CN109300157A - A kind of mechanical location of visual machine determines method, terminal device and storage medium - Google Patents
A kind of mechanical location of visual machine determines method, terminal device and storage medium Download PDFInfo
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- CN109300157A CN109300157A CN201811071802.6A CN201811071802A CN109300157A CN 109300157 A CN109300157 A CN 109300157A CN 201811071802 A CN201811071802 A CN 201811071802A CN 109300157 A CN109300157 A CN 109300157A
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- mechanical location
- product
- picture position
- mechanical
- visual machine
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
Abstract
The present invention relates to a kind of mechanical locations of visual machine to determine method, terminal device and storage medium, wherein, the mechanical location determines method the following steps are included: S1. establishes the homography table of mechanical location matrix table M (I × J), picture position matrix table N (I × J) and picture position and mechanical location relationship；S2. the picture position P (Pc of product P is identified, Pr), and according to picture position P (Pc, Pr picture position matrix table) is searched, image position coordinates A (Ac, Ar), the B (Bc, Br), C (Cc of four points of square region where obtaining the product, Cr), D (Dc, Dr)；S3. according to the image position coordinates A (Ac of four points, Ar), B (Bc, Br), C (Cc, Cr), D (Dc, Dr) searches the homography table of picture position and mechanical location relationship, obtains the correspondence mechanical location coordinate A (Ax of four points, Ay), B (Bx, By), C (Cx, Cy), D (Dx, Dy)；S4. the mechanical location P (Px, Py) of product is calculated.
Description
Technical field
The present invention relates to visual machine fields, determine method, terminal more particularly to a kind of mechanical location of visual machine
Equipment and storage medium.
Background technique
Visual machine is mainly characterized by, and mechanical arm confirms its movement routine by the image that vision system acquires.?
In some applications for needing to finely control, the precise requirements of mechanical location are even more important.The machine of existing visual machine
Tool location determining method or accuracy be not high or excessively complicated.
Summary of the invention
The present invention is intended to provide a kind of mechanical location of visual machine determines method, to solve the above problems.For this purpose, this hair
The specific technical solution of bright use is as follows:
According to a first aspect of the present invention, the mechanical location for providing a kind of visual machine determines method, the mechanical location
Determine method the following steps are included:
S1. mechanical location matrix table M (I × J), picture position matrix table N (I × J) and picture position and machinery are established
The homography table of positional relationship；
S2. it identifies the picture position P (Pc, Pr) of product, and picture position square is searched according to picture position P (Pc, Pr)
Battle array table, image position coordinates A (Ac, Ar), B (Bc, Br), the C (Cc, Cr), D of four points of square region where obtaining the product
(Dc,Dr)；
S3. figure is searched according to the image position coordinates A (Ac, Ar) of four points, B (Bc, Br), C (Cc, Cr), D (Dc, Dr)
The homography table of image position and mechanical location relationship, obtain the correspondence mechanical location coordinate A (Ax, Ay) of four points, B (Bx,
By),C(Cx,Cy),D(Dx,Dy)；
S4. calculate product mechanical location P (Px, Py), specifically, when product in the X direction close to A, C point when, Py=
Ay+(Pr-Ar)*(Cr-Ar)/(Cy-Ay)；When product is in the X direction close to B, D point, Py=By+ (Pr-Br) * (Dr-Br)/
(Dy-By)；When product is in the Y direction close to A, B point, Px=Ax+ (Pc-Ac) * (Bc-Ac)/(By-Ay)；When product in the Y direction
Upper close C, D point, Px=Cx+ (Pc-Cc) * (Dc-Cc)/(Dy-Cy).
Further, the detailed process of step S1 is that mechanical arm moves point by point according to mechanical location matrix table, is often moved to
As soon as position will demarcate object and be placed on scaling board, then camera just acquires an image and records the calibration object at this time
Picture position, ultimately form picture position matrix table, and then establish the homography table of picture position Yu mechanical location relationship.
