CN109211222A - High-accuracy position system and method based on machine vision - Google Patents
High-accuracy position system and method based on machine vision Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a kind of high-precision locating method and system based on machine vision, localization method acquire the location information of product feature circle first；The coordinate value of multiple location points of product feature circle on image is obtained again and is imported in analysis software；The approximating function in the outer circle center of circle is resettled, and sets the constraint condition of approximating function；The coordinate in the center of circle is solved again, and the coordinate in the center of circle solved is determined；Positioning system includes mechanical arm, the high-precision industrial camera for being fixed on mechanical arm tail end, image processing system, computer based data processing system；Mechanical arm drives high-precision industrial camera to product receiving port outer circle；The acquisition of high-precision industrial camera is to circular image outside product receiving port and passes to image processing system；Described image processing system obtains the location information of product feature circle and coordinate value is transmitted to data processing system；The data processing system solves the coordinate in the center of circle, and determines solving result；The setting accuracy of robot can be improved in the present invention.
Description
Technical field
The invention belongs to field of machine vision, especially a kind of high-accuracy position system and method based on machine vision.
Background technique
With the development of intelligent industry, many industries propose new demand, traditional people to automated production and detection
The mode of work production and detection has been difficult to meet the needs of production and living, this restricts the development and raising of productivity.And
With computer and digital information technology development and improve people and start to substitute artificial production and detection, machine by robot
Device people industry increasingly occupies consequence in automated production and detection, and in robot field, it is certain accurately to believe
Necessary duplicate utilization and extraction, such as target following, navigation, detection etc. are ceased, these are obtained by various kinds of sensors
Information, which calculate, is judged in the case where this high request, machine vision occur later.
Machine vision is one and is related to artificial intelligence, Neurobiology, computational science, iconology, pattern-recognition etc.
The subject of multi-field intersection, purpose are exactly in order to allow robot to possess the visual ability as people, while by this sense
Know that ability realizes the functions such as avoidance, the navigation of robot, and the basis of vision is related to the acquisition of visual information and largely schemes
As processing, calculating and analysis task.
Usually the positioning of robot and navigation scheme have SLAM to position and navigate immediately or build map in advance and are used as
Navigation, and each region similarity uncomplicated for ambient enviroment feature can also directly be led using binocular vision in the case of not high
Boat.But work as the very high words of characteristic similarity in robot movable region, then sensor is collected after particle repeatedly moves
Feature can repeatedly it is similar with the position feature of many particles, it is difficult to guarantee obtain position accuracy.
Summary of the invention
The purpose of the present invention is to provide a kind of high-precision locating method and system based on machine vision, to realize machine
The setting accuracy of people.
The technical solution for realizing the aim of the invention is as follows:
A kind of high-precision locating method based on machine vision, comprising the following steps:
The location information of step 1, acquisition product feature circle；
Step 2, the coordinate value for obtaining multiple location points of product feature circle on image, and import in analysis software；
Step 3 establishes the approximating function for solving the product receiving port outer circle center of circle, and sets the constraint condition of approximating function:
Step 4, the coordinate for solving the center of circle:
The parameter value of constraint condition and an initial value in the center of circle are provided, the coordinate in the center of circle is solved using fmincon function；
Step 5 determines the coordinate in the center of circle solved.
A kind of high-accuracy position system based on machine vision including mechanical arm, is fixed on the high-precision of mechanical arm tail end
Industrial camera, image processing system, computer based data processing system；
The mechanical arm is to drive high-precision industrial camera to product receiving port outer circle；The high-precision industry camera shooting
Machine carries out optical imagery to product receiving port outer circle to acquire, and the high-definition image captured is passed to image processing system；
Described image processing system obtains the location information of product feature circle, obtains to carry out operation, analysis processing to the image of acquisition
The coordinate value of multiple location points of product feature circle on to image, and above-mentioned coordinate value is transmitted to data processing system；It is described
Data processing system is by establishing the approximating function for solving the product receiving port outer circle center of circle, constraint function relationship and utilizing
Fmincon function solves the coordinate in the center of circle, and determines solving result, if it is determined that result is true output solving result.
Compared with prior art, the present invention its remarkable advantage:
(1) present invention is approached the method for solving the outer circle center of circle using mass data point, mentioned significantly by establishing constraint function
The setting accuracy of Gao Liao robot, positioning accuracy is high, and real-time is good.
