CN113129322A - Sub-pixel edge detection method - Google Patents
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Abstract
The invention relates to the technical field of image processing, and particularly discloses a sub-pixel edge detection method, which comprises the following steps: a coordinate system establishing step of establishing a coordinate system in the acquired image information; image preprocessing, namely performing image preprocessing on the image information to obtain a target image; an edge detection step, namely respectively carrying out edge detection on the laser spot and the mark ring in the target image to obtain spot edge information and mark ring edge information; a position calculation step, namely calculating the light spot position information of the laser light spot and the mark ring position information of the mark ring in the coordinate system respectively according to the light spot edge information and the mark ring edge information; calculating the offset, namely calculating the position offset of the laser spot moving to the marking ring according to the spot position information and the marking ring position information; and a correction step, controlling and adjusting the position of the laser spot projected by the laser section detector according to the position offset. By adopting the technical scheme of the invention, the alignment precision of the laser spot and the marking ring is higher.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a sub-pixel edge detection method.
Background
The tunnel refers to an underground engineering building excavated in a rock-soil body to form an underground passage. Due to geographical factors, urban development and traffic development of China, tunnel engineering has great development potential. The measurement of the tunnel section in the early stage of the tunnel engineering is a measurement engineering which must be carried out in the tunnel construction and the completion acceptance stage, and the plane, the elevation and the section geometric dimension of the tunnel excavation are controlled, so that whether the tunnel can be excavated or not is determined.
At present, tunnel section detection is often processed by a total station, a laser profiler and a background data processing system, a non-cooperative target laser ranging technology and an accurate angle measuring technology are adopted, a polar coordinate measuring method is tightly combined with a computer technology and matched with professional image processing software, an internal contour curve of a tunnel closed space can be quickly obtained, but when the laser profiler is used, a manual key is needed to adjust a laser spot to fall on a marking ring, when the laser profiler is manually adjusted, the moving distance of the adjusted laser spot per key is certain, the alignment precision of the adjusted laser spot and the marking ring is easy to occur, and therefore, the precision of the internal contour curve of the formed tunnel closed space is not high. Therefore, a method capable of adaptively adjusting the laser spot is urgently needed.
Disclosure of Invention
The invention provides a sub-pixel edge detection method, aiming at solving the technical problem that laser spots can be adjusted in a self-adaptive mode and the alignment precision of a marking ring is higher.
The basic scheme of the invention is as follows:
a sub-pixel edge detection method comprises the following steps:
a coordinate system establishing step, namely establishing a coordinate system in the acquired image information, wherein the image information comprises laser spots and mark circles;
image preprocessing, namely performing image preprocessing on the image information to obtain a target image;
an edge detection step, namely respectively carrying out edge detection on the laser spot and the mark ring in the target image to obtain spot edge information and mark ring edge information;
a position calculation step, namely calculating the light spot position information of the laser light spot and the mark ring position information of the mark ring in the coordinate system respectively according to the light spot edge information and the mark ring edge information;
calculating the offset, namely calculating the position offset of the laser spot moving to the marking ring according to the spot position information and the marking ring position information;
and a correction step, controlling and adjusting the position of the laser spot projected by the laser section detector according to the position offset.
The basic scheme has the beneficial effects that: 1. and a coordinate system is established in the image, so that the light spot position information of the laser light spot and the mark ring position information of the mark ring can be conveniently standardized and calculated.
2. The image information is subjected to image preprocessing, so that the interference of factors such as noise, color and the like in the image information on subsequent edge detection is reduced, and the subsequent edge detection accuracy is higher.
3. The edge detection is carried out on the laser spot and the marking ring to obtain respective edge information, and respective position information is obtained according to the respective edge information, namely, the surface alignment is converted into point alignment, so that the situation that the shape and the size of the laser spot and the marking ring are different and non-aligned points exist to cause inaccurate positioning is avoided. And secondly, converting the face-to-face alignment into point-to-point alignment, namely determining a positioning point, so that the overlapping positioning of the laser spot and the mark ring on the whole is more accurate.
3. And automatically correcting the position of the laser spot projected by the laser section detector according to the position offset, so that the laser spot can be more accurately superposed with the marking ring.
The edge detection step specifically comprises the following steps:
s1, carrying out global threshold segmentation processing on the target image to obtain a binary image;
s2, detecting the edge of the binary image by adopting a filter operator to obtain a gray edge image;
s3, carrying out interpolation processing on the gray scale edge image by adopting an interpolation algorithm to obtain an edge thinning image;
and S4, binarizing the edge refined image to obtain edge information.
