CN113096090B - End face gap visual measurement method with chamfer, device, equipment and storage medium - Google Patents
End face gap visual measurement method with chamfer, device, equipment and storage medium Download PDFInfo
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Abstract
The invention discloses a visual measuring method, a device, equipment and a storage medium for an end face gap with a chamfer, which comprise a visual image acquisition system and an industrial personal computer, wherein the visual image acquisition system acquires end face images of a workpiece A and a workpiece B to be measured in an assembling process in real time and transmits the end face images to the industrial personal computer through a network; the end surfaces of the workpiece A and the workpiece B are provided with chamfers; the method comprises the following steps: calibrating a visual image acquisition system, and selecting a workpiece A and a workpiece B chamfering part area by adopting a template matching technology to create a template image; acquiring end face gap image information of a workpiece A and a workpiece B through a visual image acquisition system, rapidly matching chamfers in a measurement process according to created template images to obtain a chamfer template matching result, and judging the chamfer template matching result; and detecting and calculating the end face clearance of the workpiece A and the workpiece B in real time according to the chamfer template matching result. The invention solves the problem of visual measurement of the end face clearance to be chamfered and has high measurement precision.
Description
Technical Field
The invention relates to the technical field of product assembly and manufacture, in particular to a visual measurement method, a device, equipment and a storage medium for an end face gap with a chamfer.
Background
In the process of product butt joint assembly, strict requirements are often imposed on the end face clearance of two workpieces, and particularly in the process of automatic assembly, the measurement precision of the end face clearance directly influences the assembly quality of products. The visual image measurement technology is used as a non-contact measurement means and has the characteristics of low cost, high precision, simplicity in operation and the like. The method for measuring the end face clearance based on the computer vision has wide application prospect in the automatic and intelligent assembling process by utilizing the ultrahigh resolution of the optical system to be matched with the current image processing technology.
However, the end face gap vision measuring method in the prior art has the following disadvantages:
(1) The existing end face gap method based on image processing determines a boundary line of an end face and a gap by utilizing image gray scale changes of the end face and the gap, the method is only suitable for two end faces without chamfers, and no other workpiece exists in the gap in the workpiece assembling process.
(2) The assembly of the product is a continuous process, and the relative movement of the two workpiece positions is represented as a dynamic change in the end face clearance. The existing method only analyzes the static image at the current moment and does not consider the continuity of the dynamic change process.
(3) In the selection of the optical lens, the existing method does not consider the relationship between the chamfer depth and the lens depth of field.
Disclosure of Invention
Aiming at least one defect of the existing end face gap vision measuring method in the background technology, the invention aims to provide an end face gap vision measuring method with a chamfer, a device, equipment and a storage medium, wherein the method selects a lens with the depth of field close to the depth of the chamfer aiming at the condition that the chamfer exists on an end face, and performs region segmentation on the gap and the chamfer by utilizing the information entropy of an image; and then, pixel statistics is carried out in the neighborhood of the segmentation boundary to judge the boundary of the chamfer and the gap.
The invention fully considers the inconsistency of the chamfering characteristics of different workpieces of the same type, and the change of the movable chamfering characteristics of one-time assembly of the same workpiece is not large. And selecting a chamfer part area as a matching template at the beginning stage of measurement by using a template matching technology, and quickly matching the chamfer to find the chamfer position in the measurement process. The method fully considers the characteristic that the change of the gap is continuous in the product assembly process, and uses Kalman filtering to predict the position of the boundary line of the chamfer and the gap in the image.
