CN103442183B - Automatic vision air navigation aid based on infrared thermal imaging principle - Google Patents
Automatic vision air navigation aid based on infrared thermal imaging principle Download PDFInfo
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- CN103442183B CN103442183B CN201310412919.7A CN201310412919A CN103442183B CN 103442183 B CN103442183 B CN 103442183B CN 201310412919 A CN201310412919 A CN 201310412919A CN 103442183 B CN103442183 B CN 103442183B
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Abstract
The invention discloses a kind of automatic vision air navigation aid based on infrared thermal imaging principle, comprise system initialization module, IMAQ control module, motion interface module and vision algorithm processing module, described system initialization module is responsible for the setting of capture card parameter, described IMAQ control module comprises circuit system image capture card, photopic vision system and infrared image vision system, described system initialization module is by IMAQ control module scanning circuit plate image data, again image data is transferred to vision algorithm processing module and carries out imaging. compare with existing formation method, carry out imaging by the mutual cooperation of photopic vision system and infrared image vision system, better to the processing of circuit board scanning imagery.
Description
Technical field
The present invention relates to a kind of infrared thermal imaging technique, relate in particular to a kind of based on infrared thermal imaging principle fromMoving vision navigation method.
Background technology
The image that imaging system obtains is processed, and is all single infrared image processing or Optical imageProcess, because the visual field of Infra-Red Imaging System is too little, cannot disposable the imaging of monoblock circuit board be completed,Repeatedly imaging could gather a circuit board.
Summary of the invention
Object of the present invention is just to provide a kind of automatically looking based on infrared thermal imaging principle that address the above problemFeel air navigation aid.
To achieve these goals, the technical solution used in the present invention is: a kind of based on infrared thermal imaging principleAutomatic vision air navigation aid, comprise that system initialization module, IMAQ control module, motion control connectMouth module and vision algorithm processing module, described system initialization module is responsible for the setting of capture card parameter, instituteState IMAQ control module and comprise that circuit system image capture card, photopic vision system and infrared image lookVision system, described system initialization module is passed through IMAQ control module scanning circuit plate image data,Again image data is transferred to vision algorithm processing module and carries out imaging.
As preferably, described photopic vision system is made up of Visible Light Camera and corresponding visible light lens,Described infrared image vision system is mixed into by infrared camera and infrared lens thereof.
As preferably, described motion interface comprises mechanical movement platform, and described mechanical movement platform is to canSee the camera imaging target surface of light vision system and infrared image vision system and camera lens visual field size, operating distanceAdjust location.
As preferably, described vision algorithm processing module is carried out Pixel-level splicing to the circuit board image scanning.
As preferably, the Image Mosaics of described vision algorithm processing module mainly comprises the following steps,
A) image registration, by matching strategy, finds out template in image to be spliced or characteristic point at visible beche-de-mer without spikeExamine position corresponding in image, and then determine the transformation relation between two width images;
B) set up transformation model, according to the corresponding relation between template or characteristics of image, calculate mathematical moduloEach parameter value in type, thus the mathematic(al) manipulation model of two width images set up;
C) unify coordinate transform, according to the mathematics transformation model of setting up, image to be spliced is transformed into reference diagramIn the coordinate system of picture, complete unified coordinate transform;
D) merge reconstruct, will merge the smooth and seamless that obtains splicing reconstruct with the overlapping region of stitching imagePanoramic picture.
Compared with prior art, the invention has the advantages that: look by photopic vision system and infrared imageThe mutual cooperation of vision system is carried out imaging, better to the processing of circuit board scanning imagery.
Brief description of the drawings
Fig. 1 is schematic flow sheet of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
Embodiment 1: referring to Fig. 1, a kind of automatic vision air navigation aid based on infrared thermal imaging principle, comprisesSystem initialization module, IMAQ control module, motion interface module and vision algorithm processing module,Described system initialization module is responsible for the setting of capture card parameter, and described IMAQ control module comprises systemCircuit image capture card, photopic vision system and infrared image vision system, described system initialization moduleBy IMAQ control module scanning circuit plate image data, then image data is transferred to vision algorithmProcessing module is carried out imaging, and described photopic vision system is by Visible Light Camera and corresponding visible light lens groupBecome, described infrared image vision system is mixed into by infrared camera and infrared lens thereof, and described motion control connectsMouth comprises mechanical movement platform, and described mechanical movement platform is to photopic vision system and infrared image vision systemThe camera imaging target surface of system and camera lens visual field size, operating distance are adjusted location.
Described vision algorithm processing module is carried out Pixel-level splicing to the circuit board image scanning, described visionThe Image Mosaics of algorithm processing module mainly comprises the following steps,
A) image registration, by matching strategy, finds out template in image to be spliced or characteristic point at visible beche-de-mer without spikeExamine position corresponding in image, and then determine the transformation relation between two width images;
B) set up transformation model, according to the corresponding relation between template or characteristics of image, calculate mathematical moduloEach parameter value in type, thus the mathematic(al) manipulation model of two width images set up;
C) unify coordinate transform, according to the mathematics transformation model of setting up, image to be spliced is transformed into reference diagramIn the coordinate system of picture, complete unified coordinate transform;
D) merge reconstruct, will merge the smooth and seamless that obtains splicing reconstruct with the overlapping region of stitching imagePanoramic picture.
Whole system of the present invention is mainly that visual processes difficulty is the highest, accurately detection and location and control, thereforeDemarcating module for Vision imaging system has high requirement, need to proofread and correct the distortion of optical system,Size resolution ratio is demarcated, to obtain the stated accuracy of sub-pixel; Infrared image vision system is due to itCannot complete these operations, can only complete by photopic vision system.
