CN111638219A - Image processing method and image processing apparatus - Google Patents
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Abstract
The invention provides an image processing method and an image processing device, belonging to the field of object surface quality observation, comprising the following steps: acquiring the perimeter L of an object; acquiring the rolling acceleration a of an object; obtaining the time corresponding to the time point t0Image information array P of0(ii) a Obtaining the time corresponding to the time point t0Is effective image information array PEffective 0And PEffective 0The length A of the outer arc surface of the corresponding rolling object; acquiring a time point t corresponding to each rolling distance A of the object1……tn(ii) a Obtaining and time point t1……tnCorresponding effective image information array PEffective 1……PEffective n(ii) a Splicing each effective image information array to form a wholeVolume effective image information array PEffective total(ii) a For effective image information array PEffective totalAnd (5) carrying out analysis and evaluation. According to the image processing method and the image processing device, the object rolling speed does not need to be controlled during image acquisition, the limitation of the object rolling speed on image acquisition is avoided, the limitation condition of the image acquisition process is reduced, and the detection cost is reduced.
Description
Technical Field
The invention belongs to the technical field of object surface quality observation, and particularly relates to an image processing method and an image processing device.
Background
With the development of science and technology, the machine vision technology is gradually applied to production lines in a plurality of industrial fields, the automation degree of the production lines is improved, and the machine vision technology is one of the development directions of the industrial fields.
Machine vision technique is based on the collection and the processing of image, it is more to use in object surface quality detects, to the great column object of volume (for example cast pipe), adopt to utilize area camera or linear array camera to carry out image acquisition when the object rolls more, however, current image acquisition is handled and can only be gone on at the object at the uniform velocity when rolling generally, this bearing mechanism structure when requiring the object to roll is comparatively complicated, the rolling action of control object that needs to be can be accurate, the restriction condition of image acquisition processing procedure has been increased, and then increased the detection cost, detection efficiency has been reduced.
Disclosure of Invention
The invention aims to provide an image processing method and an image processing device, and aims to solve the problems that in the prior art, the method for acquiring the outer side surface of an object in the rolling process has more limitation conditions and low detection efficiency.
In order to achieve the purpose, the invention adopts the technical scheme that: there is provided an image processing method including the steps of:
acquiring the perimeter L of an object;
acquiring the speed V when the object completely rolls into the visual field area0Speed V of rolling the whole circletAnd the time interval Deltat for a complete roll-in of the field of view and a complete roll of one revolution, as a function of the speed V0Velocity VtAcquiring the rolling acceleration a of the object at a time interval delta t;
acquiring the time point t of the object completely rolling into the visual field area0Obtaining the time corresponding to the time point t0Image information array P of0；
According to the image information array P0Obtaining the time corresponding to the time point t0Is effective image information array PEffective 0Said P isEffective 0Image information of the part of the outer side of the object, included in the P0Obtaining said PEffective 0The length A of the outer arc surface of the corresponding rolling object;
according to the acceleration a, acquiring a time point t corresponding to each rolling distance A of the object1……tn；
Respectively obtaining the time point t1……tnCorresponding image information array P1……PnAccording to the image information array P1……PnRespectively obtaining the time point t1……tnCorresponding effective image information array PEffective 1……PEffective n；
Array P of effective image informationEffective 0、PEffective 1……PEffective nStitching to form an integral effective image information array PEffective totalArray of effective picture information PEffective totalEffective image information of the whole outer side wall of the object;
for effective image information array PEffective totalAnalyzing and evaluating to form an object outer wall quality report;
wherein n is an integer greater than 1.
As another embodiment of the present application, the acquiring the perimeter L of the object specifically includes:
and acquiring the radius R of the object, and calculating to obtain the perimeter L of the object through a formula L-2 pi R.
As another embodiment of the present application, the image information array P0、P1……PnAre image information having a preset number of frames.
As another embodiment of the present application, before acquiring the perimeter L of the object, the method further includes:
and adjusting the shooting visual field of the area array camera to enable the object to roll for a circle in the shooting visual field range of the area array camera.
The image processing method provided by the invention has the beneficial effects that: compared with the prior art, the image processing method can utilize the area-array camera to acquire the image, the rolling speed of an object does not need to be controlled during image acquisition, and the time point t corresponding to the acquired time point t is acquired during the image processing process0Is effective image information array PEffective 0Then, the arc surface length A of the outer side of the corresponding object is determined,determining the time point t corresponding to each rolling distance A of the object according to the rolling acceleration a of the object and the perimeter L of the object1……tnAnd the effective image information arrays corresponding to the time points are spliced to obtain the integral effective image information of the outer side wall of the object. The image processing method avoids the limitation of the object rolling speed on image acquisition, reduces the limitation condition of the image acquisition process, is favorable for reducing the detection cost and improving the detection efficiency.
