CN103615983B - Air-flotation type table tennis diameter based on machine vision and eccentric detection method - Google Patents
Air-flotation type table tennis diameter based on machine vision and eccentric detection method Download PDFInfo
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Abstract
The present invention relates to a kind of table tennis diameter and eccentric detection method and system, for providing a kind of table tennis diameter and eccentric detection method and system, for on-line checking and the quality evaluation of table tennis.To this end, the technical solution used in the present invention is, air-flotation type table tennis diameter based on machine vision and Accentric detector include: camera, air floating platform, computer；Air floating platform, is used for making table tennis measured in suspended state；Camera, for clearly photographing table tennis, and continuous acquisition and storage table tennis image；Computer, for processing the table tennis image that camera photographs, and calculates table tennis diameter and bias.Present invention is mainly applied to table tennis diameter and eccentric detection.
Description
Technical field
The present invention relates to a kind of table tennis diameter and eccentric detection method and system, for on-line checking and the quality screening of table tennis, specifically, relate to air-flotation type table tennis diameter based on machine vision and Accentric detector and method.
Background technology
Table tennis, as China's national ball game, has wide influence in all kinds of matches.Along with the development of table tennis, improving constantly of sports technology, more and more higher to the prescription of table tennis.But, there is presently no comprehensive means and the method for applicable table tennis on-line checking, so the high-level table tennis as top race all preferably produces from substantial amounts of product, qualification rate is the lowest, and needs substantial amounts of manpower.
According to the regulation of 40mm table tennis in GB GB/T 20045-2005, measurement for table tennis diameter uses roundness measuring equipment, the major part of roundness measuring equipment is a dial gauge, the plane axis of one a diameter of 10mm of end device under dial gauge, axis is away from flat base about 38mm, and equipped with right actuator and centering magnet, it is used for fixing the position of determined ball.Roundness measuring equipment uses the method for relative measurement, first with standard steel ball (diameter 39.80mm～40.00mm) correction dial gauge and the position of test ball, then the handle of dial gauge upper end is lifted up by the right hand, and ball is placed on base center by left hand, is close to centering magnet and right actuator.During test, the jointing line of ball answers level, i.e. with dial gauge axis at an angle of 90, loosen the right hand, treat dial gauge axis vertical fall sphere the highest on for A, write down dial gauge total indicator reading diameter D1 (being accurate to 0.01mm), then mention dial gauge upper end handle, ball is rotated smoothly 90 °, measuring it the highest with same method is B, writes down dial gauge pointer reading diameter D2.
According to the description to diameter measuring method in above 40mm table tennis GB, it is seen that this measuring method exists following defect: single measurement is merely able to obtain the data of a point, and it is also limited that overall measurement is counted；The method using range estimation when finding peak, can introduce extra error；Owing to the spherical shell of table tennis is one layer of elastomeric material the thinnest, when dial gauge leading portion is pressed onto on table tennis, inevitably produces deformation, cause error.
According to the regulation of 40mm table tennis in GB, the detection eccentric for table tennis uses Eccentric Instrument.The major part of Eccentric Instrument is a block length 1.2m, the glass of the fan-shaped plan of wide 1m, indicate obvious graduation mark and represent off-center linear distance, glass plate keeps level, one piece of oblique frid is installed on the top of glass plate, the gradient of frid rolls on glass straight at 15 ° of angles, ball, draws away from for 1m (ball distance at contact glass plate to central outlet is 1m).During measurement, by table tennis with two tops as rotating shaft, being placed on oblique frid top and be close to datum level, freely roll down, ball is in the bias that off-center linear distance is this ball measured by exit.It will be apparent that this method of testing has randomness, it is therefore desirable to carry out substantial amounts of repeating experiment and can obtaining accurate table tennis bias situation, not only take a substantial amount of time and manpower, and be inconvenient to be used for on-line measurement.
Use detection method based on machine vision, it is possible to realize non-contact measurement, and be obtained in that the information that table tennis surface is put in a large number.Key issue therein is how calibration for cameras, and how to process image information and meet the diameter of required precision, central coordinate of circle and table tennis bias situation to obtain.
