CN103033126A - Annular object location method and system - Google Patents
Annular object location method and system Download PDFInfo
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- CN103033126A CN103033126A CN 201110292390 CN201110292390A CN103033126A CN 103033126 A CN103033126 A CN 103033126A CN 201110292390 CN201110292390 CN 201110292390 CN 201110292390 A CN201110292390 A CN 201110292390A CN 103033126 A CN103033126 A CN 103033126A
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Abstract
An annular object location method comprises controlling a camera shooting device to shoot an object to be measured; picking up images of positions of an annular object from images of the object to be measured according to coordinates of the annular object, converting the images of positions of the annular object into gray level images, and setting the gray level images to be current gray level images; obtaining outlines of the current gray level images; conducting ellipse fitting on the obtained outlines to obtain a fitting circle center position; judging whether the circle center position is constricted or not, conducting noise reduction treatment on the gray level images during constriction, setting the gray level images after the noise reduction treatment to be the current gray level images, and returning to continuously obtaining the outlines of the current gray level images; and obtaining a finally-constricted center position during non-constriction and mapping the center position to the object to be measured. The invention further provides an annular object location system. By means of the annular object location method and the annular object location system, low-cost accurate location of the annular object can be achieved.
Description
Technical field
The present invention relates to annular object localization method and system.
Background technology
Printed circuit board (Printed Circuit Board, PCB), mainboard etc. often need to accurately be located locating ring when producing.By the accurate location to locating ring, can determine the exact position of locating ring, be mounted to the accuracy of specifying locating ring thereby improve device.And to the accurate location of locating ring, in existing production run, usually realize with the laser positioning reverberator.This accurate positioning method, cost compare is high, can cause increasing substantially of cost in the production run, therefore needs to seek a kind of low-cost accurate positioning method of annular object.
Summary of the invention
In view of above content, be necessary to provide a kind of annular object localization method, to realize the low-cost accurately location to annular object.
In view of above content, also be necessary to provide a kind of annular body locating system, to realize the low-cost accurately location to annular object.
Described annular object localization method, the method may further comprise the steps: the control step: the control picture pick-up device is taken testee; Gray scale treatment step: from the image of testee, take out annulation body position image according to annular object coordinates, annulation body position image is converted into gray level image, gray level image is set to the current gray level image; Obtaining step: the profile of obtaining the current gray level image; Ellipse fitting step: the profile of obtaining is carried out ellipse fitting, obtain the home position of a match; The convergence determining step: judge whether home position restrains, when home position is restrained, carry out the noise reduction process step, otherwise, carry out mapping step; With the noise reduction process step: gray level image is carried out noise reduction process, the gray level image after the noise reduction process is set to the current gray level image, and return and continue to carry out obtaining step; Mapping step: obtain the home position of last convergence, and home position is mapped to testee.
Described annular body locating system, this system comprises: control module is used for the control picture pick-up device testee is taken; The gray scale processing module is used for taking out annulation body position image from the image of testee according to annular object coordinates, and annulation body position image is converted into gray level image, and gray level image is set to the current gray level image; Acquisition module is for the profile of obtaining the current gray level image; The ellipse fitting module is used for the profile of obtaining is carried out ellipse fitting, obtains the home position of a match; The convergence judge module is used for judging whether home position restrains; The noise reduction process module is used for gray level image being carried out noise reduction process, and the gray level image after the noise reduction process being set to the current gray level image when home position is restrained; Acquisition module also is used for obtaining the profile of the current gray level image after the noise reduction process; Mapping block is used for obtaining the home position of last convergence, and home position being mapped to testee when home position is not restrained.
Compared to prior art, described annular object localization method and system, in the known situation of known in the testee size to basic parameter picture pick-up device, use optical means that annular object is positioned, utilize sub-pix recognition methods hi-Fix testee, namely testee is taken, and other element position of match sub-pixel, high precision is videoed element position to testee simultaneously, thereby finishes the location.
Description of drawings
Fig. 1 is the Organization Chart of the present invention's annular body locating system preferred embodiment.
Fig. 2 is the process flow diagram of the present invention's annular object localization method preferred embodiment.
