CN115760805A - Positioning method for processing surface depression of element based on visual touch sense - Google Patents
Positioning method for processing surface depression of element based on visual touch sense Download PDFInfo
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Abstract
The invention discloses a method and a device for positioning a surface depression of a processing element based on visual touch, electronic equipment and a storage medium, wherein the method specifically comprises the following steps: obtaining the regional image contrast of a working surface where the surface of the machining element is located, selecting a visual touch positioning method or a touch positioning method according to the regional image contrast, obtaining the characteristic quantity of the surface of the machining element through a touch sensor, then performing positioning calculation, and determining the recess information of the surface of the machining element. The invention solves the problem of concave positioning under the condition that the surface image of the element cannot be obtained under poor illumination conditions, can effectively distinguish weak signals through the touch sensor, obtain more accurate positioning and reduce the fault rate of detection; the embodiment of the invention adopts machine detection, can also reduce the consumption of human resources, has no influence of personal subjective factors on the detection result, and can be widely applied to the technical field of surface defect positioning.
Description
Technical Field
The invention relates to the technical field of surface defect positioning, in particular to a positioning method for processing surface depression of an element based on visual touch.
Background
In the industrial production process, due to the defects and limitations of the prior art, working conditions and other factors, the quality of a finished product is easily influenced. Among them, surface defects are the most intuitive manifestation that product quality is affected. Therefore, in order to ensure yield and reliable quality, product surface defect detection must be performed. "defects" are generally understood to mean deletions, defects or areas compared with normal samples. The surface defect detection refers to detecting defects such as scratches, defects, foreign matter shielding, color pollution, holes and the like on the surface of a sample, so as to obtain a series of related information such as the category, the outline, the position, the size and the like of the surface defects of the detected sample.
The existing defect detection method mainly has the following problems:
the manual defect detection consumes a large amount of manpower, the efficiency is low, and the detection result is easily influenced by human subjective factors and cannot meet the requirement of real-time detection;
machine vision detection is affected by multiple factors such as environment, illumination, production process and noise, the signal-to-noise ratio of a detection system is generally low, and weak signals are difficult to detect or cannot be effectively distinguished from the noise.
Disclosure of Invention
In view of this, the embodiment of the invention provides a positioning method for processing surface depression of an element based on visual touch with high efficiency and high accuracy.
In one aspect, an embodiment of the present invention provides a method for positioning a recess on a surface of a processing element based on visual touch, including:
acquiring illumination information of a working surface where the surface of the processing element is located, and determining the regional image contrast of the surface of the processing element according to the illumination information;
selecting a visual tactile localization method or a tactile localization method according to the regional image contrast of the surface of the processing element;
and acquiring the characteristic quantity of the surface of the processing element through the touch sensor, and performing positioning calculation on the characteristic quantity to determine the recess information of the surface of the processing element.
Optionally, in the step of acquiring illumination information of a working surface where the surface of the processing element is located and determining the area image contrast of the surface of the processing element according to the illumination information, a calculation formula of the area image contrast is as follows:
wherein c is the regional image contrast, δ (i, j) is the gray difference between adjacent pixels, P δ (i, j) is a pixel distribution probability that the gray scale difference between adjacent pixels is δ.
Optionally, said selecting visual tactile localization or tactile localization based on regional image contrast of said processing element surface comprises:
when the area image contrast is greater than or equal to a preset threshold value, determining that the recess positioning method is the visual touch positioning method;
and when the area image contrast is smaller than the preset threshold value, determining that the recess positioning method is the tactile positioning method.
Optionally, when the recess positioning method is the visual tactile positioning method, the selecting the visual tactile positioning method, performing positioning calculation on the feature quantity, and determining the recess information of the surface of the processing element includes:
acquiring a surface image of the processing element by a camera;
performing image processing on the surface image of the processing element to acquire image information of a target recess of the processing element;
obtaining the coordinates of the target recess relative to the tail end of the mechanical arm by a mechanical arm hand-eye calibration method according to the image information of the target recess;
according to the coordinates, a touch sensor is carried by the tail end of the mechanical arm to obtain characteristic quantities of a rectangular area containing the target recess;
and determining the position of the target recess of the surface of the processing element according to the characteristic quantity.
Optionally, the method further comprises:
acquiring data of the touch sensor;
determining the distance between the permanent magnet and the triaxial magnetic induction intensity measurement chip according to the data of the touch sensor;
and determining the surface of the processing element to be a projection or a hole according to the distance.
