CN115753610A - Adjusting method for spectrum online detection of placement posture of target object - Google Patents
Adjusting method for spectrum online detection of placement posture of target object Download PDFInfo
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Abstract
The invention discloses an adjusting method for detecting the placing posture of a target object on line by spectrum, which comprises the steps of establishing a target object posture detecting system and a target object posture adjusting system for spectrum on-line detection; calibrating a target object attitude detection system and a target object attitude adjustment system; collecting and preprocessing a spectrum on-line detection target source image; extracting the characteristics of the preprocessed spectrum on-line detection target object image; solving the space geometric information of the spectrum on-line detection target object by combining the shooting geometric principle; and detecting the space geometric information of the target object on line according to the solved spectrum, comparing the space geometric information of the target object, and adjusting the spectrum to detect the posture of the target object on line by using a posture adjusting system of the target object. The invention has simple structure, lower equipment cost, high detection efficiency and short object posture adjustment time, can effectively improve the quality detection efficiency of the spectrum on-line detection of the target object, can well adapt to the requirements of large-scale target object quality detection and industrial production, and improves the automation rate.
Description
Technical Field
The invention belongs to the technical field of machine vision, and particularly relates to an adjusting method for detecting the placement posture of a target object on line by using a spectrum.
Background
The method has the advantages that a certain important parameter for judging the state of an object in the space is the posture, and the spectrum on-line target object posture detection and the spectrum on-line target object quality detection after the posture adjustment have a quite important technical guidance effect on industrial automatic processing.
The visual detection technology is a new technology with the most development potential in the technical field of precision testing, and the technology comprehensively applies electronics, photoelectric detection, image processing and computer technology to introduce machine vision into industrial detection to realize the rapid measurement of the three-dimensional size or position of an object (product or part), has the outstanding advantages of non-contact, high speed, good flexibility and the like, and has important application prospect in the modern manufacturing industry.
The technology for adjusting the posture of the target object in the spectrum online detection enables the object to be subjected to posture adjustment in a short time, and improves the efficiency and time for detecting the quality of the target object in the spectrum online detection. The posture adjustment of the existing spectrum online detection target object is manually adjusted through manual position calibration, so that the detection efficiency is reduced, and the detection quality cannot be effectively guaranteed. At the moment, an automatic posture detection and adjustment method for detecting the target object on line by the spectrum becomes more important, and the automatic posture adjustment for detecting the target object on line by the spectrum is realized by a posture correction algorithm so as to meet the quality detection and industrial automatic production of the target object on line by the spectrum.
Disclosure of Invention
The invention provides an adjusting method for detecting the placing posture of a target object on line by a spectrum. The problem that the posture of the target object is manually calibrated during the online detection of the existing spectrum is solved, the automatic posture adjustment of the target object is realized through the online detection of the spectrum by a posture correction algorithm, the automatic detection degree of a detection device is increased, and the detection efficiency and accuracy are improved.
In order to achieve the purpose, the technical scheme of the invention is as follows: an adjusting method for spectrum on-line detection of the placement posture of a target object is provided. The online posture adjusting method for the online spectrum detection target object comprises the following steps:
step S1: establishing a target object posture detection system and a target object posture adjustment system for spectrum online detection;
step S2: calibrating a target object posture detection system and a target object posture adjustment system;
and step S3: collecting and preprocessing a spectrum on-line detection target source image;
and step S4: extracting the characteristics of the preprocessed spectrum on-line detection target object image;
step S5: solving the space geometric information of the spectrum on-line detection target object by combining the shooting geometric principle;
step S6: and detecting the space geometric information of the target object on line according to the solved spectrum, comparing the space geometric information of the target object, and adjusting the spectrum to detect the posture of the target object on line by using a posture adjusting system of the target object.
Preferably, in step S1, the target posture detection system includes a left CCD camera and a right CCD camera, an illumination box, a fluorescent lamp, a black background and a computer, the left CCD camera, the right CCD camera and the fluorescent lamp are all disposed in the illumination box, and the target for online detection of the measured spectrum is placed at the bottom of the illumination box with the black background.
Preferably, in step S1, the object to be adjusted of the object posture adjustment system is a tray for holding the object, the bottom of the tray is provided with a near infrared light transmission hole, 4 rollers are arranged on the periphery of the tray, and each roller is connected to a corresponding stepping motor. The two opposite idler wheels are respectively connected with a horizontal rotating motor, the other two opposite idler wheels are respectively connected with a vertical rotating motor, the horizontal rotating motor and the vertical rotating motor respectively control the spectrum to detect the horizontal rotation and the vertical rotation of the target object on line so as to correct the accuracy of the posture of the target object, and the bottom of the tray is parallel to the bottom of the illumination box.
