695A CN 109130167 A CN109130167 A CN 109130167A
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- Prior art keywords
- tracking
- printing
- spray head
- correlation filtering
- roi region
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Classifications
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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
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
- B29C64/112—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material using individual droplets, e.g. from jetting heads
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Image Analysis (AREA)
Abstract
The present invention provides a kind of 3D printing spray head end tracking based on correlation filtering inputs 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, binocular vision system is formed, printing head is tracked with track algorithm, obtains the ROI area-of-interest of tracking.Compared with prior art, the present invention can preferably play the effect of feedback, trace into the end orbit of printing head faster.The method by vision of the tracking ROI region of this paper is come the track of real-time monitoring 3D printing spray head end.The present invention using scaling method, in operation with the final word of the speed tracing more increased to spray head.
Description
Technical field
The present invention relates to a kind of 3D printing techniques, and in particular to a kind of 3D printing spray head end tracking based on correlation filtering
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, control system thinks that input is reason
Think model.But the step of real-time monitoring correction is lacked due to it, the equipment precision of 3D printing is all less high.
Therefore, it is urgent to provide one kind can timely feedback printing tracking, 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 tracking based on correlation filtering, with for end it is fixed
Position provides accurate profile information, 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 tracking based on correlation filtering inputs a model to mechanical arm first；Its
The inclined direction of secondary detection mechanical arm, and start four magazine two for being right against inclined direction for being suspended on surrounding, group
At binocular vision system, printing head is tracked with track algorithm, obtains the ROI area-of-interest of tracking.
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；To original video frame
It zooms in and out, while initial ROI region is also zoomed in and out.
Further, the track algorithm is correlation filtering target tracking algorism (KCF).The process of this method are as follows: next
Frame, extracted region Hog feature of this method first to multiple surroundings of selected ROI region, then solved with circular matrix
The selected ROI region of next frame.
Further, when obtaining a new selected ROI region, we are by the scaling of leading portion, the region
Former ratio is zoomed to, and shows tracking box in original image, to accurately trace into object in real time.
The advantages of the present invention:
The present invention provides the monitoring method in a kind of feedback procedure of new 3D printing, and this method can preferably trace into machine
Tool arm prints the end of the spray head of end.Compared with prior art, the present invention can preferably play the effect of feedback, faster to track
To the end orbit of printing head.The method by vision of the tracking ROI region of this paper is come real-time monitoring 3D printing spray head end
The track at end.The present invention using scaling method, in operation with the final word of the speed tracing more increased to spray head.
The present invention solves the problems, such as to lack feedback system in current 3D printing, and printing head end is enable accurately to have in real time
Effect is tracked and detected, and provides reliably foundation for the positioning of subsequent end.
Detailed description of the invention
Fig. 1 is the specific flow chart of inventive algorithm.
Fig. 2 is the result figure of different time print tracking spray 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 tracking based on correlation filtering inputs a model to mechanical arm first；Its
The inclined direction of secondary detection mechanical arm, and start four magazine two for being right against inclined direction for being suspended on surrounding, group
At binocular vision system, printing head is tracked with track algorithm, obtains the ROI area-of-interest of tracking.This implementation
Example is according to the ideal initial point that calculates of ideal model in input computer, and according to the point, the area Initial R OI that solves
Domain.Specific flow chart is as shown in Figure 1, specifically include following:
(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；It contracts to original video frame
It puts, while initial ROI region is also zoomed in and out.
(2) track algorithm is correlation filtering target tracking algorism (KCF).The process of this method are as follows: next frame, the party
Extracted region Hog feature of the method first to multiple surroundings of selected ROI region, then carried out solving next frame choosing with circular matrix
Fixed ROI region.
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 directly detected from image sequence, and carry out target identification, finally determine interested moving target；2)
It is first modeling target dependent on the priori knowledge of target, then finds matched movement mesh in real time in image sequence
Mark.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) when obtaining a new selected ROI region, we arrive the area zoom by the scaling of leading portion
Former ratio, and tracking box is shown in original image, to accurately trace into object in real time, tracking effect figure is as shown in Figure 2.
Claims (4)
1. a kind of 3D printing spray head end tracking based on correlation filtering, which is characterized in that the tracking includes: first
A model is inputted to mechanical arm；Secondly the inclined direction of detection mechanical arm, and start be suspended on four of surrounding it is magazine
Two of inclined direction are right against, binocular vision system is formed, printing head is tracked with track algorithm, obtains tracking
ROI area-of-interest.
2. tracking 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, as initial position, and using the position as the active position of image, it is set as the initial area ROI
Domain, and send in the feature vector of track algorithm；Original video frame is zoomed in and out, while initial ROI region is also carried out
Scaling.
3. tracking 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.
4. tracking as claimed in claim 3, which is characterized in that as one new selected ROI region of acquisition, Wo Mentong
The scaling for crossing leading portion the area zoom to former ratio, and shows tracking box in original image, thus accurately tracking in real time
To object.
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| CN201810754695.0A CN109130167A (en) | 2018-07-11 | 2018-07-11 | A kind of 3D printing spray head end tracking based on correlation filtering |
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| CN201810754695.0A CN109130167A (en) | 2018-07-11 | 2018-07-11 | A kind of 3D printing spray head end tracking based on correlation filtering |
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| CN201810754695.0A Pending CN109130167A (en) | 2018-07-11 | 2018-07-11 | A kind of 3D printing spray head end tracking based on correlation filtering |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113674299A (en) * | 2020-05-13 | 2021-11-19 | 中国科学院福建物质结构研究所 | 3D printing method and device |
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| US20180168787A1 (en) * | 2016-12-21 | 2018-06-21 | National Yang-Ming University | Jaw Motion Tracking System And Operating Method Using The Same |
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