CN114187349B - Product processing method and device, terminal device and storage medium - Google Patents
Product processing method and device, terminal device and storage medium Download PDFInfo
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- CN114187349B CN114187349B CN202111292355.9A CN202111292355A CN114187349B CN 114187349 B CN114187349 B CN 114187349B CN 202111292355 A CN202111292355 A CN 202111292355A CN 114187349 B CN114187349 B CN 114187349B
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
Abstract
The invention discloses a product processing method, which comprises the following steps: acquiring a plurality of target images, wherein the target images are obtained by shooting target processing products placed on a preset machine; determining a plurality of position information of the target processing product by using a plurality of target images; when the position information meets a preset condition, determining that the target processing product is accurately placed; and processing the target processing product by utilizing a preset processing pattern to obtain a final product. The invention also discloses a product processing device, terminal equipment and a computer readable storage medium. By utilizing the method, when the position information of the processed product meets the preset condition, the processed product is accurately placed, so that the position accuracy of the processed product is higher, and the processing precision is improved.
Description
Technical Field
The present invention relates to the field of product positioning technologies, and in particular, to a product processing method, an apparatus, a terminal device, and a computer-readable storage medium.
Background
For most machines existing in the current market, the process of processing products is as follows: (1) installing positioning strips in the x and y directions according to the product; (2) abutting the product against the positioning strip; (3) turning on red light (the range and the position of the processing pattern in the area covered by the red light) to check the relative positions of the product and the processing pattern; (4) turning off the red light; (5) adjusting the position of the processing pattern to correspond to the processing product; (6) repeating the steps (3) to (5) until the processing pattern of the processed product reaches the designated relative position; (7) and (5) processing a product to see the effect, and repeating the processes (1) to (6) if the effect is not good. For the process, a gap may exist between the processed product and the positioning strip, so that the position of the processed product is inaccurate, and the processing precision is poor.
Disclosure of Invention
The invention mainly aims to provide a product processing method, a product processing device, terminal equipment and a computer readable storage medium, and aims to solve the technical problem that in the prior art, a gap may exist between a processed product and a positioning strip, so that the position of the processed product is inaccurate, and the processing precision is poor.
In order to achieve the above object, the present invention provides a product processing method, comprising the steps of:
acquiring a plurality of target images, wherein the plurality of target images are obtained by shooting target processing products placed on a preset machine;
determining a plurality of position information of the target processing product by using a plurality of target images;
when the position information meets a preset condition, the target processing product is determined to be placed accurately;
and processing the target processing product by utilizing a preset processing pattern to obtain a final product.
Optionally, before the step of acquiring a plurality of target images, the method further includes:
determining a relative position relation between a camera coordinate of a preset camera and a working coordinate system of the preset machine station;
calibrating the preset camera by utilizing the relative position relation;
shooting the target processing product by using the calibrated preset camera to obtain a plurality of target images.
Optionally, the step of determining a plurality of position information of the target processing product by using a plurality of target images includes:
carrying out contour extraction operation on a plurality of target images to obtain a plurality of product contours of the target processing product, wherein one target image corresponds to one product contour;
and obtaining a plurality of position information of the target processing product based on a plurality of product profiles.
Optionally, the step of obtaining a plurality of position information of the target processing product based on a plurality of product profiles includes:
filtering the plurality of product outlines by using a Gaussian filtering method to obtain a plurality of filtered product outlines;
obtaining a plurality of position information of the target processing product based on a plurality of the filtered product profiles.
Optionally, the step of obtaining a plurality of position information of the target processing product based on the plurality of filtered product profiles includes:
solving a convex hull of the point set in each filtered product contour to obtain convex hull information corresponding to each filtered product contour;
and obtaining a plurality of position information of the target processing product based on a plurality of convex hull information.
