CN111464723A - Method for expanding illumination intensity range and hand-eye system - Google Patents
Method for expanding illumination intensity range and hand-eye system Download PDFInfo
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- CN111464723A CN111464723A CN202010256457.4A CN202010256457A CN111464723A CN 111464723 A CN111464723 A CN 111464723A CN 202010256457 A CN202010256457 A CN 202010256457A CN 111464723 A CN111464723 A CN 111464723A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/741—Circuitry for compensating brightness variation in the scene by increasing the dynamic range of the image compared to the dynamic range of the electronic image sensors
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Abstract
The invention belongs to the field of artificial intelligence, and relates to a method for expanding the illumination intensity range and a hand-eye system, wherein in step S1, a camera acquires image information of an object through a bar-shaped gray lens group and sends the image information to computing equipment; step S2, the computing equipment carries out gray processing on the image information to obtain a gray image; step S3, determining whether the exposure ratio of the grayscale image is greater than a preset exposure threshold: if yes, go to step S4; if not, ending; in step S4, the computing device controls the mechanical arm to drive the camera to move through a single neutral gray mirror along the plane where the neutral gray mirror is located, and then the process goes to step S1. The beneficial effects of the above technical scheme are: the problem of the camera shooting of working in the open air appears overexposure easily is solved, very big improvement the illumination intensity scope of camera work, in addition, this equipment's simple structure, low price.
Description
Technical Field
The invention belongs to the field of artificial intelligence, and relates to a method for expanding the illumination intensity range and a hand-eye system.
Background
In the process of acquiring an image, the hand-eye system robot often encounters the situation that the image is overexposed due to overhigh illumination intensity of the working environment.
Two cameras are often used in the prior art to solve the problem, but all have drawbacks:
(1) in order to meet the working environment of low light (only auxiliary light at night), the camera which cannot automatically adjust the exposure degree generally adjusts the aperture to a certain value which is lower, but after the aperture is adjusted, the illumination intensity range which can normally work is certain and can not be changed, so that the camera can shoot pictures in a strong light environment (too high sunlight or vehicle light irradiation) and overexposure can not be carried out, and image processing can not be carried out;
(2) the adjustment of the exposure level can be performed by an adjustment function provided in the camera itself with the aid of software, however, the camera capable of adjusting the exposure level is much more expensive than a general camera in addition to requiring the aid of the software function.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a method for expanding the illumination intensity range, and a hand-eye system.
A method for expanding the illumination intensity range is used for a hand-eye system, and is characterized in that a plurality of medium gray mirrors with the same size but different dimming ratios are sequentially arranged according to the variation trend of the dimming ratios to form a strip-shaped medium gray mirror group, and all the medium gray mirrors in the strip-shaped medium gray mirror group are positioned in the same plane;
a camera is arranged at one end of a mechanical arm in the hand-eye system;
the strip-shaped gray mirror group is arranged between the camera and an object to be measured, and the shooting direction of the camera is vertical to the plane of the gray mirror;
the method further comprises the following steps:
step S1, the camera acquires the image information of the object through the bar-shaped gray mirror group and sends the image information to a computing device connected with the camera;
step S2, the computing equipment carries out gray processing on the image information to obtain a gray image;
step S3, determining whether the exposure ratio of the grayscale image is greater than a preset exposure threshold:
if yes, go to step S4;
if not, ending;
and S4, the computing equipment controls the mechanical arm connected with the computing equipment to drive the camera to move along the plane where the neutral gray mirror is located and pass through the single neutral gray mirror, and then the step S1 is carried out.
Preferably, the height of a single middle gray mirror is 10 cm.
Preferably, the section of the neutral gray mirror is rectangular.
Preferably, in the step S2,
the computing equipment performs gray processing on the image information and acquires gray values of all pixels in the gray image;
the step S3 specifically includes:
step S31, comparing the gray values of all the pixels in the gray image with preset gray threshold values respectively, and outputting comparison results;
step S32, according to the comparison result, processing to obtain the proportion result of the pixels larger than the gray threshold value in all the pixels, and taking the proportion result as the exposure proportion;
step S33, determining whether the exposure ratio is greater than the exposure threshold:
if yes, go to step S4;
if not, the process is ended.
Preferably, the grayscale threshold is 254.
