Automatic stamping processing method and system, electronic equipment and storage medium
The automatic stamping system addresses inefficiencies in manual stamping by using a laser-guided robotic arm for precise and efficient stamping, improving accuracy and flexibility.
Patent Information
- Application Number
- CN202411271210.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-11
- Publication Date
- 2024-12-13
AI Technical Summary
Manual stamping in businesses like banking and express delivery is inefficient, inaccurate, and prone to mis-stamping due to the need for manual alignment of a light spot with the stamping position, lacking flexibility and ease of operation.
An automatic stamping system utilizing a laser pointer, image acquisition device, image processing module, control module, mechanical arm, and stamping mechanism, which analyzes the image to determine the target position of the laser point and controls the robotic arm for precise stamping.
Enables accurate, efficient, and flexible automatic stamping by identifying the laser point position and controlling the robotic arm for precise stamping, simplifying and speeding up the process.
Smart Images
Figure CN119116565A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of stamping technology, and in particular to an automatic stamping processing method, system, electronic device and storage medium. Background Art
[0002] For banking, express delivery and other businesses, it is generally necessary to stamp on bills, express delivery orders and other documents. Due to the large number of documents, manual stamping will cause a large workload and may also cause the occurrence of mis-stamping, missing stamping, etc. Therefore, an automatic stamping machine is needed to replace manual stamping to complete a large amount of stamping work.
[0003] In the prior art, a light spot is projected at a fixed position to indicate the stamping position. This method requires manual movement of the paper to the correct position so that the light spot is aligned with the target area, and then an automatic stamping machine is used for stamping. However, this method has obvious shortcomings in terms of efficiency, accuracy, ease of operation and flexibility. Summary of the invention
[0004] The purpose of this application is to provide an automatic stamping processing method, system, electronic device and storage medium to improve the accuracy of automatic stamping processing in view of the deficiencies in the above-mentioned prior art.
[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:
[0006] In the first aspect, the embodiment of the present application provides an automatic stamping processing method, which is applied to an automatic stamping system, wherein the automatic stamping system comprises: a laser pointer, an image acquisition device, an image processing module, a control module, a mechanical arm and a stamping mechanism, and the method comprises:
[0007] The control module controls the image acquisition device to shoot the paper to be stamped to obtain the image to be analyzed, and there is a laser spot formed by the projection of the laser pointer on the target stamping area of the paper to be stamped;
[0008] The image processing module analyzes and processes the image to be analyzed to obtain the target position of the laser point, and the target position includes: the coordinates of the laser point in the target direction;
[0009] The control module determines the motion information of the robotic arm according to the target position and the current position of the robotic arm, so that the robotic arm moves to the target position according to the motion information, and controls the stamping mechanism to stamp on the target stamping area of the paper to be stamped, wherein the current position includes: the coordinates of the robotic arm in the target direction.
[0010] Optionally, the analyzing and processing the image to be analyzed to obtain the target position of the laser point includes:
[0011] Performing color filtering on the image to be analyzed to obtain a filtered image to be analyzed;
[0012] removing noise from the filtered image to be analyzed to obtain initial image area information of the laser point;
[0013] The target position of the laser point is determined according to the initial image area information of the laser point and the attribute information of the image acquisition device.
[0014] Optionally, performing color filtering on the image to be analyzed to obtain a filtered image to be analyzed includes:
[0015] Pixel points whose pixel values in the image to be analyzed are less than a pixel threshold are filtered to obtain the filtered image to be analyzed.
[0016] Optionally, removing noise from the filtered image to be analyzed to obtain initial image area information of the laser point includes:
[0017] Performing corrosion processing on the filtered image to be analyzed to remove small noise points in the filtered image to be analyzed to obtain a first image;
[0018] The first image is expanded to obtain a second image, and the image area of the laser point in the second image is used as the initial image area information of the laser point. The image area size of the laser point in the second image is the same as the image area size of the laser point in the filtered image to be analyzed.
[0019] Optionally, determining the target position of the laser point according to the initial image area information of the laser point and the attribute information of the image acquisition device includes:
[0020] Taking the average value of the two-dimensional coordinates of each pixel in the initial image area information in the second image as the image position of the laser point;
[0021] The target position of the laser point is determined according to the image position and the physical shooting range in the attribute information of the image acquisition device.