(2) positioning system of the invention, mechanical arm use linear drives form, and height change is avoided to generate acquisition precision
It influences, positioning accuracy is high.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the flow diagram of the high-precision locating method of the invention based on machine vision.
Fig. 2 is the general frame top view of the high-accuracy position system of the invention based on machine vision.
Fig. 3 is the general frame main view of the high-accuracy position system of the invention based on machine vision.
Specific embodiment
In order to illustrate technical solution of the present invention and technical purpose, with reference to the accompanying drawing and specific embodiment is the present invention
It is further to introduce.
In conjunction with Fig. 1, a kind of high-precision locating method based on machine vision of the invention, comprising the following steps:
The location information of step 1, acquisition product feature circle:
Conveying arm is driven, so that the high-precision industrial camera on end is directed at product receiving port outer circle；Pass through high-precision
Industrial camera carries out optical imagery to product receiving port outer circle, and the high-definition image captured is passed to image processing system
In, the image of industrial camera is carried out by operation by image processing system, analysis is handled, the position letter of acquisition product feature circle
Breath.
Step 2, the coordinate value for obtaining multiple location points of product feature circle on image, and import in analysis software:
Center based on high-precision industrial camera is coordinate origin and establishes rectangular coordinate system, and it is special to obtain product on image
Levy the coordinate value (x of multiple location points of circle1,y1), (x2,y2), (x3,y3)…(xn,yn), above-mentioned coordinate value is imported into computer
In mathematical analysis software MATLAB, the coordinate (x of required solution center of circle O is set according to known center of circle radius R0,y0)。
Step 3 establishes the approximating function findcenter for solving the product receiving port outer circle center of circle, and sets approximating function
Constraint condition:
Step 3.1, the approximating function for solving the product receiving port outer circle center of circle:
Wherein (xi, yi) indicate i-th point of coordinate value.
Step 3.2, establish all data points to the center of circle distance constraint function relationship:
Wherein, f (xi, yi)maxIndicate all coordinate points and center of circle O apart from a maximum distance；f(xi, yi)minTable
Show all coordinate points and center of circle O apart from a smallest distance；Δ2Indicate all coordinate points of expression and center of circle O distance most
The absolute value of the difference of big a distance and radius R；Δ1Indicate all coordinate points and center of circle O apart from the smallest one away from
Absolute value from the difference with radius R.
Step 4, the coordinate for solving the center of circle:
Δ is provided1And Δ2Initial value, and provide center of circle O (x0,y0) an initial value, solved using fmincon function
The coordinate in the center of circle.Wherein fmincon function are as follows:
[X fval ex]=fmincon (@(x) 0, [x0y0],[],[],[],[],[],[],@(X)findcenter
(x,y,X))；
Wherein, X is parameter, and it is data coordinates point x in findcenter function that when calling, which is to change,0And y0；fval
It is the functional value of center of circle O；Ex is the decision content of functional value；[x0,y0] it is to provide an initial value coordinate value of center of circle O；[] difference
The empty matrix of inequality constraints and up-and-down boundary constraint is not present in expression parameter x and y.
Step 5 determines the coordinate in the center of circle solved:
Based on the central coordinate of circle solved, as ex ﹥ 0, the central coordinate of circle credible result solved is indicated；As ex ﹤ 0, then illustrate
The center of circle O coordinate result of solution is unreasonable, returns to previous step and provides the initial value of central coordinate of circle again, continues to solve, until
Ex ﹥ 0.
A kind of high-accuracy position system based on machine vision of the invention, including mechanical arm, it is fixed on mechanical arm tail end
High-precision industrial camera, image processing system, computer based data processing system；
The mechanical arm is to drive high-precision industrial camera to product receiving port outer circle；The high-precision industry camera shooting
Machine carries out optical imagery to product receiving port outer circle to acquire, and the high-definition image captured is passed to image processing system；
Described image processing system obtains the location information of product feature circle, obtains to carry out operation, analysis processing to the image of acquisition
The coordinate value of multiple location points of product feature circle on to image, and above-mentioned coordinate value is transmitted to data processing system；It is described
Data processing system is by establishing the approximating function for solving the product receiving port outer circle center of circle, constraint function relationship and utilizing
Fmincon function solves the coordinate in the center of circle, and determines solving result, if it is determined that result is true output solving result.
