CN115661055A - Object size measuring method, device and system and readable storage medium - Google Patents
Object size measuring method, device and system and readable storage medium Download PDFInfo
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Abstract
The invention discloses a method, a device and a system for measuring the size of an object and a readable storage medium, wherein the method, the device and the system control a distance measuring device to acquire relative distance parameters between the distance measuring device and a target object to be measured and control an image acquisition device to acquire an object image of the target object to be measured; identifying size characteristic parameters corresponding to the target object to be detected in the object image according to the size type to be detected; and determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter. The dimension parameter of the object is calculated through distance detection and image processing, the actual dimension parameter of the target object to be measured can be obtained under the condition that the distance between the measuring device and the target object to be measured is far, the error of remotely measuring the dimension parameter of the object is further reduced through a calibration measuring algorithm, and the efficiency of remotely measuring the dimension of the object is improved.
Description
Technical Field
The present invention relates to the field of measurement and calculation, and in particular, to a method, an apparatus, a system, and a readable storage medium for measuring a dimension of an object.
Background
With the development of measurement technology, the requirements for the object size measurement device are continuously increased. In order to measure basic size information of an object, such as side length or diameter, a technician usually adopts a method of measuring the object at a short distance by using measuring devices with different accuracies, however, for an object which is inconvenient to measure at a short distance, such as a cable, the length, the diameter and other size parameters of the object can be measured by adopting a conventional method through complicated steps, which increases the difficulty of the work of object maintenance or device installation and the like. Although the prior art has a technical means for obtaining the size of the object through image processing, the prior art can only measure the size of the object by positioning the measuring equipment at a fixed relative distance from the object to be measured, and has a large error.
Disclosure of Invention
Embodiments of the present invention mainly aim to provide a method, an apparatus, a system and a readable storage medium for measuring an object size, which can at least solve the problems of complex operation and low efficiency in remote measurement of an object size in the related art.
In order to achieve the above object, a first aspect of the embodiments of the present invention provides a method for measuring a size of an object, where the method is applied to an object size measuring system provided with a distance measuring device and an image capturing device, and the method includes:
controlling the distance measuring device to acquire a relative distance parameter between the distance measuring device and a target object to be measured, and controlling the image acquisition device to acquire an object image of the target object to be measured;
identifying size characteristic parameters corresponding to the target object to be detected in the object image according to the size type to be detected;
and determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter.
In order to achieve the above object, a second aspect of the embodiments of the present invention provides an object size measuring apparatus applied to an object size measuring system provided with a distance measuring apparatus and an image capturing apparatus, including:
the acquisition module is used for controlling the distance measuring device to acquire relative distance parameters between the distance measuring device and a target object to be measured and controlling the image acquisition device to acquire an object image of the target object to be measured;
the identification module is used for identifying the size characteristic parameters corresponding to the target object to be detected in the object image according to the size type to be detected;
and the determining module is used for determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter.
To achieve the above object, a third aspect of embodiments of the present invention provides an object dimension measuring system, including: distance measuring device, image acquisition device, treater and memory.
The distance measuring device is used for acquiring relative distance parameters between the distance measuring device and a target object to be measured;
the image acquisition device is used for acquiring an object image of the target object to be detected;
the processor is configured to execute a computer program stored on the memory;
the processor, when executing the computer program, performs the steps of any of the above-described object dimension measuring methods.
To achieve the above object, a fourth aspect of the embodiments of the present invention provides a computer-readable storage medium storing one or more programs, which are executable by one or more processors to implement the steps of any one of the above object dimension measuring methods.
According to the method, the device and the system for measuring the size of the object and the readable storage medium, the distance measuring device is controlled to acquire the relative distance parameter between the distance measuring device and the target object to be measured, and the image acquisition device is controlled to acquire the object image of the target object to be measured; identifying a size characteristic parameter corresponding to the target object to be detected in the object image according to the size type to be detected; and determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter. Through the implementation of this application above-mentioned scheme, through the relative distance parameter between measurement target determinand and the measuring equipment and the size characteristic parameter of the object image of target determinand calculates the actual size parameter of target determinand even measuring equipment and target determinand are apart from far also can acquire the accurate size information of target determinand, improved measuring method's measurement of efficiency and measurement accuracy.
