Marker block, method and system for industrial equipment identification and positioning

Abstract

The present invention discloses a method for identifying and positioning industrial equipment, which identifies and positions the industrial equipment through a marker block. The method includes: obtaining an area of interest including an imaging area of the marker block and estimating the posture of the positioning marker based on a monocular vision PnP method; detecting whether there is a sorting marker in the sorting marker placement area, and if so, determining the arrangement order of the sorting markers; obtaining the number of the marker block according to the arrangement order of the sorting markers, which is conducive to the automated production equipment to adaptively adjust the operation steps according to the equipment number and spatial posture information of the equipment to be operated.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation, and in particular to a marker block, method and system for identifying and positioning industrial equipment. Background Art

[0002] Images are the visual foundation of human perception of the world and the primary means by which humans acquire external information. Image processing is the use of computers to process image information to achieve specific goals. With the continuous advancement of computer hardware, image processing technology has also significantly improved and plays an indispensable role in contemporary life. Industrial sites require a large number of processing equipment for automated production, and different equipment often has different automated operation procedures. This requires first numbering and distinguishing all equipment to be operated. When performing automated operations, the specific corresponding number and relative position information of the current equipment must be identified to implement different operation steps. Therefore, it is necessary and important to propose a method and system for industrial equipment identification and positioning in industrial automated production sites. Summary of the Invention

[0003] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a marker block, method and system for industrial equipment identification and positioning, so as to solve the defects of the prior art.

[0004] To achieve the above-mentioned and other related purposes, the present invention provides a marker block for industrial equipment identification and positioning, comprising:

[0005] A positioning marker, a reference marker, and at least one sorting marker for positioning identification;

[0006] The at least one sorting marker is arranged in a set order based on the reference marker.

[0007] Optionally, the reference marker includes a low-position reference marker and a high-position reference marker; the sorting marker includes at least one high-position sorting marker and / or at least one low-position sorting marker; the at least one low-position sorting marker is arranged in a set order based on the low-position reference marker; the at least one high-position sorting marker is arranged in a set order based on the high-position reference marker.

[0008] Optionally, the reference marker also includes a center marker, and the low-order ranking marker is set within a first distance range from the center marker; the high-order ranking marker is set within a second distance range from the center marker, and the maximum value of the first distance range is less than the minimum value of the second distance range.

[0009] Optionally, the low position of each low-order ranking marker is determined based on the distance between the at least one low-order ranking marker and the low-order reference marker; and the high position of each high-order ranking marker is determined based on the distance between the at least one high-order ranking marker and the high-order reference marker.

[0010] Optionally, each of the low-order ranking markers has a different distance from the low-order reference marker; and each of the high-order ranking markers has a different distance from the high-order reference marker.

[0011] Optionally, at least one of the low-order ranking markers is arranged in a clockwise / counterclockwise order based on the distance between the low-order ranking marker and the low-order reference marker; and at least one of the high-order ranking markers is arranged in a clockwise / counterclockwise order based on the distance between the high-order ranking marker and the high-order reference marker.

[0012] To achieve the above-mentioned and other related purposes, the present invention provides a method for identifying and locating industrial equipment, wherein the industrial equipment is identified and located using the marker block. The method comprises:

[0013] Acquire a region of interest including the imaging area of the marker block;

[0014] Estimating the pose of the marker block based on a monocular vision PnP method;

[0015] detecting whether there is a sorting marker in the sorting marker placement area, and if so, determining the arrangement order of the sorting markers;

[0016] The number of the marker block is obtained according to the arrangement order of the sorting markers.

[0017] Optionally, the arrangement order of the sorting markers is represented in binary form, and the binary system is converted into decimal to obtain the number of the marker block.

[0018] To achieve the above-mentioned and other related purposes, the present invention provides a system for identifying and locating industrial equipment, which identifies and locates the industrial equipment using the marker block. The system includes:

[0019] A region of interest acquisition module is used to acquire a region of interest including a marker block imaging area;

[0020] A posture estimation module, used for estimating the posture of the marker block based on a monocular vision PnP method;

[0021] A sequence recognition module is used to detect whether there are sequence markers in the sequence marker placement area, and if so, determine the arrangement order of the sequence markers;

[0022] The number recognition module is used to obtain the number of the marker block according to the arrangement order of the sorting markers.