Optionally, when it is determined that the recess locating method is the tactile locating method, the selecting the tactile locating method, performing location calculation on the image information, and determining the recess information of the surface of the processing element includes:
constructing an origin;
determining a candidate path algorithm according to the type of the processing element, controlling the mechanical arm to start from the original point, traversing the surface of the processing element through the candidate path algorithm, and determining the position of the target recess through the touch sensor;
the tactile localization method further comprises the steps of:
and obtaining the working space location of the target recess by coordinate transformation according to the position of the target recess on the surface of the processing element, wherein the working space is used for representing the operation space of the mechanical arm.
On the other hand, the embodiment of the invention also provides a positioning device for processing the surface depression of the element based on visual touch, which comprises:
the selection module is used for selecting a visual touch positioning method or a touch positioning method according to the regional image contrast of the surface of the processing element;
the illumination module is used for acquiring illumination information of a working surface where the surface of the processing element is located and determining the regional image contrast of the surface of the processing element according to the illumination information;
and the positioning calculation module is used for acquiring the characteristic quantity of the surface of the processing element through the touch sensor, performing positioning calculation on the characteristic quantity and determining the recess information of the surface of the processing element.
On the other hand, the embodiment of the invention also provides electronic equipment, which comprises a processor and a memory, wherein the memory is used for storing a program, and the processor executes the program to realize the positioning method for processing the surface depression of the element based on the visual sense and the tactile sense.
In another aspect, an embodiment of the present invention further provides a computer-readable storage medium, where the storage medium stores a program, and the program is executed by a processor to implement the above-mentioned method for positioning the surface depression of the machining element based on visual sense of touch.
In another aspect, an embodiment of the present invention further provides a computer program product, which includes a computer program, and the computer program is executed by a processor to implement the above method for positioning the surface depression of the machining element based on visual sense of touch.
Embodiments of the present invention also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and the computer instructions executed by the processor cause the computer device to perform the foregoing method.
Embodiments of the invention include at least the following benefits: the embodiment of the invention adopts a mode of combining vision and touch to carry out recess positioning, solves the problem of recess positioning under the condition that the surface image of an element cannot be obtained due to poor illumination conditions, and can effectively distinguish weak signals by combining a touch sensor, so that more accurate positioning can be obtained, and the failure rate of detection is reduced; the embodiment of the invention adopts machine detection, so that the consumption of human resources can be greatly reduced, and the detection result is not influenced by personal subjective factors.
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In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of a method for locating a depression in a surface of a processing element based on apparent haptics according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the construction of a tactile sensor in an embodiment of the invention;
FIG. 3 is a detailed flow chart of a visual tactile location method according to an embodiment of the present invention;
FIG. 4 is a detailed flow chart of a haptic localization method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a coordinate system for coordinate transformation in a haptic localization method provided by an embodiment of the present invention;
FIG. 6 is a flowchart of a method for locating a depression in a surface of a processing element based on visual tactile sensation according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a positioning apparatus for machining surface depression of an element based on visual sense of touch according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In view of the problems in the prior art, the embodiment of the present invention provides a method for positioning a surface recess of a processing element based on visual sense of touch, as shown in fig. 1, the method includes steps 101 to 103.
Step 101: the method comprises the steps of obtaining illumination information of a working face where the surface of a machining element is located, and determining regional image contrast of the surface of the machining element according to the illumination information.
The embodiment of the invention includes, but is not limited to, for example, battery products, PCB (printed circuit board) products, pharmaceutical packaging products, textile and garment accessories products, and the like, and for example, the defect detection of the battery products can be to detect defects such as scratches, indentations, corrosion, pits, and the like of the battery products; the defect detection of the PCB products can be integrity detection of the appearance, the size, the pins and the patches of the PCB products, welding spots, directions and the like; the defect detection of the medical packaging products can be the size measurement of the length, height, diameter and the like of the medical packaging products, the defect detection of breakage, black spots and the like; the defect detection of the textile and clothing accessory products can be defect detection of surface defects of textiles such as non-woven fabrics, towels and the like, such as holes, loose edges, unsealed edges, thread ends and the like.
The illumination information may be obtained by using a shooting device, or by using a mobile device with a shooting function, such as a CCD sensor and a CMOS sensor, which may convert a shot picture into an image signal, transmit the image signal to a dedicated image processing system to obtain morphological information of a shot target, convert the morphological information into a digitized signal according to information such as pixel distribution, brightness, and color, and perform various operations on the digitized signal by the image system to extract features of the target.