The main element symbol description
| Computing machine | 1 |
| The annular body locating system | 10 |
| |
100 |
| The gray scale processing module | 101 |
| Acquisition module | 102 |
| The ellipse fitting module | 103 |
| The convergence judge module | 104 |
| The noise reduction process module | 105 |
| |
106 |
| Correction module | 107 |
| Picture pick-up device | 2 |
Following embodiment further specifies the present invention in connection with above-mentioned accompanying drawing.
Embodiment
As shown in Figure 1, be the Organization Chart of the present invention's annular body locating system preferred embodiment.
Annular body locating system 10 runs in the computing machine 1.Described computing machine 1 also is connected with picture pick-up device 2.Described picture pick-up device 2 is used for testee is taken.Described picture pick-up device 2 can be digital camera, video camera etc.Described annular body locating system 10 is used for realization to the accurate location of the annular object of testee.
Described annular body locating system 10 comprises control module 100, gray scale processing module 101, acquisition module 102, ellipse fitting module 103, convergence judge module 104, noise reduction process module 105, mapping block 106 and correction module 107.The function of each module describes in detail in connection with the process flow diagram of Fig. 2.
As shown in Figure 2, be the process flow diagram of the present invention's annular object localization method preferred embodiment.
Step S100,2 pairs of testees of described control module 100 control picture pick-up devices are taken.
Need to prove, the user judges whether picture pick-up device 2 shooting gained images need be proofreaied and correct, when the user judges that taking the gained image need carry out timing, described correction module 107 is taken the gained correct image according to picture pick-up device 2 known basic parameters to picture pick-up device 2 after the correction demand that receives the user.Described picture pick-up device 2 known basic parameters comprise focal length, at a distance of, object distance and burnt section etc., described correction module 107 carries out reverse correction according to known basic parameter to taking the gained image.Described picture pick-up device 2 captured images need to proofread and correct sometimes former because: picture pick-up device 2 is taken the gained images can produce different distortion effect, and described distortion effect is as producing barrel distortion, image elongation etc.
Step S101, described gray scale processing module 101 is taken out annulation body position image according to annular object coordinates from specific image, simultaneously annulation body position image is converted into gray level image, and described gray level image is set to the current gray level image.Described specific image is the captured image that need not proofread and correct of picture pick-up device 2, or calibrated module 107 proofread and correct after the image of gained.
Particularly, according to the design drawing of the testee size of testee as can be known, the coordinate of the annular object on the testee also is known simultaneously, and then described gray scale processing module 101 can be taken out annulation body position image according to known annular object coordinates from described specific image.The scope of described annulation body position image obtains for the area according to annular object multiply by a preset value.Described preset value is an empirical value, as is any one numerical value in 5 to 15.The annulation body position image of 101 pairs of gained of described gray scale processing module carries out gray scale to be processed, thereby annulation body position image is converted into gray level image.Described annular object is as being locating ring on the mainboard etc.
Step S102, described acquisition module 102 utilizes the Canny algorithm to obtain the profile of current gray level image.
Step S103,103 pairs of profiles of obtaining of described ellipse fitting module carry out ellipse fitting, obtain the home position of a match.
The sequence that described profile is comprised of a plurality of point, 103 pairs of profiles of obtaining of described ellipse fitting module carry out ellipse fitting, namely all point in the profile are carried out ellipse fitting.
And the basic ideas of ellipse fitting method are: for one group of sample point on the given plane, seek an ellipse, make its as close as possible these sample points.Be that described ellipse fitting module 103 is carried out match with the point in the current gray level image outline take elliptic equation as model, make a certain elliptic equation satisfy these data as far as possible, and obtain the parameters of this elliptic equation.The best oval center of determining at last namely is the home position that described ellipse fitting module 103 requires match to obtain.
Step S104, described convergence judge module 104 judges whether home position restrains.When home position is restrained, execution in step S105, otherwise execution in step S106.The judgement whether described home position restrains will describe in detail hereinafter.
Step S105,105 pairs of current gray level images of described noise reduction process module carry out noise reduction process.
Need to prove, behind the execution in step S105, described noise reduction process module 105 is set to the current gray level image with the gray level image after the noise reduction process, and returns execution in step S102.