Summary of the invention
Present invention seek to address that and overcome the deficiencies in the prior art, it is provided that a kind of table tennis diameter and eccentric detection method and system, for on-line checking and the quality evaluation of table tennis.To this end, the technical solution used in the present invention is, air-flotation type table tennis diameter based on machine vision and Accentric detector include: camera, air floating platform, computer；
Air floating platform, is used for making table tennis measured in suspended state；
Camera, for clearly photographing table tennis, and continuous acquisition and storage table tennis image；
Computer, for processing the table tennis image that camera photographs, and calculates table tennis diameter and bias.
Air floating platform concrete structure is: include one or more circulating line, or circularize the trachea of symmetric arrays, ring-like diameter is less than table tennis diameter, the symmetric position of ring-like pipeline has the pore that diameter is identical, pore direction is pointed to annulus normal and is partial to top, the angle of inclination of pore is all identical, therefore the gas ejected can make table tennis keep suspended state near center location, and reach balance, ring-like pipeline is provided stable and satisfactory air-flow by feeder, table tennis is made to suspend, at a certain distance from immediately below air floating platform, being provided with one can the trachea of adjustment direction.
Air-flotation type table tennis diameter based on machine vision and eccentric detection method, realize by means of aforementioned means, and comprise the following steps:
Carry out on computers:
(1) Image semantic classification: to collected by camera to image carry out pretreatment, filter out the noise spot etc. that can bring error, and image strengthened；
(2) edge extracting: obtain the coordinate points of table tennis contour edge；
(3) diameter calculates: goes out the diameter of table tennis according to least square fitting, then according to calibrating parameters, is converted into the actual diameter of table tennis, and stores；
(4) center of circle matching: go out the central coordinate of circle of table tennis according to least square fitting, and store, after the calculated diameter of multiple image is averaging, gained diameter value is as the actual diameter of table tennis；
(5) eccentricity calculates: calculate in every two field picture, on table tennis contour edge, each point is to the distance in the center of circle, and obtain the difference of the table tennis radius that this distance obtains with matching, calculate the standard variance of corresponding data in multiple image, as the parameter that reflection profile is eccentric；Calculate in multiple image, the minimum envelop diameter of a circle of table tennis home position point.
Image semantic classification uses medium filtering to process image, the most again to image enhaucament, makes table tennis contour edge information more prominent.
Edge extracting is to select the one in triumphant we (Canny) operator edge extracting, selection Luo Baici (Roberts) edge extracting, Sobel (Sobel) edge extracting method, after treatment, can obtain a storage has the document of table tennis contour edge coordinate points data to every two field picture.
Also include calculated table tennis diameter and eccentric display step on the computer screen, and, table tennis diameter and eccentric data are transferred to the step of other device.
The technical characterstic of the present invention and effect:
Using machine vision technique, single-frame images just can obtain substantial amounts of contour edge information, the data after multiple image integrated treatment on table tennis, it is possible to more science react the diameter of table tennis and bias.
Use machine vision technique, it is possible to realize non-contact measurement, solve the problem that in GB, traditional detection method can not meet on-line measurement so that the present invention can apply the fast on-line measurement on table tennis production line and quality evaluation.
Utilizing computer processing data, speed is fast, and accuracy is high, saves a large amount of manpower and materials, and is capable of the automatization of detection.
Air floating platform is used to stablize table tennis, it is to avoid the error that the elastic deformation that contact fixture causes brings.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2,3 it is a kind of embodiment of air floating platform.
In figure: 1 is camera, 2 is air floating platform, and 3 is background board, and 4 is camera support, and 5 is base, and 6 is example table tennis, and 7 is symmetrical pore, and 8 is ring-like pipeline, and 9 is can the trachea of adjustment direction.
Detailed description of the invention
The present invention is a kind of table tennis diameter based on machine vision and air floating platform and eccentric detection method and system, it is characterised in that comprise the following steps:
(1) consecutive image measurement means is used.
(2) utilize air-floating apparatus, make table tennis measured in suspended state；
(3) camera is demarcated, utilize high speed camera to gather the image of table tennis, and image transmitting is processed to computer；
(4) computer processing includes with lower module: image pre-processing module, edge extracting module, diameter computing module, center of circle fitting module, eccentric computing module；
(5) result will show on screen with window form or be transferred in other equipment.
The effect of described air-floating apparatus is carrying table tennis so that it is being maintained on a position fixing with camera distance, other devices being capable of this function can be used for this detection method.
