CN109146865A - A kind of visual-alignment detection figure source generates system - Google Patents
A kind of visual-alignment detection figure source generates system Download PDFInfo
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- CN109146865A CN109146865A CN201810958131.9A CN201810958131A CN109146865A CN 109146865 A CN109146865 A CN 109146865A CN 201810958131 A CN201810958131 A CN 201810958131A CN 109146865 A CN109146865 A CN 109146865A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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Abstract
A kind of visual-alignment detection figure source of the invention generates system, the system comprises: character shape selecting module；Background image editor module；Character shape adjusts module；Image generation module；Figure source repository, including storing the pairs of image generated through described image generation module, and the corresponding figure source data through character shape adjustment module adjustment character shape of the storage pairs of image.The beneficial effects of the present invention are embodied in the figure source repository of system includes the arbitrary placement position and there may be the pairs of images of distortion situation that a large amount of character shape is likely to occur；Matching precision detection is done to feature recognition algorithms using the pairs of image in the repository of figure source, the parameter of algorithm is adjusted, it finds deficiency or defect existing for algorithm and does corresponding improvement, apply operational efficiency at the scene to achieve the purpose that improve feature recognition algorithms matching precision and improve algorithm.
Description
Technical field
The present invention relates to the technical field of visual-alignment, in particular to a kind of visual-alignment detection figure source generates system.
Background technique
Contraposition is a major name of this link of device precision assembly in modern industrial production, typical case such as,
The installation of the various flexible or rigid devices of Typical Representative is produced as with mobile phone.Its specific implementation process is, by the object of position 1
A and the object B of position 2 are installed together, and in this installation process, need to have the level of object A or object B or direction of rotation
Adjustment.Realize that a key link of contraposition function quality is, if the accurate position of above-mentioned object A and object B can be obtained
It sets.In order to realize the accurate adjustment of position, object will be shot by visual-alignment system in work, and guide realization
Entire contraposition process.
For the accuracy of verification vision alignment system, practical board acquisition image authentication can be used or generated by image
The analog image verifying that system generates.Practical board verifying benefit is to tally with the actual situation, but shortcoming is also clearly, needs
It to be carried out at actual production scene, the joint debugging time is long, and hardware support kit input cost is high, and since operation limits, in verifying board
Contraposition software effect is often relatively difficult under the abnormal conditions such as break down.Analog image verifying is then relatively more flexible, and can test
Software under abnormal conditions is demonstrate,proved to show.In actual work, it can generally be verified using analog image, it is ensured that in such a situa-tion
Contraposition software is acted normally, and then the software after being verified by analog image works together with practical board again.And
At actual production scene, inevitably there are the abnormal conditions such as board failure, context mutation, as board is used for vision pair
The light source of position breaks down or is unevenly distributed, it is likely that causes the color lump for shooting image distribution to change, causes under above situation
There are color lump is abnormal or shade for the image that is captured under shooting image and normal operating conditions.In addition, visual-alignment system assists
Board is provided accurately to be positioned and matched, and the installation environment that board gives camera is limited, it cannot be guaranteed that camera has
There is preferable setting angle to be narrowly focused towards reference object, the image that inclined angle will lead to shooting has distortion.While by
It is limited in board installation space, the installation space of enough cameras can not be provided on board, as camera is installed on board
When space other than space shoots object by reflection or multi-layer light path system indirectly, the image for also resulting in shooting exists
Distortion.Due to long using the practical board acquisition image authentication joint debugging time, at high cost, the shooting number of pictures of acquisition is limited, no
Contraposition effect of the visual-alignment software under above-mentioned board failure or sudden abnormal condition can be detected, therefore it provides one kind can be with
The figure source for generating the complex scene occurred as far as possible generates system, and the image largely generated using these, adopts to contraposition software
Feature recognition algorithms detect, and are the important technological problems for needing to solve.
Summary of the invention
Aiming at the problems existing in the prior art, the present invention provides a kind of visual-alignment detection figure source generation system.