The present invention also provides an image processing apparatus for implementing the image processing method, including:
the supporting mechanism is used for supporting the object and enabling the object to roll along a preset path;
the area-array camera is arranged above the supporting mechanism, and the shooting visual field range of the area-array camera on the supporting surface of the supporting mechanism is larger than the translation distance of the object rolling for one circle; and
and the data processing mechanism is in communication connection with the area-array camera.
As another embodiment of the present application, the support mechanism includes:
a support base plate for contacting with the peripheral side wall of the object; and
and the support is supported below the supporting bottom plate.
As another embodiment of the present application, the support mechanism includes:
a support base plate for contacting with the peripheral side wall of the object;
the free ends of the guide side plates are obliquely and upwards arranged on two sides of the supporting bottom plate, and the supporting bottom plate and the guide side plates form a guide track; and
and the support is supported below the supporting bottom plate.
As another embodiment of the present application, a first guide groove is formed in the supporting bottom plate, a first guide block which is in sliding fit with the first guide groove and can be fixed at a given position in the first guide groove is arranged at the bottom of the guide side plate, and the guide side plate is close to or far away from the end of the object through the first guide block.
As another embodiment of this application, be equipped with the second guide way on the supporting baseplate, the inboard of direction curb plate with second guide way normal running fit, the outside of direction curb plate is rotated and is connected with the support curb plate, the outside of supporting the curb plate is rotated and is connected with the second guide block, the second guide block with second guide way sliding fit just can be fixed in assigned position in the second guide way, the second guide way still is used for holding the direction curb plate with the support curb plate.
The image processing apparatus provided by the present invention has the same beneficial effects as the image processing method described above, and is not described herein again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an image processing apparatus according to an embodiment of the present invention;
fig. 2 shows a time point t obtained in the image processing method according to the first embodiment of the present invention0Image information array P of0；
FIG. 3 is a schematic side view of a supporting mechanism according to a second embodiment of the present invention;
FIG. 4 is a schematic side view of a supporting mechanism according to a third embodiment of the present invention;
fig. 5 is a schematic side view of a supporting mechanism according to a fourth embodiment of the present invention.
In the figure: 100. an object; 200. a support mechanism; 210. a support base plate; 220. a support; 230. a guide side plate; 240. a first guide groove; 250. a first guide block; 260. a second guide groove; 270. supporting the side plates; 280. a second guide block; 290. a guide rail; 300. an area-array camera; 400. and a data processing mechanism.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 and fig. 2 together, the image processing method provided by the present invention will now be described. The image processing method comprises the following steps:
acquiring the perimeter L of the object 100;
acquiring the velocity V of the object 100 when it completely rolls into the field of view0Speed V of rolling the whole circletAnd the time interval Deltat for a complete roll-in of the field of view and a complete roll of one revolution, as a function of the speed V0Velocity VtAcquiring the rolling acceleration a of the object at a time interval delta t;
acquiring a time point t at which the object 100 completely rolls into the field of view0Obtaining the time corresponding to the time point t0Image information array P of0；
According to the image information array P0Obtaining the time corresponding to the time point t0Is effective image information array PEffective 0，PEffective 0Image information of part of the outer side of the object, including in P0Obtaining PEffective 0The length A of the outer arc surface of the corresponding rolling object;
according to the acceleration a, acquiring a time point t corresponding to each rolling distance A of the object 1001……tn；
Respectively obtaining the time point t1……tnCorresponding image information array P1……PnAccording to the image information array P1……PnRespectively obtaining the time point t1……tnCorresponding effective image information array PEffective 1……PEffective n；
Array P of effective image informationEffective 0、PEffective 1……PEffective nStitching to form an integral effective image information array PEffective totalArray of effective picture information PEffective totalEffective image information for the entirety of the outer sidewall of the object 100;
for effective image information array PEffective totalAnalyzing and evaluating to form a quality report of the outer wall of the object 100;
wherein n is an integer greater than 1.
Compared with the prior art, the image processing method provided by the invention has the advantages that the object 100 rolls along the preset path, the area-array camera can be used for image acquisition in the process, the rolling speed of the object 100 does not need to be controlled during image acquisition, and the time point t corresponding to the time point t is acquired in the image processing process0Is effective image information array PEffective 0Then, the arc length A of the outer side of the object 100 corresponding to the period is determined, and the time point t corresponding to each rolling distance A of the object is determined according to the rolling acceleration a of the object 100 and the perimeter L of the object1……tnAnd the effective image information arrays corresponding to the time points are spliced to obtain the integral effective image information of the outer side wall of the object 100. The image processing method avoids the limitation of the object 100 rolling speed on image acquisition, reduces the limitation conditions of the image acquisition process, is favorable for reducing the detection cost and improving the detection efficiency.
