CN111639644B - Workpiece positioning method and device and electronic equipment - Google Patents
Workpiece positioning method and device and electronic equipment Download PDFInfo
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- CN111639644B CN111639644B CN202010477982.9A CN202010477982A CN111639644B CN 111639644 B CN111639644 B CN 111639644B CN 202010477982 A CN202010477982 A CN 202010477982A CN 111639644 B CN111639644 B CN 111639644B
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G06T7/70—Determining position or orientation of objects or cameras
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Abstract
The application relates to a workpiece positioning method and device and electronic equipment. A method of positioning a workpiece, comprising: based on a geodetic coordinate system, acquiring a first edge line and a second edge line of a workpiece to be positioned from a target image, wherein the target image is a local image of the workpiece to be positioned, and the first edge line and the second edge line are opposite in position; acquiring a third edge line of the workpiece to be positioned from the target image based on a first relative coordinate system, wherein the first relative coordinate system is established according to the first edge line; acquiring a fourth edge line of the workpiece to be positioned from the target image based on a second relative coordinate system, wherein the second relative coordinate system is established according to the second edge line, and the third edge line and the fourth edge line are positioned on the same edge line of the workpiece to be positioned; and positioning the workpiece to be positioned according to the first sideline, the second sideline, the third sideline and the fourth sideline. The workpiece positioning method can improve the positioning efficiency of the workpiece to be positioned and ensure the accuracy of the positioning result, thereby effectively improving the model changing efficiency of the workpiece or product on a production line.
Description
Technical Field
The application relates to the technical field of machine vision, in particular to a workpiece positioning method and device and electronic equipment.
Background
Positioning of the workpiece is often involved in workpiece machining or product assembly. At present, in the positioning process of a plurality of workpieces, due to the limitation of environmental conditions, the camera cannot shoot the whole image of the workpiece, and for the situation, in the prior art, the workpiece positioning cannot be realized through the traditional machine vision technology (directly based on a geodetic coordinate system and the realized machine vision technology) generally, and the manual positioning is mainly relied on, so that the efficiency and the accuracy of the workpiece positioning cannot be improved, and finally, the low efficiency of the workpiece or product model changing on a production line is caused.
Disclosure of Invention
An object of the present application is to provide a method and an apparatus for positioning a workpiece, and an electronic device, so as to solve the above problems.
In a first aspect, the present application provides a workpiece positioning method, including:
based on a geodetic coordinate system, acquiring a first edge line and a second edge line of a workpiece to be positioned from a target image, wherein the target image is a local image of the workpiece to be positioned, and the first edge line and the second edge line are opposite in position;
acquiring a third edge line of the workpiece to be positioned from the target image based on a first relative coordinate system, wherein the first relative coordinate system is established according to the first edge line;
acquiring a fourth edge line of the workpiece to be positioned from the target image based on a second relative coordinate system, wherein the second relative coordinate system is established according to the second edge line, and the third edge line and the fourth edge line are positioned on the same edge line of the workpiece to be positioned;
and positioning the workpiece to be positioned according to the first sideline, the second sideline, the third sideline and the fourth sideline.
With reference to the first aspect, an embodiment of the present application further provides a first optional implementation manner of the first aspect, where the obtaining a first edge and a second edge of the workpiece to be positioned from the target image based on the geodetic coordinate system includes:
creating a first region of interest in the geodetic coordinate system, the first region of interest being located on a first side of the target image;
acquiring a first edge line from the first region of interest;
creating a second region of interest in the geodetic coordinate system, wherein the second region of interest is positioned at a second side of the target image, and the second side is opposite to the first side;
from the second region of interest, a second edge is obtained.
With reference to the first aspect, an embodiment of the present application further provides a second optional implementation manner of the first aspect, where before the step of obtaining the third edge of the workpiece to be located from the target image based on the first relative coordinate system, the workpiece locating method further includes:
acquiring a first characteristic point from the first edge;
acquiring a deflection angle of the first edge in a geodetic coordinate system as a first angle value;
and taking the first characteristic point as a coordinate origin and the first angle value as a deflection angle value to create a first relative coordinate system.
With reference to the first aspect, an embodiment of the present application further provides a third optional implementation manner of the first aspect, where the obtaining a third edge line of the workpiece to be positioned from the target image based on the first relative coordinate system includes:
in the first relative coordinate system, creating a third interested area, wherein the third interested area is positioned between the first edge and the second edge and is close to the first edge;
from the third region of interest, a third edge is obtained.
With reference to the first aspect, an embodiment of the present application further provides a fourth optional implementation manner of the first aspect, where before the step of obtaining the fourth edge of the workpiece to be positioned from the target image based on the second relative coordinate system, the workpiece positioning method further includes:
acquiring a second characteristic point from the second edge;
acquiring a deflection angle of the second edge line in the geodetic coordinate system as a second angle value;
and taking the second characteristic point as a coordinate origin and the second angle value as a deflection angle value, and creating a second relative coordinate system.
With reference to the first aspect, an embodiment of the present application further provides a fifth optional implementation manner of the first aspect, where the obtaining a fourth edge of the workpiece to be positioned from the target image based on the second relative coordinate system includes:
in the second relative coordinate system, a fourth interested area is created, and the fourth interested area is positioned between the first edge and the second edge and is close to the second edge;
from the fourth region of interest, a fourth edge is obtained.