The invention is realized by the following technical scheme:
the invention provides a visual measuring method for an end face gap with a chamfer, which comprises a visual image acquisition system and an industrial personal computer, wherein the visual image acquisition system acquires end face images of a workpiece A and a workpiece B to be measured in an assembling process in real time and transmits the end face images to the industrial personal computer through a network, and an image processing algorithm in the industrial personal computer calculates the size of an end face gap in real time; the end surfaces of a workpiece A and a workpiece B to be measured are provided with chamfers; the measuring method comprises the following steps:
s1: calibrating a visual image acquisition system (camera), and selecting a workpiece A and a workpiece B chamfer part area by adopting a template matching technology to create a template image;
s2: acquiring end face gap image information of a workpiece A and a workpiece B through a visual image acquisition system, rapidly matching chamfers in a measurement process according to created template images to obtain a chamfer template matching result, and judging the chamfer template matching result; and detecting and calculating the end face clearance of the workpiece A and the workpiece B in real time according to the chamfer template matching result.
Further, in step S1, selecting the chamfer partial areas of the workpiece a and the workpiece B by using a template matching technique to create a template image, including:
manually selecting the upper half areas of the chamfers of the workpiece A and the workpiece B to be measured on the image as a shape feature matching template; setting template matching parameters with a low threshold value in the workpiece assembling process, wherein the template matching parameters comprise a rotation angle of-2 0 ～+2 0 And the zoom index is 0.8-1.2 times.
Further, in step S2, the chamfer template matching result is determined; and according to the chamfer template matching result, carrying out real-time detection and calculation on the end surface clearance of the workpiece A and the workpiece B, and specifically comprising the following steps:
step A: judging the chamfer template matching result, and recording the upper chamfer position p up Lower chamfer position p down The minimum matching score of the chamfer template matching result is s, if s>And (5) judging that the chamfering position is determined, and entering the step (B); if s<40%, judging that the chamfer is not found, and entering the step G; if s is more than or equal to 40% and less than or equal to 90%, determining the position of the chamfer and entering the step I if the confidence coefficient is lower;
and B: above chamfer position p up And lower chamfer position p down Selecting a local neighborhood to calculate a histogram along the vertical direction of the image by taking the position as a center;
and C: performing Gaussian filtering on the histogram, and calculating a univalent derivative to obtain a boundary point of a chamfer and a gap; wherein, the point with the reciprocal of zero is marked as the boundary point of the chamfer and the gap;
step D: c, performing linear fitting on all extreme points detected in the step C by adopting a random sample consensus (RANSAC) algorithm;
step E: d, judging the length and the inclination angle of the straight line fitted in the step D: if the length of the straight line is larger than the set threshold value and the angle is smaller than the set threshold value, the detection is judged to be successful, and the L1 position of the boundary line of the chamfer and the gap of the workpiece A is recorded as p 1i The L2 position of the boundary line between the chamfer and the gap of the workpiece B is p 2i Updating the Kalman filter at the same time, and entering the step F; otherwise, entering a step K;
step F: calculating the nearest distance between the line segments L1 and L2 as D 1 One pixel with a maximum distance D 2 One pixel, then the gap size is (D) 1 +D 2 ) /2*x where x is the size of a single pixel;
step G: selecting a 9x9 template image to perform information entropy operation on the image, and performing threshold segmentation;
step H: detecting two rectangular areas with the information entropy value larger than a set threshold value and with certain width as areas where the chamfers are located; recording the lower boundary position E of the chamfer of the workpiece A up Upper edge E of chamfer of workpiece B down With E up 、E down Selecting a local neighborhood to calculate a histogram along the vertical direction of the image by taking the position as a center, and entering the step C;
step I: a sequence p of the positions of a boundary L1 between the chamfer and the gap of the workpiece A 1 The sequence p of the positions of the boundary L2 between the chamfer and the gap of the workpiece B 2 Performing Kalman filtering, and predicting the position of a boundary L1 and the position of a boundary L2 to obtain a prediction result;
step J: comparing the prediction result in the step I with the chamfer template matching result, and if the prediction result is smaller than a set threshold value, the chamfer template matching result and the chamfer template matching result are consistent in detection, and entering the step B; otherwise, the matching is failed, and the step K is entered;
step K: marking the L1 position of the boundary between the chamfer and the gap of the workpiece A as p in the image window by manual scribing 1i Chamfering workpiece BThe L2 position of the boundary line with the gap is p 2i Updating the Kalman filter at the same time; and F, entering the step.
