CN115249263A - Gap processing method, gap processing device, robot and computer storage medium - Google Patents
Gap processing method, gap processing device, robot and computer storage medium Download PDFInfo
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Abstract
The application relates to a gap processing method, a gap processing device, computer equipment and a storage medium. The method comprises the following steps: acquiring an image to be processed containing a gap; identifying and positioning an image to be processed, and determining a first position track of a gap in an image coordinate system; obtaining a second position track of the gap in a mechanical arm coordinate system by carrying out coordinate conversion on the first position track; determining the operation track of the mechanical arm for processing the gap according to the second position track; and controlling the mechanical arm to operate the gap according to the operation track. By adopting the method, the operation track of the mechanical arm is determined by identifying the positioning gap, and the accuracy of the operation track is improved.
Description
Technical Field
The present application relates to the field of machine vision technologies, and in particular, to a gap processing method and apparatus, a robot, and a computer storage medium.
Background
Before floor paint construction, the ground needs to be repaired and cleaned. The large-area concrete floor contains a large number of expansion joints, and the expansion joints are required to be filled before floor paint construction. The traditional expansion joint filling process depends on manual work, the efficiency is low, and the labor intensity of workers is high. The ground repairing robot can automatically complete the repairing of the expansion joint, and the labor intensity of workers can be greatly reduced. When the ground repairing robot works automatically, the expansion joint needs to be automatically identified, and then the front end work of the repairing execution is guided.
At present, the expansion joint is identified by adopting a visual mode and a deep learning mode, but the expansion joint cannot be stably identified and positioned by the existing expansion joint identification method, so that the operation track of the mechanical arm is inaccurate.
Disclosure of Invention
In view of the above, it is necessary to provide a gap processing method, a gap processing apparatus, a robot, and a computer storage medium, which can stably identify and position an expansion gap and determine a working trajectory of the expansion gap.
A gap treatment method, the method comprising:
acquiring an image to be processed containing a gap;
identifying and positioning the image to be processed, and determining a first position track of a gap in an image coordinate system;
performing coordinate conversion on the first position track to obtain a second position track of the gap in a mechanical arm coordinate system;
determining the operation track of the mechanical arm for processing the gap according to the second position track;
and controlling the mechanical arm to operate the gap according to the operation track.
In one embodiment, the controlling the robot arm to work the gap according to the work track includes:
acquiring a starting point and an end point of the operation track;
determining a target operation mode of the mechanical arm according to the starting point and the end point;
and controlling the mechanical arm to operate the gap according to the operation track based on the target operation mode.
In one embodiment, before the acquiring the start point and the end point of the job track, the method further comprises:
detecting whether the mechanical arm is located at a target execution position, and if the mechanical arm is not located at the target execution position, acquiring a preset freedom degree position of the mechanical arm;
determining the coordinate of the mechanical arm in the target direction under the mechanical arm coordinate system according to the preset freedom degree position;
and adjusting the position of the mechanical arm according to the coordinates in the target direction until the mechanical arm is at a target execution position, and executing the step of acquiring the starting point and the end point of the operation track.
In one embodiment, the identifying and positioning the image to be processed and determining a first position track of the slit in an image coordinate system includes:
carrying out image preprocessing on the image to be processed to obtain a binary image;
performing connected domain analysis on the binary image, and determining a gap in the image to be processed according to the gap characteristic in the binary image;
thinning the gap to extract the center of the gap;
and fitting the gap according to the center of the gap to obtain a first position track of the gap in an image coordinate system.
In one embodiment, the fitting the slit according to the center of the slit to obtain a first position trajectory of the slit in an image coordinate system includes:
determining a track point of the gap according to the center of the gap;
sequencing the track points according to the prior condition of the gaps in the image to obtain the serial number of each track point;
and fitting the track points according to a preset sequence based on the sequence numbers of the track points to obtain a first position track of the gap in an image coordinate system.
In one embodiment, the fitting the track points according to a preset sequence based on the sequence numbers of the track points to obtain a first position track of the slit in an image coordinate system includes:
filtering the granularity values of the trace points according to a preset granularity value, and determining the trace points smaller than or equal to the preset granularity value as target fitting points;
and fitting the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system.
In one embodiment, the fitting the target fitted points according to a preset sequence based on the sequence numbers of the target fitted points to obtain a first position track of the gap in an image coordinate system includes:
and when the situation that the mechanical arm does not exist in the image to be processed is detected, performing linear fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system.
In one embodiment, the fitting the target fitted points according to a preset sequence based on the sequence numbers of the target fitted points to obtain a first position track of the gap in an image coordinate system includes:
and when the mechanical arm is detected to exist in the image to be processed, carrying out polygon fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system.
A gap treatment apparatus, the apparatus comprising:
the acquisition module is used for acquiring an image to be processed containing a gap;
the identification positioning module is used for identifying and positioning the image to be processed and determining a first position track of the gap in an image coordinate system;
the coordinate conversion module is used for carrying out coordinate conversion on the position track to obtain a second position track of the gap in a mechanical arm coordinate system;
the track determining module is used for determining the operation track of the mechanical arm for processing the gap according to the second position track;
and the operation module is used for controlling the mechanical arm to operate the gap according to the operation track.