[0023] Optionally, the arrangement order of the sorting markers is represented in binary form, and the binary system is converted into decimal to obtain the number of the marker block.

[0024] As described above, the marker block, method, and system for industrial equipment identification and positioning of the present invention have the following beneficial effects:

[0025] The present invention estimates the posture of the positioning marker based on the monocular vision PnP method by acquiring the area of interest including the imaging area of the marker block; detects whether there is a sorting marker in the sorting marker placement area, and if so, determines the arrangement order of the sorting marker; obtains the number of the marker block according to the arrangement order of the sorting marker, which is beneficial for the automated production equipment to adaptively adjust the operation steps according to the equipment number and spatial posture information of the equipment to be operated. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a marker block according to an embodiment of the present invention;

[0027] Figure 2 This is a flow chart of a method for identifying and locating industrial equipment according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of a system for identifying and locating industrial equipment according to an embodiment of the present invention;

[0029] Among them: 1. Center marker; 2. Low-order sorting marker; 3. High-order sorting marker; 4. High-order reference marker; 5. Low-order reference marker; 6. Positioning marker. DETAILED DESCRIPTION

[0030] The following describes the embodiments of the present invention through specific examples. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0031] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0032] like Figure 1 As shown, the present invention provides a marker block for industrial equipment identification and positioning, comprising:

[0033] Positioning marker 6, reference marker and at least one sorting marker for positioning identification;

[0034] The at least one sorting marker is arranged in a set order based on the reference marker.

[0035] In one embodiment, the reference marker includes a low-position reference marker 5 and a high-position reference marker 4; the sorting marker includes at least one high-position sorting marker 3 and / or at least one low-position sorting marker 2; the at least one low-position sorting marker is arranged in a set order based on the low-position reference marker; the at least one high-position sorting marker is arranged in a set order based on the high-position reference marker.

[0036] In one embodiment, the reference marker also includes a center marker 1, and the low-order ranking marker is set within a first distance range from the center marker; the high-order ranking marker is set within a second distance range from the center marker, and the maximum value of the first distance range is less than the minimum value of the second distance range.

[0037] In one embodiment, the positioning marker is a rectangular marker, and the sorting marker is a circular marker.

[0038] In one embodiment, the distance between each of the low-ranking markers and the low-ranking reference marker is different; the distance between each of the high-ranking markers and the high-ranking reference marker is different.

[0039] In one embodiment, in order to facilitate identification, the sorting marker is set in the area of the positioning marker.

[0040] In one embodiment, at least one of the lower ranking markers is arranged in a clockwise or counterclockwise order based on the distance between the lower ranking marker and the lower reference marker. At least one of the higher ranking markers is arranged in a clockwise or counterclockwise order based on the distance between the higher ranking marker and the higher reference marker.

[0041] In one embodiment, the low position of each low-order ranking marker is determined based on the distance between the at least one low-order ranking marker and the low-order reference marker. For example, the low-order ranking marker closest to the low-order reference marker can be set as the first low position, the low-order ranking marker centered from the low-order reference marker can be set as the second low position, and the low-order ranking marker farthest from the low-order reference marker can be set as the third low position. Of course, this embodiment is not limited to three low positions and can be set according to actual conditions.

[0042] The high position of each high-order ranking marker is determined based on the distance between the at least one high-order ranking marker and the high-order reference marker. For example, the high-order ranking marker closest to the high-order reference marker can be set as the first high position, the high-order ranking marker centered from the high-order reference marker can be set as the second high position, and the high-order ranking marker farthest from the high-order reference marker can be set as the third high position. Of course, this embodiment is not limited to three high positions and can be set according to actual conditions.