The technical scheme is that a kind of visual-alignment detection figure source generation system is provided, the system comprises:
Character shape selecting module can be used to choose contraposition from the character shape element database for be stored with various features shape
Character shape ready for use；
Background image editor module can be used to select background from the background image library for being stored with multiple types background image
Image；
Character shape adjusts module, adjusts submodule including can be used to the displacement parameter that character shape translates in background image
Block, and can be used to the rotation parameter adjusting submodule that character shape rotates in background image；
Image generation module, can be used to character shape be put in background image handle after generate respectively character shape warp described in
Character shape adjusts before resume module and treated image；
Figure source repository, it is described in pairs including the pairs of image that storage is generated through described image generation module, and storage
The corresponding figure source data through character shape adjustment module adjustment character shape of image.
Preferred embodiment, the background image library include that the visual-alignment system from actual production process is practical to clap to store
Take the photograph the real background image library of the background image extracted in picture；The background image library includes generating background image library, institute
Stating picture editting's module includes Color management tools, can be used to generate background image simultaneously after being distributed request editor according to designated color
It is stored in and generates in background image library.
Preferred embodiment, the background image library include mixing background image library, and the background image editor module includes power
Weight edit tool can be used to mixed according to generating after the weight value request editor of specified real background image and generation background image
It closes background image and is stored in mixing background image library.
Preferred embodiment, the character shape adjustment module further includes distortion parameter adjusting submodule, be can be used to according to selection
Background image and gridiron pattern used background image different location is arranged different distortion factors.
Preferred embodiment, described image generation module include profile handling implement, can be used to the contraposition spy ready for use of selection
Profile width and edge determine when sign shape is put in the background image of selection；Described image generation module includes that background fills up work
Tool can be used to extract the background image that stores in background image library to fill up.
Preferred embodiment, the figure source data are characterized parameter of the shape through the character shape adjustment module adjustment when and adjust
Data, including displacement parameter data and rotation parameter data.
Preferred embodiment, the displacement parameter adjusting submodule include the horizontal tune translated in the horizontal direction to character shape
Whole tool and/or the vertical adjustment tool translated to character shape in vertical direction.
Preferred embodiment, the displacement parameter data include character shape displacement in the horizontal direction and/or vertical direction
Displacement.
Preferred embodiment, the figure source data are characterized parameter of the shape through the character shape adjustment module adjustment when and adjust
Data, including displacement parameter data, rotation parameter data and distortion parameter data.
Preferred embodiment, the character shape include one of polygon, angle or lines or a variety of.
The beneficial effects of the present invention are embodied in provide a kind of visual-alignment detection figure source generation system, the figure of the system
Source repository, include arbitrary placement position that a large amount of character shape is likely to occur and there may be distortion situation at
To image, and contain the corresponding figure source number through character shape adjustment module adjustment character shape of pairs of image
According to；Matching precision detection is done to feature recognition algorithms using the pairs of image in the repository of figure source, the parameter of algorithm is carried out
Adjustment, finds deficiency or defect existing for algorithm and does corresponding improvement, improves feature recognition algorithms matching precision to reach and mentions
High algorithm applies the purpose of operational efficiency at the scene.If feature recognition algorithms matching precision detects by figure source repository and does phase
After the parameter adjustment answered improves, then when feature recognition algorithms are applied to visual-alignment system, actually encountered and figure source in contraposition
The placement position of identical character shape or when existing distortion situation in repository, can also realize exactitude position, know feature
Other algorithm it is more adaptable.
