CN113298076A - Method, device, equipment and medium for collecting correction data of plane processing equipment - Google Patents
Method, device, equipment and medium for collecting correction data of plane processing equipment Download PDFInfo
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Abstract
The invention discloses a method, a device and equipment for acquiring correction data of plane processing equipment and a computer readable storage medium, wherein the method is characterized in that a preset calibration area is determined in advance according to a calibration matrix sample, and the preset calibration area covers all identification marks on the calibration matrix sample; dividing the preset calibration area into a plurality of shooting areas according to the size of a preset field of view and the size of the preset calibration area, and determining the shooting position of each shooting area; controlling a camera to shoot at each shooting position to acquire an image of a corresponding shooting area and acquire position data of each identification mark in each image; for each identification mark, obtaining correction data corresponding to the identification mark according to position data corresponding to the identification mark and corresponding original data in the processing data source; the invention can acquire more complete data and reduce the equipment cost under the condition of ensuring the identification accuracy.
Description
Technical Field
The embodiment of the invention relates to the technical field of artificial intelligence, in particular to a method, a device and equipment for collecting correction data of plane processing equipment and a computer readable storage medium.
Background
For the plane processing equipment, due to the mechanical or structural reasons of the equipment, after the plane processing equipment is used for processing the product, the obtained processing result is inconsistent with the processing data source, and in order to correct the inconsistency, a correction data is needed to be superimposed on the processing data source to serve as a new data source, and the product is processed according to the new data source so as to generate the processing result consistent with the expectation. The calibration method usually used is to use the uncorrected dot matrix as a machining data source, machine the machined surface according to the machining data source, obtain a machining result deviating from the expected result (the dimension characterized by the data in the machining data source), and then use the deviation of the actual position data of each identification mark in the deviation result from the original data of the machining data source for generating the identification mark as the calibration data. The traditional method is that a measuring tool is used for measuring a machining result, correction data are obtained according to the machining result and a machining data source, the correction data are manually input, and with the development of computer technology, a vision technology is used for carrying out data acquisition on the deviated machining result, so that the method is more convenient and quicker.
When data is acquired by adopting a vision technology, the size of a correction area is large, if the visual field is small, some identification marks in a calibration sample cannot be acquired, and data acquisition omission is caused, if the visual field is increased to achieve full coverage of the correction area, two problems are caused, on one hand, a telecentric lens is used, the larger the visual field is, the higher the price is, and on the other hand, a wide-angle lens is used, so that the lens imaging per se has great distortion; on the other hand, the larger the field of view, the lower the accuracy.
In view of the above, how to provide a correction data collecting method, device, apparatus and computer readable storage medium for a planar processing apparatus with low cost and high accuracy becomes a problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the invention aims to provide a method, a device and equipment for acquiring correction data of plane machining equipment and a computer readable storage medium, which can acquire more complete data in the using process and reduce the equipment cost under the condition of ensuring the identification accuracy.
In order to solve the above technical problem, an embodiment of the present invention provides a method for acquiring calibration data of a planar processing apparatus, including:
determining a preset calibration area in advance according to a calibration matrix sample, wherein the preset calibration area covers all identification marks on the calibration matrix sample; the calibration matrix sample is obtained after a to-be-corrected plane processing device processes a to-be-processed plane according to a processing data source, the processing data source is m multiplied by n order matrix data formed by a plurality of identification marks arranged according to a preset interval, m is the number of identification mark rows, and n is the number of identification mark columns;
dividing the preset calibration area into a plurality of shooting areas according to the size of a preset field of view and the size of the preset calibration area, and determining the shooting position of each shooting area;
controlling a camera to shoot at each shooting position to acquire an image of a corresponding shooting area and acquire position data of each identification mark in each image;
and aiming at each identification mark, obtaining correction data corresponding to the identification mark according to the position data corresponding to the identification mark and the corresponding original data in the processing data source.
Optionally, after the acquiring the position data of the respective identification mark in each of the images, the method further includes:
processing the position data of each identification mark in each image to obtain final position data corresponding to each identification mark;
then, the process of obtaining the correction data corresponding to the identification mark according to the position data corresponding to the identification mark and the corresponding original data in the processing data source is as follows:
and obtaining correction data corresponding to the identification mark according to the final position data corresponding to the identification mark and corresponding original data in the processing data source.
Optionally, the process of processing the position data of each identification mark in each image to obtain final position data corresponding to each identification mark includes:
and judging whether the position data corresponding to each identification mark is multiple, if so, determining the final position data corresponding to the identification mark according to the position data corresponding to the identification mark, and if not, taking the position data corresponding to the identification mark as the final position data corresponding to the identification mark.