A robot, characterized in that the robot comprises:
the image acquisition equipment is used for acquiring an image to be processed containing a gap;
the mechanical arm is used for operating the gap according to the operation track;
and the controller is connected with the image acquisition equipment and the mechanical arm, a plurality of program modules are stored in the controller, and the program modules are loaded by the controller and execute the gap processing method.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring an image to be processed containing a gap;
identifying and positioning the image to be processed, and determining a first position track of a gap in an image coordinate system;
obtaining a second position track of the gap in a mechanical arm coordinate system by performing coordinate conversion on the first position track;
determining the operation track of the mechanical arm for processing the gap according to the second position track;
and controlling the mechanical arm to operate the gap according to the operation track.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring an image to be processed containing a gap;
identifying and positioning the image to be processed, and determining a first position track of a gap in an image coordinate system;
obtaining a second position track of the gap in a mechanical arm coordinate system by performing coordinate conversion on the first position track;
determining the operation track of the mechanical arm for processing the gap according to the second position track;
and controlling the mechanical arm to operate the gap according to the operation track.
According to the gap processing method, the gap processing device, the computer equipment and the storage medium, the first position track of the gap in the image coordinate system is accurately determined by identifying and positioning the to-be-processed image containing the gap, and the second position track of the gap in the mechanical arm coordinate system is determined by coordinate conversion; the operation track of the operation gap of the mechanical arm can be accurately determined according to the second position track of the gap in the mechanical coordinate system, and the operation of the gap is performed along the designated operation track by controlling the mechanical arm, so that the operation efficiency of the mechanical arm is improved, and the waste of operation materials is avoided.
Drawings
FIG. 1 is a schematic diagram of a gap treatment method according to one embodiment;
FIG. 2 is a schematic diagram of a camera capturing an image including a gap in one embodiment;
FIG. 3 is a flowchart illustrating a method for tracking a position of a slit in an image coordinate system according to an embodiment;
FIG. 4 is a diagram illustrating the effect of fitting a gap in another embodiment;
FIG. 5 is a schematic illustration of a robotic-based gap-working method in one embodiment;
FIG. 6 is a schematic illustration of a gap processing step in one embodiment;
FIG. 7 is a schematic view of a gap processing method in another embodiment;
FIG. 8 is a block diagram showing the structure of a gap processing apparatus according to an embodiment;
FIG. 9 is a block diagram of a robot in one embodiment;
FIG. 10 is a diagram showing an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, a gap processing method is provided, and this embodiment is illustrated by applying the method to a robot, and it is to be understood that the method may also be applied to a terminal, and may also be applied to a system including a terminal and a robot, and is implemented by interaction between the terminal and the robot. In this embodiment, the method includes the steps of:
and 102, acquiring an image to be processed containing the gap.
The image to be processed is a concrete image containing a gap, and the type of the gap can be but is not limited to an expansion joint; the method comprises the following steps that a gap in concrete is illuminated and displayed through a light source according to a preset angle, and the preset angle is used for ensuring that the gap can be clearly displayed in the visual field of a camera; the image to be processed is captured by an image capturing device mounted on the robot, and the image capturing device may be, but is not limited to, a camera. As shown in fig. 2, a schematic diagram of a camera acquiring an image including a gap is shown, an angle between a light source and a plane where the gap is located is a preset angle, the gap is irradiated by the light source, and the camera acquires an image to be processed including the gap; when the camera collects images, the camera collects the images, and the camera has gap edge reflection in the visual field and background diffuse reflection and non-reflection dark areas on the background where the gaps are located, so that the interference on the image collection is caused; the appearance of the gaps in the image may be in the form of black stripes.
Optionally, the image to be processed may be acquired by an external image acquisition device, and the external image acquisition device sends the acquired image to be processed including the gap to the robot.
Specifically, an image of a designated area is acquired through image acquisition equipment mounted on the robot, the designated area is a concrete ground with an expansion joint, and an image to be processed containing a gap is obtained.
And 104, identifying and positioning the image to be processed, and determining a first position track of the gap in an image coordinate system.
The method for identifying and positioning the image can be, but is not limited to, morphological image processing, where the morphological image processing includes morphological filtering, blob analysis (connected component analysis), and refinement algorithm (i.e., binary image algorithm, such as zhang-suen refinement algorithm); the identification and positioning are used for identifying gaps in the image to be processed and positioning the position tracks of the gaps in the image coordinate system.
Specifically, binarization processing is performed on an image to be processed to obtain a binary image of the image to be processed, morphological filtering is performed on the binary image, namely noise reduction processing is performed to enhance gap characteristics (such as characteristics of direction angles, length-width ratios, lengths, areas and the like of the gaps), the gaps in the image to be processed are determined according to the gap characteristics through blob analysis, the gap centers of the gaps are identified, and the gap centers are extracted through a thinning algorithm; determining track points of the gap according to the center of the gap, and determining head and tail track points of the gap according to the prior condition of the gap in the image; performing segmentation fitting according to the track points to obtain a fitting line segment, namely determining a first position track of the gap in an image coordinate system; optionally, the head and tail track points are projected onto the fitted line segment to obtain the head and tail points of the first position track.
