CN112509038A - Adaptive image template intercepting method, system and storage medium combined with visual simulation - Google Patents
Adaptive image template intercepting method, system and storage medium combined with visual simulation Download PDFInfo
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Abstract
The invention discloses a self-adaptive image template intercepting method, a self-adaptive image template intercepting system and a storage medium which are combined with visual simulation, wherein the method comprises the following steps: setting the position and the posture of the measured object and generating a simulation laser line according to the position and the posture; splitting at a simulation weld joint on the simulation laser line to divide the simulation laser line into a left part and a right part; performing piecewise linear fitting on the left laser line and the right laser line respectively to obtain a plurality of piecewise characteristic points; defining the template intercepting area as a square, and calculating the size of the template intercepting area; and fixing the size of the intercepted area, and estimating the deviation of the included angles of the appropriate template stripes by combining the width of the laser line so as to construct a plurality of image templates with different included angles of the stripes. Aiming at the laser line image collected by the single-line structured light sensor, the invention constructs a plurality of image templates by utilizing the geometric characteristics and the image boundary conditions of the simulation laser line generated by the visual simulation system. The obtained image template is used for visual positioning of subsequent welding seams.
Description
Technical Field
The invention belongs to the technical field of machine vision, and particularly relates to a self-adaptive image template intercepting method and system combined with visual simulation and a storage medium.
Background
At present, with the development of intelligent manufacturing, in industrial application, a non-contact structured light vision sensor is more and more widely applied, and the structured light vision sensor is widely applied in the fields of curved surface modeling processing detection, workpiece quality detection, welding seam tracking and the like. The vision sensor adopting the line structured light mode meets the requirement of a laser triangulation method measurement model, and is a non-contact measurement mode with high measurement speed and high precision. The laser line irradiates the surface of the measured object to form light stripes, the light stripes are affected by the geometric shape of the surface of the measured object to generate the phenomena of discontinuity and distortion, and the change comprises the depth information of the surface of the measured object. The collected laser line image is analyzed to extract the central line of the laser line, and the spatial position of a point on the laser line can be calculated according to a geometric model formed by the camera and the laser, so that the structural information of the surface of the measured object is obtained.
Before template matching weld positioning, an image template needs to be constructed first. The template image can be obtained by means of original image interception or self modeling. In the structured light stripe image, interference is easily brought into the template image by directly intercepting an original image, and the subsequent matching process is influenced. The intercepting template firstly needs to determine the size of an intercepting area, the intercepting area can be designated in a manual mode, but the manual operation is influenced by subjective judgment of an operator. In addition, in the actual scanning process, the posture of the sensor relative to the welding seam is difficult to keep constant, so that the shape of the laser line is changed, and the accurate matching of the whole scanning process is difficult to realize by using a single template. Therefore, a self-adaptive image template intercepting method needs to be designed, so that the welding seam can be accurately positioned in the whole welding seam scanning process.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provide a self-adaptive image template intercepting method, a self-adaptive image template intercepting system and a storage medium which are combined with visual simulation.
In order to achieve the purpose, the invention adopts the following technical scheme:
the adaptive image template intercepting method combined with visual simulation includes the following steps:
in a visual simulation environment, setting the position posture of a measured object and generating a simulation laser line according to the position posture;
splitting at a simulation weld joint on the simulation laser line to divide the simulation laser line into a left part and a right part;
performing piecewise linear fitting on the left simulation laser line and the right simulation laser line by adopting a Douglas pock algorithm to obtain a plurality of piecewise characteristic points;
defining the shape of a template intercepting area, and calculating the size of the template intercepting area by judging the distance between a simulation welding line and the image boundary and the distance between the simulation welding line and the nearest neighbor characteristic point;
and fixing the size of the intercepting area and combining the width of the laser line to calculate the proper deviation of the included angle of the template stripes so as to construct a plurality of image templates with different included angles of the laser line.
Further, the simulated laser line is composed of a plurality of discrete points.