Optionally, each of the position information includes a center point position and a placement angle; the step of obtaining a plurality of position information of the target machined product based on the plurality of convex hull information includes:
constructing a plurality of minimum circumscribed rectangles corresponding to the plurality of filtered product outlines by using the plurality of convex hull information;
and determining the placement angle of each minimum bounding rectangle and the central point position of each minimum bounding rectangle.
Optionally, the step of processing the target processing product by using a preset processing pattern to obtain a final product includes:
moving the preset pattern to a region to be processed corresponding to the position information;
and processing the target processing product in the area to be processed according to the preset pattern based on the received processing operation to obtain a final product.
In addition, to achieve the above object, the present invention also provides a product processing apparatus, including:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a plurality of target images, and the target images are obtained by shooting target processing products placed on a preset machine;
the first determining module is used for determining a plurality of position information of the target processing product by utilizing a plurality of target images;
the second determining module is used for determining that the target processing product is accurately placed when the position information meets the preset condition;
and the processing module is used for processing the target processing product by utilizing a preset processing pattern to obtain a final product.
In addition, to achieve the above object, the present invention further provides a terminal device, including: a memory, a processor and a product processing program stored on the memory and running on the processor, the product processing program when executed by the processor implementing the steps of the product processing method as set forth in any one of the above.
In addition, to achieve the above object, the present invention also provides a computer readable storage medium having a product processing program stored thereon, which when executed by a processor implements the steps of the product processing method according to any one of the above.
The technical scheme of the invention provides a product processing method, which comprises the following steps: acquiring a plurality of target images, wherein the plurality of target images are obtained by shooting target processing products placed on a preset machine; determining a plurality of position information of the target processing product by using a plurality of target images; when the position information meets a preset condition, determining that the target processing product is accurately placed; and processing the target processing product by utilizing a preset processing pattern to obtain a final product.
In the existing method, a processed product cannot be perfectly fit with a positioning strip, so that a gap exists between the positioning strip and the processed product, the placement position of the processed product is inaccurate, and the processing precision is influenced during processing. By using the method, the terminal equipment determines the position information of the target processing product by using the target images, when the position information meets the preset condition, the position of the target processing product is determined to be accurate, the processing product is not required to be limited by using the positioning strip, the condition that a gap exists between the positioning strip and the processing product does not exist, and when the position information of the processing product meets the preset condition, the processing product is placed accurately, so that the position accuracy of the processing product is higher, and the processing precision is improved.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the product processing method of the present invention;
FIG. 3 is a diagram illustrating convex hull information in the present invention;
FIG. 4 is a schematic view of a circumscribed rectangle of a target processed product of the present invention;
fig. 5 is a block diagram showing the structure of the first embodiment of the product processing apparatus of the present invention.
The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a terminal device in a hardware operating environment according to an embodiment of the present invention.
In general, a terminal device includes: at least one processor 301, a memory 302, and a product manufacturing program stored on the memory and executable on the processor, the product manufacturing program being configured to implement the steps of the product manufacturing method as previously described.
The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 301 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. Processor 301 may also include an AI (Artificial Intelligence) processor for processing relevant product processing method operations such that the product processing method model may be trained and learned autonomously to improve efficiency and accuracy.
In some embodiments, the terminal may further include: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected by a bus or signal lines. Various peripheral devices may be connected to communication interface 303 by a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 304, a display screen 305, and a power source 306.
