CN115942121A - Self-adaptive angle image acquisition system - Google Patents
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Abstract
The invention relates to the technical field of image acquisition, in particular to a self-adaptive angle image acquisition system, which comprises: the image acquisition module comprises a first camera for acquiring an image of the surface of an object and a rotating assembly arranged above the first camera for adjusting the vertical inclination angle of the first camera; the auxiliary module is used for acquiring corresponding parameters of the surface of the object to be shot; the object adjusting module is arranged below the image acquisition module and comprises a lifting mechanism used for adjusting the inclination angle of the object; and the central control module is used for increasing the vertical inclination angle of the first camera to a corresponding vertical inclination angle according to the gray influence score of the object to be shot under a preset second scoring condition. The invention realizes the improvement of the image acquisition accuracy of the part of the object with the irregular surface.
Description
Technical Field
The invention relates to the technical field of image acquisition, in particular to a self-adaptive angle image acquisition system.
Background
In the prior art, the acquisition of an object image is generally performed by using an image acquisition device, but objects with different shapes and surface irregularities of the objects have influence on the accuracy of image acquisition in the image acquisition process.
Chinese patent publication No.: CN101601047B discloses an image capturing system for capturing images, comprising at least two optical devices for capturing images, each optical device comprising a respective linear camera adapted to capture images from at least one object passing over a conveying surface; at least one lighting device associated with each of said at least two cameras and adapted to illuminate said object in an area of said object from which said image can be acquired, characterized in that said lighting device illuminates said object with light pulses synchronized so that the light generated by said at least one lighting device associated with a camera does not interfere with the acquisition of the other of said at least two cameras, said camera acquiring said image only when the respective at least one lighting device is active. It can be seen that the image acquisition system for acquiring images has the following problems: the image acquisition accuracy is degraded due to the presence of a plurality of corners in the surface of the partially irregular object.
Disclosure of Invention
Therefore, the invention provides an adaptive angle image acquisition system, which is used for overcoming the problem that the image acquisition accuracy is reduced due to the fact that a plurality of edges and corners exist in the surface of a part of irregular object in the prior art.
To achieve the above object, the present invention provides an adaptive angle image capturing system, comprising: the image acquisition module comprises a first camera for acquiring an image of the surface of an object and a rotating assembly arranged above the first camera for adjusting the vertical inclination angle of the first camera; the auxiliary module is arranged below the image acquisition module and used for acquiring corresponding parameters of the surface of the object to be shot; the second camera is arranged below the first camera to acquire the number of edges and corners of the surface to be shot of the object and the average intervals among a plurality of groups of adjacent edges and corners, and the third camera is arranged below the first camera and far away from one side of the second camera to acquire the average height difference among the plurality of groups of adjacent edges and the average inclination angle among the plurality of groups of adjacent edges and corners; the object adjusting module is arranged below the image acquisition module and comprises a lifting mechanism used for adjusting the inclination angle of the object; the central control module is respectively connected with the image acquisition module, the auxiliary module and the object adjusting module and is used for increasing the vertical inclination angle of the first camera to a corresponding vertical inclination angle according to the gray influence score of the object to be shot under a preset second scoring condition, adjusting the single-side lifting height of the lifting mechanism to a corresponding lifting height according to the difference value of the inclination angle of the surface to be shot of the object and the preset first inclination angle under a preset third inclination angle condition, and adjusting the cleaning frequency of the bottom surface of the object storage platform to a corresponding cleaning frequency according to the difference value of the average gradient of a plurality of bottom surface images of the object in historical data and the preset first average gradient, wherein the preset second scoring condition is that the gray influence score of the object to be shot is greater than the preset gray influence score; and the condition of presetting the third inclination angle is that the inclination angle of the surface to be shot of the object is larger than the preset second inclination angle.
Further, the central control module determines two types of judgment modes whether the influence of the surface characteristics of the object on the image acquisition accuracy is within an allowable range according to the gray scale influence score of the object to be shot, wherein,
the first type of judgment mode is that the central control module judges that the influence of the surface characteristics of the object on the image acquisition accuracy is within an allowable range under a preset first scoring condition;
the second type of judgment mode is that the central control module judges that the influence of the surface characteristics of the object on the image acquisition accuracy exceeds an allowable range under a preset second grading condition, and the vertical inclination angle of the first camera is increased to a corresponding vertical inclination angle by calculating the difference value between the gray scale influence grade of the object to be shot and the preset gray scale influence grade;
the preset first scoring condition is that the gray level influence score of the object to be shot is smaller than or equal to the preset gray level influence score; and the preset second grading condition is that the gray scale influence grade of the object to be shot is greater than the preset gray scale influence grade.
Further, the calculation formula of the gray scale influence score is as follows:
h is the average height difference between a plurality of groups of adjacent edges, R is the number of the edges of the surface to be shot of the object, C is the average inclination angle between the plurality of edges, and L is the average interval between the plurality of groups of adjacent edges.
Further, the central control module determines three types of primary adjustment modes of the vertical inclination angle of the first camera according to the difference value between the gray scale influence score of the object to be shot and the preset gray scale influence score under the preset second scoring condition, wherein,
the first type of primary adjustment mode is that the central control module adjusts the vertical inclination angle of the first camera to a preset vertical inclination angle under the condition of presetting a first grading difference value;
the second type of primary adjustment mode is that the central control module uses a preset first inclination angle adjustment coefficient to increase the vertical inclination angle of the first camera to a first vertical inclination angle under the condition of a preset second grading difference value;
the third type of primary adjustment mode is that the central control module uses a preset second inclination angle adjustment coefficient to increase the vertical inclination angle of the first camera to a second vertical inclination angle under the condition of a preset third grading difference value;
and the preset first inclination angle adjusting coefficient is smaller than the preset second inclination angle adjusting coefficient.
