CN114782450B - Hole filling equipment control method, device, equipment and computer readable medium - Google Patents

Hole filling equipment control method, device, equipment and computer readable medium Download PDF

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CN114782450B
CN114782450B CN202210715342.6A CN202210715342A CN114782450B CN 114782450 B CN114782450 B CN 114782450B CN 202210715342 A CN202210715342 A CN 202210715342A CN 114782450 B CN114782450 B CN 114782450B
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hole
coordinate set
hole coordinate
ellipse
image
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CN114782450A (en
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周钢
胡征慧
傅泽华
金一舟
刘庆杰
王蕴红
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Hangzhou Innovation Research Institute of Beihang University
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B27—WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27G—ACCESSORY MACHINES OR APPARATUS FOR WORKING WOOD OR SIMILAR MATERIALS; TOOLS FOR WORKING WOOD OR SIMILAR MATERIALS; SAFETY DEVICES FOR WOOD WORKING MACHINES OR TOOLS
    • B27G1/00—Machines or devices for removing knots or other irregularities or for filling-up holes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • 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

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Abstract

The embodiment of the disclosure discloses a hole filling equipment control method, a hole filling equipment control device, hole filling equipment and a computer readable medium. One embodiment of the method comprises: shooting a plate to be filled to obtain an image of the plate to be filled; extracting hole coordinates of the plate image to be filled to obtain a hole coordinate set; for each hole coordinate set in the set of hole coordinate sets, performing the following hole filling information generating steps: determining a target energy functional according to the L2 norm and the hole coordinate set; converting the target energy functional to obtain an unconstrained function to be processed; initializing iteration times; generating target ellipse parameters; generating hole filling information corresponding to the hole coordinate set; and controlling the associated hole filling equipment to execute hole filling operation according to the image of the plate to be filled and the obtained hole filling information. This embodiment improves the efficiency and safety of the filling.

Description

Hole filling equipment control method, device, equipment and computer readable medium
Technical Field
The embodiment of the disclosure relates to the field of plate processing, in particular to a hole filling equipment control method, device, equipment and computer readable medium.
Background
During the processing of the plate, the holes in the plate are often required to be filled. At present, when filling holes in a plate, the following methods are generally adopted: the relevant staff manually injects the filler into the hole of the plate to fill the hole.
However, when the holes in the plate are filled in the above manner, the following technical problems often occur:
first, the hole among the artifical filling panel, filling efficiency is lower, in addition, often can utilize the machine to carry out automatic cutting to panel in the panel course of working, adopts the manual work to fill the hole and leads to the incident appearing, causes the security lower in the operation in-process.
Secondly, when the shape of hole is comparatively flat long-term, can't carry out comparatively even filling, lead to filling the effect relatively poor, need carry out the secondary and fill, further reduce filling efficiency.
Third, void filling information is generated for non-bonded areas and filling methods, resulting in lower filling efficiency.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose a hole filling apparatus control method, device, electronic apparatus and computer readable medium to solve one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a method of controlling a hole-filling apparatus, the method comprising: shooting a plate to be filled to obtain an image of the plate to be filled; extracting hole coordinates from the plate image to be filled to obtain a hole coordinate set; for each hole coordinate set in the hole coordinate set, performing the following hole filling information generating steps: determining a target energy functional according to the L2 norm and the hole coordinate set; converting the target energy functional to obtain an unconstrained function to be processed; initializing iteration times; generating target ellipse parameters according to the hole coordinate set, the ellipse parameters, the unconstrained to-be-processed function and the iteration times; generating hole filling information corresponding to the hole coordinate set according to the target ellipse parameters; and controlling associated hole filling equipment to execute hole filling operation according to the plate image to be filled and the obtained hole filling information.
In a second aspect, some embodiments of the present disclosure provide a hole-filling apparatus control device, the device comprising: the shooting unit is configured to shoot the plate to be filled to obtain an image of the plate to be filled; the hole coordinate extraction unit is configured to extract hole coordinates from the plate image to be filled to obtain a hole coordinate set; a hole filling information generating unit configured to perform, for each hole coordinate set in the hole coordinate set, the following hole filling information generating steps: determining a target energy functional according to the L2 norm and the hole coordinate set; converting the target energy functional to obtain an unconstrained function to be processed; initializing iteration times; generating a target ellipse parameter according to the hole coordinate set, the ellipse parameter, the unconstrained function to be processed and the iteration times; generating hole filling information corresponding to the hole coordinate set according to the target ellipse parameters; and the control unit is configured to control the associated hole filling equipment to execute hole filling operation according to the plate image to be filled and the obtained hole filling information.
In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first aspect.
In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium on which a computer program is stored, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect.
The above embodiments of the present disclosure have the following advantages: by the hole filling equipment control method of some embodiments of the disclosure, the filling efficiency and safety are improved. In particular, the reasons for the low efficiency and safety of filling are: the hole among the artifical filling panel, filling efficiency is lower, in addition, often can utilize the machine to carry out automatic cutting to panel in the panel course of working, adopts the manual work to fill the hole and leads to the incident appearing, causes the security lower in the operation in-process. Based on this, according to the hole filling equipment control method of some embodiments of the present disclosure, firstly, a plate to be filled is photographed, and an image of the plate to be filled is obtained. And then, extracting hole coordinates of the plate image to be filled to obtain a hole coordinate set. Thus, a set of hole coordinates representing the coordinates of the edges of the individual holes in the image of the sheet to be filled can be obtained. Next, for each hole coordinate set in the hole coordinate set, performing the following hole filling information generating steps: determining a target energy functional according to the L2 norm and the hole coordinate set; converting the target energy functional to obtain an unconstrained function to be processed; initializing iteration times; generating target ellipse parameters according to the hole coordinate set, the ellipse parameters, the unconstrained to-be-processed function and the iteration times; and generating hole filling information corresponding to the hole coordinate set according to the target ellipse parameters. Thus, hole filling information for use in filling a hole can be obtained. And finally, controlling the associated hole filling equipment to execute hole filling operation according to the image of the plate to be filled and the obtained hole filling information. Thereby, the filling of the hole in the board to be filled can be accomplished. Because the hole filling information is generated by generating the target ellipse parameters and the hole filling equipment is controlled to execute the hole filling operation according to the hole filling information, the manual filling is avoided, and the filling efficiency and safety are improved.