And 106, performing coordinate conversion on the first position track to obtain a second position track of the gap in a mechanical arm coordinate system.
The coordinate transformation refers to transforming the coordinates in the image coordinates to the coordinates of the mechanical arm, the method of coordinate transformation may be, but is not limited to, nine-point calibration, which is one of the methods of robot calibration, and the nine-point calibration may be implemented by the existing calibration technology, and is not described herein.
Specifically, a calibrated coordinate transformation matrix transforms a first position track of the gap under the image coordinate to a mechanical arm coordinate system (i.e., under a space coordinate system) to obtain a second position track of the gap in the mechanical arm coordinate system, wherein the first position track and the second position track are used for distinguishing the position tracks under different coordinate systems.
And step 108, determining the operation track of the mechanical arm processing gap according to the second position track.
Specifically, a second position track of the gap under a coordinate system of the mechanical arm is determined as a working track of the mechanical arm for processing the gap, namely, a motion track of a motor of the mechanical arm used for controlling the mechanical arm by the robot is determined according to the determined working track of the mechanical arm, so that the mechanical arm is controlled to work when reaching a specified position.
And step 110, controlling the mechanical arm to operate the gap according to the operation track.
In the operation process of the mechanical arm, a front end mechanism of the mechanical arm is always perpendicular to the ground, the front end does not rotate relative to the vehicle body (namely, the rotational degree of freedom is a fixed value), and the distance (such as a Z coordinate) from the ground is fixed after being set by parameters, so that the mechanical arm only does two-dimensional motion of an XY plane. Through on-line calibration, the conversion relation between the image coordinate system and the coordinate system of the mechanical arm after the XY coordinate system is translated to the ground on a two-dimensional plane can be obtained, and only the coordinates of the mechanical arm on the XY plane coordinate system need to be given during actual use. And after the image coordinate system is transformed to the XY plane of the mechanical arm, the preset X coordinate of the mechanical arm is given, so that the Y coordinate of the mechanical arm can be obtained, namely the position track of the gap in the mechanical arm coordinate system is determined, and the mechanical arm is controlled to move along the gap through a motor.
Specifically, when the mechanical arm is located at a target execution position, namely the center of an actuator of the mechanical arm is overlapped with the center of a gap, a starting point and an end point of an operation track are obtained, and a target operation mode of the mechanical arm is determined according to a head point and a tail point; based on the target operation mode, controlling the mechanical arm to operate the gap according to the operation track; controlling a mechanical arm to repair the gap according to the operation track through a motor; the target operation mode comprises a fixed-point station operation mode, namely the robot is fixed and the gap is repaired by controlling the mechanical arm to move according to an operation track; the starting point and the end point of the operation track are in one-to-one correspondence with the head and tail points of the first position track obtained by projecting the head and tail track points onto the fitting line segment.
In the gap processing method, a first position track of the gap in an image coordinate system is accurately determined by identifying and positioning to-be-processed images containing the gap, and a second position track of the gap in a mechanical arm coordinate system is determined by coordinate conversion; the operation track of the operation gap of the mechanical arm can be accurately determined according to the second position track of the gap in the mechanical coordinate system, the gap is operated along the designated operation track by controlling the mechanical arm, the expansion joint does not need to be automatically identified when the robot automatically operates, the operation efficiency of the mechanical arm is improved, and the waste of operation materials is avoided.
In one embodiment, as shown in fig. 3, there is provided a method for determining a first position trajectory of a slit in an image coordinate system, which is exemplified by applying the method to a robot, and the method includes the following steps:
The image preprocessing comprises down-sampling, mean filtering and noise reduction, edge enhancement operation, adaptive threshold value binarization processing and the like.
Specifically, the image to be processed is subjected to downsampling, mean filtering and denoising, edge enhancement operation and adaptive threshold binarization processing, namely, the image to be processed is subjected to image preprocessing to eliminate noise in the image to be processed, so that the gap characteristics of gaps are enhanced, and a binary image is obtained.
And 304, performing connected domain analysis on the binary image, and determining a gap in the image to be processed according to the gap characteristic in the binary image.
The slit characteristics include the direction angle, the aspect ratio, the length, the area and the like of the slit. The slit characteristics comprise the direction angle, the length-width ratio, the length, the area and the like of the slit; for example, a black band satisfying at least one relationship of an orientation angle greater than a preset orientation angle, an aspect ratio greater than a preset aspect ratio, a length greater than a preset length, or an area greater than a preset area is determined as the slit.
Specifically, the blob analysis is carried out on the processed binary image according to the slender geometric characteristics of the gap and the prior condition of the vehicle body moving along the gap, and the gap in the image to be processed is determined according to the characteristics of the direction angle, the length-width ratio, the length, the area and the like of the gap.
