CN117437187B - Detonator detection method, detonator detection system and storage medium - Google Patents
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Abstract
The invention provides a detonator detection method, a detonator detection system and a storage medium, wherein the detonator detection method comprises the following steps: controlling a camera to shoot and collect detonator images; step 2: cutting the acquired detonator image to obtain a corresponding card print image to be detected and a corresponding high-plug image to be detected; step 3: determining upper and lower detection areas of corresponding card marks through NCC template matching and obtaining the gravity center position of a high-plug template picture; step 4: measuring the upper and lower clamping distances of the corresponding areas of the detonator through a one-dimensional caliper, and testing according to the difference value between the gravity center position of the template picture and the gravity center position of the actually matched template to obtain a test result; step 5: judging whether the test result is normal, if so, the test result is OK, otherwise, the test result is NG. The beneficial effects of the invention are as follows: the invention fully utilizes the obvious characteristics of Lei Guanka marks and detonator high plugs, adopts the NCC principle to carry out matching and selection of measurement areas and carries out measurement analysis calculation, thereby realizing automatic detection without manual operation, solving the problem of false detection caused by detection omission in manual detection, reducing human intervention and improving the production efficiency of detonator detection.
Description
Technical Field
The invention relates to the technical field of detection, in particular to a detonator detection method, a detonator detection system and a storage medium.
Background
In the full-automatic assembly production process of the electronic detonator, the assembled detonator needs to be detected, and the main detection items are whether the detonator card mark size is qualified or not and whether the position of the assembled detonator is qualified or not. Because of the automated production, fully automated detection techniques are also required. The detection problems of Lei Guanka marks, detonator high plugs and the like are generally solved by adopting machine vision image processing, so that man-machine isolation production is realized, and safety accidents are avoided. Most of the existing schemes adopt gray matching algorithm to find Lei Guanka printing positions, but the existing schemes have the defect that when finding the upper edge of the card printing, the background around the upper edge of the card printing is easily misplaced, so that the measurement result is inaccurate.
Disclosure of Invention
The invention provides a detonator detection method, which comprises the following steps:
step 1: controlling a camera to shoot and collect detonator images;
Step 2: cutting the acquired detonator image to obtain corresponding element images to be detected, wherein the element images to be detected comprise a card print image to be detected and a high-plug image to be detected;
step 3: determining upper and lower detection areas of corresponding card marks through NCC template matching and obtaining the gravity center position of a high-plug template picture;
Step 4: measuring the upper and lower clamping distances of the corresponding areas of the detonator through a one-dimensional caliper, and testing according to the difference value between the gravity center position of the template picture and the gravity center position of the actually matched template to obtain a test result;
step 5: judging whether the test result is normal, if so, the test result is OK, otherwise, the test result is NG.
As a further improvement of the present invention, when the element to be detected is a detonator seal, in the step 2, the collected detonator Image is cut to obtain corresponding detonator seal detection region images Image1[ X1, Y1], X1 and Y1 are variables, X1 represents the abscissa position of a certain point in the detection region Image, and Y1 represents the ordinate position of a certain point in the detection region Image.
In the step 4, a one-dimensional caliper distance measurement is performed on the detonator seal detection area picture to obtain an upper detonator seal boundary and a lower detonator seal boundary, wherein the upper detonator seal boundary is boundary 1, the lower detonator seal boundary is boundary 2, the coordinate pixel distance of two points of the boundary 1 and the boundary 2 is calculated, and the coordinate pixel distance is the test result.
As a further improvement of the invention, in said step 5, the test result is OK if the coordinate pixel distance is within the set range value, otherwise the test result is NG.
In the step 2, when the element to be detected is a detonator high plug, the collected detonator Image is cut to obtain corresponding detonator high plug detection area images Image2[ X2, Y2], X2 and Y2 are variables, X2 is used for representing the abscissa position of a certain point in the detection area Image, and Y2 is used for representing the ordinate position of a certain point in the detection area Image.
As a further improvement of the invention, in the step 3, the specific position of the high plug of the detonator detection zone is obtained through the NCC matching template.
