CN115808122A - Dimension measuring method, system, equipment and medium based on machine vision - Google Patents
Dimension measuring method, system, equipment and medium based on machine vision Download PDFInfo
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- CN115808122A CN115808122A CN202211542496.6A CN202211542496A CN115808122A CN 115808122 A CN115808122 A CN 115808122A CN 202211542496 A CN202211542496 A CN 202211542496A CN 115808122 A CN115808122 A CN 115808122A
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Abstract
The invention relates to a dimension measuring method, a dimension measuring system, dimension measuring equipment and dimension measuring media based on machine vision, wherein the method comprises the following steps: acquiring image information of a calibration sheet in image acquisition equipment; controlling the control equipment corresponding to the image acquisition equipment and/or the carrier to move so that the definition of the image of the calibration sheet in the visual field of the image acquisition equipment meets a preset range; acquiring image information of a part to be detected of an article to be detected, which is acquired by image acquisition equipment; acquiring a color map corresponding to the image of the part to be detected; selecting a plurality of points from the same color positions of the color map for fitting to form a fitting plane; and selecting a point to be measured on the plane with the height to be measured, and calculating the distance between the point to be measured and the fitting plane to obtain a measurement result of the dimension height of the part to be measured. The invention effectively solves the problem that the camera is difficult to directly shoot to obtain images caused by the size of the camera, the size of a product or the actual erection space, and the camera can be better played by reasonably erecting the prism.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a dimension measuring method, a dimension measuring system, dimension measuring equipment and dimension measuring media based on machine vision.
Background
With the rapid development of artificial intelligence technology, it is more and more important in industrial application. At present, the measurement of product size mostly depends on the manual work to use the mode of fixed utensil of examining to detect the product, has the great input of manpower and the improvement of cost of labor at this in-process, and has certain subjectivity to the judgement of product, therefore it just becomes especially important to use machine vision technique to replace the artifical size measurement that realizes the product.
According to the traditional dimension measurement, the dimension to be detected and the camera are in the same direction, the camera can shoot a product by being directly horizontally or vertically erected, and the dimension of the product is detected. However, when the size to be detected is not in the same direction as the camera, for example, the size on the inner wall of the middle frame of the mobile phone is detected, the erection of the camera becomes extremely difficult due to the limitation of the size of the product, and the measurement mode using the traditional camera cannot meet the measurement requirement.
Disclosure of Invention
To achieve the above objects and other advantages and in accordance with the purpose of the invention, a first object of the present invention is to provide a dimension measuring method based on machine vision, comprising the steps of:
acquiring image information of a calibration sheet in image acquisition equipment;
controlling the image acquisition equipment and/or the control equipment corresponding to the carrier to move so that the definition of the image of the calibration sheet in the field of view of the image acquisition equipment meets a preset range;
acquiring image information of a part to be detected of an article to be detected, which is acquired by image acquisition equipment;
acquiring a color map corresponding to the image of the part to be detected;
selecting a plurality of points from the same color positions of the color map for fitting to form a fitting plane;
and selecting a point to be measured on the plane with the height to be measured, and calculating the distance between the point to be measured and the fitting plane to obtain a measurement result of the dimension height of the part to be measured.
Further, the method also comprises the following steps:
judging whether the image information format of the part to be detected of the article to be detected, which is acquired by the image acquisition equipment, is a preset format;
otherwise, carrying out format conversion on the acquired image information of the part to be detected;
if yes, the subsequent operation is continued.
Further, the format conversion of the acquired image information of the to-be-detected part includes the following steps:
when the master control equipment is successfully connected with the image acquisition equipment, acquiring the model information of the image acquisition equipment;
acquiring the parameter information of the image acquisition equipment according to the acquired model information; wherein the parameter information comprises height data, gray data, batch processing line number, scanning interval, contour width and XYZ three-axis position;
triggering the image acquisition equipment to scan, and starting batch processing;
performing data conversion through the height data, performing proportion conversion of an image height interval and a color interval according to the generated image information, and dividing the information into 0-65535 intervals;
converting the image into pixel points according to the contour width and height data;
and realizing pixel distribution point to point according to XYZ three-axis positions.