Further, the preset first grading difference condition is that the difference between the gray scale influence grade of the object to be shot and the preset gray scale influence grade is less than or equal to a preset first gray scale influence grade difference;
the preset second grading difference condition is that the difference value between the gray scale influence grade of the object to be shot and the preset gray scale influence grade is larger than the preset first gray scale influence grade difference value and smaller than the preset gray scale influence grade difference value;
the preset third grading difference condition is that the difference value between the gray scale influence grade of the object to be shot and the preset gray scale influence grade is larger than the preset gray scale influence grade difference value;
and the preset first gray scale influence score difference value is smaller than the preset gray scale influence score difference value.
Further, the central control module determines three types of determination modes whether the error of the object image acquired by the first camera is within the allowable range according to the inclination angle of the surface to be shot of the object when the adjustment of the vertical inclination angle of the first camera is finished, wherein,
the first type of error determination mode is that the central control module determines that the error of the object image acquired by the first camera is within an allowable range under a preset first inclination angle condition;
the second type of error determination mode is that the central control module determines that the error of the object image acquired by the first camera exceeds the allowable range under the condition of presetting a second inclination angle, preliminarily determines that the roughness of the bottom surface of the object storage platform arranged above the lifting mechanism exceeds the allowable range, and secondarily determines whether the roughness of the bottom surface of the object storage platform exceeds the allowable range through the average gradient of a plurality of object bottom surface images in historical data;
the third type of error determination mode is that the central control module determines that the error of the object image acquired by the first camera exceeds the allowable range under the condition of a preset third inclination angle, and adjusts the single-side lifting height of the lifting mechanism to a corresponding lifting height by calculating the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle;
the preset first inclination angle condition is that the inclination angle of the surface of the object to be shot is smaller than or equal to the preset first inclination angle; the preset second inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset first inclination angle and smaller than or equal to the preset second inclination angle; the preset third inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset second inclination angle;
the preset first inclination angle is smaller than the preset second inclination angle.
Further, the central control module determines three types of adjusting modes of the single-side lifting height of the lifting mechanism under the condition of a preset third inclination angle according to the difference value of the inclination angle of the surface to be shot of the object and the preset first inclination angle, wherein,
the first type of lifting height adjusting mode is that the central control module adjusts the single-side lifting height of the lifting mechanism to a preset lifting height under the condition of a preset first inclination angle difference value;
the second type of lifting height adjusting mode is that the central control module uses a preset first lifting height adjusting coefficient to adjust the single-side lifting height of the lifting mechanism to a first lifting height under the condition of a preset second inclination angle difference value;
the third type of lifting height adjusting mode is that the central control module uses a preset second lifting height adjusting coefficient to adjust the single-side lifting height of the lifting mechanism to a second lifting height under the condition of a preset third inclination angle difference value;
and the preset first lifting height adjusting coefficient is smaller than the preset second lifting height adjusting coefficient.
Further, the preset first inclination angle difference condition is that the difference between the inclination angle of the surface of the object to be shot and the preset first inclination angle is smaller than or equal to the preset first inclination angle difference;
the preset second inclination angle difference condition is that the difference between the inclination angle of the surface to be shot of the object and the preset first inclination angle is larger than the preset first inclination angle difference and smaller than or equal to the preset second inclination angle difference;
the preset third inclination angle difference condition is that the difference between the inclination angle of the surface of the object to be shot and the preset first inclination angle is larger than the preset second inclination angle difference;
and the preset first inclination angle difference is smaller than the preset second inclination angle difference.
Further, the central control module determines whether the roughness of the bottom surface of the object storage platform exceeds three secondary judgment modes of an allowable range according to the average gradient of the bottom surface images of a plurality of objects in historical data under the condition of a preset second inclination angle, wherein,
the first secondary judgment mode is that the central control module secondarily judges that the roughness of the bottom surface of the object storage platform is within an allowable range under a preset first average gradient condition;
the second secondary judgment mode is that the central control module secondarily judges that the roughness of the bottom surface of the object storage platform exceeds an allowable range under a preset second average gradient condition, and adjusts the cleaning frequency of the bottom surface of the object storage platform to a corresponding cleaning frequency by calculating the difference value between the average gradient of a plurality of images of the bottom surface of the object and a preset first average gradient;
the third secondary judgment mode is that the central control module judges that the first camera has equipment faults under a preset third average gradient condition and sends out a fault maintenance notice;
the preset first average gradient condition is that the average gradient of the bottom surface images of the plurality of objects is smaller than or equal to a preset first average gradient; the preset second average gradient condition is that the average gradient of the bottom surface images of the plurality of objects is greater than the preset first average gradient and less than or equal to the preset second average gradient; the preset third average gradient condition is that the average gradient of the bottom surface images of the plurality of objects is larger than the preset second average gradient;
wherein the preset first average gradient is smaller than the preset second average gradient.
Further, the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to a corresponding cleaning frequency according to the difference value between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient under the condition of presetting a second average gradient, and determines three types of adjustment modes aiming at the cleaning frequency,
the first type of frequency adjustment mode is that the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to a preset cleaning frequency under the condition of presetting a first average gradient difference value;
the second type of frequency adjustment mode is that the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to a first cleaning frequency by using a preset first cleaning frequency adjustment coefficient under the condition of a preset second average gradient difference value;
the third type of frequency adjustment mode is that the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to a second cleaning frequency by using a preset second cleaning frequency adjustment coefficient under the condition of presetting a third average gradient difference value;
the preset first average gradient difference condition is that the difference between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is less than or equal to the preset first average gradient difference;
the second average gradient difference condition is that the difference between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset first average gradient difference and smaller than or equal to the preset second average gradient difference;
the preset third average gradient difference condition is that the difference between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset second average gradient difference;
and the preset first average gradient difference value is smaller than the preset second average gradient difference value.