The illumination information is used for determining illumination conditions of the surface of the processing element, and comprises various information such as pixel distribution, brightness, color, contrast and the like.
The regional image contrast refers to the measurement of different brightness levels between the brightest white and the darkest black of a bright and dark region in an image, namely the gray contrast of an image, wherein the larger the difference range is, the larger the contrast is, and the smaller the difference range is, the smaller the contrast is, and the regional image contrast in the embodiment of the invention is calculated by the following formula:
wherein c is the image contrast of the region, δ (i, j) is the gray difference between adjacent pixels, P δ (i, j) is a pixel distribution probability that the gray scale difference between adjacent pixels is δ.
Step 102: and selecting visual touch positioning method or touch positioning method according to the regional image contrast of the surface of the processing element.
Wherein the area image contrast of the element surface is calculated according to the calculation formula of the area image contrast, and the calculation result is compared with a threshold value: when the calculation result is greater than or equal to the threshold value, judging that the illumination condition is good, and selecting a visual touch positioning method; and when the calculation result is smaller than the threshold value, judging that the illumination condition is not good, and selecting a touch positioning method.
The threshold is used to distinguish the recess from the normal plane, and the threshold setting depends on actual requirements, for example, the threshold may be set to 100, which is not limited in the embodiments of the present invention.
Step 103: and acquiring the characteristic quantity of the surface of the processing element through a touch sensor, and performing positioning calculation on the characteristic quantity to determine the recess information of the surface of the processing element.
It should be noted that the method of the present invention may be mainly used for performing positioning detection on the recess on the surface of the processing element, and under other application scenarios or use requirements, the method of the present invention may also be applied to detecting the hole or protrusion on the surface of the processing element, and in the process of detecting the hole or protrusion, it is only necessary to compare the distance data acquired by the tactile sensor of the recess detection method of the present invention with the distance data of the normal plane, so as to determine whether the defect is a protrusion or a hole, which is not described herein again.
The structural schematic diagram of the touch sensor refers to fig. 2, and d represents the distance between the permanent magnet and the three-axis magnetic induction intensity measuring chip in the touch sensor; the silicone plane of the touch sensor is used for contacting the surface of the processed element, if the touch sensor has bulges, depressions and holes, the distance between the permanent magnet in the touch sensor and the triaxial magnetic induction intensity measuring chip is changed, so that the data of the touch sensor is different from the data of a normal plane, experimental modeling is carried out to obtain the relation between the data and the distance, and the characteristic quantities of the bulges, the depressions and the holes are obtained.
The characteristic quantity is used for representing the tactile information of the target recess, such as the recess area size, the recess depth, the recess position and the like.
Referring to fig. 3, in step 102, when the calculation result is greater than or equal to the threshold value, it is determined that the lighting condition is good, and a visual touch positioning method is selected to perform positioning calculation on the feature quantity and determine the recess information of the surface of the processing element, which may be specifically implemented by steps 301 to 305.
Step 301: acquiring the surface image of the processing element.
Step 302: and carrying out image processing on the surface image of the processing element to obtain the image information of the target recess of the processing element.
The image processing related technologies include, but are not limited to, image denoising, image enhancement and restoration, defect detection, target segmentation, and the like. Image denoising refers to a process of reducing noise in a digital image, and the digital image in reality is often influenced by noise interference of imaging equipment and external environment in the digitization and transmission processes and is called a noisy image or a noise image; the image enhancement and restoration can emphasize the interested part in the image, inhibit the uninteresting part and make the emphasized part more clear to the user; the defect detection refers to the detection of the surface defects of the article, and the surface defect detection is to detect the defects of spots, pits, scratches, color differences, defects and the like on the surface of the workpiece by adopting a machine vision detection technology; object segmentation is the pixel-level object detection of objects on an image, labeling each pixel on the image such that pixels with the same label have a common visual characteristic.
The image information refers to image characteristic information extracted after image processing is carried out on the surface image of the element, the image characteristics mainly comprise color characteristics, texture characteristics, shape characteristics and spatial relation characteristics of the image, and the position of the target recess is calculated and determined according to the characteristic information.
Step 303: and obtaining the coordinates of the target recess relative to the tail end of the mechanical arm by a mechanical arm hand-eye calibration method according to the image information of the target recess.