Detailed description of the invention:
Fig. 1 is that visual-alignment described in the embodiment of the present invention detects figure source generation system composed structure block diagram；
Fig. 2 is that character shape described in the embodiment of the present invention adjusts module composed structure block diagram；
Fig. 3 is background image library composed structure block diagram described in the embodiment of the present invention；
Fig. 4 is one of schematic shapes of character shape described in the embodiment of the present invention；
Fig. 5 is another schematic shapes of character shape described in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It please refers to shown in Fig. 1-5, specific embodiment provided by the invention is as follows:
A kind of visual-alignment detection figure source of the present embodiment generates system, the system comprises:
Character shape selecting module can be used to choose contraposition from the character shape element database for be stored with various features shape
Character shape ready for use；
Background image editor module can be used to select background from the background image library for being stored with multiple types background image
Image；
Character shape adjusts module, adjusts submodule including can be used to the displacement parameter that character shape translates in background image
Block, and can be used to the rotation parameter adjusting submodule that character shape rotates in background image；
Image generation module, can be used to character shape be put in background image handle after generate respectively character shape warp described in
Character shape adjusts before resume module and treated image；
Figure source repository, it is described in pairs including the pairs of image that storage is generated through described image generation module, and storage
The corresponding figure source data through character shape adjustment module adjustment character shape of image.
Due to when developing visual-alignment software, if all by with hardware board joint debugging, be costly and inefficient,
Therefore various feature recognition algorithms and parameter are screened and is optimized often through the image that simulation generates, then will be after optimization
Algorithm and parameter are applied in visual-alignment system.To realize feature recognition algorithms in light variation, color change, complicated back
It is still accurately identified in scape lines and needs to align matched character shape, characteristics of needs recognizer is directed to the back occurred as far as possible
Scape image still realizes exactitude position, improves the matching precision of feature recognition algorithms, and then improve the contraposition of visual-alignment software
Effect.Therefore in the present embodiment, a kind of visual-alignment detection figure source generation system is provided, is being carried on the back using different characteristic shape is chosen
All positions in scape image generate corresponding image, and the character shape that specifically can behave as aligning when aligning workpiece supplied materials can
The arbitrary placement position that can occur.System a large amount of image in pairs generated is generated by figure source come inspection feature recognition calculation
Whether method is able to achieve exactitude position, when the contraposition effect in not up to practical application, can be adjusted, reach to the parameter of algorithm
To feature recognition algorithms matching precision is improved, the purpose that algorithm applies operational efficiency at the scene is improved.System is generated using figure source
Generating pairs of image, detailed process is as follows: such as using same basic point as coordinate system, the character shape of contraposition is selected first, from storage
There are many choose to align character shape ready for use in the character shape element database of character shape；Again from be stored with multiple types back
Background image is selected in the background image library of scape image, the background image is the background image for removing the character shape；It is logical
It crosses character shape adjustment module character shape is carried out to do translation processing and rotation processing in background image, specially utilizes position
Described in the position of shifting parameter adjusting submodule and rotation parameter adjusting submodule setting character shape in background image is constituted
Character shape adjusted in background image before image one position (x1, y1, T1), wherein x, y, T respectively represent character shape and exist
Horizontal direction, the position of vertical direction and space angle are embodied in workpiece to be aligned in the space bit to bit platform
It sets；Position (the x that the character shape in image two is constituted after character shape adjusts in background image is set1+ dx, y1+ dy, T1
+ dT), i.e., horizontal direction displacement dx, vertical direction displacement dy and rotation angle of the character shape relative to image one in image two
DT realizes the placement position that character shape is likely to occur；Character shape is put in background image by image generation module
Character shape is generated after reason respectively to adjust before resume module through the character shape and treated image (including image one and figure
As two)；The pairs of image generated through described image generation module is finally stored in the repository of figure source, while being stored described pairs of
The corresponding figure source data through character shape adjustment module adjustment character shape of image.Character shape tune can be continued through
Position of the whole module replacing character shape in the background image regenerates new pairs of image until the character shape
All positions replacement in the background image finishes；It can also continue to select new contraposition special by character shape selecting module
Shape is levied, until the character shape selection in character shape element database finishes, obtains different characteristic shape in the background image
In the corresponding pairs of image that generates of all positions.In this way, figure source repository just includes that a large amount of character shape is likely to occur
Arbitrary placement position pairs of image.If doing matching essence to feature recognition algorithms using the pairs of image in the repository of figure source
Degree detection, matching primitives result compared to the figure source data of the pairs of image (calculated compared with such as by feature recognition algorithms
The displacement of obtained horizontal direction and the displacement of the horizontal direction in figure source data), it is not able to satisfy the matching essence that border uses in fact
When spending, the parameter of algorithm can be adjusted, find deficiency or defect existing for algorithm and do corresponding improvement, reach improvement feature
Recognizer matching precision improves the purpose that algorithm applies operational efficiency at the scene.If feature recognition algorithms matching precision passes through
After figure source repository is detected and is improved, then when feature recognition algorithms are applied to visual-alignment system, actually encounter in contraposition with
In the repository of figure source when the placement position of identical character shape, exactitude position can be realized, can make feature recognition algorithms
It is more adaptable.