Has the advantages that: 1. and carrying out binarization processing on the target image, so that edges in all directions can be detected, and edge extraction is facilitated.
2. And the edge is detected by adopting a filtering operator, so that the detected edge is smooth, and the loss of edge points is reduced.
3. The gray edge image is subjected to interpolation processing by adopting an interpolation method to obtain the edge of a sub-pixel level, namely, the edge can be thinned, the problem of coarse edge detected by a filter operator is solved, and the edge accuracy is higher.
Further, a correction judgment step is included between the offset calculation step and the correction step, correction judgment is carried out on the position offset according to a preset error threshold, and if the position offset is larger than the preset error threshold, position correction adjustment is carried out.
Has the advantages that: when the position offset of the laser facula and the mark ring is within the error threshold, the correction step is not executed; and when the position deviation amount is out of the error threshold value, executing a correction step, ensuring that the alignment of the laser facula and the marking ring is within the precision range, and avoiding factors of self-regulating precision of the laser section detector, which leads to the fact that the angle of the laser section detector is always regulated and influences the section detection efficiency.
Further, the correction step also comprises a correction effect tracking step, namely calculating the corrected position offset of the laser spot and the mark ring in the corrected image, and if the corrected position offset is smaller than a preset error threshold, generating equipment fault prompt information; and if the number of the alignment completion messages is smaller than the preset value, generating alignment completion prompt information.
Has the advantages that: if equipment self removes the trouble, controlgear rotates this moment, and the laser facula that equipment was beaten all is difficult to aim at with the mark circle, and because the reason that there is the difference in the mobility control precision height of equipment self, when all correcting through position offset to equipment, the alignment effect of laser facula and mark circle also has the difference, consequently is equipped with the error threshold value to judge that the laser facula that equipment self mobility control precision leads to does not align completely with the mark circle, still because the laser facula that equipment trouble leads to does not align completely with the mark circle.
Further, the correction effect tracking step specifically includes the steps of:
step S1, collecting corrected image information;
step S2, establishing a coordinate system in the corrected image;
step S3, image preprocessing is carried out on the corrected image information to obtain a corrected target image;
step S4, respectively carrying out edge detection on the laser spot and the mark ring in the corrected target image to obtain corrected spot edge information and corrected mark ring edge information;
step S5, respectively calculating corrected light spot position information of the laser light spots and corrected mark ring position information of the mark rings in the coordinate system according to the corrected light spot edge information and the corrected mark ring edge information;
step S6, calculating the corrected position offset of the laser spot moving to the marking ring according to the corrected spot position information and the corrected marking ring position information;
and step S7, judging whether the corrected position offset is smaller than a preset error threshold value, and if not, generating equipment fault prompt information.
Has the advantages that: and analyzing the alignment effect of the corrected laser spot and the marking ring, and if the position offset between the laser spot and the marking ring still exceeds a preset error threshold value after correction, indicating that the rotation of the current laser section detector fails, generating equipment failure prompt information, and facilitating fault detection of the laser section detector. And if the position offset between the laser spot and the marking ring is smaller than a preset error threshold value after correction, indicating that the corrected laser spot is aligned with the marking ring, generating alignment completion prompt information, and enabling an operator to start the position alignment of the next marking ring after receiving an instruction.
Further, a correction path planning step is included between the correction step and the correction judgment step, the nearest mark ring in the rated quantity is screened out according to the position offset to be used as a mark ring to be selected, the distribution density degree of the mark rings around the mark ring to be selected is calculated, the mark ring to be selected with high density degree is selected to be used as a mark ring to be aligned, and the position offset of the laser spot moving to the mark ring to be aligned is used as the position offset of the correction step.
Has the advantages that: and for the conditions that the plurality of mark rings are distributed in different densities, path planning is carried out on the sequence of the laser spot alignment mark rings in order to improve the efficiency of the laser spot alignment mark rings. In the scheme, the mark rings with rated quantity are screened out as mark rings to be selected according to the position offset, namely the mark rings with short laser spot moving distance are selected, and the alignment efficiency is improved.
Secondly, the distribution density degree of other mark rings around each mark ring to be selected is calculated, the distribution density degree is high preferentially, the overall moving distance can be shortened, and the alignment efficiency is improved; and the distance of single movement of the laser spots on the whole can be shortened as much as possible, so that the problem that the most accurate precision is reduced due to overlarge movement distance of the laser spots is solved.
