CN117372515A - Self-adaptive deviation rectifying control system - Google Patents
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Abstract
The invention provides a self-adaptive deviation rectifying control system, which relates to the field of deviation rectifying control and comprises the following components: an image acquisition module: the method comprises the steps of obtaining original images of target detection materials in different directions, and processing the original images to obtain real-time three-dimensional detection images; an offset determination module: the method comprises the steps of acquiring a deviation correcting center point of a target detection material, simulating a center image, comparing the center image with a real-time three-dimensional detection image, and determining a first offset; the first deviation rectifying module: the platform parameter obtaining module is used for obtaining platform parameters corresponding to the deviation correcting control platform based on the first offset and carrying out first deviation correcting on the target detection material; and the deviation rectifying and adjusting module is used for: and comparing the three-dimensional detection image for the next detection period with the center image to obtain a second offset, and comparing the first offset with the second offset to adjust the first deviation correction. The deviation amount of the detection material is determined by adopting an image comparison mode, so that deviation correction control is performed, and adjustment is performed, so that the deviation correction process of the target material is more accurate.
Description
Technical Field
The invention relates to the field of deviation correction control, in particular to a self-adaptive deviation correction control system.
Background
At present, with the development and progress of technology, the deviation rectifying control of equipment is updated from manual to cooperation of an artificial and intelligent system, so that the deviation rectifying precision of the equipment is enhanced.
However, the traditional deviation rectifying control system only depends on a nixie tube to display information, the readable condition information is limited, frequent key pressing is needed to adjust internal parameters for the operation of the field environment, when the internal parameters are stored too much, the condition that the internal parameters are easy to forget occurs when the field debugging personnel adjust too much parameters, the key pressing is needed to return to search, the process is too complicated, and the accuracy is lower.
Therefore, the invention provides a self-adaptive deviation rectifying control system.
Disclosure of Invention
The invention provides a self-adaptive deviation correcting control system which is used for determining the deviation amount of a detection material by adopting an image comparison mode so as to carry out deviation correcting control and adjust, so that the deviation correcting process of a target material is more accurate.
The invention provides a self-adaptive deviation rectifying control system, which comprises:
an image acquisition module: the method comprises the steps of acquiring original images of target detection materials in different directions in real time, and processing the original images to obtain real-time three-dimensional detection images;
an offset determination module: the method comprises the steps of acquiring a deviation correcting center point of a target detection material, simulating a center image based on the deviation correcting center point, comparing the center image with a real-time three-dimensional detection image, and determining a first offset;
the first deviation rectifying module: the platform parameter obtaining module is used for obtaining platform parameters of the corresponding deviation correcting control platform based on the first offset and carrying out first deviation correcting on the corresponding target detection material based on the platform parameters;
and the deviation rectifying and adjusting module is used for: and the three-dimensional detection image is used for acquiring a three-dimensional detection image of the next detection period and comparing the three-dimensional detection image with the central image to obtain a second offset, and the first offset is compared with the second offset so as to adjust the first deviation rectifying until the deviation rectifying is completed.
In one possible implementation, the image acquisition module includes:
an image processing unit: the method comprises the steps of acquiring original images of different directions of a target detection material based on a deviation correction detection device, and processing the acquired original images;
an image stitching unit: the method comprises the steps of acquiring the relative azimuth of a deviation correcting detection device based on a preset reference point, and performing image stitching on a processed original image based on the corresponding azimuth to obtain a three-dimensional detection image initial frame;
an image fitting unit: and the method is used for carrying out image fitting on the initial frame of the three-dimensional detection image to obtain a real-time three-dimensional detection image.
In one possible implementation, the offset determination module includes:
an image simulation unit: the method comprises the steps of obtaining a deviation rectifying center point of a target detection material, and simulating by combining a material structure of the target detection material to obtain a plurality of center images corresponding to the deviation rectifying center point;
an image display unit: the method comprises the steps of overlapping a correction center point with a center point of a real-time three-dimensional detection image, determining an image section of the real-time three-dimensional detection image corresponding to each center image, and displaying the images in the same coordinate system according to the corresponding directions;
an offset determination unit: the method is used for randomly acquiring a plurality of points corresponding to the azimuth based on the image display result, comparing the points based on the corresponding points, and taking the comprehensive comparison result of all the random points as a first offset of the real-time three-dimensional detection image and the center image.