Preferred embodiment scheme, the background image library include to store the visual-alignment system from actual production process
The real background image library of the background image extracted in actual photographed picture；The background image library includes generating background image
Library, described image editor module include Color management tools, can be used to generate background after being distributed request editor according to designated color
Image is simultaneously stored in generation background image library.The environment change when visual-alignment system captures images is solved in the present embodiment
Change the problem of influencing shooting image, the light source such as board for visual-alignment breaks down or is unevenly distributed, it is likely that causes to shoot
The color lump distribution of image changes and influences to align effect, and the background image of use can be selected directly from real background image library
Take the background image extracted in visual-alignment system actual photographed picture in actual production process；Colors countenance can also be passed through
The background image (such as the background image unevenly distributed with shade or color lump) generated after tool settings designated color distribution editor,
Make the feature recognition algorithms applied to visual-alignment system when encountering above-mentioned scene, still realizes precisely contraposition.
Preferred embodiment scheme, the background image library include mixing background image library, the background image editor module
Including weight edit tool, after the weight value request editor that can be used to according to specified real background image and generate background image
It generates mixing background image and is stored in mixing background image library.
Preferred embodiment scheme, the character shape adjustment module further includes distortion parameter adjusting submodule, can be used to root
Background image different location is arranged different distortion factors according to the background image and gridiron pattern used of selection.In practical board pair
In the operation of position, the installation environment that board gives camera is limited, it cannot be guaranteed that camera has preferable setting angle just right
There is distortion in quasi- reference object, the image that inclined angle normally results in shooting.Simultaneously because board installation space is limited, machine
The installation space of enough cameras can not be provided on platform, such as passed through using the space that camera is installed on other than board space
Reflection or multi-layer light path system are shot indirectly when aligning workpiece, and the image for also resulting in shooting has distortion.For another example to
When contraposition workpiece is flexible piece, it may occur that the case where surrounding edge crimps, the image that camera is shot at this time equally exists
Certain distortion phenomenon.And the image that there is distortion also will affect the accurate contraposition of workpiece, the thus distortion of alignment features shape
Processing just seems particularly significant.Therefore, to solve the above-mentioned problems, character shape adjustment module provided in this embodiment further includes
Distortion parameter adjusting submodule can be used to that background image different location is arranged according to the background image and gridiron pattern used of selection
Different distortion factors (actual physics of the image in actual physics space select the proportionality coefficient between image slices vegetarian refreshments)；Specifically
For the distortion that position of the character shape in background image is arranged using distortion parameter adjusting submodule, distort to character shape
Processing makes character shape position there is distortion, that is, the distortion factor submatrix of the position is called to do at distortion character shape
Reason.If feature recognition algorithms matching precision works as feature after figure source repository detects and does corresponding parameter adjustment improvement
Actually encountered when recognizer is applied to visual-alignment system, in contraposition with existing for identical character shape in the repository of figure source
When the situation that distorts, it can realize exactitude position, the more adaptable of feature recognition algorithms can be made.
