CN110399123B - Visual guidance system image processing framework class library and design method thereof - Google Patents
Visual guidance system image processing framework class library and design method thereof Download PDFInfo
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Abstract
The invention discloses a visual guidance system image processing frame class library and a design method thereof, wherein the design method comprises the following steps: 1) Deriving a data source class, an algorithm class and a result processing class by using the object management class; the data source type packages the image collecting action and is responsible for collecting images and obtaining data; processing algorithm type packaging data, namely comparing data source type data with a standard image to obtain a deviation matrix of the tail end of the robot; the result processing type encapsulation result is output and is responsible for converting the deviation matrix into a format suitable for being transmitted to the robot and realizing communication with the robot; 2) Binding the scheduling relation among the data source class, the algorithm class and the result processing class by using the interface provided by the mapping management class; 3) And running management type encapsulation control, which is responsible for triggering data source type drawing collection according to preset conditions and finally outputting a deviation matrix to the robot. The frame class library and the design method package a typical visual guide scene, reduce the development amount of repetitive codes and shorten the software development time.
Description
Technical Field
The invention relates to the field of software design, in particular to a visual guidance system image processing framework class library and a design method thereof.
Background
In recent years, with the development of industrial automation, visual guidance is increasingly applied to smart manufacturing plants. In the visual guidance process, the camera is used for collecting images, the collected images are matched with the template images to obtain the deviation between the actual position and the target position, the running track of the robot is corrected based on the deviation, and the robot is guided to grab the workpiece. However, since the robot needs to collect a large number of images, similar function codes need to be repeatedly developed in the software development process, so that the code repetition degree is high, and the weight cannot be reduced.
Disclosure of Invention
In order to solve the technical problems, the invention provides a visual guidance system image processing framework class library and a design method thereof, which encapsulate a typical visual guidance scene, greatly reduce the development amount of repetitive codes and shorten the software development time.
Therefore, the technical scheme of the invention is as follows:
a design method of a visual guidance system image processing framework class library comprises the following steps:
1) Deriving a data source class, an algorithm class and a result processing class by using the object management class;
the data source type packages the image acquisition action and is responsible for image acquisition of the camera to obtain image acquisition result data;
the algorithm type encapsulation data processing is used for comparing data source type image acquisition result data with a standard image to obtain a deviation matrix of the tail end of the robot;
the result processing type encapsulation result is output and is responsible for converting the deviation matrix obtained by the algorithm type into a format suitable for being transmitted to the robot so as to realize communication between the robot and the result processing type encapsulation result;
2) Binding the scheduling relation among the data source class, the algorithm class and the result processing class by using the interface provided by the mapping management class;
3) And the operation management type encapsulation control is responsible for triggering data source type image collection according to preset conditions, controlling the operation of an algorithm type and a result processing type according to the scheduling relation bound by the mapping management type, and outputting a deviation matrix to the robot to adjust the pose to finish the action.
Further, there are a plurality of the data source classes.
Further, the system also comprises an interface module which is a scheduling entrance of all functions; which can call the object management class, the mapping management class, and the operation management class, respectively.
Further, the result processing class is also packaged with result output for the display device and is responsible for converting any one or combination of the deviation matrix, the data source image acquisition result data and the comparison result of the data source image acquisition result data and the standard image into a format which can be received by the display device.
A visual guidance system image processing frame class library comprises an object management class, a mapping management class and an operation management class;
the object management class derives a data source class, an algorithm class and a result processing class; the data source type packages the image acquisition action and is responsible for acquiring images by a camera and acquiring image acquisition result data; the algorithm type encapsulation data processing is used for comparing data source type image acquisition result data with a standard image to obtain a deviation matrix of the tail end of the robot; the result processing type encapsulation result is output and is responsible for converting the deviation matrix obtained by the algorithm type into a format suitable for being transmitted to the robot so as to realize communication between the robot and the result processing type encapsulation result;
the mapping management class provides a scheduling relation among an interface binding data source class, an algorithm class and a result processing class;
and the operation management type encapsulation control is responsible for triggering data source type drawing collection according to preset conditions, controlling the operation of algorithm type and result processing type according to the scheduling relation bound by the mapping management type, and outputting a deviation matrix to the robot to adjust the pose so as to finish the action.
Further, the visual guidance system image processing framework class library also comprises an interface module, and the interface module can respectively call the object management class, the mapping management class and the operation management class to execute related actions.
