CN109211222B - High-precision positioning system and method based on machine vision - Google Patents
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Abstract
The invention discloses a high-precision positioning method and a high-precision positioning system based on machine vision, wherein the positioning method comprises the steps of firstly, acquiring the position information of a product characteristic circle; coordinate values of a plurality of position points of the product feature circle on the image are obtained and are imported into analysis software; then establishing an approximation function of the circle center of the excircle, and setting constraint conditions of the approximation function; then solving the coordinates of the circle center, and judging the solved coordinates of the circle center; the positioning system comprises a mechanical arm, a high-precision industrial camera fixed at the tail end of the mechanical arm, an image processing system and a data processing system based on a computer; the mechanical arm drives the high-precision industrial camera to the outer circle of the product receiving opening; the high-precision industrial camera collects the excircle image of the product receiving opening and transmits the excircle image to an image processing system; the image processing system obtains the position information of the characteristic circle of the product and transmits the coordinate value to the data processing system; the data processing system solves the coordinates of the circle center and judges the solved result; the invention can improve the positioning accuracy of the robot.
Description
Technical Field
The invention belongs to the field of machine vision, and particularly relates to a high-precision positioning system and method based on machine vision.
Background
With the development of intelligent industry, a plurality of industries put new demands on automatic production and detection, and the traditional manual production and detection mode is difficult to meet the requirements of production activation, which restricts the development and improvement of productivity. However, as the development and improvement of computer and digital information technologies, people start to rely on robots to replace manual production and detection, the robot industry is more and more important in automated production and detection, and in the robot field, some accurate information must be repeatedly utilized and extracted, such as target tracking, navigation, detection and the like, which all rely on various sensors to acquire information for calculation and then judgment, and under the condition of high requirements, machine vision appears.
The machine vision is a subject related to the crossing of multiple fields of artificial intelligence, neurobiology, computational science, imaging, mode recognition and the like, and aims to enable a robot to have the same visual perception capability as a human, and simultaneously realize the functions of obstacle avoidance, navigation and the like of the robot by means of the perception capability, and the basis of the vision relates to the collection of visual information and a large number of image processing, computing and analyzing tasks.
In general, the positioning and navigation scheme of the robot includes SLAM instant positioning and navigation or a map constructed in advance is used for navigation, and binocular vision navigation can be directly utilized under the conditions that the characteristics of the surrounding environment are not complex and the similarity of each area is not high. However, when the similarity of the features of the robot active area is high, the features acquired by the sensor are similar to the position features of many particles many times after the particles move many times, and it is difficult to ensure the accuracy of positioning.
Disclosure of Invention
The invention aims to provide a high-precision positioning method and a high-precision positioning system based on machine vision so as to realize the positioning precision of a robot.
The technical solution for realizing the purpose of the invention is as follows:
a high-precision positioning method based on machine vision comprises the following steps:
step 1, collecting position information of a product characteristic circle;
step 4, solving the coordinates of the circle center:
providing a parameter value of the constraint condition and an initial value of the circle center, and solving the coordinate of the circle center by using an fmincon function;
and 5, judging the solved coordinates of the circle center.
A high-precision positioning system based on machine vision comprises a mechanical arm, a high-precision industrial camera fixed at the tail end of the mechanical arm, an image processing system and a data processing system based on a computer;
the mechanical arm is used for driving the high-precision industrial camera to the outer circle of the product receiving opening; the high-precision industrial camera is used for collecting and optically imaging the excircle of the product receiving opening and transmitting the captured high-definition image to the image processing system; the image processing system is used for carrying out operation and analysis processing on the acquired image to obtain the position information of the product characteristic circle, obtaining coordinate values of a plurality of position points of the product characteristic circle on the image and transmitting the coordinate values to the data processing system; the data processing system solves the coordinate of the circle center by establishing an approximation function and a constraint function relation for solving the excircle circle center of the product receiving port and utilizing an fmincon function, judges the solved result, and outputs the solved result if the judged result is true.
Compared with the prior art, the invention has the following remarkable advantages:
(1) according to the method, the constraint function is established, and a method that a large number of data points approach and solve the circle center of the excircle is adopted, so that the positioning accuracy of the robot is greatly improved, the positioning accuracy is high, and the real-time performance is good.