With reference to the first aspect, an embodiment of the present application further provides a sixth optional implementation manner of the first aspect, where positioning a workpiece to be positioned according to the first edge line, the second edge line, the third edge line, and the fourth edge line includes:
performing secondary positioning on the first sideline in a first relative coordinate system to obtain a first edge line to be used, and acquiring an intersection point of the first edge line to be used and a third edge line as a first edge point of a workpiece to be positioned;
in the second relative coordinate system, performing secondary positioning on the second sideline to obtain a second standby sideline, and obtaining an intersection point of the second standby sideline and the fourth sideline as a second sideline point of the workpiece to be positioned;
and taking the midpoint position of the first corner point and the second corner point as the positioning position of the workpiece to be positioned.
In the workpiece positioning method provided by the first aspect or any one of the optional embodiments of the first aspect, during positioning of the workpiece to be positioned, first, coarse positioning is performed on the workpiece to be positioned based on the geodetic coordinate system, a first side line and a second side line of the workpiece to be positioned are obtained from the target image, and then, fine positioning is performed on the workpiece to be positioned based on the first relative coordinate system and the second relative coordinate system, that is, a third side line of the workpiece to be positioned is obtained from the target image based on the first relative coordinate system, and simultaneously, a fourth side line of the workpiece to be positioned is obtained from the target image based on the second relative coordinate system, wherein the first relative coordinate system is created according to the first side line, the second relative coordinate system is created according to the second side line, and the third side line and the fourth side line are located on the same side line of the workpiece to be positioned, and finally, the third side line and the fourth side line can be located according to the first side line, The second side line, the third side line and the fourth side line finally realize the purpose of positioning the workpiece to be positioned, since the foregoing process is workpiece positioning achieved by improved machine vision techniques, the position of the workpiece, based on a geodetic coordinate system, after the first edge line and the second edge line are roughly positioned, the third edge line and the fourth edge line are accurately obtained based on the first relative coordinate system and the second relative coordinate system, therefore, the positioning result obtained according to the first edge line, the second edge line, the third edge line and the fourth edge line is compared with the positioning result obtained by manually positioning in the prior art, the positioning efficiency is improved, and the accuracy of the positioning result can be ensured, thereby effectively improving the model changing efficiency of workpieces or products on a production line, the workpiece positioning method can be suitable for positioning workpieces with different sizes, and therefore the compatible range is large.
In a second aspect, an embodiment of the present application provides a workpiece positioning apparatus, including:
the first edge acquisition module is used for acquiring a first edge and a second edge of the workpiece to be positioned from a target image based on a geodetic coordinate system, wherein the target image is a local image of the workpiece to be positioned, and the first edge and the second edge are opposite in position;
the second edge line acquisition module is used for acquiring a third edge line of the workpiece to be positioned from the target image based on the first relative coordinate system, and the first relative coordinate system is established according to the first edge line;
the third edge line acquisition module is used for acquiring a fourth edge line of the workpiece to be positioned from the target image based on a second relative coordinate system, the second relative coordinate system is established according to the second edge line, and the third edge line and the fourth edge line are positioned on the same edge line of the workpiece to be positioned;
and the positioning module is used for positioning the workpiece to be positioned according to the first sideline, the second sideline, the third sideline and the fourth sideline.
The workpiece positioning device provided by the present application has the same beneficial effects as the workpiece positioning method provided by the first aspect, or any one of the optional embodiments of the first aspect, and details are not repeated here.
In a third aspect, an electronic device according to an embodiment of the present application includes a controller and a memory, where the memory stores a computer program, and the controller is configured to execute the computer program to implement the workpiece positioning method according to the first aspect or any one of the optional implementations of the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the method for positioning a workpiece is implemented as the first aspect described above, or any optional implementation manner of the first aspect.
The computer-readable storage medium provided by the present application has the same advantages as the workpiece positioning method provided in the first aspect, or any one of the optional implementation manners of the first aspect, and details are not repeated here.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural block diagram of an electronic device according to an embodiment of the present application.
Fig. 2 is a flowchart illustrating steps of a workpiece positioning method according to an embodiment of the present disclosure.
Fig. 3 is a general image of a workpiece to be positioned according to an embodiment of the present disclosure.
Fig. 4 is a partial image of a workpiece to be positioned according to an embodiment of the present disclosure.
Fig. 5 is a schematic diagram of a first region of interest and a second region of interest in a workpiece to be positioned according to an embodiment of the present application.
Fig. 6 is a schematic view of a positioning scenario provided in an embodiment of the present application.
Fig. 7 is a schematic view illustrating a deflection of a workpiece to be positioned according to an embodiment of the present disclosure.
Fig. 8 is a schematic diagram of a first relative coordinate system according to an embodiment of the present disclosure.
Fig. 9 is a schematic diagram of a second relative coordinate system according to an embodiment of the present disclosure.
Fig. 10 is a schematic diagram of a positioning result provided in an embodiment of the present application.
Fig. 11 is a schematic structural block diagram of a workpiece positioning apparatus according to an embodiment of the present application.
Reference numerals: 100-an electronic device; 110-a processor; 120-a memory; 200-a workpiece to be positioned; 210-bare cell; 211-a cell body; 212-a first conductive electrode; 213-a second conductive electrode; 300-backlight light source; 400-a camera; 500-a workpiece positioning device; 510-a first edge line acquisition module; 520-a second edge obtaining module; 530-a third thread acquisition module; 540-positioning module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Furthermore, it should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Referring to fig. 1, a schematic block diagram of an electronic device 100 according to an embodiment of the present disclosure is shown. In this embodiment of the application, the electronic Device 100 may be a terminal Device, such as a computer, a Personal Digital Assistant (PAD), a Mobile Internet Device (MID), or a server, and the embodiment of the application is not limited thereto.