In one possible implementation, the offset determining unit includes:
azimuth data acquisition subunit: the method comprises the steps of acquiring first azimuth data of random edge points of any center image in a current coordinate system, and acquiring second azimuth data of corresponding points of target detection image materials in a first image section of a real-time three-dimensional detection image corresponding to the current center image;
a first offset determination subunit: comparing the first azimuth data with the second azimuth data, and forming a first offset subset with first initial offset data obtained by comparison;
offset set construction subunit: the method comprises the steps of acquiring first azimuth data and corresponding second azimuth data of a plurality of random edge points, and combining corresponding first offset subsets to obtain a first offset set;
offset classification subunit: the method comprises the steps of classifying a first offset set according to the abscissa and the ordinate of azimuth data to obtain a first classified offset set;
offset extraction subunit: the method comprises the steps of extracting all first initial offset data in a first classified offset set, screening the first initial offset data, eliminating error data, and taking the rest first initial offset data as a second initial offset data set;
classifying the offset data in the second initial offset data set according to the abscissa and the ordinate and the material structure of the target detection material, and obtaining a plurality of second initial offset subsets based on the classification result;
wherein a second initial subset of offsets corresponds to an angle of the target detection material;
an offset determination subunit: for calculating average initial offset data based on the second initial offset data in each second initial offset subset as a reference offset for the corresponding second initial offset subset;
combining and sorting the reference offset values to obtain a comprehensive offset value;
the comprehensive offset is a comprehensive comparison result, that is, a first offset of the real-time three-dimensional detection image and the center image.
In one possible implementation, the first deviation rectifying module includes:
scheme matching unit: the method comprises the steps of matching a corresponding correction adjustment initial scheme based on a first offset, and adjusting the correction adjustment initial scheme based on real-time environment factors of a target detection material and corresponding material characteristic interference factors to obtain a correction adjustment scheme;
parameter determination unit: the platform parameter set is used for obtaining a deviation rectifying control platform based on each sub-scheme in the deviation rectifying adjustment scheme;
deviation rectifying judging unit: and the method is used for judging whether parameter conflict exists in the platform parameter set, and if the parameter conflict does not exist, performing first deviation correction on the corresponding target detection material based on the platform parameter set.
In one possible implementation, the scheme matching unit includes:
a first analog subunit: the method comprises the steps of obtaining a first initial scheme based on a deviation correction adjustment initial scheme corresponding to a real-time offset matching target detection material, and inputting the first initial scheme into a virtual simulation platform for first simulation;
a second analog subunit: the real-time environment factors are used for inputting real-time environment factors of the target detection materials into the virtual simulation platform, and performing second simulation by combining the first initial scheme;
third analog subunit: the method comprises the steps of acquiring material characteristic interference factors which can influence deviation correction of a target detection material, inputting the material characteristic interference factors into a virtual simulation platform, and carrying out third simulation by combining a first initial scheme;
a difference comparison subunit: comparing the difference between the first simulation result and the second and third simulation results, and adjusting the first initial scheme based on the difference;
scheme determination subunit: and the correction adjustment scheme is obtained based on the adjusted first initial scheme.
In one possible implementation, the offset adjustment module includes:
a detection image acquisition unit: the method comprises the steps of acquiring a detection image corresponding to a next detection period based on a target deviation correcting material after first deviation correction, and performing image stitching and fitting to obtain a corresponding second three-dimensional detection image;
a second offset determination unit: comparing the second three-dimensional detection image with the center image to determine a second offset;
a second offset amount judgment unit: comparing the first offset with the second offset, and judging whether the second offset has a sub-offset larger than the corresponding sub-offset of the first offset;
deviation correcting and adjusting scheme determining unit: when the corresponding sub-offset of which the sub-offset is larger than the first offset exists in the second offset, judging that the current deviation rectifying adjustment is excessive, acquiring the corresponding sub-offset, determining a corresponding platform parameter based on the sub-offset, and matching a corresponding second deviation rectifying adjustment scheme based on the platform parameter;
the second deviation rectifying and adjusting scheme is not identical to the deviation rectifying and adjusting scheme;
an offset adjustment unit: for adjusting the first deviation based on the second deviation correcting adjustment scheme.
In one possible implementation, the method further includes: a results verification module, comprising:
a second image simulation unit: the method comprises the steps of obtaining a center point of a target detection material after deviation correction and adjustment, and simulating by combining a material structure of the target detection material to obtain a second center image corresponding to the center point;
a first comparison unit: the method comprises the steps of performing first comparison on the azimuth of a center point of a target detection material and the azimuth of a deviation correcting center point;
a second comparing unit: for performing a second comparison of the real-time detection image of the target detection material with a second center image;
result checking unit: and the method is used for judging whether the deviation rectifying result of the target detection material is qualified or not by combining the results of the first comparison and the second comparison.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a block diagram of an adaptive correction control system in accordance with an embodiment of the present invention;
FIG. 2 is a block diagram of an offset determination module according to an embodiment of the present invention;
fig. 3 is a block diagram of an offset determination unit in an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Example 1:
an embodiment of the present invention provides a self-adaptive correction control system, as shown in fig. 1, including:
an image acquisition module: the method comprises the steps of acquiring original images of target detection materials in different directions in real time, and processing the original images to obtain real-time three-dimensional detection images;
an offset determination module: the method comprises the steps of acquiring a deviation correcting center point of a target detection material, simulating a center image based on the deviation correcting center point, comparing the center image with a real-time three-dimensional detection image, and determining a first offset;
the first deviation rectifying module: the platform parameter obtaining module is used for obtaining platform parameters of the corresponding deviation correcting control platform based on the first offset and carrying out first deviation correcting on the corresponding target detection material based on the platform parameters;
and the deviation rectifying and adjusting module is used for: and the three-dimensional detection image is used for acquiring a three-dimensional detection image of the next detection period and comparing the three-dimensional detection image with the central image to obtain a second offset, and the first offset is compared with the second offset so as to adjust the first deviation rectifying until the deviation rectifying is completed.
