CN113744336A - Auxiliary positioning method and device and computer readable storage medium - Google Patents
Auxiliary positioning method and device and computer readable storage medium Download PDFInfo
- Publication number
- CN113744336A CN113744336A CN202111042790.6A CN202111042790A CN113744336A CN 113744336 A CN113744336 A CN 113744336A CN 202111042790 A CN202111042790 A CN 202111042790A CN 113744336 A CN113744336 A CN 113744336A
- Authority
- CN
- China
- Prior art keywords
- camera
- coordinate system
- coordinate
- mark
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application provides an auxiliary positioning method, an auxiliary positioning device and a computer readable storage medium, wherein the auxiliary positioning method comprises the following steps: establishing a mapping relation between a camera coordinate system and a machine coordinate system; controlling a camera to shoot a product to be processed, and acquiring the coordinates of the center positions of mark points corresponding to a plurality of mark points in a target shot image; calculating the actual position coordinate of the machine table corresponding to the central position coordinate of the mark point based on the mapping relation; and adjusting the orientation of the processing vector diagram of the product to be processed according to the actual position coordinate of the machine. Through the implementation of the scheme, the processing vector is associated with the coordinates of the mark points on the machine table, and the orientation of the processing vector is adjusted according to the actual positions of the mark points, so that the processing vector can be correctly processed according to the actual positions of the products, and the processing precision and the processing efficiency of the products are effectively improved.
Description
Technical Field
The present application relates to the field of material processing technologies, and in particular, to an auxiliary positioning method and apparatus, and a computer-readable storage medium.
Background
In the field of material processing, after a processing vector of a cutting head (a laser head or a tool bit) is set, the position of the processing vector is generally required to be matched with the placing position of a product to be processed on a machine table, and the product to be processed generally depends on manual alignment in practical application, so that the actual placing position of the product to be processed generally has deviation, and the cutting precision of the product is low.
Disclosure of Invention
The embodiment of the application provides an auxiliary positioning method, an auxiliary positioning device and a computer-readable storage medium, which can at least solve the problem of low product cutting precision caused by the fact that the actual placing position of a product to be processed on a machine table is deviated in the related art.
The first aspect of the embodiments of the present application provides an auxiliary positioning method, which is applied to an automatic cutting device provided with a machine table and a camera, and includes:
establishing a mapping relation between a camera coordinate system and a machine coordinate system;
controlling the camera to shoot a product to be processed, and acquiring the coordinates of the center positions of the mark points corresponding to the plurality of mark points in the target shot image;
calculating the actual position coordinate of the machine table corresponding to the central position coordinate of the mark point based on the mapping relation;
and adjusting the orientation of the processing vector diagram of the product to be processed according to the actual position coordinate of the machine.
The second aspect of the embodiment of the present application provides an auxiliary positioning device, is applied to the automatic cutting device who is provided with board and camera, includes:
the establishing module is used for establishing a mapping relation between a camera coordinate system and a machine coordinate system;
the acquisition module is used for controlling the camera to shoot a product to be processed and acquiring the coordinates of the center positions of the mark points corresponding to the plurality of mark points in the target shot image;
the calculation module is used for calculating the actual position coordinate of the machine station corresponding to the central position coordinate of the mark point based on the mapping relation;
and the adjusting module is used for carrying out azimuth adjustment on the processing vector diagram of the product to be processed according to the actual position coordinate of the machine table.
A third aspect of embodiments of the present application provides an electronic apparatus, including: the positioning assisting method includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the positioning assisting method provided in the first aspect of the embodiments of the present application when executing the computer program.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in the auxiliary positioning method provided in the first aspect of the embodiments of the present application.
As can be seen from the above, according to the auxiliary positioning method, device and computer-readable storage medium provided in the present application, a mapping relationship between a camera coordinate system and a machine coordinate system is established; controlling a camera to shoot a product to be processed, and acquiring the coordinates of the center positions of mark points corresponding to a plurality of mark points in a target shot image; calculating the actual position coordinate of the machine table corresponding to the central position coordinate of the mark point based on the mapping relation; and adjusting the orientation of the processing vector diagram of the product to be processed according to the actual position coordinate of the machine. Through the implementation of the scheme, the processing vector is associated with the coordinates of the mark points on the machine table, and the orientation of the processing vector is adjusted according to the actual positions of the mark points, so that the processing vector can be correctly processed according to the actual positions of the products, and the processing precision and the processing efficiency of the products are effectively improved.
