CN209802345U - machine vision range unit - Google Patents
machine vision range unit Download PDFInfo
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- CN209802345U CN209802345U CN201920265459.2U CN201920265459U CN209802345U CN 209802345 U CN209802345 U CN 209802345U CN 201920265459 U CN201920265459 U CN 201920265459U CN 209802345 U CN209802345 U CN 209802345U
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- 230000006870 function Effects 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 11
- 230000005055 memory storage Effects 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 11
- 238000003384 imaging method Methods 0.000 description 21
- 238000013507 mapping Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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- Measurement Of Optical Distance (AREA)
Abstract
The utility model discloses a the utility model provides a machine vision range unit, include: the shell body, the front end of shell body is equipped with the monocular camera, the shell body surface is equipped with display screen, memory storage data function key and measurement function key, the inside central processing unit that is equipped with of shell body, central processing unit respectively with memory storage data function key, measurement function key, monocular camera and display screen are connected. The utility model is simple in operation, and guaranteed the precision of range finding, realized that the in-process of multirobot cooperation and service robot target tracking carries out accurate target location to target object or companion.
Description
Technical Field
The utility model relates to a machine vision measures technical field, concretely relates to machine vision range unit.
Background
In recent years, machine vision measurement techniques have been developed rapidly and have been widely used in various fields.
In the prior art, the distance measurement and positioning of a target object of an image are generally carried out in two modes, one mode is that a laser distance measurement device is arranged on a machine for distance measurement; the other method is to calculate the depth information of the target in the two-dimensional digital image through machine vision and then calculate the distance of the target object according to the pixel information of the image and the imaging principle of a camera.
The space positioning of workpieces and the like in the traditional industrial production process has problems, the stereo matching in binocular vision is insufficient, multiple images are needed to complete the acquisition of image depth information, the calculation and the operation are complicated, and the requirements of multi-robot cooperation, target tracking and the like cannot be met.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a machine vision range unit, easy operation, and guaranteed the precision of range finding, realized that the in-process that multirobot cooperation and service robot target tracked carries out accurate target location to target object or companion.
In order to realize the purpose, the utility model discloses a technical scheme be:
A machine vision ranging device comprising: the shell body, the front end of shell body is equipped with the monocular camera, the shell body surface is equipped with display screen, memory storage data function key and measurement function key, the inside central processing unit that is equipped with of shell body, central processing unit respectively with memory storage data function key, measurement function key, monocular camera and display screen are connected.
further, the central processing unit includes:
A power supply circuit;
The single-chip microcomputer and the monocular camera are respectively connected with the power circuit, and the single-chip microcomputer is connected with the monocular camera;
the display circuit is connected with the signal output end of the singlechip;
And the upper computer system is connected with the single chip microcomputer through a serial port communication circuit.
further, the single chip microcomputer is an STM32 microprocessor.
Further, the camera is an OV7725 camera.
Further, the display circuit is an LCD1602 display circuit, and the LCD1602 display circuit is connected to the display screen.
Since the technical scheme is used, the beneficial effects of the utility model are that:
the utility model discloses a machine vision range unit obtains the mapping relation of imaging point and target point according to the aperture imaging principle, establishes linear model. And secondly, acquiring the depth information of the image according to the basic imaging principle and the geometric relationship between the imaging point and the target point. And finally, correcting the imaging coordinate of the target point through camera calibration so as to obtain the position information of the target point. The method is simple in principle and ensures the accuracy of distance measurement. The experimental results show the feasibility and effectiveness of the method. In view of above advantage, the utility model discloses the research that utilizes monocular camera to range finding has important meaning.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
fig. 2 is a schematic diagram of the structure of the cpu according to the present invention.
fig. 3 is a schematic view of the implementation flow of the distance measuring method of the present invention.
Description of reference numerals: 1-a housing; 2-a monocular camera; 3-a display screen; 4-memory storage data function key; 5-measurement function key.
Detailed Description
the preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings 1 to 3.
A machine vision ranging method, comprising the steps of:
Step 1: acquiring imaging pixel points in an image, obtaining a mapping relation between the imaging pixel points and target points according to a pinhole imaging principle, and establishing a linear model;
in the first step, the method further comprises the steps of obtaining imaging pixel points in the image, judging whether the imaging pixel points belong to a color block, if so, drawing a frame of the color block and continuing the subsequent steps.
step 2: acquiring depth information of the imaging pixel points according to the geometric relation between the imaging pixel points and the target points;
And step 3: calculating the imaging coordinate of the target point according to the linear model and the depth information;
and 4, step 4: and correcting the imaging coordinate of the target through camera calibration to obtain the position information of the target point.
the method for measuring the target distance based on the monocular vision is provided aiming at the problems of space positioning of workpieces and the like in the industrial production process and the defects of stereo matching in the binocular vision. Firstly, according to the pinhole imaging principle, obtaining the mapping relation between an imaging point and a target point, and establishing a linear model. And secondly, acquiring the depth information of the image according to the basic imaging principle and the geometric relationship between the imaging point and the target point. And finally, correcting the imaging coordinate of the target point through camera calibration so as to obtain the position information of the target point. The method is simple in principle and ensures the accuracy of distance measurement. The experimental result shows feasibility and validity of this method, the utility model discloses the research that utilizes monocular camera range finding has important meaning.
