CN111899294B - Object detection method, object detection device, and object detection system - Google Patents
Object detection method, object detection device, and object detection system Download PDFInfo
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- CN111899294B CN111899294B CN202011058393.3A CN202011058393A CN111899294B CN 111899294 B CN111899294 B CN 111899294B CN 202011058393 A CN202011058393 A CN 202011058393A CN 111899294 B CN111899294 B CN 111899294B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30242—Counting objects in image
Abstract
The invention provides an object detection method, a detection device and a detection system, wherein the object detection method comprises the following steps: acquiring image information of an object to be detected; acquiring depth information of the object to be detected; and generating a preset color on the image information according to the depth information. According to the technical scheme, the image information of the object to be detected is acquired, and the depth information of the object to be detected on the image information is acquired according to the image information, so that the position, corresponding to the depth information, on the image information is set to be a preset color, and the position of the object on the image information is distinguished. And then whether the object to be detected is fully filled on the turnover disc or whether the object to be detected is correctly placed is judged, checking efficiency and accuracy are improved, and production efficiency is improved.
Description
Technical Field
The invention relates to the technical field of TOF module application, in particular to an object detection method, an object detection device and an object detection system.
Background
In the prior art, when the number of objects in the turnover disc is checked, checking is generally performed manually in a counting manner. However, the number of objects neatly arranged in the turnover plate is calculated in a manual counting manner, but if the number of objects in a large area are checked, the checking efficiency is obviously reduced, the production efficiency is affected, checking errors may occur, and the accuracy is reduced.
Disclosure of Invention
The invention mainly aims to provide an object detection method, a detection device and a detection system, and aims to solve the technical problems of low verification efficiency and verification precision of the number of objects in a turnover disc in the prior art.
In order to achieve the above object, the present invention provides an object detection method, including the steps of:
acquiring depth information of an object to be detected;
acquiring image information of the object to be detected according to the depth information;
and generating a preset color on the image information according to the depth information.
Optionally, the step of generating a preset color on the image information according to the depth information includes:
presetting one-to-one corresponding color information for different depth information;
and adjusting the color of the image information according to the color information.
Optionally, the step of adjusting the color of the image information according to the color information includes:
determining color information corresponding to each pixel in the image information according to the depth information;
and correspondingly adjusting the ratio of the red channel, the green channel and the blue channel of each pixel according to the color information.
Optionally, after the step of determining color information corresponding to each pixel in the image information according to the depth information, the method further includes:
calculating the depth difference of two adjacent pixels according to the depth information of the two adjacent pixels;
comparing the depth difference with a preset error value;
and setting the color information of the two adjacent pixels according to the comparison result.
Optionally, the step of obtaining the depth information of the object to be measured includes:
emitting laser towards the object to be detected to obtain a time interval for receiving and transmitting the laser;
and calculating the depth information according to the preset speed of the laser and the time interval.
Optionally, after the step of generating a preset color on the image information according to the depth information, the method further includes:
collecting a color image of the object to be detected;
comparing the color image with the image information to obtain contrast information;
and marking the object to be detected on the color image according to the comparison information.
Optionally, after the step of labeling the object to be measured on the color image according to the contrast information, the method further includes the step of labeling the object to be measured on the color image;
counting the number of the labels, and comparing the number of the labels with a preset number;
and acquiring the filling progress of the object to be detected according to the comparison result.
Optionally, after the step of comparing the color image with the depth image to obtain contrast information, the method further includes;
and generating a log file according to the comparison information.
In addition, in order to solve the above problems, the present invention further provides an object detection apparatus, where the object detection apparatus includes a TOF assembly and a processing module, where the TOF assembly is used to obtain depth information of an object to be detected; the processing module is used for acquiring the image information of the object to be detected according to the depth information and generating a preset color on the image information according to the depth information.
In addition, in order to solve the above problems, the present invention further provides an object detecting system, where the object detecting device includes a workbench and the object detecting device, the workbench is used for placing an object to be detected, and the collecting direction of the object detecting device faces the workbench.