Drawings
Fig. 1 is a schematic basic flow chart of an object dimension measuring method according to a first embodiment of the present invention;
fig. 2 is a simplified schematic diagram of the object dimension measuring apparatus according to the first embodiment of the present invention;
fig. 3 is an imaging schematic diagram of an image capturing device according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram of a calibration detection process according to a first embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating program modules of an apparatus for measuring a dimension of an object according to a second embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an object dimension measuring system according to a third embodiment of the present invention;
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment:
in order to solve the problems of complicated operation and low efficiency in the process of measuring the size of an object at a long distance in the related art, the present embodiment provides an object size measuring method, which is applied to an object size measuring system provided with a distance measuring device and an image collecting device, and as shown in fig. 1, is a schematic flow diagram of the object size measuring method provided by the present embodiment, and the object size measuring method provided by the present embodiment includes the following steps:
Specifically, the distance measuring device may be a distance measuring implementation device based on principles such as a laser radar and an infrared TOF sensor, or may be a depth camera or a binocular camera with infrared aiming. Preferably, a laser range finder is used as the distance measuring device of the present embodiment.
Fig. 2 is a simplified schematic diagram of an object dimension measuring apparatus according to a first embodiment of the present invention. In some embodiments of this embodiment, the step of controlling the distance measuring device to acquire a relative distance parameter between the distance measuring device and the target object to be measured and controlling the image acquiring device to acquire an object image of the target object to be measured includes: the distance measuring device is located in an area capable of detecting a target object to be measured, laser is emitted to the target object to be measured by a laser generator 201 of the distance measuring device, a laser receiver 202 receives laser reflected back from the target object to be measured and calculates time difference between laser emission and reflection, and then relative distance parameters are converted. In the image acquisition device, the target object to be measured is photographed through the macro lens 203, and an object image of the target object to be measured, that is, a depth map of the target object to be measured is generated.
In some embodiments of the present invention, the step of controlling the image capturing device to capture the object image of the target object includes: and converting the image generated on the imaging plane of the image acquisition device into an object image of the target object to be measured through a preset algorithm program.
Specifically, as shown in fig. 3, an imaging schematic diagram of the image capturing device of this embodiment on the physical imaging plane is shown. The three-dimensional coordinate system is established by taking the point O on the physical imaging surface of the image acquisition device as an original point, and any point on the target object to be measured is G (X, Y, d).
In a two-dimensional coordinate system established by taking the point O on the physical imaging plane as an origin, the coordinate parameter of any point on the physical imaging plane is P ' (X ', Y '), and the coordinate parameter of any one pixel point on the object image of the target object is P (u, v), so that the following corresponding relation exists between any point on the object image of the target object and the point on the physical imaging plane:
wherein alpha and beta respectively represent camera internal parameters in the x coordinate axis direction and the y coordinate axis direction of the object image, C x And C y Is a constant. And the image acquisition device converts the image generated on the physical imaging surface into an object image of the target object to be measured through the corresponding relation.
It should be noted that the distance measuring device and the image collecting device may be separate structural devices, or may be an integrated device. Preferably, the step of controlling the distance measuring device to collect the relative distance parameter with the target object and the step of controlling the image collecting device to collect the object image of the target object are performed simultaneously.
And 102, identifying size characteristic parameters corresponding to the target object to be detected in the object image according to the size type to be detected.
Specifically, the size type to be measured in this embodiment may be size information of a peripheral outline of the target object, or size information of a specific portion of the target object, where the image acquisition device can acquire the image.
In some embodiments of this embodiment, the step of identifying, according to the to-be-measured size type, a size characteristic parameter corresponding to the target to-be-measured object in the object image includes: identifying all target pixel points in a corresponding geometric characteristic area of a target object to be detected in an object image according to the size type to be detected; and determining the size characteristic parameters of the target object to be detected according to the pixel coordinates of the characteristic pixel points in the target pixel points.
In some embodiments of this embodiment, the type of dimension to be measured includes an axial length and/or a radial width, and the geometric feature region includes a pixel region passing through an axial straight line and/or a pixel region passing through a radial straight line; the method comprises the following steps of determining the size characteristic parameters of a target object to be detected according to pixel coordinates of characteristic pixel points in target pixel points, wherein the steps comprise: determining two target pixel points at two ends of the single-row pixel area and/or the single-column pixel area as characteristic pixel points in the single-row pixel area passing through the axial straight line and/or the single-column pixel area passing through the radial straight line; and/or performing subtraction on the y coordinates of the two characteristic pixel points of the single-row pixel area to obtain a second size characteristic parameter of the target object to be detected.