[0043] The present invention is described using an example in which the positioning marker is a rectangular marker, the sorting marker is a circular marker, and the center marker is a circular marker. It is understood that the positioning marker and sorting marker can be identified by their outlines, which can be understood as rectangular and circular outlines, respectively. It should be noted that the radius of the circular outlines is adjusted based on actual conditions, with the camera being able to clearly image each circular outline.

[0044] like Figure 1 As shown, there are three circular contours with different radii within the rectangular outline. These are distinguished by radius, from smallest to largest: the base circle contour, the sorting circle contour, and the center circle contour. The sorting circle contours include the low-order sorting circle contour and the high-order sorting circle contour, and the base circle contours include the high-order base circle contour and the low-order base circle contour. The center point of the rectangular outline coincides with the center point of the center circle contour, and all of the above circular contours are located within the rectangular outline area.

[0045] With the center of the central circle contour 1 as the center point, 8 circle contour placement areas are evenly distributed around it. They are specifically divided into 4 low-order circle contour placement areas and 4 high-order circle contour placement areas according to the distance from the center of the circle. The positions of the high and low-order base circle contours in the circle contour placement areas remain fixed, and the sorted circle contours are distributed in the circle contour placement areas according to the sorting criteria. The sorting criteria are as follows: with the low-order base circle contour as the low-order base, and the counterclockwise direction as the positive direction, the low-order circle contour placement area closest to the low-order base circle contour is the first low-order position, the low-order circle contour placement area in the middle is the second low-order position, and the low-order circle contour placement area farthest away is the third low-order position. If a sorted circle contour appears in the low-order circle contour placement area, the position is set to 1, otherwise it is set to 0. Similarly, the sorting criteria for the high-order sorted circle contours are the same as those for the low-order sorted circle contours, and will not be repeated here.

[0046] Each marker block corresponds to a sequence of sorted circular profiles and a binary representation. Converting the binary representation to decimal gives the marker block number. For example, if the distribution sequence of the identified high-order circular profiles is "000" and the distribution sequence of the low-order circular profiles is "011," the total sequence of the sorted circular profiles is "000011." After decimal conversion, the device number is "3."

[0047] Of course, in some embodiments, the sorted circular contours may include only low-order sorted circular contours or only high-order sorted circular contours. The sorting criteria may refer to the above embodiments and will not be further described here.

[0048] like Figure 2 As shown, the present invention provides a method for identifying and locating industrial equipment, wherein the industrial equipment is identified and located by the marker block. The marker block can refer to Figure 1 The flag block shown is not described here any more. The method includes:

[0049] S11 obtains a region of interest including the imaging area of the marker block; background interference can be reduced by determining the region of interest.

[0050] S12 estimates the posture of the positioning marker based on a monocular vision PnP method;

[0051] S13 detects whether there is a sorting marker in the sorting marker placement area, and if so, determines the arrangement order of the sorting markers;

[0052] S14 obtains the number of the marker block according to the arrangement order of the sorting markers.

[0053] The present invention is beneficial for automated production equipment to adaptively adjust operation steps according to the equipment number and spatial posture information of the equipment to be operated.

[0054] In one embodiment, the positioning marker is a rectangular marker, and the sorting marker is a circular marker.

[0055] It should be noted that the numbers S11 to S14 in this embodiment do not limit the order of implementing the steps, and those skilled in the art may adjust some of the steps according to actual needs.

[0056] The present invention estimates the posture of the positioning marker through the monocular vision PnP (Perspective-n-Point) method. The PnP method calculates the posture of the object through at least four coplanar points. In this embodiment, the four vertices and the center point of the rectangular marker are selected, and the three-dimensional posture of the four vertices and the center point in the camera coordinate system is calculated by the monocular vision PnP method. The three-dimensional posture of the center point is regarded as the posture of the rectangular marker, the posture of the rectangular marker is regarded as the three-dimensional posture of the marker block in the camera coordinate system, and the posture of the marker block is regarded as the posture of the device. This embodiment uses five points to calculate the posture of the marker, which can make the calculation more accurate.