Further, the judgment rule that the product of step S4 leans on A, C or B, D close in the X direction is Pc-Ac and Bc-Pc
Size relation；The judgment rule that the product of step S4 leans on A, B or C, D close in the Y direction is the size relation of Pr-Ar and Cr-Pr.
Further, the value of I, J depend on field of view.
According to a second aspect of the present invention, a kind of terminal device that the mechanical location for visual machine determines, packet are provided
The computer program that includes memory, processor and storage in the memory and can run on the processor, it is special
Sign is that the processor realizes that the mechanical location of visual machine as described above determines method when executing the computer program
The step of.
According to a third aspect of the present invention, a kind of computer readable storage medium, the computer-readable storage medium are provided
Matter is stored with computer program, which is characterized in that the computer program realizes vision as described above when being executed by processor
The step of mechanical location of machine determines method.
The present invention by adopting the above technical scheme, has the beneficial effect that the mechanical location of visual machine of the invention is true
It is simple to determine method and step, accuracy is high, can be applied to the occasion for needing to finely control.
Detailed description of the invention
To further illustrate that each embodiment, the present invention are provided with attached drawing.These attached drawings are that the invention discloses one of content
Point, mainly to illustrate embodiment, and the associated description of specification can be cooperated to explain the operation principles of embodiment.Cooperation ginseng
These contents are examined, those of ordinary skill in the art will be understood that other possible embodiments and advantages of the present invention.In figure
Component be not necessarily to scale, and similar component symbol is conventionally used to indicate similar component.
Fig. 1 is that the mechanical location of visual machine of the invention determines the flow chart of method；
Fig. 2 is the schematic diagram of picture position matrix table and mechanical location matrix table；
Fig. 3 is the schematic diagram of the picture position of product；
Fig. 4 is the schematic diagram of the mechanical location of product.
Specific embodiment
Now in conjunction with the drawings and specific embodiments, the present invention is further described.
Referring to Fig.1-4, the mechanical location for describing a kind of visual machine determines method.The mechanical location determines that method includes
Following steps:
S1. mechanical location matrix table M (I × J), picture position matrix table N (I × J) and picture position and machinery are established
The homography table of positional relationship, as shown in Figure 2；Detailed process is that mechanical arm is point-by-point according to mechanical location matrix table M (I × J)
It is mobile, as soon as being often moved to a position, object will be demarcated and be placed on scaling board, then camera just acquires an image, record
The picture position of the calibration object at this time ultimately forms picture position matrix table N (I × J), and then establishes picture position and mechanical position
Set the homography table of relationship.Wherein, the value of I, J depend on field of view, that is, different images visual field size ranks quantity has
Institute is different.In the figure 2 example, I=35, J=30, i.e., every 35 points of row, 30 points of each column.
S2. it identifies the picture position P (Pc, Pr) of product, and picture position matrix is searched according to picture position P (Pc, Pr)
Table, image position coordinates A (Ac, Ar), B (Bc, Br), the C (Cc, Cr), D of four points of square region where obtaining the product
(Dc, Dr), as shown in Figure 3.Wherein, identify the specific method of the picture position (Pc, Pr) of product for those skilled in the art institute
It is known, it is not further described herein.
S3. figure is searched according to the image position coordinates A (Ac, Ar) of four points, B (Bc, Br), C (Cc, Cr), D (Dc, Dr)
Image position table corresponding with the matrix of mechanical location obtains correspondence mechanical location coordinate A (Ax, Ay), the B (Bx, By), C of four points
(Cx, Cy), D (Dx, Dy), as shown in Figure 4.
S4. the mechanical location P (Px, Py) for calculating product, specifically, since in Fig. 3, product is in the X direction close to A, C
Point, in the Y direction close to A, B point, therefore, Px=Ax+ (Pc-Ac) * (Bc-Ac)/(By-Ay), Py=Ay+ (Pr-Ar) * (Cr-
Ar)/(Cy-Ay).Similarly, when product is in the X direction close to B, D point, Py=By+ (Pr-Br) * (Dr-Br)/(Dy-By)；Work as production
Product are in the Y direction close to C, D point, Px=Cx+ (Pc-Cc) * (Dc-Cc)/(Dy-Cy).