There are symmetrical pore or trachea in described air floating platform, top and middle part, it is possible to make table tennis be in suspending stabilized state.Pore described here or trachea, it is characterised in that comprising can the device of various profiles of symmetrical air-out.The pore of bottom can adjustment direction, in order to adjust attitude or the method for operation of table tennis.
Described high speed camera time of exposure is the shortest or has the highest frame per second, meets sampling thheorem, it is possible to clearly photograph table tennis.When simultaneity factor is run, high speed camera by design requirement continuous acquisition and stores image.
Described image pre-processing module can filter out the noise spot etc. in image；Described edge extracting module can extract the contour edge of table tennis in image accurately, and generates containing the document of each point coordinates on contour edge；Described diameter computing module and center of circle fitting module utilize method of least square or other algorithms, process the coordinate of point on contour edge, it is thus achieved that diameter of a circle and central coordinate of circle；Described eccentric computing module, it is possible to calculate bias according to the center of circle and contour edge coordinate.
Described eccentric computing module, it is characterized in that, mainly include two kinds of processing methods: (1) calculates in every two field picture, on table tennis contour edge, each point is to the distance in the center of circle, and obtain the difference of the table tennis radius that this distance obtains with matching, the situation of change of this numerical value reflects the concavo-convex change of the morphology change on table tennis section of diameter, i.e. table tennis surface.Calculate the standard variance of corresponding data in N two field picture, as the parameter that reflection profile is eccentric.(2) when table tennis barycenter and the centre of form are misaligned, table tennis can shake, and therefore in every frame, the position of table tennis can occur some to change, and matching home position out is the most different.Calculating in N two field picture, the minimum envelop diameter of a circle of table tennis home position point, this diameter has reacted the size that table tennis barycenter is eccentric, i.e. barycenter bias is the biggest, and envelope circular diameter is the biggest.
The result of routine processes is displayed in the window of design, and this system has communication function simultaneously, it is possible to transfer data to other equipment.
The present invention is further described below in conjunction with the accompanying drawings with detailed description of the invention.Referring to the drawings 1, it is described in conjunction with the embodiments a kind of table tennis diameter based on machine vision and air floating platform and the carrying out practically of eccentricity detection method:
Described camera calibration is in order to the actual size information of table tennis can be reduced to image information.
Fig. 2 and Fig. 3 show a kind of canonic form of air floating platform, in figure, 8 is ring-like pipeline, ring-like diameter is less than table tennis diameter, the symmetric position of pipeline has the pore that diameter is identical, pore direction is pointed to annulus normal and is partial to top, the angle of inclination of pore is all identical, therefore the gas ejected can make table tennis keep suspended state near center location, and reaches balance.Ring-like pipeline is provided stable by feeder and meets the air-flow that design requires.At a certain distance from immediately below air floating platform, be provided with one can the trachea of adjustment direction, as shown in Fig. 39.
After installing platform, opening air circuit breaker ventilation, after the blood pressure lowering and voltage stabilizing process of gas circuit, output meets the steady air flow of pressure and flow rates demand.
The pore direction of mesa base is adjusted to straight up, table tennis is placed on platform, after it is stable, a labelling is done at the peak of table tennis, the most gently table tennis is toggled it to a position, angle general with original position is 90 degree to 120 degree, then table tennis is decontroled, if table tennis revert to rapidly in situ, and swing centered by origin-location, so table tennis has bigger eccentricity, if table tennis rotary speed the most even rests on new position, then the eccentricity of table tennis is the least.
The direction of the centre bore bottom adjustment air floating platform, make it in vertical direction with a little angle, blow table tennis to start to rotate, after table tennis is in stable condition, high speed camera starts to gather image, and image is delivered to computer stores, after having gathered N two field picture, stopping gathering, the collecting work of this table tennis completes.
After the good image of Computer Storage, the software that brings into operation processes.Program divides following module to run successively:
(1) image pre-processing module.Collected by camera to image typically cannot be directly used in data calculate, it should first it is carried out pretreatment, filters out the noise spot etc. that can bring error, and image is strengthened.The present invention uses typical medium filtering process image, the most again to image enhaucament, make table tennis contour edge information more prominent.
(2) edge extracting module.In order to calculate the size of table tennis, need to obtain the coordinate points of table tennis contour edge, i.e. need to carry out edge extracting.The method of Edge extraction has a variety of, selects triumphant we (Canny) the operator edge extracting that precision is higher here, and after treatment, can obtain a storage has the document of table tennis contour edge coordinate points data to every two field picture.