Compared with the prior art, the system has the advantages that through the arrangement of the image acquisition module, the auxiliary module, the object adjustment module and the central control module, through the second camera, the third camera and the rotating assembly which are arranged in the auxiliary module, the vertical inclination angle of the first camera is increased to the corresponding vertical inclination angle according to the gray level influence score of the object to be shot under the preset second scoring condition, and the influence of the reduction of the image accuracy in the image acquisition process caused by the inaccurate calculation of the gray level influence parameters of the surface of the object to be shot is reduced; the single-side lifting height of the lifting mechanism is adjusted to the corresponding lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under the condition of presetting the third inclination angle, so that the influence on the image acquisition accuracy due to the overlarge inclination degree of the surface to be shot of the object is reduced; the cleaning frequency of the bottom surface of the object storage platform is adjusted to the corresponding cleaning frequency according to the difference value between the average gradient of the bottom surface images of the objects in the historical data and the preset first average gradient, so that the influence of the overlarge roughness of the bottom surface of the object storage platform reflected by the inclination degree of the surface to be shot on the bottom surface images on obtaining the gradient value is reduced, and the image acquisition accuracy of the irregular objects on the part of the surface is improved.
Furthermore, the system of the invention determines two judging modes whether the influence of the surface characteristics of the object on the image acquisition accuracy is within an allowable range according to the preset gray scale influence score of the object to be shot through the set preset gray scale influence score, and increases the vertical inclination angle of the first camera to the corresponding vertical inclination angle by calculating the difference value between the gray scale influence score and the preset gray scale influence score of the object to be shot under the preset second scoring condition, thereby reducing the influence of poor image acquisition accuracy caused by inaccurate adjustment of the vertical inclination angle and further improving the image acquisition accuracy of the part of the irregular surface object.
Furthermore, according to the system, through the set gray level influence scoring calculation formula, the influence of the image acquisition gray level of the surface to be shot of the object to be shot can be accurately described through the set average height difference between a plurality of groups of adjacent edges, the number of the edges of the surface to be shot of the object, the average inclination angle between the plurality of edges and the average interval between the plurality of groups of adjacent edges, and the image acquisition accuracy of the part of the object with the irregular surface is further improved.
Furthermore, the system provided by the invention has the advantages that the vertical inclination angle of the first camera is increased to the corresponding vertical inclination angle according to the difference value between the gray scale influence score of the object to be shot and the preset gray scale influence score by setting three types of primary adjustment modes aiming at the vertical inclination angle of the first camera, so that the influence of low image acquisition accuracy caused by incomplete image acquisition due to inaccurate adjustment of the vertical inclination angle of the first camera is reduced, and the image acquisition accuracy of part of surface irregular objects is further improved.
Furthermore, the system improves the accuracy of adjusting the vertical inclination angle by setting the preset first grading difference condition, the preset second grading difference condition and the preset third grading difference condition and accurately dividing the grading difference range, and further improves the accuracy of image acquisition of part of the irregular-surface object.
Furthermore, the device of the invention reduces the influence on the accuracy of the acquisition of the object image due to inaccurate judgment of the inclination degree by judging whether the inclination degree of the surface to be shot of the object exceeds the range through three judgment modes of whether the error of the object image acquired by the first camera is within the allowable range, and further improves the accuracy of the image acquisition of the object with irregular surface.
Furthermore, the system of the invention adjusts the single-side lifting height of the lifting mechanism to the corresponding lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under the condition of the preset third inclination angle by presetting the first lifting height adjustment coefficient and the second lifting height adjustment coefficient, thereby reducing the accurate adjustment of the single-side lifting height of the lifting mechanism and further realizing the improvement of the image acquisition accuracy of the part of the object with irregular surface.
Furthermore, the system provided by the invention can be used for more accurately adjusting the lifting mechanism by setting the preset first inclination angle difference value and the preset second inclination angle difference value and by setting the inclination angle difference values, so that the image acquisition accuracy of the part of the irregular object on the surface is further improved.
Furthermore, the system of the invention reduces the influence of reduced image acquisition precision caused by inaccurate judgment on the roughness of the bottom surface of the object storage platform by setting a preset first average gradient and a preset second average gradient and determining whether the roughness of the bottom surface of the object storage platform exceeds an allowable range according to the average gradient of a plurality of images of the bottom surface of the object in historical data, thereby further improving the image acquisition accuracy of the part of the object with irregular surface.
Furthermore, the system provided by the invention adjusts the cleaning frequency of the bottom surface of the object storage platform to the corresponding cleaning frequency according to the difference value between the average gradient of the bottom surface images of a plurality of objects and the preset first average gradient by setting the preset first average gradient difference value and the preset second average gradient difference value under the preset second average gradient condition, thereby reducing the influence on the acquisition precision of the bottom surface images of the objects caused by inaccurate adjustment of the cleaning frequency and further improving the image acquisition accuracy of part of the irregular objects on the surface.
Drawings
FIG. 1 is a schematic diagram of an overall structure of an adaptive angle image acquisition system according to an embodiment of the present invention;
FIG. 2 is a block diagram of the overall structure of an adaptive angle image acquisition system according to an embodiment of the present invention;
FIG. 3 is a block diagram of a connection structure between an image acquisition module and a central control module of the adaptive angle image acquisition system according to the embodiment of the present invention;
fig. 4 is a block diagram of a connection structure between an auxiliary module and a central control module of the adaptive angle image acquisition system according to the embodiment of the present invention.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and do not delimit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
Please refer to fig. 1, fig. 2, fig. 3, and fig. 4, which are a schematic overall structure diagram, an overall structure block diagram, a connection structure block diagram of the image acquisition module and the central control module 1, and a connection structure block diagram of the auxiliary module and the central control module 1 of the adaptive angle image acquisition system according to the embodiment of the present invention. The embodiment of the invention provides a self-adaptive angle image acquisition system, which comprises:
the image acquisition module comprises a first camera 4 for acquiring an image of the surface of an object and a rotating assembly 3 arranged above the first camera for adjusting the vertical inclination angle of the first camera 4;
the auxiliary module is arranged below the image acquisition module and used for acquiring corresponding parameters of the surface of the object to be shot; the device comprises a second camera 2 and a third camera 5, wherein the second camera 2 is arranged below the first camera and used for acquiring the number of edges and corners of a surface to be shot of an object and the average intervals among a plurality of groups of adjacent edges and corners, and the third camera 5 is arranged below the first camera and far away from one side of the second camera 2 and used for acquiring the average height difference among the groups of adjacent edges and corners and the average inclination angle among the groups of adjacent edges and corners;
the object adjusting module is arranged below the image acquisition module and comprises a lifting mechanism 6 for adjusting the inclination angle of the object;
a central control module 1, which is respectively connected with the image acquisition module, the auxiliary module and the object adjustment module, and is used for increasing the vertical inclination angle of the first camera 4 to a corresponding vertical inclination angle according to the gray-scale influence score of the object to be shot under a preset second scoring condition, adjusting the single-side lifting height of the lifting mechanism 6 to a corresponding lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under a preset third inclination angle condition, and adjusting the cleaning frequency of the bottom surface of the object storage platform 7 to a corresponding cleaning frequency according to the difference value between the average gradient of a plurality of bottom surface images of the object in historical data and the preset first average gradient,
the preset second grading condition is that the gray level influence grade of the object to be shot is larger than the preset gray level influence grade;
and the condition of presetting the third inclination angle is that the inclination angle of the surface to be shot of the object is larger than the preset second inclination angle.
