CN110332886A - A kind of precision visual method for rapidly positioning - Google Patents
A kind of precision visual method for rapidly positioning Download PDFInfo
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- CN110332886A CN110332886A CN201910540182.4A CN201910540182A CN110332886A CN 110332886 A CN110332886 A CN 110332886A CN 201910540182 A CN201910540182 A CN 201910540182A CN 110332886 A CN110332886 A CN 110332886A
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- hot spot
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
- G06T2207/30208—Marker matrix
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of precision visual method for rapidly positioning, and target is made in the aperture that same size is processed on substrate, and is illuminated using backlight to it；Target is attached in measurand, when measurand is subjected to displacement, target will be driven mobile, so that uniform movement also occurs for all apertures；Visual imaging is carried out to target using digital camera, through computer image procossing, completes the acquisition and spot displacement information of target hot spot, spot location is realized using new subregion grid location, thereby determines that the accurate displacement of measurand.The present invention innovatively uses machine vision technique to handle the hot spot relative position of different location, and come the accurate displacement information of extraction system in the way of division grid region, to realize contactless precision positioning, error can be effectively reduced, improves hot spot micro-displacement precision.
Description
Technical field
The present invention relates to a kind of precision visual method for rapidly positioning, belong to contactless high-precision two-dimensional micro-displacement measuring technique
Field.
Background technique
With being constantly progressive for computer technology and image processing method, machine vision technique obtains tremendous development, is based on
The machine vision technique of CCD or CMOS has been widely used in dimensional measurement.In general, in the positioning based on machine vision
In measuring system, traditional scanning mode of computer system is identified one by one, point by point to target feature, is obtained to camera individual
Spot center is positioned, until recognizing the hot spot for needing to acquire, this method was both time-consuming cumbersome, obtained facula position
Few, low for the utilization rate of CCD/CMOS, positioning accuracy improves limited.
Whether facula position is the key that accurately measurement accuracy.Currently, the side that more commonly used Facula Center Location detects
Method has round fitting process, gravity model appoach, Hough transform method, balanced method etc., these algorithms are in detection accuracy, rate and anti-interference
Each there is certain deficiencies.Such as: the precision of circle fitting process operation is high, but poor anti jamming capability；Gravity model appoach requires hot spot
Regular shape；Hough transform method is needed to parameter space discretization, and detection accuracy is not high；The symmetry of balanced method requirement hot spot
Well, otherwise error is larger.Since above method is detected to single hot spot, error is larger.The tradition of above-mentioned use
Location detecting technology have the light spot image information clearly disadvantageous, CCD/CMOS cannot be made full use of to collect, with realize
The position detection of higher precision.
The relatively single hot spot of multiple hot spots, can provide redundancy, and can reduce influences brought by detection environment, right
Hot spot of low quality in collected hot spot can be rejected before micro-displacement detection, spot center is sought and is averaged, Ke Yiyou
Effect ground reduces error, improves hot spot micro-displacement precision.
Summary of the invention
The technical problems to be solved by the present invention are: a kind of precision visual method for rapidly positioning is provided, using machine vision
Technology handles the hot spot relative position of different location, and come the precision of extraction system in the way of division grid region
Displacement information, to realize contactless precision positioning.
The present invention uses following technical scheme to solve above-mentioned technical problem:
A kind of precision visual method for rapidly positioning, includes the following steps:
Step 1, target is made in the aperture that same size is processed on substrate, and aperture rectangular array is arranged, and adjacent
Spacing between aperture is identical；Target is attached in measurand, and target is illuminated using backlight；
Step 2, visual imaging is carried out to target using digital camera, acquires target light spot image, define target hot spot figure
Picture upper left angle point is total coordinate origin O, defines cross, the longitudinal respectively X, Y-direction of target light spot image, is identified using computer
The X of target light spot image, Y-direction；
Step 3, target light spot image is divided into several grids, had in each grid and only one hot spot, passed through
Grid where obtaining target hot spot positions target hot spot, is specifically divided into following three step:
3.1, the grid P where target hot spot is positioned, remembers that a length of Δ x of grid, width are Δ y, then grid P is relatively total
The position of coordinate origin O is that (i* Δ x, j* Δ y), is reduced to (Δ xi,Δyj), wherein i, j are respectively X, grid P in Y-direction
The grid number of relatively total coordinate origin O；
3.2, target hot spot is positioned, the upper left corner for defining grid P is sub- origin Os, target hot spot opposing grid P
Sub- origin OsDisplacement be denoted as (Δ xs,Δys), wherein Δ xs、ΔysHot spot phase on respectively X, Y-direction in grid P
To the sub- origin O of grid PsDisplacement；
The relative displacement of 3.3, the relatively total coordinate origin O of target hot spot are the sum of grid positioning and spot location, i.e. (xs,
ys)=(Δ xi,Δyj)+(Δxs,Δys)；By the average value of spot displacement in grids all on target light spot imageRelative displacement (Δ x as targetT,ΔyT) to get the displacement of measurand beWherein, N is the hot spot sum on target light spot image, Δ xsn、Δ
ysnRespectively n-th of hot spot X, Y-direction with respect to the sub- origin of grid where it displacement.