Further, the correction path planning step specifically comprises a distance screening step and a density screening step, wherein:
the distance screening step comprises the following steps:
s1, obtaining the distance between each mark ring and the laser spot according to the position offset of the laser spot moving to each mark ring;
s2, selecting two mark rings with the minimum distance from the laser facula from all the mark rings as mark rings to be selected;
s3, calculating a distance difference between the mark circle to be selected and the laser spot, and if the distance difference is not larger than a preset first distance difference, executing a density screening step; if the spacing difference is larger than a preset first spacing difference, the mark ring to be selected with the smallest spacing with the laser spot is used as a mark ring to be aligned;
and an intensity screening step, namely calculating the distribution intensity of the mark rings around the mark ring to be selected, selecting the mark ring to be selected with high intensity as the mark ring to be aligned, and taking the position offset of the laser spot moving to the mark ring to be aligned as the position offset of the correcting step.
Has the advantages that: and selecting a mark ring with the minimum distance from the laser spot to shorten the moving path of the laser spot, improve the alignment efficiency and avoid the influence of overlong path on the correction effect.
The difference value between the mark ring to be selected and the laser spot is too large (larger than the preset first distance difference value), and the mark ring to be selected with the minimum distance is preferably selected as the mark ring to be aligned, so that the influence of too large surface distance on the correction effect is avoided.
The distance difference between the mark ring to be selected and the laser spot is not large (not larger than the preset first distance difference), the density degree of the mark ring around the mark ring to be selected is analyzed, and the mark ring to be selected with high density degree is screened to serve as the mark ring to be aligned, so that the length of the whole laser spot moving path is shortened on the premise of ensuring the best correction effect, and the laser alignment efficiency is improved.
Further, the density screening step includes the steps of:
s1, dividing the geometric center of the mark circle to be selected into the density judgment areas with the same size;
s2, counting the number of marking turns in the density judgment area corresponding to the marking turn to be selected;
and S3, taking the mark circle to be selected with the largest number of mark circles as the mark circle to be aligned, and taking the position offset of the laser spot moving to the mark circle to be aligned as the position offset of the correction step.
Has the advantages that: the density judging areas with the same size are convenient for accurately judging the density of the mark rings around the mark ring to be selected; and the number of the marking circles in the area is judged by counting the density degree, so that the density degree of the marking circles around the marking circle to be selected is simply and efficiently obtained.
Further, the method for dividing the density judgment area in the density screening step comprises the following steps: and drawing a density degree judgment area by taking the minimum distance between the mark ring to be selected and the laser spot as a radius and the geometric center point of each mark ring to be selected as the center of a circle.
Has the advantages that: when the distances between the mark rings to be selected are all close to the laser spots, the minimum distance between the mark rings to be selected and the laser spots is selected as the radius of the density degree judging area, so that the distances between the mark rings in the density degree judging area and the laser spots are all close, the moving path of the laser spots on the whole is the minimum, and the laser alignment efficiency is improved.
Further, the position calculating step specifically calculates the spot position information of the geometric center of the laser spot and the mark ring position information of the geometric center of the mark ring in the coordinate system according to the spot edge information and the mark ring edge information.
Has the advantages that: because the surfaces of the laser spots and the marking rings are different in smoothness and flatness, the shapes of the presented laser spots and the presented marking rings are not standard, and the actual distance and direction of the laser spot moving alignment marking ring can be approached to a large extent by calculating respective geometric centers as respective position information so as to obtain the position offset of the marking ring to which the laser spots move.
Drawings
FIG. 1 is a flowchart illustrating a first embodiment of a method for detecting sub-pixel edges;
FIG. 2 is a flowchart illustrating a first embodiment of a method for detecting edges of sub-pixels;
FIG. 3 is a flowchart illustrating a second embodiment of a sub-pixel edge detection method.
Detailed Description
The following is further detailed by way of specific embodiments:
example one
A sub-pixel edge detection method, as shown in fig. 1, includes the following steps:
and a coordinate system establishing step, namely establishing a coordinate system in the acquired image information, wherein the image information comprises laser spots and mark circles. In this embodiment, a coordinate system is established with the lower right corner of the acquired image information as an origin, and in other embodiments, other points in the image information may also be used as the origin of coordinates.
The image preprocessing is to perform image preprocessing on the image information to obtain a target image, and in this embodiment, the image preprocessing is to perform median filtering to filter out impulse noise or particle noise and protect the image edge, so as to facilitate subsequent edge detection.
And an edge detection step, namely respectively carrying out edge detection on the laser spot and the mark ring in the target image to obtain spot edge information and mark ring edge information. Specifically, as shown in fig. 2, the edge detection step includes the steps of:
s1, carrying out global threshold segmentation processing on the target image to obtain a binary image;
and S2, detecting the edge of the binary image by adopting a filter operator to obtain a gray edge image. In this embodiment, the filter operator is preferably a Sobel operator.