(2) According to the positioning system, the mechanical arm is in a linear driving mode, the influence of height change on the acquisition precision is avoided, and the positioning precision is high.
The present invention is described in further detail below with reference to the attached drawing figures.
Drawings
Fig. 1 is a schematic flow chart of a high-precision positioning method based on machine vision according to the present invention.
Fig. 2 is a top view of the overall architecture of the machine vision-based high-precision positioning system of the present invention.
Fig. 3 is a front view of the overall architecture of the high-precision positioning system based on machine vision of the present invention.
Detailed Description
For the purpose of illustrating the technical solutions and technical objects of the present invention, the present invention will be further described with reference to the accompanying drawings and specific embodiments.
With reference to fig. 1, the high-precision positioning method based on machine vision of the present invention includes the following steps:
step 1, collecting position information of a product characteristic circle:
driving the conveying arm to enable the high-precision industrial camera on the tail end to be aligned to the excircle of the product receiving opening; the high-precision industrial camera is used for carrying out optical imaging on the excircle of the product receiving opening, captured high-definition images are transmitted to the image processing system, the image processing system is used for carrying out operation and analysis processing on the images of the industrial camera, and position information of the product characteristic circle is acquired.
based on the high-precision industrial camera, the center is used as the origin of coordinates and a rectangular coordinate system is established to obtain coordinate values (x) of a plurality of position points of a product feature circle on an image1,y1)，(x2,y2)，(x3,y3)…(xn,yn) The coordinate values are imported into computer mathematical analysis software MATLAB, and the coordinate (x) of the circle center O to be solved is set according to the known circle center radius R0,y0)。
step 3.1, solving an approximation function of the excircle center of the product receiving opening:
wherein (x)i，yi) And a coordinate value representing the ith point.
Step 3.2, establishing a constraint function relation of distances from all data points to the circle center:
wherein, f (x)i，yi)maxRepresenting a distance of the maximum distance between all the coordinate points and the circle center O; f (x)i，yi)minRepresenting a distance between all the coordinate points and the circle center O, wherein the distance is the minimum; delta2Representing the absolute value of the difference between the radius R and a distance at which all the coordinate points are the largest from the center O; delta1Indicating the absolute value of the difference between the radius R and the one at which all the coordinate points are the smallest from the center O.
Step 4, solving the coordinates of the circle center:
providing a1And Δ2And provides the center O (x)0,y0) The initial value of (1) is used for solving the coordinates of the circle center by using an fmincon function. Wherein the fmincon function is:
[X fval ex]＝fmincon(@(x)0,[x0y0],[],[],[],[],[],[],@(X)findcenter(x,y,X))；
where X is a parameter, is variable when called, and is a data coordinate point X in the findcenter function0And y0(ii) a fval is the function value of center O; ex is the decision value of the function value; [ x ] of0,y0]Providing an initial value coordinate value of a circle center O; []And respectively representing the empty matrixes of which the parameters x and y have no inequality constraint and upper and lower boundary constraint.
And 5, judging the solved coordinates of the circle center:
based on the solved circle center coordinates, when ex is more than 0, the result of the solved circle center coordinates is credible; and when ex is less than 0, indicating that the result of the center of circle coordinate O solved is unreasonable, returning to the previous step, providing the initial value of the center of circle coordinate again, and continuing to solve until ex is more than 0.
The invention relates to a high-precision positioning system based on machine vision, which comprises a mechanical arm, a high-precision industrial camera fixed at the tail end of the mechanical arm, an image processing system and a data processing system based on a computer, wherein the image processing system comprises a camera, a camera module and a computer;
the mechanical arm is used for driving the high-precision industrial camera to the outer circle of the product receiving opening; the high-precision industrial camera is used for collecting and optically imaging the excircle of the product receiving opening and transmitting the captured high-definition image to the image processing system; the image processing system is used for carrying out operation and analysis processing on the acquired image to obtain the position information of the product characteristic circle, obtaining coordinate values of a plurality of position points of the product characteristic circle on the image and transmitting the coordinate values to the data processing system; the data processing system solves the coordinate of the circle center by establishing an approximation function and a constraint function relation for solving the excircle circle center of the product receiving port and utilizing an fmincon function, judges the solved result, and outputs the solved result if the judged result is true.