In the step 4, calculating a difference value between the gravity center position and the actual gravity position of the template picture, wherein the difference value is a position difference value of a detonator high plug, and the position difference value of the detonator high plug is a test result.
As a further improvement of the present invention, in the step 5, if the position difference is smaller than the set value, the test result is OK, otherwise the test result is NG.
The invention also provides a detonator detection system, comprising: a memory, a processor and a computer program stored on the memory, the computer program being configured to implement the steps of the detonator detection method of the present invention when called by the processor.
The invention also provides a computer readable storage medium storing a computer program configured to implement the steps of the detonator detection method of the invention when invoked by a processor.
The beneficial effects of the invention are as follows: the invention fully utilizes the obvious characteristics of Lei Guanka marks and detonator high plugs, adopts the NCC principle to carry out matching and selection of measurement areas, and carries out measurement analysis calculation, thereby realizing automatic detection without manual operation. The method is used for solving the problem that false detection is missed in manual detection, reducing human intervention and improving the production efficiency of detonator detection.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a flow chart of an embodiment of the present invention;
fig. 3 is a flow chart of another embodiment of the present invention.
Detailed Description
As shown in fig. 1, the invention discloses a detonator detection method, which comprises the following steps:
step 1: controlling a camera to shoot and collect detonator images;
Step 2: cutting the acquired detonator image to obtain a corresponding element image to be detected;
step 3: determining upper and lower detection areas of corresponding card marks through NCC template matching and obtaining the gravity center position of a high-plug template picture;
Step 4: measuring the upper and lower clamping distances of the corresponding areas of the detonator through a one-dimensional caliper, and testing according to the difference value between the gravity center position of the template picture and the gravity center position of the actually matched template to obtain a test result;
step 5: judging whether the test result is normal, if so, the test result is OK, otherwise, the test result is NG.
NCC overview:
The use of Normalized Cross Correlation (NCC) based techniques to compare the similarity of two images has been a common means of image processing. The method has application to object detection and identification in the field of industrial production link detection and monitoring. The NCC algorithm can effectively reduce the influence of illumination on the image comparison result. And the NCC final result is between-1 and 1, so the comparison result is particularly easy to quantify, and the result can be judged to be good or bad only by giving a threshold value.
NCC principle:
The NCC matching algorithm is a classical matching algorithm. The degree of matching is determined by calculating the cross-correlation value of the template image and the search image. The position at which the cross correlation value is maximum determines the position of the template image in the search image. Assume that the search image S has a size of m×m and the template T has a size of n×n, where M > N, M, N represent the image pixel size. The template T is translated over the image S, the subgraph covered by the template is denoted S i,j, (i, j) being the coordinates of the top-left corner vertex of the subgraph in the search graph S. In an actual matching application, the similarity of the search graph and the template is measured by a measurement function, and then the normalized product correlation matching measurement is defined as:
Assuming that the image refer is a standard template image, the target is a target image, the MxN represents the image size, and the method is used for detecting whether other objects exist in the target image, and judging whether the window sub-images are identical or not by calculating NCC values between the template image and the target image under each pixel moving window, wherein the NCC calculation formula is as follows:
Wherein:
all pixel points (x, y) e M N
M×n represents the window size, and such computational complexity is 0. From the above formula, it can be seen that the average value and the square sum can be pre-calculated through an integral graph, and for the template and the target image size-induced application scene, the arbitrary window size sum and the square sum can be calculated in advance according to the integral image.
Wherein the sum and the square sum of the arbitrary window size can be calculated in advance according to the integral image
Wherein mu f,μt represents the window mean of the band detection image and the reference template image, respectively.
The two calculations realize constant time calculation independent of window radius, and the only lack is the following calculation formula
Or can be obtained in advance by calculation of the respective integral graphs. Thus, the whole pre-calculation generation is completed. The NCC can realize the complexity calculation of linear time by looking up the calculation result by means of the index table, and the time consumption approximate constant is irrelevant to the size of the window radius, so that the real-time object detection industrial environment working condition can be completely met.