[0022] Optionally, determining the target position of the laser point according to the image position and a physical shooting range in the attribute information of the image acquisition device includes:
[0023] According to the physical shooting range, coordinate transformation is performed on the image position to obtain an actual position corresponding to the image position;
[0024] The coordinates of the actual position in the target direction are used as the target position.
[0025] Optionally, determining the motion information of the robotic arm according to the target position and the current position of the robotic arm includes:
[0026] If the distance between the target position and the current position of the robotic arm is less than or equal to a preset distance threshold, determining that the motion information is uniform movement;
[0027] If the distance between the target position and the current position of the robot arm is greater than the preset distance threshold, the motion information is determined as: accelerated movement, uniform movement, and decelerated movement in sequence.
[0028] In a second aspect, the embodiment of the present application further provides an automatic stamping processing system, the system comprising: a laser pointer, an image acquisition device, an image processing module, the control module, a mechanical arm and a stamping mechanism;
[0029] The automatic stamping system is used for performing automatic stamping based on the method described in the first aspect.
[0030] In the third aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when the application is running, the processor communicates with the storage medium through the bus, and the processor executes the program instructions to perform the steps of the automatic stamping processing method described in the first aspect above.
[0031] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is read and executes the steps of the automatic stamping processing method described in the first aspect above.
[0032] The beneficial effects of this application are:
[0033] The present application provides an automatic stamping processing method, system, electronic device and storage medium. The control module controls the image acquisition device to shoot the paper to be stamped to obtain the image to be analyzed, and there is a laser point formed by the projection of the laser indicator on the target stamping area of the paper to be stamped. The image processing module analyzes and processes the image to be analyzed to obtain the target position of the laser point. The control module determines the movement information of the robotic arm according to the target position and the current position of the robotic arm, so that the robotic arm moves to the target position according to the movement information, and controls the stamping mechanism to stamp on the target stamping area of the paper to be stamped. The image acquisition device can be used to identify the position of the moving laser point, and the robotic arm can be controlled to perform automatic stamping, which can make the stamping process simpler and faster. BRIEF DESCRIPTION OF THE DRAWINGS
[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0035] Figure 1 A schematic diagram of the architecture of an automatic stamping system provided in an embodiment of the present application;
[0036] Figure 2 A schematic diagram of a first automatic stamping processing method provided in an embodiment of the present application;
[0037] Figure 3 A schematic diagram of a second automatic stamping processing method provided in an embodiment of the present application;
[0038] Figure 4 A schematic diagram of a third automatic stamping processing method provided in an embodiment of the present application;
[0039] Figure 5 A schematic diagram of a fourth automatic stamping processing method provided in an embodiment of the present application;
[0040] Figure 6 A schematic diagram of a fifth automatic stamping processing method provided in an embodiment of the present application;
[0041] Figure 7 A structural block diagram of an electronic device provided in an embodiment of the present application.
[0042] Icons: 1-laser pointer; 2-image acquisition device; 3-image processing module; 4-control module; 5-mechanical arm 5; 6-stamping mechanism. DETAILED DESCRIPTION
[0043] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.
[0044] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.
[0045] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.
[0046] Optionally, the automatic stamping processing method provided in the embodiment of the present application is applied to an electronic device, which may be a terminal device with computing and display capabilities, such as a mobile phone, a tablet computer, a laptop computer, a PDA, a desktop computer, or a server. Specifically, it may be applied to an application program in a terminal device, such as an APP (application, mobile phone software) of a mobile phone, an application system on a computer, etc.
[0047] The specific implementation process of the automatic stamping process provided in the embodiments of the present application is explained in detail below.
[0048] Figure 1 A schematic diagram of the architecture of an automatic stamping system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the automatic stamping system may include: a laser pointer 1, an image acquisition device 2, an image processing module 3, a control module 4, a mechanical arm 5 and a stamping mechanism 6.
[0049] The laser pointer 1 can project a red laser spot on the paper placed under the stamping mechanism, and the laser pointer 1 can be slidably arranged on the slide bar, so that the red laser spot emitted by the laser pointer 1 can move in the horizontal lateral direction on the paper.