In this embodiment, the target detection material refers to a target industrial device that requires corrective adjustments.
In this embodiment, the original image refers to image data obtained by image acquisition performed by the deviation correcting detection device at different orientations around the target detection material.
In this embodiment, the real-time three-dimensional detection image refers to a three-dimensional image obtained by uploading all original images of the target detection material to the same three-dimensional coordinate system according to the corresponding directions, obtaining an image frame of the three-dimensional detection image, and fitting the image frame.
In this embodiment, the deviation-correcting center point refers to an estimated adjustment center point of the target detection material.
In this embodiment, the simulated center image is an image obtained by performing simulation according to a deviation correction center point of the target detection material and a corresponding material structure, and after deviation correction control of the target detection material.
In this embodiment, the first offset refers to a relative offset between two images determined from a difference between a real-time three-dimensional image of the target detection material and the analog center image.
In this embodiment, the deviation rectifying control platform refers to a platform capable of adjusting and controlling the position of the target detection material, and the platform parameters of the deviation rectifying control platform include a horizontal adjustment distance, a vertical adjustment distance, an adjustment azimuth, an adjustment speed, an adjustment angle, and the like.
In this embodiment, the first deviation rectifying means rectifying and adjusting the azimuth and the angle of the target detection material according to the first deviation amount and the platform parameter corresponding to the deviation rectifying control platform.
In this embodiment, the second offset refers to an offset between two images obtained by acquiring a center image of the next detection period after the first correction adjustment and comparing the center image with the analog center image.
In this embodiment, the adjustment of the first deviation correcting means that the platform parameters corresponding to the offset with the second offset being larger than the neutron offset in the first offset are screened, and the deviation correcting is performed again.
The beneficial effects of the technical scheme are as follows: the deviation amount of the detection material is determined by adopting an image comparison mode, so that deviation correction control is performed, and the deviation correction process of the target material can be more accurate.
Example 2:
based on embodiment 1, the image acquisition module includes:
an image processing unit: the method comprises the steps of acquiring original images of different directions of a target detection material based on a deviation correction detection device, and processing the acquired original images;
an image stitching unit: the method comprises the steps of acquiring the relative azimuth of a deviation correcting detection device based on a preset reference point, and performing image stitching on a processed original image based on the corresponding azimuth to obtain a three-dimensional detection image initial frame;
an image fitting unit: and the method is used for carrying out image fitting on the initial frame of the three-dimensional detection image to obtain a real-time three-dimensional detection image.
In this embodiment, the deviation correcting detection device is a device capable of acquiring an image and an azimuth and a reverse direction of the target detection material.
In this embodiment, the target detection material refers to a target industrial device that requires corrective adjustments.
In this embodiment, the original image refers to image data obtained by image acquisition performed by the deviation correcting detection device at different orientations around the target detection material.
In this embodiment, the preset reference point refers to a preset reference point, which is used to determine the original image. The relative position of the image and the like is detected three-dimensionally in real time.
In this embodiment, the relative orientation refers to the relative position between the image detected by the deviation correcting detection device and the preset reference point.
In this embodiment, image stitching refers to stitching the collected original images according to the corresponding directions.
In this embodiment, the three-dimensional detection image initial frame refers to a three-dimensional image frame obtained by stitching original images according to corresponding orientations and inputting the stitched images into the same coordinate system according to relative orientations.
In this embodiment, the real-time three-dimensional detection image refers to a three-dimensional detection image obtained by fitting according to an initial frame of the three-dimensional detection image.
The beneficial effects of the technical scheme are as follows: the original image of the target detection material is obtained to obtain a corresponding three-dimensional image, and the corresponding three-dimensional image is compared with the central image to determine the offset of the detection material, so that deviation correction control is performed, and the deviation correction process of the target material is adjusted, so that the deviation correction process of the target material is more accurate.
Example 3:
based on the embodiment 2, the offset determining module, as shown in fig. 2, includes:
an image simulation unit: the method comprises the steps of obtaining a deviation rectifying center point of a target detection material, and simulating by combining a material structure of the target detection material to obtain a plurality of center images corresponding to the deviation rectifying center point;
an image display unit: the method comprises the steps of overlapping a correction center point with a center point of a real-time three-dimensional detection image, determining an image section of the real-time three-dimensional detection image corresponding to each center image, and displaying the images in the same coordinate system according to the corresponding directions;
an offset determination unit: the method is used for randomly acquiring a plurality of points corresponding to the azimuth based on the image display result, comparing the points based on the corresponding points, and taking the comprehensive comparison result of all the random points as a first offset of the real-time three-dimensional detection image and the center image.