The communication interface 303 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 301 and the memory 302. In some embodiments, processor 301, memory 302, and communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302 and the communication interface 303 may be implemented on a single chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 304 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 304 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 304 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 305 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 305 is a touch display screen, the display screen 305 also has the ability to capture touch signals on or over the surface of the display screen 305. The touch signal may be input to the processor 301 as a control signal for processing. At this point, the display screen 305 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 305 may be one, the front panel of the electronic device; in other embodiments, the display screens 305 may be at least two, respectively disposed on different surfaces of the electronic device or in a folded design; in still other embodiments, the display screen 305 may be a flexible display screen disposed on a curved surface or a folded surface of the electronic device. Even further, the display screen 305 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display screen 305 may be made of LCD (liquid crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The power supply 306 is used to power various components in the electronic device. The power source 306 may be alternating current, direct current, disposable or rechargeable. When the power source 306 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery can also be used to support fast charge technology.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the terminal device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, on which a product processing program is stored, and the product processing program, when executed by a processor, implements the steps of the product processing method as described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. It is determined that the program instructions may be deployed to be executed on one terminal device, or on multiple terminal devices located at one site, or distributed across multiple sites and interconnected by a communication network, as examples.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The computer readable storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Based on the hardware structure, the embodiment of the product processing method is provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the product processing method of the present invention, and the method is used for a terminal device, and the method includes the following steps:
step S11: the method comprises the steps of obtaining a plurality of target images, wherein the target images are obtained by shooting target processing products placed on a preset machine station.
The execution main body of the present invention is a terminal device, the terminal device is installed with a product processing program, and when the terminal device executes the product processing program, the steps of the product processing method of the present invention are implemented.
Before step S11, the target machining product needs to be placed on a machine of a machining machine for machining the machining product, where the machine is a preset machine, the machining product is a target machining product, the multiple target images are images obtained by continuously shooting the target machining product, generally speaking, the multiple target images are arranged according to a preset sequence, and the preset sequence is a shooting sequence of the target images. For each target image, the steps of the invention are performed in a preset order.
Further, before the step of acquiring a plurality of target images, the method further comprises before the step of acquiring a plurality of target images, the method further comprising: determining a relative position relation between a camera coordinate of a preset camera and a working coordinate system of the preset machine; calibrating the preset camera by utilizing the relative position relation; shooting the target processing product by using the calibrated preset camera to obtain a plurality of target images.
In the specific application, the preset camera is arranged above a machine table of the processing machine and fixedly connected with the processing machine, the preset camera can shoot a target processing product placed on the preset machine table, and the relative position relation between the preset camera and the processing machine cannot be changed when the steps of the invention are carried out.
Generally, a plurality of reference points are set in a working coordinate system of a processing machine (also a working coordinate system of a preset machine), a plurality of reference point coordinates (coordinate values in the working coordinate system) of the plurality of reference points are known, and one reference point corresponds to one reference point coordinate; and then, photographing the plurality of reference points by using a preset camera to obtain a plurality of photographing reference points, wherein one reference point corresponds to one photographing reference point, and then determining the coordinates of the photographing reference points of each photographing reference point in a camera coordinate system of the preset camera. And then, establishing an equation set by utilizing the coordinates of the plurality of shooting reference points and the coordinates of the plurality of reference points, wherein the equation set expresses the relative position relationship between the camera coordinate system and the working coordinate system, solving the equation set to obtain a specific relative position relationship, and the obtained relative position relationship is used for calibrating a preset camera. And then, shooting a plurality of target images by using the calibrated preset camera.
Step S12: and determining a plurality of position information of the target processing product by using a plurality of target images.
And for each target image, determining position information of the target processing product by using the target image, wherein one target image corresponds to one position information. Meanwhile, the plurality of target images are arranged according to a preset sequence, and the plurality of position information are arranged according to the preset sequence, that is, the plurality of target images are arranged according to a shooting sequence (a sequence of shooting the target images), and the obtained plurality of position information are also arranged according to the preset sequence (a sequence of shooting the target images).
For example, 3 target images are captured, and in the order of capture, image No. 1, image No. 2, and image No. 3 correspond to three pieces of position information, that is, position information No. 1, position information No. 2, and position information No. 3, and position information No. 1, position information No. 2, and position information No. 3 correspond to image No. 1, image No. 2, and image No. 3, respectively.
Specifically, the step of determining the plurality of position information of the target processed product by using the plurality of target images includes: carrying out contour extraction operation on a plurality of target images to obtain a plurality of product contours of the target processing product, wherein one target image corresponds to one product contour; and obtaining a plurality of position information of the target processing product based on a plurality of product profiles.