[0050] Optionally, the image acquisition device 2 can capture the real-time image on the paper, wherein the image acquisition device 2 can be fixedly installed in a fixed position, at which the image acquisition device 2 can capture the complete image of the paper. The image acquisition device 2 sends the captured image to the image processing module 3.
[0051] Optionally, the image processing module 3 can analyze and process the received image to identify the position of the red laser point. Specifically, the analysis and processing process can include color filtering, morphological processing, and center point calculation, etc. The image processing module 3 sends the obtained position of the red laser point to the control module 4.
[0052] Optionally, the control module 4 can receive the position of the red laser point and control the movement of the robot arm according to the position information. The control module 4 has functions such as coordinate conversion, path planning and instruction generation. The control module 4 can send movement instructions to the robot arm.
[0053] Optionally, after receiving the movement instruction sent by the control module 4, the robot arm 5 executes the movement instruction and moves to the position of the red laser point.
[0054] Optionally, the stamping mechanism 6 can be installed at the end of the robot arm, and after the robot arm 5 moves to the position of the red laser dot, it stamps the position of the red laser dot on the paper.
[0055] Figure 2 This is a flow chart of the first automatic stamping processing method provided in the embodiment of the present application, and the execution subject of the method is the control module 4 mentioned above. Figure 2 As shown, the method includes:
[0056] S101, the control module controls the image acquisition device to take a picture of the paper to be stamped, and obtains an image to be analyzed.
[0057] There is a laser point formed by the projection of the laser pointer on the target stamping area of the paper to be stamped, and the position of the laser point is the position where the stamping mechanism needs to stamp, and the laser point can be a red laser point. The image acquisition device can be a camera, for example, a monocular camera, a binocular camera or other types of cameras.
[0058] Optionally, after the paper to be stamped is placed, the laser pointer can be manually controlled to move horizontally on the slide bar, so that the laser point projected by the laser pointer moves to the position where the paper to be stamped needs to be stamped, and the target stamping area where the laser point exists is obtained. Then, the control module controls the image acquisition device to shoot the paper to be stamped, and sends the image to be analyzed obtained by shooting to the image processing module. Compared with the prior art in which the projection position of the laser point is fixed, the projection position of the laser point in this embodiment can be arbitrarily and flexibly adjusted, so that the laser point can be flexibly adjusted, making the application scenario more extensive.
[0059] Optionally, the laser pointer can also move based on the control of the control module. Specifically, when the paper to be stamped is placed, the control module can first control the image acquisition device to shoot the paper to be stamped to obtain an initial image, and send the initial image to the image processing module. The image processing module analyzes the initial image, identifies the position that needs to be stamped in the paper to be stamped, and sends the position that needs to be stamped to the control module. The control module then controls the laser pointer to move to the position where the paper to be stamped needs to be stamped to project a laser point, and then controls the image acquisition device to re-shoot the paper to be stamped with the projected laser point, thereby obtaining an image to be analyzed.
[0060] S102: The image processing module analyzes and processes the image to be analyzed to obtain the target position of the laser point.
[0061] The target position may include the coordinates of the laser point in a target direction, where the target direction is the lateral coordinate of the paper, that is, a direction parallel to the slide bar.
[0062] Optionally, the image processing module can use a preset method to analyze and process the image to be analyzed to obtain the target position of the laser point, which is the position of the laser point on the paper to be stamped. If the coordinates of the point on the paper to be stamped are (x, y), where the x direction is parallel to the direction of the slide bar, then the target direction is also the x-axis direction, and the target position of the laser point on the paper to be stamped can be determined to be x1.
[0063] S103, the control module determines the motion information of the robotic arm according to the target position and the current position of the robotic arm, so that the robotic arm moves to the target position according to the motion information, and controls the stamping mechanism to stamp on the target stamping area of the paper to be stamped.
[0064] The current position of the robotic arm may include: the coordinates of the robotic arm in the target direction, for example, the current position of the robotic arm is x2.
[0065] Specifically, the control module can use a preset method to determine the motion information of the robotic arm according to the target position x1 and the current position x2 of the robotic arm, so that the robotic arm slides horizontally on the sliding bar according to the motion information, and moves from the position x2 to the position x1. When the robotic arm moves to the position x1, a movement completion instruction can be sent to the control module. The control module can respond to the movement completion instruction, generate a stamping instruction and send it to the stamping mechanism. After receiving the stamping instruction, the stamping mechanism stamps on the target area of the paper to be stamped.