The angle at which the closest template picture is obtained by template matching after rotating the T template picture by a small angle step size of 0.1 degrees (a.to 0.1, -0.2,0,0.1,0.2 a.) (REALANGEL) is the matching rotation angle of the template;
Rotation of the T template picture:
the barycentric coordinates (rx 0, ry 0) of the template, the rotation angle RotaryAngle,
x′＝(x-rx0)*cos(RotaryAngle)+(y-ry0)*sin(RotaryAngle)+rx0
y′＝-(x-rx0)*sin(RotaryAngle)+(y-ry0)*cos(RotaryAngle)+ry0
Obtaining a template gravity center position (realX, realY) by a gravity center calculation formula
Image center of gravity formula: (matching actual image) realT [ X, Y ]
RealX = (sum of all coordinate values of X)/(w+1) ×h+1
RealY = (sum of all coordinate values of Y)/(w+1) ×h+1
X, Y are variables, X represents the abscissa position of a point in the image of the detection area, Y represents the ordinate position of a point in the image of the detection area, x=0, 1, 2..w, y=0, 1, 2..h, realT [ X, Y ], w+1 is the width of the image, and h+1 is the height of the image.
As shown in fig. 2, as an embodiment of the invention, the element to be detected is a detonator stamp, in the step 2, a detonator stamp detection area Image corresponding to cutting is performed on the collected detonator Image, a stamp detection area Image1[ X 1,Y1],X1, Y1 is a variable, X 1 is an abscissa position of a certain point in the detection area Image, X 1 is an ordinate position ,X1＝0,1,2,...W1,Y1＝0,1,2...H1,Image1[X1,Y1],W1+1 of a certain point in the detection area Image and is a width of the detonator stamp Image, and H 1+1 is a height of the detonator stamp Image. In the step 3, corresponding upper and lower imprint detection areas are determined according to NCC template matching. In the step 4, one-dimensional caliper distance measurement is performed on the detonator seal detection area picture to obtain an upper detonator seal boundary and a lower detonator seal boundary, wherein the upper detonator seal boundary is boundary 1, the lower detonator seal boundary is boundary 2, the coordinate pixel distance of the two points of the boundary 1 and the boundary 2 is calculated, and the coordinate pixel distance is the test result. In the step 5, if the coordinate pixel distance is within the set range value, the test result is OK, otherwise, the test result is NG.
The one-dimensional caliper distance measurement is specifically described for detonator seal pictures TESTIMAGE [ X, Y ] to be actually detected:
The derivative of the function f (x) is defined mathematically:
Since the image pixels are discrete and the derivative is a concept that reflects the rate of change of the argument, Δx takes 1 to represent the change of one pixel, the derivative for the direction at (x, y) in the image can be expressed as:
TESTIMAGE [ X, Y ] first derivative plot in horizontal direction boundary 1 (X 0,y0) and boundary 2 (X 1,y1) were obtained.
Let two points A, B and coordinates be a (x 0,y0)、B(x1,y1), respectively, the distance between points a and B is:
Distance=calculate the coordinate pixel Distance of two points of boundary 1 (x 0,y0) and boundary 2 (x 1,y1);
As shown in fig. 3, as another embodiment of the invention, the element to be detected is a detonator high plug, in the step 2, the collected detonator Image is cut to obtain a corresponding detonator high plug detection area Image2[ X 2,Y2],X2,Y2 is a variable, X 2 is used for indicating the abscissa position of a certain point in the detection area Image, Y 2 is used for indicating the ordinate position ,X2＝0,1,2...W2,Y2＝0,1,2...H2,Image2[X2,Y2],W2+1 of a certain point in the detection area Image as the width of the detonator high plug Image, and H 2+1 is the height of the detonator high plug Image; in the step 3, the center of gravity position of the template picture of the detonator high plug detection area is obtained through the NCC matching template, and in the step 4, the difference value between the center of gravity position of the template picture and the actual heavy position is calculated, wherein the difference value is the position difference value of the detonator high plug, and the position difference value of the detonator high plug is the test result. In the step 5, if the position difference is smaller than the set value, the test result is OK, otherwise, the test result is NG.