The second purpose of the invention is to provide a dimension measuring system based on machine vision, which comprises an image acquisition device, a prism, a carrier, a mobile platform, a control device and a main control device; wherein the content of the first and second substances,
the carrier is used for carrying the prism and adjusting the inclination angle of the prism;
the mobile platform is used for carrying the image acquisition equipment and the carrier or only carrying the image acquisition equipment;
the control equipment is used for controlling the mobile platform and/or the vehicle;
the prism surface of the prism is opposite to the detection surface of the product to be detected, and the prism is used for mapping the image of the part to be detected of the article to be detected and reflecting the image of the part to be detected of the article to be detected into the image acquisition equipment;
the master control device is used for executing a dimension measuring method based on machine vision.
Further, the image acquisition equipment comprises a camera, a lens and a light source, the lens is installed on the camera, the lens, the light source and the carrier are installed on the mobile platform, the control equipment controls the mobile platform to move, and the camera, the lens, the light source and the prism are in the same direction.
Further, the size of the prism is 15mm to 25mm.
Further, the image acquisition device comprises a linear scanning camera, the linear scanning camera is installed on the mobile platform, the control device comprises a first control device and a second control device, the first control device is used for controlling the movement of the mobile platform, and the second control device is used for controlling the movement of the carrier.
Further, the size of the prism is 45mm to 55mm.
A third object of the present invention is to provide an electronic apparatus, comprising: a memory having program code stored thereon; a processor coupled with the memory and implementing a machine vision based dimensional measurement method when the program code is executed by the processor.
It is a fourth object of the present invention to provide a computer readable storage medium having stored thereon program instructions which, when executed, implement a machine vision based dimensional measurement method.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a dimension measuring method, a dimension measuring system, a dimension measuring device and a dimension measuring medium based on machine vision, which adopt an erection mode of combining a prism and a camera to realize the measurement of a tiny dimension and a hidden position dimension, such as the measurement of the dimension of the inner wall of a middle frame of a mobile phone, map an image of a position to be measured into the prism, and then reflect the image into the camera through a mirror surface, thereby realizing the dimension detection. The problem that a camera is difficult to erect and product detection is difficult to realize in measurement of small size and hidden position size, such as measurement of inner wall size of a middle frame of a mobile phone, is effectively solved, and the cost of the prism is also within a controllable range, so that the production efficiency is improved, and the production cost is saved.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of a machine vision-based dimension measuring system of embodiment 1;
FIG. 2 is a schematic diagram of a dimension measuring system based on machine vision according to embodiment 1;
FIG. 3 is a flowchart of a dimension measuring method based on machine vision according to embodiment 2;
FIG. 4 is a schematic view of an electronic apparatus according to embodiment 3;
fig. 5 is a schematic diagram of a computer-readable storage medium of embodiment 4.
In the figure: 1. an image acquisition device; 11. a camera; 12. a lens; 13. a light source; 2. a prism; 3. and (5) detecting a product.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
Example 1
A dimension measuring system based on machine vision, as shown in fig. 1 and 2, includes an image collecting device 1, a prism 2, a carrier, a mobile platform, a control device, and a main control device; wherein the content of the first and second substances,
the carrier is used for carrying the prism 2 and adjusting the inclination angle of the prism 2;
the mobile platform is used for carrying the image acquisition equipment 1 and the carrier or carrying only the image acquisition equipment 1;
the control equipment is used for controlling the mobile platform and/or the vehicle;
the surface of the prism 2 is opposite to the detection surface of the product 3 to be detected, and the prism 2 is used for mapping the image of the part to be detected of the article to be detected and reflecting the image of the part to be detected of the article to be detected into the image acquisition equipment 1;
the prism 2 is an extension of the working distance of the image acquisition device 1 and also acts as a "transfer station" for the image. The working distance of the image acquisition device 1 is the distance from the lens 12 to the product 3 to be detected, and the working distance is now the sum of the distances from the lens 12 to the prism 2 and from the prism 2 to the product 3 to be detected. The extended prism 2 is added below the image acquisition equipment 1, so that the detection surface enters the prism 2, and then the detection surface enters the image acquisition equipment 1 under the reflection action of the mirror surface, so that the image acquisition equipment 1 acquires an image of a product 3 to be detected.