Further, in step B and step H, a local neighborhood with a width of 10 and a height of 40 is selected to calculate a histogram along the vertical direction of the image.
Furthermore, the end surfaces of the workpiece A and the workpiece B to be measured are provided with chamfers, and the chamfers are arranged on the same side or different sides.
Further, the measuring method is suitable for the visual measurement of the gap between the end faces of the two workpieces with the chamfer angle on the end face.
Furthermore, the visual image acquisition system comprises a CCD camera, a telecentric lens and an annular light source, wherein the CCD camera, the telecentric lens and the annular light source are sequentially arranged on the same axis; and the depth of field of the telecentric lens is close to the depth of the chamfer, and the lens with reasonable depth of field is selected to enable the boundary line between the chamfer and the gap to be clearer on the image.
In a second aspect, the present invention further provides a chamfered end face gap vision measuring apparatus, which supports the chamfered end face gap vision measuring method, and includes:
the calibration unit is used for calibrating the visual image acquisition system (camera);
the template image creating unit is used for selecting the chamfer part areas of the workpiece A and the workpiece B by adopting a template matching technology to create template images;
the acquisition unit is used for acquiring the end surface gap image information of the workpiece A and the workpiece B through the visual image acquisition system;
the gap real-time detection unit is used for rapidly matching the chamfer to obtain a chamfer template matching result in the measuring process according to the template image created by the template image creation unit and judging the chamfer template matching result; calculating the end face clearance of the workpiece A and the workpiece B in real time according to the chamfer template matching result;
and the output unit is used for outputting the end face gap results of the workpieces A and B.
In a third aspect, the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method for visually measuring a chamfered end face gap when executing the computer program.
In a fourth aspect, the present invention further provides a computer-readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to implement the method for visually measuring a chamfered end face gap.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the method, a lens with the depth of field close to the depth of a chamfer is selected for the condition that the chamfer exists on the end face, and the information entropy of an image is utilized to perform region segmentation on the gap and the chamfer; and then, pixel statistics is carried out in the neighborhood of the segmentation boundary to judge the boundary of the chamfer and the gap.
2. The invention fully considers the inconsistency of the chamfering characteristics of different workpieces of the same type, and the change of the movable chamfering characteristics of one-time assembly of the same workpiece is not large. And selecting a chamfer part area as a matching template at the beginning stage of measurement by using a template matching technology, and quickly matching the chamfer in the measurement process to find the chamfer position.
3. The method fully considers the characteristic that the change of the gap is continuous in the product assembly process, and uses Kalman filtering to predict the position of the boundary line of the chamfer and the gap in the image.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a flow chart of a visual measurement method for a chamfered end face gap according to the present invention.
FIG. 2 is a schematic view of the visual measurement of the chamfered end face clearance of the present invention.
FIG. 3 is a logic flow diagram of the gap real-time detection step of the present invention.
Detailed Description
Hereinafter, the term "comprising" or "may include" used in various embodiments of the present invention indicates the presence of the invented function, operation or element, and does not limit the addition of one or more functions, operations or elements. Furthermore, the terms "comprises," "comprising," "has," "having," "includes," "including," "has," "having," "including," "contains," "containing," "involving," or any combination thereof, as used in various embodiments of the present invention, are intended to cover only particular features, integers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the presence of or adding to one or more other features, integers, steps, operations, elements, components, or combinations of the foregoing.
In various embodiments of the invention, the expression "or" at least one of a or/and B "includes any or all combinations of the words listed simultaneously. For example, the expression "a or B" or "at least one of a or/and B" may include a, may include B, or may include both a and B.