According to the system, through the image acquisition module, the auxiliary module, the object adjustment module and the central control module 1, the second camera 2, the third camera 5 and the rotating component 3 which are arranged in the auxiliary module, the vertical inclination angle of the first camera 4 is increased to the corresponding vertical inclination angle according to the gray level influence score of the object to be shot under the preset second scoring condition, and the influence of the reduction of the image accuracy in the image acquisition process caused by the inaccurate calculation of the gray level influence parameters of the surface of the object to be shot is reduced; the single-side lifting height of the lifting mechanism 6 is adjusted to the corresponding lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under the condition of presetting the third inclination angle, so that the influence on the image acquisition precision due to the overlarge inclination degree of the surface to be shot of the object is reduced; the cleaning frequency of the bottom surface of the object storage platform 7 is adjusted to the corresponding cleaning frequency through the difference value between the average gradient of a plurality of object bottom surface images in the historical data and the preset first average gradient, the influence on the bottom surface image acquisition gradient value caused by the overlarge roughness of the bottom surface of the object storage platform 7 reflected by the inclination degree of the object surface to be shot is reduced, and the image acquisition accuracy of part of objects with irregular surfaces is improved.
Referring to fig. 1 and fig. 2, the central control module 1 determines two types of determination manners whether the influence of the object surface feature on the image acquisition accuracy is within an allowable range according to the gray scale influence score of the object to be photographed, wherein,
the first type of judgment mode is that the central control module 1 judges that the influence of the surface characteristics of the object on the image acquisition accuracy is within an allowable range under a preset first scoring condition;
the second type of judgment mode is that the central control module 1 judges that the influence of the surface characteristics of the object on the image acquisition accuracy exceeds an allowable range under a preset second grading condition, and increases the vertical inclination angle of the first camera 4 to a corresponding vertical inclination angle by calculating the difference value between the gray scale influence grade of the object to be shot and the preset gray scale influence grade;
the preset first scoring condition is that the gray level influence score of the object to be shot is smaller than or equal to the preset gray level influence score; and the preset second grading condition is that the gray scale influence grade of the object to be shot is greater than the preset gray scale influence grade.
Furthermore, the system of the invention determines two types of determination modes whether the influence of the surface characteristics of the object on the image acquisition accuracy is within an allowable range according to the preset gray scale influence score of the object to be shot through the preset gray scale influence score, and increases the vertical inclination angle of the first camera 4 to a corresponding vertical inclination angle by calculating the difference between the gray scale influence score of the object to be shot and the preset gray scale influence score under a preset second scoring condition, thereby reducing the influence of poor image acquisition accuracy caused by inaccurate adjustment of the vertical inclination angle and further improving the image acquisition accuracy of part of objects with irregular surfaces.
With continued reference to fig. 1 and 2, the formula for calculating the gray impact score is:
h is the average height difference between a plurality of groups of adjacent edges, R is the number of the edges of the surface to be shot of the object, C is the average inclination angle between the plurality of edges, and L is the average interval between the plurality of groups of adjacent edges.
Furthermore, according to the system, through the set gray level influence scoring calculation formula, the influence of the image acquisition gray level of the surface to be shot of the object to be shot can be accurately described through the set average height difference between a plurality of groups of adjacent edges, the number of the edges of the surface to be shot of the object, the average inclination angle between the plurality of edges and the average interval between the plurality of groups of adjacent edges, and the image acquisition accuracy of the part of the object with the irregular surface is further improved.
As shown in fig. 1 and fig. 2, the central control module 1 determines three types of primary adjustment manners for the vertical tilt angle of the first camera 4 according to the difference between the gray-scale influence score of the object to be photographed and the preset gray-scale influence score under the preset second scoring condition, wherein,
the first type of primary adjustment mode is that the central control module 1 adjusts the vertical inclination angle of the first camera 4 to a preset vertical inclination angle under a preset first scoring difference condition;
the second type of primary adjustment mode is that the central control module 1 uses a preset first inclination angle adjustment coefficient to increase the vertical inclination angle of the first camera 4 to a first vertical inclination angle under a preset second grading difference condition;
the third type of primary adjustment mode is that the central control module 1 increases the vertical inclination angle of the first camera 4 to a second vertical inclination angle by using a preset second inclination angle adjustment coefficient under a preset third scoring difference condition;
and the preset first inclination angle adjusting coefficient is smaller than the preset second inclination angle adjusting coefficient.
Specifically, a first inclination angle adjustment coefficient is preset to be recorded as α 1, a second inclination angle adjustment coefficient is preset to be recorded as α 2, a preset gray scale influence score is recorded as S0, a preset first gray scale influence score difference value is recorded as Δ S1, a preset gray scale influence score difference value is recorded as Δ S2, and a preset vertical inclination angle is recorded as A0, where α 1 is more than 1 and α 2, Δ S1 is less than Δ S2, and the adjusted vertical inclination angle of the first camera 4 is recorded as a ', and a' = A0+ α i × Aa is set, where Aa is a unit adjustment angle, α i is a preset i-th inclination angle adjustment coefficient, and i =1,2 is set.