[0066] In this embodiment, the control module controls the image acquisition device to shoot the paper to be stamped to obtain the image to be analyzed, and there is a laser point formed by the projection of the laser pointer on the target stamping area of the paper to be stamped. The image processing module analyzes and processes the image to be analyzed to obtain the target position of the laser point. The control module determines the movement information of the robotic arm according to the target position and the current position of the robotic arm, so that the robotic arm moves to the target position according to the movement information, and controls the stamping mechanism to stamp on the target stamping area of the paper to be stamped. The image acquisition device can be used to identify the position of the moving laser point and control the robotic arm to perform automatic stamping, which can make the stamping process simpler and faster.
[0067] Figure 3 A schematic diagram of the process flow of the second automatic stamping processing method provided in the embodiment of the present application is shown as follows: Figure 3 As shown, the image processing module in the above S102 analyzes and processes the image to be analyzed to obtain the target position of the laser point, which may include:
[0068] S201 , color filtering is performed on the image to be analyzed to obtain a filtered image to be analyzed.
[0069] Optionally, the laser point is a red laser point, and there may be objects of other colors or objects of the same color as the laser point in the image to be analyzed, for example, the image to be analyzed may also include black fonts or fonts of the same color as the laser point, etc. Then, the image to be analyzed is color filtered using a preset method, so that the color contained in the filtered image to be analyzed is the same color as the laser point, for example, the filtered image to be analyzed only contains an image of a red portion.
[0070] S202: removing noise from the filtered image to be analyzed to obtain initial image area information of the laser point.
[0071] Optionally, since the filtered image to be analyzed may only contain the laser point image, and may also contain other background information, such as images of other objects with the same color as the laser point, then for the laser point, other images of other objects with the same color as the laser point are noise in the image to be analyzed. Therefore, a preset method can be used to remove the noise in the filtered image to be analyzed, so that the filtered image to be analyzed only contains the image area containing the laser point, and the initial image area information of the laser point is obtained. The initial image area includes at least one laser pixel point, and all laser pixel points in the initial image area are combined to form the laser point, and the initial image area information includes at least one laser pixel point and the coordinate information of each laser pixel point.
[0072] S203: Determine the target position of the laser point according to the initial image area information of the laser point and the attribute information of the image acquisition device.
[0073] The attribute information of the image acquisition device may be, for example, shooting parameter information of the image acquisition device.
[0074] Optionally, the determined target position of the laser point is the actual position of the laser point on the paper to be stamped.
[0075] In this embodiment, the image to be analyzed is subjected to color filtering and noise removal processing respectively by the image processing module, and the target position can be obtained more accurately according to the initial image area information of the laser band and the attribute information of the image acquisition device.
[0076] Optionally, performing color filtering on the image to be analyzed in S201 to obtain a filtered image to be analyzed may include:
[0077] Optionally, the pixel points in the image to be analyzed whose pixel values are less than the pixel threshold are filtered to obtain a filtered image to be analyzed. The pixel threshold can be set according to the pixel value of the laser point. If the laser point is red, the pixel threshold can be 200, or other pixel thresholds, such as 211, 201, 202, etc.
[0078] Specifically, pixels less than the pixel threshold can be recorded as 0, and pixels greater than or equal to the pixel threshold can be recorded as 1, so that a binary image greater than or equal to the pixel threshold can be obtained, that is, the filtered image to be analyzed. Other methods can also be used for filtering, which are not limited here.
[0079] Figure 4 The schematic flow chart of the third automatic stamping processing method provided by the embodiment of the present application is shown in Figure 4. In the above S202, the noise in the filtered image to be analyzed is removed to obtain the initial image area information of the laser point, which may include:
[0080] S301 , performing corrosion processing on the filtered image to be analyzed to remove small noise in the filtered image to be analyzed to obtain a first image.
[0081] Optionally, the corrosion process can make the image area containing the laser spot more compact and remove small noise in the background of the image to be analyzed, such as removing red fonts, so that the first image only contains the image area containing the laser spot.
[0082] S302, dilate the first image to obtain a second image, and use the image area of the laser point in the second image as initial image area information of the laser band.