[0057] It should be noted that the background color of the marker block can be adjusted according to the application environment. The background color of the marker block should be as distinct from the on-site environment as possible, so that the camera can clearly image the marker block and the marker block's color characteristics are obvious in the image. The shape, size, color, etc. of the marker block can be set according to the actual situation on the site. The total number of sorting markers on the marker block is set according to the total number of devices required to be distinguished on site.

[0058] In specific implementation, a monocular vision system is used to collect original images and extract the region of interest including the imaging area of the marker block;

[0059] Process the extracted region of interest to obtain image information of the rectangular outline on the marker block;

[0060] The extracted rectangular contour area is processed to obtain image information of all circular contours within the rectangular area; the 3D pose of the four vertices and the center point of the rectangular contour in the camera coordinate system is calculated based on the monocular vision PnP method, and the 3D pose of the center point is regarded as the 3D pose of the marker block in the camera coordinate system;

[0061] The extracted circle contour image information is processed to obtain the arrangement sequence of the high and low order circle contours, and the device number corresponding to the mark block is calculated according to the binary calculation method, that is, the device number corresponding to the device.

[0062] The present invention fixes the designed marker block on the production equipment at the industrial automation site. The industrial camera clearly images the marker block. The obtained image information is processed and calculated to obtain the spatial posture of the marker block in the camera coordinate system and the device number corresponding to the marker block. This is conducive to the automated production equipment to adaptively adjust the operation steps according to the device number and spatial posture information of the device to be operated. In addition, the shape, size, and color of the marker block are set according to the actual situation at the site, so that the camera can clearly image the marker block and the color characteristics of the marker block in the image are obvious. The total number of circular contours on the marker block is set according to the total number of devices that need to be distinguished at the site. The method is simple and easy to implement, and has great practicality and applicability.

[0063] like Figure 3 As shown, the present invention provides a system for identifying and locating industrial equipment. The equipment is provided with a marker block, which is provided with a positioning marker and a sorting marker placement area for placing sorting markers. The marker block can refer to Figure 1 The marking block shown is not described here. The system includes:

[0064] A region of interest acquisition module 11 is used to acquire a region of interest including a marker block imaging area;

[0065] A posture estimation module 12 is used to estimate the posture of the positioning marker based on a monocular vision PnP method;

[0066] A sequence identification module 13 is used to detect whether there are sequence markers in the sequence marker placement area, and if so, determine the arrangement order of the sequence markers;

[0067] The number recognition module 14 is used to obtain the number of the marker block according to the arrangement order of the sorting markers.

[0068] The present invention is beneficial for automated production equipment to adaptively adjust operation steps according to the equipment number and spatial posture information of the equipment to be operated.

[0069] The present invention estimates the posture of the positioning marker through the monocular vision PnP (Perspective-n-Point) method. The PnP method calculates the posture of the object through at least four coplanar points. In this embodiment, the four vertices and the center point of the rectangular marker are selected, and the three-dimensional posture of the four vertices and the center point in the camera coordinate system is calculated by the monocular vision PnP method. The three-dimensional posture of the center point is regarded as the posture of the rectangular marker, the posture of the rectangular marker is regarded as the three-dimensional posture of the marker block in the camera coordinate system, and the posture of the marker block is regarded as the posture of the device. This embodiment uses five points to calculate the posture of the marker, which can make the calculation more accurate.

[0070] In one specific implementation, the system includes:

[0071] The region of interest acquisition module is used to process the incoming original image, extract the region of interest containing the imaging area of the marker block, and reduce background interference;

[0072] By processing the extracted image region of interest, the image information of the rectangular outline on the marker block is obtained; by processing the extracted rectangular outline area, the image information of all circular outlines in the area is obtained;

[0073] The pose estimation module is used to calculate the 3D pose of the four vertices and the center point of the rectangular outline in the camera coordinate system through the monocular vision PnP method, and regard the 3D pose of the center point as the 3D pose of the marker block in the camera coordinate system, and the 3D pose of the device in the camera coordinate system;

[0074] The number recognition module processes the extracted circle contour image information to obtain the arrangement sequence of the high and low order circle contours, and calculates the device number corresponding to the mark block according to the binary calculation method, that is, the device number corresponding to the device.