Preferably, in the step S2, the calibration of the target attitude detection system and the target attitude adjustment system includes the following steps:
step S21: preparing a spectrum on-line detection target object, collecting a target object image by using a CCD camera, then performing feature extraction, and calculating space geometric parameters;
step S22: establishing a base coordinate system, and then calculating the parameters of the coordinate system;
step S23: and (5) acquiring parameters of the steps S21 and S22, and converting the space geometric parameters of the spectrum on-line detection target object obtained in the step S21 into a base coordinate system of a target object posture adjusting system. Respectively defining rotation matrix R between CCD camera and base coordinate ’ And translation vector T ’ Wherein R is ’ And T ’ Is the initial calibration parameter between the camera and base coordinates. And solving the parameters to obtain the space geometric parameters of the spectrum on-line detection target object under the base coordinate system of the target object attitude adjusting system, and comparing the space geometric parameters with the set space geometric parameters of the target attitude.
Preferably, in step S3, the preprocessing of the source image of the target object includes image enhancement algorithm, graying and histogram equalization.
Preferably, in the step S4, when performing the feature extraction of the spectrum online detection target object, the position point, the fruit stem or the calyx point of the detected spectrum online detection target object, the edge feature and the size feature of the spectrum online detection target object are to be extracted; wherein, the size characteristic of the target object is extracted by using a projection area method.
Preferably, in step S5, the placing mode of the target object is determined by determining whether there is a fruit stem or a calyx point, and the external contour of the target object is searched for the coordinates of the center point of the target object and the symmetry axis thereof, the image plane axis is extracted through the position point of the target object image and the coordinates of the fruit stem or the calyx point, the three-dimensional posture of the axis of the target object is solved by adopting a spatial intersection method, the world coordinates of the position point of the target object is solved by adopting a method of approximately matching the position point, and the actual size of the target object is detected on line by using a spectrum on-line detection target object size solving formula.
Preferably, in the step S6, the online spectrum detection is solvedMeasuringWhen the attitude parameter of the target object is measured, the two conditions are divided: when the target is vertically placed, the attitude parameters are directly defined without solving; and when the target object is placed obliquely, solving attitude parameters of the target object by adopting a method of space geometric knowledge.
Preferably, in the step S6, the posture parameter of the spectrum online detection target object is compared with the target posture parameter, if the target posture parameter is within the error range, the posture of the spectrum online detection target object does not need to be adjusted, otherwise, the data related to the posture parameter is sent to the control mechanism of the target posture adjustment system, and the target posture of the spectrum online detection target object is adjusted by the roller of the driving motor adjusting tray.
Further supplementing the technical scheme, as described above, the adjusting method for spectrum on-line detection of the placement posture of the target object according to the present invention has the following practical beneficial effects:
the adjusting method for the spectrum online detection target object placing posture solves through image shooting, image preprocessing, feature extraction and a space intersection method, and solves through image acquisition processing, feature extraction, a plane equation determined by a spectrum online detection target object projection equation and a camera optical center to obtain space geometric parameters of the spectrum online detection target object under a world coordinate system. Sending the data parameters into an execution structure by using a computer to perform posture adjustment of the spectrum online detection target object; the invention has simple structure, lower equipment cost, high detection efficiency and short object posture adjustment time, can effectively improve the quality detection efficiency of the spectrum on-line detection target object and industrial automatic production, and can well adapt to the requirements of large-scale target object quality detection and industrial production.
Drawings
FIG. 1 is a flow chart of an embodiment of an online posture adjustment method for online spectrum detection of a target object;
FIG. 2 is a view showing the configuration of an object attitude detection system;
fig. 3 is a posture adjustment target tray;
FIG. 4 is a view of a roller motor drive mounting location;
FIG. 5 is a flow chart of calibration of the target object attitude adjustment system;
FIG. 6 is a flow chart of the determination before the attitude of the target object is adjusted;
fig. 7 is a table of experimental results.
Description of the element reference numerals: 1. a left CCD camera; 2. a right CCD camera; 3. an illumination box; 4. a fluorescent lamp; 5. a black background; 6. a computer; 7. a tray; 8. a near-infrared light transmission hole; 9. mounting positions of the rollers; 10. a roller; 11. a horizontal rotation motor; 12. a vertical rotation motor;
Detailed Description
The following examples illustrate embodiments of the present invention, and the advantages and effects of the present invention can be easily understood from the information provided in the present specification.