Furthermore, the system of the invention sets three types of primary adjustment modes aiming at the vertical inclination angle of the first camera 4, and increases the vertical inclination angle of the first camera 4 to the corresponding vertical inclination angle according to the difference value between the gray scale influence score and the preset gray scale influence score of the object to be shot, so that the influence of low image acquisition accuracy caused by incomplete image acquisition due to inaccurate adjustment of the vertical inclination angle of the first camera 4 is reduced, and the image acquisition accuracy of part of the object with irregular surface is further improved.
As shown in fig. 1 and fig. 3, the preset first score difference condition is that a difference between the gray-scale influence score of the object to be photographed and the preset gray-scale influence score is smaller than or equal to a preset first gray-scale influence score difference;
the preset second grading difference condition is that the difference value between the gray scale influence grade of the object to be shot and the preset gray scale influence grade is larger than the preset first gray scale influence grade difference value and smaller than the preset gray scale influence grade difference value;
the preset third grading difference condition is that the difference value between the gray scale influence grade of the object to be shot and the preset gray scale influence grade is larger than the preset gray scale influence grade difference value;
and the preset first gray scale influence score difference value is smaller than the preset gray scale influence score difference value.
Furthermore, the system improves the accuracy of adjusting the vertical inclination angle by setting the preset first grading difference condition, the preset second grading difference condition and the preset third grading difference condition and accurately dividing the grading difference range, and further improves the image acquisition accuracy of part of the irregular surface objects.
With continued reference to fig. 1 and fig. 2, the central control module 1 determines three types of determination manners whether the error of the image of the object acquired by the first camera 4 is within the allowable range according to the tilt angle of the surface to be photographed of the object when the adjustment of the vertical tilt angle of the first camera 4 is completed, wherein,
the first type of error determination mode is that the central control module 1 determines that the error of the object image acquired by the first camera is within an allowable range under a preset first inclination angle condition;
the second type of error determination mode is that the central control module 1 determines that the error of the object image acquired by the first camera exceeds the allowable range under the condition of a preset second inclination angle, preliminarily determines that the roughness of the bottom surface of the object storage platform 7 arranged above the lifting mechanism 6 exceeds the allowable range, and secondarily determines whether the roughness of the bottom surface of the object storage platform 7 exceeds the allowable range through the average gradient of a plurality of object bottom surface images in historical data;
the third type of error determination mode is that the central control module 1 determines that the error of the object image acquired by the first camera 4 exceeds the allowable range under the condition of a preset third inclination angle, and adjusts the one-side lifting height of the lifting mechanism 6 to the corresponding lifting height by calculating the difference between the inclination angle of the surface to be shot of the object and the preset first inclination angle;
the preset first inclination angle condition is that the inclination angle of the surface of the object to be shot is smaller than or equal to the preset first inclination angle; the preset second inclination angle condition is that the inclination angle of the surface to be shot of the object is larger than the preset first inclination angle and smaller than or equal to the preset second inclination angle; the preset third inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset second inclination angle;
the preset first inclination angle is smaller than the preset second inclination angle.
Furthermore, the device of the invention reduces the influence on the acquisition accuracy of the object image due to inaccurate judgment of the inclination degree by three judgment modes of whether the error of the object image acquired by the first camera 4 is within the allowable range and judging whether the inclination degree of the surface to be shot of the object exceeds the range, thereby further improving the image acquisition accuracy of the object with irregular surface.
As shown in fig. 1, the central control module 1 determines three types of adjustment manners of the single-side lifting height of the lifting mechanism 6 according to the difference between the inclination angle of the surface to be photographed of the object and the preset first inclination angle under the condition of the preset third inclination angle, wherein,
the first type of lifting height adjusting mode is that the central control module 1 adjusts the single-side lifting height of the lifting mechanism 6 to a preset lifting height under the condition of a preset first inclination angle difference value;
the second type of lifting height adjustment mode is that the central control module 1 uses a preset first lifting height adjustment coefficient to adjust the single-side lifting height of the lifting mechanism 6 to a first lifting height under the condition of a preset second inclination angle difference value;
the third type of lifting height adjustment mode is that the central control module 1 uses a preset second lifting height adjustment coefficient to adjust the single-side lifting height of the lifting mechanism 6 to a second lifting height under the condition of a preset third inclination angle difference value;
and the preset first lifting height adjusting coefficient is smaller than the preset second lifting height adjusting coefficient.
Specifically, a first inclination angle is preset and is recorded as P1, a second inclination angle is preset and is recorded as P2, a first inclination angle difference value is preset and is recorded as Δ P1, a second inclination angle difference value is preset and is recorded as Δ P2, a first lifting height adjusting coefficient is preset and is recorded as β 1, a second lifting height adjusting coefficient is preset and is recorded as β 2, a preset lifting height is recorded as Ha0, wherein P1 is less than P2, Δ P1 is less than Δ P2,1 is less than β 1 and is less than β 2, the adjusted one-side lifting height of the lifting mechanism 6 is recorded as Ha0', ha0' = Ha0 × (1 + β j)/2 is set, β j is a preset jth lifting height adjusting coefficient, and j =1,2 is set.
Furthermore, the system of the invention adjusts the single-side lifting height of the lifting mechanism 6 to the corresponding lifting height according to the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle under the condition of the preset third inclination angle by presetting the first lifting height adjustment coefficient and the second lifting height adjustment coefficient, thereby reducing the accurate adjustment of the single-side lifting height of the lifting mechanism 6 and further realizing the improvement of the image acquisition accuracy of the part of the irregular object.