And 103, determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter.
Specifically, the actual size parameter of the target object to be measured is calculated based on the imaging principle and the conversion relation between the coordinate point on the physical imaging surface and the pixel pinhole point on the object image, and in combination with the relative distance parameter and the size characteristic parameter.
In a preferred embodiment of this embodiment, before the step of determining the actual size parameter of the target object by combining the relative distance parameter and the size characteristic parameter, the method further includes: and the calibration sample plate is calibrated and measured by controlling the object dimension measurement system, and a lens error parameter and a machine body error parameter of the image acquisition device are determined. The step of determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter comprises the following steps: and determining the actual size parameter of the target object to be measured by combining the relative distance parameter, the first size characteristic parameter, the second size characteristic parameter, the lens error parameter and the machine body error parameter.
Specifically, the actual size parameter of the target object to be measured is calculated through a preset size calculation formula by combining the relative distance parameter, the first size characteristic parameter, the second size characteristic parameter, the lens error parameter and the body error parameter; the size calculation formula is expressed as:
wherein L is x Denotes the axial length, L y The method comprises the steps of representing radial width, x representing a first size characteristic parameter, y representing a second size characteristic parameter, d representing a relative distance parameter between a distance measuring device and a target object to be measured, alpha and beta representing camera internal parameters of an object image in the x coordinate axis direction and the y coordinate axis direction respectively, and f representing the focal length of an image acquisition device.
In a specific implementation manner of this embodiment, the step of determining the lens error parameter and the body error parameter of the image capturing device by controlling the object dimension measuring system to perform calibration measurement on the calibration template includes; controlling the distance measuring device to acquire relative distance parameters between the distance measuring device and the calibration sample plate, and controlling the image acquisition device to continuously acquire a plurality of object images of the calibration sample plate; respectively identifying size characteristic parameters of a plurality of object images of the calibration sample plate according to the size measurement type of the calibration sample plate; and determining a lens error parameter and a body error parameter of the image acquisition device by combining the relative distance parameter between the distance device and the calibration template, the actual size parameter of the calibration template and the size characteristic parameters corresponding to the plurality of object images of the calibration template.
Specifically, the actual size parameters of the calibration template may be obtained directly from the database or may be measured by other measuring tools, and the actual size parameters of the calibration template may be one or more. When only one known actual size parameter of the calibration template is adopted, the distance measuring device and the image acquisition device are controlled to respectively acquire the relative distance parameter between the distance measuring device and the calibration template and the corresponding object image at least two different relative positions. Preferably, known templates of axial length and radial width are used as calibration templates for this embodiment for illustration and interpretation.
In some embodiments of the present invention, the step of calculating the lens error parameter and the body error parameter of the image acquisition device in combination with the relative distance parameter between the distance device and the calibration template, the actual size parameter of the calibration template, and the size characteristic parameters corresponding to the plurality of object images of the calibration template comprises calculating the initial lens error parameter and the initial body error parameter of the image acquisition device in combination with the relative distance parameter between the distance device and the calibration template, the actual size parameter of the calibration template, and the size characteristic parameters corresponding to the plurality of object images of the calibration template; judging whether the effectiveness of the initial lens error parameter and the initial body error parameter meets a preset condition or not; when the effectiveness of the initial lens error parameter and the initial body error parameter meets the preset condition, the initial lens error parameter and the initial body error parameter are respectively determined as the lens error parameter and the body error parameter of the image acquisition device
As shown in fig. 4, which is a schematic flowchart of the calibration detection provided in this embodiment, in a preferred embodiment of this embodiment, the step of determining the lens error parameter and the body error parameter of the image capturing device by controlling the object dimension measuring system to perform calibration measurement on the calibration template includes the following steps:
Specifically, the relative distance between the distance measuring device and the calibration sample plate is controlled to be within the detectable range of the distance measuring device, and the relative distance parameter between the calibration sample plate and the distance measuring device is collected. When the image acquisition device is controlled to acquire the object image of the calibration sample plate, focusing is carried out on an acquisition lens of the image acquisition device, so that a focal section of the image acquisition device and a focal length Duan Yizhi set when the object image of the target object to be detected is acquired are enabled, the camera multiple of the image acquisition device is locked, and the image acquisition device is controlled to continuously acquire a plurality of object images of the calibration sample plate at the same position.