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The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.
Fig. 1 is a flow chart of some embodiments of a hole filling apparatus control method according to the present disclosure;
fig. 2 is a schematic structural view of some embodiments of a hole filling apparatus control device according to the present disclosure;
FIG. 3 is a schematic block diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a" or "an" in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will appreciate that references to "one or more" are intended to be exemplary and not limiting unless the context clearly indicates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 illustrates a flow 100 of some embodiments of a void filling apparatus control method according to the present disclosure. The control method of the hole filling equipment comprises the following steps:
step 101, shooting a plate to be filled to obtain an image of the plate to be filled.
In some embodiments, an execution subject (e.g., a computing device) of the hole filling device control method may capture an image of the board to be filled. The plate to be filled may be a plate including at least one hole and requiring to fill each hole of the at least one hole. Here, the specific material of the plate material to be filled is not limited. For example, the board may be a wood board. The plate material can also be a particle plate. In practice, the associated camera device can be controlled to shoot the plate to be filled in the direction vertical to the plate to be filled, so as to obtain an image of the plate to be filled. The associated imaging device may be a camera communicatively connected to the execution main body.
The computing device may be hardware or software. When the computing device is hardware, it may be implemented as a distributed cluster composed of multiple servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device is embodied as software, it may be installed in the hardware devices enumerated above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And is not particularly limited herein. It should be understood that there may be any number of computing devices, as desired for an implementation.
And 102, extracting hole coordinates of the plate image to be filled to obtain a hole coordinate set.
In some embodiments, the executing body may perform hole coordinate extraction processing on the plate image to be filled to obtain a hole coordinate set. Wherein each hole coordinate set in the hole coordinate set can be the edge of each hole in the plate image to be filledCoordinates of the pixel points. Here, the coordinates of the pixel points may be row and column numbers of the pixel points in the image of the plate to be filled. The hole coordinate set of the hole coordinate set may include hole coordinates in the form of:
Figure 788526DEST_PATH_IMAGE001
. In practice, the hough transform can be used to extract the hole coordinates of the edges of the holes in the plate image to be filled, so as to obtain a hole coordinate set. Thus, a set of hole coordinates representing the coordinates of the edges of the individual holes in the image of the sheet to be filled can be obtained.
In some optional implementation manners of some embodiments, first, the execution main body may perform binarization processing on the to-be-filled plate image to obtain a binarized to-be-filled plate image. Then, image area segmentation processing can be performed on the binarized plate image to be filled so as to cut the binarized plate image to be filled, and at least one binarized plate sub-image is obtained. And each binarized plate subimage in the at least one binarized plate subimage meets the preset area condition. The preset area condition may be that the pixel values of the pixels in the sub-image of the binarized sheet material are not all preset pixel values. The preset pixel value may be 0 or 1. And then, for each sub-image of the binary plate material included in the at least one sub-image of the binary plate material, determining the coordinates of each pixel point in the sub-image of the binary plate material, which meets the preset binary condition, in the image of the plate material to be filled as hole coordinates, so as to obtain a hole coordinate set corresponding to the sub-image of the binary plate material. The preset binarization condition can be that pixel values in the binarized plate sub-image are all preset values, and corresponding gradient information comprises pixel points with gradient values not equal to 0. The preset value can be a value different from the pixel value of the pixel at the preset position in the binarized plate sub-image in 0 and 1. For example, the pixel value of the pixel in the first row and the first column in the binarized sheet material sub-image may be 1, and the preset value may be 0. The pixel value of the pixel in the first row and the first column in the sub-image of the binarized sheet material may be 0, and then the preset value may be 1. The gradient information may characterize the gradient of a pixel from a neighboring pixel. For example, the gradient information may be the gradient value of the pixel and the 4 neighboring pixels. At this time, the gradient information includes 4 gradient values since 4 neighborhood pixels are corresponded. Therefore, all pixel points forming the edge of the hole can be reserved to the maximum extent.
Optionally, before step 103 is executed, first, the executing body may perform anomaly detection on the hole coordinate set to obtain an abnormal hole coordinate set. In practice, the abnormal hole coordinate set may be detected by using a gaussian distribution abnormal detection algorithm, and the hole coordinate detected as abnormal in the hole coordinate set may be determined as an abnormal hole coordinate, so as to obtain an abnormal hole coordinate set. Then, a non-abnormal hole coordinate set can be determined according to the hole coordinate set and the abnormal hole coordinate set. In practice, the hole coordinates that are not determined as abnormal hole coordinates in the hole coordinate set can be determined as non-abnormal hole coordinates, so as to obtain a non-abnormal hole coordinate set. Therefore, an abnormal hole coordinate set for representing the abnormity and a non-abnormal hole coordinate set for representing the non-abnormity can be obtained.
Optionally, a hole coordinate matrix, an abnormal hole coordinate matrix and a non-abnormal hole coordinate matrix may be generated according to the hole coordinate set, the abnormal hole coordinate set and the non-abnormal hole coordinate set, respectively. Wherein the content of the first and second substances,
Figure 383456DEST_PATH_IMAGE002
。
Figure 785618DEST_PATH_IMAGE003
representing a hole coordinate matrix.