Further, the data processing system include first processing units based on MATLAB, the second processing unit and
Judging unit；
The first processing units solve the approximating function findcenter in the product receiving port outer circle center of circle to establish, and
Set the constraint condition of approximating function:
Approximating function findcenter:
Wherein (xi, yi) indicate i-th point of coordinate value.
All data points to the center of circle distance constraint function relationship:
Wherein, f (xi, yi)maxIndicate all coordinate points and center of circle O apart from a maximum distance；f(xi, yi)minTable
Show all coordinate points and center of circle O apart from a smallest distance；Δ2Indicate all coordinate points of expression and center of circle O distance most
The absolute value of the difference of big a distance and radius R；Δ1Indicate all coordinate points and center of circle O apart from the smallest one away from
Absolute value from the difference with radius R.
Coordinate of the described the second processing unit to solve the center of circle:
According to offer Δ1And Δ2Initial value and center of circle O (x0,y0) an initial value, solved using fmincon function
The coordinate in the center of circle.
Wherein fmincon function are as follows:
[X fval ex]=fmincon (@(x) 0, [x0y0],[],[],[],[],[],[],@(X)findcenter
(x,y,X))；
Wherein, X is parameter, and it is data coordinates point x in findcenter function that when calling, which is to change,0And y0；fval
It is the functional value of center of circle O；Ex is the decision content of functional value；[x0,y0] it is to provide an initial value coordinate value of center of circle O；[] difference
The empty matrix of inequality constraints and up-and-down boundary constraint is not present in expression parameter x and y.
The judging unit determines to the coordinate to the center of circle solved:
Based on the central coordinate of circle solved, as ex ﹥ 0, the central coordinate of circle credible result solved is indicated；As ex ﹤ 0, then illustrate
The center of circle O coordinate result of solution is unreasonable, provides the initial value of central coordinate of circle again through the second processing unit, continues to solve,
Until ex ﹥ 0.
In conjunction with Fig. 2, Fig. 3, it is preferred that the mechanical arm uses the mechanical arm of linear drives form, as using on fixed frame 1
Equipped with spur rack 6, gear 5 is driven to rotate by motor 2, gear 5 drives spur rack 6 to move horizontally along fixed frame 1, drives straight-tooth
The industrial camera 3 of 6 end of item moves, can 4 characteristic circle of product to lower end be acquired, avoid height change to acquisition precision
It has an impact.
Of the invention high-precision locating method and system based on machine vision is by establishing constraint function, using a large amount of numbers
The method for solving the outer circle center of circle is approached at strong point, substantially increases the setting accuracy of robot, and positioning accuracy is high, and real-time is good.
Claims (7)
1. a kind of high-precision locating method based on machine vision, which comprises the following steps:
The location information of step 1, acquisition product feature circle；
Step 2, the coordinate value for obtaining multiple location points of product feature circle on image, and import in analysis software；
Step 3 establishes the approximating function for solving the product receiving port outer circle center of circle, and sets the constraint condition of approximating function:
Step 4, the coordinate for solving the center of circle:
The parameter value of constraint condition and an initial value in the center of circle are provided, the coordinate in the center of circle is solved using fmincon function；
Step 5 determines the coordinate in the center of circle solved.
2. the high-precision locating method according to claim 1 based on machine vision, which is characterized in that step 3 is specifically wrapped
Include following steps:
Step 3.1, the approximating function for solving the product receiving port outer circle center of circle:
Wherein (xi, yi) indicate i-th point of coordinate value；
Step 3.2, establish all data points to the center of circle distance constraint function relationship:
Wherein, f (xi, yi)maxIndicate all coordinate points and center of circle O apart from a maximum distance；f(xi, yi)minIndicate all
Coordinate points and center of circle O apart from a smallest distance；Δ2Indicate all coordinate points of expression and center of circle O apart from maximum one
The absolute value of a distance and the difference of radius R；Δ1Indicate all coordinate points and center of circle O apart from a smallest distance and partly
The absolute value of the difference of diameter R.
