Product measurement method, device, equipment and medium

Abstract

The embodiment of the invention discloses a product measurement method, device and equipment and a medium, and relates to the field of machine vision and industrial automatic detection. The method comprises the following steps: determining a current image coordinate through a current image collected by an image collector, and determining a first physical coordinate according to a pre-calibrated association relationship between an image coordinate of each calibration point and a physical coordinate of each calibration point; determining each auxiliary point location and each auxiliary physical coordinate according to the incidence relation between the current point location and each pre-calibrated candidate point location and the candidate physical coordinate of the view center in the image collector; and performing linear movement according to each auxiliary point location, each auxiliary physical coordinate, the reference point location, a reference physical coordinate of the view center in the reference point location state and the first physical coordinate to obtain a second physical coordinate of the target position. By adopting the technical scheme, errors caused by image distortion of a large-view lens are solved, and accurate measurement of the size of large-size vehicle-mounted glass is realized.

Description

Technical Field

[0001] The present invention relates to the field of machine vision and industrial automation detection, and in particular to a product measurement method, device, equipment and medium. Background Art

[0002] At present, a new round of global scientific and technological revolution and industrial transformation is booming. The integration of automobiles with related technologies in energy, transportation, information and communication is accelerating. Electrification, networking and intelligence have become the development trend of the automobile industry. In the process of new energy vehicles transforming into smart terminals, the front display panel, as the main portal for communication with people, is getting larger and larger in size and shape. The largest one is up to 1.5 meters long and presents various shapes.

[0003] During the production process, the product needs to be managed in its entirety. Traditional 3D measuring machines have low measurement efficiency and high requirements for the measurement environment. They cannot meet the mass production requirements of automotive glass and can only be used as spot-check measurement equipment. Summary of the invention

[0004] The embodiments of the present invention provide a product measurement method, device, equipment and medium, which ensure the measurement accuracy of large-size automotive glass by dedistorting a wide-field lens image and solving the installation and motion errors of the motion mechanism through motion calibration.

[0005] In a first aspect, an embodiment of the present invention provides a product measurement method, including:

[0006] When the motion mechanism is in a current position state, obtaining a current image of the target product captured by the image collector on the motion mechanism, and determining the current image coordinates of the target position in the target product according to the current image;

[0007] Determine the first physical coordinates of the target position in the reference point position state according to the current image coordinates and the association relationship between the image coordinates of each calibration point on the calibration plate and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the reference point position state;

[0008] According to the current point position, and the association relationship between each candidate point position of the pre-calibrated motion mechanism and the candidate physical coordinates of the center of the field of view in the image collector, determine each auxiliary point position in the current point position interval to which the current point position belongs and each auxiliary physical coordinate of the center of the field of view in each auxiliary point position state;

[0009] According to each auxiliary point and the auxiliary physical coordinates of the center of the field of view in the state of each auxiliary point, the reference point and the reference physical coordinates of the center of the field of view in the state of the reference point, and the first physical coordinates of the target position in the state of the reference point, linear movement is performed to obtain the second physical coordinates of the target position in the current point state.

[0010] In a second aspect, an embodiment of the present invention further provides a product measuring device, including:

[0011] A current image coordinate determination module is used to obtain a current image of a target product captured by an image collector on the motion mechanism when the motion mechanism is in a current position state, and determine the current image coordinates of a target position in the target product based on the current image;

[0012] A first physical coordinate determination module is used to determine the first physical coordinate of the target position in the reference point position state according to the current image coordinates and the association relationship between the image coordinates of each calibration point on the calibration board and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the reference point position state;

[0013] An auxiliary physical coordinate determination module is used to determine each auxiliary point in the current point interval to which the current point belongs and each auxiliary physical coordinate of the center of the field of view in each auxiliary point state according to the current point and the association relationship between each candidate point of the pre-calibrated motion mechanism and the candidate physical coordinates of the center of the field of view in the image collector;

[0014] The second physical coordinate determination module is used to perform linear movement based on each auxiliary point and the auxiliary physical coordinates of the center of the field of view in each auxiliary point state, the reference point and the reference physical coordinates of the center of the field of view in the reference point state, and the first physical coordinates of the target position in the reference point state to obtain the second physical coordinates of the target position in the current point state.

[0015] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a product measurement method as described in any one of the embodiments of the present invention is implemented.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a product measurement method as described in any one of the embodiments of the present invention.

[0017] The embodiment of the present invention ensures the measurement accuracy of large-size vehicle glass by dedistorting the image of a lens with a large field of view and solving the installation and motion errors of the motion mechanism through a motion calibration method. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a flow chart of a product measurement provided according to an embodiment of the present invention;

[0019] Figure 2It is a design diagram of the vehicle-mounted glass polishing optical path used in the embodiment of the present invention;

[0020] Figure 3 is a design drawing of a calibration plate used in an embodiment of the present invention;

[0021] Figure 4 is a flow chart of a product measurement provided according to an embodiment of the present invention;

[0022] Figure 5 is a structural block diagram of a product measurement device provided according to an embodiment of the present invention;

[0023] Figure 6 It is a structural block diagram of an electronic device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0025] In addition, it should be noted that the collection, storage, use, processing, transmission, provision and disclosure of data involved in the technical solution of the present invention are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0026] Figure 1 This is a flowchart of a product measurement method provided according to an embodiment of the present invention. This method is applicable to the situation of measuring the size of a product, and is particularly applicable to the situation of measuring the size of large-sized vehicle-mounted glass. The method of the embodiment of the present invention can meet the needs of measuring the size of vehicle-mounted glass and improve the accuracy of measuring large-sized vehicle-mounted glass. This method can be executed by a product measurement device provided by an embodiment of the present invention. The device can be implemented in software and / or hardware, and the device can be completed by an electronic device with computing functions. The method specifically includes the following steps:

[0027] S110, when the motion mechanism is in a current position state, obtaining a current image of the target product captured by the image collector on the motion mechanism, and determining the current image coordinates of the target position in the target product according to the current image.