Further, the data processing system comprises a first processing unit, a second processing unit and a decision unit based on MATLAB;
the first processing unit is used for establishing an approximation function findcenter for solving the excircle center of the product receiving opening, and setting constraint conditions of the approximation function:
approximation function findcenter:
wherein (x)i，yi) And a coordinate value representing the ith point.
Constraint function relationship of distances of all data points to the center of a circle:
wherein, f (x)i，yi)maxRepresenting a distance of the maximum distance between all the coordinate points and the circle center O; f (x)i，yi)minRepresenting a distance between all the coordinate points and the circle center O, wherein the distance is the minimum; delta2Represents the absolute value of the difference between the radius R and the one at which all the coordinate points are at the maximum distance from the center O; delta1Indicating the absolute value of the difference between the radius R and the one at which all the coordinate points are the smallest from the center O.
The second processing unit is used for solving the coordinates of the circle center:
according to provision of1And Δ2Initial value of (a) and center of circle O (x)0,y0) The initial value of (2) is solved by using fmincon function to obtain the coordinates of the center of the circle.
Wherein the fmincon function is:
[X fval ex]＝fmincon(@(x)0,[x0y0],[],[],[],[],[],[],@(X)findcenter(x,y,X))；
where X is a parameter, is variable when called, and is a data coordinate point X in the findcenter function0And y0(ii) a fval is the function value of center O; ex is the decision value of the function value; [ x ] of0,y0]Providing an initial value coordinate value of a circle center O; []And respectively representing the empty matrixes of which the parameters x and y have no inequality constraint and upper and lower boundary constraint.
The judgment unit is used for judging the coordinates of the solved circle center:
based on the solved circle center coordinates, when ex is more than 0, the result of the solved circle center coordinates is credible; and when ex is less than 0, the result of the circle center coordinate O obtained through solving is unreasonable, the initial value of the circle center coordinate is provided again through the second processing unit, and the solving is continued until ex is more than 0.
With reference to fig. 2 and 3, preferably, the mechanical arm is a linear driving type mechanical arm, if a rack 1 is provided with a spur rack 6, the gear 5 is driven by a motor 2 to rotate, the gear 5 drives the spur rack 6 to horizontally move along the rack 1, so as to drive an industrial camera 3 at the tail end of the spur rack 6 to move, so that characteristic circles of products 4 at the lower end can be collected, and the influence of height change on the collection precision is avoided.
The high-precision positioning method and the system based on the machine vision of the invention adopt a method of solving the excircle center by approximating a large number of data points by establishing the constraint function, thereby greatly improving the positioning precision of the robot, having high positioning precision and good real-time property.
Claims (5)
1. A high-precision positioning method based on machine vision is characterized by comprising the following steps:
step 1, collecting position information of a product characteristic circle;
step 2, obtaining coordinate values of a plurality of position points of the product feature circle on the image, and importing the coordinate values into analysis software;
step 3, establishing an approximation function for solving the excircle center of the product receiving opening, and setting constraint conditions of the approximation function; the method specifically comprises the following steps:
step 3.1, solving an approximation function findcenter of the excircle center of the product receiving opening:
wherein (x)i，yi) A coordinate value representing the ith point;
step 3.2, establishing a constraint function relation of distances from all data points to the circle center:
wherein, f (x)i，yi)maxRepresenting a distance of the maximum distance between all the coordinate points and the circle center O; f (x)i，yi)minRepresenting a distance between all the coordinate points and the circle center O, wherein the distance is the minimum; delta2Representing the absolute value of the difference between the radius R and the distance with the maximum distance between all the coordinate points and the circle center O; delta1Representing the absolute value of the difference between the radius R and the distance with the minimum distance between all the coordinate points and the circle center O;
step 4, solving the coordinates of the circle center:
providing a parameter value of the constraint condition and an initial value of the circle center, and solving the coordinate of the circle center by using an fmincon function;
and 5, judging the solved coordinates of the circle center.