Optionally, the process of dividing the preset calibration area into a plurality of shooting areas according to the preset view size and the size of the preset calibration area, and determining the shooting position of each shooting area is as follows:
determining the number of first shooting areas in the height direction and the number of second shooting areas in the width direction in the preset calibration area according to the preset view size, the size of the preset calibration area, a first overlapping coefficient in the width direction and a second overlapping coefficient in the height direction;
dividing the preset calibration area into a plurality of shooting areas according to the preset view size, the first shooting area number and the second shooting area number;
and taking the central position of each shooting area as a corresponding shooting position.
Optionally, the method further includes:
planning a path of the camera according to each photographing position to obtain path information of the camera;
then, the process of controlling the camera to shoot at each shooting position to obtain the image of the corresponding shooting area is as follows:
and controlling the camera to move along the corresponding path according to the path information, and controlling the camera to shoot to acquire the image of the corresponding shooting area when reaching one shooting position.
Optionally, after the processing the position data of each identification mark in each image to obtain final position data corresponding to each identification mark, the method further includes:
and carrying out two-dimensional sequencing on the final position data corresponding to each identification mark in different directions according to the coordinate values to obtain a position data matrix.
Optionally, the method further includes:
when the number of elements in the position data matrix is less than m multiplied by n, determining a target identification mark of missing data;
and controlling the camera to shoot the shooting area where the target identification mark is located, acquiring position data corresponding to the target identification mark, and taking the position data as final position data of the target identification mark.
Optionally, the method further includes:
splicing each image to a preset canvas according to a preset splicing method, so that each identification mark in each image is presented on the preset canvas;
for each image, drawing a data point corresponding to each identification mark on the preset canvas according to the position data of each identification mark in the image.
Optionally, the process of splicing each image to a preset canvas according to a preset splicing method to make each identification identifier in each image appear on the preset canvas is as follows:
acquiring a background color gray value of the image;
when the gray value of the background color is smaller than a first preset value, setting the gray value of the preset canvas as 0, and judging whether the gray value of the pixel is larger than the gray value of the pixel at the corresponding position in the preset canvas or not for each pixel in the image, if so, replacing the gray value of the pixel at the corresponding position in the canvas with the gray value of the pixel, and if not, keeping the gray value of the pixel at the corresponding position in the canvas unchanged;
when the gray value of the background color is larger than a second preset value, setting the gray value of the preset canvas to be 255, and judging whether the gray value of the pixel is smaller than the gray value of the pixel at the corresponding position in the preset canvas or not for each pixel in the image, if so, replacing the gray value of the pixel at the corresponding position in the canvas with the gray value of the pixel, and if not, keeping the gray value of the pixel at the corresponding position in the canvas unchanged.
Optionally, after, for each of the images, tracing a data point corresponding to each of the identification marks on the preset canvas according to the position data of each of the identification marks in the image, the method further includes:
determining an abnormal data point from the data points corresponding to the identification marks aiming at each identification mark on the preset canvas;
and deleting the abnormal data points from the preset canvas.
The embodiment of the invention also provides a correction data acquisition device of the plane processing equipment, which comprises:
the determining module is used for determining a preset calibration area in advance according to the calibration matrix sample, and the preset calibration area covers all the identification marks on the calibration matrix sample; the calibration matrix sample is obtained after a to-be-corrected plane processing device processes a to-be-processed plane according to a processing data source, the processing data source is m multiplied by n order matrix data formed by a plurality of identification marks arranged according to a preset interval, m is the number of identification mark rows, and n is the number of identification mark columns;
the dividing module is used for dividing the preset calibration area into a plurality of shooting areas according to the size of a preset field of view and the size of the preset calibration area and determining the shooting position of each shooting area;
the control module is used for controlling the camera to shoot at each shooting position so as to obtain an image of a corresponding shooting area and obtain position data of each identification mark in each image;
and the calculation module is used for obtaining correction data corresponding to the identification mark according to the position data corresponding to the identification mark and the corresponding original data in the processing data source aiming at each identification mark.
The embodiment of the invention also provides a correction data acquisition device of the plane processing device, which comprises: microscope carrier, memory, treater, removal module and camera, wherein:
the carrying platform is used for carrying a calibration matrix sample;
the memory for storing a computer program;
the processor is used for implementing the steps of the correction data acquisition method of the plane processing equipment when the computer program is executed;
and the moving module is used for driving the camera to correspondingly move under the control of the processor.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the correction data acquisition method of the plane machining equipment are realized.