Structurally, electronic device 100 may include a processor 110 and a memory 120.
The processor 110 and the memory 120 are electrically connected, directly or indirectly, to enable data transfer or interaction, for example, the components may be electrically connected to each other via one or more communication buses or signal lines. The workpiece positioning device includes at least one software module that may be stored in the memory 120 in the form of software or Firmware (Firmware) or solidified in an Operating System (OS) of the electronic device 100. The processor 110 is configured to execute executable modules stored in the memory 120, such as software functional modules and computer programs included in the workpiece positioning apparatus, so as to implement the workpiece positioning method.
The processor 110 may execute the computer program upon receiving the execution instruction. The processor 110 may be an integrated circuit chip having signal processing capabilities. The Processor 110 may also be a general-purpose Processor, for example, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a discrete gate or transistor logic device, a discrete hardware component, which can implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application, and furthermore, the general-purpose Processor may be a microprocessor or any conventional Processor.
The Memory 120 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), and an electrically Erasable Programmable Read-Only Memory (EEPROM). The memory 120 is used for storing a program, and the processor 110 executes the program after receiving the execution instruction.
It should be understood that the structure shown in fig. 1 is merely an illustration, and the electronic device 100 provided in the embodiment of the present application may have fewer or more components than those shown in fig. 1, or may have a different configuration than that shown in fig. 1. Further, the components shown in fig. 1 may be implemented by software, hardware, or a combination thereof.
Referring to fig. 2, a flowchart of a workpiece positioning method according to an embodiment of the present application is shown, where the method is applied to the electronic apparatus 100 shown in fig. 1. It should be noted that, the workpiece positioning method provided in the embodiment of the present application is not limited by the sequence shown in fig. 2 and the following, and the specific flow and steps of the workpiece positioning method are described below with reference to fig. 2.
Step S100, based on a geodetic coordinate system, a first side line and a second side line of the workpiece to be positioned are obtained from a target image, the target image is a local image of the workpiece to be positioned, and the first side line and the second side line are opposite in position.
Referring to fig. 3 and fig. 4, in the embodiment of the present application, the target image is a local image of the workpiece 200 to be positioned, and only the local image can be obtained, which may be that the camera cannot capture an entire image of the workpiece 200 to be positioned due to environmental condition limitations during the positioning process of the workpiece 200 to be positioned. Use workpiece 200 to be positioned as naked electric core 210 for example, naked electric core 210 includes electric core body 211, first conducting electrode 212 and second conducting electrode 213 set up on electric core body 211, and be located the tip of electric core body 211, naked electric core 210's whole image, as shown in fig. 3, that is, in the photo that the camera was shot, complete naked electric core 210 that has included, and its local image, probably the head image of naked electric core 210, that is, including partial electric core body 211, whole first conducting electrode 212 and whole second conducting electrode 213, as shown in fig. 4, that is, in the photo that the camera was shot, only included naked electric core 210's part.
In addition, in this embodiment of the application, the camera may be a camera carried by the electronic device, that is, an image acquisition component that is disposed on the electronic device and connected to the processor, or an external device that communicates with the camera through a wired communication device or a wireless communication device, where the wireless communication device is any one of a WiFi communication device, a bluetooth communication device, a ZigBee communication device, an NFC communication device, a UWB communication device, and an Irda communication device.
In the embodiment of the present application, after the camera captures the local image of the workpiece to be positioned, the local image is sent to the electronic device, the electronic device uses the received local image as the target image, and performs step S100, and as for step S100, in the embodiment of the present application, as an optional implementation manner, the implementation manner may include step S110, step S120, step S130, and step S140.
Step S110, in the geodetic coordinate system, a first region of interest is created, wherein the first region of interest is positioned on a first side of the target image. Step S120, a first edge is obtained from the first region of interest.
In this embodiment Of the application, after receiving a target image sent by a camera, a first Region Of Interest (ROI) may be obtained from a first side Of the target image, a first target number Of edge points may be obtained from the first ROI, and then the first target number Of edge points may be fitted to obtain a first edge.
The ROI refers to a region to be processed which is delineated by a frame in the shape of a square frame, a circle, an ellipse, an irregular polygon and the like in a processed image in the process of machine vision and image processing. In practical implementation, the region of interest may be obtained through various operators (operators) and functions commonly used in machine vision software such as Halcon, OpenCV, Matlab, and the like. In addition, in this embodiment of the application, the first target number may be, but is not limited to, 3, 5, or 10, and after the first target number of edge points are obtained, the first target number of edge points are fitted by using a least square method to obtain the first edge, and the process of obtaining the first target number of edge points may be implemented according to a gray difference of each pixel point in the first ROI.
And step S130, creating a second region of interest in the geodetic coordinate system, wherein the second region of interest is positioned on a second side of the target image, and the second side is opposite to the first side.
In step S140, a second edge is obtained from the second region of interest.
Similarly, in the embodiment of the present application, after the target image sent by the camera is received, the second ROI is obtained from the second side of the target image, the second target number of edge points are obtained from the second ROI, and then the second target number of edge points are fitted to obtain the second edge. In this embodiment of the application, the second target number may be, but is not limited to, 3, 5, or 10, and after the second target number of edge points is obtained, the second target number of edge points is fitted by using a least square method to obtain a second edge, and the process of obtaining the second target number of edge points may be implemented according to a gray difference of each pixel point in the second ROI.
