CN109146865B - Visual alignment detection graph source generation system - Google Patents
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Abstract
The invention relates to a visual alignment detection graph source generation system, which comprises: a feature shape selection module; a background image editing module; a feature shape adjustment module; an image generation module; and the image source storage library comprises image source data for storing the paired images generated by the image generation module and image source data corresponding to the paired images and adjusted in feature shapes by the feature shape adjustment module. The method has the advantages that the image source storage library of the system comprises a large number of images in pairs, wherein the images are in any arrangement positions and possibly have distortion conditions, and the characteristic shapes of the images are in any arrangement positions; the matching precision of the feature recognition algorithm can be detected by utilizing the paired images in the image source storage library, the parameters of the algorithm are adjusted, the defects or defects existing in the algorithm are found and correspondingly improved, and the purposes of improving the matching precision of the feature recognition algorithm and improving the operation efficiency of the algorithm in field application are achieved.
Description
Technical Field
The invention relates to the technical field of visual alignment, in particular to a visual alignment detection graph source generation system.
Background
Alignment is a professional name of the part of precision assembly of devices in modern industrial production, and is typically applied to mounting of various flexible or rigid devices represented by mobile phone production. The specific implementation process is that the object a at the position 1 and the object B at the position 2 are installed together, and in the installation process, the horizontal or rotation direction of the object a or the object B needs to be adjusted. One key link for achieving the alignment function is whether the accurate positions of the object a and the object B can be obtained. In order to realize accurate position adjustment, the object is shot by the visual alignment system during work, and the whole alignment process is guided to be realized.
In order to verify the accuracy of the vision alignment system, an actual machine acquisition image verification or a simulation image verification generated by an image generation system can be adopted. The verification of the actual machine table has the advantages of being in line with the actual situation, having obvious defects, needing to be carried out on the actual production field, having long joint debugging time and high investment cost of matched hardware, and having difficult alignment software effect under the abnormal conditions of the failure of the verification machine table and the like due to operation limitation. The simulation image verification is flexible, and the software performance under abnormal conditions can be verified. In actual work, a simulation image is generally adopted for verification, so that the alignment software is ensured to be normally expressed under the condition, and then the software which passes the simulation image verification and an actual machine are subjected to combined work. In an actual production field, abnormal conditions such as machine faults, sudden changes of the surrounding environment and the like inevitably exist, for example, the light source of the machine for visual alignment is broken or is unevenly distributed, so that the distribution of color blocks of a shot image is likely to change, and the shot image and the image captured under a normal working state have different color blocks or shadows under the conditions. In addition, the vision alignment system assists in providing a machine for accurately positioning and matching, the installation environment of the machine for the camera is limited, the camera cannot be guaranteed to have a good installation angle to be just aligned with a shooting object, and the oblique angle can cause distortion of a shot image. Meanwhile, because the installation space of the machine is limited, the machine cannot provide enough installation space for the cameras, and if the cameras are installed in the space outside the space of the machine to indirectly shoot an object through reflection or a multi-level optical path system, the shot images are distorted. The method has the advantages that the time for image acquisition and verification joint debugging is long by adopting an actual machine, the cost is high, the number of acquired shot pictures is limited, and the alignment effect of the visual alignment software under the condition of machine failure or sudden abnormity cannot be detected, so that the image source generation system capable of generating complex scenes as far as possible is provided, and the characteristic identification algorithm adopted by the alignment software is detected by utilizing a large number of generated images, so that the important technical problem to be solved is solved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a visual alignment detection graph source generation system.
The technical scheme of the invention is to provide a visual alignment detection graph source generation system, which comprises:
the characteristic shape selection module can be used for selecting characteristic shapes to be used for alignment from a characteristic shape element library stored with various characteristic shapes;
the background image editing module can be used for selecting a background image from a background image library which stores various types of background images;
the characteristic shape adjusting module comprises a displacement parameter adjusting submodule and a rotation parameter adjusting submodule, wherein the displacement parameter adjusting submodule can be used for translating the characteristic shape in the background image, and the rotation parameter adjusting submodule can be used for rotating the characteristic shape in the background image;
the image generation module can be used for respectively generating images of characteristic shapes before and after the characteristic shapes are processed by the characteristic shape adjustment module after the characteristic shapes are placed in the background image for processing;
and the image source storage library comprises image source data for storing the paired images generated by the image generation module and image source data corresponding to the paired images and adjusted in feature shapes by the feature shape adjustment module.