The embodiment of the invention provides a method, a device, equipment and a computer readable storage medium for acquiring correction data of plane processing equipment, wherein the plane processing equipment to be corrected in the method processes a plane to be processed according to a processing data source to obtain a calibration matrix sample, then a preset calibration area is determined by the calibration matrix sample, the preset calibration area can cover all identification marks on the calibration matrix sample, then the preset calibration area is divided into a plurality of shooting areas according to the size of a preset field of view and the size of the preset calibration area, so that the field of view of a camera during shooting by the camera can cover the shooting areas, after the shooting areas are divided, the shooting position of each shooting area is further determined, the camera is controlled to shoot the corresponding shooting area at each shooting position to obtain a corresponding image, and each image comprises a plurality of identification marks, then further acquiring position data of each identification mark in each image, and obtaining correction data corresponding to each identification mark according to the position data corresponding to each identification mark and the corresponding original data in the processing data source; according to the invention, all the identification marks on the calibration matrix sample are covered by each shooting area, so that under the condition of not increasing the field of view of the camera, the camera is used for respectively shooting each shooting area to obtain an image, and then the position data of each identification mark is obtained from the image.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for acquiring calibration data of a flat surface processing apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a conventional surface processing apparatus;
fig. 3 is a schematic diagram of an 11-order cross square matrix output by galvanometer-like plane processing equipment according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a calibration area of a 3-step calibration matrix sample according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a calibration area of another 3 rd order calibration matrix sample according to an embodiment of the present invention;
fig. 6 is an overlapped schematic view of the camera views in the width direction according to the embodiment of the present invention;
FIG. 7 is a schematic view of a visual template according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a correction data acquisition device of a flat surface processing apparatus according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a correction data acquisition device of a flat surface processing device according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a method, a device and equipment for acquiring correction data of plane machining equipment and a computer readable storage medium, which can acquire more complete data in the using process and reduce the equipment cost under the condition of ensuring the identification accuracy.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for collecting correction data of a flat surface processing apparatus according to an embodiment of the present invention. The method comprises the following steps:
s110: determining a preset calibration area in advance according to the calibration matrix sample, wherein the preset calibration area covers all identification marks on the calibration matrix sample; the calibration matrix sample is obtained after a plane to be corrected is processed by processing equipment according to a processing data source, the processing data source is m multiplied by n order matrix data formed by a plurality of identification marks arranged according to a preset interval, m is the number of identification mark rows, and n is the number of identification mark columns;
it should be noted that the plane processing device may specifically include a plane processing device of a machine tool type structure and a plane processing device of a galvanometer type structure, or other devices in which a processing end can control a motion actuator thereof according to an input processing data source so that the processing end performs processing of a specified trajectory or point on a processing surface (X, Y plane), as shown in fig. 2.
The identification mark in the embodiment of the invention is a minimum unit image for visual identification, is used for representing a processing position of a plane processing device for processing at a certain time, can adopt a circle, a cross or other figures as the identification mark, and the specific shape of the identification mark can be determined by the plane processing device to be corrected according to the terminal characteristics of the plane processing device. For example, a machine tool structure drill bit drills a round hole, and the center of the hole represents the machining position of the round hole; the galvanometer controls the laser light path, and the machining position can be represented at the point center or the cross position of a cross of a circular point spot etched on the machining surface. In addition, the processing data source is a design file or a position coordinate instruction for controlling the processing behavior of the plane processing equipment, in practical application, m × n-order matrix data formed by arranging a plurality of identification marks according to a preset interval can be used, m is the number of identification mark lines, and n is the number of identification mark columns, that is, the identification marks are arranged in a two-dimensional plane according to the preset line interval and the preset column interval to form an m × n-order matrix, the m × n-order identification mark matrix is used as the processing data source and input to the plane processing equipment to be corrected, so that the plane processing equipment to be corrected forms a processing sample result for correction on a processing surface according to the processing data source, and the processing sample result is a calibration matrix sample, wherein the preset line interval and the preset column interval can be equal. For example, for the galvanometer platform, due to its own characteristics, an odd square matrix is usually selected, and as shown in fig. 3, an 11-order cross square matrix output by the galvanometer-like plane processing equipment is shown, where fig. 1, 2, 3, and 4 are used for visual identification of coordinate axis directions, 1 and 2 indicate x-axis directions, and 3 and 4 indicate y-axis directions.
Specifically, after obtaining the calibration matrix sample, a preset calibration area can be determined according to the calibration matrix sample, wherein it is ensured that the predetermined calibration area covers all identification marks on the calibration matrix sample, for example, after the calibration matrix sample is placed on the calibration platform (which may be placed on the stage in particular), a rectangular area (shown by a dotted line box in fig. 4 and 5) capable of containing all the identification marks is determined along the coordinate axis direction of the correction platform, the width of the rectangular area is W, the height of the rectangular area is H, wherein, when the distorted or rotated identification mark exists in the calibration matrix sample, the distorted or rotated identification mark can be covered by the preset calibration area, such as the distorted identification mark existing in FIG. 4 is in the preset calibration area, the rotational identification mark present in fig. 5 is also within the preset calibration area, where fig. 4 and 5 are 3 rd order square matrix calibration sample matrices.
It should be further noted that before acquiring the correction data, an initialization parameter of the correction platform needs to be acquired, specifically, an identification mark may be driven by a stage of the correction platform to move in the field of view, for example, move in a squared manner, to obtain a physical distance of the stage or the camera, and reflect a change in the pixel distance according to the physical distance, that is, find an association relationship between the physical distance and the pixel distance, so as to acquire a width (Wv) and a height (Hv) of the field of view of the camera.