In this embodiment, the deviation-correcting center point refers to an estimated adjustment center point of the target detection material.
In this embodiment, the material structure refers to a standard material structure of the target detection material, wherein the material structure is a three-dimensional material structure.
In this embodiment, the center image is an image obtained by performing correction control on the target detection material by simulating according to the correction center point of the target detection material and the corresponding material structure.
In this embodiment, the image section refers to an image section of the real-time three-dimensional image corresponding to the current center image, and the position of the image section is determined based on a preset reference point.
In this embodiment, the comprehensive comparison result refers to a comparison result between all the determined image sections by comparing the image section of the real-time three-dimensional image with the image section of the corresponding center image to obtain the corresponding offset.
In this embodiment, the result of the comprehensive comparison of all random points is used as the first offset of the real-time three-dimensional detection image and the center image.
The beneficial effects of the technical scheme are as follows: the deviation amount of the detection material is determined by comparing the three-dimensional image with the center image, so that deviation correction control is performed, and the deviation correction process of the target material can be more accurate.
Example 4:
based on the embodiment 3, the offset determination unit, as shown in fig. 3, includes:
azimuth data acquisition subunit: the method comprises the steps of acquiring first azimuth data of random edge points of any center image in a current coordinate system, and acquiring second azimuth data of corresponding points of target detection image materials in a first image section of a real-time three-dimensional detection image corresponding to the current center image;
a first offset determination subunit: comparing the first azimuth data with the second azimuth data, and forming a first offset subset with first initial offset data obtained by comparison;
offset set construction subunit: the method comprises the steps of acquiring first azimuth data and corresponding second azimuth data of a plurality of random edge points, and combining corresponding first offset subsets to obtain a first offset set;
an offset classification subunit; the method comprises the steps of classifying a first offset set according to the abscissa and the ordinate of azimuth data to obtain a first classified offset set;
offset extraction subunit: the method comprises the steps of extracting all first initial offset data in a first classified offset set, screening the first initial offset data, eliminating error data, and taking the rest first initial offset data as a second initial offset data set;
classifying the offset data in the second initial offset data set according to the abscissa and the ordinate and the material structure of the target detection material, and obtaining a plurality of second initial offset subsets based on the classification result;
wherein a second initial subset of offsets corresponds to an angle of the target detection material;
an offset determination subunit: for calculating average initial offset data based on the second initial offset data in each second initial offset subset as a reference offset for the corresponding second initial offset subset;
combining and sorting the reference offset values to obtain a comprehensive offset value;
the comprehensive offset is a comprehensive comparison result, that is, a first offset of the real-time three-dimensional detection image and the center image.
In this embodiment, the center image is an image obtained by performing correction control on the target detection material by simulating according to the correction center point of the target detection material and the corresponding material structure.
In this embodiment, the first azimuth data refers to the azimuth of a random edge point of an image section of the center image in the current coordinate system, for example, azimuth coordinate data of the lowest point in the vertical direction of the target detection material.
In this embodiment, the real-time three-dimensional detection image refers to a three-dimensional image obtained by uploading all original images of the target detection material to the same three-dimensional coordinate system according to the corresponding directions, obtaining an image frame of the three-dimensional detection image, and fitting the image frame.
In this embodiment, the first image section refers to an image section corresponding to an image section of the first azimuth data in the real-time three-dimensional image of the target detection material.
In this embodiment, the second azimuth data refers to azimuth coordinates of a random point corresponding to the first azimuth data in the first image section, for example, azimuth coordinate data of a lowest point in a vertical direction in the real-time three-dimensional image.
In this embodiment, the first initial offset data refers to coordinate offset data obtained by comparing the first azimuth data with the second azimuth data.
In this embodiment, the first offset subset refers to a set of first initial offset data corresponding to the same point of the same target detection material at the same time.
In this embodiment, the first offset set is a set of first offset subsets of the same target detection material at the same time.
In this embodiment, the first classifying the offset sets refers to classifying the first offset subsets in the first offset sets according to the abscissa of the azimuth data, and the first offset subsets having the same abscissa or ordinate are classified as one another.
In this embodiment, the error data refers to azimuth data in which an error exists in the first initial offset data.
In this embodiment, the second initial offset data set refers to a set of first initial offset data among the reject error data.
In this embodiment, the material structure refers to a standard material structure of the target detection material, wherein the material structure is a three-dimensional material structure, such as a length, a width, a height, an angle, a shape, and the like.