In specific calculating process, the judgment rule that product leans on A, C or B, D close in the X direction is Pc-Ac and Bc-Pc
Size relation, that is, when Pc-Ac>Bc-Pc, product leans on B, D close in the X direction, and when Pc-Ac<Bc-Pc, product leans in the X direction
A, C is close.Similarly, the judgment rule that product leans on A, B or C, D close in the Y direction is the size relation of Pr-Ar and Cr-Pr, that is,
When Pr-Ar>Cr-Pr, product leans on A, B close in the Y direction, and when Pr-Ar<Cr-Pr, product leans on C, D close in the Y direction.
It, can not only without carrying out complicated calculating from the embodiments above as can be seen that method and step of the invention is simple
Rapidly and accurately determine mechanical location, and hardware spending is small.
In addition, the invention also discloses a kind of terminal device that the mechanical location for visual machine determines, including storage
Device, processor and storage are in the memory and the computer program that can run on the processor, wherein the place
Reason device realizes the step of mechanical location of visual machine as described above determines method when executing the computer program.
Further, which can be the meter such as desktop PC, notebook, palm PC and cloud server
Calculate equipment.The terminal device may include, but be not limited only to, processor, memory.It will be understood by those skilled in the art that above-mentioned
The composed structure of terminal device is only used for the example of the terminal device of the mechanical location determination of visual machine, composition pair
For visual machine mechanical location determine terminal device restriction, may include than above-mentioned more or fewer components, or
Person combines certain components or different components, such as the terminal device that determines of the mechanical location for visual machine can be with
Including input-output equipment, network access equipment, bus etc., it is not limited in the embodiment of the present invention.
Further, alleged processor can be central processing unit (Central Processing Unit, CPU), also
It can be other general processors, digital signal processor (Digital Signal Processor, DSP), dedicated integrated electricity
Road (Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
The control centre of the terminal device determined for the mechanical location of visual machine Deng, the processor, using various interfaces and
The various pieces for the terminal device that the mechanical location that connection is entirely used for visual machine determines.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, described in realization
The various functions for the terminal device that mechanical location for visual machine determines.The memory can mainly include storing program area
The storage data area and, wherein storing program area can application program needed for storage program area, at least one function etc..In addition,
Memory may include high-speed random access memory, can also include nonvolatile memory, such as hard disk, memory, grafting
Formula hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.
The present invention also provides a kind of computer readable storage medium, the computer-readable recording medium storage has calculating
Machine program, wherein the computer program realizes that the mechanical location of visual machine as described above determines when being executed by processor
The step of method.
If the integrated module/unit of the terminal device that the mechanical location for visual machine determines is with SFU software functional unit
Form realize and when sold or used as an independent product, can store in a computer readable storage medium.
Based on this understanding, the present invention realizes all or part of the process in above-described embodiment method, can also pass through computer journey
Sequence is completed to instruct relevant hardware, and the computer program can be stored in a computer readable storage medium, the meter
Calculation machine program is when being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program packet
Include computer program code, the computer program code can for source code form, object identification code form, executable file or
Certain intermediate forms etc..The computer-readable medium may include: any reality that can carry the computer program code
Body or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and
Software distribution medium etc..It should be noted that the content that the computer-readable medium includes can be according in jurisdiction
Legislation and the requirement of patent practice carry out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, meter
Calculation machine readable medium does not include electric carrier signal and telecommunication signal.
Although specifically showing and describing the present invention in conjunction with preferred embodiment, those skilled in the art should be bright
It is white, it is not departing from the spirit and scope of the present invention defined by the appended claims, it in the form and details can be right
The present invention makes a variety of changes, and is protection scope of the present invention.