Drawings
Fig. 1 is a schematic flowchart of an auxiliary positioning method according to a first embodiment of the present application;
fig. 2 is a schematic diagram of a grid marker provided in the first embodiment of the present application;
fig. 3 is a binary map provided in the first embodiment of the present application;
FIG. 4 is a schematic view of a connected region provided in a first embodiment of the present application;
fig. 5 is a mark schematic diagram of coordinates of a center position of a mark point according to a first embodiment of the present application;
fig. 6 is a schematic diagram illustrating a virtual mark point setting according to a first embodiment of the present application;
FIG. 7 is a schematic diagram illustrating program modules of an auxiliary positioning device according to a second embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to a third embodiment of the present application.
Detailed Description
In order to make the objects, features and advantages of the present invention more apparent and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In order to solve the problem of low cutting accuracy of a product due to a deviation of an actual placement position of the product to be processed on a machine table in the related art, a first embodiment of the present application provides an auxiliary positioning method, which is applied to an automatic cutting device provided with a machine table and a camera, wherein the machine table has a bearing area, and the bearing area is used for placing the product to be processed, as shown in fig. 1, which is a basic flowchart of the auxiliary positioning method provided in this embodiment, the auxiliary positioning method includes the following steps:
In the process of establishing the mapping relationship, the camera is moved by referring to the position coordinates of the cutting head when the automatic cutting device cuts the first mark point of the calibration object on the machine table, and the center point of the camera is aligned with the first mark point; acquiring a first coordinate offset when the camera moves; summing the first coordinate offset and the cutting head position coordinate to obtain a camera center point coordinate; and establishing a mapping relation between a camera coordinate system and a machine coordinate system based on the position coordinates of the camera central point.
Specifically, in this embodiment, a camera is mounted at a position away from the cutting head fixing position of the automatic cutting device, the camera is moved to the position of the cutting head cutting mark point P1 by finding the center point, and the camera center point is aligned with the mark point P1, so as to calculate the coordinate offset before and after alignment, where the coordinate offset includes an X-direction offset pd (X) and a Y-direction offset pd (Y), and then the coordinate offset is added to the position of the cutting head cutting mark point P1, so as to obtain the position coordinate of the camera center point, and further establish the mapping relationship between the camera coordinate system and the machine coordinate system according to the coordinate.
In an optional implementation manner of this embodiment, the step of establishing a mapping relationship between a camera coordinate system and a machine coordinate system based on the position coordinates of the center point of the camera specifically includes: acquiring the position coordinates of a second mark point cut on the machine platform by the automatic cutting device in a camera coordinate system; calculating a second coordinate offset of the position coordinate of the second mark point in the camera coordinate system from the position coordinate of the camera center point; calculating a relative offset based on the actual distance (also called pixel ratio and pixel precision) represented by the calibrated camera pixel and the second coordinate offset; calculating the position coordinate of the second calibration point in the machine table coordinate system based on the relative offset and the position coordinate of the center point of the camera; and establishing a mapping relation between the camera coordinate system and the machine table coordinate system based on the position coordinates of the second mark points in the camera coordinate system and the position coordinates in the machine table coordinate system.
Specifically, in this embodiment, a mapping relationship between the camera coordinate system and the machine coordinate system may be established by a one-time positioning method. Specifically, in this embodiment, after the position coordinate of the center point of the camera is calculated by the previous mark point P1, another mark point P2 is further cut by the cutting head, the camera is moved to the vicinity of P2, after the picture is taken by the camera, the coordinate of the next mark point P2 is obtained, the offset of the P2 point from the center point of the camera in the X direction and the Y direction is respectively calculated, that is, the coordinate offset of the P2 point from the center point of the camera in the camera coordinate system is calculated, then the relative offset, that is, the actual distance to be moved is calculated according to the actual pixel ratio and the coordinate offset from the center point of the camera, and the actual position of the P2 point in the machine coordinate system can be calculated by further summing the relative offset and the position coordinate of the center point of the camera. And finally, associating the position coordinates of the point P2 in the camera coordinate system with the position coordinates of the machine coordinate system, so as to establish the mapping relation between the camera coordinate system and the machine coordinate system.