Expressions (such as "first", "second", and the like) used in various embodiments of the present invention may modify various constituent elements in various embodiments, but may not limit the respective constituent elements. For example, the above description does not limit the order and/or importance of the elements described. The foregoing description is for the purpose of distinguishing one element from another. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of various embodiments of the present invention.
It should be noted that: if it is described that one constituent element is "connected" to another constituent element, the first constituent element may be directly connected to the second constituent element, and a third constituent element may be "connected" between the first constituent element and the second constituent element. In contrast, when one constituent element is "directly connected" to another constituent element, it is understood that there is no third constituent element between the first constituent element and the second constituent element.
The terminology used in the various embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the various embodiments of the invention. As used herein, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
As shown in fig. 1 to 3, the end face gap vision measuring method with the chamfer comprises a vision image acquisition system and an industrial personal computer, wherein the vision image acquisition system comprises a CCD camera, a telecentric lens and an annular light source, and the CCD camera, the telecentric lens and the annular light source are sequentially arranged on the same axis; and the depth of field of the telecentric lens is close to the depth of the chamfer angle, so that the shooting effect is ensured.
The visual image acquisition system acquires end face images of a workpiece A to be measured and a workpiece B in the assembling process in real time and transmits the end face images to the industrial personal computer through a network, and an image processing algorithm built in the industrial personal computer calculates the size of an end face gap in real time; the end faces of a workpiece A to be measured and a workpiece B to be measured are provided with chamfers;
the application object of the measuring method is visual measurement of the end face gap of two workpieces with chamfers on the end faces, namely, the end faces of the workpiece A and the workpiece B to be measured are both provided with chamfers, and the chamfers are on the same side or different sides. As shown in fig. 2, fig. 2 shows a case where end face chamfers of a workpiece a and a workpiece B are on the same side, so that only one group of visual image acquisition systems needs to be configured; if the end face chamfers of the workpiece A and the workpiece B are on different sides, two groups of visual image acquisition systems need to be configured, and the visual image acquisition systems need to be configured on the chamfers, so that the end face chamfer information of the workpiece A and the workpiece B is ensured to be in the monitoring range of the visual image acquisition systems and is acquired in real time.
As shown in fig. 1, the measurement method includes:
s1: calibrating a camera of a visual image acquisition system, and selecting a workpiece A and a workpiece B chamfer part area by adopting a template matching technology to create a template image;
s2: acquiring end face gap image information of a workpiece A and a workpiece B through a visual image acquisition system, rapidly matching chamfers in a measurement process according to created template images to obtain a chamfer template matching result, and judging the chamfer template matching result; and detecting and calculating the end face clearance of the workpiece A and the workpiece B in real time according to the chamfer template matching result.
The specific implementation is as follows:
firstly, calibrating a camera before image measurement, and comprising the following steps:
a calibration plate with a circular pattern is selected to be placed at the front end of a workpiece, and the radius of the calibration plate is Rmm. And after the light source is adjusted, a camera is used for shooting a clear image, and after the edge of the image is extracted by using a sub-pixel edge detection algorithm, the round feature is detected by using hough transformation. Assuming that the number of pixels occupied by the radius of the circle is N, the size of each pixel of the image is
Secondly, a template image is created before image measurement, and the steps are as follows:
in the assembly process of the workpieces, the bottom of the chamfer is influenced by illumination, and the edge information of the chamfer changes, so that the upper half areas of the chamfers of the workpieces A and B on the image are manually selected as the shape characteristic matching templates. In the process of assembling the workpiece, the size and the angle of the chamfer are not changed greatly, and template matching parameters such as a small rotating angle and a scaling index are set for accelerating the matching speed. To facilitate subsequent definition of the boundary between the end face and the slot.
Thirdly, as shown in fig. 3, the gap real-time detection steps are as follows:
step 1: the end face gap image is read.