3. the high-precision locating method according to claim 2 based on machine vision, which is characterized in that solve the seat in the center of circle
Mark specifically:
Δ is provided1And Δ2Initial value, and provide center of circle O (x0,y0) an initial value, solve the center of circle using fmincon function
Coordinate；Wherein fmincon function are as follows:
[X fval ex]=fmincon (@(x) 0, [x0y0],[],[],[],[],[],[],@(X)findcenter(x,y,
X))；
Wherein, X is parameter, and it is data coordinates point x in findcenter function that when calling, which is to change,0And y0；Fval is round
The functional value of heart O；Ex is the decision content of functional value；[x0,y0] it is to provide an initial value coordinate value of center of circle O；[] respectively indicates
The empty matrix of inequality constraints and up-and-down boundary constraint is not present in parameter x and y.
4. the high-precision locating method according to claim 3 based on machine vision, which is characterized in that step 5 pair solves
The coordinate in the center of circle out carries out judgement detailed process are as follows:
Based on the central coordinate of circle solved, as ex ﹥ 0, the central coordinate of circle credible result solved is indicated；As ex ﹤ 0, then illustrate to solve
Center of circle O coordinate result it is unreasonable, return step 4 provides the initial value of central coordinate of circle again, continues to solve, until ex ﹥ 0.
5. a kind of high-accuracy position system based on machine vision, which is characterized in that including mechanical arm, be fixed on mechanical arm tail end
High-precision industrial camera, image processing system, computer based data processing system；
The mechanical arm is to drive high-precision industrial camera to product receiving port outer circle；The high-precision industrial camera is used
Optical imagery is carried out to product receiving port outer circle with acquisition, and the high-definition image captured is passed into image processing system；It is described
Image processing system obtains the location information of product feature circle, obtains figure to carry out operation, analysis processing to the image of acquisition
As the coordinate value of multiple location points of upper product feature circle, and above-mentioned coordinate value is transmitted to data processing system；The data
Processing system is by establishing the approximating function for solving the product receiving port outer circle center of circle, constraint function relationship and utilizing fmincon letter
Number solves the coordinate in the center of circle, and determines solving result, if it is determined that result is true output solving result.
6. according to claim 5 based on the high-accuracy position system of machine vision, which is characterized in that the data processing system
System includes first processing units, the second processing unit and judging unit；
The first processing units solve the approximating function findcenter in the product receiving port outer circle center of circle to establish, and set
The constraint condition of approximating function:
Approximating function findcenter:
Wherein (xi, yi) indicate i-th point of coordinate value.
All data points to the center of circle distance constraint function relationship:
Wherein, f (xi, yi)maxIndicate all coordinate points and center of circle O apart from a maximum distance；f(xi, yi)minIndicate all
Coordinate points and center of circle O apart from a smallest distance；Δ2Indicate all coordinate points of expression and center of circle O apart from maximum one
The absolute value of a distance and the difference of radius R；Δ1Indicate all coordinate points and center of circle O apart from a smallest distance and partly
The absolute value of the difference of diameter R；
Coordinate of the described the second processing unit to solve the center of circle:
According to offer Δ1And Δ2Initial value and center of circle O (x0,y0) an initial value, solve the center of circle using fmincon function
Coordinate；
Wherein fmincon function are as follows:
[X fval ex]=fmincon (@(x) 0, [x0y0],[],[],[],[],[],[],@(X)findcenter(x,y,
X))；
Wherein, X is parameter, and it is data coordinates point x in findcenter function that when calling, which is to change,0And y0；Fval is round
The functional value of heart O；Ex is the decision content of functional value；[x0,y0] it is to provide an initial value coordinate value of center of circle O；[] respectively indicates
The empty matrix of inequality constraints and up-and-down boundary constraint is not present in parameter x and y；
The judging unit determines to the coordinate to the center of circle solved:
Based on the central coordinate of circle solved, as ex ﹥ 0, the central coordinate of circle credible result solved is indicated；As ex ﹤ 0, then illustrate to solve
Center of circle O coordinate result it is unreasonable, the initial value of central coordinate of circle is provided again through the second processing unit, continues to solve, until
Ex ﹥ 0.
7. according to claim 5 based on the high-accuracy position system of machine vision, which is characterized in that the mechanical arm uses
The mechanical arm of linear drives form.
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Application publication date: 20190115 Assignee: JIANGSU KEMAI HYDRAULIC CONTROL SYSTEM Co.,Ltd. Assignor: YANGZHOU University Contract record no.: X2023980053578 Denomination of invention: A high-precision positioning system and method based on machine vision Granted publication date: 20220607 License type: Common License Record date: 20231223 |
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