In another optional implementation manner of this embodiment, the step of establishing a mapping relationship between a camera coordinate system and a machine coordinate system based on the position coordinates of the center point of the camera specifically includes: acquiring the position coordinates of a second mark point cut on a machine platform by the automatic cutting device in a camera coordinate system when the camera shoots for the first time; calculating a second coordinate offset of the position coordinate of the second mark point in the camera coordinate system from the position coordinate of the camera center point; calculating a camera movement offset based on the calibrated actual distance represented by the camera pixel and the second coordinate offset; moving the camera according to the camera movement offset to acquire the position coordinates of the second mark point in the camera coordinate system when the camera shoots again; calculating a third coordinate offset of the position coordinate of the second mark point in the camera coordinate system, which is obtained again, from the position coordinate of the center point of the camera; calculating a relative offset based on the actual distance represented by the calibrated camera pixel and the offset of the third coordinate; calculating the position coordinate of the second calibration point in the machine table coordinate system based on the relative offset and the position coordinate of the center point of the camera; and establishing a mapping relation between the camera coordinate system and the machine table coordinate system based on the position coordinates of the second mark points in the camera coordinate system and the position coordinates in the machine table coordinate system.
Specifically, in the present embodiment, it is considered that in the case of a wide-angle lens, the actual proportion represented by the pixels calculated by the above-mentioned primary positioning method may not be linear, resulting in an actual deviation in the above-mentioned estimation process. Based on this, the embodiment may also adopt a secondary positioning manner to establish a mapping relationship between the camera coordinate system and the machine coordinate system. Specifically, in the embodiment, after the position coordinate of the center point of the camera is calculated through the previous mark point P1, another mark point P2 is further cut through the cutting head, the camera is moved to the position near P2, after the picture is taken through the camera, the coordinate of the next mark point P2 is obtained, the offset of the P2 point from the center point of the camera in the X direction and the Y direction is respectively calculated, that is, the coordinate offset of the P2 point from the center point of the camera in the camera coordinate system is calculated, and then the camera movement offset, that is, the actual distance to be moved by the camera, is calculated according to the actual pixel ratio and the coordinate offset from the center point of the camera; further, moving the camera according to the camera movement offset, re-photographing through the camera, re-acquiring the position coordinate of the point P2 in the camera coordinate system, then calculating the offset of the point P2 from the center point of the camera, and calculating the relative offset according to the offset and the actual distance represented by the calibrated camera pixel; and finally, calculating the actual position of the point P2 in the machine coordinate system based on the position coordinates of the center point of the camera and the calculated relative offset, and associating the position coordinates of the point P2 in the camera coordinate system with the position coordinates of the machine coordinate system to establish the mapping relation between the camera coordinate system and the machine coordinate system. Therefore, the camera is moved to the offset position twice, the distortion is small when the center point of the camera is relatively close, and the offset obtained at the moment is more accurate.
Further, in an optional implementation manner of this embodiment, before the step of acquiring the position coordinates of the second mark point cut by the automatic cutting device on the machine table in the camera coordinate system when the camera takes a picture for the first time, the method further includes: and acquiring an edge distortion parameter of the camera, and comparing the edge distortion parameter with a preset parameter threshold. Correspondingly, when the edge distortion parameter exceeds the parameter threshold, the step of acquiring the position coordinate of the second mark point cut on the machine platform by the automatic cutting device when the camera shoots for the first time in the camera coordinate system is triggered and executed.
Specifically, in practical applications, the edge distortion of different cameras is different, and for a camera with a large edge distortion, no distortion is generated only near the center point of the camera. Therefore, in the embodiment, when the edge distortion of the camera is large, the secondary positioning mode is adopted to perform coordinate system mapping, so that the accuracy of the coordinate system mapping result can be ensured, and for the camera with small edge distortion, the primary positioning mode can be adopted to simplify the coordinate system mapping processing flow.
And 102, controlling a camera to shoot a product to be processed, and acquiring the coordinates of the center positions of the mark points corresponding to the plurality of mark points in the target shot image.
Specifically, in this embodiment, after the product to be processed is placed in the carrying area on the machine, the camera acquires an image of the product, identifies the mark points in the image, and acquires the coordinates of the center positions of all the mark points.