As shown in fig. 1 and fig. 3, the condition of the difference value of the preset first inclination angle is that the difference value between the inclination angle of the surface of the object to be photographed and the preset first inclination angle is smaller than or equal to the preset first inclination angle difference value;
the preset second inclination angle difference condition is that the difference between the inclination angle of the surface to be shot of the object and the preset first inclination angle is larger than the preset first inclination angle difference and smaller than or equal to the preset second inclination angle difference;
the preset third inclination angle difference condition is that the difference between the inclination angle of the surface of the object to be shot and the preset first inclination angle is larger than the preset second inclination angle difference;
and the preset first inclination angle difference is smaller than the preset second inclination angle difference.
Furthermore, the system of the invention further realizes the improvement of the image acquisition accuracy of the part of the irregular object with the irregular surface by setting the preset first inclination angle difference value and the preset second inclination angle difference value and more accurately adjusting the lifting mechanism 6 through the set inclination angle difference value.
As shown in fig. 1 and fig. 4, the central control module 1 determines whether the roughness of the bottom surface of the object storage platform 7 exceeds the allowable range according to the average gradient of the bottom surface images of the objects in the historical data under the preset second inclination angle condition, wherein,
the first secondary judgment mode is that the central control module 1 secondarily judges that the roughness of the bottom surface of the object storage platform 7 is within an allowable range under a preset first average gradient condition;
the second type of secondary determination mode is that the central control module 1 secondarily determines that the roughness of the bottom surface of the object storage platform 7 exceeds the allowable range under the condition of a preset second average gradient, and adjusts the cleaning frequency of the bottom surface of the object storage platform 7 to the corresponding cleaning frequency by calculating the difference value between the average gradient of a plurality of images of the bottom surface of the object and the preset first average gradient;
the third type of secondary judgment mode is that the central control module 1 judges that the first camera 4 has an equipment fault under a preset third average gradient condition and sends out a fault maintenance notice;
the preset first average gradient condition is that the average gradient of the bottom surface images of the plurality of objects is smaller than or equal to a preset first average gradient; the preset second average gradient condition is that the average gradient of the bottom surface images of the plurality of objects is greater than the preset first average gradient and less than or equal to the preset second average gradient; the preset third average gradient condition is that the average gradient of the bottom surface images of the plurality of objects is larger than the preset second average gradient;
wherein the preset first average gradient is smaller than the preset second average gradient.
Furthermore, the system of the invention sets a preset first average gradient and a preset second average gradient, and determines whether the roughness of the bottom surface of the object storage platform 7 exceeds an allowable range according to the average gradient of the images of the bottom surfaces of a plurality of objects in historical data, so that the influence of reduced image acquisition precision caused by inaccurate judgment on the roughness of the bottom surface of the object storage platform 7 is reduced, and the image acquisition accuracy of the part of the irregular-surface objects is further improved.
Referring to fig. 1, the central control module 1 adjusts the cleaning frequency of the bottom surface of the object storage platform 7 to the corresponding cleaning frequency according to the difference between the average gradient of the bottom surface images of the objects and the preset first average gradient under the condition of the preset second average gradient, and determines three adjustment modes for the cleaning frequency,
the first type of frequency adjustment mode is that the central control module 1 adjusts the cleaning frequency of the bottom surface of the object storage platform 7 to a preset cleaning frequency under the condition of a preset first average gradient difference value;
the second type of frequency adjustment mode is that the central control module 1 adjusts the cleaning frequency of the bottom surface of the object storage platform 7 to the first cleaning frequency by using a preset first cleaning frequency adjustment coefficient under the condition of a preset second average gradient difference value;
the third type of frequency adjustment mode is that the central control module 1 adjusts the cleaning frequency of the bottom surface of the object storage platform 7 to a second cleaning frequency by using a preset second cleaning frequency adjustment coefficient under the condition of presetting a third average gradient difference value;
the preset first average gradient difference condition is that the difference between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is less than or equal to the preset first average gradient difference;
the second average gradient difference condition is that the difference between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset first average gradient difference and smaller than or equal to the preset second average gradient difference;
the preset third average gradient difference condition is that the difference between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset second average gradient difference;
and the preset first average gradient difference value is smaller than the preset second average gradient difference value.
Specifically, a first average gradient is preset and is recorded as F1, a second average gradient is preset and is recorded as F2, a first cleaning frequency adjusting coefficient is preset and is recorded as γ 1, a second cleaning frequency adjusting coefficient is preset and is recorded as γ 2, a first average gradient difference value is preset and is recorded as Δ F1, a second average gradient difference value is preset and is recorded as Δ F2, a preset cleaning frequency is recorded as G0, wherein γ 1 is more than 1 and less than γ 2, F1 is more than F2, Δ F1 is less than Δ F2, the cleaning frequency of the bottom surface of the adjusted object storage platform 7 is recorded as G ', G' = G0 × γ k is set, and k =1,2 is set.
Furthermore, the system of the invention adjusts the cleaning frequency of the bottom surface of the object storage platform 7 to the corresponding cleaning frequency by setting a preset first average gradient difference value and a preset second average gradient difference value and according to the difference value between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient under the condition of the preset second average gradient, thereby reducing the influence of the collection precision of the bottom surface images of the objects caused by inaccurate adjustment of the cleaning frequency and further realizing the improvement of the image collection accuracy of the irregular objects on part of the surface.
Example 1
In this embodiment 1, the central control module determines three types of primary adjustment manners for the vertical tilt angle of the first camera according to a difference between a gray-scale influence score of an object to be photographed and a preset gray-scale influence score under a preset second scoring condition, where the central control module is provided with a preset first tilt angle adjustment coefficient α 1, a preset second tilt angle adjustment coefficient α 2, a preset gray-scale influence score S0, a preset first gray-scale influence score difference Δ S1, a preset gray-scale influence score difference Δ S2, and a preset vertical tilt angle is denoted as A0, where α 1=1.1, α 2=1.3, Δ S1=1.2, Δ S2=2, and S0=5, and the adjusted vertical tilt angle is denoted as a' = A0+ α i × Aa, where A0=5 ° and Aa =2 °.