According to the technical scheme, the image information of the object to be detected is acquired, and the depth information of the object to be detected on the image information is acquired according to the image information, so that the position, corresponding to the depth information, on the image information is set to be a preset color, and the position of the object on the image information is distinguished. And then whether the object to be detected is fully filled on the turnover disc or whether the object to be detected is correctly placed is judged, checking efficiency and accuracy are improved, and production efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a first embodiment of an object detection method according to the present invention;
FIG. 2 is a schematic flow chart of a second embodiment of the object detection method according to the present invention;
FIG. 3 is a schematic flow chart of a third embodiment of the object detection method according to the present invention;
FIG. 4 is a schematic flow chart of a fourth embodiment of the object detection method according to the present invention;
FIG. 5 is a schematic flow chart of a fifth embodiment of the object detection method according to the present invention;
FIG. 6 is a flowchart illustrating a sixth embodiment of an object detecting method according to the present invention;
FIG. 7 is a schematic flow chart of a seventh embodiment of the object detection method according to the present invention;
fig. 8 is a flowchart illustrating an eighth embodiment of an object detection method according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The present invention provides an object detection method, please refer to fig. 1, fig. 1 is a schematic flow chart of a first embodiment of the object detection method of the present invention, and the object detection method includes the following steps:
step S10: acquiring depth information of an object to be detected;
step S20: acquiring image information of the object to be detected according to the depth information;
step S30: and generating a preset color on the image information according to the depth information.
The method comprises the steps of placing a plurality of objects to be detected in a turnover disc, and collecting depth information of the objects to be detected on the turnover disc through a sensor or a TOF assembly and other collecting devices, wherein the depth information represents the distance from a collecting surface of the collecting device to the surface of the objects to be detected, for example, the distance from a lens of the TOF assembly to the surface of the objects to be detected. After the depth information is obtained, the image information is generated according to the depth information, in this embodiment, the display method of the image information adopts pseudo color display, and the adjustment of the colors at different positions on the image information is realized by matching each gray level to one point on a color space, that is, mapping a monochrome image to a transformation of a color image. After the image information is obtained, setting the color of the position of the object to be detected as the preset color on the image information, wherein it needs to be explained that the preset color displayed under the condition that the depth information is the preset depth is the same color, that is, when the depth information is smaller than a first preset depth, a first preset color is generated on the image information, when the depth information is greater than or equal to the first preset depth and smaller than a second preset depth, a second preset color is generated on the image information, when the depth information is greater than or equal to the second preset depth and smaller than a third preset depth, a third preset color is generated on the image information, and so on. For example, a part of the object to be measured, which is less than one meter deep from the TOF assembly, is set to be a first preset color, such as red; setting a part of the object to be detected, which is 1-2 m deep from the TOF component, as a second preset color, and displaying the part as yellow if the part is displayed; and setting the part of the object to be detected, which is 2-3 m deep from the TOF assembly, as a third preset color, such as blue. Therefore, the object to be detected and other objects on the image information are distinguished, and a user can directly observe information such as the position or the number of the object to be detected on the turnover table through the image information visually, so that the automatic checking function is realized, the checking efficiency and the checking accuracy are improved, and the production efficiency is improved.
According to the technical scheme, the image information of the object to be detected is acquired, and the depth information of the object to be detected on the image information is acquired according to the image information, so that the position, corresponding to the depth information, on the image information is set to be a preset color, and the position of the object on the image information is distinguished. And then whether the object to be detected is fully filled on the turnover disc or whether the object to be detected is correctly placed is judged, checking efficiency and accuracy are improved, and production efficiency is improved.
Further, referring to fig. 2, fig. 2 is a flowchart illustrating a second embodiment of the object detection method according to the present invention based on the first embodiment, and step S30 includes:
step S31: presetting one-to-one corresponding color information for different depth information;
step S32: and adjusting the color of the image information according to the color information.
Because the image information is displayed in a pseudo color mode, the color interval of the image information can be set according to the height difference of the object to be detected, namely different depth information on the object to be detected is firstly obtained, and different color information is correspondingly set according to the different depth information. For example, when three types of depth information are collected on the object to be measured, the color information set corresponding to the first depth is red, the color information set corresponding to the second depth is blue, the color information set corresponding to the third depth is green, and the like. It can be understood that the color information in this embodiment includes, but is not limited to, the above schemes, and the color information may further include more color types, and it is only necessary to satisfy that the color information corresponding to each different depth information is different.