Further, the method using the douglas pock algorithm specifically comprises:
virtually connecting a straight line to the head point and the tail point of each simulation laser line curve, solving the distance between all discrete points and the straight line, finding out the maximum distance value dmax, and comparing the maximum distance value dmax with the tolerance D; if dmax is less than D, all the middle discrete points on the curve are discarded, if dmax is more than or equal to D, the coordinate point corresponding to dmax is reserved, the curve is divided into two parts by taking the point as a boundary, and the two parts are subjected to piecewise linear fitting respectively by repeatedly using a Douglas-Pock algorithm to obtain a plurality of piecewise characteristic points.
Further, the shape of the template intercepting region is defined as a square.
Further, the center of the template intercepting region is located on the simulated weld joint point, the template intercepting region contains the nearest segmented feature point and the boundary of the template intercepting region does not exceed the boundary of the image.
Further, the size calculation of the template intercepting area specifically comprises:
the shape of the template intercepting area is defined as a square, and the side length of the template intercepting area is calculated to obtain the size of the template intercepting area;
let the width and height of the laser line image be W, H respectively, and the simulated weld joint point and its left and right nearest feature points be P respectively0(x0,y0)、Pl(xl,yl)、Pr(xr,yr) Length of side L of cut area of templateTThe calculation formula of (a) is as follows:
wherein P and q are respectively a simulated weld joint point P0(x0,y0) The maximum value of the difference between the coordinates of the feature points nearest to the left and right and the minimum value of the distance to the image boundary.
Further, constructing a plurality of image templates with different laser line included angles specifically comprises:
fixing the size of an intercepted area of the template, setting the width of a laser line according to an empirical value, fixing one part of the laser line on the basis of dividing the simulation laser line into a left part and a right part, and rotating the other part around the simulation weld joint point to obtain the other laser line;
gradually increasing the included angle deviation of the two laser lines and calculating the edge intersection point; when the edge intersection point satisfies: and recording the current included angle deviation d theta as the included angle deviation of the multi-template when two conditions of the outside of the template intercepting area and the nearest area boundary are met.
Further, the included angle deviation d θ is calculated according to the following formula:
wherein，LWIs the laser line width, LTAnd cutting the side length of the area for the template.
The invention also comprises a self-adaptive image template intercepting system combined with visual simulation, and the self-adaptive image template intercepting method combined with visual simulation provided by the invention comprises a simulation laser line generating module, a simulation laser line splitting module, a segment linear fitting module and a calculating module;
the simulation laser line generation module is used for setting the position and the posture of the measured object and generating a simulation laser line according to the position and the posture;
the simulation laser line splitting module is used for splitting at a simulation welding seam point on the simulation laser line to divide the simulation laser line into a left part and a right part;
the piecewise linear fitting module is used for performing piecewise linear fitting on the left part and the right part of the simulation laser line respectively by using a Douglas algorithm;
the calculation module is used for defining the shape of the template intercepting area and calculating the size of the template intercepting area and the included angle deviation between a plurality of templates.
The invention also comprises a storage medium which stores a program, and when the program is executed by a processor, the method for intercepting the self-adaptive image template combined with the visual simulation provided by the invention is realized.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention reasonably estimates the size of the image template which can obtain good matching effect through a visual simulation system in the application occasion of positioning the space object by using the single-line structured light sensor, and enables the whole welding seam scanning process to obtain good welding seam positioning effect through setting a plurality of image templates with different included angles.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic diagram of the acquisition of the cut-out area of the present invention;
FIG. 3 is a schematic diagram of laser line shape variation;
FIG. 4 is a schematic diagram of the system of the present invention;
FIG. 5 is a schematic diagram of the structure of the storage medium of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but the present invention is not limited thereto.
Examples
As shown in FIG. 1, the adaptive image template intercepting method combined with visual simulation of the present invention includes the following steps:
s1, in the visual simulation environment, setting the position and the posture of the measured object and generating a simulation laser line according to the position and the posture;
s2, dividing the simulation laser line into a left part and a right part at the simulation weld joint point on the simulation laser line;
in this embodiment, the simulated laser line is composed of a plurality of discrete points.
S3, performing piecewise linear fitting on the left laser line and the right laser line respectively by using a Douglas pock algorithm to obtain a plurality of piecewise characteristic points;
in this embodiment, as shown in fig. 2, the feature points are obtained by piecewise linear fitting.