A hand-eye system, characterized by being applied to the method for expanding the illumination intensity range as described, and comprising:
the linear gray lens group is formed by vertically arranging a plurality of gray lenses with the same size and different dimming ratios according to the dimming ratio from high to low, and all the gray lenses in the linear gray lens group are positioned in the same plane;
a mechanical arm;
a camera disposed on one end of the robotic arm;
the strip-shaped gray lens group is arranged between the camera and an object to be measured;
the shooting direction of the camera is perpendicular to the plane of the gray mirror and is used for acquiring the image information of the object through the strip gray mirror group;
and the computing equipment is respectively connected with the mechanical arm and the camera and is used for judging whether the exposure proportion of the gray level image is greater than a preset exposure threshold value or not and controlling the mechanical arm to drive the camera to move along the plane where the gray level lens is located according to the judgment result.
Preferably, the computing device specifically includes:
the image processing unit is connected with the camera and used for receiving the image information acquired by the camera and carrying out gray level processing on the image information to obtain a gray level image;
the first judgment unit is connected with the image processing unit and used for comparing the gray values of all pixels in the gray image with the gray threshold respectively and outputting a comparison result;
the proportion acquisition unit is connected with the first judgment unit and used for processing a comparison result to obtain a proportion result of pixels larger than the gray threshold value in all the pixels and outputting the proportion result as the exposure proportion;
a second determining unit, in which an exposure threshold is preset, and the second determining unit is connected to the ratio obtaining unit, and is configured to receive the exposure ratio, determine whether the exposure ratio is greater than the exposure threshold, and output a determination result;
the control unit is respectively connected with the second judging unit and the mechanical arm and is used for:
and when the exposure proportion of the gray level image is greater than a preset exposure threshold value, controlling the mechanical arm to drive the camera to move through a single gray level lens along the plane where the gray level lens is located.
And when the exposure proportion of the gray level image is not greater than a preset exposure threshold value, no control is performed.
The beneficial effects of the above technical scheme are: the problem of the camera shooting of working in the open air appears overexposure easily is solved, very big improvement the illumination intensity scope of camera work, in addition, this equipment's simple structure, low price.
Drawings
FIG. 1 is a schematic illustration of the apparatus in a preferred embodiment of the invention;
FIG. 2 is a schematic flow chart of a preferred embodiment of the present invention;
FIG. 3 is a flowchart of step S3 in a preferred embodiment of the present invention;
FIG. 4 is a diagram of the internal structure of a computing device in a preferred embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
A method for expanding the illumination intensity range is used for a hand-eye system, and is characterized in that as shown in figure 1, a plurality of medium gray mirrors 11 with the same size but different dimming ratios are sequentially arranged according to the variation trend of the dimming ratios to form a strip-shaped medium gray mirror group 1, and all the medium gray mirrors 11 in the strip-shaped medium gray mirror group 1 are positioned in the same plane;
a camera 3 is arranged at one end of a mechanical arm in the hand-eye system;
the bar-shaped gray lens group 1 is arranged between the camera 3 and an object to be measured, and the shooting direction of the camera 3 is vertical to the plane of the gray lens 11;
a method for expanding the illumination intensity range, as shown in fig. 2, further comprising:
step S1, the camera 3 acquires image information of the object through the bar-shaped middle gray lens group 1 and sends the image information to a computing device 4 connected with the camera 3;
step S2, the computing device 4 performs a gray processing on the image information to obtain a gray image;
step S3, determining whether the exposure ratio of the grayscale image is greater than a preset exposure threshold:
if yes, go to step S4;
if not, ending;
in step S4, the computing device 4 controls the mechanical arm 2 connected to the computing device to drive the camera 3 to move through a single neutral gray lens along the plane where the neutral gray lens group 1 is located, and then goes to step S1.