In particular, the type of dimensional measurement known from the calibration template, i.e. the radial length and the axial length of the calibration template. By adopting the method for identifying the dimensional characteristic parameter corresponding to the target object in the object image of the target object according to the measurement type to be measured in the embodiment, the dimensional characteristic parameter corresponding to the calibration template in each object image of the calibration template is respectively identified according to the known measurement type of the calibration template.
And 403, calculating an initial lens error parameter and an initial fuselage error parameter by combining the relative distance parameter of the calibration template, the actual size parameter and the size characteristic parameters corresponding to the plurality of object images.
Specifically, a preset calibration calculation formula is combined to calculate a lens error parameter and a body error parameter corresponding to each object image of the calibration template respectively. The preset standard calculation formula comprises:
the formula I is as follows:
and formula two:
wherein: l is a radical of an alcohol x ' denotes the axial length of the calibration template, L y ' denotes the radial width, x ' of the calibration template ' n First dimensional characteristic parameter, y ', of any object image representing a calibration template' n A second dimension characteristic parameter representing an object image of any one of the calibration templates, and d' a relative distance parameter between the distance measuring device and the calibration template. Obtaining n lens error parameters and n body error parameters through the calibration calculation process, calculating the total variance of the n lens error parameters and the n body error parameters, and respectively determining the average value of the n lens error parameters and the average value of the n body error parameters as initial lens error parameters when the total variance is smaller than a preset threshold valueAnd an initial fuselage error parameter.
And step 404, judging whether the effectiveness of the initial lens error parameter and the initial body error parameter meets a preset condition. When the effectiveness of the initial lens error parameter and the initial body error parameter meets a preset condition, the initial lens error parameter and the initial body error parameter are respectively determined as a lens error parameter and a body error parameter of the image acquisition device. And when the effectiveness of the initial lens error parameter and the initial body error parameter does not meet the preset condition, returning to the step 401 to perform calibration measurement again.
Specifically, the initial lens error parameter and the initial body error parameter are substituted back to the formula one and the formula two, and the size characteristic parameter of the calibration sample plate is obtained by combining the size characteristic parameter corresponding to each object image of the calibration sample plate and the relative distance parameter between the ranging device and the calibration sample plate, and correspondingly calculating the size characteristic parameter of the calibration sample plate from each object image of the calibration sample plate. When the difference between the dimension parameter corresponding to each object image of the calibration template and the actual dimension parameter corresponding to the calibration template obtained by calculation in the validity verification process is smaller than or equal to the preset threshold, it is indicated that the initial lens error parameter and the initial body error parameter satisfy the preset condition, and the initial lens error parameter and the initial body error parameter are the optimal solutions of the lens error parameter and the body error parameter of the image acquisition device. When the difference value between any one of the size parameters of all the volume images of the calibration template obtained by calculation in the validity verification process and the actual size parameter corresponding to the calibration template is greater than the preset threshold value, it indicates that the initial lens error parameter and the initial body error parameter do not satisfy the preset condition, and the procedure returns to step 401 to perform calibration measurement again until the lens error parameter and the body error parameter whose validity satisfies the preset condition are obtained.
In other embodiments of this embodiment, after the calibration template is calibrated and measured by controlling the object dimension measuring system to determine the lens error parameter and the body error parameter of the image capturing device, the method further includes storing the calculated lens error parameter and the calculated body error parameter of the image capturing device in a database, and when an object image is captured in subsequent use, if a focal segment of the image capturing device is identical to the object image of the target object to be captured, the lens error parameter and the body error parameter may be directly called from the database to calculate the dimension parameter of the object to be captured.
In an optional implementation manner of this embodiment, after the step of determining the actual size parameter of the target object by combining the relative distance parameter and the size characteristic parameter, the method further includes: calling a model information database corresponding to the type of the object to be measured, and determining object model information corresponding to the actual size parameter of the target object to be measured through a corresponding relation table of the object model information and the size parameter in the model information database.