The invention obtains the actual gravity center position (realX, realY, REALANGEL) and the known T gravity center position (modelX, modelY, modelAngel =0) through NCC template matching to generate an affine matrix HomMat d, and calculates the actual detection picture TESTIMAGE [ X, Y ] through the standard position which can be set by HomMat d;
Rotation matrix phi= REALANGEL-modelAngel;
T: translation matrix
Tx= realX-modelX coordinate X after rotation;
ty= realY-modelY, coordinate Y after rotation;
The actual position is calculated from the standard position that can be set by HomMat d:
Row1: a set standard position y; column1: a set standard position x;
Row2: an actual position x; column2: the actual position y;
detecting detonator high plugs through NCC image template matching;
Known template T center of gravity position (modelX, modelY, modelAngel =0)
The position of the actual center of gravity after matching (realX, realY, REALANGEL)
Position difference differ = abs (realY-modelY) for the high plug;
the position difference differ is OK if it is smaller than the set value, and NG if it is not.
The invention fully utilizes the obvious characteristics of Lei Guanka marks and detonator high plugs, adopts the NCC principle to select matching and measuring areas and performs measurement, analysis and calculation, thereby realizing automatic detection without manual operation, avoiding manual operation, solving the phenomenon of false detection caused by detection omission of manual detection, reducing human intervention and improving the production efficiency of detonator detection.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (7)
1. The detonator detection method is characterized by comprising the following steps of:
step 1: controlling a camera to shoot and collect detonator images;
Step 2: cutting the acquired detonator image to obtain corresponding element images to be detected, wherein the element images to be detected comprise a card print image to be detected and a high-plug image to be detected;
step 3: determining upper and lower detection areas of corresponding card marks through NCC template matching and obtaining the gravity center position of a high-plug template picture;
Step 4: measuring the upper and lower clamping distances of the corresponding areas of the detonator through a one-dimensional caliper, and testing according to the difference value between the gravity center position of the template picture and the gravity center position of the actually matched template to obtain a test result;
Step 5: judging whether the test result is normal, if so, the test result is OK, otherwise, the test result is NG;
In the step 4, the actual gravity center position of the detonator high plug detection area picture is obtained through the NCC matching template, the difference value between the gravity center position of the template picture and the actual gravity position is calculated, the difference value is the position difference value of the detonator high plug, and the position difference value of the detonator high plug is the test result;
In the step 5, if the position difference is smaller than the set value, the test result is OK, otherwise, the test result is NG.
2. The detonator detection method of claim 1 wherein: when the element to be detected is a detonator seal, in the step 2, cutting the collected detonator Image to obtain corresponding detonator seal detection region images Image1[ X1, Y1], wherein X1 and Y1 are variables, X1 is used for representing the abscissa position of a certain point in the detection region Image, and Y1 is used for representing the ordinate position of a certain point in the detection region Image.
3. The detonator detection method of claim 2 wherein: in the step 4, one-dimensional caliper distance measurement is performed on the detonator seal detection area picture to obtain an upper detonator seal boundary and a lower detonator seal boundary, wherein the upper detonator seal boundary is boundary 1, the lower detonator seal boundary is boundary 2, the coordinate pixel distance of the two points of the boundary 1 and the boundary 2 is calculated, and the coordinate pixel distance is the test result.
4. A detonator detection method as claimed in claim 3 wherein: in the step 5, if the coordinate pixel distance is within the set range value, the test result is OK, otherwise, the test result is NG.
5. The detonator detection method of claim 1 wherein: when the element to be detected is a detonator high plug, in the step 2, the collected detonator Image is cut to obtain corresponding detonator high plug detection area images Image2[ X2, Y2], X2 and Y2 are variables, X2 is used for representing the abscissa position of a certain point in the detection area Image, and Y2 is used for representing the ordinate position of a certain point in the detection area Image.
6. A detonator detection system comprising: a memory, a processor and a computer program stored on the memory, the computer program being configured to implement the steps of the detonator detection method of any one of claims 1 to 5 when invoked by the processor.
7. A computer-readable storage medium, characterized by: the computer readable storage medium stores a computer program configured to implement the steps of the detonator detection method of any one of claims 1 to 5 when invoked by a processor.
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