And S3, carrying out interpolation processing on the gray scale edge image by adopting an interpolation algorithm to obtain an edge thinning image. In the embodiment, the interpolation algorithm preferably performs interpolation processing on the gray scale edge image by a cubic spline interpolation method.
And S4, binarizing the edge refined image to obtain edge information.
A position calculation step, namely respectively calculating the spot position information of the laser spot and the mark ring position information of the mark ring in a coordinate system according to the spot edge information and the mark ring edge information, and specifically comprises the following steps: and respectively calculating the spot position information of the geometric center of the laser spot and the mark ring position information of the geometric center of the mark ring in the coordinate system according to the spot edge information and the mark ring edge information.
Calculating the offset, namely calculating the position offset of the laser spot moving to the marking ring according to the spot position information and the marking ring position information;
and a correction judgment step, namely correcting and judging the position offset according to a preset error threshold, and correcting and adjusting the position if the position offset is larger than the preset error threshold.
And a correction path planning step, namely selecting the mark ring with the minimum distance as a mark ring to be selected according to the position offset, calculating the distribution density degree of other mark rings around the mark ring to be selected, selecting the mark ring to be selected with high density degree as a mark ring to be aligned, and moving the position offset of the laser spot to the mark ring to be aligned as the position offset of the correction step. The method specifically comprises a distance screening step and a density screening step, wherein:
the distance screening step comprises the following steps:
s1, obtaining the distance between each mark ring and the laser spot according to the position offset of the laser spot moving to each mark ring;
s2, selecting the mark ring with the minimum distance in the middle of the rated quantity as the mark ring to be selected according to the distance between each mark ring and the laser spot;
s3, calculating a distance difference between the mark circle to be selected and the laser spot, and if the distance difference is larger than a preset first distance difference, executing a density screening step; if the spacing difference is not larger than the preset first spacing difference, the mark ring to be selected with the smallest spacing with the laser spot is used as a mark ring to be aligned;
the density screening step comprises the following steps:
s1, dividing the geometric center of the mark circle to be selected into the density judgment areas with the same size; the method specifically comprises the following steps: and drawing a density degree judgment area by taking the geometric center point of each mark circle to be selected as the center of a circle and taking the minimum distance between the mark circle to be selected and the laser spot as a radius.
S2, counting the number of marking turns in the density judgment area corresponding to the marking turn to be selected;
and S3, taking the mark circle to be selected with the largest number of mark circles as the mark circle to be aligned, and taking the position offset of the laser spot moving to the mark circle to be aligned as the position offset of the correction step.
And a correction step, controlling and adjusting the position of the laser spot projected by the laser section detector according to the position offset.
Example two
The difference from the first embodiment is that: the correction step also comprises a correction effect tracking step, namely calculating the corrected position offset of the laser spot and the mark ring in the corrected image, if the corrected position offset is smaller than a preset error threshold, and if not, generating equipment fault prompt information; and if the number of the alignment completion messages is smaller than the preset value, generating alignment completion prompt information. As shown in fig. 3, the method specifically includes the following steps:
step S1, collecting corrected image information;
step S2, establishing a coordinate system in the corrected image;
step S3, image preprocessing is carried out on the corrected image information to obtain a corrected target image;
step S4, respectively carrying out edge detection on the laser spot and the mark ring in the corrected target image to obtain corrected spot edge information and corrected mark ring edge information;
step S5, respectively calculating corrected light spot position information of the laser light spots and corrected mark ring position information of the mark rings in the coordinate system according to the corrected light spot edge information and the corrected mark ring edge information;
step S6, calculating the corrected position offset of the laser spot moving to the marking ring according to the corrected spot position information and the corrected marking ring position information;
and step S7, judging whether the corrected position offset is smaller than a preset error threshold value, and if not, generating equipment fault prompt information.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. A sub-pixel edge detection method is characterized by comprising the following steps:
a coordinate system establishing step, namely establishing a coordinate system in the collected image information, wherein the image information comprises laser spots and mark circles;
image preprocessing, namely performing image preprocessing on the image information to obtain a target image;
an edge detection step, namely respectively carrying out edge detection on the laser spot and the mark ring in the target image to obtain spot edge information and mark ring edge information;
a position calculation step, namely calculating the light spot position information of the laser light spot and the mark ring position information of the mark ring in the coordinate system respectively according to the light spot edge information and the mark ring edge information;
calculating the offset, namely calculating the position offset of the laser spot moving to the marking ring according to the spot position information and the marking ring position information;
and a correction step, controlling and adjusting the position of the laser spot projected by the laser section detector according to the position offset.