The master control device is used for executing a dimension measuring method based on machine vision. For the detailed description of the method, reference may be made to the corresponding description in the following method embodiments, which are not repeated herein.
As shown in fig. 1, the image capturing apparatus 1 includes a camera 11, a lens 12, and a light source 13, the camera 11 in this embodiment is a 2D camera 11, the lens 12 is installed on the camera 11, and the camera 11, the lens 12, the light source 13, and a carrier are installed on a mobile platform. When the product 3 to be detected is detected, the size measuring system stays above, and after the product 3 to be detected is in place, the size measuring system moves from top to bottom to reach the set detection position, so that the camera 11 is used for photographing detection. The prism 2 is vertically fixed, and the carrier for mounting the prism 2 has a rotatable function, so that the inclination angle of the prism 2 can be adjusted. Because of the slight difference in the angle of the prism 2, it has a crucial effect on the field of view of the camera 11. The control device controls the movement of the mobile platform, and the camera 11, the lens 12, the light source 13 and the prism 2 are in the same direction.
The size of the prism 2 is 15mm to 25mm due to the limitation of the size of the product 3 to be inspected, such as the inner wall of the middle frame of the mobile phone, and the limitation of the visual field of the camera 11. Preferably, the size of the prism 2 is 20mm, which not only ensures easy installation of the prism 2, but also reflects the size of the product 3 to be detected into the camera 11.
After the dimension measuring system is erected, calibration of the camera 11 needs to be performed, and the purpose of the calibration of the camera 11 is to convert image pixels into physical dimensions, i.e. to establish a geometric model of the camera 11. Because the size measurement adopts a telecentric lens, the calibration sheet is placed at the same position of the detection surface of the product 3 to be detected, and the size measurement system is moved to ensure that the calibration sheet is clear enough in the visual field of the camera 11, thus completing the calibration work of the camera 11.
As shown in fig. 2, the image capturing device 1 further includes a linear scanning camera, the linear scanning camera in this embodiment is a 3D camera, the linear scanning camera is installed on the mobile platform, the control device includes a first control device and a second control device, the first control device is used for controlling the movement of the mobile platform, and the linear scanning camera moves horizontally along with the mobile platform. The second control device is used for controlling the movement of the vehicle. In this embodiment, the carrier of prism 2 realizes reciprocating through the cylinder, and the carrier of prism 2 is above, can conveniently wait to detect the removal of product 3 and get and put, and the carrier of prism 2 is below, makes things convenient for the moving platform to carry on the line and sweeps camera and remove the detection together. In the embodiment, the carrier and the moving platform of the prism 2 are separately controlled; the position to be detected of the product 3 to be detected is the inner wall of the bottom of the middle frame of the mobile phone, namely the position of a charging port of the mobile phone.
When the 3D camera mounting scheme is adopted, the size of the prism 2 is 45mm to 55mm. Preferably, the size of the prism 2 is 50mm. The working distance of the line scanning camera is 20mm, and the working distance is the sum of the line scanning camera to the prism 2 and the prism 2 to the detection surface. Because of the nature of the prism 2, the distance from the surface of the prism 2 to the detection surface is already between 10 and 15mm, the line scan camera almost moves along the surface of the prism 2, and a 3D image is obtained to realize detection.
The invention adopts the prism 2, the 2D camera and the 3D camera to realize the measurement of the size of the inner wall of the middle frame of the mobile phone, and solves the problems that the camera cannot directly take pictures for measuring the detected size, the camera is difficult to erect and the detection difficulty is large.
Example 2
The measurement method corresponding to the machine vision-based dimension measurement system of embodiment 1, as shown in fig. 3, includes the following steps:
acquiring image information of a calibration sheet in image acquisition equipment;
controlling the control equipment corresponding to the image acquisition equipment and/or the carrier to move so that the definition of the image of the calibration sheet in the visual field of the image acquisition equipment meets a preset range;
judging whether the image information format of the part to be detected of the article to be detected, which is acquired by the image acquisition equipment, is a preset format;
if yes, the subsequent operation is continued.