S120: dividing a preset calibration area into a plurality of shooting areas according to the size of a preset view field and the size of the preset calibration area, and determining the shooting position of each shooting area;
specifically, in the embodiment of the present invention, when the calibration data is collected for the calibration matrix sample, the preset calibration area may be divided into a plurality of shooting areas according to the preset view size, and then the shooting position of each shooting area is determined, so that a plurality of shooting positions may be determined. Therefore, in the embodiment of the present invention, after the preset calibration region is divided into a plurality of regions, each region is subjected to image acquisition, so that the problem of low accuracy caused by covering the whole calibration region with one camera view can be avoided. In addition, in order to ensure that all the identification marks can be covered, an overlap coefficient of the camera view field may be preset, and as shown in fig. 6, an overlap schematic diagram of the camera view field in the width direction is shown, where B and C are the view fields of the camera at two adjacent photographing positions, respectively, an area a is an overlap area, a value of a ratio Wo/Wv is the overlap coefficient of the camera view field, and if the overlap coefficient is a negative number, it indicates that there is a gap between the corresponding view fields of the camera at the two photographing positions, so in order to acquire complete data, the overlap coefficient is a positive number.
Specifically, the field of view size of the camera is specifically that the camera photosensitive chip has a fixed photographing pixel range (pixel size, pixel number Pw in the width direction multiplied by pixel number Ph in the height direction), and after the lens is connected and at a fixed photographing distance, the pixel size of the camera corresponds to the object to be photographed, and is a fixed physical size, namely the field of view size of the camera, and is represented by "width (Wv) and height (Hv)".
S130: controlling a camera to shoot at each shooting position to acquire an image of a corresponding shooting area and acquiring position data of each identification mark in each image;
it should be noted that after the photographing position of each photographing region is determined, the camera is controlled to photograph the corresponding photographing region at each photographing position, an image of the corresponding photographing region is acquired, and then position data of each identification mark in the image is acquired from each image. In order to ensure that the large image spliced by each image can cover all the identification marks and avoid omission of the identification marks at the edge part of the image, the shooting area in the embodiment of the invention has a certain overlapping rate.
Specifically, a visual template may be established in advance, each identification mark in the image may be identified according to the visual template, and position data of the identified identification mark may be acquired. Specifically, after the calibration matrix sample is placed on the calibration platform, the camera view is aligned to a certain position in the calibration matrix sample, a corresponding image is obtained, and then any one complete identification mark is selected from the image, specifically, as shown in fig. 7, an area shown in a peripheral rectangular solid frame is a camera view, and an area shown in a dotted frame is used as a visual template for matching with other similar identification marks for use in visual identification.
S140: for each identification mark, correction data corresponding to the identification mark is obtained from the position data corresponding to the identification mark and the corresponding original data in the processing data source.
Specifically, each piece of original data in the processing data source corresponds to one identification mark, in the embodiment of the present invention, after the position data of each identification mark is obtained, the original data of one identification mark and the collected position data are analyzed to obtain deviation data corresponding to the identification mark, so as to obtain corresponding correction data, and the calibration data of each identification mark constitutes the correction data of the planar processing platform to be corrected.
Further, after acquiring the position data of the respective identification marks in each image in the above S130, the method may further include:
processing the position data of each identification mark in each image to obtain final position data corresponding to each identification mark;
specifically, after obtaining the position data of each identification mark in the image, the position data of each identification mark is processed to obtain the final position data of the identification mark,
it should be noted that, because there is a certain overlap between every two adjacent shooting regions, the identification mark located at the edge of the shooting region corresponds to multiple pieces of position data, and in addition, the number of times of repeated acquisition may also be set, that is, after the images of all the shooting regions are acquired, the process of acquiring the images is repeated, so that for multiple images that each shooting region corresponds to, each identification mark in each image corresponds to one piece of position data, so that there are multiple pieces of position data for the same identification mark, and therefore, it is necessary to determine the final position data of the identification mark.
Specifically, it is determined whether or not there are a plurality of pieces of position data corresponding to each identification mark, and if so, final position data corresponding to the identification mark is determined according to each piece of position data corresponding to the identification mark, and if not, the position data corresponding to the identification mark is used as the final position data corresponding to the identification mark.
It should be noted that, when the identifier corresponds to a plurality of position data, an averaging method or a distribution (e.g., a normal distribution) peak position may be adopted as the final position data of the identifier. Of course, some interference data may exist in the plurality of position data of one identification mark, and the interference data may be deleted, and the final position data of the identification mark may be determined by the remaining position data after deletion. Accordingly, the process of obtaining the correction data corresponding to the identification mark according to the position data corresponding to the identification mark and the corresponding original data in the processing data source in S140 may specifically be:
and obtaining correction data corresponding to the identification mark according to the final position data corresponding to the identification mark and corresponding original data in the processing data source.