Further, the step 2 specifically includes:
Step 201: selecting a target reference object, placing the target reference object at a certain position with a certain distance from a camera and shooting an image to obtain the real size Rm of the target reference object, the distance between the target reference object and the camera and a fixed pixel Apix;
step 202: and placing the target reference object at the target point and shooting to obtain a pixel Bpix in the target area of the target reference object.
Further, the step 3 specifically includes: and calculating the imaging coordinate of the target point according to the linear model and the depth information, wherein the calculation formula is as follows:
Lm＝K*Bpix
Wherein Lm is the distance between the target point and the camera, and K is a constant.
Further, the above constant K is calculated by the following formula:
Wherein the camera of α is half of the vertical field angle.
The utility model discloses a high performance optical sensor-OV 7725 and STM32 minimum system constitute OPENMV measuring distance's core module. The specific measurement technical scheme is that the OpenMV adopts a monocular camera, and when the distance measurement is to be realized, a reference object needs to be selected, and the distance is calculated by utilizing the size ratio of the reference object.
Lm to the left of the equal sign is the length and Bpix is the pixel in the camera that the ball occupies (the pixel of the diameter). Equal sign right, Rm is the true radius of the ball, Apix is the fixed pixel, and a is half the viewing angle.
Since the actual length is inversely proportional to the pixels of the camera, the simplified formula is:
Distance-constant K/diameter pixel
the measured object can be firstly spaced 10cm from the camera, the pixel value of the diameter in the camera is printed out, and then the pixel value is multiplied, so that the value of K is obtained.
A machine vision ranging device comprising: the shell body, the front end of shell body is equipped with the monocular camera, the shell body surface is equipped with display screen, memory storage data function key and measurement function key, the inside central processing unit that is equipped with of shell body, central processing unit respectively with memory storage data function key, measurement function key, monocular camera and display screen are connected.
Further, the central processing unit includes:
a power supply circuit;
The single-chip microcomputer and the monocular camera are respectively connected with the power circuit, and the single-chip microcomputer is connected with the monocular camera;
the display circuit is connected with the signal output end of the singlechip;
and the upper computer system is connected with the single chip microcomputer through a serial port communication circuit.
Further, the single chip microcomputer is an STM32 microprocessor.
Further, the camera is an OV7725 camera.
Further, the display circuit is an LCD1602 display circuit, and the LCD1602 display circuit is connected to the display screen.
Claims (5)
1. A machine vision ranging device, comprising: the shell body, the front end of shell body is equipped with the monocular camera, the shell body surface is equipped with display screen, memory storage data function key and measurement function key, the inside central processing unit that is equipped with of shell body, central processing unit respectively with memory storage data function key, measurement function key, monocular camera and display screen are connected.
2. the machine-vision ranging device of claim 1, wherein the central processing unit comprises:
a power supply circuit;
The single-chip microcomputer and the monocular camera are respectively connected with the power circuit, and the single-chip microcomputer is connected with the monocular camera;
The display circuit is connected with the signal output end of the singlechip;
And the upper computer system is connected with the single chip microcomputer through a serial port communication circuit.
3. the machine-vision ranging device of claim 2, wherein the single chip microcomputer is an STM32 microprocessor.
4. a machine vision ranging device as claimed in claim 3 wherein the camera is an OV7725 camera.
5. The machine-vision ranging device of claim 4, wherein the display circuit is an LCD1602 display circuit, and the LCD1602 display circuit is connected to the display screen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920265459.2U CN209802345U (en) | 2019-03-01 | 2019-03-01 | machine vision range unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920265459.2U CN209802345U (en) | 2019-03-01 | 2019-03-01 | machine vision range unit |
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| CN209802345U true CN209802345U (en) | 2019-12-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764850A (en) * | 2019-03-01 | 2019-05-17 | 南通理工学院 | Machine vision distance measuring device and distance measuring method |
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2019
- 2019-03-01 CN CN201920265459.2U patent/CN209802345U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109764850A (en) * | 2019-03-01 | 2019-05-17 | 南通理工学院 | Machine vision distance measuring device and distance measuring method |
| CN109764850B (en) * | 2019-03-01 | 2023-11-10 | 南通理工学院 | Machine vision ranging device and ranging method |
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Granted publication date: 20191217 |