And setting the color of the position corresponding to the depth information on the picture information as the color of the color information corresponding to the depth information. For example, a region at a first depth on the picture information is set to red, a region at a second depth on the picture information is set to blue, a region at a third depth on the picture information is set to green, and the like. Therefore, the color intervals at different positions of the depth information on the picture information are different, so that a user can check the number of the objects to be detected in the week turntable more visually.
Further, referring to fig. 3, fig. 3 is a flowchart illustrating a third embodiment of the object detection method according to the present invention based on the second embodiment, and step S32 includes:
step S321: determining color information corresponding to each pixel in the image information according to the depth information;
step S322: and correspondingly adjusting the ratio of the red channel, the green channel and the blue channel of each pixel according to the color information.
The method comprises the steps of firstly obtaining color information of each pixel on image information, enabling the color information corresponding to the pixels on different depth information to be different, enabling each pixel to correspond to a corresponding red channel, a corresponding green channel and a corresponding blue channel, and finally synthesizing color values of the three channels into RGB color values to be displayed, namely converting the gray scale of an original image f (x, y) into three primary color components R (x, y), G (x, y) and B (x, y) through three different transformations of red, green and blue, so as to generate corresponding colors.
In this embodiment, the color types that can be generated by the color information are improved by adjusting the ratios of the red channel, the green channel, and the blue channel of each pixel, so that more different depth information can be corresponded, that is, the object detection method of the present invention can adapt to more different objects to be detected or environments to be detected, and the like. Meanwhile, the color types which can be generated by the color information are improved, and more different depth information is corresponded, so that the identification degree and the accuracy of the object detection method are improved.
Further, referring to fig. 4, fig. 4 is a schematic flow chart of a fourth embodiment of the object detection method according to the invention based on the third embodiment, and after step S321, the method further includes the following steps:
step S323: calculating the depth difference of two adjacent pixels according to the depth information of the two adjacent pixels;
step S324: comparing the depth difference with a preset error value;
step S325: and setting the color information of the two adjacent pixels according to the comparison result.
In practical applications, when the accuracy requirement on the depth information is high, the preset color generated on the image information may be interfered due to reasons such as an acquired angle or dirt in a rotating disc. Therefore, in this embodiment, the depth difference of the depth information of two adjacent pixels is calculated, and by setting the preset error, when the depth difference is greater than the preset error, it indicates that the adjacent pixels are different parts on the object to be measured, or indicates that the adjacent pixels are located on different objects, so that the color information of the two adjacent pixels is set to be inconsistent; when the depth difference is smaller than or equal to the preset error, the position is indicated to have dirt and the like, so that the color information of the two adjacent pixels is set to be consistent, the color displayed on the image information is prevented from being incorrect, and the accuracy of the object detection method is improved.
Further, referring to fig. 5, fig. 5 is a flowchart illustrating the object detection method according to the fifth embodiment of the present invention based on the first embodiment, and step S10 includes the following steps:
step S11: emitting laser towards the object to be detected to obtain a time interval for receiving and transmitting the laser;
step S12: and calculating the depth information according to the preset speed of the laser and the time interval.
In this embodiment, the depth information H = tv/2 may be calculated by setting an optical coupler sensor to receive or transmit laser light, emitting laser light of different wavelength bands toward the object to be measured, reflecting the laser light from the object to be measured back to the optical coupler sensor after the laser light is emitted onto the object to be measured, and calculating the time interval t between the emission of the laser light and the reception of the laser light and the laser speed v of different wavelength bands. It can be understood that, in the present embodiment, the depth information is calculated by emitting laser light in a plurality of different wavelength bands, so as to improve the accuracy of the depth information.
Further, referring to fig. 6, fig. 6 is a flowchart illustrating a sixth embodiment of the object detection method according to the present invention based on the first embodiment, and after step S30, the method further includes the following steps:
step S40: collecting a color image of the object to be detected;
step S50: comparing the color image with the image information to obtain contrast information;
step S60: and marking the object to be detected on the color image according to the comparison information.
In this embodiment, taking a TOF assembly as an example, the TOF assembly may also be used to acquire a color image of the object to be detected, or acquire the color image of the object to be detected by setting a camera on the object detection device.