Referring to fig. 5, continuing to take the workpiece 200 to be positioned as the bare cell 210 and the target image as the local image of the bare cell 210 as an example, step S110 is performed, a first ROI is created in the geodetic coordinate system and denoted as ROI1, step S120 is performed, a first edge L1 is obtained from the first ROI, step S130 is performed, a second ROI is created in the geodetic coordinate system and denoted as ROI2, and step S140 is performed, a second edge L2 is obtained from the second ROI, wherein the first ROI is located on the first side of the target image and the second ROI is located on the second side of the target image. It should be noted that, in the embodiment of the present application, the height value of the first ROI is the same as the height value of the second ROI, and may specifically be a height value of a workpiece to be positioned with the smallest size among all possible workpieces to be positioned, for example, all possible workpieces to be positioned include a first workpiece to be positioned, a second workpiece to be positioned, and a third workpiece to be positioned, where the workpiece to be positioned has the smallest size, and the height value of the first ROI and the height value of the second ROI are the height of the first workpiece to be positioned, and in addition, the width value of the first ROI is the same as the width value of the second ROI, and may be a common width of a picture taken by a camera, and therefore, a joint of the first ROI and the second ROI is a longitudinal center line of a picture of the bare cell 210.
In addition, please refer to fig. 6, it should be noted that, in the embodiment of the present application, in order to improve the gray scale difference between the workpiece 200 to be positioned and the background in the local image to ensure the accuracy of the first edge line and the second edge line, a backlight source 300 may be further disposed at a position close to the first surface of the workpiece 200 to be positioned, so that a light emitting surface of the backlight source 300 faces the workpiece 200 to be positioned, and the camera 400 is disposed at a position close to the second surface of the workpiece 200 to be positioned, so that a shooting surface of the camera 400 faces the workpiece 200 to be positioned, where the first surface is away from the second surface.
And S200, acquiring a third edge line of the workpiece to be positioned from the target image based on the first relative coordinate system, wherein the first relative coordinate system is created according to the first edge line.
Please refer to fig. 7, continue to use the workpiece 200 to be positioned as the bare cell 210 and the target image as a local image of the bare cell 210, where the deflection situation may be as shown in fig. 5 or as shown in fig. 7, but it can be understood that, as long as the bare cell 210 deflects relative to the ground coordinate system XYO, an included angle exists between the first side line L1 and the second side line L2 obtained from the target image and the ground coordinate system XYO and in the Y-axis direction, and finally, an included angle also exists between the cell head straight line L3 obtained from the target image and the ground coordinate system XYO and in the X-axis direction, so that the accuracy of the cell head straight line L3 obtained from the target image based on the ground coordinate system XYO cannot be ensured.
For the above reasons, in the embodiment of the present application, after the first edge line and the second edge line of the workpiece to be positioned are acquired from the target image based on the geodetic coordinate system, the first relative coordinate system may be further created according to the first edge line, so that the X axis in the first relative coordinate system is parallel to or even collinear with the first edge line, or the Y axis in the first relative coordinate system is parallel to or even collinear with the first edge line. Based on this, in the embodiment of the present application, before performing step S200, step S001, step S002, and step S003 may be further included to create the first relative coordinate system.
And S001, acquiring a first characteristic point from the first edge.
Step S002, a deflection angle of the first edge in the geodetic coordinate system is acquired as a first angle value.
And S003, taking the first characteristic point as a coordinate origin and the first angle value as a deflection angle value, and creating a first relative coordinate system.
In this embodiment, the first feature point may be a point on the first edge line near the end of the workpiece to be positioned, please refer to fig. 8, and continue to take the workpiece 200 to be positioned as the bare cell 210 and take the target image as the local image of the bare cell 210 as an example, the first feature point may be any point on the first edge line L1, which is denoted as P1, that is, the first feature point may be randomly selected from the first edge line L1, and the deflection angle of the first edge line L1 in the geodetic coordinate system XYO is a first angle value θ 1, so that the first feature point P1 may be used as the coordinate origin, and the first angle value θ 1 is used as the deflection angle value, so as to create a first relative coordinate system X1Y1O 1.
After steps S001, S002 and S003 are performed, step S200 may be performed after the first relative coordinate system is created, and for step S200, in this embodiment of the present application, as an alternative embodiment, step S210 and step S220 may be included.
Step S210, in the first relative coordinate system, a third region of interest is created, where the third region of interest is located between the first edge and the second edge and is close to the first edge.
Step S220, a third edge is obtained from the third region of interest.
In the embodiment of the application, a third ROI may be obtained between the first edge and the second edge and at a position close to the first edge, a third target number of edge points may be obtained from the third ROI, and then the third target number of edge points may be fitted to obtain the third edge. In this embodiment of the application, the third target number may be, but is not limited to, 3, 5, or 10, and after the third target number of edge points is obtained, the third target number of edge points is fitted by using a least square method to obtain a third edge, and the process of obtaining the third target number of edge points may be implemented according to a gray difference of each pixel point in the third ROI.
Continuing to use the workpiece 200 to be positioned as the bare cell 210 and the target image as the local image of the bare cell 210 as an example, executing step S210, creating a third ROI in the first relative coordinate system X1Y1O1, which is recorded as ROI3, and executing step S220, and obtaining a third edge L31 from the third ROI, as shown in fig. 9 in particular, it can be understood that, in this embodiment of the application, the third edge L31 is a portion of the cell head straight line L3, which intersects with the first edge L1.
And step S300, acquiring a fourth edge line of the workpiece to be positioned from the target image based on a second relative coordinate system, wherein the second relative coordinate system is established according to the second edge line, and the third edge line and the fourth edge line are positioned on the same edge line of the workpiece to be positioned.