Further, there are a plurality of the data source classes.
Further, the result processing class is packaged with result output for the display device and is responsible for converting any one or combination of the deviation matrix, the data source image acquisition result data and the comparison result of the data source image acquisition result data and the standard image into a format which can be received by the display device.
The image processing frame class library of the visual guidance system and the design method thereof encapsulate a typical visual guidance scene, thereby greatly reducing the development of repetitive codes.
Drawings
FIG. 1 is a schematic diagram of a visual guidance system image processing framework class library according to the present invention;
fig. 2 is a schematic diagram of a scheduling relationship among the data source classes, the algorithm classes, and the result processing classes bound by the mapping management class when the number of the data source classes is 3.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings and examples.
A design method of a visual guidance system image processing frame class library comprises the following steps:
1) Deriving a data source class, an algorithm class and a result processing class by using the object management class;
the data source type packages the image acquisition action and is responsible for acquiring images by a camera and acquiring image acquisition result data;
processing algorithm type packaging data, wherein the algorithm type packaging data is responsible for comparing data source type image collection result data with a standard image to obtain a deviation matrix of the tail end of the robot;
the result processing type encapsulation result is output, and the result processing type encapsulation result is responsible for converting the deviation matrix obtained by the algorithm type into a format suitable for being transmitted to the robot so as to realize communication between the result processing type encapsulation result and the robot;
2) Binding the scheduling relation among the data source class, the algorithm class and the result processing class by using the interface provided by the mapping management class;
3) And the operation management type encapsulation control is responsible for triggering data source type image collection according to preset conditions, controlling the operation of an algorithm type and a result processing type according to the scheduling relation bound by the mapping management type, and outputting a deviation matrix to the robot to adjust the pose to finish the action. In order to realize the checking of the data generated by each stage by the staff, the result processing class also encapsulates the result output of the display equipment and is responsible for converting any one or combination of the deviation matrix, the data source image acquisition result data and the comparison result of the data source image acquisition result data and the standard image into a format which can be received by the display equipment.
The visual guidance system image processing frame class library is convenient for interaction with the outside and a user to call each module, and also comprises an interface module which can call an object management class, a mapping management class and an operation management class respectively to execute related actions.
One or more data sources in the technical scheme can be provided, and a visual guidance system image processing framework class library containing 3 data source classes is described below.
A visual guidance system image processing frame class library comprises an object management class, a mapping management class and an operation management class;
the object management class derives 3 data source classes, algorithm classes and result processing classes; each data source type packages a picture-taking action and is responsible for taking pictures by a camera to obtain picture-taking result data; processing algorithm type packaging data, namely comparing data of data source type image acquisition results with standard images to obtain a deviation matrix of the tail end of the robot; the result processing type encapsulation result is output, and the result processing type encapsulation result is responsible for converting the deviation matrix obtained by the algorithm type into a format suitable for being transmitted to the robot so as to realize communication between the result processing type encapsulation result and the robot;
the mapping management class provides an interface to bind scheduling relations among 3 data source classes, algorithm classes and result processing classes (as shown in fig. 2);
and the operation management type encapsulation control is responsible for triggering data source type image collection according to preset conditions, controlling the operation of an algorithm type and a result processing type according to the scheduling relation bound by the mapping management type, and outputting a deviation matrix to the robot to adjust the pose to finish the action.
As an improvement to the above scheme, the result processing class is packaged with a result output for the display device, and is responsible for converting any one or combination of the three items of the deviation matrix, the data source image acquisition result data, and the comparison result between the data source image acquisition result data and the standard image into a format which can be received by the display device.
The image processing frame class library of the visual guidance system and the design method thereof encapsulate a typical visual guidance scene, thereby greatly reducing the development of repetitive codes. Such as: in the visual guidance system which does not use the design method, if 3 times of photographing is needed in one guidance process, three times of camera photographing API (application program interface) needs to be called in different code processes for photographing, and at the moment, three times of compiling and resolving processes of transmission codes need to be carried out. However, in the visual guidance system adopting the design method, the photographing process is only one data source, the mapping relation is set in advance according to the application scene, a programmer does not need to write codes for multiple times, only needs to add a plurality of data sources, the follow-up work can be completed, and the repetitive workload is greatly reduced. Particularly in the process of visual guidance for automobile manufacturing, the number of drawings taken and the process of calculation vary depending on the parts of the vehicle model because of different vehicle models. After the design method provided by the invention is adopted, the visual guidance can realize the configuration of the drawing collection times and the calculation process. Aiming at parts of different vehicle types, a data source, an algorithm source and a result processing source are flexibly configured without rewriting codes, so that the reusability of the equipment is realized.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable others skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications thereof. It is intended that the scope of the invention be defined by the following claims and their equivalents.