Otherwise, carrying out format conversion on the acquired image information of the part to be detected.
In this embodiment, the image obtained by the 3D camera cannot be directly used for image processing, so that format conversion of the acquired 3D image is required, so that the 3D image can be processed by the vision processing software.
The specific steps of converting the format of the acquired image information of the part to be detected are as follows:
since each 3D camera is different in model, scenes and configurations applicable to different models of 3D cameras are also different. So, after the program is successfully connected with the 3D camera, the model of the current 3D camera is obtained through the built-in function, so as to obtain parameter information about the 3D camera, such as height data, gray data, batch processing line number, scanning interval, contour width, XYZ triaxial position, and the like, through which the image is further processed. The method specifically comprises the following steps:
triggering image acquisition equipment to scan, and starting batch processing;
and performing data conversion through the height data, performing image height interval and color interval ratio conversion according to the generated image information, and dividing the information into 0-65535 intervals, wherein the image is a 16-bit range map.
Converting the image into pixel points according to the contour width and height data;
according to XYZ three-axis positions, namely three-dimensional coordinates, pixel distribution is realized point to point.
The conversion of the 3D image into the 16-bit range map is achieved by the above steps. After the image conversion is completed, the image can be processed, so that the detection of the 3D size is realized.
The 3D size detection is the measurement of the height of a position to be detected of a product to be detected, and the detection is realized in two modes. The first is the point-to-plane distance; the second is the distance of a point on two different planes to the same plane. These two methods correspond to a method of detecting a distance between a point and a line and a difference between two points and the same line in 2D size detection.
The image conversion is realized through the steps, the 3D image is converted into an image which can be processed by visual software, the height in the image is only hidden, and the height of a point at a certain position can be known through a color map. The corresponding pixel colors of the points with the same height are consistent, and the corresponding colors are different along with the continuous change of the height of the position to be detected. Therefore, in order to determine a plane, a plurality of points, for example, more than 4 points, need to be selected from the same color position, and the points are fitted to form the same plane by using the characteristics that the points are connected into a line and the line is connected into a plane, so as to obtain a fitted plane. And selecting a point to be measured on another plane with the height to be measured, and calculating the distance between the point to be measured and the fitting plane, thereby completing the measurement of the dimension height.
Since the product to be detected is not completely horizontal in actual erection and may have a tilt problem, the present invention adopts the second measurement mode. In order to improve the accuracy of the measurement result, on the basis of the first measurement mode, a point is searched on the generated plane, the distance from the point to the plane is calculated, and therefore the difference value between the two points and the plane is calculated, and the measurement of the size can also be completed. In practical application, the second measurement mode has higher accuracy.
The invention utilizes the characteristic that the prism is easy to install and can reflect, realizes the measurement of the sizes of products to be detected, such as the inner wall of the middle frame of the mobile phone, and the like, by combining the prism with the 2D camera and the 3D camera, solves the difficult problem that images cannot be shot, and meets the production requirements of enterprises.
According to the invention, the mode that the prism is combined with the 2D camera and the 3D camera is adopted, so that the size measurement system and the measurement method are realized, on one hand, the problem that the camera is difficult to directly shoot and acquire images due to the size of the camera, the size of a product or the actual erection space is effectively solved, and the camera is better played through reasonable erection of the prism; on the other hand, the system and the method can greatly save labor cost, liberate productivity, improve production efficiency of enterprises in industrial production and bring higher production benefit.
Example 3
An electronic device, comprising: as shown in fig. 4, a memory having program code stored thereon; a processor coupled with the memory and when the program code is executed by the processor, implementing a machine vision based dimensional measurement method. For the detailed description of the method, reference may be made to the corresponding description in the above method embodiments, which is not repeated herein.
