CN103776376A - Laser positioning lamp cross curve image detection method and device - Google Patents

Laser positioning lamp cross curve image detection method and device Download PDF

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Publication number
CN103776376A
CN103776376A CN201410045307.3A CN201410045307A CN103776376A CN 103776376 A CN103776376 A CN 103776376A CN 201410045307 A CN201410045307 A CN 201410045307A CN 103776376 A CN103776376 A CN 103776376A
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cross curve
slope
refinement
localized light
laser localized
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李强
雷国胜
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SHENZHEN YINO INTELLIGENCE TECHNOLOGY Co Ltd
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SHENZHEN YINO INTELLIGENCE TECHNOLOGY Co Ltd
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Abstract

The invention discloses a laser positioning lamp cross curve image detection method. The method includes the steps that laser positioning lamp cross curve image data are acquired through a photoelectric sensor array; the cross curve image data are binarized; binarized images are thinned, and a set (phc) of transverse points of a thinned cross curve and a set (pvc) of longitudinal points of the thinned cross curve are acquired; the slope K of a straight line formed by any two points in the set (phc) of the transverse points and the slope K of a straight line formed by any two points in the set (pvc) of the longitudinal points are calculated, the slopes K of all straight lines are counted, and the slope K1 and the slope K2 which are highest in frequency of occurrence are obtained; the slope K1 and the slope K2 are substituted into the formula k1=tan alpha and the formula k2=tan beta to calculate the horizontal angle alpha and the vertical angle beta of the laser positioning lamp cross curve. The invention further discloses a laser positioning lamp cross curve image detection device. The laser positioning lamp cross curve image detection method has the advantages that detection accuracy, antijamming capability and the detection speed are high.

Description

A kind of laser localized light comparing cross curve image detecting method and device
Technical field
The present invention relates to optical precision measurement and technical field of image processing, particularly relate to a kind of laser localized light comparing cross curve image detecting method and device.
Background technology
In commercial production and engineering reality, often need to detect linearity and torsion resistance etc., thereby need straight line and angle reference.Laser, with the feature such as its good directionality, concentration of energy, antijamming capability be strong, is used widely in many fields of measurement.
Cross curve laser beam can be used for needing the occasion of straight line and angle reference simultaneously, when cross curve laser beam is used for straight line and angle reference and adopts image processing techniques, need to calculate the center of cross curve and the angle of horizontal line.For this reason, first to carry out rim detection.At present existing a lot of edge detection method, as gradient method, Mathematical Morphology Method, small wave converting method and ant algorithm etc.
But in actual applications,, due to the interference of the factors such as bias light, there is larger noise in image.Now, if adopt traditional edge detection method to process whole image, not only operand is large, image processing speed is slow, and owing to often need to choosing different threshold values, and choosing of threshold value is very easily subject to noise, therefore can have a strong impact on rim detection accuracy.
Summary of the invention
For solving above-mentioned problems of the prior art, the invention provides a kind of processing speed soon and laser localized light comparing cross curve image detecting method and the device of strong interference immunity.
A kind of laser localized light comparing cross curve image detecting method, comprises step: S1, obtain laser localized light comparing cross curve view data by photosensor arrays, wherein, described photosensor arrays is rearranged by multiple precise light electric transducer matrix forms; S2, described laser localized light comparing cross curve view data is carried out to binary conversion treatment obtain binary image; S3, use edge to follow the tracks of thinning algorithm described binary image to be carried out to thinning processing, obtain cross curve crosswise spots set { p after refinement hcand longitudinally put set { p vc; S4, according to 2 structures principle in line, calculate crosswise spots set { p hcand longitudinally put set { p vcthe slope K of the straight line that forms of interior any two points, the slope K of adding up all straight lines, obtains two slope K that the frequency of occurrences is the highest 1and K 2, described slope K 1and K 2be exactly the horizontal straight line of laser localized light comparing cross curve and the slope of longitudinal straight line; S5, by described slope K 1and K 2bring formula k into 1=tan α, k 2=tan β calculates level angle α and the vertical angle β of laser localized light comparing cross curve.