In a preferred scheme, the background image library comprises an actual background image library used for storing a background image extracted from an actual shot picture of a visual alignment system in an actual production process; the background image library comprises a generated background image library, and the image editing module comprises a color processing tool and can be used for generating a background image after editing according to the specified color distribution request and storing the background image in the generated background image library.
Preferably, the background image library comprises a mixed background image library, and the background image editing module comprises a weight editing tool, and can be used for generating a mixed background image after editing according to the specified actual background image and the weight request value for generating the background image, and storing the mixed background image in the mixed background image library.
Preferably, the feature shape adjusting module further includes a distortion parameter adjusting submodule, configured to set different distortion coefficients for different positions of the background image according to the selected background image and the used checkerboard.
In a preferred embodiment, the image generation module includes a contour processing tool for determining a contour width and an edge when the selected feature shape to be used for alignment is placed in the selected background image; the image generation module comprises a background filling tool which can be used for extracting background images stored in a background image library to fill.
In a preferred embodiment, the graph source data is parameter adjustment data when the feature shape is adjusted by the feature shape adjustment module, and includes displacement parameter data and rotation parameter data.
Preferably, the displacement parameter adjustment submodule comprises a horizontal adjustment tool for translating the characteristic shape in the horizontal direction and/or a vertical adjustment tool for translating the characteristic shape in the vertical direction.
Preferably, the displacement parameter data includes a displacement of the characteristic shape in a horizontal direction and/or a displacement in a vertical direction.
In a preferred embodiment, the map source data is parameter adjustment data when the feature shape is adjusted by the feature shape adjustment module, and includes displacement parameter data, rotation parameter data, and distortion parameter data.
Preferably, the characteristic shape includes one or more of a polygon, a corner, or a line.
The invention has the beneficial effects that the image source storage library of the system comprises a large number of image pairs with random placement positions and distortion conditions possibly occurring in characteristic shapes, and image source data which correspond to the image pairs and are adjusted in the characteristic shapes by the characteristic shape adjusting module; the matching precision of the feature recognition algorithm can be detected by utilizing the paired images in the image source storage library, the parameters of the algorithm are adjusted, the defects or defects existing in the algorithm are found and correspondingly improved, and the purposes of improving the matching precision of the feature recognition algorithm and improving the operation efficiency of the algorithm in field application are achieved. If the matching accuracy of the feature recognition algorithm is detected by the image source repository and is improved by corresponding parameter adjustment, when the feature recognition algorithm is applied to a visual alignment system and actually encounters the situation of the same placement position or distortion of the feature shape in the image source repository during alignment, the feature recognition algorithm can also realize accurate alignment, so that the feature recognition algorithm has stronger adaptability.
Description of the drawings:
FIG. 1 is a block diagram of a visual alignment detection map source generation system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a feature shape adjustment module according to an embodiment of the present invention;
FIG. 3 is a block diagram of a background image library according to an embodiment of the present invention;
FIG. 4 is a schematic view of one of the features of the present invention;
FIG. 5 is a schematic view of another feature according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides the following embodiments:
a visual alignment detection map source generating system of this embodiment, the system includes:
the characteristic shape selection module can be used for selecting characteristic shapes to be used for alignment from a characteristic shape element library stored with various characteristic shapes;
the background image editing module can be used for selecting a background image from a background image library which stores various types of background images;
the characteristic shape adjusting module comprises a displacement parameter adjusting submodule and a rotation parameter adjusting submodule, wherein the displacement parameter adjusting submodule can be used for translating the characteristic shape in the background image, and the rotation parameter adjusting submodule can be used for rotating the characteristic shape in the background image;
the image generation module can be used for respectively generating images of characteristic shapes before and after the characteristic shapes are processed by the characteristic shape adjustment module after the characteristic shapes are placed in the background image for processing;
and the image source storage library comprises image source data for storing the paired images generated by the image generation module and image source data corresponding to the paired images and adjusted in feature shapes by the feature shape adjustment module.