In this embodiment, a second initial subset of offsets
In this embodiment, a second subset of initial offsets corresponds to an angle of the target detection material, e.g.,
in this embodiment, the second initial offset data refers to offset data in the second subset of initial offset data.
In this embodiment, the average initial offset data refers to an average value of the second initial offset data of the same type.
In this embodiment, the reference offset is the corresponding average initial offset data.
In this embodiment, the integrated offset is obtained by combining similar reference offsets, reserving a large sub-offset in the similar reference offsets, and combining identical reference offsets.
In this embodiment, the integrated offset is the integrated comparison result, that is, the first offset of the real-time three-dimensional detection image and the center image.
The beneficial effects of the technical scheme are as follows: the deviation amount of the detection material is determined by comparing the three-dimensional image with the center image, so that deviation correction control is performed, and the deviation correction process of the target material can be more accurate.
Example 5:
based on embodiment 3, the first deviation rectifying module includes:
scheme matching unit: the method comprises the steps of matching a corresponding correction adjustment initial scheme based on a first offset, and adjusting the correction adjustment initial scheme based on real-time environment factors of a target detection material and corresponding material characteristic interference factors to obtain a correction adjustment scheme;
parameter determination unit: the platform parameter set is used for obtaining a deviation rectifying control platform based on each sub-scheme in the deviation rectifying adjustment scheme;
deviation rectifying judging unit: and the method is used for judging whether parameter conflict exists in the platform parameter set, and if the parameter conflict does not exist, performing first deviation correction on the corresponding target detection material based on the platform parameter set.
In this embodiment, the first offset refers to a relative offset between two images determined from a difference between a real-time three-dimensional image of the target detection material and the analog center image.
In this embodiment, the initial deviation correction adjustment scheme refers to an offset operation of screening the matching target detection material according to the real-time offset, for example, the initial deviation correction adjustment scheme may be 1.22 cm in the vertical direction, 0.32 cm in the horizontal direction, and so on.
In this embodiment, the real-time environmental factor refers to that the real-time external environment where the target detection material is located may have a certain influence on the deviation correction of the target detection material, such as temperature, air pressure, etc.
In this embodiment, the material property disturbance factor refers to a material property of the target detection material that affects the deviation correction control result to some extent, such as the material hardness, the material deformation degree, and the like.
In this embodiment, the deviation correcting adjustment scheme refers to a deviation correcting control scheme obtained by adjusting a first initial scheme corresponding to a first simulation result according to a simulation result of adding a real-time environmental factor and a difference between the simulation result of adding a material characteristic interference factor and the first simulation result.
In this embodiment, the deviation rectifying control platform refers to a platform capable of adjusting and controlling the position of the target detection material, and the platform parameters of the deviation rectifying control platform include a horizontal adjustment distance, a vertical adjustment distance, an adjustment azimuth, an adjustment speed, an adjustment angle, and the like.
In this embodiment, the platform parameter set refers to a set formed by platform parameters corresponding to all sub-schemes in the deviation rectification adjustment scheme, where the platform parameters corresponding to the same deviation rectification type cannot be overlapped, for example, the platform parameters raised by 1.2 cm in the vertical direction and the platform parameters raised by 1.22 cm in the vertical direction cannot be overlapped.
In this embodiment, the parameter conflict condition means that two parameters in the platform parameter set correspond to the same deviation rectifying type, but deviation rectifying control of the two parameters is not in the same direction, for example, the two parameters are raised by 1.2 cm in the vertical direction and lowered by 0.22 cm in the vertical direction.
In this embodiment, the first deviation rectifying means rectifying and adjusting the azimuth and the angle of the target detection material according to the first deviation amount and the platform parameter corresponding to the deviation rectifying control platform.
The beneficial effects of the technical scheme are as follows: the deviation rectifying scheme is adjusted by combining the interference factors, so that the deviation amount of the detection material is determined more accurately to carry out deviation rectifying control, the deviation rectifying process of the target material can be enabled to be more accurate, and the obtained deviation rectifying result is also more accurate.
Example 6:
based on embodiment 5, the scheme matching unit includes:
a first analog subunit: the method comprises the steps of obtaining a first initial scheme based on a deviation correction adjustment initial scheme corresponding to a real-time offset matching target detection material, and inputting the first initial scheme into a virtual simulation platform for first simulation;
a second analog subunit: the real-time environment factors are used for inputting real-time environment factors of the target detection materials into the virtual simulation platform, and performing second simulation by combining the first initial scheme;
third analog subunit: the method comprises the steps of acquiring material characteristic interference factors which can influence deviation correction of a target detection material, inputting the material characteristic interference factors into a virtual simulation platform, and carrying out third simulation by combining a first initial scheme;
a difference comparison subunit: comparing the difference between the first simulation result and the second and third simulation results, and adjusting the first initial scheme based on the difference;
scheme determination subunit: and the correction adjustment scheme is obtained based on the adjusted first initial scheme.
