RU2465552C1 - Method of determining coordinates of object and apparatus for realising said method - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: according to the method, the object is illuminated with a non-coherent light source; colour reference and current images of the object which are spaced apart in time are obtained, filtered, recorded and then magnified. The images are compared while superimposing them on the scale and eliminating angular misalignments of the images. Two additional channels for illuminating the object and evaluating the colour, type and coordinates of the object are introduced and the colour, type and spatial coordinates of the object are evaluated.

EFFECT: high accuracy of determining coordinates, possibility of determining the type and colour of the object.

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Description

The group of inventions relates to a method for determining the coordinates of an object and a device for its implementation. The scope covers systems of technical vision and can be used to control an industrial handling robot, transport robots, aircraft or ships.

Various methods and devices for determining the coordinates of an object are known and widely used, containing image sensors (laser, television, radar), memory blocks (for storing reference information), and coordinate calculators [1, 2].

An essential feature of these methods and devices is that an image of the object is formed, which is analyzed according to certain methods, algorithms or theoretical models, and then the location of the object in the working area (scene) is drawn [3].

The disadvantages of the methods and devices are the low accuracy of determining the coordinates of the object and lack of functional ability (inability to determine the type of object, i.e., recognize the shape of the object).

In addition, all these analogues are not universal: they are not able to determine the type, color and spatial coordinates of an object with high accuracy, and they are not noise-resistant.

As a prototype, consider a method for recognizing the type and determining the coordinates of an object in a working area [4]. This method is characterized by correlation-extreme information processing and contains a current image sensor (TI), a block of reference images (EI) and a cross-correlation function analyzer (CCF), by the type and position of the main maximum of which it is concluded about the type and location of the object in a two-dimensional working zone.

The disadvantages of the method and device are, firstly, the inability to determine the three-dimensional (spatial) coordinates of the object, the inability to recognize the color of the object, and secondly, the lack of universality (the inability to use to assess the location of the object on the plane and in space) and, thirdly, in the absence of wide functionality (application in robotic systems, vehicle navigation systems and various mechatronic systems).

The objective is to create a method and device that increase the functionality, accuracy and versatility of the object.

The problem is achieved in that, as in the known method, and in the claimed method, illuminate the object with an incoherent light source, obtain reference and current images of the object spaced apart in time, which filter, store and enlarge, then evaluate the type and coordinates of the object, why compare the images, combining them in scale while eliminating the angular mismatches of the images, the method is different in that they receive color current and reference images, introduce two additional channels svescheniya object and color evaluation, the type and coordinates of the object and examine the color, type and spatial coordinates of the object.

Distinctive features of the proposed method from the known closest to it is that the object is illuminated with three light sources, color television images are read in three mutually perpendicular directions and the type, color and spatial (three-dimensional) coordinates of the object are determined by analysis and the form of three mutually correlated functions, and EI is formed by photographing or analytical construction (mathematical modeling) of the object.

In addition, the current image of the object is read from three mutually perpendicular planes.

In addition, the object is illuminated in three mutually perpendicular areas.

In addition, the comparison of the reference and current images is carried out by synchronously reading three color images of the object.

In addition, current images are obtained by changing the angles of pitch, pitch and angle of the color television image sensors.

In addition, reference images are formed by photographing an object with a color television camera or by analytical modeling of the object.

In addition, the comparison of the reference and current images is carried out with the synchronous rotation of the reference images around the optical axis of the respective drives of current images and formers measure proximity.

In addition, the current image is increased by an amount determined by the resolution of the estimate of the coordinates, type and color of the object, as well as its speed.

The proposed device containing a serially connected lighting control unit, a illuminator, an object, a current image sensor, a current image storage device, a proximity measure driver, an proximity measure analyzer connected to the second input of the current image sensor by a first output and connected via a series output through a second output a block for storing reference images and a reference image connected by a second input to the third output of the proximity analyzer to the second input proximity sensor shaper, differs from the known one in that it additionally contains a second additional illuminator, an object, a second additional current image sensor, a second additional current image storage device, a second additional proximity measure driver connected to the second output of the reference image by a second output, and a second additional proximity analyzer, communication unit and calculator, as well as a third additional illuminator connected in series, volume CT, third additional current image sensor, third additional current image storage device, third additional proximity measure driver, connected to the third output of the reference image with a second input, third additional proximity measure analyzer and communication unit, connected to the proximity measure analyzer by the third input, and the second output to the input of the control unit, and additional individual outputs of the adaptation unit are connected to the individual inputs of the second additional sensor of the current image and t an additional sensor of the current image, and two additional outputs of the lighting control unit are connected to the inputs of the second and third additional illuminators, and the output of the computer is connected to a separate input of the communication unit, the additional output of the adaptation and synchronization unit is connected to a separate input of the communication unit, additional inputs of the reference image are connected to the outputs of the second and third additional analyzers proximity measures, and the individual outputs of the drive of the current image, the second additional The current drive and the third additional drive of the current image are connected to the individual inputs of the reference image storage unit.