The color image and the image information are compared to generate the contrast information, which may include label information, label number, depth information, and the like. For example, by comparing, objects which accord with the depth information on the color image are marked, so as to obtain the filling progress of the object to be detected, that is, to obtain whether the object to be detected is filled on the week turntable, whether the placing position of the object to be detected is deviated, whether the object to be detected is toppled or not, and the like, thereby improving the checking accuracy of the object detection method of the present invention.
Further, referring to fig. 7, fig. 7 is a flowchart illustrating a seventh embodiment of the object detection method according to the present invention based on the sixth embodiment, and after step S60, the method further includes the following steps:
step S70: counting the number of the labels, and comparing the number of the labels with a preset number;
step S80: and acquiring the filling progress of the object to be detected according to the comparison result.
In this embodiment, by counting the number of labels of the labels, when the number of labels is smaller than the preset number, it indicates that the object to be detected is not filled in the turnover disk, and the user can supplement the object to be detected on the turnover disk in time according to the comparison result; when the number of the labels is larger than the preset number, the number of the objects to be detected on the week rotary table is excessive, and a user can take out the excessive objects to be detected from the week rotary table according to the comparison result; and when the number of the labels is equal to the preset number, the object to be detected on the turnover disc is qualified.
Further, referring to fig. 8, fig. 8 is a flowchart illustrating an eighth embodiment of the object detection method according to the present invention based on the sixth embodiment, and after step S60, the method further includes the following steps:
step S90: and generating a log file according to the comparison information.
In this embodiment, the comparison information is sorted to generate the log file or log information, so that a user can trace back the detection process of the object detection method of the present invention, thereby avoiding that the object to be detected with quality problems cannot be found.
In addition, in order to solve the above problems, the present invention further provides an object detection apparatus, including a TOF assembly and a processing module, where the TOF assembly is used to obtain image information of an object to be detected; the processing module is used for acquiring the depth information of the object to be detected according to the image information and generating a preset color on the image information according to the depth information.
The method comprises the steps of placing a plurality of objects to be detected in a turnover disc, and collecting depth information of the objects to be detected on the turnover disc through a sensor or a TOF assembly and other collecting devices, wherein the depth information represents the distance from a collecting surface of the collecting device to the surface of the objects to be detected, for example, the distance from a lens of the TOF assembly to the surface of the objects to be detected. After the depth information is obtained, the image information is generated according to the depth information, in this embodiment, the display method of the image information adopts pseudo color display, and the adjustment of the colors at different positions on the image information is realized by matching each gray level to one point on a color space, that is, mapping a monochrome image to a transformation of a color image. After the image information is obtained, setting the color of the position of the object to be detected as the preset color on the image information, wherein it needs to be explained that the preset color displayed under the condition that the depth information is the preset depth is the same color, that is, when the depth information is smaller than a first preset depth, a first preset color is generated on the image information, when the depth information is greater than or equal to the first preset depth and smaller than a second preset depth, a second preset color is generated on the image information, when the depth information is greater than or equal to the second preset depth and smaller than a third preset depth, a third preset color is generated on the image information, and so on. For example, a part of the object to be measured, which is less than one meter deep from the TOF assembly, is set to be a first preset color, such as red; setting a part of the object to be detected, which is 1-2 m deep from the TOF component, as a second preset color, and displaying the part as yellow if the part is displayed; and setting the part of the object to be detected, which is 2-3 m deep from the TOF assembly, as a third preset color, such as blue. Therefore, the object to be detected and other objects on the image information are distinguished, and a user can directly observe information such as the position or the number of the object to be detected on the turnover table through the image information visually, so that the automatic checking function is realized, the checking efficiency and the checking accuracy are improved, and the production efficiency is improved.
It should be noted that the TOF assembly may also be configured to collect a color image of the object to be detected, or collect the color image of the object to be detected in a manner of setting a camera on the object detection device, so as to compare the color image with the image information to obtain a filling progress of the object to be detected, that is, to obtain whether the object to be detected is filled on the rotating disk, whether a deviation occurs in a placement position of the object to be detected, whether the object to be detected falls down, and the like.
According to the technical scheme, the image information of the object to be detected is acquired, and the depth information of the object to be detected on the image information is acquired according to the image information, so that the position, corresponding to the depth information, on the image information is set to be a preset color, and the position of the object on the image information is distinguished. And then whether the object to be detected is fully filled on the turnover disc or whether the object to be detected is correctly placed is judged, checking efficiency and accuracy are improved, and production efficiency is improved.