When developing vision alignment software, if all the functions depend on the joint adjustment with a hardware machine, the cost is high and the efficiency is low, so that various feature recognition algorithms and parameters are screened and optimized through images generated by simulation, and then the optimized algorithms and parameters are applied to a vision alignment system. If the feature recognition algorithm is required to accurately recognize the feature shape needing alignment matching in light change, color change and complex background lines, the feature recognition algorithm is required to accurately align the background image which can appear as far as possible, the matching precision of the feature recognition algorithm is improved, and the alignment effect of the visual alignment software is further improved. Therefore, in this embodiment, a system for generating a visual alignment detection map source is provided, which selects different feature shapes at all positions in a background image to generate corresponding images, and may be specifically expressed as any placement position where the feature shapes to be aligned may appear when a workpiece to be aligned is supplied. Whether the feature recognition algorithm can realize accurate alignment is detected through a large number of paired images generated by the image source generation system, and when the alignment effect in practical application is not achieved, the parameters of the algorithm can be adjusted, so that the aims of improving the matching precision of the feature recognition algorithm and improving the operation efficiency of the algorithm in field application are fulfilled. The specific process of generating the pair of images by using the image source generation system is as follows: if the same base point is used as a coordinate system, firstly selecting a feature shape to be aligned, and selecting a feature shape to be aligned for use from a feature shape element library in which a plurality of feature shapes are stored; selecting a background image from a background image library which stores a plurality of types of background images, wherein the background image is the background image with the characteristic shape removed; the characteristic shape is subjected to translation processing and rotation processing in the background image through a characteristic shape adjusting module, specifically, the position of the characteristic shape in the background image is set by using a displacement parameter adjusting submodule and a rotation parameter adjusting submodule to form the characteristic shape in the background imagePosition (x) of image one before medium adjustment1，y1，T1) Wherein x, y and T respectively represent the position and the space angle of the characteristic shape in the horizontal direction and the vertical direction, and are specifically represented as the space position of a workpiece to be aligned on an alignment platform; setting the position (x) of the feature shape in the background image which forms the feature shape in the second image after the feature shape is adjusted in the background image1+dx，y1+dy，T1+ dT), namely the horizontal displacement dx, the vertical displacement dy and the rotation angle dT of the feature shape in the image two relative to the image one, so as to realize the possible placing positions of the feature shape; the characteristic shapes are placed in the background image through an image generation module and processed to generate images (including an image I and an image II) of the characteristic shapes before and after being processed by the characteristic shape adjusting module respectively; and finally, storing the pair of images generated by the image generation module in a graph source storage library, and simultaneously storing the graph source data corresponding to the pair of images, the characteristic shapes of which are adjusted by the characteristic shape adjustment module. The positions of the characteristic shapes in the background image can be continuously replaced through the characteristic shape adjusting module, and new paired images are regenerated until all the positions of the characteristic shapes in the background image are replaced; and selecting new alignment feature shapes continuously by the feature shape selection module until the feature shapes in the feature shape element library are selected completely, and obtaining corresponding paired images generated by different feature shapes at all positions in the background image. Thus, the map source repository includes a large number of arbitrarily positioned pairs of images of the feature shapes that may appear. If the matching precision of the feature recognition algorithm is detected by using the paired images in the image source storage library, and the matching calculation result is compared with the image source data of the paired images (for example, the displacement in the horizontal direction calculated by the feature recognition algorithm is compared with the displacement in the horizontal direction in the image source data), when the matching precision of the actual use of the paired images cannot be met, the parameters of the algorithm can be adjusted, the defects or defects existing in the algorithm can be found and correspondingly improved, and the purposes of improving the matching precision of the feature recognition algorithm and improving the field application operating efficiency of the algorithm are achieved. If the matching precision of the feature recognition algorithm is detected and changed by the image source repositoryThen, when the feature recognition algorithm is applied to the visual alignment system, when the feature recognition algorithm actually encounters the placement position of the feature shape which is the same as that in the graph source storage library in alignment, accurate alignment can be achieved, and the feature recognition algorithm can be made to have stronger adaptability.
In the scheme of the preferred embodiment, the background image library comprises an actual background image library used for storing a background image extracted from an actual shot picture of a visual alignment system in an actual production process; the background image library comprises a generated background image library, and the image editing module comprises a color processing tool and can be used for generating a background image after editing according to the specified color distribution request and storing the background image in the generated background image library. In this embodiment, in order to solve the problem that the environment change of the image shot by the visual alignment system affects the shot image, for example, the light source used for visual alignment of the machine is broken or is unevenly distributed, so that the color block distribution of the shot image is likely to change to affect the alignment effect, the adopted background image can be directly selected from the actual background image library to obtain the background image extracted from the actual shot image of the visual alignment system in the actual production process; the background image generated after editing the designated color distribution (such as the background image with uneven shadow or color block distribution) can also be set by a color processing tool, so that the feature recognition algorithm applied to the visual alignment system still realizes accurate alignment when meeting the scene.