Step 2: in the assembling process, the workpiece A and the workpiece B only move in the vertical direction, the vertical direction area in the template establishing process is selected as a shape template matching search area to accelerate the search speed, and the template position is ensured to be correct and fast found by setting a lower matching score.
And 3, step 3: judging the chamfer template matching result, and recording the upper chamfer position p up Lower chamfer position p down The minimum matching score of the chamfer template matching result is s, if s>When the chamfer angle is determined to be 90%, entering the step 4; if s<40%, judging that the chamfer is not found, and entering the step 9; if s is more than or equal to 40% and less than or equal to 90%, determining the position of the chamfer and entering the step 11 if the confidence coefficient is lower;
and 4, step 4: above chamfer position p up And lower chamfer position p down Selecting a local neighborhood with the width of 10 pixels and the height of 40 pixels as a center to calculate a histogram along the vertical direction of the image;
and 5: performing Gaussian filtering on the histogram, and calculating a univalent derivative to obtain a boundary point of a chamfer and a gap; wherein, the point with the reciprocal of zero is recorded as the boundary point of the chamfer and the gap;
and 6: performing straight line fitting on all the extreme points detected in the step 5 by adopting a random sample consensus (RANSAC) algorithm;
and 7: and 6, judging the length and the inclination angle of the straight line fitted in the step 6: if the length of the straight line is larger than the set threshold value and the angle is smaller than the set threshold value, the detection is judged to be successful, and the L1 position of the boundary line between the chamfer and the gap of the workpiece A is recorded as p 1i The L2 position of the boundary line between the chamfer and the gap of the workpiece B is p 2i Simultaneously updating the Kalman filter, and entering the step 8; otherwise, entering step 13;
and 8: calculating the shortest distance D between the line segments L1 and L2 1 One pixel with a maximum distance D 2 One pixel, then the gap size is (D) 1 +D 2 ) /2*x; where x is the size of a single pixel.
And step 9: selecting a 9x9 template image to perform information entropy operation on the image, and performing threshold segmentation;
step 10: detecting two rectangular areas with the information entropy value larger than a set threshold value and a certain width and recording the two rectangular areas as areas where chamfers are located; recording the lower boundary position E of the chamfer of the workpiece A up Upper edge E of chamfer of workpiece B down With E up 、E down Taking the position as a center, selecting a local neighborhood with the width of 10 pixels and the height of 40 pixels to calculate a histogram along the vertical direction of the image, and entering step 5;
step 11: respectively chamfering the workpiece A and forming a boundary line L1 position sequence p of the gap 1 The sequence p of the positions of the boundary L2 between the chamfer and the gap of the workpiece B 2 Performing Kalman filtering, and predicting the position of a boundary L1 and the position of a boundary L2 to obtain a prediction result;
step 12: comparing the prediction result in the step 11 with the chamfer template matching result, and if the prediction result is smaller than a set threshold value, the chamfer template matching result and the chamfer template matching result are consistent in detection, and entering the step 4; otherwise, the matching is failed, and the step 13 is entered;
step 13: marking the L1 position of a boundary line between the chamfer and the gap of the workpiece A as p in the image window by manually marking 1i The L2 position of the boundary line between the chamfer and the gap of the workpiece B is p 2i Updating the Kalman filter at the same time; step 8 is entered.
Aiming at the condition that the end face has a chamfer, the method selects a lens with the depth of field close to the depth of the chamfer, and performs region segmentation on the gap and the chamfer by using the information entropy of the image; then, pixel statistics is carried out in the neighborhood of the segmentation boundary to judge the boundary of the chamfer and the gap.
The invention fully considers the inconsistency of the chamfering characteristics of different workpieces of the same type, and the change of the movable chamfering characteristics of one-time assembly of the same workpiece is not large. And selecting a chamfer part area as a matching template at the beginning stage of measurement by using a template matching technology, and quickly matching the chamfer in the measurement process to find the chamfer position.
The method fully considers the characteristic that the change of the gap is continuous in the product assembly process, and uses Kalman filtering to predict the position of the boundary line of the chamfer and the gap in the image.