Step 304: and acquiring the characteristic quantity of the rectangular area containing the target recess through a touch sensor carried by the tail end of the mechanical arm according to the coordinates.
The tail end of the mechanical arm carries the touch sensor to move to a coordinate position, a rectangular area is moved at the coordinate position, the size of the rectangular area can be set to be 30 x 30cm, and the characteristic quantity of the rectangular area is obtained through reading of the touch sensor. For example, in a 2 × 2 sensor module, assuming that the size of the depressed portion is smaller than the size of the entire 2 × 2 sensor unit, it is possible to determine which of the sensor units covers the depressed or hole portion, and since the sensor unit is sufficiently small, the positioning accuracy of the depressed position is limited to one sensor unit, and the feature amount of the depressed position at that time is recorded.
Step 305: and determining the position of the target recess of the surface of the processing element according to the characteristic quantity.
Wherein, the position coordinate of the mechanical arm end and the position information of the target recess can be obtained through the determined characteristic quantity, and the depth of the recess can be calculated through the reading of the touch sensor.
Referring to fig. 4, in step 102, when the calculation result is smaller than the threshold, it is determined that the light condition is not good, the tactile sensation positioning method is selected, the characteristic amount is calculated by positioning, and the recess information of the surface of the processing element is determined, which may be specifically implemented by the following steps 401 to 403.
Step 401: an origin is constructed.
The position of the origin is not limited by the embodiment of the invention.
Step 402: and determining a candidate path algorithm, controlling the mechanical arm to start from the origin, traversing on the surface of the processing element through the candidate path algorithm, and determining the position of the target recess through the touch sensor.
The candidate path algorithm is determined according to the type of the element to be detected, and because the surface of the element has different materials, shapes, areas and the like, a proper path algorithm is selected according to the type of the element, for example, the path algorithm may be a complete path planning algorithm based on ant colony or a traversal planning algorithm based on a genetic algorithm.
Step 403: and obtaining the working space positioning of the target recess by coordinate transformation of the position of the target recess according to the position of the target recess on the surface of the processing element.
Wherein the workspace is used to characterize the workspace of the robotic arm.
In reference to fig. 5, since no image acquisition device is used, the mechanical arm hand-eye calibration method cannot be used to determine the depression position, and therefore the following coordinate transformation algorithm is used:
defining a world coordinate system (base using robot) { w }, robot end coordinate system { m }, working plane coordinate system of inspection cavity { u }, and three preset points R1, R2, R3 (where L is L) for calibration R1R2 Connecting line and L R1R3 Perpendicular to each other), the position where the hole is detected is assumed to be k points.
1) Firstly, the tail end of the mechanical arm is moved to the R1, R2 and R3 points, and the coordinates R of the R1, R2 and R3 under the { m } system are obtained 1m ＝(x 1m ,y 1m ,z 1m ) T ,r 2m ＝(x 2m ,y 2m ,z 2m ) T And r 3m ＝(x 3m ,y 3m ,z 3m ) T 。
2) The transformation matrix T from the { m } system to the { w } system can be obtained according to forward kinematics wm Wherein T is i,i+1 Is a homogeneous transformation matrix between the (i + 1) th joint and the ith joint.
T wm ＝T w, T 1,2 T 2, …T n-1, T n,
3) Therefore use T wm Can be expressed as r under the { m } system 1m ,r 2m ,r 3m Mapping to { w } system r 1w ,r 2w ,r 3w 。
r iw ＝T wm r im (i＝1,2,3)
4) Then using R1 as origin, R1->R2 is the Yu axis, R1->R3 is an Xu axis to establish a { u } system of a working plane, a { u } system coordinate vector under a { w } system can be written, and the offset of the origin of the two coordinate systems is p = (x) 1m ,y 1m ,z 1m ) T Therefore, the coordinate transformation T from { m } system to { u } system can be obtained wu 。
5) According to T wu And T wm Can find T um 。
T um ＝(T wu ) -1 T wm
6) Therefore, when the hole is detected at the end of the robot, the coordinate k of the hole in the { m } system is returned m ＝(x k ，y k ，z k ) T Then can use T um And transforming to the { u } system, thereby realizing the positioning of the holes in the working space.
k u ＝T um k m
Taking a battery as an example, referring to fig. 6, when positioning the recess on the surface of the battery, the positioning method for processing the recess on the surface of the element based on visual touch is implemented by adopting the following specific processes:
1. firstly, a camera is adopted to shoot a battery working face, and an optical sensor is utilized to carry out illumination condition analysis on the regional image contrast of the working face so as to see whether visual capture is supported. When the contrast of the area image is greater than or equal to the threshold value, judging that the illumination condition is good, and selecting a visual touch positioning method; and when the contrast of the area image is smaller than the threshold value, judging that the illumination condition is not good, and selecting a touch positioning method.