Also, for the same reason described in the above step S200, in the embodiment of the present application, after the first edge line and the second edge line of the workpiece to be positioned are obtained from the target image based on the geodetic coordinate system, a second relative coordinate system may be created according to the second edge line, so that the X axis in the second relative coordinate system is parallel to, even collinear with, the second edge line, or the Y axis in the second relative coordinate system is parallel to, even collinear with, the second edge line. Based on this, in the embodiment of the present application, before performing step S300, step S004, step S005, and step S006 may be further included for creating the second relative coordinate system.
And step S004, acquiring a second characteristic point from the second edge.
And S005, acquiring the deflection angle of the second edge in the geodetic coordinate system as a second angle value.
And step S006, taking the second feature point as a coordinate origin and the second angle value as a deflection angle value, and creating a second relative coordinate system.
In this embodiment of the application, the second feature point may be a point on the second edge line, which is close to the end of the workpiece to be positioned, please refer to fig. 9, continue to use the workpiece 200 to be positioned as the bare cell 210, and the target image is a local image of the bare cell 210 as an example, the second feature point may be any point on the second edge line L2, which is denoted as P2, that is, the second feature point may be randomly selected from the second edge line L2, and the deflection angle of the second edge line L2 in the geodetic coordinate system XYO is the second angle value θ 2, so that the second feature point P2 may be used as the coordinate origin, and the second angle value θ 2 is used as the angle deflection value, thereby creating a second relative coordinate system X2Y2O 2.
After step S004, step S005 and step S006 are performed, step S300 may be performed after the second relative coordinate system is created, and for step S300, in the embodiment of the present application, as an alternative implementation manner, step S310 and step S320 may be included.
Step S310, in the second relative coordinate system, a fourth region of interest is created, where the fourth region of interest is located between the first edge and the second edge and is close to the second edge.
In step S320, a fourth edge is obtained from the fourth region of interest.
In the embodiment of the application, a fourth ROI may be obtained between the first edge and the second edge and at a position close to the second edge, and a fourth target number of edge points are obtained from the fourth ROI, and then the fourth target number of edge points are fitted to obtain the fourth edge. In this embodiment of the application, the fourth target number may be, but is not limited to, 3, 5, or 10, and after the fourth target number of edge points is obtained, the fourth target number of edge points is fitted by a least square method to obtain a fourth edge, and the process of obtaining the fourth target number of edge points may be implemented according to a gray difference of each pixel point in the fourth ROI.
Continuing to take the workpiece 200 to be positioned as the bare cell 210 and the target image as the local image of the bare cell 210 as an example, step S310 is executed, a fourth ROI is created in the second relative coordinate system X2Y2O1 and marked as ROI4, and step S320 is executed, and a fourth edge L32 is obtained from the fourth ROI, as shown in fig. 10 specifically, it can be understood that, in this embodiment of the application, the fourth edge L32 is a cell head straight line L3 and is a portion intersecting with the second edge L2.
And S400, positioning the workpiece to be positioned according to the first side line, the second side line, the third side line and the fourth side line.
In the embodiment of the application, the positioning point of the workpiece to be positioned can be obtained according to the first side line, the second side line, the third side line and the fourth side line and used as the positioning position of the workpiece to be positioned, for example, the intersection point of the first side line and the third side line can be obtained and used as the first corner point of the workpiece to be positioned, meanwhile, the intersection point of the second side line and the fourth side line is obtained and used as the second corner point of the workpiece to be positioned, and finally, the midpoint position of the first corner point and the second corner point is used as the positioning position of the workpiece to be positioned.
It should be noted that, in this embodiment of the application, after the third edge and the fourth edge are obtained, coordinate conversion needs to be performed on the third edge and the fourth edge, the third edge is converted into the geodetic coordinate system from the first relative coordinate system, and the fourth edge is converted into the geodetic coordinate system from the first relative coordinate system at the same time, so as to ensure that the first edge, the second edge, the third edge, and the fourth edge are all located in the geodetic coordinate system, so that the step S400 is executed. In addition, in this embodiment of the present application, the process of converting the third edge from the first relative coordinate system to the geodetic coordinate system may be implemented based on a relative position relationship between the first relative coordinate system and the geodetic coordinate system, and similarly, the process of converting the fourth edge from the second relative coordinate system to the geodetic coordinate system may be implemented based on a relative position relationship between the second relative coordinate system and the geodetic coordinate system, which is not described in detail in this embodiment of the present application.
It should be noted that, since the first edge and the second edge are obtained from the target image based on the geodetic coordinate system, accuracy cannot be absolutely guaranteed, and based on this, in order to further improve accuracy of the positioning result, in step S400, in the embodiment of the present application, as an optional implementation manner, step S410, step S420, and step S430 may be included.
And S410, carrying out secondary positioning on the first edge line in the first relative coordinate system to obtain a first edge line to be used, and obtaining an intersection point of the first edge line to be used and the third edge line as a first edge point of the workpiece to be positioned.
And step S420, carrying out secondary positioning on the second sideline in the second relative coordinate system to obtain a second standby sideline, and obtaining an intersection point of the second standby sideline and the fourth sideline as a second sideline corner point of the workpiece to be positioned.
And step S430, taking the midpoint position of the first corner point and the second corner point as the positioning position of the workpiece to be positioned.