[0028] Among them, the motion mechanism is a high-precision XY motion mechanism; the current point is the position coordinate of the motion mechanism; the image collector is a camera for photographing the target product, preferably a camera with a wide field of view lens; the target product is the vehicle glass to be measured; the current image is an image obtained by the camera with a wide field of view lens taking a picture of the vehicle glass to be measured; the target position is any position information in the acquired image.

[0029] Specifically, after the vehicle glass to be measured is placed on the loading platform, the system controls the loading platform to move to the set initial measurement position. The motion mechanism is at the current initial measurement position, and the wide-field lens camera takes a picture of the vehicle glass to be measured to obtain corresponding image information, and determines the image coordinates of a target position based on the image information.

[0030] Preferably, in order to better complete the product measurement, the target position in the embodiment of the present invention can be a right-angle glass edge, such as PL i (x k ,y k )(i=1,2;k=0,1); and further obtain the current motion mechanism point coordinates Pt cur (x ptd ,y ptd ).

[0031] It can be understood that the use of high-precision XY motion mechanism ensures the accurate movement position of the product; high-precision cameras measure product features to ensure the accuracy of product size measurement; a wide-field lens camera is used to reduce measurement time and improve efficiency; and the size measurement of vehicle glass can be completed with a single photo.

[0032] Optionally, before determining the current image coordinates of the target position in the target product, the vehicle glass is also illuminated. Figure 2 As shown, in the embodiment of the present invention, before measuring the size of the large-sized vehicle glass, the highly uniform linear side surface light is used as the light source to illuminate the large-sized vehicle glass. Specifically:

[0033] Use highly uniform linear side light as the light source, reflect the light source through the silver-plated reflective module, place the vehicle glass to be measured on a loading platform made of high-transmittance optical glass, and start lighting the vehicle glass.

[0034] It is understandable that by using highly uniform linear side light as the light source, light from different directions is excluded, which can prevent uneven brightness of different areas and excessive edge transition pixels caused by lighting, which seriously affect the measurement and recognition accuracy under the wide field of view lens, and effectively avoid measurement errors caused by lighting of large-size vehicle glass.

[0035] S120, determining the first physical coordinates of the target position in the reference point state according to the current image coordinates and the correlation between the image coordinates of each calibration point on the calibration plate and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the reference point state.

[0036] Among them, the reference point position state is the initial point position state; the association between the image coordinates of each calibration point on the calibration board and the physical coordinates of each calibration point is the association between the image coordinates and the physical coordinates on the calibration board, which can be converted through the corresponding transformation matrix; the first physical coordinate is the physical coordinate on the calibration board corresponding to the current image coordinate in the reference point position state.

[0037] Specifically, the image coordinates are converted into the physical coordinates in the corresponding reference point state by calibrating the image coordinates of each calibration point on the calibration board and the physical coordinates of each calibration point in the pre-calibrated motion mechanism in the reference point state. i (x k ,y k ), converted to the first physical coordinate QTmp on the calibration plate coordinate system i (x tk ,y tk ).

[0038] Optionally, determining the first physical coordinates of the target position in the reference point position state according to the current image coordinates and the association relationship between the image coordinates of each calibration point on the calibration board and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the reference point position state includes:

[0039] S121. According to the current image coordinates and the image coordinates of each calibration point on the calibration plate when the pre-calibrated motion mechanism is in a reference point state, the image coordinates of the four calibration points closest to the current image coordinates are determined, and the physical coordinates of the four calibration points are obtained.

[0040] The pre-calibrated motion mechanism is in a reference point position state, and the image coordinates of each calibration point on the calibration plate are pre-constructed circular feature point image coordinates corresponding to the circular feature points in the calibration plate.

[0041] Specifically, since the pre-calibrated motion mechanism is in the reference point state, the image coordinates of each calibration point on the calibration plate are all at the center of the circular feature point of the calibration plate, and the current image coordinates may not be at the center point coordinates of the graphic feature point, the image coordinates of the four calibration points closest to the current image coordinates are obtained, and the physical coordinates on the corresponding calibration plate are further obtained.

[0042] Optionally, the image coordinates of each calibration point on the calibration board and the corresponding physical coordinates on the calibration board can be obtained by:

[0043] The calibration plate is preferably a circle + QR code checkerboard calibration plate, such as Figure 3 It is placed on the loading platform, and the calibration plate is placed under the camera with a wide field of view lens, so that the directions of the coordinate systems of the two are consistent, and at the same time, the features of the calibration plate are clearly visible in the field of view and cover the effective ROI.

[0044] Specifically, when the motion mechanism is moved to the reference point, the center coordinates of all circular feature points identified in the effective ROI are calculated; the circular feature points are sorted from left to right and from top to bottom according to the camera coordinate system, and then the physical coordinates of the center point of the calibration plate corresponding to the information of the QR code information encoded in the circle are identified in the sorted order; the image coordinates P of the center point of the circular feature point are c (x, y) and the corresponding center coordinates Q of the circular feature point on the calibration plate m (x, y) correspond one to one, and the image coordinates P of the center point of the circular feature point are converted row by row c (x, y) is stored in the two-dimensional array P of the center point image of the circular feature point cn [Y][X], the physical coordinate Q of the center point of the calibration plate m (x, y) is stored in the physical two-dimensional array Q of the center point of the circular feature point of the calibration plate mn [Y][X].