In an optional implementation manner of this embodiment, the product to be processed is provided with grid marking points. Correspondingly, the step of obtaining the coordinates of the center positions of the mark points corresponding to the plurality of mark points in the target shot image includes: converting a target shooting image into a gray-scale image, and performing threshold segmentation on the gray-scale image to generate a binary image; performing expansion processing on the binary image to form a grid mark point connected region; performing feature filtering by referring to the feature range of the grid mark point communication area to obtain a mask only containing the grid mark points; wherein the characteristic range includes: wide height range, area range, perimeter range, inclination angle range; and calibrating the minimum circumscribed rectangle aiming at the mask, and determining the coordinate of the central point of the minimum circumscribed rectangle as the coordinate of the central position of the mark point.
Specifically, as shown in fig. 2, the grid mark points provided in this embodiment are a grid structure composed of black and white square grids, in practical application, the actual size of the small and medium squares in the grid mark points may be 1mm × 1mm, and the grid structure may be arranged in 11 × 3 rows at intervals of black and white. As shown in fig. 3, a binary image according to the present embodiment is provided, and the present embodiment generates a binary image by converting an original image into a grayscale image and then performing threshold segmentation. As shown in fig. 4, which is a schematic diagram of a connected region provided in this embodiment, since the two-value chart checkerboard does not generate a uniform connected region, the connected region is formed after expansion. And then, the width and height range, the width and height ratio, the area range, the perimeter length range and the inclination angle of the whole communication area are calculated according to the input pixel ratio and the actual length and width, characteristic filtering is carried out through the characteristic ranges, and then the mask only containing the checkerboard is filtered in a plurality of communication areas. And finally, performing operation of finding the minimum circumscribed rectangle on the mask, and obtaining the coordinates of the center point of the mask, wherein the obtained coordinates of the center point are the coordinates of the center point of the grid mark point in an image coordinate system, which is specifically shown in a mark schematic diagram of the coordinates of the center position of the mark point shown in fig. 5.
In an optional implementation manner of this embodiment, before the step of obtaining coordinates of center positions of marker points corresponding to a plurality of marker points in the target captured image, the method further includes: identifying an edge profile of a product to be processed; intercepting a plurality of characteristic contour parts from the edge contour; and correspondingly setting virtualized marking points for the edge parts of the feature profiles respectively.
Specifically, in practical application, the surface of the product to be processed may have a situation without a mark point, or the mark point itself may be inaccurate due to the existence of a printing error. In this embodiment, a feature profile is intercepted on an edge profile of a product to be processed, taking the edge profile of the product to be processed as a rectangle as an example, the intercepted feature profile may be four corners of the rectangle, and then virtual mark points are respectively set for each feature profile, as shown in fig. 6, a schematic diagram of setting virtual mark points provided in this embodiment is provided, and a cross-shaped identifier in the diagram is a virtual mark point.
And 103, calculating the actual position coordinate of the machine station corresponding to the central position coordinate of the mark point based on the mapping relation.
Specifically, in this embodiment, after the mapping relationship between the camera coordinate system and the machine coordinate system is established, the coordinates of the center position of the mark point are accurately found, and then the coordinates of the actual position of the center position of the mark point in the image coordinate system on the machine of the cutting device can be calculated through coordinate mapping.
And 104, adjusting the orientation of the processing vector diagram of the product to be processed according to the actual position coordinates of the machine.
Specifically, this embodiment carries out certain position adjustment (translation rotation or affine transformation) with the processing vector according to actual locating position through the mark point board coordinate that obtains to accomplish assistance-localization real-time, and then cutting device can realize accurate cutting according to the accurate processing in actual locating position of waiting to process the product.
Based on the technical scheme of the embodiment of the application, a mapping relation between a camera coordinate system and a machine coordinate system is established; controlling a camera to shoot a product to be processed, and acquiring the coordinates of the center positions of mark points corresponding to a plurality of mark points in a target shot image; calculating the actual position coordinate of the machine table corresponding to the central position coordinate of the mark point based on the mapping relation; and adjusting the orientation of the processing vector diagram of the product to be processed according to the actual position coordinate of the machine. Through the implementation of the scheme, the processing vector is associated with the coordinates of the mark points on the machine table, and the orientation of the processing vector is adjusted according to the actual positions of the mark points, so that the processing vector can be correctly processed according to the actual positions of the products, and the processing precision and the processing efficiency of the products are effectively improved.