[0075] The present invention fixes the designed marker block on the production equipment at the industrial automation site. The industrial camera clearly images the marker block. The obtained image information is processed and calculated to obtain the spatial posture of the marker block in the camera coordinate system and the device number corresponding to the marker block. This is conducive to the automated production equipment to adaptively adjust the operation steps according to the device number and spatial posture information of the device to be operated. In addition, the shape, size, and color of the marker block are set according to the actual situation at the site, so that the camera can clearly image the marker block and the color characteristics of the marker block in the image are obvious. The total number of circular contours on the marker block is set according to the total number of devices that need to be distinguished at the site. The method is simple and easy to implement, and has great practicality and applicability.

[0076] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0077] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0078] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0079] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0080] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0081] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0082] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the process in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, it can implement the steps of the above-mentioned various method embodiments. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device that can carry the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0083] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A marker block for industrial equipment identification and positioning, characterized in that: include: A positioning marker, a reference marker, and at least one sorting marker for positioning identification; The at least one sorting marker is arranged in a set order based on the reference marker; The reference markers include a low-position reference marker and a high-position reference marker; the ranking markers include at least one high-position ranking marker and / or at least one low-position ranking marker; The at least one low-order ranking marker is arranged in a set order based on the low-order reference marker; the at least one high-order ranking marker is arranged in a set order based on the high-order reference marker; The reference marker further includes a center marker, the low-order ranking marker is set within a first distance range from the center marker; the high-order ranking marker is set within a second distance range from the center marker, and the maximum value of the first distance range is less than the minimum value of the second distance range; The low position of each low-order ranking marker is determined according to the distance between the at least one low-order ranking marker and the low-order reference marker; the high position of each high-order ranking marker is determined according to the distance between the at least one high-order ranking marker and the high-order reference marker.

2. The marker block for industrial equipment identification and positioning according to claim 1, characterized in that: The distance between each of the low-order ranking markers and the low-order reference marker is different; the distance between each of the high-order ranking markers and the high-order reference marker is different.

3. The marker block for industrial equipment identification and positioning according to claim 2, characterized in that: Based on the distance between the low-order ranking marker and the low-order reference marker, at least one of the low-order ranking markers is arranged in a clockwise / counterclockwise order; based on the distance between the high-order ranking marker and the high-order reference marker, at least one of the high-order ranking markers is arranged in a clockwise / counterclockwise order.

4. A method for identifying and locating industrial equipment, characterized in that: Identifying and locating the industrial equipment using the marker block according to any one of claims 1 to 3, the method comprising: Acquire a region of interest including the imaging area of the marker block; Estimating the pose of the marker block based on a monocular vision PnP method; detecting whether there is a sorting marker in the sorting marker placement area, and if so, determining the arrangement order of the sorting markers; The number of the marker block is obtained according to the arrangement order of the sorting markers.

5. The method for industrial equipment identification and positioning according to claim 4, characterized in that: The arrangement order of the sorting markers is expressed in binary form, and the binary system is converted into decimal to obtain the number of the marker block.

6. A system for industrial equipment identification and positioning, characterized in that: The industrial equipment is identified and located by using the marker block according to any one of claims 1 to 3, and the system comprises: A region of interest acquisition module is used to acquire a region of interest including a marker block imaging area; A posture estimation module, used for estimating the posture of the marker block based on a monocular vision PnP method; A sequence recognition module is used to detect whether there are sequence markers in the sequence marker placement area, and if so, determine the arrangement order of the sequence markers; The number recognition module is used to obtain the number of the marker block according to the arrangement order of the sorting markers.

7. The system for industrial equipment identification and positioning according to claim 6, characterized in that: The arrangement order of the sorting markers is expressed in binary form, and the binary system is converted into decimal to obtain the number of the marker block.

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