According to the object size measuring method provided by the embodiment of the invention, the distance measuring device is controlled to acquire the relative distance parameter between the distance measuring device and the target object to be measured, and the image acquisition device is controlled to acquire the object image of the target object to be measured; identifying size characteristic parameters corresponding to a target object to be detected in the object image according to the size type to be detected; and determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter. The dimension parameter of the object is calculated through distance detection and image processing, the actual dimension parameter of the target object to be measured can be obtained under the condition that the distance between the measuring device and the target object to be measured is far, the error of remotely measuring the dimension parameter of the object is further reduced through a calibration measuring algorithm, and the efficiency of remotely measuring the dimension of the object is improved.
Second embodiment:
in order to solve the problems of complex operation and low efficiency in the process of remotely measuring the size of an object in the related art, the embodiment shows an object size measuring device, which is applied to an object size measuring system provided with a distance measuring device and an image acquisition device, and referring to fig. 5 specifically, the object size measuring device of the embodiment includes:
the acquisition module 501 is used for controlling the distance measuring device to acquire relative distance parameters between the distance measuring device and a target object to be measured and controlling the image acquisition device to acquire an object image of the target object to be measured;
an identifying module 502, configured to identify, according to the to-be-measured size type, a size characteristic parameter corresponding to a target to-be-measured object in the object image;
the determining module 503 is configured to determine an actual size parameter of the target object by combining the relative distance parameter and the size characteristic parameter.
In some embodiments of this embodiment, the identification module is specifically configured to identify, in the object image, all target pixel points in a geometric feature region corresponding to the target object according to the size type to be detected; and determining the size characteristic parameters of the target object to be detected according to the pixel coordinates of the characteristic pixel points in the target pixel points.
In some embodiments of this embodiment, the type of the dimension to be measured includes an axial length and/or a radial width, the geometric feature region includes a pixel region passing through an axial straight line and/or a pixel region passing through a radial straight line, and correspondingly, the identification module is specifically configured to determine, as the feature pixel point, two target pixel points at two ends of the single-row pixel region and/or the single-column pixel region in the single-row pixel region passing through the axial straight line and/or the single-column pixel region passing through the radial straight line; and/or performing difference on the y coordinates of the two characteristic pixel points of the single-row pixel region to obtain a second size characteristic parameter of the target object to be detected.
In other embodiments of this embodiment, the object dimension measurement system further comprises: and the calibration module is used for calibrating and measuring the calibration template by controlling the object size measurement system before the step of determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter, and determining the lens error parameter and the body error parameter of the image acquisition device.
Further, in some embodiments of this embodiment, the calibration module is specifically configured to obtain, through calibration measurement, an initial lens error parameter and an initial fuselage error parameter of a focal length used by the image acquisition device when acquiring the image of the object to be measured; judging whether the effectiveness of the initial lens error parameter and the initial body error parameter meets a preset condition or not; and when the effectiveness of the initial lens error parameter and the initial body error parameter meets a preset condition, respectively outputting and determining the initial lens error parameter and the initial body error parameter as a lens error parameter and a body error parameter of the image acquisition device.
In some embodiments of this embodiment, the determining module is specifically configured to calculate, by combining the relative distance parameter, the first size characteristic parameter, the second size characteristic parameter, the lens error parameter, and the body error parameter, an actual size parameter of the target object to be measured by using a preset size calculation formula; the size calculation formula is expressed as:
wherein L is x Denotes the axial length, L y The method comprises the steps of representing radial width, x representing a first size characteristic parameter, y representing the first size characteristic parameter, d representing a relative distance parameter between a distance measuring device and a target object to be measured, alpha and beta representing camera internal parameters of an object image in the x coordinate axis direction and the y coordinate axis direction respectively, and f representing the focal length of an image acquisition device.
In other embodiments of this embodiment, the object dimension measurement system further comprises: the acquisition module is used for executing calling of a model information database and determining the model information of the target object to be detected through a corresponding relation table of the object model information and the specification parameters in the model information database; and acquiring target configuration parameters of the target object to be measured according to the model information and the configuration information reading requirement.