Specifically, most of the existing hand-eye systems include a mechanical arm 2 and a camera 3, the camera 3 is disposed on the mechanical arm 2, a plurality of gray mirrors 11 with the same size but different dimming ratios are sequentially arranged according to the variation trend of the dimming ratios to form a bar-shaped gray mirror group 1, the bar-shaped gray mirror group 1 is disposed between the camera 3 and an object to be measured, and the camera 3 is driven to move by controlling the movement of the mechanical arm 2, so as to acquire image information. In step S1, the camera 3 acquires image information through the bar-shaped middle gray mirror group 1, and sends the image information to the computing device 4, in step S2, the computing device 4 performs gray processing on the image information to obtain a gray image, and in step S3, it is determined whether an exposure ratio of the gray image is greater than a preset exposure threshold: if the exposure proportion is greater than the preset exposure threshold value, the step S4 is carried out, the computing device 4 is connected with the mechanical arm 2, a control signal is sent to the mechanical arm 2, the mechanical arm 2 drives the camera 3 to move through a single gray lens along the plane where the gray lens is located under the control of the computing device 4, the step S1 is carried out, the gray image of the object is obtained again and judged until the exposure proportion is not greater than the preset exposure threshold value, the camera 3 at the moment can obtain clear image information under the dimming effect of the bar-shaped gray lens group 1, the image information is sent to the computing device 4, and the computing device 4 is enabled to process the image information.
Further, the arrangement order of the gray mirrors 11 in the bar-shaped gray mirror group 1 may be arranged according to an increasing trend of the dimming ratio of the gray mirrors 11, or may be arranged according to a decreasing order of the dimming ratio. In addition, the middle gray mirror 11 can be vertically placed to form a vertical plane, can be horizontally placed to form a horizontal plane, and can also be obliquely placed to form an oblique plane, when the computing device 4 controls the mechanical arm 2 to drive the camera 3 to move, corresponding control is performed according to the placement mode of the middle gray mirror 11, it is ensured that the computing device 4 controls the camera 3 to move through a single middle gray mirror along the plane of the middle gray mirror group 1, the camera 3 moves to the position of the next middle gray mirror from the current position, the camera 3 obtains image information of an object through the next middle gray mirror, the dimming ratios of the middle gray mirrors are different, the image information obtained by the camera is also different, and the control can be ended until the image information of the object obtained by the camera through the middle gray mirror is smaller than a preset exposure threshold after being processed.
In practical application, the strip-shaped gray lens group 1 with gradually changed dimming ratio is fixedly installed on a hand-eye system product, the dimming characteristic of the gray lens 11 is utilized, whether the illumination intensity of the working environment where the camera 3 is located is too high is judged by the computing equipment 4, if the situation that the camera 3 is subjected to image overexposure in the situation of obtaining images is found, the camera 3 is moved downwards to the gray lens 11 and then is shot, the light entering proportion of the lens of the camera 3 is reduced, and if the camera is still subjected to overexposure, the camera is continuously moved downwards to shoot until high-quality processable photos are obtained, so that the subsequent work can be normally completed by processing the photos.
In the preferred embodiment of the present invention, the height of one of the mesoscopic mirrors 11 is 10 cm.
Specifically, when the middle gray mirror 11 is placed vertically, the middle gray mirror 11 with the same size and the same height is 10cm but with different dimming ratios is selected to form the strip-shaped middle gray mirror group 1, when the computing device 4 determines that the exposure ratio of the gray image acquired by the camera 3 at the moment is greater than the exposure threshold, the computing device 4 is connected with the mechanical arm 2, the mechanical arm 2 is controlled to drive the camera 3 to move downwards by corresponding 10cm, the camera 3 at the moment acquires information through the middle gray mirror 11 with the larger dimming ratio, the exposure ratio in the exposure ratio of the gray image at the moment is reduced, the exposure ratio and the exposure threshold are compared and determined again at the moment, and if the exposure ratio is not greater than the exposure threshold, the middle gray mirror 11 at the moment can help the camera 3 to acquire clearer image information.
In the preferred embodiment of the present invention, the cross-section of the neutral gray mirror 11 is rectangular.
In the preferred embodiment of the present invention, in step S2,
the computing equipment 4 carries out gray processing on the image information and acquires gray values of all pixels in the gray image;
step S3, as shown in fig. 3, specifically includes:
step S31, comparing the gray values of all pixels in the gray image with preset gray threshold values respectively, and outputting comparison results;
step S32, according to the comparison result, processing to obtain the proportion result of the pixels larger than the gray threshold value in all the pixels, and taking the proportion result as the exposure proportion;
step S23, determining whether the exposure ratio is greater than the exposure threshold:
if yes, go to step S3;
if not, the process is ended.