2. The machine vision-based high-precision positioning method according to claim 1, wherein the solving of the coordinates of the circle center is specifically as follows:
providing a1And Δ2And provides the center O (x)0，y0) Solving the coordinate of the circle center by using an fmincon function; wherein the fmincon function is:
[X fval ex]＝fmincon(@(x)0，[x0 y0]，[]，[]，[]，[]，[]，[]，@(X)findcenter(x，y，X))；
where X is a parameter, is variable when called, and is a data coordinate point X in the findcenter function0And y0(ii) a fval is the function value of center O; ex is the decision value of the function value; [ x ] of0，y0]Providing an initial value coordinate value of a circle center O; []And respectively representing the empty matrixes of which the parameters x and y have no inequality constraint and upper and lower boundary constraint.
3. The machine vision-based high-precision positioning method according to claim 2, wherein the step 5 of determining the coordinates of the solved circle center comprises the following specific steps:
when ex is larger than 0, the result of the solved circle center coordinate is credible; and when ex is less than 0, the result of the circle center coordinate O is unreasonable, the step 4 is returned, the initial value of the circle center coordinate is provided again, and the solution is continued until ex is more than 0.
4. A high-precision positioning system based on machine vision is characterized by comprising a mechanical arm, a high-precision industrial camera fixed at the tail end of the mechanical arm, an image processing system and a data processing system based on a computer;
the mechanical arm is used for driving the high-precision industrial camera to the outer circle of the product receiving opening; the high-precision industrial camera is used for collecting and optically imaging the excircle of the product receiving opening and transmitting the captured high-definition image to the image processing system; the image processing system is used for carrying out operation and analysis processing on the acquired image to obtain the position information of the product characteristic circle, obtaining coordinate values of a plurality of position points of the product characteristic circle on the image and transmitting the coordinate values to the data processing system; the data processing system solves the coordinate of the circle center by establishing an approximation function and a constraint function relation for solving the excircle circle center of the product receiving port and utilizing an fmincon function, judges the solved result, and outputs the solved result if the judged result is true;
the data processing system comprises a first processing unit, a second processing unit and a judging unit;
the first processing unit is used for establishing an approximation function findcenter for solving the excircle center of the product receiving opening, and setting constraint conditions of the approximation function:
approximation function findcenter:
wherein (x)i，yi) A coordinate value representing the ith point;
constraint function relationship of distances of all data points to the center of a circle:
wherein, f (x)i，yi)maxRepresenting a distance of the maximum distance between all the coordinate points and the circle center O; f (x)i，yi)minRepresenting a distance between all the coordinate points and the circle center O, wherein the distance is the minimum; delta2Representing the absolute value of the difference between the radius R and the distance with the maximum distance between all the coordinate points and the circle center O; delta1Representing the absolute value of the difference between the radius R and the distance with the minimum distance between all the coordinate points and the circle center O;
the second processing unit is used for solving the coordinates of the circle center:
according to provision of1And Δ2Initial value of (a) and center of circle O (x)0，y0) Solving the coordinate of the circle center by using an fmincon function;
wherein the fmincon function is:
[X fval ex]＝fmincon(@(x)0，[x0 y0]，[]，[]，[]，[]，[]，[]，@(X)findcenter(x，y，X))；
where X is a parameter, is variable when called, and is a data coordinate point X in the findcenter function0And y0(ii) a fval is the function value of center O; ex is the decision value of the function value; [ x ] of0，y0]Providing an initial value coordinate value of a circle center O; []Respectively representing the empty matrixes of which the parameters x and y do not have inequality constraint and upper and lower boundary constraint;
the judgment unit is used for judging the coordinates of the solved circle center:
when ex is larger than 0, the result of the solved circle center coordinate is credible; and when ex is less than 0, the result of the circle center coordinate O is unreasonable, the initial value of the circle center coordinate is provided again through the second processing unit, and the solution is continued until ex is more than 0.
5. The machine-vision-based high-precision positioning system of claim 4, wherein the mechanical arm is a linear drive type mechanical arm.
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Application publication date: 20190115 Assignee: JIANGSU KEMAI HYDRAULIC CONTROL SYSTEM Co.,Ltd. Assignor: YANGZHOU University Contract record no.: X2023980053578 Denomination of invention: A high-precision positioning system and method based on machine vision Granted publication date: 20220607 License type: Common License Record date: 20231223 |