S4, defining the template intercepting area as a square, and calculating the size of the template intercepting area to enable the template intercepting area to contain geometric features near the welding seam as much as possible on the premise of not exceeding the image boundary.
In the embodiment, the center of the template intercepting region is positioned on the simulated weld joint point, the region contains the nearest feature point and the boundary of the region does not exceed the boundary of the image; as shown in FIG. 2, the width and height of the image are respectively represented by W, H, and the simulated weld point and its left and right nearest feature points are respectively represented by P0(x0,y0)、Pl(xl,yl)、Pr(xr,yr) Length of side L of cut area of templateTIs calculated as follows:
wherein p and q are respectively the maximum value of the difference between the coordinates of the simulated weld joint point (x0 and y0) and the left and right nearest feature points and the minimum value of the distance to the image boundary. The formula is included in order to satisfy the nearest neighbor characteristic points; secondly, the formula is to satisfy that the region boundary can not exceed the image boundary; and the formula is equivalent to the priority given to two conditions, and the priority meets the condition that the area boundary does not exceed the image boundary.
S5, setting the width of the laser line according to the empirical value, simplifying the laser line into a polygon, and modeling the deformation of the laser line, as shown in FIG. 3; the laser lines are simplified into polygons, wherein the polygons include triangles, quadrilaterals, pentagons, and hexagons.
S6, on the basis of finishing the step S2, fixing one part of laser lines, and rotating the other part around the simulated weld joint point to obtain the other laser line;
s7, fixing the size of the intercepted area of the template, gradually increasing the included angle deviation of the two laser lines and calculating the edge intersection point, as shown in figure 3, with the rotation angle theta1-θ3Sequentially increasing, r associated therewith1-r3Decreasing progressively; when the edge intersection point meets two conditions of 'being outside the template intercepting area and being closest to the area boundary', recording the current included angle deviation d theta as the included angle deviation of the multi-template;
in this embodiment, the size of the template intercepting region is regarded as a constant, and the change of the included angle is continuous; the template included angle deviation d θ is calculated according to the following formula:
wherein L isWIs the laser line width, LTAnd cutting the side length of the area for the template.
In another embodiment, as shown in fig. 4, an adaptive image template clipping system combined with visual simulation is provided, and the adaptive image template clipping method combined with visual simulation of the above embodiment is applied, the system includes a simulation laser line generation module, a simulation laser line splitting module, a segment linearity fitting module, and a calculation module;
the simulation laser line generation module is used for setting the position and the posture of the measured object and generating a simulation laser line according to the position and the posture;
the simulation laser line splitting module is used for splitting at a simulation welding seam point on the simulation laser line to divide the simulation laser line into a left part and a right part;
the piecewise linear fitting module is used for performing piecewise linear fitting on the left part and the right part of the simulation laser line respectively by using a Douglas algorithm;
the calculation module is used for defining the shape of the template intercepting area and calculating the size of the template intercepting area and the included angle deviation between a plurality of templates.
It should be noted that the system provided in the foregoing embodiment is only illustrated by the division of the functional modules, and in practical applications, the above functions may be distributed by different functional modules as needed, that is, the internal structure is divided into different functional modules to complete all or part of the functions described above.
As shown in fig. 5, in another embodiment, a storage medium is further provided, which stores a program, and when the program is executed by a processor, the program implements an adaptive image template capturing method in combination with visual simulation, specifically:
in a visual simulation environment, setting the position posture of a measured object and generating a simulation laser line according to the position posture;
dividing the simulation laser line into a left part and a right part at the simulation weld joint point on the simulation laser line;
performing piecewise linear fitting on the left part and the right part of the laser lines by a Douglas pock algorithm respectively to obtain a plurality of piecewise characteristic points;
and defining the template intercepting area as a square, and calculating the size of the template intercepting area to enable the template intercepting area to contain geometric features near the welding seam as much as possible on the premise of not exceeding the image boundary.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system.