[0083] The size of the image area of the laser point in the second image is the same as the size of the image area of the laser point in the filtered image to be analyzed.
[0084] Optionally, since the image area of the laser spot shrinks during the corrosion process, resulting in an error between the size of the image area of the laser spot in the first image and the size of the image area of the laser spot in the filtered image to be analyzed, the first image is expanded so that the size of the image area of the laser spot in the second image is the same as the size of the image area of the laser spot in the filtered image to be analyzed.
[0085] In this embodiment, in the second image, the image area of the laser point is significantly highlighted, and most of the noise in the image is removed, so that the target position of the laser point calculated based on the second image is more accurate.
[0086] Figure 5 The flowchart of the fourth automatic stamping processing method provided by the embodiment of the present application is shown in Figure 5. In the above S203, the target position of the laser point is determined according to the initial image area information of the laser point and the attribute information of the image acquisition device, which may include:
[0087] S401, taking the average value of the two-dimensional coordinates of each pixel in the initial image area information in the second image as the image position of the laser point.
[0088] Specifically, the image position of the laser point can be obtained according to the following formula (1) and formula (2).
[0089] Formula (I)
[0090] Formula (II)
[0091] Where x is the horizontal coordinate of the image position of the laser point, y is the vertical coordinate of the image position of the laser point, and x iis the horizontal coordinate of the i-th pixel in the initial image area, y i is the ordinate of the i-th pixel in the initial image area, and N is the total number of pixels in the initial image area.
[0092] S402: Determine the target position of the laser point according to the image position and the physical shooting range in the attribute information of the image acquisition device.
[0093] Among them, the physical shooting range refers to the physical range that the image acquisition device can capture. For example, the image acquisition device can capture a physical length A in the horizontal axis direction and a length B in the vertical axis direction, then the physical shooting range of the image acquisition device is A×B.
[0094] Figure 6 The flowchart of the fifth automatic stamping processing method provided by the embodiment of the present application is shown in Figure 6. In the above S402, the target position of the laser point is determined according to the image position and the physical shooting range in the attribute information of the image acquisition device, which may include:
[0095] S501. According to the physical shooting range, coordinate transformation is performed on the image position to obtain the actual position corresponding to the image position.
[0096] Specifically, the horizontal coordinate of the obtained image position is divided by the length A in the horizontal axis direction of the physical shooting range, x / A, and the vertical coordinate of the image position is divided by the length B in the vertical axis direction of the physical shooting range, y / B. The actual position obtained is (x / A, y / B).
[0097] S502: Taking the coordinates of the actual position in the target direction as the target position.
[0098] Alternatively, the target position x1=x / A.
[0099] Optionally, determining the motion information of the robotic arm according to the target position and the current position of the robotic arm in S103 may include:
[0100] If the distance between the target position and the current position of the robot arm is less than or equal to the preset distance threshold, that is, |x1-x2|≤preset distance threshold, the motion information is determined to be uniform movement. Then, the control module controls the robot arm to move to the target position at a uniform speed.
[0101] If the distance between the target position and the current position of the robot arm is greater than the preset distance threshold, that is, |x1-x2|> the preset distance threshold, the motion information is determined as: accelerating movement, uniform movement, and decelerating movement in sequence. Specifically, when the distance between the target position and the current position of the robot arm is greater than the preset distance threshold, the distance between the target position and the current position of the robot arm can be divided into multiple sub-distances.
[0102] Exemplarily, it can be divided into three sub-distances evenly or proportionally. If the division is performed from the current position of the robot arm, the first sub-distance, the second sub-distance and the third sub-distance can be obtained in sequence, and the robot arm can move to the target position via the first sub-distance, the second sub-distance and the third sub-distance in sequence. Specifically, the robot arm can be controlled to accelerate in the first sub-distance, and the movement speed of the robot arm reaches a preset speed at the intersection of the first sub-distance and the second sub-distance. Then, the robot arm can be controlled to move at a uniform speed at the second sub-distance according to the preset speed. When it moves at a uniform speed to the intersection of the second sub-distance and the third sub-distance, the robot arm can be controlled to start decelerating until the speed of the robot arm is reduced to 0 when it moves to the end of the third sub-distance, and the robot arm stops at the target position.