Figure 798705DEST_PATH_IMAGE004
Representing a non-anomalous hole coordinate matrix.
Figure 526489DEST_PATH_IMAGE005
Representing an abnormal hole coordinate matrix.
Figure 874294DEST_PATH_IMAGE003
、
Figure 345727DEST_PATH_IMAGE004
、
Figure 446276DEST_PATH_IMAGE005
Are matrices of the same size. The number of rows of the matrix is the number of individual points constituting the outline of the ellipse, i.e. the number of hole coordinates in the set of hole coordinates.
Figure 79382DEST_PATH_IMAGE003
、
Figure 914483DEST_PATH_IMAGE004
、
Figure 189607DEST_PATH_IMAGE005
Each included row vector is of the form
Figure 911706DEST_PATH_IMAGE006
. Wherein the content of the first and second substances,
Figure 981293DEST_PATH_IMAGE007
are the elements that the vector includes. Wherein, of the above elements
Figure 38111DEST_PATH_IMAGE008
And
Figure 585767DEST_PATH_IMAGE009
may be a hole coordinate in a set of hole coordinates.
Figure 926487DEST_PATH_IMAGE008
May be the abscissa of the hole coordinate.
Figure 901397DEST_PATH_IMAGE010
May be the ordinate of the hole coordinate. Matrix array
Figure 383194DEST_PATH_IMAGE004
Including a row vector of 0 elements in the matrix
Figure 859174DEST_PATH_IMAGE005
The row vectors of corresponding rows in (a) do not all contain 0's. Matrix array
Figure 414921DEST_PATH_IMAGE005
The row vectors of which all include 0
Figure 357469DEST_PATH_IMAGE004
The row vectors of corresponding rows in (a) do not all contain 0's.
As an example of this, the following is given,
Figure 874032DEST_PATH_IMAGE003
can be as follows:
Figure 825807DEST_PATH_IMAGE011
。
wherein the content of the first and second substances,
Figure 501639DEST_PATH_IMAGE012
the abscissa representing the first hole coordinate comprised by the hole coordinate matrix.
Figure 942985DEST_PATH_IMAGE013
The ordinate representing the first hole coordinate comprised by the hole coordinate matrix.
Figure 133795DEST_PATH_IMAGE014
The abscissa representing the second hole coordinate comprised by the hole coordinate matrix.
Figure 826944DEST_PATH_IMAGE015
Indicating the ordinate of the second hole coordinate comprised by the hole coordinate matrix.
Figure 731184DEST_PATH_IMAGE016
Representing the coordinates of a third hole included in the matrix of hole coordinatesAnd (4) marking.
Figure 281114DEST_PATH_IMAGE017
The ordinate representing the third hole coordinate comprised by the hole coordinate matrix.
Figure 631324DEST_PATH_IMAGE018
The abscissa representing the fourth hole coordinate comprised by the hole coordinate matrix.
Figure 924902DEST_PATH_IMAGE019
The ordinate representing the fourth hole coordinate comprised by the hole coordinate matrix.
Figure 699960DEST_PATH_IMAGE020
The abscissa representing the fifth hole coordinate comprised by the hole coordinate matrix.
Figure 358475DEST_PATH_IMAGE021
The ordinate representing the fifth hole coordinate comprised by the hole coordinate matrix.
Figure 523877DEST_PATH_IMAGE004
Can be as follows:
Figure 434195DEST_PATH_IMAGE022
。
Figure 673546DEST_PATH_IMAGE005
can be as follows:
Figure 565279DEST_PATH_IMAGE023
。
step 103, for each hole coordinate set in the hole coordinate set, performing the following hole filling information generating steps:
and step 1031, determining a target energy functional according to the L2 norm and the hole coordinate set.
In some embodiments, the performing agent may determine the target energy functional according to the L2 norm and the set of hole coordinates. In practice, the execution agent may determine the following equation as the target energy functional:
Figure 280294DEST_PATH_IMAGE024
。
wherein the content of the first and second substances,
Figure 853358DEST_PATH_IMAGE003
representing a hole coordinate matrix.
Figure 275112DEST_PATH_IMAGE004
Representing a non-anomalous hole coordinate matrix.
Figure 920769DEST_PATH_IMAGE005
Representing an abnormal hole coordinate matrix.
Figure 732867DEST_PATH_IMAGE025
Representing the ellipse parameters.
Figure 906360DEST_PATH_IMAGE026
. Wherein the content of the first and second substances,
Figure 510516DEST_PATH_IMAGE027
、
Figure 681735DEST_PATH_IMAGE028
、
Figure 43446DEST_PATH_IMAGE029
、
Figure 99258DEST_PATH_IMAGE030
、
Figure 433287DEST_PATH_IMAGE031
、
Figure 837724DEST_PATH_IMAGE032
all form an ellipseParameters of the quadratic curve.
Figure 749048DEST_PATH_IMAGE033
Representation matrix
Figure 467605DEST_PATH_IMAGE004
Sum matrix
Figure 718458DEST_PATH_IMAGE025
The square of the norm of the product of (d).
Figure 870959DEST_PATH_IMAGE034
Representation matrix
Figure 879367DEST_PATH_IMAGE005
Sum matrix
Figure 198353DEST_PATH_IMAGE025
The square of the norm of the product of (d).
Figure 366029DEST_PATH_IMAGE035
For the penalty parameter, here,
Figure 315530DEST_PATH_IMAGE035
greater than 0. For example, in the case of a liquid,
Figure 139130DEST_PATH_IMAGE035
may be 1.
