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Monocular vision based real-time location system and method for products on conveying belt

A monocular vision, real-time positioning technology, used in conveyor objects, transportation and packaging, conveyor control devices, etc., can solve problems such as troublesome selection, cannot be used as a product positioning point, complex system, etc., to achieve simple algorithm and measurement process. Fast and adaptable to the environment

Active Publication Date: 2015-07-08
CHINA THREE GORGES UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The widely used binocular vision system has high precision, but the system is complex; in comparison, the monocular vision structure system is not as accurate as the binocular vision system, but its advantage is that the system structure is simple, so it is low cost in industrial production. Easy to operate and widely used
[0003] In the positioning process, product recognition is particularly important. Traditional target recognition mainly uses feature extraction and matching, but to recognize a product, it is necessary to know the features of the product reflected in the image, but in actual production status, There are many types of product features, and it is more troublesome to select, and it is also possible that these feature points cannot be used as product positioning points in the plane positioning

Method used

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  • Monocular vision based real-time location system and method for products on conveying belt

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Embodiment 1

[0044] Such as figure 1 Among them, the real-time positioning system for products on the conveyor belt based on monocular vision includes a camera 1, and a camera 1 is arranged above the head end of the conveyor belt 5, and the camera 1 is connected to a computer 2. Compared with the prior art, the system of the present invention is more simplified and easy to install and set up.

[0045] Such as figure 2 As shown in , a calibration plate is placed in the positioning area 4 of the stationary conveyor belt 5 . The world coordinate system is established through the calibration board to achieve precise positioning.

Embodiment 2

[0047] Such as Figure 1~5 As shown in , a method for product positioning using the above-mentioned real-time positioning system for products on a conveyor belt based on monocular vision includes the following steps:

[0048] 1. Calculate the internal parameters of the camera. The internal parameters belong to the professional term in the field of computer vision. Refers to the internal parameters of the camera, such as the focal length, the center coordinates of the imaging plane, and the physical size of the pixel. In this example, the focal length of the camera, the center coordinates of the imaging plane of the camera and other parameter groups form a 3×3 matrix. These coefficients are only related to The camera matters.

[0049] Establish a world coordinate system to obtain external parameters and fundamental matrix;

[0050] In this example, the image coordinates use the x-axis and y-axis, and the world coordinates use the x-axis and y-axis.

[0051] 2. Measure the worl...

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Abstract

A monocular vision based real-time location system for products on a conveying belt comprises a camera. The camera is arranged above the head end of the conveying belt and is connected with a computer. A calibration plate is arranged in a location region of a static conveying belt. A monocular vision based real-time location method for products on the conveying belt comprises the steps of building a world coordinate system; measuring world coordinates of a projection point of the camera in the conveying belt plane; producing a viewing frame picture; detecting the edges of the picture to obtain the picture only with the product edges; separating the products in a line scanning mode; performing column scanning on the single product in the picture to obtain the product lower boundary; calculating world coordinates of points of the lower boundary in the picture, and calculating the distance between the points of the world coordinate system along the conveying belt and the projection point to fine the closest point and the shortest distance, wherein the closest point is the location point, and the shortest distance is the location distance. By means of the steps, the monocular vision based product real-time location is achieved.

Description

technical field [0001] The invention relates to the technical field of machine vision positioning, in particular to a system and method for real-time positioning of products on a conveyor belt based on monocular vision. Background technique [0002] The positioning technology of target products based on machine vision is based on optics and incorporates modern science and technology such as image processing technology, optoelectronics, and computer technology. At present, the target positioning technology based on machine vision is mainly divided into two categories, binocular vision structure system and monocular vision structure system. The widely used binocular vision system has high precision, but the system is complex; in comparison, the monocular vision structure system is not as accurate as the binocular vision system, but its advantage is that the system structure is simple, so it is low cost in industrial production. It is easy to operate and widely used. [0003]...

Claims

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Application Information

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IPC IPC(8): B65G43/00
CPCB65G43/00
Inventor 曾曙光吴磊黎涛陶雄叶剑飞
Owner CHINA THREE GORGES UNIV