CN111238999A - Machine vision-based method and system for detecting contact time of probe and sample surface - Google Patents
Machine vision-based method and system for detecting contact time of probe and sample surface Download PDFInfo
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- CN111238999A CN111238999A CN202010017643.2A CN202010017643A CN111238999A CN 111238999 A CN111238999 A CN 111238999A CN 202010017643 A CN202010017643 A CN 202010017643A CN 111238999 A CN111238999 A CN 111238999A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N11/00—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties
- G01N11/10—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties by moving a body within the material
- G01N11/12—Investigating flow properties of materials, e.g. viscosity, plasticity; Analysing materials by determining flow properties by moving a body within the material by measuring rising or falling speed of the body; by measuring penetration of wedged gauges
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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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
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- 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
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
Abstract
A method and a system for detecting contact time of a probe and the surface of a sample based on machine vision belong to the technical field of asphalt penetration tests. The technical points are as follows: the method comprises the following steps: the device comprises a probe shadow forming module for forming a clear shadow of the probe, an image acquisition module for acquiring a video image in real time, and a contact point detection module for calculating and analyzing the contact time of the probe and the surface of the sample. Has the advantages that: the method and the system for detecting the contact time of the probe and the surface of the sample based on the machine vision solve the problem of large error when observation operation is carried out manually, form clear shadow of the probe through the probe shadow forming module, collect video images in real time through the image collecting module, calculate and analyze image data through the contact point detecting module, prepare a result through a series of calculating methods, and effectively improve the accuracy of rigid contact between the standard needle and the surface of the sample.
Description
Technical Field
The invention belongs to the technical field of asphalt penetration tests, and particularly relates to a method and a system for detecting contact time between a probe and a sample surface based on machine vision.
Background
With the rapid development of economy in China, the traffic industry is also highly emphasized, particularly in the aspect of high-grade highway construction, because the corresponding construction specifications are not met, construction errors are caused, and cracks and damage occur to asphalt pavements. The scientific technology is continuously improved, the quality and the quality of the asphalt are also improved, the quality control is strictly carried out on the pavement engineering, the detection work of asphalt materials is further perfected, and the service life of the highway is prolonged. The penetration of bitumen is an expression for identifying the consistency of bitumen, reflecting the nature of the bitumen, and is determined by its penetration depth at a time and temperature according to the standard specification for the penetration of bitumen in GB/T4509-1998 bitumen. The method can measure the high temperature and the stability of the asphalt, namely the temperature sensitivity of the asphalt, can be used as an index for asphalt division, has important effects on the quality and the performance of the asphalt, and the improvement of the accuracy of the penetration of the asphalt is to control the quality of the asphalt.
The asphalt penetration tester can be divided into a manual tester and a full-automatic tester, and the asphalt penetration tester mainly comprises the following components: a standard needle, a sample vessel (metal or glass container), a thermostatic water bath, a flat-bottom glass vessel (the capacity is not less than 350mL, a tripod is arranged inside), a timer, a thermometer and the like.
The core idea of the working principle is that (taking a manual asphalt penetration tester as an example): when testing in a water bath, directly placing the sample dish on a bracket soaked in water to ensure that the sample is completely soaked in the water; slowly putting down the needle connecting rod to enable the needle point to just contact the surface of the sample, placing a light source at a proper position to observe the needle point when necessary, enabling the needle point to just contact the projection of the underwater needle head, slightly pulling down the movable rod to enable the movable rod to contact the top end of the needle connecting rod, and adjusting the dial reading on the penetrometer to zero or return to zero. The needle connecting rod is quickly released within a specified time, and simultaneously a stopwatch or a timing device is started, so that the standard needle freely falls and penetrates into the asphalt sample, and the standard needle stops moving after the specified time. And pulling down the movable rod, and then contacting the movable rod with the top end of the needle connecting rod, wherein the reading of the dial pointer is the penetration of the sample, the same sample is repeatedly measured at least three times, and the average value is taken as the test result.