In this embodiment, Δ S =1.3 is obtained, and the central control module determines that Δ S1 < [ Δ S > [ Δ S2 ] and adjusts the vertical tilt angle of the first camera to the first vertical tilt angle S 'by using a preset first tilt angle adjustment coefficient α 1, and calculates a' =5 ° +1.1 × 2 ° =7.2 °.
Further, this embodiment 1 the system is through setting up three types of once adjustment mode to the vertical inclination of first camera, through according to waiting to shoot the difference that the grey scale influence score of object and preset grey scale influence score with the vertical inclination of first camera increase to corresponding vertical inclination, has further realized the improvement of the image acquisition accuracy of partial surface irregular object.
Example 2
In this embodiment 2, the central control module determines three types of primary adjustment manners for the vertical tilt angle of the first camera according to a difference between the gray-scale influence score of the object to be photographed and the preset gray-scale influence score under a preset second scoring condition, where the central control module is provided with a preset first tilt angle adjustment coefficient α 1, a preset second tilt angle adjustment coefficient α 2, a preset gray-scale influence score S0, a preset first gray-scale influence score difference Δ S1, a preset gray-scale influence score difference Δ S2, and a preset vertical tilt angle is denoted as A0, where α 1=1.1, α 2=1.3, Δ S1=1.2, Δ S2=2, and S0=5, and the adjusted vertical tilt angle is denoted as a' = A0+ α i × Aa, where A0=5 ° and Aa =2 °.
In this embodiment, Δ S =2.1 is obtained, and the central control module determines that Δ S > [ Δ S2 ] and adjusts the vertical tilt angle of the first camera to the first vertical tilt angle S 'by using the preset second tilt angle adjustment coefficient α 2, and calculates that a' =5 ° +1.3 × 2 ° =7.6 °.
Furthermore, this embodiment the system is through setting up the three types of once adjustment modes to the vertical inclination of first camera, through the regulation to vertical inclination, has reduced because the image acquisition that leads to incompletely to the image acquisition that leads to of the inaccuracy of the regulation to the vertical inclination of first camera is lower influence of accuracy, has further realized the improvement of the image acquisition accuracy of partial surface irregularity object.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An adaptive angle image acquisition system, comprising:
the image acquisition module comprises a first camera for acquiring an image of the surface of an object and a rotating assembly arranged above the first camera for adjusting the vertical inclination angle of the first camera;
the auxiliary module is arranged below the image acquisition module and used for acquiring corresponding parameters of the surface of the object to be shot; the second camera is arranged below the first camera to acquire the number of edges and corners of the surface to be shot of the object and the average intervals among a plurality of groups of adjacent edges and corners, and the third camera is arranged below the first camera and far away from one side of the second camera to acquire the average height difference among the plurality of groups of adjacent edges and the average inclination angle among the plurality of groups of adjacent edges and corners;
the object adjusting module is arranged below the image acquisition module and comprises a lifting mechanism used for adjusting the inclination angle of the object;
a central control module which is respectively connected with the image acquisition module, the auxiliary module and the object adjusting module and is used for increasing the vertical inclination angle of the first camera to a corresponding vertical inclination angle according to the gray influence score of the object to be shot under a preset second scoring condition, adjusting the single-side lifting height of the lifting mechanism to a corresponding lifting height according to the difference value of the inclination angle of the surface to be shot of the object and the preset first inclination angle under a preset third inclination angle condition, and adjusting the cleaning frequency of the bottom surface of the object storage platform to a corresponding cleaning frequency according to the difference value of the average gradient of a plurality of bottom surface images of the object in historical data and the preset first average gradient,
the preset second scoring condition is that the gray level influence score of the object to be shot is larger than the preset gray level influence score;
and the preset third inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset second inclination angle.
2. The adaptive angle image capturing system according to claim 1, wherein the central control module determines two types of determination manners whether the influence of the surface feature of the object on the image capturing accuracy is within an allowable range according to the gray scale influence score of the object to be captured, wherein,
the first type of judgment mode is that the central control module judges that the influence of the surface characteristics of the object on the image acquisition accuracy is within an allowable range under a preset first scoring condition;
the second type of judgment mode is that the central control module judges that the influence of the surface characteristics of the object on the image acquisition accuracy exceeds an allowable range under a preset second grading condition, and the vertical inclination angle of the first camera is increased to a corresponding vertical inclination angle by calculating the difference value between the gray scale influence grade of the object to be shot and the preset gray scale influence grade;
the preset first scoring condition is that the gray level influence score of the object to be shot is smaller than or equal to the preset gray level influence score; and the preset second grading condition is that the gray scale influence grade of the object to be shot is greater than the preset gray scale influence grade.
3. The adaptive angle image acquisition system according to claim 2, wherein the formula for calculating the gray scale impact score is:
4. The adaptive angle image capturing system according to claim 3, wherein the central control module determines three types of primary adjustment modes for the vertical tilt angle of the first camera according to a difference between a gray scale influence score of an object to be photographed and a preset gray scale influence score under a preset second scoring condition, wherein,
the first type of primary adjustment mode is that the central control module adjusts the vertical inclination angle of the first camera to a preset vertical inclination angle under the condition of presetting a first grading difference value;
the second type of primary adjustment mode is that the central control module uses a preset first inclination angle adjustment coefficient to increase the vertical inclination angle of the first camera to a first vertical inclination angle under the condition of a preset second grading difference value;
the third type of primary adjustment mode is that the central control module uses a preset second inclination angle adjustment coefficient to increase the vertical inclination angle of the first camera to a second vertical inclination angle under the condition of presetting a third scoring difference value;
and the preset first inclination angle adjusting coefficient is smaller than the preset second inclination angle adjusting coefficient.
5. The adaptive angle image acquisition system according to claim 4, wherein the preset first score difference condition is that a difference between the gray-scale influence score of the object to be photographed and a preset gray-scale influence score is less than or equal to a preset first gray-scale influence score difference;
the preset second grading difference condition is that the difference value between the gray scale influence grade of the object to be shot and the preset gray scale influence grade is larger than the preset first gray scale influence grade difference value and smaller than the preset gray scale influence grade difference value;
the preset third grading difference condition is that the difference value between the gray scale influence grade of the object to be shot and the preset gray scale influence grade is larger than the preset gray scale influence grade difference value;
and the preset first gray scale influence score difference is smaller than the preset gray scale influence score difference.