Note that the area enclosed by the broken line in fig. 1 is the shooting visual field range of the area-array camera 300. The area-array camera acquires an image information array which has a certain number of frames and corresponds to a certain time point according to set parameters, and each feature point in the image information array can correspond to a pixel area. Referring to fig. 2, which is an image information array corresponding to a certain time point, each feature point is a pixel region, and feature points that can correspond to the outer side of the object are calculated to be valid feature points, and these valid feature points constitute a valid image information array corresponding to a certain time point, that is, a region corresponding to a dotted line in fig. 2, which can display an image of a part of the side wall of the object 100 corresponding to the time point.
This embodimentIn the formula, first, the time point t is obtained0The arc length of the area is obtained through the image information, the outer side wall of the object 100 is equally divided through the arc length of the area, then, the side wall image of a time point corresponding to one arc length of each roller of the object 100 is obtained, and all effective images are spliced, namely, the characteristic points corresponding to the dotted line area in the graph 2 are spliced into a large characteristic point array, so that the complete image of the side wall of the object 100 is obtained. The splicing mode greatly reduces the repetition rate and the error rate of the image, can effectively reduce the data processing difficulty, shorten the data processing time and improve the detection efficiency in the surface quality detection processing.
It should be noted that the change in the state of the object 100 in the rolling is determined from each feature point in the image, and the motion parameters of the object 100 at different time points, such as the speed in each direction, the acceleration, and the object rotation speed, are obtained.
As an embodiment of the image processing method provided by the present invention, please refer to fig. 1, wherein the obtaining of the perimeter L of the object specifically includes:
the radius R of the object 100 is obtained, and the circumference L of the object 100 is calculated by the formula L-2 × pi × R. The "L" labeled in FIG. 1 is the perimeter L of the object.
As a specific implementation of the embodiment of the invention, the image information array P0、P1……PnAre image information having a preset number of frames. The frame number can be adjusted by adjusting the shooting parameters of the area-array camera 300, and is set according to the quality detection requirement.
As a specific implementation manner of the embodiment of the present invention, referring to fig. 1, before acquiring the perimeter L of the object, the method further includes:
the photographing view of the area-array camera 300 is adjusted so that the object 100 can be rolled by one turn within the photographing view of the area-array camera 300. As shown in fig. 1, when the object 100 completely rolls into the visual field area, the obtained effective area is located at the top of the object 100, the arc length is a, and when the object 100 rolls for a whole circle, the object 100 is about to roll out of the shooting visual field of the area-array camera 300.
The invention also provides an image processing device. Referring to fig. 1, 3 to 5, the image processing apparatus includes a supporting mechanism 200, an area-array camera 300 and a data processing mechanism 400; the supporting mechanism 200 is used for supporting the object 100 and rolling the object 100 along a preset path; the area-array camera 200 is arranged above the supporting mechanism 300, and the shooting visual field range of the area-array camera 300 on the supporting surface of the supporting mechanism 200 is larger than the translation distance of the object 100 rolling for one circle; the data processing mechanism 400 is in communication with the area-array camera 300.
The image processing apparatus provided by the present invention has the same beneficial effects as the image processing method described above, and is not described herein again.
Referring to fig. 1, as an embodiment of the image processing apparatus provided by the present invention, a supporting mechanism 200 includes a supporting base plate 210 and a supporting base 220; the support base 210 is for contacting the peripheral sidewall of the object 110; the support 220 is supported below the support base 210. The supporting base plate 210 can be matched with an external self-comforting device to limit the rolling motion of the object 100, so that the supporting base plate 210 has a simpler structure.
Referring to fig. 3, as a specific embodiment of the image processing apparatus of the present invention, a supporting mechanism 200 includes a supporting base plate 210, a guide side plate 230, and a support 220; the support base 210 is for contacting the peripheral sidewall of the object 100; the free ends of the guide side plates 230 are obliquely and upwards arranged at two sides of the support bottom plate 210, and the support bottom plate 210 and the guide side plates 230 form a guide rail 290; the support 220 is supported below the support base 210. The guide side plate 230 may be integrally disposed with the support base plate 210, or detachably connected to the support base plate 210, so that the object 100 can only roll along the guide of the guide rail 290, without using an external limiting device, and the use is more convenient.
Referring to fig. 4, as a specific embodiment of the image processing apparatus according to the present invention, a first guide groove 240 is provided on the support base plate 210, a first guide block 250 slidably engaged with the first guide groove 240 and capable of being fixed at a predetermined position in the first guide groove 240 is provided at the bottom of the guide side plate 230, and the guide side plate 230 is close to or far from an end of the object 100 by the first guide block 250. The first guide block 250 may be fixedly connected to the first guide groove 240 by a screw connector after moving to a predetermined position, or may be fixed by other means (e.g., clamping). Because the position of the guide side plate 230 is adjustable, the width of the guide rail 290 can be adjusted, and thus the guide rail can be suitable for guiding objects with different lengths, and the use flexibility is enhanced.