Figure 809277DEST_PATH_IMAGE036
Representing the target energy functional.
Figure 34722DEST_PATH_IMAGE037
Express as-target energy functional
Figure 889545DEST_PATH_IMAGE036
When the value of (b) is minimum, corresponds to
Figure 262758DEST_PATH_IMAGE025
、
Figure 923546DEST_PATH_IMAGE004
、
Figure 941181DEST_PATH_IMAGE005
Is the solution of the target energy functional. Therefore, the constraint problem of the hole coordinate set can be established according to the L2 norm, and the target energy functional for constraining the hole coordinate set is obtained.
And 1032, converting the target energy functional to obtain an unconstrained function to be processed.
In some embodiments, the execution subject may convert the target energy functional to obtain an unconstrained to-be-processed function. In practice, the lagrangian factor method may be used to convert the objective energy functional into an unconstrained to-be-processed function, and the obtained unconstrained to-be-processed function to be solved may be represented by the following formula:
Figure 606386DEST_PATH_IMAGE038
。
wherein the content of the first and second substances,
Figure 342261DEST_PATH_IMAGE039
is a constant greater than 0. For example,
Figure 806740DEST_PATH_IMAGE040
may be set to 1. The values of matrix C are shown below:
Figure 803515DEST_PATH_IMAGE041
。
therefore, an unconstrained to-be-processed function which needs to be solved in a minimization mode can be obtained.
Step 1033, initialize the number of iterations.
In some embodiments, the execution agent may initialize the number of iterations
Figure 265720DEST_PATH_IMAGE042
. WhereinNumber of iterations as described above
Figure 285629DEST_PATH_IMAGE042
May be the number of times used to generate the target ellipse parameters. In practice, the number of iterations may be set as described above
Figure 366849DEST_PATH_IMAGE042
Is set to 0. Thus, the number of iterations characterizing the initial value can be obtained.
And 1034, generating a target ellipse parameter according to the hole coordinate set, the ellipse parameter, the unconstrained to-be-processed function and the iteration times.
In some embodiments, the execution body may generate the target ellipse parameter according to the hole coordinate set, the ellipse parameter, the unconstrained pending function, and the iteration number. In practice, the target ellipse parameters can be generated in various ways according to the hole coordinate set, the ellipse parameters, the unconstrained to-be-processed function and the iteration times. Thus, a target ellipse parameter representing the ellipse corresponding to each hole can be obtained.
In some optional implementation manners of some embodiments, according to the hole coordinate set, the ellipse parameter, the unconstrained pending function, and the iteration number, the executing body may perform the following target ellipse parameter generating step:
firstly, updating iteration times according to a preset numerical value. The preset value may be a preset value. For example, the preset value may be 1. In practice, the execution subject may determine the sum of the preset value and the iteration count as the iteration count again, so as to update the iteration count. As an example, the number of iterations may be updated using the following equation:
Figure 155813DEST_PATH_IMAGE043
。
wherein, the left side of the equation
Figure 523341DEST_PATH_IMAGE042
Indicating the updated number of iterations. Equation Right side
Figure 358441DEST_PATH_IMAGE042
Indicating the number of iterations before the update.
And secondly, generating ellipse parameter updating data according to the unconstrained function to be processed and the hole coordinate set.
In practice, the non-abnormal hole coordinate set and the abnormal hole coordinate set may be substituted into the unconstrained pending function. Secondly, the unconstrained to-be-processed function after the substitution processing can be solved by using an alternating direction minimum method. The function to be processed without constraint after the substitution is shown as the following formula:
Figure 164723DEST_PATH_IMAGE044
。
wherein the content of the first and second substances,
Figure 745877DEST_PATH_IMAGE045
representing the unconstrained pending function after the substitution process.
Figure 612202DEST_PATH_IMAGE046
Representing ellipse parameter update data.
Figure 918288DEST_PATH_IMAGE047
The unique variable included in the processed unconstrained to-be-processed function is substituted.
Figure 465944DEST_PATH_IMAGE048
To represent
Figure 963921DEST_PATH_IMAGE049
Corresponding when taking the minimum value
Figure 329043DEST_PATH_IMAGE050
The value of (a).
When solving the above-mentioned substitution processed unconstrained to-be-processed function, the first step can be to solve the above-mentioned generationThe two ends of the input processed unconstrained function to be processed are respectively paired
Figure 748523DEST_PATH_IMAGE050
Calculating a deviation to obtain
Figure 709657DEST_PATH_IMAGE051
. In the second step, the above-mentioned partial derivatives can be made
Figure 327720DEST_PATH_IMAGE052
Is solved to obtain
Figure 473531DEST_PATH_IMAGE053
. Thirdly, since the right end of the formula is 0, the formula has no accurate analytic solution. Thus obtaining
Figure 504941DEST_PATH_IMAGE054
The approximate solution of (c) is:
Figure 456716DEST_PATH_IMAGE055
。
wherein the content of the first and second substances,
Figure 866969DEST_PATH_IMAGE056
is a constant close to 0. For example, in the case of a liquid,
Figure 245998DEST_PATH_IMAGE057
。
and thirdly, generating an updated hole coordinate set according to the unconstrained to-be-processed function and the elliptical parameter.
In some embodiments, the execution body may generate an updated hole coordinate set according to the unconstrained to-be-processed function and the ellipse parameter. In practice, according to the unconstrained to-be-processed function and the elliptical parameter, various methods can be adopted to generate the updated hole coordinate set.