In this embodiment, the adjusting the first initial scheme based on the difference further includes:
constructing a first comparison vector based on the first simulation result and the second simulation resultWherein n01 represents a simulation index contained in the simulation result; />A result value representing the i1 st simulation index in the first simulation result; />A result value representing the i1 st simulation index in the second simulation result;
constructing a second comparison vector based on the first simulation result and the third simulation resultWherein->A result value representing the i1 st simulation index in the third simulation result;
counting a first number n1 of the comparison result of 0 in the first comparison vector, and simultaneously counting a second number n2 of the comparison result of 0 in the second comparison vector;
determining the overlapping times n03 of the comparison result of 0 in the first comparison vector and the second comparison vector, and simultaneously, determiningBased on the superposition influence of the simulation indexes;
judging whether the result value corresponding to the superposition influence under the simulation index is identical toMismatch;
if the simulation indexes are not matched, adding 1 to the corresponding simulation indexes, otherwise, adding 0 to the corresponding simulation indexes;
calculating the adjustment degree of the first initial scheme:
wherein TC represents a corresponding degree of adjustment;index weight representing the i1 st simulation index; />Representing the management coefficient under the superposition influence of the i 1-th simulation index, wherein the management coefficient is 1 when 1 is added for management, and is 0 when 0 is added for management;
and according to the adjustment degree, acquiring a related correction scheme from a degree-difference-correction database, and adjusting the first initial scheme.
In this embodiment, the degree-difference database includes correction schemes under combinations corresponding to differences of different adjustment degrees and different comparison vectors, so as to realize effective adjustment of the initial scheme.
In this embodiment, the real-time offset is the first offset, which refers to a relative offset between two images determined according to a difference between a real-time three-dimensional image of the target detection material and the analog center image.
In this embodiment, the initial deviation correction adjustment scheme refers to an offset operation of screening the matching target detection material according to the real-time offset, for example, the initial deviation correction adjustment scheme may be 1.22 cm in the vertical direction, 0.32 cm in the horizontal direction, and so on.
In this embodiment, the first initial scheme is the initial scheme for deviation correction adjustment.
In this embodiment, the first simulation refers to inputting the material structure and the corresponding azimuth of the target detection material according to the first initial scheme into the virtual simulation platform for simulation, so as to determine whether the simulation result can meet the deviation rectification control requirement.
In this embodiment, the real-time environmental factor refers to that the real-time external environment where the target detection material is located may have a certain influence on the deviation correction of the target detection material, such as temperature, air pressure, etc.
In this embodiment, the virtual simulation platform refers to a platform capable of performing simulation based on input data, thereby obtaining an ideal output result by simulation.
In this embodiment, the second simulation refers to inputting the first initial solution into the virtual simulation platform again for simulation after combining the real-time environmental factors.
In this embodiment, the material characteristic disturbance factor refers to a material characteristic of the target detection material that affects the deviation correction control result to some extent, for example, the material hardness, the material deformation degree, and the like.
In this embodiment, the third simulation refers to the first initial solution being input into the virtual simulation platform for simulation in combination with the material property disturbance factor.
In this embodiment, the deviation rectifying adjustment scheme refers to a deviation rectifying control scheme obtained by adjusting a first initial scheme corresponding to the first simulation result according to differences among the second simulation result, the third simulation result and the first simulation result.
The beneficial effects of the technical scheme are as follows: the deviation rectifying scheme is adjusted by combining the interference factors, so that the deviation amount of the detection material is determined more accurately to carry out deviation rectifying control, the deviation rectifying process of the target material can be enabled to be more accurate, and the obtained deviation rectifying result is also more accurate.
Example 7:
based on embodiment 5, the offset adjustment module includes:
a detection image acquisition unit: the method comprises the steps of acquiring a detection image corresponding to a next detection period based on a target deviation correcting material after first deviation correction, and performing image stitching and fitting to obtain a corresponding second three-dimensional detection image;
a second offset determination unit: comparing the second three-dimensional detection image with the center image to determine a second offset;
a second offset amount judgment unit: comparing the first offset with the second offset, and judging whether the second offset has a sub-offset larger than the corresponding sub-offset of the first offset;
deviation correcting and adjusting scheme determining unit: when the corresponding sub-offset of which the sub-offset is larger than the first offset exists in the second offset, judging that the current deviation rectifying adjustment is excessive, acquiring the corresponding sub-offset, determining a corresponding platform parameter based on the sub-offset, and matching a corresponding second deviation rectifying adjustment scheme based on the platform parameter;
the second deviation rectifying and adjusting scheme is not identical to the deviation rectifying and adjusting scheme;
an offset adjustment unit: for adjusting the first deviation based on the second deviation correcting adjustment scheme.
In this embodiment, the second three-dimensional detection image refers to a corresponding three-dimensional detection image obtained after image stitching and image fitting are performed on the detection image of the target deviation correcting material subjected to the first deviation correction in the next detection period.