Fig. 7 is a schematic view of an auxiliary positioning device according to a second embodiment of the present application. The auxiliary positioning device can be used for realizing the auxiliary positioning method in the foregoing embodiments. As shown in fig. 7, the auxiliary positioning device mainly includes:
an establishing module 701, configured to establish a mapping relationship between a camera coordinate system and a machine coordinate system;
an obtaining module 702, configured to control a camera to shoot a product to be processed, and obtain coordinates of center positions of mark points corresponding to a plurality of mark points in a target shot image;
a calculating module 703, configured to calculate, based on the mapping relationship, an actual position coordinate of the machine corresponding to the central position coordinate of the mark point;
and the adjusting module 704 is used for performing orientation adjustment on the processing vector diagram of the product to be processed according to the actual position coordinate of the machine.
In some embodiments of this embodiment, the auxiliary positioning device of this embodiment further includes: a setup module to: identifying an edge profile of a product to be processed; intercepting a plurality of characteristic contour parts from the edge contour; and correspondingly setting virtualized marking points for the edge parts of the feature profiles respectively.
In other embodiments of this embodiment, the product to be processed has grid marking points. Correspondingly, the obtaining module is specifically configured to: converting a target shooting image into a gray-scale image, and performing threshold segmentation on the gray-scale image to generate a binary image; performing expansion processing on the binary image to form a grid mark point connected region; and (3) performing feature filtering by referring to the feature range of the grid mark point communication area to obtain a mask only containing the grid mark points, wherein the feature range comprises: wide height range, area range, perimeter range, inclination angle range; and calibrating the minimum circumscribed rectangle aiming at the mask, and determining the coordinate of the central point of the minimum circumscribed rectangle as the coordinate of the central position of the mark point.
In some embodiments of this embodiment, the establishing module is specifically configured to: moving a camera by referring to the position coordinates of the cutting head when the automatic cutting device cuts the first mark point on the machine table, and aligning the center point of the camera with the first mark point; acquiring a first coordinate offset when the camera moves; summing the first coordinate offset and the cutting head position coordinate to obtain a camera center point coordinate; and establishing a mapping relation between a camera coordinate system and a machine coordinate system based on the position coordinates of the camera central point.
Further, in some embodiments of the present embodiment, the establishing module is specifically configured to, when executing the function of establishing the mapping relationship between the camera coordinate system and the machine coordinate system based on the camera center point position coordinate,: acquiring the position coordinates of a second mark point cut on the machine platform by the automatic cutting device in a camera coordinate system; calculating a second coordinate offset of the position coordinate of the second mark point in the camera coordinate system from the position coordinate of the camera center point; calculating a relative offset based on the actual distance represented by the calibrated camera pixel and the second coordinate offset; calculating the position coordinate of the second calibration point in the machine table coordinate system based on the relative offset and the position coordinate of the center point of the camera; and establishing a mapping relation between the camera coordinate system and the machine table coordinate system based on the position coordinates of the second mark points in the camera coordinate system and the position coordinates in the machine table coordinate system.
Further, in another embodiment of this embodiment, the establishing module is specifically configured to, when executing the function of establishing the mapping relationship between the camera coordinate system and the machine coordinate system based on the camera center point position coordinate,: acquiring the position coordinates of a second mark point cut on a machine platform by the automatic cutting device in a camera coordinate system when the camera shoots for the first time; calculating a second coordinate offset of the position coordinate of the second mark point in the camera coordinate system from the position coordinate of the camera center point; calculating a camera movement offset based on the calibrated actual distance represented by the camera pixel and the second coordinate offset; moving the camera according to the camera movement offset to acquire the position coordinates of the second mark point in the camera coordinate system when the camera shoots again; calculating a third coordinate offset of the position coordinate of the second mark point in the camera coordinate system, which is obtained again, from the position coordinate of the center point of the camera; calculating a relative offset based on the actual distance represented by the calibrated camera pixel and the offset of the third coordinate; calculating the position coordinate of the second calibration point in the machine table coordinate system based on the relative offset and the position coordinate of the center point of the camera; and establishing a mapping relation between the camera coordinate system and the machine table coordinate system based on the position coordinates of the second mark points in the camera coordinate system and the position coordinates in the machine table coordinate system.
Furthermore, the auxiliary positioning device of the present embodiment further includes: a comparison module to: and acquiring an edge distortion parameter of the camera, and comparing the edge distortion parameter with a preset parameter threshold. Correspondingly, the establishing module is specifically configured to execute the function of acquiring the position coordinate of the second mark point, which is cut on the machine platform by the automatic cutting device when the camera shoots for the first time, in the camera coordinate system when the edge distortion parameter exceeds the parameter threshold.