And performing contour extraction operation on each target image to obtain a corresponding product contour, wherein one target image corresponds to one product contour, and for each product contour, corresponding position information is obtained.
Specifically, the step of obtaining a plurality of position information of the target machined product based on a plurality of product profiles includes: filtering the plurality of product outlines by using a Gaussian filtering method to obtain a plurality of filtered product outlines; obtaining a plurality of position information of the target processing product based on a plurality of the filtered product profiles.
Wherein the step of obtaining a plurality of location information of the target processing product based on the plurality of filtered product profiles comprises: solving a convex hull of the point set in each filtered product contour to obtain convex hull information corresponding to each filtered product contour; and obtaining a plurality of position information of the target processing product based on the plurality of convex hull information.
In specific application, for each filtered product contour, a convex hull is solved through a point set, and the solving mode can be any existing convex hull solving mode, and the method is not limited in the invention. And then, solving corresponding convex hull information of each filtered product outline, and acquiring position information based on each convex hull information.
Wherein each of the position information comprises a center point position and a placement angle; the step of obtaining a plurality of position information of the target machined product based on the plurality of convex hull information includes: constructing a plurality of minimum circumscribed rectangles corresponding to the plurality of filtered product outlines by using the plurality of convex hull information; and determining the placement angle of each minimum bounding rectangle and the central point position of each minimum bounding rectangle.
The general placement angle is based on a preset standard baseline existing in the target image, the preset standard baseline can be any straight line set in the target image, and the preset standard baseline can be a line superposed with a diagonal line of the minimum circumscribed rectangle or in other forms, which is not limited in the invention.
Referring to fig. 3-4, fig. 3 is a schematic diagram of convex hull information in the present invention; FIG. 4 is a schematic view of a circumscribed rectangle of a target processed product of the present invention. In fig. 4, the product contour of the target processing product is an approximate rectangle, a solid line is a contour line corresponding to the product contour (which may be a filtered product contour), and a dotted line rectangle outside the product contour is a minimum circumscribed rectangle (in general application, a gap between the minimum circumscribed rectangle and the product contour is set to be small, which is convenient for viewing, and is set to be slightly large). The intersection point of the diagonals of the minimum circumscribed rectangle is the position of the central point. The other vertical dotted line is the preset standard base line, and the minimum included angle between the long side of the minimum circumscribed rectangle and the preset standard base line is the placing angle. Fig. 3 shows one piece of convex hull information of the target machined product shown in fig. 4.
Step S13: and when the plurality of position information meet the preset conditions, determining that the target processing product is accurately placed.
Step S14: and processing the target processing product by utilizing a preset processing pattern to obtain a final product.
And each target image obtains position information including a placement angle and a center point position according to the steps, and then whether the target processing product is accurately placed is determined by utilizing the relationship of a plurality of position information corresponding to a plurality of target images, so that when the target processing product is determined to be accurately placed, the target processing product is continuously processed by utilizing a preset processing pattern to obtain a final product. The preset processing pattern can be any pattern, such as characters, numbers or simple strokes.
And if the difference between the positions of any two adjacent central points in the plurality of position information is within a first deviation and the difference between any two adjacent placing angles in the plurality of position information is within a second deviation, the plurality of position information meets a preset condition. The first deviation may be a center point position deviation set by a user based on a requirement, the second deviation may be a placement angle deviation set by the user based on the requirement, and specific values of the first deviation and the second deviation are not limited in the present invention. In general, for the difference between the center point positions in the first deviation, it may mean that the deviations of any two adjacent center point positions of the plurality of center point positions are within the first deviation (the position information is arranged according to the preset sequence, and then the corresponding center point positions are also arranged according to the preset sequence), and similarly, the difference between the placement angles may mean that the deviations of any two adjacent placement angles of the plurality of placement angles are within the second deviation (the position information is arranged according to the preset sequence, and then the corresponding placement angles are also arranged according to the preset sequence).