In this embodiment, the second offset refers to an offset obtained by comparing the second three-dimensional detection image with the center image.
In this embodiment, the sub-offset refers to each sub-offset included in the first offset and the second offset.
In this embodiment, the deviation-correcting excess indicates that the deviation-correcting exceeds a preset deviation-correcting angle or deviation-correcting distance.
In this embodiment, the platform parameters include horizontal adjustment distance, vertical adjustment distance, adjustment azimuth, adjustment speed, adjustment angle, etc.
In this embodiment, the second deviation rectifying adjustment scheme indicates that when deviation rectifying is excessive, a sub-offset corresponding to the deviation rectifying is obtained, and the sub-offset is adjusted by combining with corresponding platform parameters, and then the sub-offset is matched with the corresponding platform parameters.
The beneficial effects of the technical scheme are as follows: the deviation correction control is performed by determining the deviation amount of the detection material, and the deviation correction control result is adjusted, so that the deviation correction process of the target material is more accurate, and the obtained deviation correction result is more accurate.
Example 8:
based on the embodiment 1, the method further comprises: a results verification module, comprising:
a second image simulation unit: the method comprises the steps of obtaining a center point of a target detection material after deviation correction and adjustment, and simulating by combining a material structure of the target detection material to obtain a second center image corresponding to the center point;
a first comparison unit: the method comprises the steps of performing first comparison on the azimuth of a center point of a target detection material and the azimuth of a deviation correcting center point;
a second comparing unit: for performing a second comparison of the real-time detection image of the target detection material with a second center image;
result checking unit: and the method is used for judging whether the deviation rectifying result of the target detection material is qualified or not by combining the results of the first comparison and the second comparison.
In this embodiment, the second center image is a center image obtained by performing three-dimensional image simulation based on the center point of the target detection material after the correction adjustment and the material structure.
In this embodiment, the first comparison refers to comparing the orientation of the center point of the target detection material with the orientation of the center point of the offset.
In this embodiment, the second comparison refers to comparing the real-time detection image of the target detection material with the second center image.
In this embodiment, the comparison result combining the first comparison and the second comparison is to determine the relative impact weight of the first comparison result and the second comparison result, thereby determining the overall comparison result.
The beneficial effects of the technical scheme are as follows: by comparing and checking the deviation rectifying result, the deviation rectifying result of the target material can be more accurate, and the deviation rectifying adjustment can be performed on the target detection material with unqualified deviation rectifying result in time.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. An adaptive correction control system, comprising:
an image acquisition module: the method comprises the steps of acquiring original images of target detection materials in different directions in real time, and processing the original images to obtain real-time three-dimensional detection images;
an offset determination module: the method comprises the steps of acquiring a deviation correcting center point of a target detection material, simulating a center image based on the deviation correcting center point, comparing the center image with a real-time three-dimensional detection image, and determining a first offset;
the first deviation rectifying module: the platform parameter obtaining module is used for obtaining platform parameters of the corresponding deviation correcting control platform based on the first offset and carrying out first deviation correcting on the corresponding target detection material based on the platform parameters;
and the deviation rectifying and adjusting module is used for: and the three-dimensional detection image is used for acquiring a three-dimensional detection image of the next detection period and comparing the three-dimensional detection image with the central image to obtain a second offset, and the first offset is compared with the second offset so as to adjust the first deviation rectifying until the deviation rectifying is completed.
2. The adaptive correction control system of claim 1, wherein the image acquisition module comprises:
an image processing unit: the method comprises the steps of acquiring original images of different directions of a target detection material based on a deviation correction detection device, and processing the acquired original images;
an image stitching unit: the method comprises the steps of acquiring the relative azimuth of a deviation correcting detection device based on a preset reference point, and performing image stitching on a processed original image based on the corresponding azimuth to obtain a three-dimensional detection image initial frame;
an image fitting unit: and the method is used for carrying out image fitting on the initial frame of the three-dimensional detection image to obtain a real-time three-dimensional detection image.
3. The adaptive deskew control system of claim 2, wherein the offset determination module comprises:
an image simulation unit: the method comprises the steps of obtaining a deviation rectifying center point of a target detection material, and simulating by combining a material structure of the target detection material to obtain a plurality of center images corresponding to the deviation rectifying center point;
an image display unit: the method comprises the steps of overlapping a correction center point with a center point of a real-time three-dimensional detection image, determining an image section of the real-time three-dimensional detection image corresponding to each center image, and displaying the images in the same coordinate system according to the corresponding directions;
an offset determination unit: the method is used for randomly acquiring a plurality of points corresponding to the azimuth based on the image display result, comparing the points based on the corresponding points, and taking the comprehensive comparison result of all the random points as a first offset of the real-time three-dimensional detection image and the center image.
