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Machine vision ranging device and ranging method

A technology of machine vision and distance measurement method, which is applied to measurement devices, line-of-sight measurement, measurement distance and other directions, can solve the problems of insufficient stereo matching, complicated calculation and operation, unable to meet the needs of multi-robot collaboration and target tracking, etc., and achieves guaranteed accuracy. , the effect of simple principle

Pending Publication Date: 2019-05-17
NANTONG INST OF TECH
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Problems solved by technology

[0004] There are problems in the spatial positioning of workpieces in the traditional industrial production process, and the stereo matching in binocular vision is insufficient, and multiple images are required to complete the acquisition of image depth information. The calculation and operation are complicated, which cannot meet the needs of multi-robot collaboration and target tracking.

Method used

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  • Machine vision ranging device and ranging method
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  • Machine vision ranging device and ranging method

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Embodiment Construction

[0036] Attached below Figure 1-3 , to describe preferred embodiments of the present invention in detail.

[0037] A kind of machine vision ranging method, comprises the following steps:

[0038] Step 1: Obtain the imaging pixels in the image, obtain the mapping relationship between the imaging pixels and the target points according to the principle of pinhole imaging, and establish a linear model;

[0039] In step 1, it also includes acquiring imaging pixels in the image, judging whether the imaging pixels belong to a color block, and if they belong to a color block, drawing a border of the color block and continuing to the subsequent steps.

[0040] Step 2: Obtain the depth information of the imaging pixel through the geometric relationship between the imaging pixel and the target point;

[0041] Step 3: Calculate the imaging coordinates of the target point according to the linear model and depth information;

[0042] Step 4: Correct the imaging coordinates of the target ...

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Abstract

The invention provides a machine vision ranging device and a ranging method. The ranging method comprises the following steps: acquiring imaging pixel points in an image; obtaining a mapping relationof the imaging pixel points and a target point according to a pin-hole imaging principle, and establishing a linear model; acquiring the depth information of the imaging pixel points through a geometric relation of the imaging pixel points and the target point; computing an imaging coordinate of the target point according to the linear model and the depth information; and correcting the target imaging coordinate through camera calibration to obtain location information of the target point. The ranging method provided by the invention is simple in operation, the precision of the ranging is guaranteed, and the accurate target positioning on the target object or companion in the multi-robot cooperation process and the service robot target tracking process is realized.

Description

technical field [0001] The invention relates to the technical field of machine vision measurement, in particular to a machine vision ranging device and a ranging method. Background technique [0002] In recent years, machine vision measurement technology has developed rapidly and has been widely used in many fields. [0003] In the prior art, there are generally two ways to measure and locate the target object in the image. One is to install a laser ranging device on the machine to measure the distance; the other is to use machine vision to measure the target depth information in the two-dimensional digital image. Calculate, and then calculate the target object distance based on the image pixel information and camera imaging principle. [0004] There are problems in the spatial positioning of workpieces in the traditional industrial production process, and the stereo matching in binocular vision is insufficient, and multiple images are required to complete the acquisition o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C3/00
Inventor 王青
Owner NANTONG INST OF TECH
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