Example 2
As shown in fig. 1 to fig. 3, the present embodiment is different from embodiment 1 in that the present embodiment provides a chamfered end face gap vision measuring apparatus, which supports the chamfered end face gap vision measuring method described in embodiment 1, and the measuring apparatus includes:
a calibration unit for calibrating a visual image acquisition system (camera);
the template image creating unit is used for selecting the chamfer part areas of the workpiece A and the workpiece B by adopting a template matching technology to create template images;
the acquisition unit is used for acquiring the end surface gap image information of the workpiece A and the workpiece B through the visual image acquisition system;
the gap real-time detection unit is used for rapidly matching the chamfer to obtain a chamfer template matching result in the measuring process according to the template image created by the template image creation unit and judging the chamfer template matching result; calculating the end face clearance of the workpiece A and the workpiece B in real time according to the chamfer template matching result;
and the output unit is used for outputting the end face gap results of the workpieces A and B.
The steps of the visual measurement method for the end face gap with the chamfer are performed according to the steps of the method in embodiment 1, and are not repeated in this embodiment.
In addition, the invention also provides computer equipment which comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the computer program to realize the chamfered end face gap vision measuring method.
In addition, the invention also provides a computer readable storage medium, which stores a computer program, characterized in that the computer program is executed by a processor to implement the chamfered end face gap vision measuring method.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The end face gap vision measuring method with the chamfer is characterized by comprising a vision image acquisition system and an industrial personal computer, wherein the vision image acquisition system acquires end face images of a workpiece A and a workpiece B to be measured in an assembling process in real time and transmits the end face images to the industrial personal computer through a network, and an image processing algorithm in the industrial personal computer calculates the size of an end face gap in real time; the end faces of a workpiece A to be measured and a workpiece B to be measured are provided with chamfers; the measuring method comprises the following steps:
s1: calibrating a visual image acquisition system, and selecting a chamfer part area of a workpiece A and a chamfer part area of a workpiece B by adopting a template matching technology to create template images;
s2: acquiring end face gap image information of a workpiece A and a workpiece B through a visual image acquisition system, rapidly matching chamfers in a measurement process according to created template images to obtain a chamfer template matching result, and judging the chamfer template matching result; detecting and calculating the end face clearance of the workpiece A and the workpiece B in real time according to the chamfer template matching result;
in the step S2, the chamfer template matching result is judged; and according to the chamfer template matching result, carrying out real-time detection and calculation on the end surface clearance of the workpiece A and the workpiece B, and specifically comprising the following steps:
step A: the result of the chamfer template matching is judged,record the upper chamfer position p up Lower chamfer position p down The minimum matching score of the chamfer template matching result is s, if s>Judging that the chamfering position is determined to enter the step B when the chamfering position is determined to be 90 percent; if s<40%, judging that the chamfer is not found, and entering the step G; if s is more than or equal to 40% and less than or equal to 90%, determining the position of the chamfer and entering the step I if the confidence coefficient is lower;
and B, step B: above chamfer position p up And lower chamfer position p down Selecting a local neighborhood to calculate a histogram along the vertical direction of the image by taking the position as a center;
and C: performing Gaussian filtering on the histogram, and calculating a univalent derivative to obtain a boundary point of a chamfer and a gap; wherein, the point with the reciprocal of zero is marked as the boundary point of the chamfer and the gap;
step D: c, performing linear fitting on all extreme points detected in the step C by adopting a random sample consensus (RANSAC) algorithm;
step E: d, judging the length and the inclination angle of the straight line fitted in the step D: if the length of the straight line is larger than the set threshold value and the angle is smaller than the set threshold value, the detection is judged to be successful, and the L1 position of the boundary line of the chamfer and the gap of the workpiece A is recorded as p 1i The L2 position of the boundary line between the chamfer and the gap of the workpiece B is p 2i Updating the Kalman filter at the same time, and entering the step F; otherwise, entering the step K;