The present invention also provides another technical scheme:
A kind of laser localized light comparing cross curve image detection device, comprises image collection module, binarization block, thinning processing module, slope analysis module and computing module; Described image collection module is for obtaining laser localized light comparing cross curve view data by photosensor arrays, and wherein, described photosensor arrays is rearranged by multiple precise light electric transducer matrix forms; Described binarization block obtains binary image for described laser localized light comparing cross curve view data is carried out to binary conversion treatment; Described thinning processing module is used for using edge to follow the tracks of thinning algorithm described binary image being carried out to thinning processing, obtain cross curve crosswise spots set { p after refinement hcand longitudinally put set { p vc; Described slope analysis module, for according to 2 structures principle in line, calculates crosswise spots set { p hcand longitudinally put set { p vcthe slope K of the straight line that forms of interior any two points, and the slope K of adding up all straight lines, two slope K that the frequency of occurrences is the highest obtained 1and K 2, described slope K 1and K 2be exactly the horizontal straight line of laser localized light comparing cross curve and the slope of longitudinal straight line; Described computing module is used for described slope K 1and K 2bring formula k into 1=tan α, k 2=tan β calculates level angle α and the vertical angle β of laser localized light comparing cross curve.
Beneficial effect of the present invention is: the present invention extracts the skeleton of laser localized light comparing cross curve image from original image by laser localized light comparing is carried out to thinning processing, compress widely the data volume of original image, and keep the Basic Topological of its shape constant, therefore make the cross curve image analyzing and processing of being more convenient for, as extract the feature of image, also promote image processing speed simultaneously.Further, the present invention is by calculating crosswise spots set { p hcand longitudinally put set { p vcthe slope K of the straight line that forms of interior any two points, by the method for statistics determine the horizontal of cross curve and to longitudinal slope K 1and K 2thereby, greatly improve the fast and antijamming capability of the speed detecting, evade that image to be carried out to the calculated amount such as filtering, selected threshold large and to the more sensitive processing procedure of noise.
Accompanying drawing explanation
Fig. 1 is the image of laser localized light comparing cross curve described in embodiment of the present invention;
Fig. 2 is the structured flowchart of a kind of laser localized light comparing detection of crossline of embodiment of the present invention device;
Fig. 3 is through binarization block cross curve image after treatment in embodiment of the present invention;
Fig. 4 is the cross curve image after thinning processing resume module in embodiment of the present invention;
Fig. 5 is through sampling unit cross curve image after treatment in embodiment of the present invention;
Fig. 6 is the histogram of cross curve slope K in embodiment of the present invention;
Fig. 7 is the process flow diagram of a kind of laser localized light comparing detection of crossline of embodiment of the present invention method;
Fig. 8 is the particular flow sheet of step S3 in this Fig. 7.
Main label declaration:
10-image collection module; 20-binarization block; 30-thinning processing module; 40-slope analysis module; 50-computing module; 60-display module.
Embodiment
By describing technology contents of the present invention, structural attitude in detail, being realized object and effect, below in conjunction with embodiment and coordinate accompanying drawing to be explained in detail.
Please Parameter Map 1, be described laser localized light comparing cross curve image, it is the criss-cross laser rays that laser localized light comparing produces, i.e. the object that the present invention a kind of laser localized light comparing cross curve image detecting method and device detect.
Referring to Fig. 2, is the structured flowchart of a kind of laser localized light comparing cross curve of embodiment of the present invention image detection device.Described laser localized light comparing cross curve image detection device comprises image collection module 10, binarization block 20, thinning processing module 30, slope analysis module 40 and computing module 50.
Described image collection module 10 is for obtaining laser localized light comparing cross curve view data by photosensor arrays, wherein, described photosensor arrays is rearranged by multiple precise light electric transducer matrix forms.Wherein, image collection module is obtained laser localized light comparing cross curve image by the state value (being that precise light electric transducer is output as high level or low level) of the each precise light electric transducer of scanning.In order to improve the accuracy of detection of photosensor arrays, described photosensor arrays adopts differential type to arrange described precise light electric transducer, arranges by the poor position of photoelectric sensor of each column or row photoelectric sensor and adjacent column or row.