As a preferred solution of the present invention, material used by substrate described in step 1 is devitrified glass, invar or multiple
Condensation material.
As a preferred solution of the present invention, the X described in step 2 using computer identification target light spot image, the side Y
To, method particularly includes:
An aperture A is arbitrarily chosen on target, and aperture B, the column where aperture A are chosen on the row where aperture A
Upper selection aperture C is spaced two apertures between aperture A and aperture B, an aperture, aperture A, B are spaced between aperture A and aperture C
An inequilateral right angled triangle is constituted with C, after being blocked to aperture A, B and C, target is shone using backlight
It is bright, while target image is acquired, it presses row, column progress gray value respectively to target image and adds up, obtain the corresponding ash in row, column direction
Accumulation curve is spent, X, the Y-direction of target light spot image are identified according to gray scale accumulation curve.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1, the present invention is innovatively handled the hot spot relative position of different location using machine vision technique, and is utilized
The mode for dividing grid region carrys out the accurate displacement information of extraction system, to realize contactless precision positioning, Ke Yiyou
Effect ground reduces error, improves hot spot micro-displacement precision.
2, the principle of the invention is clear, and method is novel effectively；Used device is simple, durable, inexpensive, mounting process
Simply, affected by environment small, positioning is more accurate, can meet the needs of non-touch precision measurement.
Detailed description of the invention
Fig. 1 is precision positioning measuring system schematic diagram of the present invention.
Local hot spot figure when Fig. 2 is computer identification direction of displacement of the present invention.
Fig. 3 is the gray scale accumulation curve of X-direction.
Fig. 4 is the gray scale accumulation curve of Y-direction.
Fig. 5 is to analyze facula position example using subregion Grid Method.
Fig. 6 is hot spot PsDisplacement diagram in grid P.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings.Below by
The embodiment being described with reference to the drawings is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Design philosophy of the present invention is: being based on more spot imaging methods, innovatively uses machine vision technique pair
The hot spot relative position of different location is handled, and is believed in the way of division grid region come the accurate displacement of extraction system
Breath, to realize contactless precision positioning.
As shown in Figure 1, target is made in facula information abundant, the aperture that same size is processed on substrate in order to obtain
Mark, and it is illuminated using backlight；Target is attached in measurand, it, will when measured object is subjected to displacement
Drive target mobile, so that uniform movement also occurs for all apertures；Visual imaging is carried out to target using digital camera, is computed
Machine image procossing completes the acquisition and spot displacement information of target hot spot, finally obtains relative position and the target of required hot spot
Displacement.
Substrate is made of light-permeable or the semi-transparent material with good environment stability, such as has minimum thermal expansion
Devitrified glass, invar or the composite material of coefficient.The aperture in camera imaging visual field is illuminated using appropriate ways, so
Target is imaged by camera afterwards, small pitch of holes is given value, therefore camera itself is not necessarily to demarcate.
As shown in Fig. 2, setting direction of displacement to measuring system, direction of displacement is identified convenient for computer.Firstly, the O that sets up an office is
The upper left angle point of Fig. 2, and provide the X and Y-direction of image.Secondly, using the method for blocking several apertures come really on target
Determine measuring system direction of displacement.As shown in Fig. 2, blocking three apertures in the aperture on target along X and Y-direction, composition is differed
Side right angled triangle.It completes to handle image by computer system the Image Acquisition of target by camera.By target figure
It adds up as carrying out gray value by ranks respectively, grey scale curve is as shown in Figure 3 and Figure 4.As can be seen from figs. 3 and 4 between spacing a is opposite
Highest gray scale peak value number away from the interval b is more, thus differentiates X and Y-direction.
Since target has several hot spots, the target image that computer acquires digital camera is handled, is extracted one by one
The two-dimension displacement of spot center, and the average displacement to obtain determining target, i.e. measurand are carried out to all spot displacements
Two-dimension displacement, thus it is proposed that the method for a new subregion Grid Method location spot.As shown in figure 5, by target figure
As being divided into several grids, i.e. subregion；Have in each grid and only one hot spot, by where obtaining target hot spot
Grid comes to target spot location.The average value of the displacement of hot spot in all grids is obtained, thereby determines that the displacement of target, i.e. quilt
Survey the displacement of object.
This method is specifically divided into following two step:
Step 1, grid positioning.As shown in figure 5, the note a length of Δ x of grid, width is Δ y, then the relatively total coordinate of certain grid P is former
The position of point O is that (i* Δ x, j* Δ y) is denoted as (Δ x for the sake of simplicityi,Δyj), wherein i and j is respectively on X and Y-direction
The grid number of the relatively total coordinate origin O of grid P.