The main problems of the prior asphalt penetration test are as follows: the contact between the standard needle and the surface of the sample is a difficult point, and the greatest artificial factor is, at present, the common method is to observe the reflection of the standard needle in water, so that the needle point and the surface of the sample are just contacted, if the needle point is not contacted with the sample, the penetration value is larger, and if the needle point is penetrated into the sample, the penetration value is smaller.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a method and a system for detecting the contact time of a probe and a sample surface based on machine vision, which can effectively improve the accuracy of the rigid contact between a standard probe and the sample surface.
The technical scheme is as follows:
a machine vision based probe contact timing detection system for a sample surface, comprising:
a probe shadow forming module: for forming a sharp shadow of the probe;
an image acquisition module: the system is used for acquiring video images in real time;
a contact point detection module: used for calculating and analyzing the contact time of the probe and the surface of the sample and sending out a driving control signal.
Further, the probe shadowing module includes: the electric wire comprises a cold light source, a protective cover, an electric wire, a support and a power supply, wherein one end of the electric wire is connected with the power supply, the other end of the electric wire is connected with the cold light source, the cold light source is nested in the protective cover, the support is used for supporting the electric wire, and the electric wire is arranged in a waterproof deformable connecting band.
Further, the image acquisition module is a digital camera or an analog camera, and an optical axis of the digital camera or the analog camera is perpendicular to a plane formed by the probe and a shadow thereof.
The invention also comprises a machine vision-based method for detecting the contact time of the probe and the surface of the sample, which comprises the following steps:
s1, probe position initialization and gray scale feature acquisition: clicking a probe in the collected image, or framing the probe by using a rectangular frame, and obtaining the characteristics of the probe such as the gray mean value, the variance and the like;
s2, background construction: continuously acquiring t frame images, taking the average value of the t frame images as a background and recording the background as B, wherein t is more than or equal to 5 and less than or equal to 10;
s3, acquiring a current frame, and recording as f;
s4, determining probe and shadow candidate areas: differentiating f and B, and carrying out binarization and marking as M;
s5 detection of probe edge point and position
S51, carrying out vertical edge detection on M to obtain probe candidate point diagrams which are respectively marked as Cn;
s52, in Cn, combining the position characteristics, the gray characteristics and the direction characteristics of the probe, removing noise points to obtain a probe edge map, and marking the probe edge map as En;
s53, vertically projecting En, and taking the position of the maximum projection value as the x coordinate of the probe;
s6 shadow edge point and position detection
S61, respectively carrying out horizontal edge detection on the M to obtain shadow candidate point diagrams, and respectively recording the shadow candidate point diagrams as Cs;
s62, in Cs, combining low-brightness features and direction features, removing noise points to obtain a shadow edge image, and recording the shadow edge image as Es;
s63, horizontally projecting Es, and taking the position of the maximum projection value as the y coordinate of the shadow;
s7 detection of contact point between probe and sample surface
S71, in Es, calculating the number of shadow points in a rectangle determined by a point (x-w, y-h) and a point (x-w, y + h), and recording the number as Ns;
s72, in En, calculating the number of the edge points in the rectangle determined by the point (x-w, y-h) and the point (x-w, y + h), and recording the number as Nn;
s73, if Ns and Nn are both larger than the preset threshold value, sending a signal to the drive control module, and finishing the detection;
wherein w and h respectively represent half of the width and height of a rectangular region intersecting the shadow at the bottom end of the judgment probe, the rectangle takes (x, y) as the center, w is more than or equal to 4 and less than or equal to 10, and h is more than or equal to 4 and less than or equal to 10.
Further, in step S2, the value of t is 5.
Further, in step S4, the binarization method adopts an algorithm of jingjin.
Further, detecting a detection end signal, if the detection end signal is received, ending the detection, otherwise, executing step S3 to step S7.
The method and the system for detecting the contact time of the probe and the surface of the sample based on the machine vision solve the problem of large error when observation operation is carried out manually, form clear shadow of the probe through the probe shadow forming module, collect video images in real time through the image collecting module, calculate and analyze image data through the contact point detecting module, prepare a result through a series of calculating methods, and effectively improve the accuracy of rigid contact between the standard needle and the surface of the sample.