Described binarization block 20 obtains binary image for described laser localized light comparing cross curve view data is carried out to binary conversion treatment.
Described thinning processing module 30 is carried out thinning processing for using edge to follow the tracks of thinning algorithm to described binary image, obtains cross curve crosswise spots set { p after refinement hcand longitudinally put set { p vc.
Described slope analysis module 40, for according to 2 structures principle in line, calculates crosswise spots set { p hcand longitudinally put set { p vcthe slope K of the straight line that forms of interior any two points, and the slope K of adding up all straight lines, two slope K that the frequency of occurrences is the highest obtained 1and K 2, described slope K 1and K 2be exactly the horizontal straight line of laser localized light comparing cross curve and the slope of longitudinal straight line.Wherein, suppose crosswise spots set { p hcin have n point, form straight line from wherein getting arbitrarily m=2 point, and calculate the slope K of every close straight line, formation is had
Figure BDA0000464258300000041
the set of slopes of individual slope, in like manner calculates longitudinal some set { p vcset of slopes.
Described computing module 50 is for by described slope K 1and K 2bring formula into
k 1＝tanα、
k 2＝tanβ
Calculate level angle α and the vertical angle β of laser localized light comparing cross curve.
Refer to Fig. 3, Fig. 4, wherein, Fig. 3 is the binary image that cross curve view data obtains after described binarization block is processed, and Fig. 4 is the image obtaining after thinning processing resume module.Can find out Fig. 3 in image that from Fig. 3 and Fig. 4 line thickness is greater than 1 pixel, in Fig. 4, in image, line thickness only has a pixel wide, from original image, extract the skeleton of laser localized light comparing cross curve image through thinning processing, compress widely the data volume of original image, and keep the Basic Topological of its shape constant, therefore make the cross curve image analyzing and processing of being more convenient for, as extracted the feature of image, also promoted image processing speed simultaneously.
Further, the present invention is by calculating crosswise spots set { p hcand longitudinally put set { p vcthe slope K of the straight line that forms of interior any two points, by the method for statistics determine the horizontal of cross curve and to longitudinal slope K 1and K 2thereby, greatly improve the fast and antijamming capability of the speed detecting, evade that image to be carried out to the calculated amount such as filtering, selected threshold large and to the more sensitive processing procedure of noise.
In order to accelerate the refinement speed of image, wherein, described thinning processing module 30 comprises that scanning element, chained list set up unit, refinement unit, judging unit, sampling unit and laterally/longitudinally some set acquiring unit;
Described scanning element is used for scanning described binary image, obtains the number of each starting point P of thinning processing and the some P being adjacent n-4～P n+3, wherein, each starting point P has 8 consecutive point, the some P that starting point P is adjacent n-4～P n+3position relationship be
P n - 4 P n - 3 P n - 2 P n + 3 P P n - 1 P n + 2 P n + 1 P n ;
Described chained list is set up unit for by each starting point P and the some P that is adjacent n-4～P n+3as a node, set up refinement chained list;
Refinement is followed the tracks of for each node being carried out to edge by node in the order of refinement chained list in described refinement unit, as the status word S of certain node nbecome at 1 o'clock for deleting this node from 0, the length of the chained list of refinement simultaneously subtracts 1, wherein, and to each starting point P and the some P that believes with it n-4～P n+3the method of carrying out edge tracking refinement is:
By starting point P and the some P that is adjacent n-4～P n+3bring formula into
S n＝P n-1(P n+P n+l+P n-2+p n-3)(P n+1+P n+2)(P n-2+P n-4)
Calculate the status word S that P is ordered n;
Described judging unit is for judging whether the length of refinement chained list is 0, if so, again calls refinement unit refinement chained list is carried out to refinement, otherwise call sampling unit;
Described sampling unit, for the point after all refinements is sampled, obtains each data acquisition of image after binary image refinement; As shown in Figure 5, the figure obtaining after sampling for the image of described sampling unit after to refinement;
Described laterally/longitudinally some set acquiring unit is used for obtaining cross curve crosswise spots set { p after refinement hcand longitudinally put set { p vc.