Described gray level image is carried out noise reduction process, namely gray level image is carried out smoothing processing, adopt the methods such as linear interpolation or Gauss interpolation that gray level image is carried out the border that interpolation is blured gray level image, to reach gray level image is removed the effect of disturbing, thereby realize the noise reduction to gray level image.
To the cyclic process of step S105, each circulation all can produce a home position at above-mentioned steps S102.Described home position is named according to the order sequence number of match, the home position which time match obtains, then which home position of called after.Such as the home position that the first time, match obtained, first home position of called after then.
Need to prove, first of described convergence judge module 104 acquiescence ellipse fitting modules 103 matches and second home position are restrained.
Judge that in S104 the step whether home position restrain is as follows:
When match obtains a current home position, sequencing according to match, get this current home position and reach the first two home position adjacent with this current home position to obtain three home positions of arranging according to sequencing, when the distance between the first two home position greater than between latter two home position apart from the time, judge current home position convergence, when the distance between the first two home position be not more than between latter two home position apart from the time, judge that then current home position do not restrain.
For example, obtaining a current home position in step S103 match is E, sequencing ordering according to match, previous match has A, B, C, D totally 4 home positions, get this current home position E and home position C, the D adjacent with E, three home position C, D, E that sort by the sequencing of match have been obtained, when the distance between home position C and the D greater than between home position D and the current home position E apart from the time, 104 of described convergence judge modules are judged current home position E convergence.When the distance between home position C and the D be not more than between home position D and the home position E apart from the time, 104 of described convergence judge modules judge that current home position E do not restrain.
Step S106, described mapping block 106 is obtained the home position of last convergence, and home position is mapped to testee.
When current home position was not restrained, described mapping block 106 took out the home position that the previous home position of current home position is described last convergence from the home position that the sequencing by match sorts.For example, home position total A, B, C, D, five home positions of E of sorting by the sequencing of match, wherein E is current home position, when the distance between home position C and the D be not more than between home position D and the current home position E apart from the time, convergence judge module 104 is judged current home position E and is not restrained, this moment, described mapping block 106 was obtained home position D, and this home position D is the home position of last convergence.
Simultaneously, the coordinate of the home position that described mapping block 106 will be restrained at last maps in the design drawing of testee, coordinate according to the home position of described last convergence is determined the home position of annular object, thereby realizes the accurate location of 10 pairs of annular objects of annular body locating system.
Above embodiment is only unrestricted in order to technical scheme of the present invention to be described, although with reference to preferred embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not break away from the spirit and scope of technical solution of the present invention.
Claims (10)
1. an annular object localization method is characterized in that, the method may further comprise the steps:
The control step: the control picture pick-up device is taken testee;
Gray scale treatment step: from the image of testee, take out annulation body position image according to annular object coordinates, annulation body position image is converted into gray level image, gray level image is set to the current gray level image;
Obtaining step: the profile of obtaining the current gray level image;
Ellipse fitting step: the profile of obtaining is carried out ellipse fitting, obtain the home position of a match;
The convergence determining step: judge whether home position restrains, when home position is restrained, carry out the noise reduction process step, otherwise, carry out mapping step;
Noise reduction process step: gray level image is carried out noise reduction process, the gray level image after the noise reduction process is set to the current gray level image, and return and continue to carry out obtaining step;
Mapping step: obtain the home position of last convergence, and home position is mapped to testee.
2. annular object localization method as claimed in claim 1 is characterized in that, the method also comprises between control step and gray scale treatment step:
Aligning step: take the gained image and need carry out timing when the user judges picture pick-up device, receive user's correction demand, and picture pick-up device is taken the gained correct image.
3. annular object localization method as claimed in claim 1 is characterized in that, the scope of described annulation body position image multiply by a preset value according to the area of annular object and obtains.
4. annular object localization method as claimed in claim 1 is characterized in that, the described step of judging whether home position restrain is as follows:
When match obtains a current home position, according to the sequencing of match, get this current home position and reach the first two home position adjacent with this current home position to obtain three home positions of arranging according to sequencing;
When the distance between the first two home position greater than between latter two home position apart from the time, judge the convergence of current home position;
When the distance between the first two home position be not more than between latter two home position apart from the time, judge that then current home position do not restrain.