Drawings
FIG. 1 is a structural diagram of a system for detecting the contact time between a probe and a sample surface based on machine vision according to the present invention;
FIG. 2 is a schematic diagram of the structure of a probe shadow forming module according to the present invention;
FIG. 3 is a flow chart of the method for detecting the contact time between the probe and the surface of the sample based on machine vision according to the present invention;
reference numbers in the figures: 1-probe, 2-glassware, 3-probe shadow, 4-cold light source, 5-protective cover, 6-wire, 7-bracket and 8-horizontal plane.
Detailed Description
The method and system for detecting the contact time between the probe and the sample surface based on machine vision will be further described with reference to fig. 1-3.
The invention provides a method for detecting the contact time of a probe and the surface of a sample.
1. System composition and each part function
The system consists of a probe shadow forming module, an image acquisition module, a contact point detection module and a driving control module. The probe shadow forming module mainly forms a clear shadow of the probe through the installation of a cold light source; the image acquisition module acquires video in real time through the camera and inputs the video into the subsequent contact point detection module; the contact point detection module is mainly used for analyzing the acquired image data through an algorithm, calculating whether the probe is in contact with the surface of the sample or not, and if the probe is in contact with the surface of the sample, transmitting a signal to the drive control module; the drive control module is used for controlling the movement of the probe, the zero setting of the dial of the penetrometer, the starting of the timing device and the like, and generally comprises a switch value card or a D/A.
2. Probe shadow Forming Module description
The probe shadow forming module mainly comprises a cold light source, a protective cover of the cold light source, a deformable connecting band, an electric wire, a support and a power supply. The cold light source 4 and the protective cover 5 are placed below the horizontal plane 8, and the deformable connecting band and the wire 6 have waterproof functions and are easy to adjust the angle of the light source. The power supply is a direct current or alternating current power supply matched with the cold light source 4, and can also be connected to a computer and other equipment to supply power through a USB.
2. Description of image acquisition Module
The camera can be a digital camera or an analog camera, and if the camera is the analog camera, the camera needs to be matched with an image acquisition card to form a digital image. The camera is preferably mounted so that the probe and shadow are clearly visible, typically with the optical axis of the camera perpendicular to the plane defined by the probe and its shadow, and preferably with the probe centered in the acquired image.
3. Description of contact detection Module
1) Turning on a light source power supply;
2) clicking the probe in the acquired image by using a mouse or a touch screen, or framing the probe by using a rectangular frame;
3) continuously acquiring t frame images, taking the average value of the t frame images as a background, recording the average value as B, wherein t is usually 5-10, and taking 5 as t in the implementation;
4) acquiring a current frame, and recording as f;
5) differentiating f and B, and carrying out binarization, and marking as M, wherein the binarization method can be Otsu and other methods;
6) respectively detecting a horizontal edge and a vertical edge of the M to obtain a probe and a shadow candidate point diagram thereof, and respectively recording the probe and the shadow candidate point diagram as Cn and Cs;
7) in Cn, combining the position characteristic, the gray characteristic and the direction characteristic of the probe, removing noise points to obtain a probe edge map, and marking the probe edge map as En;
8) vertically projecting En, and taking the position of the maximum projection value as the x coordinate of the probe;
9) in Cs, combining low-brightness characteristics and direction characteristics, removing noise points to obtain a shadow edge image, and recording the shadow edge image as Es;
10) carrying out horizontal projection on Es, and taking the position of the maximum projection value as a y coordinate of the shadow;
11) in Es, calculating the number of shadow points in a rectangle determined by points (x-w, y-h) and (x-w, y + h), and recording as Ns, wherein w and h are preset values and can also be set as a rectangular frame in 1); w and h represent half the width and height, respectively, of a rectangular area where the bottom end of the judgment probe intersects the shadow, the rectangle being centered at (x, y). w and h typically range from 4 to 10.