It should be noted that, the object dimension measuring method in the foregoing embodiment can be implemented based on the object dimension measuring system provided in this embodiment, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the object dimension measuring system described in this embodiment may refer to the corresponding process in the foregoing method embodiment, and details are not described here again.
By adopting the object size measuring device provided by the embodiment, the distance measuring device is controlled to acquire the relative distance parameter between the distance measuring device and the target object to be measured, and the image acquisition device is controlled to acquire the object image of the target object to be measured; identifying size characteristic parameters corresponding to a target object to be detected in the object image according to the size type to be detected; and determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter. The dimension parameter of the object is calculated through distance detection and image processing, the actual dimension parameter of the target object to be measured can be obtained under the condition that the distance between the measuring device and the target object to be measured is far, the error of remotely measuring the dimension parameter of the object is further reduced through a calibration measuring algorithm, and the efficiency of remotely measuring the dimension of the object is improved.
The third embodiment:
the present embodiment provides an object dimension measuring system, as shown in fig. 6, which includes a distance measuring device 601, an image capturing device 602, a processor 603 and a memory 604; wherein: the distance measuring device 601 is used for acquiring relative distance parameters between the distance measuring device and a target object to be measured; the image acquisition device 602 is used for acquiring an object image of a target object to be measured; the processor 603 is used to execute a computer program 605 stored on the memory 604; the processor 603 executes the computer program 605 to implement at least one step of the object dimension measuring method in the first embodiment.
The present embodiments also provide a computer-readable storage medium including volatile or non-volatile, removable or non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, computer program modules or other data. Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash Memory or other Memory technology, CD-ROM (Compact disk Read-Only Memory), digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer.
The computer-readable storage medium in this embodiment may be used for storing one or more computer programs, and the stored one or more computer programs may be executed by a processor to implement at least one step of the method in the first embodiment.
The present embodiment also provides a computer program, which can be distributed on a computer readable medium and executed by a computing device to implement at least one step of the method in the first embodiment; and in some cases at least one of the steps shown or described may be performed in an order different than that described in the embodiments above.
The present embodiments also provide a computer program product comprising a computer readable means on which a computer program as shown above is stored. The computer readable means in this embodiment may include a computer readable storage medium as shown above.
It will be apparent to those skilled in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software (which may be implemented in computer program code executable by a computing device), firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit.
In addition, communication media typically embodies computer readable instructions, data structures, computer program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to one of ordinary skill in the art. Thus, the present invention is not limited to any specific combination of hardware and software.
Claims (11)
1. An object size measurement method applied to an object size measurement system provided with a distance measurement device and an image acquisition device, comprising:
controlling the distance measuring device to acquire a relative distance parameter between the distance measuring device and a target object to be measured, and controlling the image acquisition device to acquire an object image of the target object to be measured;
identifying size characteristic parameters corresponding to the target object to be detected in the object image according to the size type to be detected;
and determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter.
2. The method according to claim 1, wherein the step of identifying a size characteristic parameter corresponding to the target object in the object image according to the type of the size to be measured includes:
identifying all target pixel points in the corresponding geometric characteristic area of the target object to be detected in the object image according to the size type to be detected;
and determining the size characteristic parameters of the target object to be detected according to the pixel coordinates of the characteristic pixel points in the target pixel points.
3. The object dimension measuring method according to claim 2, wherein the type of the dimension to be measured includes an axial length and/or a radial width, and the geometric feature region includes a pixel region passing an axial straight line and/or a pixel region passing a radial straight line in the object image;
the step of determining the size characteristic parameters of the target object to be measured according to the pixel coordinates of the characteristic pixel points in the target pixel points comprises the following steps:
determining two target pixel points at two ends of the single-row pixel area and/or the single-column pixel area as characteristic pixel points in the single-row pixel area passing through the axial straight line and/or the single-column pixel area passing through the radial straight line;
and performing difference on the x coordinates of the two characteristic pixel points of the single-row pixel region to obtain a first size characteristic parameter of the target object to be detected, and/or performing difference on the y coordinates of the two characteristic pixel points of the single-row pixel region to obtain a second size characteristic parameter of the target object to be detected.