[0045] For example, by looking up a table from the center point image two-dimensional array P cn [Y][X] gets the row and column numbers of the 4 points closest to the current image coordinate point; for example: write the row number array Y in increasing order of distance c [j] and the column number array X c [j], using array Y c [j] and X c [j]Search for the value P in the center point image two-dimensional array and the center point physical two-dimensional array respectively. c (x, y) and Q m (x, y), in order c Write x, y and 1 of (x, y) into matrices TP[j][0], TP[j][1] and TP[j][2] respectively, and write Q m The x and y of (x, y) are written into matrices TQ[j][0] and TQ[j][1] respectively.

[0046] S122. Determine a transformation matrix of the target position in the reference point state according to the image coordinates of the four calibration points and the physical coordinates of the four calibration points.

[0047] The conversion matrix of the target position in the reference point state can be obtained according to the image coordinates and physical coordinates corresponding to the four calibration points.

[0048] Exemplarily, based on the above-obtained TP and TQ, the transformation matrix T between the image coordinate system and the calibration plate coordinate system is calculated by the following formula:

[0049]

[0050] S123: transform the current image coordinates using the transformation matrix to obtain the first physical coordinates of the target position in the reference point state.

[0051] The obtained transformation matrix T can be combined to perform matrix transformation on the current image coordinates, and the first physical coordinates of the current image coordinates in the calibration plate coordinate system can be calculated.

[0052] It is understandable that due to the installation and lens problems, the wide field of view lens camera has greater distortion than the small field of view image. When measuring the size, the measurement error caused by the distortion must be considered, while the image distortion in a small enough area can be ignored. Therefore, the effective ROI is divided into several small areas by a checkerboard calibration plate, and the image coordinates and the calibration plate coordinates are converted into a coordinate system, which can effectively solve the measurement error problem caused by the distortion of the image of the wide field of view lens camera.

[0053] S130. According to the current point position, and the association relationship between each candidate point position of the pre-calibrated motion mechanism and the candidate physical coordinates of the center of the field of view in the image collector, determine each auxiliary point position in the current point position interval to which the current point position belongs and each auxiliary physical coordinate of the center of the field of view in each auxiliary point position state.

[0054] Among them, the association relationship between each candidate point of the pre-calibrated motion mechanism and the candidate physical coordinates of the center of the field of view in the image collector is the association relationship between each candidate point in the motion mechanism and the candidate physical coordinates of the center of the field of view of the wide field of view lens camera; the current point interval is the motion interval in which the current motion mechanism is located at the current point; the auxiliary point is the motion mechanism coordinate point within the motion interval in which the current motion mechanism is located; each auxiliary physical coordinate is the physical coordinate of the center of the field of view corresponding to the current motion mechanism coordinate point.

[0055] Through the current position of the motion mechanism, its motion range in the X and Y directions is determined in the two-dimensional array of the motion mechanism, and the corresponding auxiliary point is found based on the motion range. Further, the auxiliary physical coordinates of the center of the field of view in the current auxiliary point state are determined through the correlation relationship between the pre-calibrated candidate points of the motion mechanism and the candidate physical coordinates of the center of the field of view in the image collector.

[0056] For example, according to the current point position Pt of the motion mechanism cur (x ptd ,y ptd ), from the two-dimensional array PT of the motion mechanism Axis [N+1][M+1] determines the corresponding motion interval number in the X and Y directions, and then extracts the auxiliary point PT of the motion mechanism in the corresponding interval Axis [Y][X], and obtain the corresponding auxiliary physical coordinates PT of the center of the field of view from the association between the candidate points of the pre-calibrated motion mechanism and the candidate physical coordinates of the center of the field of view in the image collector center [Y][X].

[0057] It can be understood that based on the possible logical errors, the values ​​are taken from small to large within the motion range, the maximum value is removed, and the minimum value is retained to complete the auxiliary physical coordinate calculation of the center of the field of view, thereby reducing the amount of calculation while ensuring accuracy.

[0058] S140, linearly move according to each auxiliary point and the auxiliary physical coordinates of the center of the field of view in the state of each auxiliary point, the reference point and the reference physical coordinates of the center of the field of view in the state of the reference point, and the first physical coordinates of the target position in the state of the reference point, to obtain the second physical coordinates of the target position in the current point state.

[0059] The second physical coordinate is the actual position of the target position on the calibration plate coordinate system when the motion mechanism is in the reference point state.

[0060] According to each auxiliary point and each auxiliary physical coordinate of the center of the field of view in the state of each auxiliary point, the verticality error caused by the installation of the motion mechanism is obtained; based on the reference point and the reference physical coordinate of the center of the field of view in the state of the reference point; and the first physical coordinate, linear movement is performed to obtain the actual point position of the target position in the state of the reference point of the motion mechanism.

[0061] Optionally, after determining the second physical coordinates of the target position in the current point state, a product reference coordinate system is further constructed so as to perform size measurement on the vehicle glass to be measured through the product reference coordinate system.

[0062] Obtain three second physical coordinates to determine the right-angle glass edge segments L1 and L2 corresponding to the calibration plate coordinate system; obtain the intersection point LX(x, y) corresponding to the two segments based on the point-line calculation formula, and construct the product reference coordinate system XY0 with L1 as the direction and the intersection point LX(x, y) as the origin. It should be noted that the specific construction calculation formula can use the existing construction coordinate system method, and the present invention does not specifically limit this.