Described thinning processing module scans image, and the point that pending picture breakdown is become to each starting point P and is adjacent, carries out thinning processing to each P, and an edge point operates, and on large program, has accelerated very much the refinement speed of image.Further, judge by refinement chained list whether each starting point P all completes refinement, the completeness of the image thinning therefore also guaranteeing, the accuracy of image after assurance refinement.
For by the slope K of judging intuitively, fast and accurately laser localized light comparing cross curve image 1and K 2, described slope analysis module comprises histogram unit;
Described histogram unit is used for the slope K of all straight lines of statistics with histogram of setting up slope K.As shown in Figure 6, be the histogram of the slope K set up by histogram unit, can determine intuitively, fast and accurately the slope K of image by histogram 1and K 2.
In order further to determine intersecting point coordinate and the angle of laser localized light comparing cross curve, described computing module 50 is also for calculating intersecting point coordinate p (x, y) and the angle theta of laser localized light comparing cross curve.
According to horizontal linear slope equation: l 1y=k 1x+b 1(1)
With vertical line slope equation: l 2y=k 2x+b 2(2)
Can obtain, laser localized light comparing cross curve angle is:
tan θ = k 2 - k 1 1 + k 2 · k 1 .
According to formula
a 1 * x + b 1 * y + c 1 = 0 a 2 * x + b 2 * y + c 2 = 0
The intersecting point coordinate p (x, y) that calculates laser localized light comparing cross curve, works as a 1, a 2, b 1, b 2it is complete when non-vanishing,
x = b 1 c 1 - b 2 c 1 a 1 b 2 - a 2 b 1 ,
y = c 1 a 1 - c 2 a 1 a 1 b 2 - a 2 b 1 .
In order to reflect intuitively each parameter of ten lines of detected laser localized light comparing, described laser localized light comparing cross curve image detection device also comprises display module 60;
Described display module 60 is for showing level angle α, vertical angle β, intersecting point coordinate p (x, y) and the angle theta of described laser localized light comparing cross curve image by display window.
The present invention also provides a kind of laser localized light comparing cross curve image detecting method:
Referring to Fig. 7, is the process flow diagram of a kind of laser localized light comparing cross curve of embodiment of the present invention image detecting method, and the method comprising the steps of:
S1, obtain laser localized light comparing cross curve view data by photosensor arrays, wherein, described photosensor arrays is rearranged by multiple precise light electric transducer matrix forms;
S2, described laser localized light comparing cross curve view data is carried out to binary conversion treatment obtain binary image;
S3, use edge to follow the tracks of thinning algorithm described binary image to be carried out to thinning processing, obtain cross curve crosswise spots set { p after refinement hcand longitudinally put set { p vc;
S4, according to 2 structures principle in line, calculate crosswise spots set { p hcand longitudinally put set { p vcthe slope K of the straight line that forms of interior any two points, the slope K of adding up all straight lines, obtains two slope K that the frequency of occurrences is the highest 1and K 2, described slope K 1and K 2be exactly the horizontal straight line of laser localized light comparing cross curve and the slope of longitudinal straight line;
S5, by described slope K 1and K 2bring formula into
k 1＝tanα、
k 2＝tanβ
Calculate level angle α and the vertical angle β of laser localized light comparing cross curve.
Referring to Fig. 8, is the particular flow sheet of described step S3, and step S3 comprises step:
S31, scan described binary image, obtain the number of each starting point P of thinning processing and the some P being adjacent n-4～P n+3;
S32, by each starting point P and the some P that is adjacent n-4～P n+3as a node, set up refinement chained list;
S33, order by node in refinement chained list are carried out edge to each node and are followed the tracks of refinement, if the status word S of certain node nbecome 1 from 0, delete this node, the length of the chained list of refinement simultaneously subtracts 1, wherein, and to each starting point P and the some P that believes with it n-4～P n+3the method of carrying out edge tracking refinement is:
By starting point P and the some P that is adjacent n-4～P n+3bring formula into
S n＝P n-1(P n+P n+1+P n-2+P n-3)(P n+1+P n+2)(P n-2+P n-4)
Calculate the status word S that P is ordered n;
S34, judge whether the length of refinement chained list is 0, if so, goes to step S35, otherwise goes to step S33;
S35, the point after all refinements is sampled, obtain each data acquisition of image after binary image refinement;
S36, obtain cross curve crosswise spots set { p after refinement hcand longitudinally put set { p vc.