(3) diameter computing module.Storage can be had the document of image information to automatically process by this module, goes out the diameter of table tennis according to least square fitting, then according to calibrating parameters, is converted into the actual diameter of table tennis, and stores.
(4) center of circle fitting module.Storage can be had the document of image information to automatically process by this module, goes out the central coordinate of circle of table tennis according to least square fitting, and stores, and after the calculated diameter of N two field picture is averaging, gained diameter value is as the actual diameter of table tennis.Computational accuracy can reach 0.01mm, if using sub-pix segmentation technology to process image further, computational accuracy can reach 0.002mm.
(5) eccentricity computing module.Calculate in every two field picture, on table tennis contour edge, each point is to the distance in the center of circle, and obtaining the difference of the table tennis radius that this distance obtains with matching, the situation of change of this numerical value reflects the concavo-convex change of the morphology change on table tennis section of diameter, i.e. table tennis surface.Calculate the standard variance of corresponding data in N two field picture, as the parameter that reflection profile is eccentric.When table tennis barycenter and the centre of form are misaligned, table tennis can shake, and therefore in every frame, the position of table tennis can occur some to change, the most different by matching home position out.Calculating in N two field picture, the minimum envelop diameter of a circle of table tennis home position point, this diameter has reacted the size that table tennis barycenter is eccentric, i.e. barycenter bias is the biggest, and envelope circular diameter is the biggest.According to the two parameter, it is possible to more comprehensively react the eccentric situation of table tennis.
(6) display and data communication module.Calculated table tennis diameter and bias are displayed in program window, it is possible to pass to other equipment.
Claims (4)
1. air-flotation type table tennis diameter based on machine vision and an eccentric detection method, is characterized in that, realize by means of following device:
Camera, air floating platform, computer；
Air floating platform, is used for making table tennis measured in suspended state；
Camera, for clearly photographing table tennis, and continuous acquisition and storage table tennis image；
Computer, for processing the table tennis image that camera photographs, and calculates table tennis diameter and bias；
And comprise the following steps:
Carry out on computers:
(1) Image semantic classification: to collected by camera to image carry out pretreatment, filter out the noise spot that can bring error, and
Image is strengthened；
(2) edge extracting: obtain the coordinate points of table tennis contour edge；
(3) diameter calculates: go out the diameter of table tennis according to least square fitting, then according to camera calibration parameter, by it
Be converted to the actual diameter of table tennis, and store；
(4) center of circle matching: going out the central coordinate of circle of table tennis according to least square fitting, and store, multiple image calculates
To diameter be averaging after, gained diameter value is as the final actual diameter of table tennis；
(5) eccentricity calculates: calculate in every two field picture, and on table tennis contour edge, each point is to the distance in the center of circle, and asks
Go out the difference of the table tennis radius that this distance obtains with matching, calculate the standard variance of difference described in multiple image,
As the parameter that reflection profile is eccentric；Calculating in multiple image, it is straight that the minimum envelop of table tennis home position point is justified
Footpath.
2. air-flotation type table tennis diameter based on machine vision as claimed in claim 1 and eccentric detection method, is characterized in that, image
Pretreatment uses medium filtering to process image, the most again to image enhaucament, makes table tennis contour edge information more prominent.
3. air-flotation type table tennis diameter based on machine vision as claimed in claim 1 and eccentric detection method, is characterized in that, edge
Extraction is to select triumphant we (Canny) operator edge extracting, selection Luo Baici (Roberts) edge extracting, Sobel (Sobel)
One in edge extracting method, after treatment, can obtain a storage has table tennis contour edge to sit to every two field picture
The document of punctuate data.
4. air-flotation type table tennis diameter based on machine vision as claimed in claim 3 and eccentric detection method, is characterized in that, also wrap
Include calculated table tennis diameter and eccentric display step on the computer screen, and, by table tennis diameter with inclined
Calculation is according to the step being transferred to other device.
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Inventor after: Qiu Zurong Inventor after: Liu Jiachen Inventor after: Lv Dali Inventor after: Xu Shaofa Inventor after: Zhang Haitao Inventor after: Su Zhikun Inventor after: Wang Chenglin Inventor before: Qiu Zurong Inventor before: Liu Jiachen Inventor before: Lv Dali Inventor before: Xu Shaofa |
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