It should be understood that the structures, proportions, and dimensions shown in the drawings and described in the specification are for illustrative purposes only and are not intended to limit the scope of the present invention, which is defined by the claims. In addition, the terms such as "upper", "lower", "left", "right", "middle", etc. used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial technical change.
The invention relates to an adjusting method for detecting the placing posture of a target object on line by a spectrum, which is characterized by firstly establishing a target object posture detecting system and a target object posture adjusting system for detecting the spectrum on line; and secondly, carrying out system calibration on the established target object posture detection system and the target object posture adjustment system. The method comprises the steps of collecting a target source image through a CCD camera, preprocessing the target source image, extracting image characteristics, solving space geometric information of a spectrum online detection target according to a shooting geometric principle, comparing the space geometric information of the target, adjusting the gesture of the spectrum online detection target by using a target gesture adjusting system, and finally achieving the gesture correction purpose. The specific process is shown in fig. 1, and specifically comprises the following steps:
step S1: establishing a target object posture detection system and a target object posture adjustment system for spectrum online detection;
step S2: calibrating a target object posture detection system and a target object posture adjustment system;
and step S3: carrying out the shooting and pretreatment of a spectrum on-line detection target object source image;
and step S4: extracting the characteristics of the preprocessed spectrum on-line detection target object image;
step S5: solving the space geometric information of the spectrum on-line detection target object by combining the shooting geometric principle;
step S6: and detecting the space geometric information of the target object on line according to the solved spectrum, comparing the space geometric information of the target object, and adjusting the spectrum to detect the posture of the target object on line by using a posture adjusting system of the target object.
Specifically, in step S1, the target posture detection system includes two CCD cameras, i.e., a left CCD camera 1 and a right CCD camera 2, a light box 3, a fluorescent lamp 4, a black background 5, and a computer 6. In the system, a left CCD camera 1 and a right CCD camera 2 are both positioned above an illumination box 3, the optical center connecting line of the two CCD cameras is parallel to the horizontal edge of the illumination box 3, the optical axes of the left CCD camera 1 and the right CCD camera 2 form an angle, fluorescent lamps 4 are respectively installed at four corners of the top of the illumination box 3, and a measured spectrum online detection target object is placed at the bottom of the illumination box 3 with black as a black background 5. The placement position is shown in fig. 2.
Specifically, in step S1, the object posture adjustment system is configured to set an object tray 7, holes at the bottom of the circular tray 7 are near-infrared light transmission holes 8, roller mounting positions 9 are arranged around the tray 7, each roller 10 is connected to a corresponding horizontal rotating motor 11 and a corresponding vertical rotating motor 12, and the horizontal rotating motor 11 and the vertical rotating motor 12 respectively control the horizontal rotation and the vertical rotation of the spectrum on-line detection object; the horizontal rotating motor 11 and the vertical rotating motor 12 adopt stepping motors, the bottom of the tray 7 is parallel to the bottom of the illumination box 3, the tray 7 is overhead through four rollers 10, and the corresponding stepping motors are fixed on the table board. The posture adjustment target object tray is shown in fig. 3, and the stepping motor placement position is shown in fig. 4.
Specifically, in step S2, after the target object posture detection system and the target object posture adjustment system are created, before capturing an image, the target object posture detection system needs to be calibrated, and a system calibration flow is shown in fig. 5. Calibrating the parameters of the left CCD camera and the right CCD camera and the system parameters, calibrating the posture adjusting system of the target object, and calibrating the parameters of the coordinate system and the system parameters of the tray 7 and the roller 10.