Preferred embodiment scheme, described image generation module include profile handling implement, can be used to aligning wait make for selection
Profile width and edge determine when character shape is put in the background image of selection；Described image generation module includes background
Tool is filled up, can be used to extract the background image that stores in background image library to fill up.Character shape is placed in background image
When, it needs to realize the determination of profile width and edge, edge by the profile handling implement of image generation module to profile processing
With ambient background variation relation etc..After profile is disposed, tool can be filled up by background and background image is filled up, specifically
It can be filled up using actual background image or the background image of generation.
Preferred embodiment scheme, the figure source data are characterized ginseng of the shape through the character shape adjustment module adjustment when
Number adjustment data, including displacement parameter data and rotation parameter data.I.e. displacement parameter data packet includes character shape in Background
The displacement translated as in, rotation parameter data include the angle that character shape rotates in background image.Figure source data can be used as
Utilize the reference standard of figure source repository inspection feature recognition algorithmic match precision.If utilizing the pairs of image in the repository of figure source
Matching precision detection done to feature recognition algorithms, matching primitives result compared with the figure source data of the pairs of image (such as than
Compared with the displacement of the horizontal direction in the displacement and figure source data of the horizontal direction being calculated by feature recognition algorithms), it cannot
When meeting the matching precision of its actual use, the parameter of algorithm can be adjusted, find deficiency or defect existing for algorithm simultaneously
Corresponding improvement is done, achievees the purpose that improve feature recognition algorithms matching precision.
Preferred embodiment scheme, the displacement parameter adjusting submodule include translating in the horizontal direction to character shape
Horizontal adjustment tools and/or the vertical adjustment tool translated to character shape in vertical direction；Conducive to the more features of generation
The image for the placement position that shape is likely to occur.
Preferred embodiment scheme, the displacement parameter data include character shape displacement in the horizontal direction and/or vertical
The displacement in direction.
Preferred embodiment scheme, the figure source data are characterized ginseng of the shape through the character shape adjustment module adjustment when
Number adjustment data, including displacement parameter data, rotation parameter data and distortion parameter data.That is displacement parameter data packet includes feature
The displacement that shape translates in background image, rotation parameter data include the angle that character shape rotates in background image, abnormal
Variable element data include the distortion factor submatrix of character shape position in background image.
Preferred embodiment scheme, the character shape include one of polygon, angle or lines or a variety of.Specifically,
The character shape can be the shapes such as round, rectangular, cross, can be line segment, broken line etc., or right angle, arc
Angle etc. can be selected when determining character shape when aligning according to practical alignment situation.
In the description of the embodiment of the present invention, it is to be understood that term " on ", "lower", "front", "rear", " left side ",
" right side ", " hard straight ", "horizontal", "center", "top", "bottom", " top ", " bottom ", "inner", "outside", " inside ", " outside " etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, merely to making in the description present invention and simplifying
Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.Wherein, region or space that " inboard " refers to inside or fence up.It is " outer
Enclose " refer to region around certain particular elements or specific region.
In the description of the embodiment of the present invention, term " first ", " second ", " third ", " the 4th " are only to describe mesh
, it is not understood to indicate or imply relative importance or implicitly indicates the quantity of indicated technical characteristic.It limits as a result,
There are the feature of " first ", " second ", " third ", " the 4th " to can explicitly or implicitly include one or more spy surely
Sign.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more.
In the description of the embodiment of the present invention, it should be noted that unless otherwise clearly defined and limited, term
" installation ", " connected ", " connection ", " assembling " shall be understood in a broad sense, for example, it may be being fixedly connected, be also possible to detachably connect
It connects, or is integrally connected；It can be directly connected, can also can be inside two elements indirectly connected through an intermediary
Connection.For the ordinary skill in the art, above-mentioned term in the present invention specific can be understood with concrete condition
Meaning.
In the description of the embodiment of the present invention, particular features, structures, materials, or characteristics can at any one or
It can be combined in any suitable manner in multiple embodiment or examples.