Further, in the step S120, the process of dividing the preset calibration area into a plurality of shooting areas according to the preset view size and the size of the preset calibration area, and determining the shooting position of each shooting area may specifically be:
determining the number of first shooting areas in the height direction and the number of shooting areas in the width direction in the preset calibration area according to the preset view size, the size of the preset calibration area, the first overlapping coefficient in the width direction and the second overlapping coefficient in the height direction;
dividing a preset calibration area into a plurality of shooting areas according to the preset view size, the number of first shooting areas in the height direction and the number of second shooting areas in the width direction;
the center position of each shooting area is taken as a corresponding shooting position.
It should be noted that, in the embodiment of the present invention, let the width of the field of view size of the camera be Wv and the height be Hv, and the width of the preset calibration area size be W and the height be H, then the number nv2 of the identification mark rows and the number mv2 of the columns that can appear in one field of view area at maximum are:
mv1＝Wv/(W/(m-1))，nv1＝Hv/(H/(n-1))
then, rounding (truncating) nv1 and mv1 yields nv2 and mv 2.
Further according to the relation:
Kw＝(Wv-(W/(m-1)*mv2))/Wv；
calculating a first overlap coefficient Kw in the width direction and a second overlap coefficient Kh in the height direction, where Kh is (Hv- (H/(n-1) × mv 2))/Wv;
then, the first shooting area number mv4 and the second shooting area number nv4 of shooting areas in which the preset calibration area width direction and height direction distribution can be arranged are further calculated in the following specific way:
mv3＝W/(Wv*(1-Kw))；
nv3＝H/(Hv*(1-Kh))
then, 1 is added to mv3 and nv3 for rounding respectively to obtain mv4 and nv 4.
Further, the photographing position of each photographing region can be determined according to the first photographing region number mv4, the second photographing region number nv4 and the view field size.
Specifically, the step Sw of the stage or the camera in the width direction and the step Sh in the height direction may be calculated first, and the calculation relation is:
sw ═ Wv (1-Kw) and Sh ═ Hv (1-Kh);
then, taking the camera visual field as a starting point, taking Sw and Sh as moving steps of the camera in the width and height directions, and arranging all the shooting areas into mv4 columns and nv4 rows of matrixes, wherein the mv4 (the last column) and the nv4 (the last row) are special lines and columns, the distance from the mv4 column position to the starting point in the width direction is W-Wv, and the distance from the nv4 row to the starting point in the height direction is H-Hv, so that the position of each shooting area and the corresponding shooting position are determined.
Still further, the method may further comprise:
planning a path of the camera according to each photographing position to obtain path information of the camera;
specifically, after each photographing position is obtained, a path can be planned according to each photographing position so as to pass through all photographing positions and obtain a non-repetitive motion track of the stage or the camera.
After the path is planned, the process of controlling the camera to shoot at each shooting position to obtain the image of the corresponding shooting area in S130 may specifically be:
and controlling the camera to move along the corresponding path according to the path information, and controlling the camera to take pictures to acquire images of the corresponding shooting areas when each shooting position is reached.
Further, in order to determine whether to obtain the final position data of each identification mark more quickly and intuitively, that is, whether the data is complete, in the embodiment of the present invention, after the processing is performed on the position data of each identification mark in each image to obtain the final position data corresponding to each identification mark, the method may further include:
and carrying out two-dimensional sequencing on the final position data corresponding to each identification mark in different directions according to the coordinate values to obtain a position data matrix. The integrity of the data can thus be determined by determining whether the product of the number of rows and columns of the position data matrix is equal to the product of the number of rows and columns of the calibration matrix sample mxn.
When the number of elements in the position data matrix is less than m multiplied by n, the identification mark of missing identification exists, and at the moment, the target identification mark of missing data needs to be determined; and then, controlling the camera to shoot the shooting area where the target identification mark is located, acquiring position data corresponding to the target identification mark, and taking the position data as final position data of the target identification mark.
Specifically, the visual template may be newly created, the target identification mark may be used as a new visual template, and the newly acquired image may be identified by the new visual template, so as to identify the target identification mark in the image and obtain the position data thereof.
Further, the method may further include:
splicing each image to a preset canvas according to a preset splicing method to obtain a large image, and enabling each identification mark in each image to be displayed on the large image;
for each image, data points corresponding to the identification markers are delineated on the large map according to the position data of each identification marker in the image.
It should be noted that, in the embodiment of the present invention, in order to avoid double images at edges of images or misplacement of images when the images are directly spliced, in the embodiment of the present invention, each image is spliced to a preset canvas, specifically, a preset correction area size may be installed in advance to determine a size of the canvas, then, each acquired image is spliced to a preset canvas through a preset splicing method, each image is placed on a corresponding position of the preset canvas according to the coordinate position of the image, specifically, each identification mark in the image is displayed on the corresponding position of the preset canvas, and then drawing the corresponding data points on the preset canvas according to the position data corresponding to each identification mark, so as to obtain a spliced large graph, the large graph presents each identification mark and the data point corresponding to each identification mark, so that a worker can visually see the data point distribution condition of each identification mark according to the large graph.
In addition, the spliced large graph can be stored in the embodiment of the invention, and the digital result data can be obtained by directly using the spliced large graph to extract data subsequently without repeated acquisition, thereby greatly improving the acquisition efficiency.
The above-mentioned process of splicing each image to the preset canvas according to the preset splicing method to obtain a large image, so that each identification mark in each image is presented on the preset canvas, specifically may be:
acquiring a background color gray value of the image;
when the gray value of the background color is smaller than a first preset value, setting the gray value of a preset canvas as 0, and judging whether the gray value of a pixel is larger than the gray value of a pixel at a corresponding position in the preset canvas or not for each pixel in the image, if so, replacing the gray value of the pixel at the corresponding position in the canvas with the gray value of the pixel, and if not, keeping the gray value of the pixel at the corresponding position in the canvas unchanged;
when the gray value of the background color is larger than the second preset value, the gray value of the preset canvas is set to be 255, and whether the gray value of the pixel is smaller than the gray value of the pixel at the corresponding position in the preset canvas is judged for each pixel in the image, if yes, the gray value of the pixel at the corresponding position in the canvas is replaced by the gray value of the pixel, and if not, the gray value of the pixel at the corresponding position in the canvas is kept unchanged.
It should be noted that in the embodiment of the present invention, each image may be spliced to the preset canvas in a positive splicing or negative splicing manner, so that the problems of double images and errors may be avoided, and the characteristics of the identification mark after splicing are prevented from being blurred, where:
the positive splicing method comprises the steps of setting a gray value of a preset canvas as 0 when the background color of an image is smaller than a first preset value (namely, when the background color is dark), judging whether the gray value of a pixel is larger than the gray value of the pixel at the corresponding position in the preset canvas or not aiming at each pixel in the image, if so, replacing the gray value of the pixel at the corresponding position in the canvas with the gray value of the pixel, and if not, keeping the gray value of the pixel at the corresponding position in the canvas unchanged;
the negative splicing method comprises the steps of setting the gray value of a preset canvas to be 255 when the background color of an image is larger than a second preset value (namely, when the background color is bright), judging whether the gray value of a pixel is smaller than the gray value of the pixel at the corresponding position in the preset canvas or not for each pixel in the image, if so, replacing the gray value of the pixel at the corresponding position in the canvas with the gray value of the pixel, and if not, keeping the gray value of the pixel at the corresponding position in the canvas unchanged.
Furthermore, after plotting, for each image, data points corresponding to the identification marks on the large map according to the position data of each identification mark in the image, the method further includes:
determining an abnormal data point from the data points corresponding to the identification marks aiming at each identification mark on the large graph;
and deleting the abnormal data points from the preset canvas.
It should be noted that, there may be interference data in the collected position data, and therefore, abnormal data points in the data points of the identification mark may be directly deleted from the preset canvas, where, since each position data is depicted in the large graph spliced to the preset canvas in the embodiment of the present invention, and the correct deviation should be in the vicinity of the position of the characteristic of the identification mark (for example, the correct data points of the cross identification mark should be distributed in the vicinity of the intersection of the large graph corresponding to the cross mark), it can be easily recognized on the spliced large graph that the deviation of those data points is large, or those data points are at the smudges, and these points are deleted from the spliced large graph as abnormal data points.
In addition, for the identification marker corresponding to a plurality of data points, the data points, of which the distance from the data point to the identification marker is smaller than the preset distance, in the remaining data points after the deletion of the abnormal data point may be regarded as a data point group, and the final position data of the corresponding identification marker may be calculated according to the data points in the data point group, for example, the position at the peak of the averaging method or the distribution (such as normal distribution) may be used as the final position data of the identification marker, thereby improving the accuracy of the position data.
It can be seen that, in the method, a to-be-corrected plane processing device processes a to-be-processed plane according to a processing data source to obtain a calibration matrix sample, then determines a preset calibration area through the calibration matrix sample, and the preset calibration area can cover all identification marks on the calibration matrix sample, then divides the preset calibration area into a plurality of shooting areas according to the preset view field size and the size of the preset calibration area, so that the camera view field when the camera shoots can cover the shooting area, further determines the shooting position of each shooting area after the plurality of shooting areas are divided, controls the camera to shoot the corresponding shooting area at each shooting position to obtain corresponding images, each image comprises a plurality of identification marks, then further obtains the position data of each identification mark in each image, and then obtains the position data corresponding to each identification mark and the corresponding original data in the processing data source according to the position data corresponding to each identification mark and the original data corresponding to the processing data source, obtaining correction data corresponding to each identification mark; according to the invention, all the identification marks on the calibration matrix sample are covered by each shooting area, so that under the condition of not increasing the field of view of the camera, the camera is used for respectively shooting each shooting area to obtain an image, and then the position data of each identification mark is obtained from the image.
On the basis of the foregoing embodiments, an embodiment of the present invention further provides a correction data acquisition apparatus for a planar processing apparatus, specifically referring to fig. 8, where the apparatus includes:
the determining module 21 is configured to determine a preset calibration area in advance according to the calibration matrix sample, where the preset calibration area covers all the identification marks on the calibration matrix sample; the calibration matrix sample is obtained after the plane processing equipment processes the surface to be processed according to the processing data source;
the dividing module 22 is configured to divide the preset calibration area into a plurality of shooting areas according to the preset view size and the size of the preset calibration area, and determine a shooting position of each shooting area;
a control module 23, configured to control the camera to shoot at each shooting position to obtain an image of a corresponding shooting area, and obtain position data of each identification mark in each image;
and the calculating module 24 is configured to obtain, for each identification mark, correction data corresponding to the identification mark according to the position data corresponding to the identification mark and the corresponding original data in the processing data source.
It should be noted that the correction data collecting device of the planar processing apparatus in the embodiment of the present invention has the same beneficial effects as the correction data collecting method of the planar processing apparatus provided in the above embodiment, and for the specific description of the correction data collecting method of the planar processing apparatus in the embodiment of the present invention, please refer to the above embodiment and the present invention will not be described again.
On the basis of the foregoing embodiments, an embodiment of the present invention further provides a calibration data collecting apparatus for a flat surface processing apparatus, and specifically, with reference to fig. 9, the apparatus includes: microscope stage 1, memory 2, treater 3, mobile module 4 and camera 5, wherein:
the platform deck 1 is used for bearing a calibration matrix sample;
a memory 2 for storing a computer program;
a processor 3, for implementing the steps of the correction data acquisition method of the above-mentioned plane processing equipment when executing the computer program;
and the moving module 4 is used for driving the camera 5 and the lens 6 on the camera to correspondingly move under the control of the processor 1.
For example, the processor 3 in the embodiment of the present invention is specifically configured to determine a preset calibration area in advance according to the calibration matrix sample, where the preset calibration area covers all the identification marks on the calibration matrix sample; the calibration matrix sample is obtained after a plane processing device processes a surface to be processed according to a processing data source, the processing data source is m multiplied by n order matrix data formed by arranging a plurality of identification marks according to a preset interval, m is the number of identification mark rows, and n is the number of identification mark columns; dividing a preset calibration area into a plurality of shooting areas according to the size of a preset view field and the size of the preset calibration area, and determining the shooting position of each shooting area; controlling a camera to shoot at each shooting position to acquire an image of a corresponding shooting area and acquiring position data of each identification mark in each image; for each identification mark, correction data corresponding to the identification mark is obtained from the position data corresponding to the identification mark and the corresponding original data in the processing data source.
On the basis of the above embodiment, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the correction data acquisition method of the above-mentioned planar processing apparatus.
The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (13)
1. A correction data acquisition method of a surface processing apparatus, comprising:
determining a preset calibration area in advance according to a calibration matrix sample, wherein the preset calibration area covers all identification marks on the calibration matrix sample; the calibration matrix sample is obtained after a to-be-corrected plane processing device processes a to-be-processed plane according to a processing data source, the processing data source is m multiplied by n order matrix data formed by a plurality of identification marks arranged according to a preset interval, m is the number of identification mark rows, and n is the number of identification mark columns;
dividing the preset calibration area into a plurality of shooting areas according to the size of a preset field of view and the size of the preset calibration area, and determining the shooting position of each shooting area;
controlling a camera to shoot at each shooting position to acquire an image of a corresponding shooting area and acquire position data of each identification mark in each image;
and aiming at each identification mark, obtaining correction data corresponding to the identification mark according to the position data corresponding to the identification mark and the corresponding original data in the processing data source.
2. The correction data collecting method for a surface processing apparatus according to claim 1, further comprising, after said acquiring position data of the respective identification mark in each of said images:
processing the position data of each identification mark in each image to obtain final position data corresponding to each identification mark;
then, the process of obtaining the correction data corresponding to the identification mark according to the position data corresponding to the identification mark and the corresponding original data in the processing data source is as follows:
and obtaining correction data corresponding to the identification mark according to the final position data corresponding to the identification mark and corresponding original data in the processing data source.
3. The correction data collecting method for a surface processing apparatus according to claim 2, wherein the processing of the position data of each identification mark in each image to obtain the final position data corresponding to each identification mark comprises:
and judging whether the position data corresponding to each identification mark is multiple, if so, determining the final position data corresponding to the identification mark according to the position data corresponding to the identification mark, and if not, taking the position data corresponding to the identification mark as the final position data corresponding to the identification mark.
4. The correction data collecting method of a surface processing apparatus according to claim 1, wherein the process of dividing the preset calibration area into a plurality of photographing areas according to a preset field size and a size of the preset calibration area, and determining the photographing position of each photographing area is:
determining the number of first shooting areas in the height direction and the number of second shooting areas in the width direction in the preset calibration area according to the preset view size, the size of the preset calibration area, a first overlapping coefficient in the width direction and a second overlapping coefficient in the height direction;
dividing the preset calibration area into a plurality of shooting areas according to the preset view size, the first shooting area number and the second shooting area number;
and taking the central position of each shooting area as a corresponding shooting position.
5. The correction data collecting method of a surface working apparatus according to claim 4, further comprising:
planning a path of the camera according to each photographing position to obtain path information of the camera;
then, the process of controlling the camera to shoot at each shooting position to obtain the image of the corresponding shooting area is as follows:
and controlling the camera to move along the corresponding path according to the path information, and controlling the camera to shoot to acquire the image of the corresponding shooting area when reaching one shooting position.
6. The correction data collecting method for a surface processing apparatus according to claim 2, further comprising, after said processing the position data of each of the identification marks in each of the images to obtain final position data corresponding to each of the identification marks,:
and carrying out two-dimensional sequencing on the final position data corresponding to each identification mark in different directions according to the coordinate values to obtain a position data matrix.
7. The correction data collecting method of a surface working apparatus according to claim 6, further comprising:
when the number of elements in the position data matrix is less than m multiplied by n, determining a target identification mark of missing data;
and controlling the camera to shoot the shooting area where the target identification mark is located, acquiring position data corresponding to the target identification mark, and taking the position data as final position data of the target identification mark.
8. The correction data collecting method of a surface working apparatus according to claim 1, further comprising:
splicing each image to a preset canvas according to a preset splicing method, so that each identification mark in each image is presented on the preset canvas;
for each image, drawing a data point corresponding to each identification mark on the preset canvas according to the position data of each identification mark in the image.
9. The method for collecting calibration data of a surface processing apparatus as claimed in claim 8, wherein said process of stitching each of said images to a predetermined canvas according to a predetermined stitching method to present each of said identifiers in each of said images on said predetermined canvas comprises:
acquiring a background color gray value of the image;
when the gray value of the background color is smaller than a first preset value, setting the gray value of the preset canvas as 0, and judging whether the gray value of the pixel is larger than the gray value of the pixel at the corresponding position in the preset canvas or not for each pixel in the image, if so, replacing the gray value of the pixel at the corresponding position in the canvas with the gray value of the pixel, and if not, keeping the gray value of the pixel at the corresponding position in the canvas unchanged;
when the gray value of the background color is larger than a second preset value, setting the gray value of the preset canvas to be 255, and judging whether the gray value of the pixel is smaller than the gray value of the pixel at the corresponding position in the preset canvas or not for each pixel in the image, if so, replacing the gray value of the pixel at the corresponding position in the canvas with the gray value of the pixel, and if not, keeping the gray value of the pixel at the corresponding position in the canvas unchanged.
10. The data collecting method for a surface processing apparatus according to claim 8, further comprising, after said tracing, for each of said images, a data point corresponding to each of said identification marks on said preset canvas in accordance with position data of each of said identification marks in said image:
determining an abnormal data point from the data points corresponding to the identification marks aiming at each identification mark on the preset canvas;
and deleting the abnormal data points from the preset canvas.
11. A correction data acquisition device of a surface processing apparatus, comprising:
the determining module is used for determining a preset calibration area in advance according to the calibration matrix sample, and the preset calibration area covers all the identification marks on the calibration matrix sample; the calibration matrix sample is obtained after a to-be-corrected plane processing device processes a to-be-processed plane according to a processing data source, the processing data source is m multiplied by n order matrix data formed by a plurality of identification marks arranged according to a preset interval, m is the number of identification mark rows, and n is the number of identification mark columns;
the dividing module is used for dividing the preset calibration area into a plurality of shooting areas according to the size of a preset field of view and the size of the preset calibration area and determining the shooting position of each shooting area;
the control module is used for controlling the camera to shoot at each shooting position so as to obtain an image of a corresponding shooting area and obtain position data of each identification mark in each image;
and the calculation module is used for obtaining correction data corresponding to the identification mark according to the position data corresponding to the identification mark and the corresponding original data in the processing data source aiming at each identification mark.
12. A correction data collecting apparatus of a surface working apparatus, comprising: microscope carrier, memory, treater, removal module and camera, wherein:
the carrying platform is used for carrying a calibration matrix sample;
the memory for storing a computer program;
the processor for implementing the steps of the correction data acquisition method of the flat surface processing apparatus according to any one of claims 1 to 10 when executing the computer program;
and the moving module is used for driving the camera to correspondingly move under the control of the processor.
13. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the correction data acquisition method for a flat surface processing apparatus according to any one of claims 1 to 10.
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