6. The adaptive angle image capture system of claim 5, wherein the central control module determines three types of determination manners whether the error of the image of the object acquired by the first camera is within an allowable range according to the tilt angle of the surface to be photographed of the object when the adjustment of the vertical tilt angle of the first camera is completed, wherein,
the first type of error determination mode is that the central control module determines that the error of the object image acquired by the first camera is within an allowable range under a preset first inclination angle condition;
the second type of error determination mode is that the central control module determines that the error of the object image acquired by the first camera exceeds the allowable range under the condition of presetting a second inclination angle, preliminarily determines that the roughness of the bottom surface of the object storage platform arranged above the lifting mechanism exceeds the allowable range, and secondarily determines whether the roughness of the bottom surface of the object storage platform exceeds the allowable range through the average gradient of a plurality of object bottom surface images in historical data;
the third type of error determination mode is that the central control module determines that the error of the object image acquired by the first camera exceeds the allowable range under the condition of a preset third inclination angle, and adjusts the single-side lifting height of the lifting mechanism to a corresponding lifting height by calculating the difference value between the inclination angle of the surface to be shot of the object and the preset first inclination angle;
the preset first inclination angle condition is that the inclination angle of the surface of the object to be shot is smaller than or equal to a preset first inclination angle; the preset second inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset first inclination angle and smaller than or equal to the preset second inclination angle; the preset third inclination angle condition is that the inclination angle of the surface of the object to be shot is larger than the preset second inclination angle;
the preset first inclination angle is smaller than the preset second inclination angle.
7. The adaptive angle image capturing system according to claim 6, wherein the central control module determines three types of adjustment modes for the single-sided elevating height of the elevating mechanism according to a difference between the inclination angle of the surface to be photographed of the object and the preset first inclination angle under the condition of the preset third inclination angle, wherein,
the first type of lifting height adjusting mode is that the central control module adjusts the single-side lifting height of the lifting mechanism to a preset lifting height under the condition of presetting a first inclination angle difference value;
the second type of lifting height adjusting mode is that the central control module uses a preset first lifting height adjusting coefficient to adjust the single-side lifting height of the lifting mechanism to a first lifting height under the condition of a preset second inclination angle difference value;
the third type of lifting height adjusting mode is that the central control module uses a preset second lifting height adjusting coefficient to adjust the single-side lifting height of the lifting mechanism to a second lifting height under the condition of a preset third inclination angle difference value;
and the preset first lifting height adjusting coefficient is smaller than the preset second lifting height adjusting coefficient.
8. The adaptive angle image capturing system according to claim 7, wherein the preset first tilt angle difference condition is that a difference between a tilt angle of the surface to be photographed of the object and the preset first tilt angle is smaller than or equal to a preset first tilt angle difference;
the preset second inclination angle difference condition is that the difference between the inclination angle of the surface of the object to be shot and the preset first inclination angle is larger than the preset first inclination angle difference and smaller than or equal to the preset second inclination angle difference;
the preset third inclination angle difference condition is that the difference between the inclination angle of the surface of the object to be shot and the preset first inclination angle is larger than the preset second inclination angle difference;
and the preset first inclination angle difference is smaller than the preset second inclination angle difference.
9. The adaptive angle image capturing system according to claim 8, wherein the central control module determines whether the roughness of the bottom of the object storage platform is outside of an allowable range according to an average gradient of images of the bottom of a plurality of objects in historical data under a preset second tilt angle condition,
the first secondary judgment mode is that the central control module secondarily judges that the roughness of the bottom surface of the object storage platform is within an allowable range under a preset first average gradient condition;
the second type of secondary judgment mode is that the central control module secondarily judges that the roughness of the bottom surface of the object storage platform exceeds an allowable range under a preset second average gradient condition, and adjusts the cleaning frequency of the bottom surface of the object storage platform to a corresponding cleaning frequency by calculating the difference value between the average gradient of a plurality of images of the bottom surface of the object and a preset first average gradient;
the third secondary judgment mode is that the central control module judges that the first camera has equipment faults under a preset third average gradient condition and sends out a fault maintenance notice;
the preset first average gradient condition is that the average gradient of the bottom surface images of the plurality of objects is smaller than or equal to a preset first average gradient; the preset second average gradient condition is that the average gradient of the bottom surface images of the plurality of objects is greater than the preset first average gradient and less than or equal to the preset second average gradient; the preset third average gradient condition is that the average gradient of the images of the bottom surfaces of the plurality of objects is greater than the preset second average gradient;
wherein the preset first average gradient is smaller than the preset second average gradient.
10. The adaptive angle image capturing system according to claim 9, wherein the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to a corresponding cleaning frequency according to a difference between an average gradient of the images of the bottom surfaces of the plurality of objects and a preset first average gradient under a preset second average gradient condition, and determines three types of adjustment modes for the cleaning frequency,
the first type of frequency adjustment mode is that the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to a preset cleaning frequency under the condition of presetting a first average gradient difference value;
the second type of frequency adjustment mode is that the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to a first cleaning frequency by using a preset first cleaning frequency adjustment coefficient under the condition of presetting a second average gradient difference value;
the third type of frequency adjustment mode is that the central control module adjusts the cleaning frequency of the bottom surface of the object storage platform to a second cleaning frequency by using a preset second cleaning frequency adjustment coefficient under the condition of presetting a third average gradient difference value;
the preset first average gradient difference condition is that the difference between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is less than or equal to the preset first average gradient difference;
the second average gradient difference condition is that the difference between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset first average gradient difference and smaller than or equal to the preset second average gradient difference;
the preset third average gradient difference condition is that the difference between the average gradient of the bottom surface images of the plurality of objects and the preset first average gradient is larger than the preset second average gradient difference;
and the preset first average gradient difference value is smaller than the preset second average gradient difference value.
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