In some optional implementations of some embodiments, in the first sub-step, the execution body may generate an updated set of non-abnormal hole coordinates according to the ellipse parameters and the set of abnormal hole coordinates. In practice, first, the ellipse parameters and the abnormal hole coordinate matrix may be substituted into the unconstrained to-be-processed function to obtain the following formula:
Figure 844050DEST_PATH_IMAGE058
。
wherein the content of the first and second substances,
Figure 271620DEST_PATH_IMAGE059
representing the unconstrained to-be-processed function after the substitution processing,
Figure 192171DEST_PATH_IMAGE060
representing an abnormal hole coordinate matrix.
Figure 476522DEST_PATH_IMAGE060
Is the only variable included in the processed unconstrained to-be-processed function.
Then, the above formula can be solved to obtain an abnormal hole coordinate matrix, and the abnormal hole coordinate set is updated according to the abnormal hole coordinate matrix. For example, the abnormal hole coordinate matrix may be
Figure 92311DEST_PATH_IMAGE061
。
And a second substep of generating an updated abnormal hole coordinate set according to the ellipse parameters and the non-abnormal hole coordinate set. In practice, in the first step, the ellipse parameters and the non-noise ellipse positioning data may be substituted into the unconstrained pending function to obtain the following formula:
Figure 464518DEST_PATH_IMAGE062
。
wherein the content of the first and second substances,
Figure 911680DEST_PATH_IMAGE063
representing the unconstrained pending function after the substitution process,
Figure 570194DEST_PATH_IMAGE064
representing an abnormal hole coordinate matrix.
Figure 797913DEST_PATH_IMAGE064
Is the only variable included in the processed unconstrained to-be-processed function.
And secondly, solving the formula to obtain an abnormal hole coordinate matrix, and updating an abnormal hole coordinate set according to the abnormal hole coordinate matrix. For example, the abnormal hole coordinate matrix may be
Figure 629603DEST_PATH_IMAGE065
。
The third substep may combine the updated non-abnormal hole coordinate set and the updated abnormal hole coordinate set into an updated hole coordinate set. Therefore, the hole coordinate set can be updated, and an updated hole coordinate set is obtained.
And fourthly, determining the ellipse parameter updating data as the ellipse parameters to update the ellipse parameters. In practice, the above-mentioned ellipse parameter update data may be updated
Figure 134534DEST_PATH_IMAGE054
Determined as elliptical parameters
Figure 26266DEST_PATH_IMAGE025
To the ellipse parameters
Figure 990549DEST_PATH_IMAGE025
And (6) updating.
And fifthly, determining the updated hole coordinate set as a hole coordinate set so as to update the hole coordinate set.
And sixthly, executing the target ellipse parameter generating step again in response to the situation that the iteration times are smaller than the preset iteration times and the updated ellipse parameters and the updated hole coordinate set meet the preset ellipse numerical value condition. The preset iteration number may be a preset iteration number. For example, the preset number of iterations may be 200. The above-mentioned predetermined ellipse numberThe value condition may be:
Figure 563613DEST_PATH_IMAGE066
. Wherein the content of the first and second substances,
Figure 313263DEST_PATH_IMAGE067
greater than or equal to 2.
Figure 579159DEST_PATH_IMAGE068
Representing the number of iterations as
Figure 453574DEST_PATH_IMAGE067
The corresponding ellipse parameters.
Figure 440116DEST_PATH_IMAGE069
Representing the number of iterations as
Figure 919639DEST_PATH_IMAGE070
The corresponding ellipse parameters. Thus, the ellipse parameters can be continuously updated.
And seventhly, determining the updated ellipse parameters as target ellipse parameters in response to the fact that the iteration times are larger than or equal to the preset iteration times and/or the updated ellipse parameters and the updated hole coordinate set do not meet the preset ellipse numerical value condition. Thus, a target ellipse parameter representing the ellipse corresponding to each hole can be obtained.
In step 1035, hole filling information corresponding to the set of hole coordinates is generated based on the target ellipse parameters.
In some embodiments, the execution body may generate hole filling information corresponding to the hole coordinate set according to the target ellipse parameter. In practice, first, the elliptical area can be determined from the target elliptical parameters, and the amount of filler corresponding to the elliptical area is determined. The amount of the filler may be the weight or volume of the filler. The filler may be a filler for filling holes in the board. Here, the specific material of the filler is not limited. For example, the filler may be a polyurethane adhesive. And then, determining the center coordinates of the ellipse according to the target ellipse parameters, and determining the position of the center coordinates of the ellipse on the plate to be filled as the filling position of the filling agent. And finally, combining the filling agent amount and the filling position of the filling agent into hole filling information. Thus, hole filling information for use in filling a hole can be obtained.
In some optional implementation manners of some embodiments, first, the execution main body may perform normalization processing on the target ellipse parameter to obtain a normalized target ellipse parameter. In practice, the ellipse parameters may be adjusted
Figure 153174DEST_PATH_IMAGE071
Each element in (1)
Figure 577202DEST_PATH_IMAGE072
Is divided by
Figure 757648DEST_PATH_IMAGE073
To obtain
Figure 888415DEST_PATH_IMAGE074
. Wherein, the first and the second end of the pipe are connected with each other,
Figure 604436DEST_PATH_IMAGE075
representing the normalized target ellipse parameters.