step F: calculating the nearest distance between the line segments L1 and L2 as D 1 One pixel with a maximum distance D 2 One pixel, then the gap size is (D) 1 +D 2 ) /2*x where x is the size of a single pixel;
step G: selecting a template image to carry out information entropy operation on the image, and carrying out threshold segmentation;
step H: detecting two rectangular areas with the information entropy values larger than a set threshold value and with widths, and recording the two rectangular areas as areas where chamfers are located; recording the lower boundary position E of the chamfer of the workpiece A up Upper edge E of chamfer of workpiece B down With E up 、E down Selecting a local neighborhood to calculate a histogram along the vertical direction of the image by taking the position as a center, and entering the step C;
step I: for chamfering and gaping work A respectivelySequence p at boundary L1 position 1 The sequence p of the positions of the boundary L2 between the chamfer and the gap of the workpiece B 2 Performing Kalman filtering, and predicting the position of a boundary L1 and the position of a boundary L2 to be used as prediction results;
step J: comparing the prediction result in the step I with the chamfer template matching result, and if the prediction result is smaller than a set threshold value, indicating that the detection of the prediction result and the chamfer template matching result is consistent, entering the step B by the chamfer template matching result; otherwise, matching fails, and entering the step K;
step K: marking the L1 position of the boundary between the chamfer and the gap of the workpiece A as p in the image window by manual scribing 1i The L2 position of the boundary line between the chamfer and the gap of the workpiece B is p 2i Updating the Kalman filter at the same time; and F, entering the step.
2. The visual measurement method for the chamfered end face gap according to claim 1, wherein in step S1, a template matching technique is used to select chamfered partial areas of the workpiece a and the workpiece B to create a template image, and the method comprises:
manually selecting the upper half areas of the chamfers of the workpiece A and the workpiece B to be measured on the image as a shape feature matching template; in the workpiece assembling process, template matching parameters are set, wherein the template matching parameters comprise a rotation angle and a scaling index.
3. The visual measurement method for the end face gap with the chamfer according to claim 1, wherein in step B and step H, a local neighborhood with the width of 10 and the height of 40 is selected to calculate a histogram along the vertical direction of the image.
4. The visual measurement method for the end face gap with the chamfer as claimed in claim 1, wherein the end faces of the workpiece A and the workpiece B to be measured are both provided with the chamfer, and the chamfers are on the same side or different sides.
5. The visual measurement method for the end face gap with the chamfer according to claim 1, is suitable for the visual measurement of the end face gap of two workpieces with the chamfer on the end face.
6. The visual measurement method for the end face gap with the chamfer angle as recited in claim 1, wherein the visual image acquisition system comprises a CCD camera, a telecentric lens and an annular light source, and the CCD camera, the telecentric lens and the annular light source are sequentially arranged on the same axis.
7. A measuring apparatus for a method of visual measurement of chamfered end face clearance according to any of claims 1 to 6, characterized in that the measuring apparatus comprises:
the calibration unit is used for calibrating the visual image acquisition system;
the template image creating unit is used for selecting the chamfer part areas of the workpiece A and the workpiece B by adopting a template matching technology to create template images;
the acquisition unit is used for acquiring the end surface gap image information of the workpiece A and the workpiece B through the visual image acquisition system;
the gap real-time detection unit is used for rapidly matching chamfers according to the template images created by the template image creation unit in the measurement process to obtain a chamfer template matching result and judging the chamfer template matching result; calculating the end face clearance of the workpiece A and the workpiece B in real time according to the chamfer template matching result;
and the output unit is used for outputting the end face gap results of the workpieces A and B.
8. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements a visual end face gap measurement method with chamfer as claimed in any one of claims 1 to 6.
9. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out a visual chamfered end-face gap measuring method according to any one of claims 1 to 6.
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