It should be noted that, the auxiliary positioning methods in the first and second embodiments can be implemented based on the auxiliary positioning device provided in this embodiment, and it can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working process of the auxiliary positioning device described in this embodiment may refer to the corresponding process in the foregoing method embodiment, and details are not described herein.
According to the auxiliary positioning device provided by the embodiment, a mapping relation between a camera coordinate system and a machine coordinate system is established; controlling a camera to shoot a product to be processed, and acquiring the coordinates of the center positions of mark points corresponding to a plurality of mark points in a target shot image; calculating the actual position coordinate of the machine table corresponding to the central position coordinate of the mark point based on the mapping relation; and adjusting the orientation of the processing vector diagram of the product to be processed according to the actual position coordinate of the machine. Through the implementation of the scheme, the processing vector is associated with the coordinates of the mark points on the machine table, and the orientation of the processing vector is adjusted according to the actual positions of the mark points, so that the processing vector can be correctly processed according to the actual positions of the products, and the processing precision and the processing efficiency of the products are effectively improved.
Referring to fig. 8, fig. 8 is an electronic device according to a third embodiment of the present application. The electronic device can be used for realizing the auxiliary positioning method in the embodiment. As shown in fig. 8, the electronic device mainly includes:
a memory 801, a processor 802, a bus 803, and computer programs stored on the memory 801 and executable on the processor 802, the memory 801 and the processor 802 being connected by the bus 803. The processor 802, when executing the computer program, implements the assisted positioning method in the foregoing embodiments. Wherein the number of processors may be one or more.
The Memory 801 may be a high-speed Random Access Memory (RAM) Memory or a non-volatile Memory (non-volatile Memory), such as a disk Memory. The memory 801 is used to store executable program code, and the processor 802 is coupled to the memory 801.
Further, an embodiment of the present application also provides a computer-readable storage medium, where the computer-readable storage medium may be provided in an electronic device in the foregoing embodiments, and the computer-readable storage medium may be the memory in the foregoing embodiment shown in fig. 8.
The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the assisted positioning method in the foregoing embodiments. Further, the computer-readable storage medium may be various media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a division of logical functions, and an actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a readable storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned readable storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the assisted positioning method, apparatus and computer-readable storage medium provided by the present application, those skilled in the art will appreciate that various modifications can be made to the assisted positioning method, apparatus and computer-readable storage medium according to the embodiments of the present application.
Claims (10)
1. An auxiliary positioning method is applied to an automatic cutting device provided with a machine table and a camera, and is characterized by comprising the following steps:
establishing a mapping relation between a camera coordinate system and a machine coordinate system;
controlling the camera to shoot a product to be processed, and acquiring the coordinates of the center positions of the mark points corresponding to the plurality of mark points in the target shot image;
calculating the actual position coordinate of the machine table corresponding to the central position coordinate of the mark point based on the mapping relation;
and adjusting the orientation of the processing vector diagram of the product to be processed according to the actual position coordinate of the machine.
2. The auxiliary positioning method according to claim 1, wherein before the step of obtaining the coordinates of the center positions of the marker points corresponding to the plurality of marker points in the captured target image, the method further comprises:
identifying an edge profile of the product to be processed;
intercepting a plurality of feature profile portions from the edge profile;
and correspondingly setting the virtualized mark points for the characteristic contour edge parts respectively.
3. The auxiliary positioning method as claimed in claim 1, wherein the product to be processed is provided with grid marking points;
the step of obtaining the coordinates of the center positions of the mark points corresponding to the plurality of mark points in the target shot image comprises the following steps:
after the target shooting image is converted into a gray-scale image, performing threshold segmentation on the gray-scale image to generate a binary image;
performing expansion processing on the binary image to form a grid mark point communication area;
performing feature filtering by referring to the feature range of the grid mark point communication area to obtain a mask only containing the grid mark points; wherein the characteristic range includes: wide height range, area range, perimeter range, inclination angle range;
and calibrating the minimum circumscribed rectangle aiming at the mask, and determining the coordinate of the central point of the minimum circumscribed rectangle as the coordinate of the central position of the mark point.