Figure 656705DEST_PATH_IMAGE076
To represent
Figure 437580DEST_PATH_IMAGE077
。
Figure 485170DEST_PATH_IMAGE078
To represent
Figure 60508DEST_PATH_IMAGE079
。
Figure 600074DEST_PATH_IMAGE080
To represent
Figure 732109DEST_PATH_IMAGE081
。
Figure 837468DEST_PATH_IMAGE082
To represent
Figure 521390DEST_PATH_IMAGE083
。
Figure 672886DEST_PATH_IMAGE084
To represent
Figure 529984DEST_PATH_IMAGE085
。
Figure 427532DEST_PATH_IMAGE086
Is 1. Ellipse fitting parameters may then be determined based on the normalized target ellipse parameters described above. Wherein the ellipse fitting parameters comprise the center of the ellipse
Figure 187416DEST_PATH_IMAGE087
Length of major semi-axis of ellipse
Figure 232732DEST_PATH_IMAGE088
Length of minor semi-axis of ellipse
Figure 831204DEST_PATH_IMAGE089
And elliptical rotation angle
Figure 911155DEST_PATH_IMAGE090
. In practice, the ellipse fitting parameters may be determined from the normalized target ellipse parameters described above by:
Figure 327093DEST_PATH_IMAGE091
。
then, the elliptical area can be determined according to the ellipse fitting parameters. In practice, the length of the ellipse semi-major axis can be determined according to the length of the ellipse semi-major axis
Figure 797389DEST_PATH_IMAGE092
And the length of the elliptical minor semi-axis
Figure 261868DEST_PATH_IMAGE089
And determining the elliptical area through an elliptical area formula. Finally, the filling agent amount information can be determined according to the elliptical area, and the filling agent amount information is used as the hole filling information. In practice, the amount of the filler corresponding to the elliptical area may be determined as filler amount information and the filler amount information may be used as hole filling information according to a predefined table of the relationship between the elliptical area and the filler amount. Thus, hole filling information for use in filling a hole can be obtained.
In some optional implementations of some embodiments, the hole filling information may include a filling manner. The filling mode can represent a mode for filling the plate. The filling method may include, but is not limited to, a fixed filling method and a mobile filling method. The fixing and filling method may be a method of fixing the hole filling device at one position and filling the hole with a filler injected into the hole in the plate. The hole filling device may be a device for injecting a filler into the hole. For example, the hole filling apparatus may be a robotic arm. The hole filling equipment can also be an injection molding machine. The fixed filling method may be a method of filling the holes uniformly by moving the hole filling equipment while injecting the filler into the holes in the board. First, the execution body may perform normalization processing on the target ellipse parameter to obtain a normalized target ellipse parameter. Then, from the normalized target ellipse parameters described above, ellipse fitting parameters may be determined. Then, in response to the ellipse fitting parameters satisfying a preset proportion condition, a fixed filling manner may be determined as a filling manner corresponding to the hole coordinate set. Here, the specific setting of the above-described preset ratio condition is not limited. For example, the preset proportional condition may be the length of the major and minor axes of the ellipse
Figure 9375DEST_PATH_IMAGE093
And the length of the above-mentioned elliptical minor semi-axis
Figure 471581DEST_PATH_IMAGE089
Is greater than a preset threshold. Secondly, in response to the ellipse fitting parameter not meeting the preset proportion condition, a mobile filling mode can be determined as a filling mode corresponding to the hole coordinate set. And finally, generating hole filling information according to the determined filling mode and the ellipse fitting parameters. In practice, the hole filling information may be generated in various ways according to the determined filling manner and the ellipse fitting parameters.
The above-mentioned content is an invention point of the embodiments of the present disclosure, and solves the technical problem mentioned in the background art that "when the shape of the hole is relatively flat and long, relatively uniform filling cannot be performed, so that the filling effect is poor, secondary filling is required, and the filling efficiency is further reduced. ". The factors that lead to the low filling efficiency are as follows: when the shape of the hole is relatively flat and long, the hole cannot be uniformly filled, so that the filling effect is poor, secondary filling is needed, and the filling efficiency is further reduced. If the above-mentioned factors are solved, the effect of improving the filling efficiency can be achieved. To achieve this effect, the present disclosure determines the filling pattern of the hole based on the ellipse fitting parameters. Therefore, for the holes with the relatively prolate shapes, the holes can be filled in a movable filling mode, and therefore filling efficiency is improved.
Optionally, generating hole filling information according to the determined filling manner and the ellipse fitting parameters, and further comprising the following steps: first, from the ellipse fitting parameters described above, the elliptical area can be determined. Then, the filler amount information can be determined from the elliptical area. Finally, the determined filling method and the filler amount information may be combined into hole filling information.
The above-mentioned content serves as an invention point of the embodiments of the present disclosure, and solves the technical problem mentioned in the background art that "the void filling information is generated by the non-bonding area and the filling manner, resulting in low filling efficiency". The factors that lead to the low filling efficiency are as follows: void filling information is generated by the non-combined area and filling method, resulting in low filling efficiency. If the above-mentioned factors are solved, the effect of improving the filling efficiency can be achieved. To achieve this, the present disclosure combines the determined filling method and the above filler amount information into hole filling information. Thereby, the filling efficiency is improved.
And 104, controlling the associated hole filling equipment to execute hole filling operation according to the plate image to be filled and the obtained hole filling information.
In some embodiments, the execution body may control an associated hole filling device to perform a hole filling operation according to the image of the plate to be filled and the obtained filling information of each hole. The associated hole filling apparatus may be a hole filling apparatus in communicative connection with the execution body. In practice, the execution main body may control the associated hole filling device to fill the hole in the plate to be filled corresponding to the plate image to be filled according to the plate image to be filled and the obtained hole filling information. Thereby, the filling of the holes in the board to be filled can be accomplished.