4. The method of claim 3, further comprising, before the step of determining the actual dimension parameter of the target object by combining the relative distance parameter and the dimension characteristic parameter, the steps of:
calibrating and measuring the calibration sample plate by controlling the object size measuring system, and determining a lens error parameter and a machine body error parameter of the image acquisition device;
the step of determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter includes:
and determining the actual size parameter of the target object to be measured by combining the relative distance parameter, the first size characteristic parameter, the second size characteristic parameter, the lens error parameter and the machine body error parameter.
5. The method of claim 4, wherein the step of determining the actual dimension parameter of the target object in combination with the relative distance parameter, the first dimension characteristic parameter, the second dimension characteristic parameter, the lens error parameter, and the body error parameter comprises:
calculating the actual size parameter of the target object to be measured by combining the relative distance parameter, the first size characteristic parameter, the second size characteristic parameter, the lens error parameter and the body error parameter through a preset size calculation formula; the size calculation formula is expressed as:
wherein L is x Denotes the axial length, L y The method comprises the following steps of representing the radial width, x representing a first size characteristic parameter, y representing a second size characteristic parameter, d representing a relative distance parameter between a distance measuring device and a target object to be measured, alpha and beta representing camera internal parameters of an object image in the x coordinate axis direction and the y coordinate axis direction respectively, and f representing the focal length of the image acquisition device.
6. The method according to claim 4, wherein the step of determining the lens error parameter and the body error parameter of the image capturing device by controlling the object dimension measuring system to perform the calibration measurement on the calibration template comprises:
controlling the distance measuring device to acquire a relative distance parameter between the distance measuring device and the calibration sample plate, and controlling the image acquisition device to continuously acquire a plurality of object images of the calibration sample plate;
respectively identifying size characteristic parameters of a plurality of object images of the calibration sample plate according to the size measurement type of the calibration sample plate;
and determining a lens error parameter and a body error parameter of the image acquisition device by combining a relative distance parameter between the distance device and the calibration template, the actual size parameter of the calibration template and the size characteristic parameters corresponding to a plurality of object images of the calibration template.
7. The method of claim 6, wherein the step of calculating the lens error parameter and the body error parameter of the image capturing device in combination with the relative distance parameter between the distance device and the calibration template, the actual dimension parameter of the calibration template, and the corresponding dimension characteristic parameter of the plurality of object images of the calibration template comprises:
calculating an initial lens error parameter and an initial fuselage error parameter of the image acquisition device by combining a relative distance parameter between the distance device and the calibration template, an actual size parameter of the calibration template and size characteristic parameters corresponding to a plurality of object images of the calibration template;
judging whether the effectiveness of the initial lens error parameter and the initial body error parameter meets a preset condition or not;
and when the effectiveness of the initial lens error parameter and the initial body error parameter meets a preset condition, respectively determining the initial lens error parameter and the initial body error parameter as a lens error parameter and a body error parameter of the image acquisition device.
8. The method for measuring the size of an object according to any one of claims 1 to 7, further comprising, after the step of determining the actual size parameter of the target object by combining the relative distance parameter and the size characteristic parameter:
calling a model information database corresponding to the type of the object to be measured, and determining object model information corresponding to the actual size parameter of the target object to be measured through a corresponding relation table of the object model information and the size parameter in the model information database.
9. An object size measuring device, characterized in that, is applied to the object size measuring system who is provided with range unit and image acquisition device, object size measuring device includes:
the acquisition module is used for controlling the distance measuring device to acquire relative distance parameters between the distance measuring device and a target object to be measured and controlling the image acquisition device to acquire an object image of the target object to be measured;
the identification module is used for identifying the size characteristic parameters corresponding to the target object to be detected in the object image according to the size type to be detected;
and the determining module is used for determining the actual size parameter of the target object to be measured by combining the relative distance parameter and the size characteristic parameter.
10. An object dimension measuring system, comprising: the device comprises a distance measuring device, an image acquisition device, a processor and a memory;
the distance measuring device is used for acquiring relative distance parameters between the distance measuring device and a target object to be measured;
the image acquisition device is used for acquiring an object image of the target object to be detected;
the processor is configured to execute a computer program stored on the memory;
the processor, when executing the computer program, performs the steps of the method of any one of claims 1 to 8.
11. A computer-readable storage medium, characterized in that the computer-readable storage medium stores one or more programs which are executable by one or more processors to implement the steps of the object dimension measuring method according to any one of claims 1 to 8.
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