[0063] Further, the measuring points of the vehicle glass to be measured are converted to the positions on the product reference coordinate system XY0 for measurement; it should be noted that the image coordinates P corresponding to the line segments, convex points, concave points, circles, and contour points are included but not limited to m (x m ,y m ), using the obtained P m (x m ,y m ) The transformation matrix of the nearby area calculates the corresponding physical coordinates Q m (x m ,y m )(m represents the serial number of the measured feature, m=0,1,2,3...).

[0064] Finally, the items to be measured are calculated. It should be noted that the embodiment of the present invention mainly uses the distance from point to line or the distance from point to point to measure and calculate the items.

[0065] The distance calculation formula from a point to a line is as follows:

[0066] Set the image coordinates of the point motion mechanism to be calculated to P p (p x , p y ), the first and last coordinates of the fitted line segment are L p1 (L x1 , L y1 ), L p2 (L x2 , L y2 ). Then the calculated term M1 i (i represents the serial number of the item measured by the product, i=1,2,3...).

[0067]

[0068] The point-to-point distance calculation formula is as follows:

[0069] Set point 1 to be calculated as P1(x1,y1) and point 2 to be P2(x2,y2). Then the calculated item M2 i (i represents the serial number of the item measured by the product, i = 1, 2, 3...).

[0070]

[0071] Optionally, after measuring the size of the vehicle glass to be measured, the measurement result is judged based on the set control requirements.

[0072] Specifically, the standard value of the control requirement is set as Si (i represents the serial number of the item measured by the product, i = 1, 2, 3...), the positive tolerance of the control requirement is set as Ui (i represents the serial number of the item measured by the product, i = 1, 2, 3...), and the negative tolerance of the control requirement is set as Di (i represents the serial number of the item measured by the product, i = 1, 2, 3...). i and M2 i Collection is M i ; If the following judgment conditions are met, the product size is standard; otherwise, the product size is non-standard. The judgment conditions are expressed in the following formula:

[0073]

[0074] It is understandable that after the calibration and correction of the wide-field camera and the motion mechanism are completed, the back cover glass is placed on the loading platform, and a photo measurement, identification and calculation are performed. Finally, according to the management and control requirements, it is judged whether the product meets the requirements and defective products are picked out, thereby improving the measurement efficiency of large-size automotive glass and further testing the size standards of large-size automotive glass.

[0075] The technical solution of the embodiment of the present invention is to obtain a current image of a target product acquired by an image collector on the motion mechanism when the motion mechanism is in a current point position state, and determine the current image coordinates of a target position in the target product according to the current image; determine the first physical coordinates of the target position in the reference point position state according to the current image coordinates and the association relationship between the image coordinates of each calibration point on a calibration board and the physical coordinates of each calibration point when the motion mechanism is in a reference point position state in advance; determine each auxiliary point in the current point position interval to which the current point position belongs and each auxiliary point in each candidate point position of the motion mechanism in advance according to the current point position and the association relationship between the candidate physical coordinates of the field of view center in the image collector. Auxiliary physical coordinates of the center of the field of view under the auxiliary point state; linear movement is performed according to the auxiliary points and the auxiliary physical coordinates of the center of the field of view under the auxiliary point state, the reference point and the reference physical coordinates of the center of the field of view under the reference point state, and the first physical coordinates of the target position under the reference point state, to obtain the second physical coordinates of the target position under the current point state; the technical problem of inaccurate measurement of the size measurement of vehicle-mounted glass due to errors in the camera and the motion mechanism is solved, and the distortion of the image and the measurement error caused by the installation movement of the motion mechanism are eliminated by setting a calibration plate, further solving the problem of large field of view distortion, and the product measurement can be completed by a single photo, reducing the measurement time and improving the measurement efficiency.

[0076] Optionally, the association relationship between the candidate point and the candidate physical coordinates includes:

[0077] S131, controlling the motion mechanism to move from a reference point with a unit motion amount as a step length to obtain a candidate point.

[0078] Among them, the unit motion is the M and N parts of the effective motion range of the XY axis of the motion mechanism; the candidate point is the motion mechanism coordinate point corresponding to a motion point that moves the unit motion along the X-axis or Y-axis of the reference point.

[0079] Specifically, the position of the calibration plate on the loading platform is determined to be unchanged, and the effective motion range of the XY axis of the motion mechanism is [X a0 , X an ] and [Y a0 , Y an ] is divided into M and N parts respectively, then the unit motion d in the X-axis and Y-axis directions x , d y for:

[0080]

[0081] Control the motion mechanism from the reference point (X a0 , Y a0 ) Start by moving the X axis M times, unit movement d x , and then the Y axis moves once per unit movement d y , and move the X-axis position back to the initial X a0 Repeat the above operation at each moving point to obtain the two-dimensional array P of the center point of the circular feature at each point. cnMN [Y][X] and the physical coordinates of the calibration plate 2D array Q cnMN [Y][X].

[0082] S132. When the motion mechanism is in the candidate point state, obtain the candidate image coordinates of the center of the field of view of the image collector on the motion mechanism.

[0083] The image coordinates of the center point of the field of view are the coordinates of the center point of the field of view of the camera with a large field of view, which is a fixed coordinate point.

[0084] When the motion mechanism is at any point, the candidate image coordinates corresponding to the center point of the field of view of the wide field of view camera are further obtained. Preferably, the current candidate point of the motion mechanism is set as PT Axis (x pta ,y pta ), the candidate image coordinates of the center of the field of view in the large field of view lens image are obtained as PT center (x, y).

[0085] S133 determines the candidate physical coordinates of the center of the field of view in the candidate point state according to the candidate image coordinates of the center of the field of view, and the association relationship between the image coordinates of each calibration point on the calibration plate and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the candidate point state, and obtains the association relationship between the candidate point coordinates and the candidate physical coordinates.