In the embodiment of the application, an intersection point of the first to-be-used sideline and the third sideline can be obtained and used as a first sideline point of the workpiece to be positioned, an intersection point of the second to-be-used sideline and the fourth sideline is obtained and used as a second sideline point of the workpiece to be positioned, and finally, the midpoint position of the first sideline point and the midpoint position of the second sideline point are used as positioning points of the workpiece to be positioned, namely, the positioning position of the workpiece to be positioned. Because the first to-be-used borderline and the third borderline are obtained based on the first relative coordinate system, and the second to-be-used borderline and the fourth borderline are obtained based on the second relative coordinate system, the accuracy is high, and the accuracy of the positioning result can be ensured.
Referring to fig. 10, taking the workpiece 200 to be positioned as the bare cell 210 and the target image as the local image of the bare cell 210 as an example, an intersection point of the first to-be-used side line L11 and the third side line L31 may be obtained as a first side corner point of the workpiece 200 to be positioned, which is denoted as P3, and an intersection point of the second to-be-used side line L21 and the fourth side line L32 is obtained as a second side corner point of the workpiece 200 to be positioned, which is denoted as P4, and finally, a midpoint position of the first side corner point P3 and the second side corner point P4 is used as a positioning point of the workpiece 200 to be positioned, which is denoted as P5, that is, a positioning position of the workpiece 200 to be positioned.
Also, in this embodiment of the present application, after the first to-be-used edge, the second to-be-used edge, the third edge, and the fourth edge are obtained, coordinate transformation needs to be performed on the first to-be-used edge, the second to-be-used edge, the third edge, and the fourth edge, the first to-be-used edge and the third edge are transformed from the first relative coordinate system into the geodetic coordinate system, and at the same time, the second to-be-used edge and the fourth edge are transformed from the first relative coordinate system into the geodetic coordinate system, so as to ensure that the first to-be-used edge, the second to-be-used edge, the third edge, and the fourth edge are all located in the geodetic coordinate system, so that step S400 is performed. In addition, in the embodiment of the present application, the process of converting the first to-be-used edge and the third edge from the first relative coordinate system to the geodetic coordinate system may be implemented based on a relative position relationship between the first relative coordinate system and the geodetic coordinate system, and similarly, the process of converting the first to-be-used edge and the third edge from the second relative coordinate system to the geodetic coordinate system may be implemented based on a relative position relationship between the second relative coordinate system and the geodetic coordinate system, which is not described in detail in the embodiment of the present application.
Based on the same inventive concept as the workpiece positioning method, the embodiment of the present application further provides a workpiece positioning device 500. Referring to fig. 11, a workpiece positioning apparatus 500 according to an embodiment of the present disclosure includes a first edge obtaining module 510, a second edge obtaining module 520, a third edge obtaining module 530, and a positioning module 540.
The first edge acquiring module 510 is configured to acquire a first edge and a second edge of the workpiece to be positioned from a target image based on a geodetic coordinate system, where the target image is a local image of the workpiece to be positioned, and the first edge and the second edge are opposite in position.
The description of the first edge line obtaining module 510 may refer to the detailed description of the step S100 in the related embodiment of the workpiece positioning method, that is, the step S100 may be executed by the first edge line obtaining module 510.
The second edge obtaining module 520 is configured to obtain a third edge of the workpiece to be positioned from the target image based on a first relative coordinate system, where the first relative coordinate system is created according to the first edge.
The second edge obtaining module 520 can refer to the detailed description of step S200 in the embodiment related to the workpiece positioning method, that is, step S200 can be executed by the second edge obtaining module 520.
And a third edge line obtaining module 530, configured to obtain a fourth edge line of the workpiece to be positioned from the target image based on a second relative coordinate system, where the second relative coordinate system is created according to the second edge line, and the third edge line and the fourth edge line are located on the same edge line of the workpiece to be positioned.
The third edge obtaining module 530 can refer to the detailed description of the step S300 in the related embodiment of the workpiece positioning method, that is, the step S300 can be executed by the third edge obtaining module 530.
And the positioning module 540 is configured to position the workpiece to be positioned according to the first sideline, the second sideline, the third sideline and the fourth sideline.
The description of the positioning module 540 may refer to the detailed description of the step S400 in the embodiment related to the workpiece positioning method, that is, the step S400 may be executed by the positioning module 540.
In this embodiment, the first edge line obtaining module 510 includes a first unit, a second unit, a third unit, and a fourth unit.
A first unit for creating a first region of interest in the geodetic coordinate system, the first region of interest being located on a first side of the target image.
The description of the first unit may refer to the detailed description of step S110 in the embodiment related to the workpiece positioning method, that is, step S110 may be performed by the first unit.
And a second unit, configured to obtain a first edge from the first region of interest.
The description of the second unit may refer to the detailed description of step S120 in the above-mentioned embodiments related to the workpiece positioning method, that is, step S120 may be performed by the second unit.
A third unit for creating a second region of interest in the geodetic coordinate system, the second region of interest being located at a second side of the target image, the second side being opposite to the first side.
The description of the third unit may refer to the detailed description of step S130 in the above-mentioned embodiments related to the workpiece positioning method, that is, step S130 may be performed by the third unit.
And a fourth unit, configured to acquire a second edge from the second region of interest.
The description of the fourth unit may refer to the detailed description of step S140 in the above-mentioned embodiments related to the workpiece positioning method, that is, step S140 may be performed by the first unit.
In the embodiment of the present application, the workpiece positioning apparatus 500 may further include a first feature point obtaining module, a first angle value obtaining module, and a first coordinate system creating module.
And the first characteristic point acquisition module is used for acquiring a first characteristic point from the first edge.
The description of the first feature point obtaining module may refer to the detailed description of step S001 in the embodiment related to the workpiece positioning method, that is, step S001 may be executed by the first feature point obtaining module.