And step 306, refining the gap to extract the gap center of the gap.
Wherein, the thinning treatment adopts a binary image algorithm (such as zhang-suen thinning algorithm) to extract a binary image skeleton; and thinning the gap according to the slender characteristic of the gap, wherein the extracted binary image skeleton is the line center, namely the gap center.
And 308, fitting the gap according to the center of the gap to obtain a first position track of the gap in an image coordinate system.
Wherein the fitting comprises straight line fitting and polygon fitting.
Specifically, track points of the gap are determined according to the center of the gap, the track points are sequenced according to the prior condition of the gap in the image (namely according to the transverse prior condition of the gap in the image), the sequence number of each track point is obtained, and head and tail points are determined; based on the sequence number of each track point, fitting the track points according to a preset sequence to obtain a first position track of the gap in an image coordinate system, projecting the head and tail points of the track points, and determining the head and tail points in the first position track. As shown in fig. 4, the gap is refined according to the slender characteristic of the gap, the extracted binary image skeleton is the line center, the gap center of the gap is obtained, the track points are determined according to the gap center, and the fitted line segment is obtained by fitting the track points.
Optionally, in an embodiment, when it is detected that no mechanical arm exists in the image to be processed, performing linear fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in the image coordinate system; the method for fitting the straight line improves the accuracy of fitting, namely accurately determining the first position track of the gap in the image coordinate system.
Optionally, in an embodiment, when it is detected that the mechanical arm exists in the image to be processed, performing polygon fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system; namely, through polygon fitting, traversal of track points is not required to be called by recursion, and fitting efficiency is improved.
Optionally, in an example, the granularity value of the trace point is filtered according to a preset granularity value, and the trace point smaller than or equal to the preset granularity value is determined as a target fitting point; fitting the target fitting points according to a preset sequence based on the serial numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system; the track points are screened according to the preset granularity value, and by eliminating partial interference points, the number of points participating in fitting is reduced, the calculation amount is reduced, and the fitting efficiency and the fitting accuracy are improved.
According to the method for determining the first position track of the gap in the image coordinate system, the image to be processed containing the gap is preprocessed, namely the image is subjected to denoising processing, so that the gap characteristic of the gap in the image is enhanced; through connected domain analysis and extraction of the preprocessed binary image, the center of the gap of the extracted gap and the head and tail points of the positioning gap are identified, and the integrity and the accuracy of the first position track of the gap in an image coordinate system are guaranteed.
In one embodiment, as shown in fig. 5, a robot arm based gap-working method is provided, which is exemplified by applying the method to a robot, and the method includes the following steps:
And the operation track of the mechanical arm is determined by converting the coordinates into the coordinates of the mechanical arm according to the first position track of the gap under the image coordinates, and obtaining a second position track.
In step 504, it is detected whether the robot arm is at the target execution position, if so, step 512 is executed, otherwise, step 506 is executed.
The target execution position is used for ensuring that the mechanical arm can accurately repair the gap according to the operation track, namely, the position of the actuator is dynamically adjusted according to the target execution position, so that the center of the actuator is coincided with the center of the gap.
The degree-of-freedom position refers to the fact that in the operation process of the mechanical arm, a front end mechanism of the mechanical arm is always perpendicular to the operation ground, the front end does not rotate relative to a vehicle body, the distance (Z coordinate) between the front end mechanism and the ground is fixed after being set through parameters, the mechanical arm degenerates to only do XY plane motion, in the follow-up operation state, the X coordinate is also a fixed value, and the mechanical arm degenerates to only do Y direction linear motion.
And step 508, determining the coordinate of the mechanical arm in the target direction under the mechanical arm coordinate system according to the preset freedom degree position.
Wherein, the target direction is the direction vertical to the gap; the coordinate in the target direction refers to a coordinate (or a variation) in the direction perpendicular to the robot arm and the gap.
And step 512, acquiring a starting point and an end point of the operation track.
Determining track points of the gap according to the center of the gap, sequencing the track points according to the prior condition of the gap in the image to obtain head and tail points of the track points, projecting the head and tail points onto a first position track, and determining the head and tail points of the first position track; and determining the head and tail points of the second position track corresponding to the coordinates of the mechanical arm according to the coordinate conversion, namely obtaining the starting point and the end point of the operation track.
And step 514, determining a target operation mode of the mechanical arm according to the starting point and the end point.
The target operation mode comprises a fixed-point station operation mode, namely the robot is fixed, and gaps are repaired according to operation tracks through movement of the mechanical arms.
And step 516, controlling the mechanical arm to operate the gap according to the operation track based on the target operation mode.
According to the gap operation method based on the mechanical arm, the operation track of the mechanical arm is obtained, the position of the mechanical arm is detected according to the operation track of the mechanical arm to be adjusted, the mechanical arm is determined to be located at the target execution position, the gap is repaired along the operation track according to the starting point and the end point of the operation track, and waste of repair material resources is avoided.