2. When a visual touch positioning method is selected, firstly, a camera is used for acquiring a battery surface image, image processing and analysis are carried out, image information is acquired, and a coordinate system is established to determine the position of a battery surface recess; moving a mechanical arm with a touch sensor at the tail end, moving the touch sensor to a concave position for touch, positioning the concave position again by a mechanical arm hand-eye calibration method according to the moving distance and coordinate transformation of the mechanical arm, and then differentiating position data obtained by the two times of detection to see whether the position data is in an error allowable range, wherein the numerical value of the error is set according to the actual situation, for example, 1cm, 2cm and the like can be set, the embodiment of the invention is not limited, the error is set to be 5mm in the detection of the battery, and if the difference of the position data of the two times of detection is less than or equal to 5mm and the error allowable range is in, the concave position is determined and the characteristic quantity of the concave position is delivered to the upper layer; and if the data difference between the front position and the rear position is larger than 5mm and exceeds the error allowable range, the camera is used again to acquire the surface image of the battery by moving the position of the camera and perform image processing analysis, and the steps are finished until the obtained data difference is within the error 5mm range.
3. When a touch positioning method is selected, firstly, a mechanical arm with a touch sensor at the tail end is moved, the touch sensor is attached to the surface of the battery, path planning is carried out by adopting an ant colony-based complete path planning algorithm, and the surface of the battery is traversed along the path planned by the algorithm; then, in the traversing process, if the surface of the battery has defects such as scratches, indentations, corrosion, pits and the like, the data acquired by the tactile sensor at the defect position is different from the data acquired at the normal plane, and the type, depth or height of the defect is judged according to the acquired data, for example, when the detected distance is greater than the data acquired at the normal plane, the defect can be judged to be a dent; when the detected distance is smaller than the data acquired by the normal plane, the defect can be judged as a bulge; the distance acquired by the concave or convex part is differed from the distance acquired by the normal plane to obtain the depth of the concave or convex part; and determining the defect position of the surface of the component according to the moving distance and the coordinate transformation of the mechanical arm, and delivering the characteristic quantity of the defect position to an upper layer.
In summary, the method for positioning the surface recess of the processing element based on the visual sense of touch according to the embodiment of the invention has the following advantages:
1. the method solves the problems of recess, protrusion and hole positioning under the condition that the surface image of the element cannot be obtained due to poor illumination condition or inadmissible illumination condition.
2. The method uses the touch sensor, so that weak signals can be effectively distinguished, more accurate positioning is obtained, and the fault rate of detection is reduced.
3. The method can accurately measure the data of the concave depth, the convex height and the like of the element.
Referring to fig. 7, an embodiment of the present invention further provides a positioning apparatus for performing surface indentation of a processing element according to a tactile sensation, including:
the selection module 701: the visual touch positioning method or the touch positioning method is selected according to the regional image contrast of the surface of the processing element;
the illumination module 702: the device is used for acquiring illumination information of a working surface where the surface of the machining element is located, and determining regional image contrast of the surface of the machining element according to the illumination information;
the positioning calculation module 703: the method is used for acquiring the characteristic quantity of the surface of the processing element through the touch sensor, carrying out positioning calculation on the characteristic quantity and determining the recess information of the surface of the processing element.
The embodiment of the invention also provides electronic equipment which can perform positioning of the processing element surface recess based on visual touch, acquire the regional image contrast of the working surface where the processing element surface is located, select the visual touch positioning method or the tactile positioning method according to the regional image contrast, perform positioning calculation after acquiring the characteristic quantity of the processing element surface through the tactile sensor, and determine the recess information of the processing element surface. The invention solves the problem of sunken positioning under the condition that the surface image of the processing element cannot be obtained under poor illumination conditions, can effectively distinguish weak signals through the touch sensor, obtains more accurate positioning and reduces the failure rate of detection; the embodiment of the invention adopts machine detection, so that the consumption of human resources can be reduced, and the detection result is not influenced by personal subjective factors.