Claims (6)
1. a kind of mechanical location of visual machine determines method, which is characterized in that the mechanical location determines that method includes following
Step:
S1. mechanical location matrix table M (I × J), picture position matrix table N (I × J) and picture position and mechanical location are established
The homography table of relationship；
S2. it identifies the picture position P (Pc, Pr) of product, and picture position matrix table is searched according to picture position P (Pc, Pr), obtain
To the image position coordinates A (Ac, Ar) of four points of square region where the product, B (Bc, Br), C (Cc, Cr), D (Dc,
Dr)；
S3. image position is searched according to the image position coordinates A (Ac, Ar) of four points, B (Bc, Br), C (Cc, Cr), D (Dc, Dr)
The homography table with mechanical location relationship is set, correspondence mechanical location coordinate A (Ax, Ay), the B (Bx, By), C of four points are obtained
(Cx,Cy),D(Dx,Dy)；
S4. calculate product mechanical location P (Px, Py), specifically, when product in the X direction close to A, C point when, Py=Ay+
(Pr-Ar)*(Cr-Ar)/(Cy-Ay)；When product is in the X direction close to B, D point, Py=By+ (Pr-Br) * (Dr-Br)/(Dy-
By)；When product is in the Y direction close to A, B point, Px=Ax+ (Pc-Ac) * (Bc-Ac)/(By-Ay)；When product leans in the Y direction
Nearly C, D point, Px=Cx+ (Pc-Cc) * (Dc-Cc)/(Dy-Cy).
2. the mechanical location of visual machine as described in claim 1 determines method, which is characterized in that the detailed process of step S1
It is that mechanical arm moves point by point according to mechanical location matrix table, as soon as being often moved to a position, object will be demarcated and be placed on scaling board
On, then camera just acquires an image, records the picture position of the calibration object at this time, ultimately forms picture position matrix
Table, and then establish the homography table of picture position Yu mechanical location relationship.
3. the mechanical location of visual machine as described in claim 1 determines method, which is characterized in that the product of step S4 is in X
Side abuts up the size relation that the close judgment rule of A, C or B, D is Pc-Ac and Bc-Pc；The product of step S4 leans in the Y direction
A, B or the close judgment rule of C, D are the size relation of Pr-Ar and Cr-Pr.
4. the mechanical location of visual machine as described in claim 1 determines method, which is characterized in that the value of I, J depend on
Field of view.
5. a kind of terminal device that the mechanical location for visual machine determines, including memory, processor and it is stored in institute
State the computer program that can be run in memory and on the processor, which is characterized in that the processor executes the meter
The step of mechanical location of visual machine according to any one of claims 1 to 4 determines method is realized when calculation machine program.
6. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In the computer program realizes the machine of visual machine according to any one of claims 1 to 4 when being executed by processor
The step of tool location determining method.
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| CN201811071802.6A CN109300157B (en) | 2018-09-14 | 2018-09-14 | Mechanical position determining method of visual machine, terminal equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811071802.6A CN109300157B (en) | 2018-09-14 | 2018-09-14 | Mechanical position determining method of visual machine, terminal equipment and storage medium |
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| CN109300157A true CN109300157A (en) | 2019-02-01 |
| CN109300157B CN109300157B (en) | 2021-08-24 |
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- 2018-09-14 CN CN201811071802.6A patent/CN109300157B/en active Active
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| CN101900536A (en) * | 2010-07-28 | 2010-12-01 | 西安交通大学 | Method for measuring object surface appearance based on digital picture method |
| CN102922521A (en) * | 2012-08-07 | 2013-02-13 | 中国科学技术大学 | Mechanical arm system based on stereo visual serving and real-time calibrating method thereof |
| US9672184B1 (en) * | 2013-06-24 | 2017-06-06 | Redwood Robotics, Inc. | Methods and systems for rapid configuration, calibration, and deployment of a modular robot workcell |
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