12) In En, calculating the number of shaded points in the rectangle determined by the point (x-w, y-h) and the point (x-w, y + h), and recording the number as Nn;
13) if both Ns and Nn are larger than the preset threshold value, sending a signal to a drive control module, and finishing the detection; the value range of the threshold is between w × h and 4 × w × h;
14) detecting a detection ending signal, if the detection ending signal is received, ending the detection, otherwise, executing the steps 4) to 14).
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (7)
1. A machine vision-based probe and sample surface contact timing detection system, comprising:
a probe shadow forming module: for forming a sharp shadow of the probe;
an image acquisition module: the system is used for acquiring video images in real time;
a contact point detection module: used for calculating and analyzing the contact time of the probe and the surface of the sample and sending out a driving control signal.
2. The machine-vision-based probe-contact-timing detection system of claim 1, wherein the probe shadowing module comprises: the solar energy cold light source comprises a cold light source (4), a protective cover (5), an electric wire (6), a support (7) and a power supply, wherein one end of the electric wire (6) is connected with the power supply, the other end of the electric wire is connected with the cold light source (4), the cold light source (4) is nested in the protective cover (5), the support (7) is used for supporting the electric wire (6), and the electric wire (6) is arranged in a waterproof deformable connecting belt.
3. The system for detecting the contact timing of a probe with a sample surface based on machine vision as claimed in claim 1, wherein said image acquisition module is a digital camera or an analog camera, the optical axis of which is perpendicular to the plane formed by the probe and its shadow.
4. A method for detecting the contact time of a probe and a sample surface based on machine vision is characterized by comprising the following steps:
s1, probe position initialization and gray scale feature acquisition: clicking a probe in the collected image, or framing the probe by using a rectangular frame, and obtaining the characteristics of the probe such as the gray mean value, the variance and the like;
s2, background construction: continuously acquiring t frame images, taking the average value of the t frame images as a background and recording the background as B, wherein t is more than or equal to 5 and less than or equal to 10;
s3, acquiring a current frame, and recording as f;
s4, determining probe and shadow candidate areas: differentiating f and B, and carrying out binarization and marking as M;
s5 detection of probe edge point and position
S51, carrying out vertical edge detection on M to obtain probe candidate point diagrams which are respectively marked as Cn;
s52, in Cn, combining the position characteristics, the gray characteristics and the direction characteristics of the probe, removing noise points to obtain a probe edge map, and marking the probe edge map as En;
s53, vertically projecting En, and taking the position of the maximum projection value as the x coordinate of the probe;
s6 shadow edge point and position detection
S61, respectively carrying out horizontal edge detection on the M to obtain shadow candidate point diagrams, and respectively recording the shadow candidate point diagrams as Cs;
s62, in Cs, combining low-brightness features and direction features, removing noise points to obtain a shadow edge image, and recording the shadow edge image as Es;
s63, horizontally projecting Es, and taking the position of the maximum projection value as the y coordinate of the shadow;
s7 detection of contact point between probe and sample surface
S71, in Es, calculating the number of shadow points in a rectangle determined by a point (x-w, y-h) and a point (x-w, y + h), and recording the number as Ns;
s72, in En, calculating the number of the edge points in the rectangle determined by the point (x-w, y-h) and the point (x-w, y + h), and recording the number as Nn;
s73, if Ns and Nn are both larger than the preset threshold value, sending a signal to the drive control module, and finishing the detection;
wherein w and h respectively represent half of the width and height of a rectangular region intersecting the shadow at the bottom end of the judgment probe, the rectangle takes (x, y) as the center, w is more than or equal to 4 and less than or equal to 10, and h is more than or equal to 4 and less than or equal to 10.
5. The method for detecting contact timing of a probe with a surface of a sample based on machine vision according to claim 4, wherein in step S2, t is 5.
6. The method for detecting the contact time of the probe and the surface of the sample based on the machine vision as claimed in claim 4, wherein in the step S4, the binarization method adopts an Otsu algorithm.
7. The method for detecting contact timing between a probe and a sample surface according to claim 4, wherein a detection end signal is detected, and if the detection end signal is received, the current detection is ended, otherwise, steps S3 to S7 are performed.
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