Claims (8)
1. A design method of a visual guidance system image processing frame class library is characterized by comprising the following steps:
1) Deriving a data source class, an algorithm class and a result processing class by using the object management class;
the data source type packages the image acquisition action and is responsible for acquiring images by a camera and acquiring image acquisition result data;
the algorithm type encapsulation data processing is used for comparing data source type image acquisition result data with a standard image to obtain a deviation matrix of the tail end of the robot;
the result processing type encapsulation result is output and is responsible for converting the deviation matrix obtained by the algorithm type into a format suitable for being transmitted to the robot so as to realize communication between the robot and the result processing type encapsulation result;
2) Binding the scheduling relation among the data source class, the algorithm class and the result processing class by using an interface provided by the mapping management class;
3) And the operation management type encapsulation control is responsible for triggering data source type image collection according to preset conditions, controlling the operation of an algorithm type and a result processing type according to the scheduling relation bound by the mapping management type, and outputting a deviation matrix to the robot to adjust the pose to finish the action.
2. The design method of claim 1, wherein: there are a plurality of the data source classes.
3. The design method of claim 1, wherein: the system also comprises an interface module which is a scheduling entrance of all functions; which can call the object management class, the mapping management class, and the operation management class, respectively.
4. The design method of claim 1, wherein: and the result processing class is also packaged with result output for the display equipment and is responsible for converting any one or combination of the deviation matrix, the data source image acquisition result data and the comparison result of the data source image acquisition result data and the standard image into a format which can be received by the display equipment.
5. A visual guidance system image processing framework class library, characterized by: the method comprises the following steps of (1) including an object management class, a mapping management class and an operation management class;
the object management class can derive a data source class, an algorithm class and a result processing class; the data source type packages the image acquisition action and is responsible for image acquisition of the camera to obtain image acquisition result data; the algorithm type encapsulation data processing is used for comparing data source type image acquisition result data with a standard image to obtain a deviation matrix of the tail end of the robot; the result processing type encapsulation result is output and is responsible for converting the deviation matrix obtained by the algorithm type into a format suitable for being transmitted to the robot so as to realize communication between the robot and the result processing type encapsulation result;
the mapping management class provides a scheduling relation among an interface binding data source class, an algorithm class and a result processing class;
and the operation management type encapsulation control is responsible for triggering data source type drawing collection according to preset conditions, controlling the operation of algorithm type and result processing type according to the scheduling relation bound by the mapping management type, and outputting a deviation matrix to the robot to adjust the pose so as to finish the action.
6. The visual guidance system image processing framework class library of claim 5, wherein: the system also comprises an interface module which can respectively call the object management class, the mapping management class and the operation management class to execute relevant actions.
7. The visual guidance system image processing framework class library of claim 5, wherein: there are a plurality of the data source classes.
8. The visual guidance system image processing framework class library of claim 5, wherein: and the result processing class is packaged with result output to the display equipment and is responsible for converting any one or combination of the deviation matrix, the data source image acquisition result data and the comparison result of the data source image acquisition result data and the standard image into a format which can be received by the display equipment.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007034489A (en) * | 2005-07-25 | 2007-02-08 | Ricoh Co Ltd | Image processor, image processing method, program and storage medium |
| CN101122852A (en) * | 2006-08-08 | 2008-02-13 | 华为技术有限公司 | On-line business processing system middleware package method |
| CN104298496A (en) * | 2013-07-19 | 2015-01-21 | 上海宝信软件股份有限公司 | Data-analysis-based software development framework system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007034489A (en) * | 2005-07-25 | 2007-02-08 | Ricoh Co Ltd | Image processor, image processing method, program and storage medium |
| CN101122852A (en) * | 2006-08-08 | 2008-02-13 | 华为技术有限公司 | On-line business processing system middleware package method |
| CN104298496A (en) * | 2013-07-19 | 2015-01-21 | 上海宝信软件股份有限公司 | Data-analysis-based software development framework system |
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