In one embodiment, illustrated in fig. 6, a gap processing step is provided, and this embodiment is illustrated with the method applied to a robot. In this embodiment, the steps include the following:
And step 604, performing image preprocessing and morphological image processing on the image to be processed, and identifying a first position track of the positioning gap in an image coordinate system.
Specifically, image preprocessing is carried out on an image to be processed to obtain a binary image; performing connected domain analysis on the binary image, and determining gaps in the image to be processed according to the gap characteristics in the binary image; refining the gap, extracting the center of the gap, and determining a track point of the gap according to the center of the gap; sequencing the track points according to the prior condition of the gaps in the image to obtain the serial number of each track point; based on the sequence number of each track point, fitting the track points according to a preset sequence to obtain a first position track of the gap in an image coordinate system.
Optionally, when the situation that no mechanical arm exists in the image to be processed is detected, performing linear fitting on the target fitting points according to a preset sequence based on the serial numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system; and when the mechanical arm is detected to exist in the image to be processed, carrying out polygon fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in the image coordinate system.
And 606, performing coordinate conversion on the first position track to obtain a second position track of the gap in a mechanical arm coordinate system.
And step 608, determining the operation track of the mechanical arm processing gap according to the second position track.
And 614, determining the coordinate of the mechanical arm in the target direction under the mechanical arm coordinate system according to the preset freedom degree position.
And 616, adjusting the position of the mechanical arm according to the coordinates in the target direction until the mechanical arm is at the target execution position.
Step 618, obtain the start and end of the job track.
And step 620, controlling the mechanical arm to operate the gap according to the operation track based on the starting point and the end point of the operation track.
Specifically, a starting point and an end point of a work track are obtained; determining a target operation mode of the mechanical arm according to the starting point and the end point; and controlling the mechanical arm to operate the gap according to the operation track based on the target operation mode. For example, the start point and the end point of the work trajectory are determined, the robot arm is controlled to start the work from the start point of the work trajectory, the work is performed along the work trajectory, and the work is ended when the work reaches the end point.
In the gap processing step, the image to be processed containing the gap is preprocessed, namely, the image is subjected to denoising processing, and the gap characteristic of the gap in the image is enhanced; through analyzing and extracting the connected domain of the preprocessed binary image, the center of the gap of the extracted gap and the head and tail points of the positioning gap are identified, and the integrity and the accuracy of the first position track of the gap in an image coordinate system are ensured; the method comprises the steps of determining the operation track of the mechanical arm through coordinate conversion, detecting the position of the mechanical arm according to the operation track of the mechanical arm, adjusting, determining that the mechanical arm is located at a target execution position, and repairing the gap along the operation track according to the starting point and the end point of the operation track, so that waste of repair material resources is avoided.
In another embodiment, as shown in fig. 7, a gap processing method is provided, and this embodiment is exemplified by applying the method to a robot. In this embodiment, the method includes the steps of:
And 704, identifying and positioning the image to be processed, and determining a first position track of the gap in an image coordinate system.
Specifically, image preprocessing is carried out on an image to be processed to obtain a binary image; performing connected domain analysis on the binary image, and determining gaps in the image to be processed according to the gap characteristics in the binary image; refining the gap to extract the center of the gap; and fitting the gap according to the center of the gap to obtain a first position track of the gap in an image coordinate system.
And step 706, performing coordinate conversion on the first position track to obtain a second position track of the gap in the mechanical arm coordinate system.
And step 708, determining a working track of the mechanical arm for processing the gap according to the second position track.
And step 710, when the mechanical arm is not located at the target execution position, acquiring a preset degree of freedom position of the mechanical arm.
Optionally, when the mechanical arm is detected to be at a target execution position, acquiring a starting point and an end point of the operation track; determining that the target operation mode of the mechanical arm is a fixed-point station operation mode according to the starting point and the end point; and controlling the mechanical arm to operate the gap according to the operation track based on the fixed-point station operation mode, and finishing the operation when the operation reaches the end point of the operation track.
And 712, determining the coordinate of the mechanical arm in the target direction under the mechanical arm coordinate system according to the preset freedom degree position.
And 714, adjusting the position of the mechanical arm according to the coordinates in the target direction until the mechanical arm is at the target execution position.
And step 716, controlling the mechanical arm to operate on the gap according to the operation track.
Specifically, a starting point and an end point of an operation track are obtained, a fixed-point station operation mode is adopted according to the starting point and the end point of the operation track, the mechanical arm is controlled to operate the gap according to the operation track, and when the operation reaches the end point of the operation track, the operation is finished.
In an application scene of gap processing, when a gap filling robot works, the gap filling robot moves along the direction of an expansion joint, a camera acquires an image to be processed containing the expansion joint in real time, then the image to be processed is preprocessed, namely the image is subjected to down-sampling according to requirements, then mean filtering noise reduction and edge enhancement operations are carried out, and then a binary image is obtained by self-adaptive threshold value binarization; and filtering interference by using morphological filtering, enhancing gap characteristics, and then obtaining the expansion joint in the image to be processed according to the gap characteristics by using blob analysis. Extracting the center of the gap by using a thinning algorithm, determining track points of the expansion joint according to the center of the gap, and performing segmentation fitting on straight line segments according to the track points to obtain a first position track of the gap in an image coordinate system; and transforming the gap under the image coordinate system to the mechanical arm coordinate system to obtain a second position track.