The above embodiments of the present disclosure have the following beneficial effects: through the hole filling equipment control method of some embodiments of the present disclosure, the filling efficiency and safety are improved. In particular, the reasons for the low efficiency and safety of filling are: the hole among the artifical filling panel, filling efficiency is lower, in addition, often can utilize the machine to carry out automatic cutting to panel in the panel course of working, adopts artifical filling hole to lead to appearing the incident at the operation in-process, causes the security lower. Based on this, according to the hole filling device control method of some embodiments of the present disclosure, firstly, a plate to be filled is photographed, and an image of the plate to be filled is obtained. And then, extracting hole coordinates of the plate image to be filled to obtain a hole coordinate set. Thus, a set of hole coordinates representing the coordinates of the edges of the individual holes in the image of the sheet to be filled can be obtained. Next, for each hole coordinate set in the hole coordinate set, performing the following hole filling information generating steps: determining a target energy functional according to the L2 norm and the hole coordinate set; converting the target energy functional to obtain an unconstrained function to be processed; initializing iteration times; generating target ellipse parameters according to the hole coordinate set, the ellipse parameters, the unconstrained to-be-processed function and the iteration times; and generating hole filling information corresponding to the hole coordinate set according to the target ellipse parameters. Thus, hole filling information for use in filling a hole can be obtained. And finally, controlling the associated hole filling equipment to execute hole filling operation according to the image of the plate to be filled and the obtained hole filling information. Thereby, the filling of the holes in the board to be filled can be accomplished. Because the hole filling information is generated by generating the target ellipse parameters and the hole filling equipment is controlled to execute the hole filling operation according to the hole filling information, the manual filling is avoided, and the filling efficiency and safety are improved.
With continuing reference to fig. 2, as an implementation of the methods illustrated in the above figures, the present disclosure provides some embodiments of a control apparatus for a hole filling device, which correspond to those of the method embodiments illustrated in fig. 1, and which may be applied in various electronic devices.
As shown in fig. 2, the hole filling apparatus control device 200 of some embodiments includes: a photographing unit 201, a hole coordinate extracting unit 202, a hole filling information generating unit 203, and a control unit 204. The shooting unit 201 is configured to shoot a plate to be filled, so as to obtain an image of the plate to be filled; the hole coordinate extracting unit 202 is configured to perform hole coordinate extraction processing on the plate image to be filled to obtain a hole coordinate set; the hole filling information generating unit 203 is configured to perform, for each hole coordinate set of the above hole coordinate set, the following hole filling information generating steps: determining a target energy functional according to the L2 norm and the hole coordinate set; converting the target energy functional to obtain an unconstrained function to be processed; initializing iteration times; generating a target ellipse parameter according to the hole coordinate set, the ellipse parameter, the unconstrained function to be processed and the iteration times; generating hole filling information corresponding to the hole coordinate set according to the target ellipse parameters; the control unit 204 is configured to control the associated hole filling device to perform a hole filling operation according to the plate image to be filled and the obtained hole filling information.
It will be understood that the units described in the apparatus 200 correspond to the various steps in the method described with reference to fig. 1. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 200 and the units included therein, and are not described herein again.
Referring now to FIG. 3, shown is a schematic block diagram of an electronic device (e.g., computing device) 300 suitable for use in implementing some embodiments of the present disclosure. The electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 3, the electronic device 300 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 301 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 302 or a program loaded from a storage means 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and data necessary for the operation of the electronic apparatus 300 are also stored. The processing device 301, the ROM 302, and the RAM 303 are connected to each other via a bus 304. An input/output (I/O) interface 305 is also connected to bus 304.
Generally, the following devices may be connected to the I/O interface 305: input devices 306 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 307 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage devices 308 including, for example, magnetic tape, hard disk, etc.; and a communication device 309. The communication means 309 may allow the electronic device 300 to communicate with other devices, wireless or wired, to exchange data. While fig. 3 illustrates an electronic device 300 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may be alternatively implemented or provided. Each block shown in fig. 3 may represent one device or may represent multiple devices, as desired.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 309, or installed from the storage device 308, or installed from the ROM 302. The computer program, when executed by the processing apparatus 301, performs the above-described functions defined in the methods of some embodiments of the present disclosure.
It should be noted that the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may be separate and not incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: shooting a plate to be filled to obtain an image of the plate to be filled; extracting hole coordinates from the plate image to be filled to obtain a hole coordinate set; for each hole coordinate set in the hole coordinate set, performing the following hole filling information generation steps: determining a target energy functional according to the L2 norm and the hole coordinate set; converting the target energy functional to obtain an unconstrained to-be-processed function; initializing iteration times; generating target ellipse parameters according to the hole coordinate set, the ellipse parameters, the unconstrained to-be-processed function and the iteration times; generating hole filling information corresponding to the hole coordinate set according to the target ellipse parameters; and controlling associated hole filling equipment to execute hole filling operation according to the plate image to be filled and the obtained hole filling information.
Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes a photographing unit, a hole coordinate extracting unit, a hole filling information generating unit, and a control unit. The names of the units do not limit the units themselves in some cases, and for example, the shooting unit may also be described as a unit for shooting the plate to be filled to obtain the image of the plate to be filled.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combinations of the above-mentioned features, and other embodiments in which the above-mentioned features or their equivalents are combined arbitrarily without departing from the spirit of the invention are also encompassed. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims (5)

1. A hole filling apparatus control method comprising:
shooting a plate to be filled to obtain an image of the plate to be filled;
and carrying out hole coordinate extraction processing on the plate image to be filled to obtain a hole coordinate set, wherein the hole coordinate set comprises: carrying out binarization processing on the plate image to be filled to obtain a binarized plate image to be filled;
performing image area segmentation processing on the binarized plate image to be filled so as to cut the binarized plate image to be filled to obtain at least one binarized plate sub-image, wherein each binarized plate sub-image in the at least one binarized plate sub-image meets a preset area condition;
determining coordinates of all pixel points which meet preset binarization conditions in the binarized plate sub-image in the plate image to be filled as hole coordinates for each binarized plate sub-image included in the at least one binarized plate sub-image to obtain a hole coordinate set corresponding to the binarized plate sub-image;
carrying out abnormity detection on the hole coordinate set to obtain an abnormal hole coordinate set;
determining a non-abnormal hole coordinate set according to the hole coordinate set and the abnormal hole coordinate set;
for each hole coordinate set in the hole coordinate set, performing the following hole filling information generating steps:
determining a target energy functional according to the L2 norm and the hole coordinate set;
converting the target energy functional to obtain an unconstrained to-be-processed function;
initializing iteration times;
generating a target ellipse parameter according to the hole coordinate set, the ellipse parameter, the unconstrained to-be-processed function and the iteration number, wherein the generation of the target ellipse parameter comprises the following steps: according to the hole coordinate set, the ellipse parameters, the unconstrained to-be-processed function and the iteration times, executing the following target ellipse parameter generation steps:
updating the iteration times according to a preset numerical value;
generating ellipse parameter updating data according to the unconstrained function to be processed and the hole coordinate set;
generating an updated hole coordinate set according to the unconstrained to-be-processed function and the ellipse parameters, wherein the method comprises the following steps: generating an updated non-abnormal hole coordinate set according to the ellipse parameters and the abnormal hole coordinate set;
generating an updated abnormal hole coordinate set according to the ellipse parameters and the non-abnormal hole coordinate set;
combining the updated non-abnormal hole coordinate set and the updated abnormal hole coordinate set into an updated hole coordinate set;
determining the ellipse parameter updating data as ellipse parameters to update the ellipse parameters;
determining the updated hole coordinate set as a hole coordinate set so as to update the hole coordinate set;
in response to the iteration times being smaller than the preset iteration times and the updated ellipse parameters and the updated hole coordinate set meeting the preset ellipse numerical conditions, executing the target ellipse parameter generating step again;
determining the updated ellipse parameters as target ellipse parameters in response to the iteration times being more than or equal to the preset iteration times and/or the updated ellipse parameters and the updated hole coordinate set not meeting the preset ellipse numerical conditions;
generating hole filling information corresponding to the hole coordinate set according to the target ellipse parameters;
and controlling associated hole filling equipment to execute hole filling operation according to the plate image to be filled and the obtained hole filling information.
2. The method of claim 1, wherein said generating hole filling information corresponding to said set of hole coordinates from said target ellipse parameters comprises:
carrying out normalization processing on the target ellipse parameters to obtain normalized target ellipse parameters;
according to the normalized target ellipse parameters, determining ellipse fitting parameters;
determining an elliptical area according to the ellipse fitting parameters;
and determining the quantity information of the filling agent according to the elliptical area, and taking the quantity information of the filling agent as hole filling information.
3. A hole filling apparatus control device comprising:
the shooting unit is configured to shoot the plate to be filled to obtain an image of the plate to be filled;
the hole coordinate extraction unit is configured to extract hole coordinates from the plate image to be filled to obtain a hole coordinate set, and includes: carrying out binarization processing on the plate image to be filled to obtain a binarized plate image to be filled;
performing image area segmentation processing on the binarized plate image to be filled so as to cut the binarized plate image to be filled to obtain at least one binarized plate sub-image, wherein each binarized plate sub-image in the at least one binarized plate sub-image meets a preset area condition;
determining coordinates of all pixel points which meet preset binarization conditions in the binarized plate sub-image in the plate image to be filled as hole coordinates for each binarized plate sub-image included in the at least one binarized plate sub-image to obtain a hole coordinate set corresponding to the binarized plate sub-image;
the abnormality detection unit is configured to perform abnormality detection on the hole coordinate set to obtain an abnormal hole coordinate set;
a determining unit configured to determine a non-abnormal hole coordinate set according to the hole coordinate set and the abnormal hole coordinate set;
a hole filling information generating unit configured to perform, for each hole coordinate set in the set of hole coordinate sets, the following hole filling information generating steps: determining a target energy functional according to the L2 norm and the hole coordinate set; converting the target energy functional to obtain an unconstrained function to be processed; initializing iteration times; generating a target ellipse parameter according to the hole coordinate set, the ellipse parameter, the unconstrained to-be-processed function and the iteration number, wherein the generation of the target ellipse parameter comprises the following steps: according to the hole coordinate set, the ellipse parameters, the unconstrained to-be-processed function and the iteration times, executing the following target ellipse parameter generation steps: updating the iteration times according to a preset numerical value; generating ellipse parameter updating data according to the unconstrained to-be-processed function and the hole coordinate set; generating an updated hole coordinate set according to the unconstrained to-be-processed function and the ellipse parameters, wherein the method comprises the following steps: generating an updated non-abnormal hole coordinate set according to the ellipse parameters and the abnormal hole coordinate set; generating an updated abnormal hole coordinate set according to the ellipse parameters and the non-abnormal hole coordinate set; combining the updated non-abnormal hole coordinate set and the updated abnormal hole coordinate set into an updated hole coordinate set; determining the ellipse parameter updating data as ellipse parameters to update the ellipse parameters; determining the updated hole coordinate set as a hole coordinate set so as to update the hole coordinate set; in response to the iteration times being smaller than the preset iteration times and the updated ellipse parameters and the updated hole coordinate set meeting the preset ellipse numerical conditions, executing the target ellipse parameter generating step again; determining the updated ellipse parameters as target ellipse parameters in response to the iteration times being more than or equal to the preset iteration times and/or the updated ellipse parameters and the updated hole coordinate set not meeting the preset ellipse numerical conditions; generating hole filling information corresponding to the hole coordinate set according to the target ellipse parameters;
and the control unit is configured to control the associated hole filling equipment to execute hole filling operation according to the plate image to be filled and the obtained hole filling information.
4. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-2.
5. A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-2.
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