Specifically, in step S2, the calibration process specifically includes the steps of:
step S21: acquiring a target object image by using a camera, then extracting image characteristics, and calculating coordinate parameters;
simultaneously collecting the same calibration image by two left CCD cameras 1 and right CCD cameras 2 which are positioned on the same horizontal plane, respectively calibrating parameters and system parameters of the left CCD camera 1 and the right CCD camera 2, and finally giving a projection matrix A of the left CCD camera 1 and the right CCD camera 2 in a world coordinate system 1 And A 2 。
The projection matrix of each camera is calibrated according to the space geometric principle, system parameters, namely the relative position relation between two cameras, also need to be determined, and the system parameters are the rotation matrix R and the translation vector T. The relation between the left CCD camera 1 and the world coordinate system in rotation and translation is R l ，T l The rotation and translation relation between the right CCD camera 2 and the world coordinate system is R r ，T r 。
X for world coordinate system coordinates w Representing an arbitrary point in space, the left CCD camera 1 uses X l Showing, right-phase CCD machine 2 is X r Expressed, the following equation holds：
The rotation matrix R and the translation vector T can be obtained from a mathematical transformation:
taking an apple as an embodiment, detecting an image of a target object on line according to a spectrum acquired by a camera, extracting characteristic points of the spectrum on-line detection target object, namely an apple fruit base point or a calyx point and coordinates of an apple shape center point, connecting the coordinates of the two points by using a dotted line, wherein the dotted line is an image plane axis. Assuming that the equation of the image plane axis is ax + by + c =0, then extracting that the projection equations of the spectrum on-line detection target object on the left and right CCD camera planes are a respectively l x+b l y+c l =0 and a r x+b r y+c r And =0. Under the respective CCD camera coordinate system, the focal length of the camera system is f, and the plane equations determined by the projection equation and the camera optical center are respectively as follows:
in the formula, a l 、b l 、c l Coefficients of a camera coordinate equation representing the axis of the left CCD camera 1; a is a r 、b r 、c r Coefficients of a camera coordinate equation representing the axis of the right CCD camera 2; x represents the feature point abscissa and y represents the feature point ordinate. Converting equation (3) to the equation in the world coordinate system is:
in the formula, A l 、B l 、C l 、D l World coordinate equation representing axis of left CCD camera 1The coefficient of (a); a. The r 、B r 、C r 、D r Coefficients representing the world coordinate equation of the axis of the right CCD camera 2; x represents the abscissa of the feature point, y represents the ordinate of the feature point, and z represents the ordinate of the feature point. According to the space geometric principle, the equation system (4) is an equation of a space axis, and the three direction numbers of the space axis are respectively:
and (3) solving the included angle between the axis of the spectrum online detection target object and the projection of the XOY plane in the space coordinate system and the included angle between the projection of the axis of the spectrum online detection target object on the XOY plane and the space X axis according to the formula (5).
Step S22: establishing a base coordinate system, and then calculating the parameters of the coordinate system;
step S23: and S21 and S22 parameters are obtained, and the space geometric parameters of the spectrum on-line detection target object obtained in the step S21 are converted into a base coordinate system of the target object posture adjusting system. Respectively defining rotation matrix R between CCD camera and base coordinate ’ And translation vector T ’ ，R ’ And T ’ Is the initial calibration parameter between the camera and base coordinates. The spatial geometric parameters of the target object are detected on line through the spectrum under the base coordinate system of the target object attitude adjusting system by solving the parameters, and compared with the set spatial geometric parameters of the target object attitude, and the comparison and detection are shown in fig. 6.
Specifically, in step S23, the contrast detection process is as shown in fig. 6, and the specific process is as follows: and giving a spectrum on-line detection target object, judging whether the target object is in a target parameter range, if so, ending the detection, if not, converting the space parameters into base coordinate parameters, adjusting the system to perform spectrum on-line detection, acquiring the posture of the adjusted spectrum on-line detection target object, then judging whether the target is in the target parameter range, if so, ending the detection, and if not, continuing the circular processing.
Specifically, in step S4, the target object in this embodiment is, for example, fruit, and after the system captures the image of the target object for spectrum online detection, the image is preprocessed to be suitable for feature extraction of the target object for spectrum online detection. The preprocessing of the target source image comprises an image enhancement algorithm, graying and histogram equalization.
Specifically, in step S4, when performing feature extraction of the spectrum online detection target object, the position point, the fruit stem or the calyx point of the detected spectrum online detection target object, the edge feature and the size feature of the spectrum online detection target object are extracted; wherein, the size characteristic of the target object is extracted by using a projection area method.
Specifically, in step S5, the placing mode of the target object is determined by determining whether there are fruit stems or calyx points, and the outer contour of the target object finds the coordinates of the center points of the target object and the symmetry axis thereof, the image plane axis is extracted by the position points of the image of the target object and the coordinates of the fruit stems or calyx points, the three-dimensional attitude of the axis of the target object is solved by adopting a spatial intersection method, the world coordinates of the position points of the target object are solved by adopting a method of approximately matching the position points, and the actual size of the target object is detected on line by utilizing a spectrum online detection target object size solving formula.
Specifically, in step S6, the world coordinates of the target position point are compared with the world coordinates of the target coordinates, and it is determined whether the target posture is detected online by adjusting the spectrum by the target posture adjustment system. Solving spectrum on-line detectionMeasuringWhen the attitude parameter of the target object is measured, the two conditions are divided: when the target is vertically placed, the attitude parameters are directly defined without solving; and when the target object is placed obliquely, solving the attitude parameters of the target object by adopting a method of space geometric knowledge.