It should also be noted that in this specification, terms such as "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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The adaptive image template intercepting method combined with visual simulation is characterized by comprising the following steps of:
in a visual simulation environment, setting the position posture of a measured object and generating a simulation laser line according to the position posture;
splitting at a simulation weld joint on the simulation laser line to divide the simulation laser line into a left part and a right part;
performing piecewise linear fitting on the left simulation laser line and the right simulation laser line by adopting a Douglas pock algorithm to obtain a plurality of piecewise characteristic points;
defining the shape of a template intercepting area, and calculating the size of the template intercepting area by judging the distance between a simulation welding line and the image boundary and the distance between the simulation welding line and the nearest neighbor characteristic point;
and fixing the size of the intercepting area and combining the width of the laser line to calculate the proper deviation of the included angle of the template stripes so as to construct a plurality of image templates with different included angles of the laser line.
2. The adaptive image template clipping method in combination with visual simulation of claim 1, wherein the simulated laser line is composed of a plurality of discrete points.
3. The adaptive image template intercepting method in combination with visual simulation of claim 2, wherein the employing the douglas pock algorithm specifically is:
virtually connecting a straight line to the head point and the tail point of each simulation laser line curve, solving the distance between all discrete points and the straight line, finding out the maximum distance value dmax, and comparing the maximum distance value dmax with the tolerance D; if dmax is less than D, all the middle discrete points on the curve are discarded, if dmax is more than or equal to D, the coordinate point corresponding to dmax is reserved, the curve is divided into two parts by taking the point as a boundary, and the two parts are subjected to piecewise linear fitting respectively by repeatedly using a Douglas-Pock algorithm to obtain a plurality of piecewise characteristic points.
4. The adaptive image template clipping method in combination with visual simulation of claim 1, wherein the shape of the defined template clipping region, in particular the template clipping region, is defined as a square.
5. The adaptive image template clipping method in combination with visual simulation of claim 4, wherein the center of the template clipping region is located on the simulated weld point, the template clipping region contains nearest neighbor segmented feature points and its boundary does not exceed the boundary of the image.
6. The adaptive image template capturing method combined with visual simulation of claim 5, wherein the size of the template capturing area is calculated by:
the shape of the template intercepting area is defined as a square, and the side length of the template intercepting area is calculated to obtain the size of the template intercepting area;
let the width and height of the laser line image be W, H respectively, and the simulated weld joint point and its left and right nearest feature points be P respectively0(x0,y0)、Pl(xl,yl)、Pr(xr,yr) Length of side L of cut area of templateTThe calculation formula of (a) is as follows:
wherein P and q are respectively a simulated weld joint point P0(x0,y0) The maximum value of the difference between the coordinates of the feature points nearest to the left and right and the minimum value of the distance to the image boundary.
7. The method for intercepting a self-adaptive image template in combination with visual simulation according to claim 1, wherein the constructing of the image templates with different laser line included angles specifically comprises:
fixing the size of an intercepted area of the template, setting the width of a laser line according to an empirical value, fixing one part of the laser line on the basis of dividing the simulation laser line into a left part and a right part, and rotating the other part around the simulation weld joint point to obtain the other laser line;
gradually increasing the included angle deviation of the two laser lines and calculating the edge intersection point; when the edge intersection point satisfies: and recording the current included angle deviation d theta as the included angle deviation of the multi-template when two conditions of the outside of the template intercepting area and the nearest area boundary are met.
8. The adaptive image template clipping method in combination with visual simulation of claim 7, wherein the included angle deviation d θ is calculated according to the following formula:
wherein L isWIs the laser line width, LTAnd cutting the side length of the area for the template.
9. The adaptive image template intercepting system combined with visual simulation is characterized in that the adaptive image template intercepting method combined with visual simulation of any one of claims 1 to 8 is applied, and comprises a simulation laser line generation module, a simulation laser line splitting module, a segment linear simulation module and a calculation module;
the simulation laser line generation module is used for setting the position and the posture of the measured object and generating a simulation laser line according to the position and the posture;
the simulation laser line splitting module is used for splitting at a simulation welding seam point on the simulation laser line to divide the simulation laser line into a left part and a right part;
the piecewise linear fitting module is used for performing piecewise linear fitting on the left part and the right part of the simulation laser line respectively by using a Douglas algorithm;
the calculation module is used for defining the shape of the template intercepting area and calculating the size of the template intercepting area and the included angle deviation between a plurality of templates.
10. A storage medium storing a program, wherein the program, when executed by a processor, implements the adaptive image template clipping method in combination with visual simulation of any one of claims 1 to 8.
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