In addition, in order to solve the above problems, the present invention further provides an object detecting system, where the object detecting device includes a workbench and the object detecting device, the workbench is used for placing an object to be detected, and the collecting direction of the object detecting device faces the workbench.
According to the technical scheme, the image information of the object to be detected is acquired, and the depth information of the object to be detected on the image information is acquired according to the image information, so that the position, corresponding to the depth information, on the image information is set to be a preset color, and the position of the object on the image information is distinguished. And then whether the object to be detected is fully filled on the turnover disc or whether the object to be detected is correctly placed is judged, checking efficiency and accuracy are improved, and production efficiency is improved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. An object detection method, characterized by comprising the steps of:
acquiring depth information of an object to be detected;
acquiring image information of the object to be detected according to the depth information;
presetting one-to-one corresponding color information for different depth information;
determining color information corresponding to each pixel in the image information according to the depth information;
calculating the depth difference of two adjacent pixels according to the depth information of the two adjacent pixels;
comparing the depth difference with a preset error value;
setting color information of the two adjacent pixels according to the comparison result;
and correspondingly adjusting the ratio of the red channel, the green channel and the blue channel of each pixel according to the color information.
2. The object detection method according to claim 1, wherein the step of acquiring depth information of the object to be measured includes:
emitting laser towards the object to be detected to obtain a time interval for receiving and transmitting the laser;
and calculating the depth information according to the preset speed of the laser and the time interval.
3. The object detection method according to claim 1, wherein the step of generating a preset color on the image information according to the depth information further comprises:
collecting a color image of the object to be detected;
comparing the color image with the image information to obtain contrast information;
and marking the object to be detected on the color image according to the comparison information.
4. The object detection method according to claim 3, wherein the step of labeling the object to be detected on the color image according to the contrast information further comprises;
counting the number of the labels, and comparing the number of the labels with a preset number;
and acquiring the filling progress of the object to be detected according to the comparison result.
5. The object detection method according to claim 3, wherein the step of comparing the color image with the image information to obtain contrast information further comprises;
and generating a log file according to the comparison information.
6. An object detecting device, characterized in that the object detecting device comprises:
the TOF component is used for acquiring depth information of an object to be detected;
the processing module is used for acquiring the image information of the object to be detected according to the depth information, and presetting one-to-one corresponding color information for different depth information; determining color information corresponding to each pixel in the image information according to the depth information; calculating the depth difference of two adjacent pixels according to the depth information of the two adjacent pixels; comparing the depth difference with a preset error value; setting color information of the two adjacent pixels according to the comparison result; and correspondingly adjusting the ratio of the red channel, the green channel and the blue channel of each pixel according to the color information.
7. An object detecting system, characterized in that the object detecting device comprises a workbench and the object detecting device as claimed in claim 6, the workbench is used for placing an object to be detected, and the collecting direction of the object detecting device faces to the workbench.
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| CN105139407A (en) * | 2015-09-08 | 2015-12-09 | 江苏大学 | Color depth matching plant identification method based on Kinect sensor |
| CN106096512A (en) * | 2016-05-31 | 2016-11-09 | 上海美迪索科电子科技有限公司 | Utilize the detection device and method that vehicles or pedestrians are identified by depth camera |
| CN106952309A (en) * | 2016-01-07 | 2017-07-14 | 宁波舜宇光电信息有限公司 | The device and method of Fast Calibration TOF depth camera many kinds of parameters |
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| WO2016207875A1 (en) * | 2015-06-22 | 2016-12-29 | Photomyne Ltd. | System and method for detecting objects in an image |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105139407A (en) * | 2015-09-08 | 2015-12-09 | 江苏大学 | Color depth matching plant identification method based on Kinect sensor |
| CN106952309A (en) * | 2016-01-07 | 2017-07-14 | 宁波舜宇光电信息有限公司 | The device and method of Fast Calibration TOF depth camera many kinds of parameters |
| CN106096512A (en) * | 2016-05-31 | 2016-11-09 | 上海美迪索科电子科技有限公司 | Utilize the detection device and method that vehicles or pedestrians are identified by depth camera |
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