Referring to fig. 5, as a specific embodiment of the image processing apparatus according to the present invention, a second guide groove 260 is provided on the support base plate 210, an inner side of the guide side plate 230 is rotatably engaged with the second guide groove 260, an outer side of the guide side plate 230 is rotatably connected with a support side plate 270, an outer side of the support side plate 270 is rotatably connected with a second guide block 280, the second guide block 280 is slidably engaged with the second guide groove 260 and can be fixed at a predetermined position in the second guide groove 260, and the second guide groove 260 is further configured to accommodate the guide side plate 230 and the support side plate 210. The second guide block 280 may be fixedly connected to the second guide groove 260 by a screw connector after moving to a predetermined position, or may be fixed by other means (e.g., clamping). The supporting side plate 270 supports the guiding side plate 230, and meanwhile, the guiding side plate 230 and the supporting side plate 270 can be laid flat by removing the connection between the second guide block 280 and the second guide groove 260, so that an object can be conveniently taken down from the supporting bottom plate 210, and the use convenience is improved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. An image processing method, characterized by comprising the steps of:
acquiring the perimeter L of an object;
acquiring the speed V when the object completely rolls into the visual field area0Speed V of rolling the whole circletAnd the time interval Deltat for a complete roll-in of the field of view and a complete roll of one revolution, as a function of the speed V0Velocity VtAnd time interval Δ tAcceleration of body roll a;
acquiring the time point t of the object completely rolling into the visual field area0Obtaining the time corresponding to the time point t0Image information array P of0；
According to the image information array P0Obtaining the time corresponding to the time point t0Is effective image information array PEffective 0Said P isEffective 0Image information of the part of the outer side of the object, included in the P0Obtaining said PEffective 0The length A of the outer arc surface of the corresponding rolling object;
according to the acceleration a, acquiring a time point t corresponding to each rolling distance A of the object1……tn；
Respectively obtaining the time point t1……tnCorresponding image information array P1……PnAccording to the image information array P1……PnRespectively obtaining the time point t1……tnCorresponding effective image information array PEffective 1……PEffective n；
Array P of effective image informationEffective 0、PEffective 1……PEffective nStitching to form an integral effective image information array PEffective totalArray of effective picture information PEffective totalEffective image information of the whole outer side wall of the object;
for effective image information array PEffective totalAnalyzing and evaluating to form an object outer wall quality report;
wherein n is an integer greater than 1.
2. The image processing method according to claim 1, wherein the acquiring the perimeter L of the object specifically comprises:
and acquiring the radius R of the object, and calculating to obtain the perimeter L of the object through a formula L-2 pi R.
3. The image processing method according to claim 1, wherein the image information array P0、P1……PnAre image information having a preset number of frames.
4. The image processing method of claim 1, wherein said obtaining the perimeter L of the object further comprises:
and adjusting the shooting visual field of the area array camera to enable the object to roll for a circle in the shooting visual field range of the area array camera.
5. Image processing apparatus for implementing the image processing method according to any one of claims 1 to 4, comprising:
the supporting mechanism is used for supporting the object and enabling the object to roll along a preset path;
the area-array camera is arranged above the supporting mechanism, and the shooting visual field range of the area-array camera on the supporting surface of the supporting mechanism is larger than the translation distance of the object rolling for one circle; and
and the data processing mechanism is in communication connection with the area-array camera.
6. The image processing apparatus according to claim 5, wherein the support mechanism comprises:
a support base plate for contacting with the peripheral side wall of the object; and
and the support is supported below the supporting bottom plate.
7. The image processing apparatus according to claim 5, wherein the support mechanism comprises:
a support base plate for contacting with the peripheral side wall of the object;
the free ends of the guide side plates are obliquely and upwards arranged on two sides of the supporting bottom plate, and the supporting bottom plate and the guide side plates form a guide track; and
and the support is supported below the supporting bottom plate.
8. The image processing apparatus according to claim 7, wherein the supporting base plate is provided with a first guide groove, the bottom of the guide side plate is provided with a first guide block slidably fitted in the first guide groove and fixable at a predetermined position in the first guide groove, and the guide side plate is moved toward or away from an end of the object by the first guide block.
9. The image processing apparatus as claimed in claim 7, wherein the supporting base plate is provided with a second guide groove, the inner side of the guide side plate is rotatably engaged with the second guide groove, the outer side of the guide side plate is rotatably connected with a supporting side plate, the outer side of the supporting side plate is rotatably connected with a second guide block, the second guide block is slidably engaged with the second guide groove and can be fixed at a designated position in the second guide groove, and the second guide groove is further used for accommodating the guide side plate and the supporting side plate.
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