Wherein, described step S4 is by setting up the slope K of all straight lines of statistics with histogram of slope K.
Wherein, also comprise intersecting point coordinate p (x, y) and the angle theta of step S6, calculating laser localized light comparing cross curve.
Wherein, also comprise step S7, show level angle α, vertical angle β, intersecting point coordinate p (x, y) and the angle theta of described laser localized light comparing cross curve image by display window.
In sum, the present invention extracts the skeleton of laser localized light comparing cross curve image from original image by laser localized light comparing is carried out to thinning processing, compress widely the data volume of original image, and keep the Basic Topological of its shape constant, therefore make the cross curve image analyzing and processing of being more convenient for, as extract the feature of image, also promote image processing speed simultaneously.Further, the present invention is by calculating crosswise spots set { p hcand longitudinally put set { p vcthe slope K of the straight line that forms of interior any two points, by the method for statistics determine the horizontal of cross curve and to longitudinal slope K 1and K 2thereby, greatly improve the fast and antijamming capability of the speed detecting, evade that image to be carried out to the calculated amount such as filtering, selected threshold large and to the more sensitive processing procedure of noise.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes instructions of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims (10)

1. a laser localized light comparing cross curve image detecting method, is characterized in that, comprises step:
S1, obtain laser localized light comparing cross curve view data by photosensor arrays, wherein, described photosensor arrays is rearranged by multiple precise light electric transducer matrix forms;
S2, described laser localized light comparing cross curve view data is carried out to binary conversion treatment obtain binary image;
S3, use edge to follow the tracks of thinning algorithm described binary image to be carried out to thinning processing, obtain cross curve crosswise spots set { p after refinement hcand longitudinally put set { p vc;
S4, according to 2 structures principle in line, calculate crosswise spots set { p hcand longitudinally put set { p vcthe slope K of the straight line that forms of interior any two points, the slope K of adding up all straight lines, obtains two slope K that the frequency of occurrences is the highest 1and K 2, described slope K 1and K 2be exactly the horizontal straight line of laser localized light comparing cross curve and the slope of longitudinal straight line;
S5, by described slope K 1and K 2bring formula into
k 1＝tanα、
k 2＝tanβ
Calculate level angle α and the vertical angle β of laser localized light comparing cross curve.
2. laser localized light comparing cross curve image detecting method according to claim 1, is characterized in that, described step S3 comprises step:
S31, scan described binary image, obtain the number of each starting point P of thinning processing and the some P being adjacent n-4～P n+3;
S32, by each starting point P and the some P that is adjacent n-4～P n+3, as a node, set up refinement chained list;
S33, order by node in refinement chained list are carried out edge to each node and are followed the tracks of refinement, if the status word S of certain node nbecome 1 from 0, delete this node, the length of the chained list of refinement simultaneously subtracts 1, wherein, and to each starting point P and the some P that believes with it n-4～P n+3the method of carrying out edge tracking refinement is:
By starting point P and the some P that is adjacent n-4～P n+3bring formula into
S n＝P n-1(P n+P n+1+P n-2+P n-3)(P n+1+P n+2)(P n-2+P n-4)
Calculate the status word S that P is ordered n;
S34, judge whether the length of refinement chained list is 0, if so, goes to step S35, otherwise goes to step S33;
S35, the point after all refinements is sampled, obtain each data acquisition of image after binary image refinement;
S36, obtain cross curve crosswise spots set { p after refinement hcand longitudinally put set { p vc.
3. laser localized light comparing cross curve image detecting method according to claim 2, is characterized in that, described step S4 is by setting up the slope K of all straight lines of statistics with histogram of slope K.