In a preferred embodiment of the present invention, the threshold value is 254.
Specifically, in step S2, the computing device 4 performs gray processing on the image information to obtain gray values of all pixels in the gray image, in step S31, the computing device 4 compares the gray values of all pixels in the gray image with a preset gray threshold 254 and outputs the comparison result, in step S32, according to the comparison result, the computing device 4 obtains a ratio result of pixels larger than the gray threshold to all pixels, and uses the ratio result as an exposure ratio, in step S33, determines whether the exposure ratio is larger than the exposure threshold, and since the environment of the hand-eye system is different, the set exposure threshold is related to the actual environment, and the actual environment and the processing result of the computing device 4 can be modified by the staff. When the exposure proportion is greater than the exposure threshold, the image information acquired by the camera 3 is overexposed, and therefore the process goes to step S3, the computing device 4 controls the mechanical arm 2 to drive the camera 3 to adjust, when the exposure proportion is not greater than the exposure threshold, the process that the camera 3 can acquire clear image information is finished, and the computing device 4 processes the image according to the image information sent by the camera 3.
A hand-eye system comprising:
the gray lens group 1 is formed by sequentially arranging a plurality of gray lenses 11 which have the same size and different dimming ratios according to the variation trend of the dimming ratios, and all the gray lenses in the gray lens group 1 are positioned in the same plane.
A robot arm 2;
a camera 3, the camera 3 is arranged on one end of the mechanical arm 2;
the strip-shaped gray lens group 1 is arranged between the camera 3 and an object to be measured;
the shooting direction of the camera 3 is vertical to the plane where the middle gray mirror 11 is located, and is used for acquiring image information of an object through the strip-shaped middle gray mirror group 1;
and the computing equipment 4 is respectively connected with the mechanical arm 2 and the camera 3 and is used for judging whether the exposure proportion of the gray level image is greater than a preset exposure threshold value or not and controlling the mechanical arm 2 to drive the camera 3 to move along the plane where the neutral gray lens 11 is located according to the judgment result.
In a preferred embodiment of the present invention, as shown in fig. 4, the computing device 4 specifically includes:
the image processing unit 41, the image processing unit 41 is connected with the camera 3, and is used for receiving the image information acquired by the camera 3 and performing gray processing on the image information to obtain a gray image;
a first determining unit 42, wherein a gray threshold is preset in the first determining unit 42, and the first determining unit 42 is connected to the image processing unit 41, and is configured to compare gray values of all pixels in the gray image with the gray threshold respectively and output a comparison result;
a proportion acquiring unit 43, wherein the proportion acquiring unit 43 is connected with the first judging unit 42, and is used for processing the comparison result to obtain the proportion result of the pixels larger than the gray threshold value in all the pixels, and outputting the proportion result as the exposure proportion;
a second determining unit 44, wherein an exposure threshold is preset in the second determining unit 44, and the second determining unit 44 is connected to the ratio obtaining unit, and is configured to receive the exposure ratio, determine whether the exposure ratio is greater than the exposure threshold, and output a determination result;
a control unit 45, wherein the control unit 45 is respectively connected with the second judging unit 44 and the mechanical arm 2, and is used for:
when the exposure proportion of the gray scale image is larger than the preset exposure threshold value, the mechanical arm 2 is controlled to drive the camera 3 to move through the single gray scale mirror 11 along the plane where the gray scale mirror 11 is located.
And when the exposure proportion of the gray-scale image is not greater than the preset exposure threshold value, no control is performed.