[0086] Based on the association between the image coordinates of each calibration point on the calibration plate and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the candidate point state, the candidate image coordinates of the center of the field of view are determined to determine the candidate physical coordinates of the calibration plate under the center of the field of view corresponding to the candidate point, and the corresponding candidate physical coordinates of each candidate point are obtained based on the above steps. The mapping relationship between the motion mechanism coordinate system and the calibration plate coordinate system is realized.

[0087] For example, the obtained visual field center candidate image coordinates PT center (x, y), through the conversion relationship between the pre-calibrated image coordinates and the calibration plate, calculate the physical coordinate PT corresponding to the center of the field of view under the current candidate point state center (x ptc ,y ptc ), and move the points of each motion mechanism within the effective range of motion to PT Axis (x pta ,y pta ) is stored in the motion mechanism two-dimensional array PT Axis [N+1][M+1], the corresponding auxiliary physical coordinates PT of the center of the field of view center (x ptc ,y ptc ) is stored in the calibration board two-dimensional array PT center [N+1][M+1].

[0088] It can be understood that by converting the coordinates of the moving mechanism into the physical coordinates corresponding to the center of the field of view, and then converting them into the physical coordinates corresponding to the calibration plate, the errors caused by the irregular movement of the moving mechanism can be avoided; the physical coordinates corresponding to the moving mechanism and the physical coordinates corresponding to the calibration plate are associated based on the physical coordinates of the center of the field of view and the image coordinates, so as to avoid installation errors in the movement of the moving mechanism due to assembly, further reduce the amount of calculation, improve the correction efficiency of the moving mechanism, and ensure the subsequent accurate measurement of the vehicle glass.

[0089] Figure 4 is a flow chart of a product measurement provided according to an embodiment of the present invention. Based on the above embodiment, the embodiment of the present invention supplements the specific determination method of the second physical coordinate. It should be noted that for the part not described in detail in the embodiment of the present invention, reference can be made to the relevant descriptions of other embodiments. Figure 4 As shown, the method includes:

[0090] S210, when the motion mechanism is in a current position state, obtain a current image of the target product captured by the image collector on the motion mechanism, and determine the current image coordinates of the target position in the target product according to the current image.

[0091] First, obtain the current image coordinates of the target position, which is PL i (x k ,y k );and further obtain the current point coordinates Pt of the motion mechanism cur (x ptd ,y ptd ).

[0092] S220, determining the first physical coordinates of the target position in the reference point state according to the current image coordinates and the correlation between the image coordinates of each calibration point on the calibration plate and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the reference point state.

[0093] Based on the above determined pre-calibrated motion mechanism in the reference point state, the image coordinates PL are calculated by the conversion matrix corresponding to the correlation between the image coordinates of each calibration point on the calibration plate and the physical coordinates of each calibration point. i (x k ,y k ) corresponds to the first physical coordinate QTmp of the calibration plate in the reference point state i (x tk ,y tk ).

[0094] S230. According to the current point position, and the association relationship between each candidate point position of the pre-calibrated motion mechanism and the candidate physical coordinates of the center of the field of view in the image collector, determine each auxiliary point position in the current point position interval to which the current point position belongs and each auxiliary physical coordinate of the center of the field of view in each auxiliary point position state.

[0095] According to the association relationship between the candidate points of the pre-calibrated motion mechanism and the candidate physical coordinates of the center of the field of view in the image collector, based on the current point coordinates Pt of the motion mechanism cur (x ptd ,y ptd ) From the two-dimensional array PT of the motion mechanism Axis Get the interval number x in the X and Y directions from [N+1][M+1] t0 、x t1 ,y t0 ,y t1 , from the two-dimensional array PT of the motion mechanism Axis [N+1][M+1] Extract the corresponding auxiliary points PTAxis [y t0 ][x t0 ](x a00 ,y a00 ), PT Axis [y t0 ][x t1 ](x a01 ,y a01 ) and PT Axis [y t1 ][x t0 ](x a10 ,y a10 );From the calibration plate two-dimensional array PT center [N+1][M+1] Extract the auxiliary physical coordinates PT of the center of the field of view in each auxiliary point state center [y t0 ][x t0 ](x c00 ,y c00 ), PT center [y t0 ][x t1 ](x c01 ,y c01 ) and PT center [y t1 ][x t0 ](x c10 ,y c10 ).

[0096] S240, determining the auxiliary point distances of the auxiliary physical coordinates in the X and Y directions according to the auxiliary physical coordinates of the center of the field of view in the auxiliary point position states.

[0097] The auxiliary point distance is the auxiliary physical coordinate PT center The distance length corresponding to the interval number in the X and Y directions. The specific calculation formula is as follows:

[0098]

[0099] S250, determining the projection of the components of the motion mechanism installation error in the X and Y directions according to each auxiliary physical coordinate and the auxiliary point distance.

[0100] Calculate the verticality error caused by the installation of the motion mechanism, and obtain the projections XR1, XR2 and YR1, YR2 of the components of the current auxiliary point coordinates in the XY direction. The specific calculation formula is as follows:

[0101]

[0102] It can be understood that by calculating the auxiliary physical coordinates of the center of the field of view corresponding to the point interval, the angle relationship is further calculated to avoid the verticality error caused by the installation of the motion mechanism.

[0103] S260: Determine distance components in the X and Y directions according to the current point position, each of the auxiliary point positions, and the auxiliary point distances of each auxiliary physical coordinate in the X and Y directions.