In the description of the embodiment of the present invention, it is to be understood that "-" and "~" indicated is that two values are same
Range, and the range includes endpoint.Such as: " A-B " indicates to be greater than or equal to A, and is less than or equal to the range of B." A~B "
It indicates to be greater than or equal to A, and is less than or equal to the range of B.
In the description of the embodiment of the present invention, the terms "and/or", only it is a kind of describe affiliated partner pass
Connection relationship indicates may exist three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, individually
There are these three situations of B.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of visual-alignment detection figure source generates system, which is characterized in that the system comprises:
Character shape selecting module, can be used to choose from the character shape element database for be stored with various features shape and aligns wait make
Character shape；
Background image editor module can be used to select Background from the background image library for being stored with multiple types background image
Picture；
Character shape adjustment module, the displacement parameter adjusting submodule translated in background image including can be used to character shape,
With the rotation parameter adjusting submodule that can be used to character shape and rotated in background image；
Image generation module, can be used to character shape be put in background image handle after generate character shape respectively through the feature
Before Adjusting Shape resume module and treated image；
Figure source repository, including storing the pairs of image generated through described image generation module, and the storage pairs of image
The corresponding figure source data through character shape adjustment module adjustment character shape.
2. a kind of visual-alignment detection figure source according to claim 1 generates system, which is characterized in that the background image
Library includes to store the reality from the background image extracted in visual-alignment system actual photographed picture in actual production process
Border background image library；The background image library includes generating background image library, and described image editor module includes colors countenance work
Have, generate background image after can be used to be distributed request editor according to designated color and is stored in generation background image library.
3. a kind of visual-alignment detection figure source according to claim 2 generates system, which is characterized in that the background image
Library includes mixing background image library, and the background image editor module includes weight edit tool, be can be used to according to specified reality
Mixing background image is generated after the weight value request editor of border background image and generation background image and is stored in mixing Background
As library.
4. a kind of visual-alignment detection figure source according to claim 1 or 2 generates system, which is characterized in that the feature
Adjusting Shape module further includes distortion parameter adjusting submodule, can be used to background image and gridiron pattern used according to selection to back
Different distortion factors is arranged in scape image different location.
5. a kind of visual-alignment detection figure source according to claim 1 generates system, which is characterized in that described image generates
Module includes profile handling implement, and the contraposition character shape ready for use that can be used to selection is put in hour wheel in the background image of selection
Wide width and edge determine；Described image generation module includes that background fills up tool, can be used to extract and stores in background image library
Background image fill up.
6. a kind of visual-alignment detection figure source according to claim 1 generates system, which is characterized in that the figure source data
It is characterized parameter of the shape through the character shape adjustment module adjustment when and adjusts data, including displacement parameter data and rotation ginseng
Number data.
7. a kind of visual-alignment detection figure source according to claim 6 generates system, which is characterized in that the displacement parameter
Adjusting submodule include the horizontal adjustment tools translated in the horizontal direction to character shape and/or to character shape vertical
The vertical adjustment tool of direction translation.
8. a kind of visual-alignment detection figure source according to claim 7 generates system, which is characterized in that the displacement parameter
Data include character shape displacement in the horizontal direction and/or the displacement of vertical direction.
9. a kind of visual-alignment detection figure source according to claim 4 or 7 generates system, which is characterized in that the figure source
Data are characterized parameter of the shape through the character shape adjustment module adjustment when and adjust data, including displacement parameter data, rotation
Turn supplemental characteristic and distortion parameter data.
10. a kind of visual-alignment detection figure source according to claim 1 generates system, which is characterized in that the feature shape
Shape includes one of polygon, angle or lines or a variety of.
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| CN112785648A (en) * | 2021-04-12 | 2021-05-11 | 成都新西旺自动化科技有限公司 | Visual alignment method, device and equipment based on to-be-imaged area and storage medium |
| CN113562465A (en) * | 2021-09-26 | 2021-10-29 | 成都新西旺自动化科技有限公司 | Visual guiding method and system for sheet placement |
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