Specifically, the camera 3 is arranged on the mechanical arm 2, a strip-shaped middle gray mirror group 1 is arranged right in front of the mechanical arm 2 and the camera 3, the strip-shaped middle gray mirror group 1 is formed by sequentially overlapping and arranging a plurality of middle gray mirrors 11 which are the same in size and different in light reduction ratio, the camera 3 obtains the gray images through the strip-shaped middle gray mirror group 1 and judges whether the exposure ratio of the gray images is larger than a preset exposure threshold value, when the exposure ratio is larger than the preset exposure threshold value, the computing device 4 controls the mechanical arm 2 to drive the camera 3 to move through a single middle gray mirror 11 along the plane where the middle gray mirror 11 is located, and then the step S1 is carried out until the exposure ratio is smaller than the preset exposure threshold value, so that the light reduction characteristic of the middle gray mirror can be utilized, the light entering ratio of the camera lens is reduced.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (7)
1. A method for expanding the illumination intensity range is used for a hand-eye system, and is characterized in that a plurality of medium gray mirrors with the same size but different dimming ratios are sequentially arranged according to the variation trend of the dimming ratios to form a strip-shaped medium gray mirror group, and all the medium gray mirrors in the strip-shaped medium gray mirror group are positioned in the same plane;
a camera is arranged at one end of a mechanical arm in the hand-eye system;
the strip-shaped gray mirror group is arranged between the camera and an object to be measured, and the shooting direction of the camera is vertical to the plane of the gray mirror;
the method further comprises the following steps:
step S1, the camera acquires the image information of the object through the bar-shaped gray mirror group and sends the image information to a computing device connected with the camera;
step S2, the computing equipment carries out gray processing on the image information to obtain a gray image;
step S3, determining whether the exposure ratio of the grayscale image is greater than a preset exposure threshold:
if yes, go to step S4;
if not, ending;
and S4, the computing equipment controls the mechanical arm connected with the computing equipment to drive the camera to move along the plane where the neutral gray mirror is located and pass through the single neutral gray mirror, and then the step S1 is carried out.
2. A method for extending a range of illumination intensities as recited in claim 1, wherein the height of a single said neutral gray mirror is 10 cm.
3. A method for extending a range of illumination intensities as recited in claim 1, wherein said neutral gray mirror is rectangular in cross-section.
4. The method for expanding the illumination intensity range according to claim 1, wherein in the step S2,
the computing equipment performs gray processing on the image information and acquires gray values of all pixels in the gray image;
the step S3 specifically includes:
step S31, comparing the gray values of all the pixels in the gray image with preset gray threshold values respectively, and outputting comparison results;
step S32, according to the comparison result, processing to obtain the proportion result of the pixels larger than the gray threshold value in all the pixels, and taking the proportion result as the exposure proportion;
step S33, determining whether the exposure ratio is greater than the exposure threshold:
if yes, go to step S4;
if not, the process is ended.
5. The method of claim 5, wherein the threshold value is 254.
6. A hand-eye system, applied to the method for expanding the illumination intensity range of claim 1, and comprising:
the linear gray lens group is formed by sequentially arranging a plurality of gray lenses with the same size but different dimming ratios according to the variation trend of the dimming ratios, and all the gray lenses in the linear gray lens group are positioned in the same plane;
a mechanical arm;
a camera disposed on one end of the robotic arm;
the strip-shaped gray lens group is arranged between the camera and an object to be measured;
the shooting direction of the camera is perpendicular to the plane of the gray mirror and is used for acquiring the image information of the object through the strip gray mirror group;
and the computing equipment is respectively connected with the mechanical arm and the camera and is used for judging whether the exposure proportion of the gray level image is greater than a preset exposure threshold value or not and controlling the mechanical arm to drive the camera to move along the plane where the gray level lens is located according to the judgment result.
7. The hand-eye system of claim 6, wherein the computing device comprises:
the image processing unit is connected with the camera and used for receiving the image information acquired by the camera and carrying out gray level processing on the image information to obtain a gray level image;
the first judgment unit is connected with the image processing unit and used for comparing the gray values of all pixels in the gray image with the gray threshold respectively and outputting a comparison result;
the proportion acquisition unit is connected with the first judgment unit and used for processing a comparison result to obtain a proportion result of pixels larger than the gray threshold value in all the pixels and outputting the proportion result as the exposure proportion;
a second determining unit, in which an exposure threshold is preset, and the second determining unit is connected to the ratio obtaining unit, and is configured to receive the exposure ratio, determine whether the exposure ratio is greater than the exposure threshold, and output a determination result;
the control unit is respectively connected with the second judging unit and the mechanical arm and is used for:
and when the exposure proportion of the gray level image is greater than a preset exposure threshold value, controlling the mechanical arm to drive the camera to move through a single gray level lens along the plane where the gray level lens is located.
And when the exposure proportion of the gray level image is not greater than a preset exposure threshold value, no control is performed.
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