And the first angle value acquisition module is used for acquiring the deflection angle of the first edge in the geodetic coordinate system as a first angle value.
The description of the first angle value acquisition module may refer specifically to the detailed description of step S002 in the above-described embodiment relating to the workpiece positioning method, that is, step S002 may be performed by the first angle value acquisition module.
And the first coordinate system creating module is used for creating a first relative coordinate system by taking the first characteristic point as a coordinate origin and the first angle value as a deflection angle value.
The description of the first coordinate system creation module may refer to the detailed description of step S003 in the above-mentioned related embodiment of the workpiece positioning method, that is, step S003 may be performed by the first coordinate system creation module.
In this embodiment, the second edge obtaining module 520 may include a fifth unit and a sixth unit.
And a fifth unit, configured to create a third region of interest in the first relative coordinate system, where the third region of interest is located between the first edge and the second edge and is close to the first edge.
The description of the fifth unit may refer to the detailed description of step S210 in the above-mentioned embodiments related to the workpiece positioning method, that is, step S210 may be performed by the fifth unit.
And a sixth unit, configured to acquire a third edge from the third region of interest.
The description of the sixth unit may refer to the detailed description of step S220 in the above-mentioned embodiments related to the workpiece positioning method, that is, step S220 may be performed by the sixth unit.
In this embodiment, the workpiece positioning apparatus 500 may further include a second feature point obtaining module, a second angle value obtaining module, and a second coordinate system creating module.
And the second characteristic point acquisition module is used for acquiring a second characteristic point from the second edge.
The description of the second feature point acquisition module may refer to the detailed description of step S004 in the embodiment related to the workpiece positioning method, that is, step S004 may be executed by the second feature point acquisition module.
And the second angle value acquisition module is used for acquiring the deflection angle of the second edge in the geodetic coordinate system as a second angle value.
The description of the second angle value obtaining module may refer to the detailed description of step S005 in the embodiment related to the workpiece positioning method, that is, step S005 may be executed by the second angle value obtaining module.
And the second coordinate system creating module is used for creating a second relative coordinate system by taking the second characteristic point as a coordinate origin and the second angle value as a deflection angle value.
The description of the second coordinate system creation module may refer to the detailed description of step S006 in the above-mentioned related embodiment of the workpiece positioning method, that is, step S006 may be performed by the second coordinate system creation module.
In this embodiment, the third edge obtaining module 530 may include a seventh unit and an eighth unit.
And a seventh unit, configured to create a fourth region of interest in the second relative coordinate system, where the fourth region of interest is located between the first edge and the second edge and is close to the second edge.
The description of the seventh unit may refer to the detailed description of step S310 in the above-described embodiments related to the workpiece positioning method, that is, step S310 may be performed by the seventh unit.
And an eighth unit, configured to acquire a fourth edge from the fourth region of interest.
The description of the eighth unit may refer to the detailed description of step S320 in the embodiment related to the workpiece positioning method, that is, step S320 may be performed by the eighth unit.
In the embodiment of the present application, the positioning module 540 may include a ninth unit, a tenth unit, and an eleventh unit.
And the ninth unit is used for carrying out secondary positioning on the first sideline in the first relative coordinate system to obtain a first edge line to be used, and acquiring an intersection point of the first edge line to be used and the third edge line as a first edge point of the workpiece to be positioned.
The description of the ninth unit may refer to the detailed description of step S410 in the above-described embodiments related to the workpiece positioning method, that is, step S410 may be performed by the ninth unit.
And the tenth unit is used for carrying out secondary positioning on the second sideline in the second relative coordinate system to obtain a second standby sideline, and acquiring an intersection point of the second standby sideline and the fourth sideline as a second sideline point of the workpiece to be positioned.
The description of the tenth unit may refer to the detailed description of step S420 in the embodiment related to the workpiece positioning method, that is, step S420 may be performed by the tenth unit.
And the eleventh unit is used for taking the midpoint position of the first corner point and the second corner point as the positioning position of the workpiece to be positioned.
The description of the eleventh unit may refer specifically to the detailed description of step S430 in the above-described embodiment of the workpiece positioning method, that is, step S430 may be performed by the eleventh unit.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed, the method for positioning a workpiece provided in the foregoing method embodiment is implemented.
In summary, according to the workpiece positioning method, the workpiece positioning device, and the electronic apparatus provided in the embodiments of the present application, in the process of positioning the workpiece to be positioned, first, based on the geodetic coordinate system, a workpiece to be positioned is roughly positioned, a first side line and a second side line of the workpiece to be positioned are obtained from the target image, and then, based on the first relative coordinate system and the second relative coordinate system, the workpiece to be positioned is precisely positioned, that is, based on the first relative coordinate system, a third side line of the workpiece to be positioned is obtained from the target image, and simultaneously, based on the second relative coordinate system, a fourth side line of the workpiece to be positioned is obtained from the target image, wherein the first relative coordinate system is created according to the first side line, the second relative coordinate system is created according to the second side line, and the third side line and the fourth side line are located on the same side line of the workpiece to be positioned, and finally, according to the first side line, the second side line, the third side line and the fourth side line are located on the same side line of the workpiece to be positioned, the second side line, and the second side line, the third side line and the fourth line are located on the same side line, where the second side line, the third side line, the second side line, the third side line, the second side line, the third side line, the second side line, the third side line, the fourth side line, the third side line, the second side line, the third side line, the second side line, the third side line, the second side line, the third, The second side line, the third side line and the fourth side line finally realize the purpose of positioning the workpiece to be positioned, since the foregoing process is workpiece positioning achieved by improved machine vision techniques, the position of the workpiece, based on a geodetic coordinate system, after the first edge line and the second edge line are roughly positioned, the third edge line and the fourth edge line are accurately obtained based on the first relative coordinate system and the second relative coordinate system, therefore, the positioning result obtained according to the first edge line, the second edge line, the third edge line and the fourth edge line is compared with the positioning result obtained by manually positioning in the prior art, the positioning efficiency is improved, and the accuracy of the positioning result can be ensured, thereby effectively improving the model changing efficiency of workpieces or products on a production line, the workpiece positioning method can be suitable for positioning workpieces with different sizes, and therefore the compatible range is large.