[0104] According to the current point Pt of the motion mechanism cur (x ptd ,y ptd ), each auxiliary point auxiliary point PT Axis [Y][X], and the auxiliary point distances D1 and D2 are used to calculate the components CX and CY of the current position of the motion mechanism and the image in the X and Y directions. The specific calculation formula is as follows:

[0105]

[0106] S270, determining the second physical coordinates of the target position at the current point position state according to the first physical coordinates of the target position, the distance components in the X and Y directions, the projections of the components of the motion mechanism installation error in the X and Y directions, and the reference physical coordinates of the center of the field of view in the reference point position state.

[0107] Find the reference physical coordinate PT of the center of the field of view in the reference point state center [0][0](x c0 ,y c0 ), the first physical coordinate QTmp of the target position i (x tk ,y tk ) From the point interval PT Axis [y t0 ][x t0 ] The physical coordinates of the center of the field of view corresponding to the reference point are linearly offset based on the distance components of the first physical coordinates in the X and Y directions and the projections of the components of the motion mechanism installation error in the X and Y directions to calculate the second physical coordinates at the target position.

[0108] Optionally, determining the second physical coordinate of the target position at the current point position state according to the first physical coordinate of the target position, the distance components in the X and Y directions, the projection of the components of the motion mechanism installation error in the X and Y directions, and the reference physical coordinate of the center of the field of view in the reference point position state includes:

[0109]

[0110] Among them, (x qk ,y qk ) is the second physical coordinate; (xtk ,y tk ) is the first physical coordinate; CX and CY are the distance components of the motion mechanism in the X and Y directions; XR1, XR2, YR1 and YR2 are the projections of the components of the motion mechanism installation error in the X and Y directions; 9x c00 ,y c00 ) is the physical coordinate of the center of the visual field corresponding to the motion interval to which the current point of the motion mechanism belongs; (x c0 ,y c0 ) is the reference physical coordinate of the reference point located at the center of the field of view.

[0111] The technical solution of the embodiment of the present invention is to obtain the above-mentioned two-dimensional array of one-to-one correspondence between the wide-field lens camera and the calibration plate and further correct the coordinate system of the motion mechanism to determine the association between the motion mechanism and the coordinate system of the calibration plate, so as to achieve measurement, recognition and calculation through a single shot, thereby improving the accuracy of dimensional measurement of large-size automotive glass.

[0112] Figure 5 This is a structural block diagram of a product measurement device provided according to an embodiment of the present invention. The present invention is applicable to the situation of measuring the size of a product, and is particularly applicable to the situation of measuring the size of large-sized vehicle-mounted glass. The method of the embodiment of the present invention can meet the needs of measuring the size of vehicle-mounted glass and improve the accuracy of measuring large-sized vehicle-mounted glass. The device can be implemented in software and / or hardware, and the device can be completed by an electronic device with computing functions. Figure 5 As shown, the product measuring device 300 includes a current image coordinate determining module 310 , a first physical coordinate determining module 320 , an auxiliary physical coordinate determining module 330 , and a second physical coordinate determining module 340 .

[0113] Exemplarily, the current image coordinate determination module 310 is used to obtain a current image of the target product captured by the image collector on the motion mechanism when the motion mechanism is in the current point position state, and determine the current image coordinates of the target position in the target product according to the current image;

[0114] A first physical coordinate determination module 320 is used to determine the first physical coordinate of the target position in the reference point position state according to the current image coordinates and the association relationship between the image coordinates of each calibration point on the calibration board and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the reference point position state;

[0115] The auxiliary physical coordinate determination module 330 is used to determine each auxiliary point in the current point interval to which the current point belongs and each auxiliary physical coordinate of the center of the field of view in each auxiliary point state according to the current point and the association relationship between each candidate point of the pre-calibrated motion mechanism and the candidate physical coordinates of the center of the field of view in the image collector;

[0116] The second physical coordinate determination module 340 is used to obtain the second physical coordinate of the target position in the current point state by linearly moving the auxiliary points and the auxiliary physical coordinates of the center of the field of view in the state of each auxiliary point, the reference point and the reference physical coordinates of the center of the field of view in the state of the reference point, and the first physical coordinates of the target position in the state of the reference point.

[0117] The technical solution of the embodiment of the present invention is to obtain a current image of a target product acquired by an image collector on the motion mechanism when the motion mechanism is in a current point position state, and determine the current image coordinates of a target position in the target product according to the current image; determine the first physical coordinates of the target position in the reference point position state according to the current image coordinates and the association relationship between the image coordinates of each calibration point on a calibration board and the physical coordinates of each calibration point when the motion mechanism is in a reference point position state in advance; determine each auxiliary point in the current point position interval to which the current point position belongs and each auxiliary point in each candidate point position of the motion mechanism in advance according to the current point position and the association relationship between the candidate physical coordinates of the field of view center in the image collector. Auxiliary physical coordinates of the center of the field of view under the auxiliary point state; linear movement is performed according to the auxiliary points and the auxiliary physical coordinates of the center of the field of view under the auxiliary point state, the reference point and the reference physical coordinates of the center of the field of view under the reference point state, and the first physical coordinates of the target position under the reference point state, to obtain the second physical coordinates of the target position under the current point state; the technical problem of inaccurate measurement of the size measurement of vehicle-mounted glass due to errors in the camera and the motion mechanism is solved, and the distortion of the image and the measurement error caused by the installation movement of the motion mechanism are eliminated by setting a calibration plate, further solving the problem of large field of view distortion, and the product measurement can be completed by a single photo, reducing the measurement time and improving the measurement efficiency.