4. The auxiliary positioning method according to claim 1, wherein the step of establishing a mapping relationship between the camera coordinate system and the machine coordinate system comprises:
moving the camera by referring to the position coordinates of the cutting head when the automatic cutting device cuts the first mark point on the machine table, and aligning the center point of the camera with the first mark point;
acquiring a first coordinate offset when the camera moves;
summing the first coordinate offset and the cutting head position coordinate to obtain a camera center point coordinate;
and establishing a mapping relation between a camera coordinate system and a machine coordinate system based on the position coordinates of the camera central point.
5. The auxiliary positioning method according to claim 4, wherein the step of establishing a mapping relationship between a camera coordinate system and a machine coordinate system based on the camera center point position coordinates comprises:
acquiring the position coordinates of a second mark point cut on the machine table by the automatic cutting device in a camera coordinate system;
calculating a second coordinate offset of the position coordinate of the second mark point in the camera coordinate system from the position coordinate of the camera center point;
calculating a relative offset based on the calibrated actual distance represented by the camera pixel and the second coordinate offset;
calculating the position coordinate of the second calibration point in a machine table coordinate system based on the relative offset and the position coordinate of the camera center point;
and establishing a mapping relation between the camera coordinate system and the machine table coordinate system based on the position coordinates of the second mark points in the camera coordinate system and the position coordinates in the machine table coordinate system.
6. The auxiliary positioning method according to claim 4, wherein the step of establishing a mapping relationship between a camera coordinate system and a machine coordinate system based on the camera center point position coordinates comprises:
acquiring the position coordinates of a second mark point cut on the machine table by the automatic cutting device in a camera coordinate system when the camera shoots for the first time;
calculating a second coordinate offset of the position coordinate of the second mark point in the camera coordinate system from the position coordinate of the camera center point;
calculating a camera movement offset based on the calibrated actual distance represented by the camera pixel and the second coordinate offset;
moving the camera according to the camera movement offset to acquire the position coordinates of the second mark point in the camera coordinate system when the camera shoots again;
calculating a third coordinate offset of the position coordinate of the second mark point in the camera coordinate system, which is obtained again, from the position coordinate of the camera center point;
calculating a relative offset based on the actual distance represented by the calibrated camera pixel and the third coordinate offset;
calculating the position coordinate of the second calibration point in a machine table coordinate system based on the relative offset and the position coordinate of the camera center point;
and establishing a mapping relation between the camera coordinate system and the machine table coordinate system based on the position coordinates of the second mark points in the camera coordinate system and the position coordinates in the machine table coordinate system.
7. The auxiliary positioning method according to claim 6, wherein before the step of obtaining the position coordinates of the second mark point cut on the machine table by the automatic cutting device when the camera takes the first shot, the method further comprises:
acquiring an edge distortion parameter of the camera, and comparing the edge distortion parameter with a preset parameter threshold;
and when the edge distortion parameter exceeds the parameter threshold, executing the step of acquiring the position coordinate of a second mark point, cut on the machine table by the automatic cutting device when the camera shoots for the first time, in a camera coordinate system.
8. The utility model provides an auxiliary positioning device is applied to the automatic cutting device who is provided with board and camera, its characterized in that includes:
the establishing module is used for establishing a mapping relation between a camera coordinate system and a machine coordinate system;
the acquisition module is used for controlling the camera to shoot a product to be processed and acquiring the coordinates of the center positions of the mark points corresponding to the plurality of mark points in the target shot image;
the calculation module is used for calculating the actual position coordinate of the machine station corresponding to the central position coordinate of the mark point based on the mapping relation;
and the adjusting module is used for carrying out azimuth adjustment on the processing vector diagram of the product to be processed according to the actual position coordinate of the machine table.