In general application, the plurality of target images comprise three, the three target images are arranged according to a shooting sequence, then three position information of the three target images is obtained according to the mode, each position information comprises a placing angle and a central point position, and the three position information meets the preset condition, so that the target and product are accurately placed.
When the three pieces of position information do not meet the preset conditions, the fact that two adjacent pieces of position information exist is shown, the placing angle of the three pieces of position information is larger than or equal to a second preset deviation, or the position of the central point is larger than or equal to a first preset deviation, and then the target adding product is determined to be placed inaccurately; and deleting all target images before the target image arranged at the rear end of the preset sequence in the two target images corresponding to the two pieces of position information, re-acquiring the target images, and continuing to perform the steps.
For example, if the second position information and the third position information of the three position information corresponding to the three target images do not meet the preset condition, the first target image and the second target image are deleted, the two target images are obtained again, the three new target images, namely the third target image to the fifth target image, are utilized, the steps are repeated, and fine adjustment can be stopped until the preset condition is met, and the target processed product is accurately placed.
The step of processing the target processing product by using the preset processing pattern to obtain the final product comprises the following steps: moving the preset pattern to a region to be processed corresponding to the position information; and processing the target processing product in the area to be processed according to the preset pattern based on the received processing operation to obtain a final product.
And when the target processing product is accurately placed, moving the preset processing pattern to a to-be-processed area corresponding to the position information, namely, rotating and translating the preset processing pattern, so that the preset pattern corresponds to the central point position and the placing angle of the target processing product. Then, the user is required to actively click or pedal the processing machine to process the product, so as to obtain the final product. The area to be processed is the area corresponding to the preset processing pattern, and in general application, the pattern is mapped on a target processing product through lamplight.
For example, the target processing product is a mobile phone shell, the preset processing pattern is a photo, the mobile phone shell needs to be placed well by using the method of the present invention, the mobile phone shell is determined to be placed accurately, and then the photo is moved to the mobile phone shell for further processing.
The technical scheme of the invention provides a product processing method, which comprises the following steps: acquiring a plurality of target images, wherein the target images are obtained by shooting target processing products placed on a preset machine; determining a plurality of position information of the target processing product by using a plurality of target images; when the position information meets a preset condition, determining that the target processing product is accurately placed; and processing the target processing product by utilizing a preset processing pattern to obtain a final product.
In the existing method, a processed product cannot be perfectly fit with a positioning strip, so that a gap exists between the positioning strip and the processed product, the placement position of the processed product is inaccurate, and the processing precision is influenced during processing. By using the method, the terminal equipment determines the position information by using the target images, when the position information meets the preset condition, the position of the target processing product is determined to be accurate, the processing product is not required to be limited by using the positioning strip, the condition that a gap exists between the positioning strip and the processing product does not exist, and when the position information of the processing product meets the preset condition, the processing product is accurately placed, so that the position accuracy of the processing product is higher, and the processing precision is improved.
Meanwhile, the position information and the preset processing pattern of the target processing product are automatically determined and automatically moved, manual operation of a user is not needed, and the processing speed and efficiency are greatly improved.
Referring to fig. 5, fig. 5 is a block diagram of a first embodiment of the product processing device of the present invention, the device is used for a terminal device, and based on the same inventive concept as the previous embodiment, the device comprises:
the system comprises an acquisition module 10, a processing module and a processing module, wherein the acquisition module is used for acquiring a plurality of target images, and the target images are obtained by shooting target processing products placed on a preset machine;
a first determining module 20, configured to determine a plurality of position information of the target processing product by using a plurality of target images;
the second determining module 30 is configured to determine that the target processing product is accurately placed when the position information satisfies a preset condition;
and the processing module 40 is used for processing the target processing product by using a preset processing pattern to obtain a final product.