Step 2, spot location.Hot spot P when target is integrally subjected to displacement, in grid PsDisplacement was as shown in fig. 6, note should
The sub- origin O of hot spot opposing grid PsDisplacement be (Δ xs,Δys), in formula, Δ xs、ΔysGrid P on respectively X, Y-direction
The sub- origin O of interior hot spot opposing grid PsDisplacement.
In summary step, hot spot PsThe relative displacement of relatively total coordinate origin O is grid positioning the sum of with spot location,
That is (xs,ys)=(Δ xi,Δyj)+(Δxs,Δys)。
By the average value of spot displacement in grids all on acquired imageAs the relative displacement of target, i.e.,
Obtain accurate displacement (the Δ x of measurandT,ΔyT) are as follows:
In formula, N is the hot spot sum in target acquired image, Δ xsn、ΔysnRespectively n-th hot spot X, Y-direction
The displacement of the sub- origin of its opposite place grid.
The above examples only illustrate the technical idea of the present invention, and this does not limit the scope of protection of the present invention, all
According to the technical idea provided by the invention, any changes made on the basis of the technical scheme each falls within the scope of the present invention
Within.
Claims (3)
1. a kind of precision visual method for rapidly positioning, which comprises the steps of:
Step 1, target, the arrangement of aperture rectangular array, and adjacent apertures are made in the aperture that same size is processed on substrate
Between spacing it is identical；Target is attached in measurand, and target is illuminated using backlight；
Step 2, visual imaging is carried out to target using digital camera, acquires target light spot image, it is left to define target light spot image
Upper angle point is total coordinate origin O, defines cross, the longitudinal respectively X, Y-direction of target light spot image, computer is utilized to identify target
The X of light spot image, Y-direction；
Step 3, target light spot image is divided into several grids, had in each grid and only one hot spot, pass through acquisition
Grid where target hot spot positions target hot spot, is specifically divided into following three step:
3.1, the grid P where target hot spot is positioned, remembers that a length of Δ x of grid, width are Δ y, then the relatively total coordinate of grid P
The position of origin O is that (i* Δ x, j* Δ y), is reduced to (Δ xi,Δyj), wherein i, j are respectively X, grid P is opposite in Y-direction
The grid number of total coordinate origin O；
3.2, target hot spot is positioned, the upper left corner for defining grid P is sub- origin Os, the son original of target hot spot opposing grid P
Point OsDisplacement be denoted as (Δ xs,Δys), wherein Δ xs、ΔysHot spot opposing grid P on respectively X, Y-direction in grid P
Sub- origin OsDisplacement；
The relative displacement of 3.3, the relatively total coordinate origin O of target hot spot are the sum of grid positioning and spot location, i.e. (xs,ys)=
(Δxi,Δyj)+(Δxs,Δys)；By the average value of spot displacement in grids all on target light spot imageAs
Relative displacement (the Δ x of targetT,ΔyT) to get the displacement of measurand beWherein, N is the hot spot sum on target light spot image, Δ xsn、Δ
ysnRespectively n-th of hot spot X, Y-direction with respect to the sub- origin of grid where it displacement.
2. precision visual method for rapidly positioning according to claim 1, which is characterized in that used by substrate described in step 1
Material is devitrified glass, invar or composite material.
3. precision visual method for rapidly positioning according to claim 1, which is characterized in that known described in step 2 using computer
The X of other target light spot image, Y-direction, method particularly includes:
An aperture A is arbitrarily chosen on target, and aperture B is chosen on the row where aperture A, is selected on the column where aperture A
Aperture C is taken, two apertures are spaced between aperture A and aperture B, an aperture, aperture A, B and C are spaced between aperture A and aperture C
An inequilateral right angled triangle is constituted, after being blocked to aperture A, B and C, target is illuminated using backlight, together
When acquire target image, pressing row, column respectively to target image, to carry out gray value cumulative, and it is tired to obtain the corresponding gray scale in row, column direction
Add curve, X, the Y-direction of target light spot image are identified according to gray scale accumulation curve.
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| CN113155755A (en) * | 2021-03-31 | 2021-07-23 | 中国科学院长春光学精密机械与物理研究所 | On-line calibration method for micro-lens array type imaging spectrometer |
| CN114252012A (en) * | 2021-12-22 | 2022-03-29 | 上海原能细胞生物低温设备有限公司 | Method for acquiring hole site of cryopreservation box |
| EP4230837A1 (en) | 2022-02-18 | 2023-08-23 | Sandvik Mining and Construction Lyon SAS | Apparatus for position detection, mine vehicle and method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111721212A (en) * | 2020-07-22 | 2020-09-29 | 沈阳云仿致准科技股份有限公司 | Target device and method for displacement measurement based on image recognition |
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| EP4230837A1 (en) | 2022-02-18 | 2023-08-23 | Sandvik Mining and Construction Lyon SAS | Apparatus for position detection, mine vehicle and method |
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Application publication date: 20191015 |