[0103] Figure 7 This is a structural block diagram of an electronic device provided in an embodiment of the present application. Figure 7 As shown, the electronic device may include: a processor 601 and a memory 602 .
[0104] Optionally, a bus 603 may also be included, wherein the memory 602 is used to store machine-readable instructions executable by the processor 601. When the electronic device 600 is running, the processor 601 communicates with the memory 602 through the bus 603. When the machine-readable instructions are executed by the processor 601, the method steps in the above method embodiment are performed.
[0105] The embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method steps in the embodiment of the automatic stamping method are executed.
[0106] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules 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 communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.
[0107] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function 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 technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.
[0108] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.
Claims
1. An automatic stamping method, characterized in that: Applied to an automatic stamping system, the automatic stamping system comprises: a laser pointer, an image acquisition device, an image processing module, a control module, a mechanical arm and a stamping mechanism, and the method comprises: The control module controls the image acquisition device to shoot the paper to be stamped to obtain the image to be analyzed, and there is a laser spot formed by the projection of the laser pointer on the target stamping area of the paper to be stamped; The image processing module analyzes and processes the image to be analyzed to obtain the target position of the laser point, and the target position includes: the coordinates of the laser point in the target direction; The control module determines the motion information of the robotic arm according to the target position and the current position of the robotic arm, so that the robotic arm moves to the target position according to the motion information, and controls the stamping mechanism to stamp on the target stamping area of the paper to be stamped, wherein the current position includes: the coordinates of the robotic arm in the target direction.
2. The automatic stamping method according to claim 1, characterized in that: The analyzing and processing the image to be analyzed to obtain the target position of the laser point includes: Performing color filtering on the image to be analyzed to obtain a filtered image to be analyzed; removing noise from the filtered image to be analyzed to obtain initial image area information of the laser point; The target position of the laser point is determined according to the initial image area information of the laser point and the attribute information of the image acquisition device.
3. The automatic stamping method according to claim 2, characterized in that: The step of performing color filtering on the image to be analyzed to obtain a filtered image to be analyzed includes: Pixel points whose pixel values in the image to be analyzed are less than a pixel threshold are filtered to obtain the filtered image to be analyzed.
4. The automatic stamping method according to claim 2, characterized in that: The removing of noise from the filtered image to be analyzed to obtain initial image area information of the laser point includes: Performing corrosion processing on the filtered image to be analyzed to remove small noise points in the filtered image to be analyzed to obtain a first image; The first image is expanded to obtain a second image, and the image area of the laser point in the second image is used as the initial image area information of the laser point. The image area size of the laser point in the second image is the same as the image area size of the laser point in the filtered image to be analyzed.
5. The automatic stamping method according to claim 4, characterized in that: Determining the target position of the laser point according to the initial image area information of the laser point and the attribute information of the image acquisition device includes: Taking the average value of the two-dimensional coordinates of each pixel in the initial image area information in the second image as the image position of the laser point; The target position of the laser point is determined according to the image position and the physical shooting range in the attribute information of the image acquisition device.
6. The automatic stamping method according to claim 5, characterized in that: Determining the target position of the laser point according to the image position and the physical shooting range in the attribute information of the image acquisition device includes: According to the physical shooting range, coordinate transformation is performed on the image position to obtain an actual position corresponding to the image position; The coordinates of the actual position in the target direction are used as the target position.
7. The automatic stamping method according to claim 1, characterized in that: The step of determining the motion information of the robotic arm according to the target position and the current position of the robotic arm comprises: If the distance between the target position and the current position of the robotic arm is less than or equal to a preset distance threshold, determining that the motion information is uniform movement; If the distance between the target position and the current position of the robot arm is greater than the preset distance threshold, the motion information is determined as: accelerated movement, uniform movement, and decelerated movement in sequence.
8. An automatic stamping system, characterized in that: The automatic stamping system comprises: a laser pointer, an image acquisition device, an image processing module, the control module, a mechanical arm and a stamping mechanism; The automatic stamping system is used for automatic stamping based on the method described in any one of claims 1 to 7.
9. An electronic device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor implements the steps of the automatic stamping processing method according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the automatic stamping processing method according to any one of claims 1 to 7 are executed.