[0118] On the basis of the above technical solutions, the device further includes an association relationship generating module;

[0119] The association relationship generating module is used to control the motion mechanism to move from a reference point with a unit motion amount as a step length to obtain a candidate point; when the motion mechanism is in the candidate point state, obtain the candidate image coordinates of the center of the field of view in the image collector on the motion mechanism; according to the candidate image coordinates of the center of the field of view, and the association relationship between the image coordinates of each calibration point on the calibration board and the physical coordinates of each calibration point when the motion mechanism is in the candidate point state, the candidate physical coordinates of the center of the field of view in the candidate point state are determined to obtain the association relationship between the candidate point and the candidate physical coordinates.

[0120] Optionally, the first physical coordinate determining module 320 includes a physical coordinate determining unit, a conversion matrix determining unit and a first physical coordinate determining unit:

[0121] The physical coordinate determination unit is used to determine the image coordinates of the four calibration points closest to the current image coordinates according to the current image coordinates and the image coordinates of each calibration point on the calibration board when the pre-calibrated motion mechanism is in the reference point position, and obtain the physical coordinates of the four calibration points;

[0122] The conversion matrix determination unit is used to determine the conversion matrix of the target position in the reference point state according to the image coordinates of the four calibration points and the physical coordinates of the four calibration points;

[0123] The first physical coordinate determining unit is used to transform the current image coordinates using the conversion matrix to obtain the first physical coordinates of the target position in the reference point state.

[0124] Optionally, the second physical coordinate determining module 340 includes a distance determining unit, a projection determining unit, a distance component determining unit, and a second physical coordinate determining unit:

[0125] The distance determination unit is used to determine the auxiliary point distances of each auxiliary physical coordinate in the X and Y directions according to each auxiliary physical coordinate of the center of the field of view in each auxiliary point position state;

[0126] The projection determination unit is used to determine the projection of the components of the motion mechanism installation error in the X and Y directions according to each auxiliary physical coordinate and the auxiliary point distance;

[0127] The distance component determination unit is used to determine the distance components in the X and Y directions according to the current point position, each of the auxiliary point positions and the auxiliary point distances of each auxiliary physical coordinate in the X and Y directions;

[0128] The second physical coordinate determination unit is used to determine the second physical coordinate of the target position in the current point state based on the first physical coordinate of the target position, the distance components in the X and Y directions, the projection of the components of the motion mechanism installation error in the X and Y directions, and the reference physical coordinate of the center of the field of view in the reference point state.

[0129] Optionally, the second physical coordinate determining unit is specifically used for:

[0130]

[0131] Among them, (x qk ,y qk ) is the second physical coordinate; (x tk ,y tk ) is the first physical coordinate; CX and CY are the distance components of the motion mechanism in the X and Y directions; XR1, XR2, YR1 and YR2 are the projections of the components of the motion mechanism installation error in the X and Y directions; (x c00 ,y c00 ) is the physical coordinate of the center of the visual field corresponding to the motion interval to which the current point of the motion mechanism belongs; (x c0 ,y c0 ) is the reference physical coordinate of the reference point located at the center of the field of view.

[0132] The product measurement device provided in the embodiment of the present invention can execute the product measurement method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0133] According to an embodiment of the present invention, the present invention also provides an electronic device and a readable storage medium.

[0134] Figure 6 It is a structural block diagram of an electronic device provided according to an embodiment of the present invention. Figure 6 A block diagram of an exemplary electronic device 12 suitable for implementing embodiments of the present invention is shown. Figure 6 The electronic device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0135] like Figure 6 As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0136] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0137] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0138] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 6 not shown, usually called a "hard drive"). Although Figure 6 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0139] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0140] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the electronic device 12, and / or any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed through an input / output (I / O) interface 22. Furthermore, the electronic device 12 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 20. Figure 6 As shown, the network adapter 20 communicates with other modules of the electronic device 12 via the bus 18. It should be understood that although Figure 6 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0141] The processing unit 16 executes at least one of the other programs among the multiple programs stored in the system memory 28 to perform various functional applications and data processing, such as implementing a product measurement method provided by an embodiment of the present invention.

[0142] An embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, a product measurement method provided by any embodiment of the present invention is implemented.

[0143] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A product measurement method, characterized in that: include: When the motion mechanism is in a current position state, obtaining a current image of the target product captured by the image collector on the motion mechanism, and determining the current image coordinates of the target position in the target product according to the current image; Determine the first physical coordinates of the target position in the reference point position state according to the current image coordinates and the association relationship between the image coordinates of each calibration point on the calibration plate and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the reference point position state; According to the current point position, and the association relationship between each candidate point position of the pre-calibrated motion mechanism and the candidate physical coordinates of the center of the field of view in the image collector, determine each auxiliary point position in the current point position interval to which the current point position belongs and each auxiliary physical coordinate of the center of the field of view in each auxiliary point position state; According to each auxiliary point and the auxiliary physical coordinates of the center of the field of view in the state of each auxiliary point, the reference point and the reference physical coordinates of the center of the field of view in the state of the reference point, and the first physical coordinates of the target position in the state of the reference point, linear movement is performed to obtain the second physical coordinates of the target position in the current point state.

2. The method according to claim 1, characterized in that Determining the first physical coordinates of the target position in the reference point position state according to the current image coordinates and the association relationship between the image coordinates of each calibration point on the calibration plate and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the reference point position state includes: According to the current image coordinates and the image coordinates of each calibration point on the calibration plate when the pre-calibrated motion mechanism is in a reference point position, the image coordinates of the four calibration points closest to the current image coordinates are determined, and the physical coordinates of the four calibration points are obtained; Determine a conversion matrix of the target position in the reference point state according to the image coordinates of the four calibration points and the physical coordinates of the four calibration points; The current image coordinates are transformed using the conversion matrix to obtain the first physical coordinates of the target position in the reference point state.

