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Vision-based positioning method and device

A technology of visual positioning and positioning surface, applied in the field of visual positioning, can solve the problems of small measurement range and high cost of industrial cameras, and achieve the effect of saving hardware costs and facilitating accurate positioning

Active Publication Date: 2014-03-12
CHERY AUTOMOBILE CO LTD
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  • Application Information

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Problems solved by technology

[0004] In the process of realizing the present invention, the inventor found that the prior art has at least the following problems: First, in the prior art, two or more two-dimensional cameras or three-dimensional cameras are usually required to complete the visual positioning process, while industrial cameras The cost is relatively high; second, the 2D cameras or 3D cameras used in the prior art are mostly fixed, so the measurement range of these 2D cameras or 3D cameras is a fixed area, and the measurement range is small

Method used

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Embodiment 1

[0033] Please refer to figure 1 , which shows a method flowchart of the visual positioning method provided in Embodiment 1 of the present invention. The visual positioning method includes:

[0034] Step 102, collecting several frames of first images of the target area above the target area;

[0035]Since most industrial machine vision systems are used in detection and mechanical guidance, for the convenience of description, this embodiment assumes that the target that needs to be visually positioned is a plurality of identical or different target objects located in a target area, for example, the target area is In an area of ​​an automobile manufacturing workshop, if the target object is an automobile engine cylinder head, there may be multiple rows, rows, and multi-layers of automobile engine cylinder heads placed in the target area. In order to visually locate these target objects, the image acquisition module first acquires several frames of first images of the target are...

Embodiment 2

[0049] Please refer to Figure 4 , which shows a structural block diagram of the visual positioning device provided by Embodiment 2 of the present invention. The visual positioning device includes an image acquisition module 420 , a first image processing module 440 and a second image processing module 460 .

[0050] The image acquisition module 420 may be used to acquire several frames of first images of the target area above the target area. The image acquisition module 420 may include a carrier unit 422 and an image acquisition unit 424, such as Figure 5 shown. Wherein, the carrier unit 422 is used to make the image acquisition unit 424 move horizontally at the first predetermined height, and the image acquisition unit 424 is used to collect several frames of first images of the target area during the horizontal movement.

[0051] The first image processing module 440 is used for synthesizing the horizontal scanning image of the target area according to several frames o...

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Abstract

The invention discloses a vision-based positioning method and a vision-based positioning device, belonging to the field of vision-based positioning. The method comprises the steps of: acquiring a plurality of frames of first images of a target area above the target area; synthesizing a horizontal scanning image of the target area according to the plurality of frames of first images of the target area, recognizing target objects in the horizontal scanning image and determining horizontal and vertical coordinates of each target object in a space coordinate system; acquiring a plurality of frames of second images of the target objects above a single target object according to the horizontal and vertical coordinates; and synthesizing three-dimensional images of the target objects according to the plurality of frames of second images of the target objects, and determining three-dimensional coordinates and attitudes of the target objects in the space coordinate system according to the three-dimensional images. By adopting a movable image acquisition module to realize the effect that one camera can complete the entire vision-based positioning process, compared with the prior art, the hardware cost of at least one camera is saved.

Description

technical field [0001] The invention relates to the field of visual positioning, in particular to a visual positioning method and device. Background technique [0002] The machine vision system refers to the use of computers to realize human visual functions, that is, to use computers to realize the recognition of objective three-dimensional objects. According to incomplete statistics, about 80% of industrial machine vision systems are used in detection and mechanical guidance. [0003] There is a visual positioning method in the prior art, which uses two fixed two-dimensional cameras to realize the visual positioning of the target object. Calculation of depth of field etc. Another visual positioning method for robot handling in the prior art uses a fixed two-dimensional camera combined with a three-dimensional camera to achieve visual positioning of the target object. The two-dimensional image completes the rough positioning of the target object, and the three-dimensiona...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C11/00G01C11/04
Inventor 曹学金章敏凤严律
Owner CHERY AUTOMOBILE CO LTD
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