In addition, the communication unit is made in the form of a wireless or wired radio.

In addition, the calculator is made in the form of a processor that determines the spatial coordinates of the object.

In addition, the storage unit for reference images is made in the form of a multidimensional memory storage unit.

In addition, the illuminator is made in the form of a universal unit containing coherent or incoherent illuminators.

Distinctive features of the proposed device from the above known, closest to it, is that, firstly, three channels of reading (perceiving) TI are formed, the formation and analysis of a cross-correlation function, and secondly, three controlled light sources illuminating object, thirdly, a communication unit with the device blocks and a calculator are introduced, which provides information analysis and calculates the type, color and three-dimensional coordinates of the object.

The claimed group of inventions meets the requirement of unity of invention, because one of the objects of the invention (namely, the device) is designed to perform the functions of another declared group object - a method for determining the coordinates of an object, and both objects of the group of inventions are aimed at solving the same problem with a single technical result.

The proposed method and device are illustrated by the drawings presented in figure 1 - figure 3.

Figure 1 is a structural diagram of a device.

Figure 2 presents the correlation basis for measuring the spatial position of the recognition object (OR) using three sensors of the current image (DTI).

Figure 3 shows an example of measuring the position of the OP in the plane of the HOU.

Figure 1 gives the following notation:

1 - object;

2 - illuminator;

3 - second additional illuminator;

4 - the third additional illuminator;

5 - lighting control unit;

6 - current image sensor;

7 - the second additional sensor of the current image;

8 - the third additional sensor of the current image;

9 - drive current image;

10 - the second additional drive of the current image;

11 - the third additional drive of the current image;

12 - shaper measures of proximity;

13 - the second additional shaper measures of proximity;

14 - third additional shaper measures of proximity;

15 - proximity measure analyzer;

16 is a second additional analyzer measure of proximity;

17 - the third additional analyzer measures the proximity;

18 is a reference image;

19 - block storage of reference images;

20 - communication unit;

21 - a computer;

22 - block adaptation and synchronization.

Figure 1 shows the following connections:

(→) - electrical communications;

(- →) - optical communications;

(- · - · →) - radio engineering (wireless) communications.

The device operates in two modes: preparation of a standard and measurement (determination of coordinates). In the preparation mode of the standard, a color reference image of object 1 is formed. For this, the signal from the adaptation and synchronization unit (BAS) 22 is turned on through the communication unit (BS) 20 and the lighting control unit (CUO) 5, illuminator 2, second and third additional illuminators 3 , 4 (VDO3, TDO4), which illuminate the object 1. After this, the BAS 22 signal activates the image sensor 6 (DTI6), the second additional sensor of the current image 7 (VDTI7) and the third additional sensor of the current image 8 (TDDTI8), which read the current image (T ) Of the object 1 and transmit it according to TI9 drive (NTI9), the second additional storage TI10 (VDNTI9) and third additional drive current image 11 (TDNTI11). In this case, DTI6, VDDTI7 and TDDTI8 make changes in roll angles, pitch and angle. This provides the reading of various TIs, the writing of TIs via drives 9, 10, 11 to the storage unit for reference images 19 (VHEI19). This completes the standard preparation mode (i.e. EI). EI can also be created by mathematical modeling (analytical design).

In the measurement (determination of coordinates) mode, the device operates similarly to the standard preparation mode until the TI is written to the drives 9, 10, 11. That is, three TIs are formed in the drives 9, 10, 11 corresponding to the current color images of the object captured by DTI6, VDDTI7 and TDDTI8 in three mutually perpendicular directions. After that, three proximity measures (cross-correlation functions — VKF) are created using the proximity measure generator 12 (FMB12), the second additional proximity measure generator 13 (VDFMB13) and the third additional proximity measurer 14 (TDFMB14), into which, in addition to the TI, the corresponding EI from the storage unit of the reference image 19 (BHEI19) through the reference image 18 (EI18). After that, the proximity measure analyzer 15 (AMB15), the second additional proximity measure analyzer 16 (VDAMB 16) and the third additional proximity measure analyzer 17 (TDAMB17) determine the position and type of the VKF, the values of which are proportional to the coordinates of the object in the respective planes. The signals from AMB15, VDAMB 16 and TDAMB17 arrive through the communication unit 20 (BS20) to the computer 21, which determines the spatial coordinates, type and color of the object. This completes one cycle of the device.

,

,

- расстояние от ДТИ₁, ДТИ₂, ДТИ₃ до соответствующих осей координат.Consider the option of assessing the position of the recognition object (OR) when using three DTI (see figure 2). We introduce the following coordinate systems: XOYZ - coordinate system associated with the working area; X ₁ O ₁ Y ₁ Z ₁ , X ₂ O ₂ Y ₂ Z ₂ , X ₃ O ₃ Y ₃ Z ₃ - coordinate systems associated with DTI ₁ , DTI ₂ , DTI ₃ (i.e., DTI6, VDTI7 and TDDTI8, respectively). The position of the OP (center of gravity, that is, the position of point A) in this coordinate system is determined by the values Δx _A , Δy _A , Δz _A ; we introduce the following notation: l ₁ , l ₂ , l ₃ - distance from the corresponding DTI ₁ , DTI ₂ , DTI ₃ to OR;

,

,

- the distance from DTI ₁ , DTI ₂ , DTI ₃ to the corresponding coordinate axes.

In general terms, the position of the OR can be determined by analyzing three VKF, described by the following expressions:

,

,

- ЭИ, подготовленные при съемке соответствующими ДТИ₁, ДТИ₂, ДТИ₃; S₁, S₂, S₃ - площади коррелируемых изображений. Следует отметить, что при совмещении ТИ и ЭИ не только по угловой и линейным координатам, но и по масштабу выражения (1) еще более усложняются.where F ₁ (x ₁ , y ₁ ), F ₁ (x ₂ , y ₂ ), F ₁ (x ₃ , y ₃ ) - TI formed by the corresponding DTI ₁ , DTI ₂ , DTI ₃ ;

,

,

- EI prepared when shooting with the corresponding DTI ₁ , DTI ₂ , DTI ₃ ; S ₁ , S ₂ , S ₃ - the area of correlated images. It should be noted that when combining TI and EI not only in angular and linear coordinates, but also in scale, expressions (1) become even more complicated.

Consider the features of assessing the location of the object when using a different number and combination of DTI. For example, if you use three sensors TI (DTI are located as shown in figure 2), then the coordinates of the OP are determined

ΔX _A = Δξ ₂ = Δξ ₃ , ΔY _A = Δξ ₁ = Δξ ₃ , ΔZ _A = Δη ₁ = Δη ₂ . (2)

If only two DTIs are used (DTI ₁ and DTI ₂ ), then the OR coordinates are

ΔX _A = Δη ₂ ; ΔY _A = Δξ ₁ ; ΔZ _A = Δη ₁ = Δη ₂ . (3)

When the proposed device estimates the values only in one coordinate, for example, Δξ ₁ , Δη ₁ , Δη ₂ , the desired coordinates from (2) are simply determined

ΔX _A = Δη ₃ ; ΔY _A = Δξ ₁ ; ΔZ _A = Δη ₁ = Δη ₂ . (four)

When using the other two (DTI ₁ and DTI ₃ ), the desired coordinates are determined as follows:

ΔX _A = Δη ₃ ; ΔY _A = Δξ ₁ = Δξ ₃ ; ΔZ _A = Δη ₁ . (5)

If the device determines only the quantities Δη ₁ , Δξ ₂ , Δξ ₃ , then expression (4) is simplified to the form

ΔX _A = Δη ₃ ; ΔY _A = Δξ ₃ ; ΔZ _A = Δη ₁ . (6)

In the case of using DTI ₂ and DTI _{3, the} coordinates of the OR are

ΔX _A = Δξ ₂ = Δη ₃ ; ΔY _A = Δξ ₃ ; ΔZ _A = Δη ₂ . (7)

In formulas (3), (4), (5) Δξ ₁ , Δξ ₂ , Δξ ₃ , Δη ₁ , Δη ₂ , Δη ₃ are the coordinates of the main maximum of the corresponding VKF.

Distances l ₁ , l ₂ , l ₃ OP are determined by the following expressions (figure 3):

;

;

;

;

;

;

;

;

, (8)

;

;

, (8)

where Ψ _x , Ψ _y , Ψ _z is the angle between the direction on and the corresponding axes of the XOYZ coordinate system (not shown in Fig. 3). Moreover

l ₁ ~ ΔМ _y , l ₂ ~ ΔМ, l ₃ ~ М _x ,

where ~ is the sign of proportionality; ΔM _y , ΔM _z , ΔM _x is the change in the SCF scale proportional to the change in the TI relative to the initial EI.

Thus, in accordance with formulas (1) - (8), the calculator 21 operates, which also determines the color of the object in accordance with the following decision rule (9):

;

;

;

;

;

;

;

;

;

;

,

,

where J _to , J _s , J _s , J _p , J _f , J _g , J _b - respectively, the levels of VKF red, green, blue, purple, yellow, blue and white.

Variants of the execution of all device blocks are given in [1, 3, 4].