Embodiments of the present invention further provide a computer-readable storage medium for storing program codes for performing the method for positioning the surface recess of the machining element based on visual sense of touch according to the foregoing embodiments.
Embodiments of the present invention also disclose a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read by a processor of a computer device from a computer-readable storage medium, and executed by the processor to cause the computer device to perform the method illustrated in fig. 1.
In alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flow charts of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed, and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the described functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in a separate physical device or software module. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the invention, which is to be determined from the appended claims along with their full scope of equivalents.
The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method for positioning a surface depression of a processing element based on visual touch is characterized by comprising the following steps:
acquiring illumination information of a working surface where the surface of a processing element is located, and determining regional image contrast of the surface of the processing element according to the illumination information;
selecting a visual touch positioning method or a touch positioning method according to the regional image contrast of the surface of the processing element;
and acquiring the characteristic quantity of the surface of the processing element through a touch sensor, and performing positioning calculation on the characteristic quantity to determine the recess information of the surface of the processing element.
2. The method according to claim 1, wherein in the step of obtaining illumination information of a working surface on which the surface of the processing element is located and determining the contrast of the area image of the surface of the processing element according to the illumination information, the calculation formula of the contrast of the area image is:
wherein c is the regional image contrast, δ (i, j) is the gray difference between adjacent pixels, P δ (i, j) is a pixel distribution probability that the gray scale difference between adjacent pixels is δ.
3. The visual sense and touch based positioning method for processing element surface depression according to claim 1, wherein the visual sense positioning method or the touch sensing positioning method is selected according to the regional image contrast of the processing element surface, and comprises the following steps:
when the contrast of the area image is greater than or equal to a preset threshold value, determining that the recess positioning method is the visual touch positioning method;
and when the contrast of the area image is smaller than the preset threshold value, determining that the recess positioning method is the touch positioning method.
4. A visual sense of touch based positioning method for processing component surface recess according to claim 3, wherein when the recess positioning method is the visual sense of touch positioning method, the selecting visual sense of touch positioning method, performing positioning calculation on the feature quantity, and determining recess information of the processing component surface comprises:
acquiring a surface image of the processing element;
performing image processing on the surface image of the processing element to acquire image information of a target recess of the processing element;
obtaining the coordinates of the target recess relative to the tail end of the mechanical arm by a mechanical arm hand-eye calibration method according to the image information of the target recess;
according to the coordinates, a tactile sensor carried by the tail end of the mechanical arm is used for acquiring characteristic quantities of a rectangular area containing the target recess;
and determining the position of the target recess of the surface of the processing element according to the characteristic quantity.
5. The visual tactile sense-based positioning method for machining the surface depression of the element according to claim 4, further comprising:
acquiring data of the touch sensor;
determining the distance between the permanent magnet and the triaxial magnetic induction intensity measurement chip according to the data of the touch sensor;
and determining the surface defect of the processing element as a bulge or a hole according to the distance.
6. A visual sense of touch based positioning method for processing element surface depression according to claim 3, wherein when determining that the depression positioning method is the tactile positioning method, the selecting the tactile positioning method, performing positioning calculation on the feature quantity, and determining depression information of the processing element surface comprises:
constructing an origin;
determining a candidate path algorithm, controlling the mechanical arm to start from the original point, traversing on the surface of the processing element through the candidate path algorithm, and determining the position of the target recess through the touch sensor;
the tactile localization method further comprises the steps of:
obtaining the working space location of the target recess by coordinate transformation according to the position of the target recess on the surface of the processing element; the workspace is used to characterize the operating space of the robotic arm.
7. A visual tactile sense based positioning device for processing surface depression of a component, comprising:
the selection module is used for selecting a visual touch positioning method or a touch positioning method according to the regional image contrast of the surface of the processing element;
the illumination module is used for acquiring illumination information of a working surface where the surface of the processing element is located and determining the regional image contrast of the surface of the processing element according to the illumination information;
and the positioning calculation module is used for acquiring the characteristic quantity of the surface of the processing element through the touch sensor, performing positioning calculation on the characteristic quantity and determining the recess information of the surface of the processing element.
8. An electronic device comprising a processor and a memory, the memory storing a program, the processor executing the program to implement the method of any one of claims 1 to 6.
9. A computer-readable storage medium, characterized in that the storage medium stores a program which is executed by a processor to implement the method according to any one of claims 1 to 6.
10. A computer program product comprising a computer program, wherein the computer program when executed by a processor implements the method of any one of claims 1 to 6.
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