5. annular object localization method as claimed in claim 1 is characterized in that, described gray level image is carried out noise reduction process for gray level image is carried out the border that interpolation is blured gray level image.
6. an annular body locating system is characterized in that, this system comprises:
Control module is used for the control picture pick-up device testee is taken;
The gray scale processing module is used for taking out annulation body position image from the image of testee according to annular object coordinates, and annulation body position image is converted into gray level image, and gray level image is set to the current gray level image;
Acquisition module is for the profile of obtaining the current gray level image;
The ellipse fitting module is used for the profile of obtaining is carried out ellipse fitting, obtains the home position of a match;
The convergence judge module is used for judging whether home position restrains;
The noise reduction process module is used for gray level image being carried out noise reduction process, and the gray level image after the noise reduction process being set to the current gray level image when home position is restrained;
Acquisition module also is used for obtaining the profile of the current gray level image after the noise reduction process;
Mapping block is used for obtaining the home position of last convergence, and home position being mapped to testee when home position is not restrained.
7. annular body locating system as claimed in claim 6 is characterized in that, this system also comprises:
Correction module is used for taking the gained image and need carrying out timing when the user judges picture pick-up device, receives user's correction demand, and picture pick-up device is taken the gained correct image.
8. annular body locating system as claimed in claim 6 is characterized in that, the scope of described annulation body position image multiply by a preset value according to the area of annular object and obtains.
9. annular body locating system as claimed in claim 6 is characterized in that, described convergence judge module is realized the judgement whether home position restrains by following steps:
When match obtains a current home position, according to the sequencing of match, get this current home position and reach the first two home position adjacent with this current home position to obtain three home positions of arranging according to sequencing;
When the distance between the first two home position greater than between latter two home position apart from the time, judge the convergence of current home position;
When the distance between the first two home position be not more than between latter two home position apart from the time, judge that then current home position do not restrain.
10. annular body locating system as claimed in claim 6 is characterized in that, described gray level image is carried out noise reduction process for gray level image is carried out the border that interpolation is blured gray level image.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110292390 CN103033126A (en) | 2011-09-29 | 2011-09-29 | Annular object location method and system |
| TW100136632A TW201314169A (en) | 2011-09-29 | 2011-10-11 | Method and system for positioning circular object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110292390 CN103033126A (en) | 2011-09-29 | 2011-09-29 | Annular object location method and system |
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| CN103033126A true CN103033126A (en) | 2013-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110292390 Pending CN103033126A (en) | 2011-09-29 | 2011-09-29 | Annular object location method and system |
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| CN (1) | CN103033126A (en) |
| TW (1) | TW201314169A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613869A (en) * | 2015-01-28 | 2015-05-13 | 南京信息工程大学 | Method and system for detecting elliptical hole group based on maximum inscribed circle |
| CN111354047A (en) * | 2018-12-20 | 2020-06-30 | 精锐视觉智能科技（深圳）有限公司 | Camera module positioning method and system based on computer vision |
-
2011
- 2011-09-29 CN CN 201110292390 patent/CN103033126A/en active Pending
- 2011-10-11 TW TW100136632A patent/TW201314169A/en unknown
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613869A (en) * | 2015-01-28 | 2015-05-13 | 南京信息工程大学 | Method and system for detecting elliptical hole group based on maximum inscribed circle |
| CN104613869B (en) * | 2015-01-28 | 2017-05-10 | 南京信息工程大学 | Method and system for detecting elliptical hole group based on maximum inscribed circle |
| CN111354047A (en) * | 2018-12-20 | 2020-06-30 | 精锐视觉智能科技（深圳）有限公司 | Camera module positioning method and system based on computer vision |
| CN111354047B (en) * | 2018-12-20 | 2023-11-07 | 精锐视觉智能科技(上海)有限公司 | Computer vision-based camera module positioning method and system |
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| Publication number | Publication date |
|---|---|
| TW201314169A (en) | 2013-04-01 |
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Application publication date: 20130410 |