Compared with the known, the proposed method and device have higher characteristics, noise immunity, functionality and versatility. These characteristics are interconnected.

We show this by the example of the operation of the device.

High accuracy characteristics of the proposed device are ensured by the presence of color images, allowing to recognize not only the type (shape), but the color of the object. In addition, high accuracy characteristics are provided due to the possibility of determining the three-dimensional coordinates of the object. High noise immunity is also achieved through the use of color images (this ensures the recognition of colored objects).

Functionality is enhanced due to the fact that the proposed device can be used in robotic systems, mechatronic systems and navigation systems.

High versatility is ensured by the proposed device determines not only two-dimensional coordinates, but also three-dimensional coordinates of the object.

Information sources

1. Syryamkin V.I., Titov B.C., Yakushenkov Yu.G. and other Systems of technical vision: Reference. - Tomsk: MGP "RASCO", 1992. - 367 p. (p. 192-275).

2. Gridin V.N., Titov B.C., Frufanov M.I. Adaptive vision systems. - M .: Nauka, 2009 .-- 441 p. (p. 350-393).

3. Moshkin V.I. and other technical vision of robots. - M.: Mechanical Engineering, 1990. - 272 p. (p. 229-260).

4. Korikov A.M., Syryamkin V.I., Titov B.C. Correlation visual systems of robots. - Tomsk: Radio and communications. Tomsk Branch, 1990 .-- 264 p. (p.20, fig. 1.4).

Claims (13)

1. A method for determining the coordinates of an object, which consists in illuminating the object with an incoherent light source, obtaining reference and current images of the object spaced apart in time, which filter, store and enlarge, then evaluate the type and coordinates of the object, for which the images are compared, combining them in scale while eliminating angular mismatches of images, characterized in that they obtain color current and reference images, introduce two additional channels for illuminating the object and evaluating the color, type and coordinates of the object and evaluate the color, type and spatial coordinates of the object. 2. The method according to claim 1, characterized in that the color current image of the object is read from three mutually perpendicular planes. 3. The method according to claim 1, characterized in that the object is illuminated in three mutually perpendicular areas. 4. The method according to claim 1, characterized in that the comparison of the reference and current images is carried out by synchronously reading three color images of the object. 5. The method according to claim 1, characterized in that the current image is obtained by changing the roll angles, pitch and angle of the color television image sensors. 6. The method according to claim 1, characterized in that the reference image is formed by photographing an object with a color television camera or by analytical modeling of the object. 7. The method according to claim 1, characterized in that the comparison of the reference and current images is carried out with the synchronous rotation of the reference images around the optical axis of the respective drives of the current images and formers measure proximity. 8. The method according to claim 1, characterized in that the current image is increased by an amount determined by the resolution of the estimate of the coordinates, type and color of the object, as well as its speed. 9. A device for determining coordinates, containing serially connected lighting control unit, illuminator, object, current image sensor, current image storage device, proximity measure generator, proximity measure analyzer connected to the second input of the current image sensor by the first output and the second output connected through a series-connected unit for storing reference images and a reference image, the second input connected to the third output of the analyzer measures the proximity, the second input of the proximity measure driver, characterized in that it further comprises a second additional illuminator connected in series, an object, a second additional current image sensor, a second additional current image storage device, a second additional proximity measure driver connected to the second output of the reference image with a second output, and a second additional proximity measure analyzer, communication unit and calculator, as well as a third additional illuminator connected in series, an object, a third additional current image sensor, a third additional current image storage device, a third additional proximity measure driver, connected to a third output of the reference image with a second input, a third additional proximity measure analyzer and a communication unit, connected to a proximity measure analyzer with a third input, and a second output to the input of the control unit, and additional individual outputs of the adaptation unit are connected to the individual inputs of the second additional sensor of the current image and there is an additional sensor for the current image, and two additional outputs of the lighting control unit are connected to the inputs of the second and third additional illuminators, and the output of the calculator is connected to a separate input of the communication unit, the additional output of the adaptation and synchronization unit is connected to a separate input of the communication unit, additional inputs of the reference image are connected the outputs of the second and third additional analyzers are measures of proximity, and the individual outputs of the drive of the current image, the second additional Yelnia drive current image and the current image of the third additional storage device connected to separate inputs of the reference image storage unit. 10. The device according to claim 9, characterized in that the communication unit is made in the form of a wireless or wired radio. 11. The device according to claim 9, characterized in that the calculator is made in the form of a processor that determines the spatial coordinates of the object. 12. The device according to claim 9, characterized in that the storage unit for reference images is made in the form of a multidimensional memory storage unit. 13. The device according to claim 9, characterized in that the illuminator is made in the form of a universal unit containing coherent or incoherent illuminators.

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