9. An electronic device, comprising: a memory, a processor, and a bus;
the bus is used for realizing connection communication between the memory and the processor;
the processor is configured to execute a computer program stored on the memory;
the processor, when executing the computer program, performs the steps of the method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111042790.6A CN113744336A (en) | 2021-09-07 | 2021-09-07 | Auxiliary positioning method and device and computer readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111042790.6A CN113744336A (en) | 2021-09-07 | 2021-09-07 | Auxiliary positioning method and device and computer readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113744336A true CN113744336A (en) | 2021-12-03 |
Family
ID=78736531
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111042790.6A Pending CN113744336A (en) | 2021-09-07 | 2021-09-07 | Auxiliary positioning method and device and computer readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113744336A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114463254A (en) * | 2021-12-22 | 2022-05-10 | 广州元丰自动化设备有限公司 | Method and system for drilling bumper, computer equipment and storage medium |
| CN114523191A (en) * | 2022-02-24 | 2022-05-24 | 深圳快造科技有限公司 | System and method for automatically acquiring position of material to be processed in laser processing |
| CN114677429A (en) * | 2022-05-27 | 2022-06-28 | 深圳广成创新技术有限公司 | Positioning method and device of manipulator, computer equipment and storage medium |
| CN115479548A (en) * | 2022-09-13 | 2022-12-16 | 苏州市凌臣采集计算机有限公司 | Height measurement method, device and system, dispensing method and computer readable storage medium |
| CN116000484A (en) * | 2023-03-28 | 2023-04-25 | 湖南视比特机器人有限公司 | Workpiece secondary positioning method, positioning device, workpiece groove cutting method and device |
-
2021
- 2021-09-07 CN CN202111042790.6A patent/CN113744336A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114463254A (en) * | 2021-12-22 | 2022-05-10 | 广州元丰自动化设备有限公司 | Method and system for drilling bumper, computer equipment and storage medium |
| CN114523191A (en) * | 2022-02-24 | 2022-05-24 | 深圳快造科技有限公司 | System and method for automatically acquiring position of material to be processed in laser processing |
| CN114677429A (en) * | 2022-05-27 | 2022-06-28 | 深圳广成创新技术有限公司 | Positioning method and device of manipulator, computer equipment and storage medium |
| CN114677429B (en) * | 2022-05-27 | 2022-08-30 | 深圳广成创新技术有限公司 | Positioning method and device of manipulator, computer equipment and storage medium |
| CN115479548A (en) * | 2022-09-13 | 2022-12-16 | 苏州市凌臣采集计算机有限公司 | Height measurement method, device and system, dispensing method and computer readable storage medium |
| CN116000484A (en) * | 2023-03-28 | 2023-04-25 | 湖南视比特机器人有限公司 | Workpiece secondary positioning method, positioning device, workpiece groove cutting method and device |
| CN116000484B (en) * | 2023-03-28 | 2023-07-25 | 湖南视比特机器人有限公司 | Workpiece secondary positioning method, positioning device, workpiece groove cutting method and device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113744336A (en) | Auxiliary positioning method and device and computer readable storage medium | |
| TWI680436B (en) | Depth camera calibration device and method thereof | |
| CN112223302B (en) | Rapid calibration method and device of live working robot based on multiple sensors | |
| CN107705304B (en) | Positioning method and device | |
| CN112785656B (en) | Calibration method and device of dual-stereoscopic camera, electronic equipment and storage medium | |
| CN113021328A (en) | Hand-eye calibration method, device, equipment and medium | |
| CN112288826B (en) | Calibration method and device of binocular camera and terminal | |
| CN104766309A (en) | Plane feature point navigation and positioning method and device | |
| CN111612794A (en) | Multi-2D vision-based high-precision three-dimensional pose estimation method and system for parts | |
| CN114387347B (en) | Method, device, electronic equipment and medium for determining external parameter calibration | |
| CN105243663A (en) | automatic PCB (Printed Circuit Board) scan image matching method and system | |
| CN106363304A (en) | Multi-camera correcting and positioning method and glass laser cutting device | |
| CN115201883B (en) | Moving target video positioning and speed measuring system and method | |
| CN112308925A (en) | Binocular calibration method and device of wearable device and storage medium | |
| CN113538583A (en) | Method for accurately positioning position of workpiece on machine tool and vision system | |
| CN108596947B (en) | Rapid target tracking method suitable for RGB-D camera | |
| CN111681186A (en) | Image processing method and device, electronic equipment and readable storage medium | |
| CN115555648A (en) | Numerical control cutting method, system, equipment and medium | |
| CN113112545B (en) | Handheld mobile printing device positioning method based on computer vision | |
| KR102023087B1 (en) | Method for camera calibration | |
| CN110853102B (en) | Novel robot vision calibration and guide method and device and computer equipment | |
| CN113407030A (en) | Visual positioning method and related device, equipment and storage medium | |
| CN110619664B (en) | Laser pattern-assisted camera distance posture calculation method and server | |
| CN115965697A (en) | Projector calibration method, calibration system and device based on Samm's law | |
| CN113570670A (en) | Linear array camera calibration method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |