CN113724213B - Small hole positioning method followed by user-defined search area - Google Patents
Small hole positioning method followed by user-defined search area Download PDFInfo
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Abstract
The invention relates to a small hole positioning method followed by a user-defined search area, which comprises the steps of selecting an initial workpiece, positioning the initial workpiece, setting a small hole search area, solving the search area after the offset and rotation of a subsequent workpiece, segmenting an image in the search area and positioning the small hole; the method can define the shape of a search area, narrow the detection range, search in a specific search area, additionally add a search area following function, position a workpiece with a deviation of an incoming material position, calculate a following search area according to the position deviation of the workpiece, identify and screen small holes in the search area, and determine the positions of the small holes, thereby greatly improving the detection efficiency and the detection precision. The small hole positioning method can quickly and accurately position the small hole, has high positioning precision, meets the requirements of industrial production, and has simple and convenient operation and strong practicability.
Description
Technical Field
The invention belongs to the technical field of machine vision, and particularly relates to a small hole positioning method followed by a user-defined search area.
Background
Machine vision is a branch of the rapid development of artificial intelligence. In brief, machine vision is to use a machine to replace human eyes for measurement and judgment. The machine vision system converts a shot target into an image signal through a machine vision product, transmits the image signal to a special image processing system to obtain the form information of the shot target, and converts the form information into a digital signal according to the information of pixel distribution, brightness, color and the like; the image system performs various calculations on these signals to extract the features of the target, and then controls the operation of the on-site equipment according to the result of the discrimination. Among them, pinhole positioning is an important application in machine vision.
The small hole positioning and identifying method on the product in the current market has the following problems: the position of the supplied material of the product is not fixed, the position of the small hole on the product is not fixed, the search area is large, the detection efficiency is low, in addition, noise exists in the detection environment, when the small hole is positioned, the identification of the small hole is influenced by the noise outside the product due to the small aperture and unobvious characteristics of the small hole, and the detection stability is influenced.
Disclosure of Invention
The invention aims to provide a small hole positioning method followed by a user-defined search area, and aims to solve the technical problems of low detection efficiency and low detection precision in the small hole positioning process.
The technical scheme of the invention for the small hole positioning method followed by the user-defined search area comprises the following contents:
a small hole positioning method followed by a user-defined search area comprises the following steps:
s1, selecting a workpiece with a surface reflecting light to be positioned by the small hole as an initial workpiece;
s2, collecting the image of the initial workpiece selected in the step S1; shooting an initial workpiece in a mode of combining a polarizing film and polarized light to obtain an original image, and preprocessing the original image to obtain a first preprocessed image of the initial workpiece;
s3, positioning the initial workpiece in the first preprocessed image in the step S2; extracting the outer edge profile of the initial workpiece, and calculating the initial position and the rotation angle of the initial workpiece, wherein the initial position of the initial workpiece is expressed as (x)0,y0) The angle of rotation of the initial workpiece is denoted as α0；
S4, setting a search area of a small hole to be positioned on the initial workpiece; defining a search area of a specific shape, size and position on the preprocessed image of the initial workpiece in step S1 according to the distribution of the pinholes, the mask of the search area being defined as mask1；
S5, calculating the offset and rotation of the subsequent workpiece with the same type and size as the initial workpieceSearching the area; the outer edge positioning is carried out on the subsequent workpiece by adopting the steps S2 to S3, and the position of the subsequent workpiece is recorded as (x)k,yk) And the rotation angle is recorded as alphakCalculating to obtain a position difference value (delta x, delta y) and an angle difference value delta alpha with the initial workpiece, shifting and rotating the search area according to the position difference value and the angle difference value to obtain a mask of the converted search area2(ii) a Wherein K is 1, 2, 3 … n;
s6, search area mask in the segmentation step S52An image of the interior; the search area mask obtained by calculation on the subsequent workpiece2The image is divided to obtain a mask2Inner pre-processed Image1；
S7, positioning the small hole to be positioned on the subsequent workpiece; for Image1Carrying out contour detection, screening out the contour of the small hole according to the set parameter standard, and obtaining the position (x) of the small hole to be positioned on the subsequent workpieceLk,yLk)。
Further, in step S2, the H channel is used to extract the region of the initial workpiece, and the salt and pepper noise is removed by median filtering, so as to obtain a preprocessed image of the initial workpiece.
Further, in step S3, the minimum circumscribed rectangle, the center position and the rotation angle of the circumscribed rectangle are obtained as the initial position of the initial workpiece and the rotation angle of the initial workpiece for the extracted outer edge profile of the initial workpiece.
Further, the shape of the search area in step S4 is a rectangle, a circle, an ellipse, or a polygon.
Further, the search area mask is used in step S52The pixel value in (b) is the pixel value of the original image in step S1, and the region mask is searched for2Method for zeroing out grey value to obtain preprocessing Image of subsequent workpiece1。
Further, step S4 includes: for search area mask1Carrying out picture segmentation to obtain a preprocessed Image0(ii) a For Image0Carrying out contour detection, and screening out the contour of the small hole according to the set parameter standard to obtain the contour of the small holePosition (x) of a hole to be positioned on an initial workpieceL0,yL0)。
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
1. the invention can define the shape of a search area, narrow the detection range, reduce noise points, search in a specific search area, add a search area following function, position a workpiece with a deviation of an incoming material position, calculate a following search area according to the position deviation of the workpiece, identify and screen small holes in the search area, and determine the positions of the small holes, thereby greatly improving the detection efficiency and the detection precision.
2. The positioning method can quickly and accurately position the small hole, has high positioning precision, meets the requirements of industrial production, and has simple and convenient operation and strong practicability.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 illustrates a flow chart for positioning an initial workpiece according to an embodiment of the present invention;
FIG. 2 illustrates an original image of an initial workpiece according to an embodiment of the present invention;
FIG. 3 illustrates a first pre-processed image of an initial workpiece according to an embodiment of the invention;
FIG. 4 illustrates a first preprocessed image-defined search region map of an initial workpiece, in accordance with an embodiment of the present invention;
FIG. 5 illustrates a search area image of an initial workpiece, in accordance with an embodiment of the present invention;
FIG. 6 is a diagram illustrating a second pre-processed Image of an initial workpiece according to an embodiment of the invention0
FIG. 7 is a flow chart illustrating the positioning of subsequent workpiece apertures according to a second embodiment of the present invention.
In the figure, 1 is a first orifice, 2 is a second orifice.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
Example one
Referring to fig. 1 to 6, in the first embodiment, a method for locating a small hole followed by a custom search area is provided, which includes the following steps:
s1', obtaining the original image of the initial workpiece by the combination of the polaroid and the polarized light;
s2', preprocessing the original image to obtain a first preprocessed image;
s3', positioning the outer contour of the initial workpiece with high precision;
s4', drawing the search region mask1；
S5', for the search region mask1Carrying out picture segmentation to obtain a second preprocessed Image of the initial workpiece0；
S6', for the second pre-processed Image0Carrying out contour detection, and screening out the contour of the small hole according to the set parameter standard to obtain the position (x) of the small hole to be positioned on the initial workpieceL0,yL0)。
The method comprises the steps of carrying out pinhole positioning on a workpiece with a reflective surface, confirming that the workpiece is an initial workpiece, and positioning a first pinhole 1 and a second pinhole 2 on the initial workpiece by using an original image of the initial workpiece obtained by combining a polarizing film and polarized light in the figure 1. As the first pinhole 1 and the second pinhole 2 are smaller and are similar to noise characteristics of other positions on the initial workpiece, a plurality of results can be obtained by direct extraction, and positioning failure of the first pinhole 1 and the second pinhole 2 is caused.
Because the surface of the initial workpiece is reflective, the workpiece with the reflective surface is photographed by adopting a mode of combining a polarizing plate and polarized light, and an original image is obtained as shown in fig. 2. Performing preprocessing operation on an original image, extracting through an H channel to obtain a colored area on a spool, removing salt and pepper noise through median filtering, and processing to obtain a first preprocessed image, wherein the first preprocessed image is shown in figure 3; according to the embodiment of the invention, the H channel is adopted to extract the colorful area on the spool, the workpiece and the background can be accurately distinguished by utilizing the difference of the colors of the initial workpiece and the background, and the accuracy of the first preprocessing image of the initial workpiece is ensured.
Extracting the outline of the outer edge of the initial workpiece, obtaining the minimum circumscribed rectangle of the outline, and obtaining the center and the rotation angle of the minimum circumscribed rectangle, wherein the rotation angle is the rotation angle relative to the image coordinate system, and the initial position of the workpiece is recorded as (x)0,y0) Initial rotation angle of the workpiece is denoted as α0. As can be seen from the first preprocessed image in fig. 3, the first small hole 1 and the second small hole 2 are positioned on a circular ring with the center of the workpiece as the midpoint, so that a circular search area is drawn, as shown in fig. 4, the search area here can be set to be a rectangle, a circle, a circular ring, a polygon, but not limited to the above shapes, according to the difference of the workpiece and the positions of the small holes on the workpiece, and the corresponding search area mask is defined as mask1As shown in fig. 5.
For search area mask1The Image segmentation is carried out, the pixel value of the original Image of the initial workpiece in the search area is set to be 0, the gray value outside the search area is set to be 0, the interference of noise outside the search area is avoided, and the second preprocessed Image of the initial workpiece is obtained0(ii) a As shown in FIG. 6, the result of the processing is shown for the second preprocessed Image0Carrying out contour detection, and screening out the contour of the small hole according to the set parameter standard, thus obtaining the position (x) of the first small hole 1 to be positioned on the initial workpieceL01,yL01) And the position (x) of the second apertureL02,yL02)。
Example two
In industrial production and installation, workpieces of the same size and model need to be positioned and installed in a large batch, and in the process of positioning small holes of different workpieces of the same size and model, due to the fact that the feeding position of each workpiece is not fixed, the small holes cannot be guaranteed to be located in a fixed search area every time, and the fed workpieces of each time are called subsequent workpieces in the text. For the positioning method of the small holes on the subsequent workpieces with the feeding positions different from the set initial workpiece positions, referring to fig. 7, the method comprises the following processes:
s1, selecting a workpiece with a surface reflecting light to be positioned by the small hole as an initial workpiece;
s2, collecting the image of the initial workpiece selected in the step S1; shooting an initial workpiece in a mode of combining a polarizing film and polarized light to obtain an original image, and carrying out preprocessing operation on the original image to obtain a preprocessed image;
s3, positioning the initial workpiece in the preprocessed image in the step S2; extracting the outline of the outer edge of the initial workpiece, calculating the minimum circumscribed rectangle of the outline, obtaining the center and the rotation angle of the circumscribed rectangle, and recording the initial position of the initial workpiece as (x)0,y0) Initial rotation angle is denoted as α0；
S4, setting a search area of a small hole to be positioned on the initial workpiece; drawing a search area of the aperture to be positioned on the preprocessed image of the initial workpiece in step S1, wherein the mask of the search area is defined as mask1；
S5, calculating a search area after deviation and rotation of a subsequent workpiece with the same type and size as the initial workpiece; the subsequent workpieces are subjected to outer edge positioning by adopting the steps S2 to S3, and the position of the subsequent workpieces is recorded as (x)k,yk) And the rotation angle is recorded as alphakCalculating to obtain a position difference value (delta x, delta y) and an angle difference value delta alpha with the initial workpiece, shifting and rotating the search area according to the position difference value and the angle difference value to obtain a mask of the converted search area2(ii) a Wherein K is 1, 2, 3 … n;
s6, search area mask in the segmentation step S52An image of the interior; the search area mask obtained by calculation on the subsequent workpiece2The image is segmented to obtain a mask2Inner pre-processed Image1；
S7, positioning the small hole to be positioned on the subsequent workpiece; for Image1Carrying out contour detection, screening out the contour of the small hole according to the set parameter standard, and obtaining the position (x) of the small hole to be positioned on the subsequent workpieceLk,yLk)。
Subsequent workpieces were edge positioned using the same method as in example 1, using a combination of polarizer and polarized lightAnd shooting the subsequent workpiece in a mode to obtain an original image of the subsequent workpiece. Preprocessing the original image of the subsequent workpiece, extracting through an H channel to obtain a colored area on a spool, removing salt and pepper noise through median filtering, processing to obtain a first preprocessed image of the subsequent workpiece, and marking the position of the subsequent workpiece as (x)k,yk) And the rotation angle is recorded as alphakCalculating to obtain a position difference value (delta x, delta y) and an angle difference value delta alpha with the initial workpiece, shifting and rotating the search area according to the position difference value and the angle difference value to obtain a mask of the converted search area2(ii) a Where K is 1, 2, 3 … N, K is not limited to 1, 2, 3 … … N, but may be other distinguishable symbols, such as a, b, c, d … …, and the like.
Dividing the middle search area mask2An image of the interior; the search area mask obtained by calculation on the subsequent workpiece2Dividing the image, wherein the pixel value of the original image of the initial workpiece is in the search area, the gray value outside the search area is set to be 0, the interference of noise outside the search area is avoided, and the mask is obtained2Second preprocessed Image of subsequent workpiece in1。
Then the second pre-processed Image is processed1Carrying out contour detection, screening out the contour of the small hole according to the set parameter standard, and obtaining the position (x) of the small hole to be positioned on the subsequent workpieceLk,yLk) And K is 1, 2 and 3 … n, and the following positioning of the small hole on the workpiece is completed.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above embodiments are only examples of the present invention and should not be construed as limiting the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms indicating an orientation or positional relationship are based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Claims (5)
1. A small hole positioning method followed by a user-defined search area is characterized by comprising the following steps:
s1, selecting a workpiece with a surface reflecting light to be positioned by a small hole as an initial workpiece;
s2, collecting the image of the initial workpiece selected in the step S1; shooting an initial workpiece in a mode of combining a polarizing film and polarized light to obtain an original image, and preprocessing the original image to obtain a first preprocessed image of the initial workpiece;
s3, positioning the initial workpiece in the first preprocessed image in the step S2; extracting the outer edge profile of the initial workpiece, and calculating the initial position and the rotation angle of the initial workpiece, wherein the initial position of the initial workpiece is expressed as (x)0,y0) The angle of rotation of the initial workpiece is denoted as α0；
S4, setting a search area of a small hole to be positioned on the initial workpiece; defining a search area of a specific shape, size and position on the preprocessed image of the initial workpiece in step S1 according to the distribution of the pinholes, the mask of the search area being defined as mask1(ii) a For the search region mask1The picture is divided to obtain a preprocessed Image0(ii) a For Image0Carrying out contour detection, screening out the contour of the small hole according to the set parameter standard, and obtaining the position (x) of the small hole to be positioned on the initial workpieceL0,yL0)；
S5, calculating a search area after deviation and rotation of a subsequent workpiece with the same type and size as the initial workpiece; the outer edge positioning is carried out on the subsequent workpiece by adopting the steps S2 to S3, and the position of the subsequent workpiece is recorded as (x)k,yk) And the rotation angle is recorded as alphakCalculating to obtain a position difference value (delta x, delta y) and an angle difference value delta alpha with the initial workpiece, and shifting and rotating the search area according to the position difference value and the angle difference value to obtainMask the search area after transformation as mask2(ii) a Wherein K is 1, 2, 3 … n;
s6, search area mask in the segmentation step S52An image of the inside; the search area mask obtained by calculation on the subsequent workpiece2The image is segmented to obtain a mask2Inner pre-processed Image1；
S7, positioning the small hole to be positioned on the subsequent workpiece; for Image1Carrying out contour detection, screening out the contour of the small hole according to the set parameter standard, and obtaining the position (x) of the small hole to be positioned on the subsequent workpieceLk,yLk)。
2. The method for locating a small hole followed by a custom search area according to claim 1, wherein the method comprises the following steps: in step S2, the H channel is used to extract the region of the initial workpiece, and the impulse noise is removed by median filtering to obtain a preprocessed image of the initial workpiece.
3. The method for locating the small hole followed by the user-defined search area according to claim 1, characterized in that: in step S3, a minimum circumscribed rectangle is obtained for the extracted outer edge profile of the initial workpiece, and the center position and the rotation angle of the minimum circumscribed rectangle are used as the initial position of the initial workpiece and the rotation angle of the initial workpiece.
4. The method for locating a small hole followed by a custom search area according to claim 1, wherein the method comprises the following steps: the shape of the search area in step S4 is a rectangle, a circle, an ellipse, or a polygon.
5. The method for locating a small hole followed by a custom search area according to claim 1, wherein the method comprises the following steps: step S5 is executed with the search area mask2The pixel value in (b) is the pixel value of the original image in step S1, and the region mask is searched for2The method for setting the external grey value to zero obtains the preprocessing Image of the subsequent workpiece1。
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| CN112258536A (en) * | 2020-10-26 | 2021-01-22 | 大连理工大学 | Integrated positioning and dividing method for corpus callosum and lumbricus cerebellum |
| CN113191356A (en) * | 2021-05-19 | 2021-07-30 | 南方电网电力科技股份有限公司 | State identification method and related device for switch cabinet pressing plate equipment |
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| CN112258536A (en) * | 2020-10-26 | 2021-01-22 | 大连理工大学 | Integrated positioning and dividing method for corpus callosum and lumbricus cerebellum |
| CN113191356A (en) * | 2021-05-19 | 2021-07-30 | 南方电网电力科技股份有限公司 | State identification method and related device for switch cabinet pressing plate equipment |
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