And comparing the posture parameters of the spectrum online detection target object with the target posture parameters, if the posture parameters are within the error range, the posture of the spectrum online detection target object does not need to be adjusted, otherwise, sending the data related to the posture parameters into a control mechanism of a target object posture adjustment system, and adjusting the target posture of the spectrum online detection target object by adjusting a roller 10 of a circular tray 7 through a driving motor. In this embodiment, after the roller is controlled by the stepping motor to rotate to realize different rotation angles, a binary image of the contour of the fruit obtained after the camera shoots and processes is shown in fig. 7.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. An adjusting method for detecting the placing posture of a target object on line through a spectrum. The method is characterized by comprising the following steps:
step S1: establishing a target object posture detection system and a target object posture adjustment system for spectrum online detection;
step S2: calibrating a target object posture detection system and a target object posture adjustment system;
and step S3: collecting and preprocessing a source image of a spectral online detection target object;
and step S4: extracting the characteristics of the preprocessed spectrum on-line detection target object image;
step S5: solving the space geometric information of the spectrum on-line detection target object by combining the shooting geometric principle;
step S6: and detecting the space geometric information of the target object on line according to the solved spectrum, comparing the space geometric information of the target object, and adjusting the spectrum to detect the posture of the target object on line by using a posture adjusting system of the target object.
2. The adjusting method for the spectral online detection of the placement attitude of the target object according to claim 1, characterized in that: in the step S1, the target posture detection system comprises a left CCD camera, a right CCD camera, an illumination box, a fluorescent lamp, a black background and a computer, wherein the left CCD camera, the right CCD camera and the fluorescent lamp are all arranged in the illumination box, and a detected spectrum online detection target is placed at the bottom of the illumination box with the black background.
3. The adjusting method for the spectral on-line detection of the placement posture of the target object according to claim 1, characterized in that: in step S2, the calibration of the target attitude detection system and the target attitude adjustment system includes the following steps:
step S21: preparing a spectrum on-line detection target object, collecting a target object image by using a CCD camera, then performing feature extraction, and calculating space geometric parameters;
step S22: establishing a base coordinate system, and then calculating the parameters of the coordinate system;
step S23: obtaining parameters of S21 and S22, converting the space geometric parameters of the spectrum on-line detection target object obtained in the step S21 into a base coordinate system of a target object posture adjusting system, and respectively defining a rotation matrix R between a CCD camera and the base coordinate ’ And translation vector T ’ Wherein R is ’ And T ’ Is the initial calibration parameter between the camera and base coordinates. And solving the space geometric parameters of the target object under the base coordinate system of the target object attitude adjusting system through the parameters, and comparing the space geometric parameters with the set space geometric parameters of the target attitude.
4. The adjusting method for the spectral on-line detection of the placement posture of the target object according to claim 1, characterized in that: in step S3, the preprocessing of the target object source image comprises an image enhancement algorithm, graying and histogram equalization.
5. The adjusting method for the spectral on-line detection of the placement posture of the target object according to claim 1, characterized in that: in the step S4, when the characteristic extraction of the spectrum on-line detection target object is carried out, the position point, the fruit stem or the calyx point of the detected spectrum on-line detection target object, the edge characteristic and the size characteristic of the spectrum on-line detection target object are extracted; wherein, the size characteristic of the target object is extracted by using a projection area method.
6. The adjusting method for the spectral online detection of the placement attitude of the target object according to claim 1, characterized in that: in the step S5, the placement mode of the target object is judged by judging whether fruit stems or calyx points exist or not, the coordinate of the center point of the target object and the symmetry axis of the center point are searched for by the outer contour of the target object, the axis of the image plane is extracted through the position points of the image of the target object and the coordinates of the fruit stems or calyx points, the three-dimensional posture of the axis of the target object is solved by adopting a space intersection method, the world coordinate of the position point of the target object is solved by adopting a method of approximately matching the position points, and the actual size of the target object is detected on line by utilizing a spectrum on-line detection target object size solving formula.
7. The adjusting method for the spectral online detection of the placement attitude of the target object according to claim 1, characterized in that: in step S6, solving the spectrum on-line detectionSide surveyWhen the attitude parameters of the target object are measured, two conditions are adopted: when the target is vertically placed, the attitude parameters are directly defined without solving; when the inclined object is placed, the attitude parameters of the object are solved by adopting a method of space geometric knowledge; and comparing the spectrum online detection target object attitude parameter with the target attitude parameter, if the spectrum online detection target object attitude is within the error range, the spectrum online detection target object attitude does not need to be adjusted, otherwise, sending the data related to the attitude parameter into a control mechanism of a target object attitude adjusting system, and adjusting the target object attitude of the target object online detection according to the spectrum by adjusting a roller of a tray through a driving motor.
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