The mechanical arm is limited to move in the direction vertical to the gap, when the mechanical arm is not located at the target execution position, the variation (or coordinates) in the direction vertical to the gap is calculated according to the preset positions of other degrees of freedom of the mechanical arm, then the position of an actuator of the mechanical arm is dynamically adjusted, the center of the actuator of the mechanical arm is overlapped with the center of the gap, the starting point and the end point of an operation track are obtained, and the gap is repaired according to the movement track of the mechanical arm by adopting a fixed-point station operation mode. The robot is fixed promptly, repairs through the arm motion, through generating the arm movement track according to the gap, has improved the accuracy and the operating efficiency of arm operation orbit, avoids the waste of operation material.
In the gap processing method, the image to be processed containing the gap is preprocessed, namely the image is denoised, so that the gap characteristic of the gap in the image is enhanced; through analyzing and extracting the connected domain of the preprocessed binary image, the center of the gap of the extracted gap and the head and tail points of the positioning gap are identified, and the integrity and the accuracy of the first position track of the gap in an image coordinate system are ensured; determining the operation track of the mechanical arm through coordinate conversion; the position of the mechanical arm is detected according to the operation track of the mechanical arm to be adjusted, the mechanical arm is determined to be located at the target execution position, and the gap is repaired along the operation track according to the starting point and the end point of the operation track, so that waste of repair material resources is avoided.
It should be understood that although the various steps in the flowcharts of fig. 1, 3, 5-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1, 3, 5-7 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least some of the other steps or stages.
In one embodiment, as shown in fig. 8, there is provided a gap processing apparatus including: an obtaining module 802, an identifying and positioning module 804, a coordinate converting module 806, a track determining module 808, and an operation module 810, wherein:
an obtaining module 802, configured to obtain an image to be processed including a gap.
And the identification and positioning module 804 is used for identifying and positioning the image to be processed and determining a first position track of the gap in the image coordinate system.
And a coordinate conversion module 806, configured to perform coordinate conversion on the position trajectory to obtain a second position trajectory of the gap in the robot arm coordinate system.
And a track determining module 808, configured to determine a working track of the robot arm processing gap according to the second position track.
And the operation module 810 is used for controlling the mechanical arm to operate the gap according to the operation track.
In the gap processing device, a first position track of the gap in an image coordinate system is accurately determined by identifying and positioning to-be-processed images containing the gap, and a second position track of the gap in a mechanical arm coordinate system is determined by coordinate conversion; the operation track of the operation gap of the mechanical arm can be accurately determined according to the second position track of the gap in the mechanical coordinate system, the gap is operated along the designated operation track by controlling the mechanical arm, the expansion joint does not need to be automatically identified when the robot automatically operates, the operation efficiency of the mechanical arm is improved, and the waste of operation materials is avoided.
In another embodiment, a gap processing apparatus is provided, which includes, in addition to the acquiring module 802, the identifying and positioning module 804, the coordinate converting module 806, the trajectory determining module 808, and the job module 810: confirm module, detection module, adjustment module, image processing module and sequencing module, wherein:
in one embodiment, the obtaining module 802 is further configured to obtain a start point and an end point of the job track.
And the determining module is used for determining the target operation mode of the mechanical arm according to the starting point and the end point.
In one embodiment, the operation module 810 is further configured to control the robotic arm to operate on the gap according to the operation trajectory based on the target operation mode.
And the detection module is used for detecting whether the mechanical arm is at the target execution position or not, and acquiring the preset freedom degree position of the mechanical arm if the mechanical arm is not at the target execution position.
In one embodiment, the determining module is further configured to determine coordinates of the robot arm in a target direction under the robot arm coordinate system according to the preset degree-of-freedom position.
And the adjusting module is used for adjusting the position of the mechanical arm according to the coordinate in the target direction until the mechanical arm is at the target execution position.
The image processing module is used for carrying out image preprocessing on the image to be processed to obtain a binary image; and carrying out connected domain analysis on the binary image, and determining a gap in the image to be processed according to the gap characteristic in the binary image.
In one embodiment, the identifying and positioning module 804 is further configured to extract a gap center of the gap by performing a refinement process on the gap; and fitting the gap according to the center of the gap to obtain a first position track of the gap in an image coordinate system.
The sequencing module is used for determining the track point of the gap according to the center of the gap; and sequencing the track points according to the prior condition of the gaps in the image to obtain the serial number of each track point.
In an embodiment, the identifying and positioning module 804 is further configured to fit the track points according to a preset sequence based on the sequence numbers of the track points to obtain a first position track of the slit in the image coordinate system.
And the filtering module is used for filtering the granularity value of the track points according to the preset granularity value and determining the track points smaller than or equal to the preset granularity value as target fitting points.
In one embodiment, the identifying and positioning module 804 is further configured to fit the target fitting points according to a preset order based on the serial numbers of the target fitting points to obtain a first position track of the gap in the image coordinate system.