It should be noted that, since the steps executed by the apparatus of this embodiment are the same as the steps of the foregoing method embodiment, the specific implementation and the achievable technical effects thereof can refer to the foregoing embodiment, and are not described herein again.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of processing a product, the method comprising the steps of:
acquiring a plurality of target images, wherein the plurality of target images are obtained by shooting a target processing product placed on a preset machine table, and the plurality of target images are obtained by continuously shooting the target processing product at a plurality of reference points in a working coordinate system arranged on the preset machine table;
determining a plurality of position information of the target processing product by using a plurality of target images;
when the position information meets a preset condition, the target processing product is determined to be placed accurately;
wherein, the plurality of the position information satisfies a preset condition, including:
if the difference between any two adjacent central point positions in the position information is within a first deviation and the difference between any two adjacent placing angles in the position information is within a second deviation, the position information meets a preset condition;
and processing the target processing product by utilizing a preset processing pattern to obtain a final product.
2. The method of claim 1, wherein the step of acquiring a plurality of target images is preceded by the method further comprising:
determining a relative position relation between a camera coordinate of a preset camera and a working coordinate system of the preset machine station;
calibrating the preset camera by utilizing the relative position relation;
shooting the target processing product by using the calibrated preset camera to obtain a plurality of target images.
3. The method of claim 2, wherein said step of determining a plurality of location information of said target work product using a plurality of said target images comprises:
carrying out contour extraction operation on a plurality of target images to obtain a plurality of product contours of the target processing product, wherein one target image corresponds to one product contour;
and obtaining a plurality of position information of the target processing product based on a plurality of product profiles.
4. The method of claim 3, wherein said step of obtaining a plurality of location information of said target work product based on a plurality of said product profiles comprises:
filtering the plurality of product outlines by using a Gaussian filtering method to obtain a plurality of filtered product outlines;
obtaining a plurality of position information of the target processing product based on a plurality of the filtered product profiles.
5. The method of claim 4, wherein said step of obtaining a plurality of location information of said target work product based on a plurality of said filtered product profiles comprises:
solving a convex hull of the point set in each filtered product contour to obtain convex hull information corresponding to each filtered product contour;
and obtaining a plurality of position information of the target processing product based on the plurality of convex hull information.
6. The method of claim 5, wherein each of the location information comprises a center point location and a placement angle; the step of obtaining a plurality of position information of the target processing product based on a plurality of convex hull information includes:
constructing a plurality of minimum circumscribed rectangles corresponding to the plurality of filtered product outlines by using the plurality of convex hull information;
and determining the placement angle of each minimum bounding rectangle and the position of the central point of each minimum bounding rectangle.
7. The method as claimed in claim 1, wherein the step of processing the target processed product with a predetermined processing pattern to obtain a final product comprises:
moving the preset pattern to a region to be processed corresponding to the position information;
and processing the target processing product in the area to be processed according to the preset pattern based on the received processing operation to obtain a final product.
8. A product processing apparatus, comprising:
the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring a plurality of target images, the target images are obtained by shooting a target processing product placed on a preset machine station, and the target images are obtained by continuously shooting the target processing product at a plurality of reference points in a working coordinate system of the preset machine station;
the first determining module is used for determining a plurality of position information of the target processing product by utilizing a plurality of target images;
the second determining module is used for determining that the target processing product is accurately placed when the position information meets the preset condition;
wherein, the plurality of the position information satisfies a preset condition, including:
if the difference between any two adjacent central point positions in the position information is within a first deviation and the difference between any two adjacent placing angles in the position information is within a second deviation, the position information meets a preset condition;
and the processing module is used for processing the target processing product by utilizing a preset processing pattern to obtain a final product.
9. A terminal device, characterized in that the terminal device comprises: memory, a processor and a product processing program stored on the memory and running on the processor, the product processing program when executed by the processor implementing the steps of the product processing method of any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a product processing program is stored thereon, which when executed by a processor implements the steps of the product processing method as claimed in any one of claims 1 to 7.
Priority Applications (1)
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