4. An adaptive deskew control system according to claim 3, wherein the offset determining unit comprises:
azimuth data acquisition subunit: the method comprises the steps of acquiring first azimuth data of random edge points of any center image in a current coordinate system, and acquiring second azimuth data of corresponding points of target detection image materials in a first image section of a real-time three-dimensional detection image corresponding to the current center image;
a first offset determination subunit: comparing the first azimuth data with the second azimuth data, and forming a first offset subset with first initial offset data obtained by comparison;
offset set construction subunit: the method comprises the steps of acquiring first azimuth data and corresponding second azimuth data of a plurality of random edge points, and combining corresponding first offset subsets to obtain a first offset set;
offset classification subunit: the method comprises the steps of classifying a first offset set according to the abscissa and the ordinate of azimuth data to obtain a first classified offset set;
offset extraction subunit: the method comprises the steps of extracting all first initial offset data in a first classified offset set, screening the first initial offset data, eliminating error data, and taking the rest first initial offset data as a second initial offset data set;
classifying the offset data in the second initial offset data set according to the abscissa and the ordinate and the material structure of the target detection material, and obtaining a plurality of second initial offset subsets based on the classification result;
wherein a second initial subset of offsets corresponds to an angle of the target detection material;
an offset determination subunit: for calculating average initial offset data based on the second initial offset data in each second initial offset subset as a reference offset for the corresponding second initial offset subset;
combining and sorting the reference offset values to obtain a comprehensive offset value;
the comprehensive offset is a comprehensive comparison result, that is, a first offset of the real-time three-dimensional detection image and the center image.
5. The adaptive deskew control system of claim 3, wherein the first deskew module comprises:
scheme matching unit: the method comprises the steps of matching a corresponding correction adjustment initial scheme based on a first offset, and adjusting the correction adjustment initial scheme based on real-time environment factors of a target detection material and corresponding material characteristic interference factors to obtain a correction adjustment scheme;
parameter determination unit: the platform parameter set is used for obtaining a deviation rectifying control platform based on each sub-scheme in the deviation rectifying adjustment scheme;
deviation rectifying judging unit: and the method is used for judging whether parameter conflict exists in the platform parameter set, and if the parameter conflict does not exist, performing first deviation correction on the corresponding target detection material based on the platform parameter set.
6. The adaptive correction control system according to claim 5, wherein the scheme matching unit includes:
a first analog subunit: the method comprises the steps of obtaining a first initial scheme based on a deviation correction adjustment initial scheme corresponding to a real-time offset matching target detection material, and inputting the first initial scheme into a virtual simulation platform for first simulation;
a second analog subunit: the real-time environment factors are used for inputting real-time environment factors of the target detection materials into the virtual simulation platform, and performing second simulation by combining the first initial scheme;
third analog subunit: the method comprises the steps of acquiring material characteristic interference factors which can influence deviation correction of a target detection material, inputting the material characteristic interference factors into a virtual simulation platform, and carrying out third simulation by combining a first initial scheme;
a difference comparison subunit: comparing the difference between the first simulation result and the second and third simulation results, and adjusting the first initial scheme based on the difference;
scheme determination subunit: and the correction adjustment scheme is obtained based on the adjusted first initial scheme.
7. The adaptive deskew control system of claim 5, wherein the offset adjustment module comprises:
a detection image acquisition unit: the method comprises the steps of acquiring a detection image corresponding to a next detection period based on a target deviation correcting material after first deviation correction, and performing image stitching and fitting to obtain a corresponding second three-dimensional detection image;
a second offset determination unit: comparing the second three-dimensional detection image with the center image to determine a second offset;
a second offset amount judgment unit: comparing the first offset with the second offset, and judging whether the second offset has a sub-offset larger than the corresponding sub-offset of the first offset;
deviation correcting and adjusting scheme determining unit: when the corresponding sub-offset of which the sub-offset is larger than the first offset exists in the second offset, judging that the current deviation rectifying adjustment is excessive, acquiring the corresponding sub-offset, determining a corresponding platform parameter based on the sub-offset, and matching a corresponding second deviation rectifying adjustment scheme based on the platform parameter;
the second deviation rectifying and adjusting scheme is not identical to the deviation rectifying and adjusting scheme;
an offset adjustment unit: for adjusting the first deviation based on the second deviation correcting adjustment scheme.
8. The adaptive correction control system according to claim 1, further comprising: a results verification module, comprising:
a second image simulation unit: the method comprises the steps of obtaining a center point of a target detection material after deviation correction and adjustment, and simulating by combining a material structure of the target detection material to obtain a second center image corresponding to the center point;
a first comparison unit: the method comprises the steps of performing first comparison on the azimuth of a center point of a target detection material and the azimuth of a deviation correcting center point;
a second comparing unit: for performing a second comparison of the real-time detection image of the target detection material with a second center image;
result checking unit: and the method is used for judging whether the deviation rectifying result of the target detection material is qualified or not by combining the results of the first comparison and the second comparison.
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