In an embodiment, the identifying and positioning module 804 is further configured to, when it is detected that no mechanical arm exists in the image to be processed, perform linear fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in the image coordinate system.
In an embodiment, the identifying and positioning module 804 is further configured to, when it is detected that the mechanical arm exists in the image to be processed, perform polygon fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points, so as to obtain a first position track of the gap in the image coordinate system.
In one embodiment, the seam characteristics of the seam in the image are enhanced by preprocessing the image to be processed containing the seam, namely denoising the image; through carrying out connected domain analysis and extraction on the preprocessed binary image, recognizing and extracting the center of the gap and positioning the head and tail points of the gap, the integrity and the accuracy of the first position track of the gap in an image coordinate system are ensured; determining the operation track of the mechanical arm through coordinate conversion, namely accurately determining the operation track of the mechanical arm according to the gap position track; the position of the mechanical arm is detected according to the operation track of the mechanical arm to be adjusted, the mechanical arm is determined to be located at the target execution position, and the gap is repaired along the operation track according to the starting point and the end point of the operation track, so that waste of repair material resources is avoided.
For the specific definition of the gap processing device, reference may be made to the definition of the gap processing method above, and details are not described here. The modules in the gap processing device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a robot is provided, as shown in fig. 9, and its internal structure includes an image capturing device, a mechanical arm, and a controller connected to the image capturing device and the mechanical arm, and a plurality of program modules are stored in the controller, and loaded by the controller and execute the steps in the above method embodiments.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 10. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for communicating with an external terminal in a wired or wireless manner, and the wireless manner can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a gap processing method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 10 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring an image to be processed containing a gap;
identifying and positioning an image to be processed, and determining a first position track of a gap in an image coordinate system;
obtaining a second position track of the gap in a mechanical arm coordinate system by carrying out coordinate conversion on the first position track;
determining the operation track of the mechanical arm processing gap according to the second position track;
and controlling the mechanical arm to operate the gap according to the operation track.
In one embodiment, the processor when executing the computer program further performs the steps of:
acquiring a starting point and an end point of an operation track;
determining a target operation mode of the mechanical arm according to the starting point and the end point;
and controlling the mechanical arm to operate the gap according to the operation track based on the target operation mode.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
detecting whether the mechanical arm is located at a target execution position, and if the mechanical arm is not located at the target execution position, acquiring a preset degree of freedom position of the mechanical arm;
determining the coordinate of the mechanical arm in the target direction under the mechanical arm coordinate system according to the preset freedom degree position;
and adjusting the position of the mechanical arm according to the coordinates in the target direction until the mechanical arm is positioned at the target execution position, and executing the steps of acquiring the starting point and the end point of the operation track.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
carrying out image preprocessing on an image to be processed to obtain a binary image;
performing connected domain analysis on the binary image, and determining a gap in the image to be processed according to the gap characteristics in the binary image;
refining the gap to extract the center of the gap;
and fitting the gap according to the center of the gap to obtain a first position track of the gap in an image coordinate system.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
determining a track point of the gap according to the center of the gap;
sequencing the track points according to the prior condition of the gaps in the image to obtain the serial number of each track point;
and fitting the track points according to a preset sequence based on the sequence numbers of the track points to obtain a first position track of the gap in the image coordinate system.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
filtering the granularity value of the track point according to a preset granularity value, and determining the track point which is less than or equal to the preset granularity value as a target fitting point;
and fitting the target fitting points according to a preset sequence based on the serial numbers of the target fitting points to obtain a first position track of the gap in the image coordinate system.
In one embodiment, the processor when executing the computer program further performs the steps of:
and when the situation that no mechanical arm exists in the image to be processed is detected, performing linear fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in the image coordinate system.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and when the mechanical arm exists in the image to be processed, performing polygon fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring an image to be processed containing a gap;
identifying and positioning an image to be processed, and determining a first position track of a gap in an image coordinate system;
coordinate conversion is carried out on the first position track to obtain a second position track of the gap in a mechanical arm coordinate system;
determining the operation track of the mechanical arm for processing the gap according to the second position track;
and controlling the mechanical arm to operate the gap according to the operation track.
In one embodiment, the computer program when executed by the processor further performs the steps of:
acquiring a starting point and an end point of an operation track;
determining a target operation mode of the mechanical arm according to the starting point and the end point;
and controlling the mechanical arm to operate the gap according to the operation track based on the target operation mode.
In one embodiment, the computer program when executed by the processor further performs the steps of:
detecting whether the mechanical arm is located at a target execution position, and if the mechanical arm is not located at the target execution position, acquiring a preset freedom degree position of the mechanical arm;
determining the coordinate of the mechanical arm in the target direction under the mechanical arm coordinate system according to the preset freedom degree position;
and adjusting the position of the mechanical arm according to the coordinates in the target direction until the mechanical arm is positioned at the target execution position, and executing the steps of acquiring the starting point and the end point of the operation track.