Example 4
A computer readable storage medium, as shown in fig. 5, having stored thereon program instructions that, when executed, implement a machine vision-based dimensional measurement method. For the detailed description of the method, reference may be made to the corresponding description in the above method embodiments, which is not repeated herein.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.
The foregoing is merely an example of the present specification and is not intended to limit one or more embodiments of the present specification. Various modifications and alterations to one or more embodiments described herein will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of the present specification should be included in the scope of claims of one or more embodiments of the present specification.
Claims (10)
1. The dimension measuring method based on the machine vision is characterized by comprising the following steps:
acquiring image information of a calibration sheet in image acquisition equipment;
controlling the image acquisition equipment and/or the control equipment corresponding to the carrier to move so that the definition of the image of the calibration sheet in the field of view of the image acquisition equipment meets a preset range;
acquiring image information of a part to be detected of an article to be detected, which is acquired by image acquisition equipment;
acquiring a color map corresponding to the image of the part to be detected;
selecting a plurality of points from the same color position of the color map for fitting to form a fitting plane;
and selecting a point to be measured on the plane with the height to be measured, and calculating the distance between the point to be measured and the fitting plane to obtain a measurement result of the dimension height of the part to be measured.
2. The machine-vision based dimensional measurement method of claim 1, further comprising the steps of:
judging whether the image information format of the part to be detected of the article to be detected, which is acquired by the image acquisition equipment, is a preset format;
otherwise, carrying out format conversion on the acquired image information of the part to be detected;
if yes, the subsequent operation is continued.
3. The dimension measuring method based on machine vision according to claim 2, wherein the format conversion of the acquired image information of the part to be detected comprises the steps of:
when the master control equipment is successfully connected with the image acquisition equipment, acquiring the model information of the image acquisition equipment;
acquiring parameter information of the image acquisition equipment according to the acquired model information; wherein the parameter information comprises height data, gray data, batch processing line number, scanning interval, contour width and XYZ three-axis position;
triggering the image acquisition equipment to scan, and starting batch processing;
performing data conversion through the height data, performing proportion conversion of an image height interval and a color interval according to the generated image information, and dividing the information into 0-65535 intervals;
converting the image into pixel points according to the contour width and height data;
and realizing pixel distribution point to point according to XYZ three-axis positions.
4. Dimension measurement system based on machine vision, its characterized in that: the device comprises image acquisition equipment, a prism, a carrier, a mobile platform, control equipment and main control equipment; wherein the content of the first and second substances,
the carrier is used for carrying the prism and adjusting the inclination angle of the prism;
the mobile platform is used for carrying the image acquisition equipment and the carrier or only carrying the image acquisition equipment;
the control equipment is used for controlling the mobile platform and/or the vehicle;
the prism surface of the prism is opposite to the detection surface of the product to be detected, and the prism is used for mapping the image of the part to be detected of the article to be detected and reflecting the image of the part to be detected of the article to be detected into the image acquisition equipment;
the master device is configured to perform the machine vision-based dimensional measurement method of claim 1.
5. The machine-vision based dimensional measurement system of claim 4, wherein: the image acquisition equipment comprises a camera, a lens and a light source, wherein the lens is installed on the camera, the lens, the light source and the carrier are installed on the mobile platform, the control equipment controls the mobile platform to move, and the camera, the lens, the light source and the prism are in the same direction.
6. The machine-vision based dimensional measurement system of claim 5, wherein: the prism has a size of 15mm to 25mm.
7. The machine-vision based dimensional measurement system of claim 4, wherein: the image acquisition equipment comprises a linear scanning camera, the linear scanning camera is installed on the mobile platform, the control equipment comprises first control equipment and second control equipment, the first control equipment is used for controlling the movement of the mobile platform, and the second control equipment is used for controlling the movement of the carrier.
8. The machine-vision based dimensional measurement system of claim 7, wherein: the prism has a size of 45mm to 55mm.
9. An electronic device, comprising: a memory having program code stored thereon; a processor coupled with the memory and implementing the method of any of claims 1 to 3 when the program code is executed by the processor.
10. A computer-readable storage medium, having stored thereon program instructions which, when executed, implement the method of any one of claims 1 to 3.
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