4. laser localized light comparing cross curve image detecting method according to claim 2, is characterized in that, also comprises intersecting point coordinate p (x, y) and the angle theta of step S6, calculating laser localized light comparing cross curve.
5. laser localized light comparing cross curve image detecting method according to claim 4, it is characterized in that, also comprise step S7, show level angle α, vertical angle β, intersecting point coordinate p (x, y) and the angle theta of described laser localized light comparing cross curve image by display window.
6. a laser localized light comparing cross curve image detection device, is characterized in that, comprises image collection module, binarization block, thinning processing module, slope analysis module and computing module;
Described image collection module is for obtaining laser localized light comparing cross curve view data by photosensor arrays, and wherein, described photosensor arrays is rearranged by multiple precise light electric transducer matrix forms;
Described binarization block obtains binary image for described laser localized light comparing cross curve view data is carried out to binary conversion treatment;
Described thinning processing module is used for using edge to follow the tracks of thinning algorithm described binary image being carried out to thinning processing, obtain cross curve crosswise spots set { p after refinement hcand longitudinally put set { p vc;
Described slope analysis module, for according to 2 structures principle in line, calculates crosswise spots set { p hcand longitudinally put set { p vcthe slope K of the straight line that forms of interior any two points, and the slope K of adding up all straight lines, two slope K that the frequency of occurrences is the highest obtained 1and K 2, described slope K 1and K 2be exactly the horizontal straight line of laser localized light comparing cross curve and the slope of longitudinal straight line;
Described computing module is used for described slope K 1and K 2bring formula into
k 1＝tanα、
k 2＝tanβ
Calculate level angle α and the vertical angle β of laser localized light comparing cross curve.
7. laser localized light comparing cross curve image detection device according to claim 6, it is characterized in that, described thinning processing module comprises that scanning element, chained list set up unit, refinement unit, judging unit, sampling unit and laterally/longitudinally some set acquiring unit;
Described scanning element is used for scanning described binary image, obtains the number of each starting point P of thinning processing and the some P being adjacent n-4～P n+3;
Described chained list is set up unit for by each starting point P and the some P that is adjacent n-4～P n+3as a node, set up refinement chained list;
Refinement is followed the tracks of for each node being carried out to edge by node in the order of refinement chained list in described refinement unit, as the status word S of certain node nbecome at 1 o'clock for deleting this node from 0, the length of the chained list of refinement simultaneously subtracts 1, wherein, and to each starting point P and the some P that believes with it n-4～P n+3the method of carrying out edge tracking refinement is:
By starting point P and the some P that is adjacent n-4～P n+3bring formula into
S n＝P n-1(P n+P n+1+P n-2+P n-3)(P n+1+P n+2)(P n-2+P n-4)
Calculate the status word S that P is ordered n;
Described judging unit is for judging whether the length of refinement chained list is 0, if so, again calls refinement unit refinement chained list is carried out to refinement, otherwise call sampling unit;
Described sampling unit, for the point after all refinements is sampled, obtains each data acquisition of image after binary image refinement;
Described laterally/longitudinally some set acquiring unit is used for obtaining cross curve crosswise spots set { p after refinement hcand longitudinally put set { p vc.
8. laser localized light comparing cross curve image detection device according to claim 7, is characterized in that, described slope analysis module comprises histogram unit;
Described histogram unit is used for the slope K of all straight lines of statistics with histogram of setting up slope K.
9. laser localized light comparing cross curve image detection device according to claim 7, is characterized in that, described computing module is also for calculating intersecting point coordinate p (x, y) and the angle theta of laser localized light comparing cross curve.
10. laser localized light comparing cross curve image detection device according to claim 9, is characterized in that, also comprises display module;
Described display module is for showing level angle α, vertical angle β, intersecting point coordinate p (x, y) and the angle theta of described laser localized light comparing cross curve image by display window.
CN201410045307.3A 2014-02-07 2014-02-07 Laser positioning lamp cross curve image detection method and device Pending CN103776376A (en)

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CN112487843A (en) * 2020-11-17 2021-03-12 支付宝(杭州)信息技术有限公司 Control method, device and equipment for positioning lamp of code scanning equipment and code scanning equipment

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