In the embodiments provided in the present application, it should be understood that the disclosed method and apparatus can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, the functional modules in each embodiment of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
Further, the functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as independent products. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method described in each embodiment of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
It is further noted that, herein, relational terms such as "first," "second," "third," and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Claims (10)
1. A method of positioning a workpiece, comprising:
based on a geodetic coordinate system, acquiring a first side line and a second side line of a workpiece to be positioned from a target image, wherein the target image is a local image acquired when the workpiece to be positioned is shot by a camera and the camera cannot shoot an overall image of the workpiece to be positioned due to environmental restriction, and the first side line and the second side line are opposite in position;
acquiring a third edge line of the workpiece to be positioned from the target image based on a first relative coordinate system, wherein the first relative coordinate system is established according to the first edge line;
acquiring a fourth edge line of the workpiece to be positioned from the target image based on a second relative coordinate system, wherein the second relative coordinate system is established according to the second edge line, and the third edge line and the fourth edge line are positioned on the same edge line of the workpiece to be positioned;
and positioning the workpiece to be positioned according to the first sideline, the second sideline, the third sideline and the fourth sideline.
2. The method of claim 1, wherein the obtaining a first edge and a second edge of the workpiece to be positioned from the target image based on the geodetic coordinate system comprises:
creating a first region of interest in the geodetic coordinate system, the first region of interest being located on a first side of the target image;
acquiring the first edge from the first region of interest;
creating a second region of interest in the geodetic coordinate system, the second region of interest located on a second side of the target image, the second side being opposite the first side;
and acquiring the second edge from the second region of interest.
3. The method of claim 1, wherein prior to the step of obtaining the third edge of the workpiece to be located from the target image based on the first relative coordinate system, the method further comprises:
acquiring a first characteristic point from the first edge;
acquiring a deflection angle of the first edge in the geodetic coordinate system as a first angle value;
and taking the first characteristic point as a coordinate origin and the first angle value as a deflection angle value, and creating the first relative coordinate system.
4. The method of claim 1, wherein the obtaining a third edge of the workpiece to be positioned from the target image based on the first relative coordinate system comprises:
creating a third region of interest in the first relative coordinate system, the third region of interest being located between the first edge and the second edge and being close to the first edge;
and acquiring the third edge from the third region of interest.
5. The method according to claim 1, wherein before the step of obtaining the fourth edge line of the workpiece to be positioned from the target image based on the second relative coordinate system, the method further comprises:
acquiring a second characteristic point from the second edge;
acquiring a deflection angle of the second edge in the geodetic coordinate system as a second angle value;
and taking the second characteristic point as a coordinate origin and the second angle value as a deflection angle value, and creating the second relative coordinate system.
6. The method of claim 1, wherein the obtaining a fourth edge of the workpiece to be positioned from the target image based on the second relative coordinate system comprises:
creating a fourth region of interest in the second relative coordinate system, the fourth region of interest being located between the first edge and the second edge and being close to the second edge;
and acquiring the fourth edge from the fourth region of interest.
7. The method of claim 1, wherein said positioning the workpiece to be positioned according to the first edge, the second edge, the third edge, and the fourth edge comprises:
performing secondary positioning on the first edge line in the first relative coordinate system to obtain a first edge line to be used, and acquiring an intersection point of the first edge line to be used and the third edge line as a first edge point of the workpiece to be positioned;
in the second relative coordinate system, performing secondary positioning on the second sideline to obtain a second standby sideline, and obtaining an intersection point of the second standby sideline and the fourth sideline as a second sideline corner point of the workpiece to be positioned;
and taking the position of the middle point of the first corner point and the second corner point as the positioning position of the workpiece to be positioned.
8. A workpiece positioning device, comprising:
the system comprises a first edge acquisition module, a second edge acquisition module and a positioning module, wherein the first edge acquisition module is used for acquiring a first edge and a second edge of a workpiece to be positioned from a target image based on a geodetic coordinate system, the target image is a local image acquired when the workpiece to be positioned is shot by a camera and the camera cannot shoot an overall image of the workpiece to be positioned due to environmental restriction, and the first edge and the second edge are opposite in position;
the second edge line acquisition module is used for acquiring a third edge line of the workpiece to be positioned from a target image based on a first relative coordinate system, and the first relative coordinate system is established according to the first edge line;
the third edge line acquisition module is used for acquiring a fourth edge line of the workpiece to be positioned from a target image based on a second relative coordinate system, the second relative coordinate system is created according to the second edge line, and the third edge line and the fourth edge line are positioned on the same edge line of the workpiece to be positioned;
and the positioning module is used for positioning the workpiece to be positioned according to the first sideline, the second sideline, the third sideline and the fourth sideline.
9. An electronic device comprising a controller and a memory, the memory having a computer program stored thereon, the controller being configured to execute the computer program to implement the method of any one of claims 1 to 7.
10. A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the workpiece positioning method of any of claims 1-7.
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