Photopic vision system can be disposable to all circuit board imagings that need detection of communication equipment, and redOuter Image Vision System cannot complete; By experiment with practice, the imaging viewing field scope of photopic vision systemBecome multiplying power relation with the imaging viewing field scope of infrared image vision system, by its proportionate relationship, then cooperation is groundSend software algorithm, can automatically realize vision guided navigation function. When infrared Image Vision System cannot be disposableDuring to circuit board imaging, by the good image of photopic vision system imaging, calculate infrared image vision systemThe imaging size of system, then need to carry out imaging several times to this circuit board imaging and just can complete, transport by machineryMoving platform, is positioned over mechanical movement platform by infrared image vision system, develops motion algorithm, realizes redOuter Image Vision System movement navigation, completes IMAQ, carries out the infrared image splicing of circuit board, forNeed to reduce infrared imaging redundance, retain the infrared image needing.
Above the automatic vision air navigation aid based on infrared thermal imaging principle provided by the present invention is carried out in detailIntroduce to the greatest extent, applied specific case herein principle of the present invention and embodiment are set forth, aboveThe explanation of embodiment is just for helping to understand method of the present invention and core concept thereof; Meanwhile, for abilityThe those skilled in the art in territory, according to thought of the present invention, all have in specific embodiments and applicationsChange part, to change of the present invention and improve by being possible, advise and can not exceed accessory claimFixed design and scope, in sum, this description should not be construed as limitation of the present invention.
Claims (3)
1. the automatic vision air navigation aid based on infrared thermal imaging principle, is characterized in that by the beginning of systemBeginningization module, IMAQ control module, motion interface module and vision algorithm processing modules implement,Described system initialization module is responsible for the setting of capture card parameter, and described IMAQ control module comprises systemCircuit image capture card, photopic vision system and infrared image vision system, described system initialization moduleBy IMAQ control module scanning circuit plate image data, then image data is transferred to vision algorithmProcessing module is carried out imaging, and described motion interface comprises mechanical movement platform, described mechanical movement platformCamera imaging target surface to photopic vision system and infrared image vision system and camera lens visual field size, workDistance is adjusted location,
Described method specifically comprises:
Described system initialization module arranges capture card parameter;
By IMAQ control module scanning circuit plate image data, then image data is transferred to visionAlgorithm processing module, when the infrared image vision system of IMAQ control module cannot be disposable to circuit boardWhen imaging, by the good image of photopic vision system imaging, calculate the imaging of infrared image vision systemSize, by mechanical movement platform, is positioned over mechanical movement platform by infrared image vision system, realizes redOuter Image Vision System movement navigation, completes IMAQ;
Described vision algorithm processing module is carried out Pixel-level splicing to the circuit board image scanning.
2. the automatic vision air navigation aid based on infrared thermal imaging principle according to claim 1, its spyLevy and be: described photopic vision system is made up of Visible Light Camera and corresponding visible light lens, described redOuter Image Vision System is mixed into by infrared camera and infrared lens thereof.
3. the automatic vision air navigation aid based on infrared thermal imaging principle according to claim 1, its spyLevy and be: the Image Mosaics of described vision algorithm processing module mainly comprises the following steps,
A) image registration, by matching strategy, finds out template in image to be spliced or characteristic point at visible rayThe position of correspondence in reference picture, and then determine the transformation relation between two width images;
B) set up transformation model, according to the corresponding relation between template or characteristics of image, calculate mathematical moduloEach parameter value in type, thus the mathematic(al) manipulation model of two width images set up;
C) unify coordinate transform, according to the mathematics transformation model of setting up, image to be spliced is transformed into reference diagramIn the coordinate system of picture, complete unified coordinate transform;
D) merge reconstruct, will merge the smooth and seamless that obtains splicing reconstruct with the overlapping region of stitching imagePanoramic picture.
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| CN106441238A (en) * | 2016-06-01 | 2017-02-22 | 昆山塔米机器人有限公司 | Positioning device and positioning navigation algorithm of robot based on infrared visual technology |
| CN107179494B (en) * | 2017-05-27 | 2023-06-09 | 浙江万里学院 | Method and system for detecting faults of devices on universal circuit board |
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| CN101510007B (en) * | 2009-03-20 | 2011-01-05 | 北京科技大学 | Real time shooting and self-adapting fusing device for infrared light image and visible light image |
| CN202887451U (en) * | 2012-10-26 | 2013-04-17 | 青岛海信网络科技股份有限公司 | Infrared light and visible light filling blended electronic police system |
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Inventor after: Yang Xianming Inventor after: Chen Zhenlong Inventor after: Gao Hongjun Inventor after: Dai Jun Inventor after: Yang Xueguang Inventor after: Yan Wenzhi Inventor after: Mo Chesheng Inventor after: Gao Yan Inventor after: Hu Anbing Inventor after: Xue Jianchen Inventor after: Liu Lin Inventor after: Liu Yiming Inventor after: Liu Juanxiu Inventor after: Cao Wentian Inventor after: Xue Qingqing Inventor after: Tan Liang Inventor after: Zhang Lu Inventor before: Yang Xianming Inventor before: Chen Zhenlong Inventor before: Cao Wentian Inventor before: Dai Jun Inventor before: Yang Xueguang Inventor before: Zhang Zhifa Inventor before: Mo Chesheng Inventor before: Gao Yan Inventor before: Li Chenglin Inventor before: Li Hongjun Inventor before: Liu Lin Inventor before: Lu Xufu Inventor before: Liu Juanxiu Inventor before: Li Yaowei Inventor before: Xue Jianchen Inventor before: Tan Liang Inventor before: Liu Yiming |
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