In a preferred embodiment, the background image library includes a mixed background image library, and the background image editing module includes a weight editing tool, and is configured to generate a mixed background image after editing according to a specified actual background image and a weight request value for generating a background image, and store the mixed background image in the mixed background image library.
In an embodiment, the feature shape adjusting module further includes a distortion parameter adjusting sub-module, which is configured to set different distortion coefficients for different positions of the background image according to the selected background image and the checkerboard. In the actual machine alignment operation, the installation environment given to the camera by the machine is limited, the camera cannot be guaranteed to have a good installation angle to be just aligned with a shooting object, and the oblique angle usually causes distortion of a shot image. Meanwhile, because the installation space of the machine is limited, the machine cannot provide enough installation space for the cameras, and if the cameras are installed in the space outside the space of the machine and are used for indirectly shooting a workpiece to be aligned through reflection or a multi-level optical path system, the shot images are distorted. If the workpiece to be aligned is a flexible part, the peripheral edge of the workpiece to be aligned is curled, and the image shot by the camera has a certain distortion phenomenon. The distorted image will also affect the accurate alignment of the workpiece, so the distortion processing of the alignment feature is very important. Therefore, in order to solve the above problem, the feature shape adjusting module provided in this embodiment further includes a distortion parameter adjusting sub-module, configured to set different distortion coefficients (scaling coefficients between actual physical points of the image in the actual physical space and image pixel points) at different positions of the background image according to the selected background image and the used checkerboard; specifically, distortion of the position of the characteristic shape in the background image is set by using a distortion parameter adjusting submodule, distortion processing is carried out on the characteristic shape to enable the position of the characteristic shape to have distortion, and namely, a distortion coefficient submatrix of the position is called to carry out distortion processing on the characteristic shape. If the matching precision of the feature recognition algorithm is detected by the image source repository and is correspondingly adjusted and improved, when the feature recognition algorithm is applied to a visual alignment system and distortion of the feature shape which is the same as that of the image source repository is actually encountered in alignment, accurate alignment can be realized, and the feature recognition algorithm has stronger adaptability.
In the preferred embodiment, the image generation module includes a contour processing tool for determining a contour width and an edge when the selected feature shape to be used for alignment is placed in the selected background image; the image generation module comprises a background filling tool which can be used for extracting background images stored in a background image library to fill. When the characteristic shape is placed in the background image, contour processing is needed, the determination of the contour width and the edge, the change relationship between the edge and the surrounding background and the like are realized through a contour processing tool of the image generation module. After the contour processing is finished, the background image can be filled by a background filling tool, and the actual background image or the generated background image can be used for filling.
In a preferred embodiment, the graph source data is parameter adjustment data when the feature shape is adjusted by the feature shape adjustment module, and includes displacement parameter data and rotation parameter data. That is, the displacement parameter data includes a displacement by which the feature shape is translated in the background image, and the rotation parameter data includes an angle by which the feature shape is rotated in the background image. The graph source data can be used as a reference standard for detecting the matching precision of the feature recognition algorithm by using the graph source storage library. If the matching precision of the feature recognition algorithm is detected by using the paired images in the image source storage library, and the matching calculation result is compared with the image source data of the paired images (for example, the horizontal displacement obtained by the calculation of the feature recognition algorithm is compared with the horizontal displacement in the image source data), when the matching precision of the actual use of the paired images cannot be met, the parameters of the algorithm can be adjusted, the defects or defects existing in the algorithm can be found and correspondingly improved, and the purpose of improving the matching precision of the feature recognition algorithm can be achieved.
In a preferred embodiment, the displacement parameter adjustment submodule comprises a horizontal adjustment tool for translating the characteristic shape in the horizontal direction and/or a vertical adjustment tool for translating the characteristic shape in the vertical direction; and generating images of the placing positions where more characteristic shapes can appear.
In an embodiment, the displacement parameter data includes a displacement of the feature shape in a horizontal direction and/or a displacement in a vertical direction.