2. The method of claim 1, wherein: the edge detection step specifically comprises the following steps:
s1, carrying out global threshold segmentation processing on the target image to obtain a binary image;
s2, detecting the edge of the binary image by adopting a filter operator to obtain a gray edge image;
s3, carrying out interpolation processing on the gray scale edge image by adopting an interpolation algorithm to obtain an edge thinning image;
and S4, binarizing the edge refined image to obtain edge information.
3. The method of claim 1, wherein: and a correction judgment step is also included between the offset calculation step and the correction step, the correction judgment is carried out on the position offset according to a preset error threshold, and if the position offset is greater than the preset error threshold, the position correction regulation is carried out.
4. The method of claim 1, wherein: the correction step also comprises a correction effect tracking step, namely calculating the corrected position offset of the laser facula and the mark ring in the corrected image, if the corrected position offset is smaller than a preset error threshold, and if not, generating equipment fault prompt information; and if the number of the alignment completion messages is smaller than the preset value, generating alignment completion prompt information.
5. The method of claim 4, wherein: the correction effect tracking step specifically includes the steps of:
step S1, collecting corrected image information;
step S2, establishing a coordinate system in the corrected image;
step S3, image preprocessing is carried out on the corrected image information to obtain a corrected target image;
step S4, respectively carrying out edge detection on the laser spot and the mark ring in the corrected target image to obtain corrected spot edge information and corrected mark ring edge information;
step S5, respectively calculating corrected light spot position information of the laser light spots and corrected mark ring position information of the mark rings in the coordinate system according to the corrected light spot edge information and the corrected mark ring edge information;
step S6, calculating the corrected position offset of the laser spot moving to the marking ring according to the corrected spot position information and the corrected marking ring position information;
and step S7, judging whether the corrected position offset is smaller than a preset error threshold value, and if not, generating equipment fault prompt information.
6. The method of claim 3, wherein: and a correction path planning step is also included between the correction step and the correction judgment step, the mark ring with the minimum distance is selected as a mark ring to be selected according to the position offset, the distribution density degree of other mark rings around the mark ring to be selected is calculated, the mark ring to be selected with high density degree is selected as a mark ring to be aligned, and the position offset of the laser spot moving to the mark ring to be aligned is used as the position offset of the correction step.
7. The method of claim 6, wherein: a correction path planning step, specifically comprising a distance screening step and a density screening step, wherein:
the distance screening step comprises the following steps:
s1, obtaining the distance between each mark ring and the laser spot according to the position offset of the laser spot moving to each mark ring;
s2, selecting the mark ring with the minimum distance in the middle of the rated quantity as the mark ring to be selected according to the distance between each mark ring and the laser spot;
s3, calculating a distance difference between the mark circle to be selected and the laser spot, and if the distance difference is larger than a preset first distance difference, executing a density screening step; if the spacing difference is not larger than the preset first spacing difference, the mark ring to be selected with the smallest spacing with the laser spot is used as a mark ring to be aligned;
and an intensity screening step, namely calculating the distribution intensity of the mark rings around the mark ring to be selected, selecting the mark ring to be selected with high intensity as the mark ring to be aligned, and taking the position offset of the laser spot moving to the mark ring to be aligned as the position offset of the correcting step.
8. The method of claim 7, wherein: the density screening step comprises the following steps:
s1, dividing the geometric center of the mark circle to be selected into the density judgment areas with the same size;
s2, counting the number of marking turns in the density judgment area corresponding to the marking turn to be selected;
and S3, taking the mark circle to be selected with the largest number of mark circles as the mark circle to be aligned, and taking the position offset of the laser spot moving to the mark circle to be aligned as the position offset of the correction step.
9. The method of claim 8, wherein: the method for dividing the density judgment area in the density screening step comprises the following steps: and drawing a density degree judgment area by taking the geometric center point of each mark circle to be selected as the center of a circle and taking the minimum distance between the mark circle to be selected and the laser spot as a radius.
10. The method of claim 7, wherein: the position calculating step specifically comprises the step of respectively calculating the spot position information of the geometric center of the laser spot and the mark ring position information of the geometric center of the mark ring in the coordinate system according to the spot edge information and the mark ring edge information.
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| CN113781506A (en) * | 2021-08-06 | 2021-12-10 | 东北大学 | Strip steel offset detection method and system |
| CN115760782A (en) * | 2022-11-16 | 2023-03-07 | 华南理工大学 | In-mold labeling offset defect identification method based on machine vision |
| CN116823937A (en) * | 2023-08-28 | 2023-09-29 | 成都飞机工业（集团）有限责任公司 | High-precision quick aiming method for plane horizontal point based on visual guidance |
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