In one embodiment, the computer program when executed by the processor further performs the steps of:
carrying out image preprocessing on an image to be processed to obtain a binary image;
performing connected domain analysis on the binary image, and determining a gap in the image to be processed according to the gap characteristics in the binary image;
refining the gap to extract the center of the gap;
and fitting the gap according to the center of the gap to obtain a first position track of the gap in an image coordinate system.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a track point of the gap according to the center of the gap;
sequencing the track points according to the prior condition of the gaps in the image to obtain the serial number of each track point;
and fitting the track points according to a preset sequence based on the sequence numbers of the track points to obtain a first position track of the gap in the image coordinate system.
In one embodiment, the computer program when executed by the processor further performs the steps of:
filtering the granularity values of the track points according to the preset granularity values, and determining the track points smaller than or equal to the preset granularity values as target fitting points;
and fitting the target fitting points according to a preset sequence based on the serial numbers of the target fitting points to obtain a first position track of the gap in the image coordinate system.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and when the situation that no mechanical arm exists in the image to be processed is detected, performing linear fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in the image coordinate system.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and when the mechanical arm is detected to exist in the image to be processed, carrying out polygon fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in the image coordinate system.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A gap processing method, comprising:
acquiring an image to be processed containing a gap;
identifying and positioning the image to be processed, and determining a first position track of a gap in an image coordinate system;
obtaining a second position track of the gap in a mechanical arm coordinate system by performing coordinate conversion on the first position track;
determining the operation track of the mechanical arm for processing the gap according to the second position track;
and controlling the mechanical arm to operate the gap according to the operation track.
2. The method of claim 1, wherein said controlling said robotic arm to work said gap in accordance with said work trajectory comprises:
acquiring a starting point and an end point of the operation track;
determining a target operation mode of the mechanical arm according to the starting point and the end point;
and controlling the mechanical arm to operate the gap according to the operation track based on the target operation mode.
3. The method of claim 2, wherein prior to said obtaining a start point and an end point of the job trajectory, the method further comprises:
detecting whether the mechanical arm is located at a target execution position, and if the mechanical arm is not located at the target execution position, acquiring a preset degree of freedom position of the mechanical arm;
determining the coordinate of the mechanical arm in the target direction under the mechanical arm coordinate system according to the preset freedom degree position;
and adjusting the position of the mechanical arm according to the coordinates in the target direction until the mechanical arm is positioned at a target execution position, and executing the step of acquiring the starting point and the end point of the operation track.
4. The method according to claim 1, wherein the identifying and positioning the image to be processed and determining a first position track of the slit in an image coordinate system comprise:
performing image preprocessing on the image to be processed to obtain a binary image;
performing connected domain analysis on the binary image, and determining a gap in the image to be processed according to the gap characteristic in the binary image;
refining the gap to extract the gap center of the gap;
and fitting the gap according to the center of the gap to obtain a first position track of the gap in an image coordinate system.
5. The method of claim 4, wherein fitting the slit according to the slit center to obtain a first position trajectory of the slit in an image coordinate system comprises:
determining a track point of the gap according to the center of the gap;
sequencing the track points according to the prior condition of the gaps in the image to obtain the serial number of each track point;
and fitting the track points according to a preset sequence based on the sequence numbers of the track points to obtain a first position track of the gap in an image coordinate system.
6. The method according to claim 5, wherein the step of fitting the track points according to a preset sequence based on the sequence numbers of the track points to obtain the first position track of the slit in the image coordinate system comprises:
filtering the granularity values of the trace points according to a preset granularity value, and determining the trace points smaller than or equal to the preset granularity value as target fitting points;
and fitting the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system.
7. The method according to claim 6, wherein the fitting the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system comprises:
and when the situation that the mechanical arm does not exist in the image to be processed is detected, performing linear fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system.
8. The method according to claim 6, wherein the fitting the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system comprises:
and when the mechanical arm is detected to exist in the image to be processed, carrying out polygon fitting on the target fitting points according to a preset sequence based on the sequence numbers of the target fitting points to obtain a first position track of the gap in an image coordinate system.
9. A gap-treating device, comprising:
the acquisition module is used for acquiring an image to be processed containing a gap;
the identification positioning module is used for identifying and positioning the image to be processed and determining a first position track of the gap in an image coordinate system;
the coordinate conversion module is used for carrying out coordinate conversion on the position track to obtain a second position track of the gap in a mechanical arm coordinate system;
the track determining module is used for determining the operation track of the mechanical arm for processing the gap according to the second position track;
and the operation module is used for controlling the mechanical arm to operate the gap according to the operation track.
10. A robot, characterized in that the robot comprises:
the image acquisition equipment is used for acquiring an image to be processed containing a gap;
the mechanical arm is used for operating the gap according to the operation track;
a controller coupled to the image capture device and the robotic arm, the controller having stored therein a plurality of program modules that are loaded by the controller and execute the method of any of claims 1-8.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
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| CN116309552B (en) * | 2023-05-12 | 2023-08-29 | 西南交通大学 | Method, device, equipment and medium for evaluating health state of existing line old retaining wall |
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