In a preferred embodiment, the map source data is parameter adjustment data when the feature shape is adjusted by the feature shape adjustment module, and includes displacement parameter data, rotation parameter data, and distortion parameter data. Namely, the displacement parameter data comprises the displacement of the characteristic shape in translation in the background image, the rotation parameter data comprises the angle of rotation of the characteristic shape in the background image, and the distortion parameter data comprises a distortion coefficient submatrix of the position of the characteristic shape in the background image.
In a preferred embodiment, the characteristic shape includes one or more of a polygon, a corner, or a line. Specifically, the characteristic shape may be a circle, a square, a cross, or the like, may be a line segment, a broken line, or the like, and may also be a right angle, an arc angle, or the like, and may be selected according to an actual alignment condition when determining the characteristic shape in alignment.
In the description of the embodiments of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "center", "top", "bottom", "inner", "outer", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for the purpose of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Where "inside" refers to an interior or enclosed area or space. "periphery" refers to an area around a particular component or a particular area.
In the description of the embodiments of the present invention, the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third", "fourth" may explicitly or implicitly include one or more of the features. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "assembled" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the embodiments of the invention, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the embodiments of the present invention, it should be understood that "-" and "-" indicate the same range of two numerical values, and the range includes the endpoints. For example, "A-B" means a range greater than or equal to A and less than or equal to B. "A to B" means a range of not less than A and not more than B.
In the description of the embodiments of the present invention, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A visual alignment inspection map source generation system, the system comprising:
the characteristic shape selection module can be used for selecting characteristic shapes to be used for alignment from a characteristic shape element library stored with various characteristic shapes;
the background image editing module can be used for selecting a background image from a background image library which stores various types of background images;
the characteristic shape adjusting module comprises a displacement parameter adjusting submodule and a rotation parameter adjusting submodule, wherein the displacement parameter adjusting submodule can be used for translating the characteristic shape in the background image, and the rotation parameter adjusting submodule can be used for rotating the characteristic shape in the background image;
the image generation module can be used for respectively generating images of characteristic shapes before and after the characteristic shapes are processed by the characteristic shape adjustment module after the characteristic shapes are placed in the background image for processing;
the image source storage library comprises image source data for storing the paired images generated by the image generation module and image source data corresponding to the paired images and adjusted in feature shapes by the feature shape adjustment module;
the background image library comprises an actual background image library used for storing background images extracted from actual shot pictures of the visual alignment system in the actual production process; the background image library comprises a generated background image library, and the background image editing module comprises a color processing tool and can be used for generating a background image after editing according to the specified color distribution request and storing the background image in the generated background image library.
2. The visual alignment detection map source generation system of claim 1, wherein the background image library comprises a mixed background image library, and the background image editing module comprises a weight editing tool, and is configured to generate and store a mixed background image after editing according to the specified actual background image and the weight request value for generating the background image.
3. The visual alignment detection map source generation system of claim 1, wherein the feature shape adjustment module further comprises a distortion parameter adjustment sub-module configured to set different distortion coefficients for different positions of the selected background image and the selected checkerboard pattern on the background image.
4. The visual alignment inspection map source generation system of claim 1, wherein the image generation module comprises a contour processing tool for contour width and edge determination when the feature shape to be used for selected alignment is placed in the selected background image; the image generation module comprises a background filling tool which can be used for extracting background images stored in a background image library to fill.
5. The system of claim 1, wherein the map source data is parameter adjustment data for adjusting the feature shape by the feature shape adjustment module, and the parameter adjustment data includes displacement parameter data and rotation parameter data.
6. The visual alignment inspection map source generation system of claim 5, wherein the displacement parameter adjustment submodule comprises a horizontal adjustment tool for translating the feature in a horizontal direction and/or a vertical adjustment tool for translating the feature in a vertical direction.
7. The visual alignment detection map source generation system of claim 6, wherein the displacement parameter data comprises a displacement of the feature shape in a horizontal direction and/or a displacement in a vertical direction.
8. The system of claim 3 or 6, wherein the map source data is parameter adjustment data when the feature shape is adjusted by the feature shape adjustment module, and the parameter adjustment data includes displacement parameter data, rotation parameter data, and distortion parameter data.
9. The visual alignment detection map source generation system of claim 1, wherein the feature shapes comprise one or more of polygons, corners, or lines.
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