3. The method according to claim 1, characterized in that The method further comprises: Controlling the motion mechanism to move from a reference point with a unit motion amount as a step length to obtain a candidate point; When the motion mechanism is in the candidate point state, obtaining the candidate image coordinates of the center of the field of view of the image collector on the motion mechanism; According to the candidate image coordinates of the center of the field of view, and the association relationship between the image coordinates of each calibration point on the calibration plate and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the candidate point state, the candidate physical coordinates of the center of the field of view in the candidate point state are determined, and the association relationship between the candidate point and the candidate physical coordinates is obtained.

4. The method according to claim 1, characterized in that: The method of performing linear movement according to each auxiliary point and each auxiliary physical coordinate of the center of the field of view in each auxiliary point state, the reference point and the reference physical coordinate of the center of the field of view in the reference point state, and the first physical coordinate of the target position in the reference point state to obtain the second physical coordinate of the target position in the current point state includes: Determine the auxiliary point distances of the auxiliary physical coordinates in the X and Y directions according to the auxiliary physical coordinates of the center of the field of view in the state of each auxiliary point; Determine the projection of the components of the motion mechanism installation error in the X and Y directions according to each auxiliary physical coordinate and the auxiliary point distance; Determine the distance components in the X and Y directions according to the current point position, each of the auxiliary point positions and the auxiliary point distances of each auxiliary physical coordinate in the X and Y directions; The second physical coordinate of the target position at the current point position state is determined according to the first physical coordinate of the target position, the distance components in the X and Y directions, the projection of the components of the motion mechanism installation error in the X and Y directions, and the reference physical coordinate of the center of the field of view in the reference point position state.

5. The method according to claim 4, characterized in that Determining the second physical coordinate of the target position at the current point position state according to the first physical coordinate of the target position, the distance components in the X and Y directions, the projection of the components of the motion mechanism installation error in the X and Y directions, and the reference physical coordinate of the center of the field of view in the reference point position state, includes: Among them, (x qk ,y qk ) is the second physical coordinate; (x tk ,y tk ) is the first physical coordinate; CX and CY are the distance components of the motion mechanism in the X and Y directions; XR1, XR2, YR1 and YR2 are the projections of the components of the motion mechanism installation error in the X and Y directions; (x c00 ,y c00 ) is the physical coordinate of the center of the visual field corresponding to the motion interval to which the current point of the motion mechanism belongs; (x c0 ,y c0 ) is the reference physical coordinate of the reference point located at the center of the field of view.

6. A product measuring device, characterized in that: include: A current image coordinate determination module is used to obtain a current image of a target product captured by an image collector on the motion mechanism when the motion mechanism is in a current position state, and determine the current image coordinates of a target position in the target product based on the current image; A first physical coordinate determination module is used to determine the first physical coordinate of the target position in the reference point position state according to the current image coordinates and the association relationship between the image coordinates of each calibration point on the calibration board and the physical coordinates of each calibration point when the pre-calibrated motion mechanism is in the reference point position state; An auxiliary physical coordinate determination module is used to determine each auxiliary point in the current point interval to which the current point belongs and each auxiliary physical coordinate of the center of the field of view in each auxiliary point state according to the current point and the association relationship between each candidate point of the pre-calibrated motion mechanism and the candidate physical coordinates of the center of the field of view in the image collector; The second physical coordinate determination module is used to perform linear movement based on each auxiliary point and the auxiliary physical coordinates of the center of the field of view in each auxiliary point state, the reference point and the reference physical coordinates of the center of the field of view in the reference point state, and the first physical coordinates of the target position in the reference point state to obtain the second physical coordinates of the target position in the current point state.

7. The device according to claim 6, wherein the first physical coordinate determination module comprises a physical coordinate determination unit, a conversion matrix determination unit and a first physical coordinate determination unit: The physical coordinate determination unit is used to determine the image coordinates of the four calibration points closest to the current image coordinates according to the current image coordinates and the image coordinates of each calibration point on the calibration board when the pre-calibrated motion mechanism is in the reference point position, and obtain the physical coordinates of the four calibration points; The conversion matrix determination unit is used to determine the conversion matrix of the target position in the reference point state according to the image coordinates of the four calibration points and the physical coordinates of the four calibration points; The first physical coordinate determining unit is used to transform the current image coordinates using the conversion matrix to obtain the first physical coordinates of the target position in the reference point state.

8. The device according to claim 6, wherein the second physical coordinate determination module comprises a distance determination unit, a projection determination unit, a distance component determination unit, and a second physical coordinate determination unit: The distance determination unit is used to determine the auxiliary point distances of each auxiliary physical coordinate in the X and Y directions according to each auxiliary physical coordinate of the center of the field of view in each auxiliary point position state; The projection determination unit is used to determine the projection of the components of the motion mechanism installation error in the X and Y directions according to each auxiliary physical coordinate and the auxiliary point distance; The distance component determination unit is used to determine the distance components in the X and Y directions according to the current point position, each of the auxiliary point positions and the auxiliary point distances of each auxiliary physical coordinate in the X and Y directions; The second physical coordinate determination unit is used to determine the second physical coordinate of the target position in the current point state based on the first physical coordinate of the target position, the distance components in the X and Y directions, the projection of the components of the motion mechanism installation error in the X and Y directions, and the reference physical coordinate of the center of the field of view in the reference point state.

9. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the product measurement method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the product measurement method as described in any one of claims 1 to 5 is implemented.

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