CN109506595A - Real-time angular, length measuring system and method - Google Patents
Real-time angular, length measuring system and method Download PDFInfo
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- CN109506595A CN109506595A CN201811532435.5A CN201811532435A CN109506595A CN 109506595 A CN109506595 A CN 109506595A CN 201811532435 A CN201811532435 A CN 201811532435A CN 109506595 A CN109506595 A CN 109506595A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- General Physics & Mathematics (AREA)
- Image Analysis (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The disclosure provides a kind of real-time angular, length measuring system, it include: identity device, object of reference and object are identified on the image of acquisition, and angular baseline and length line of reference, label target object angle line and object length line on object are marked on object of reference；Input unit inputs the length of length line of reference；Angle calcu-lation device is based on angular baseline and object angle line, calculates the angle between object of reference and object；And length estimates device, is based on the length of length line of reference and object length line and length line of reference, estimates the length of object；The disclosure provides a kind of real-time angular, length measurement method simultaneously, using real-time angular, length measuring system.
Description
Technical field
This disclosure relates to a kind of real-time angular, length measuring system and method.
Background technique
With the development of China intelligent robot, more and more occasions carry out robot manipulating task, carry out in robot
During job that requires special skills, operator it needs to be determined that current robot mode of operation and real time position, motion arm and target
The real-time angular etc. of object, to carry out subsequent operation operation.And the mode for measuring these data is broadly divided into two kinds, one is
Data, are passed through bus in real time and pass monitoring room back by robot body band camera and sensor；Another kind is robot without taking the photograph
As head or sensor, but it is monitored by third party device and measurement activity.Latter approach is more suitable for robot and is originally in
In the environment of high temperature and pressure or high-frequency vibration etc. cannot install camera or sensor the case where.But it still lacks at this stage
A kind of few convenience, easy to operate, with high accuracy, the equipment for capableing of assisting third parties carries out image recognition, Image Acquisition, at image
The real-time operation auxiliary system managed, shown and analyze.
Summary of the invention
In order to solve at least one above-mentioned technical problem, the disclosure provides a kind of real-time angular, length measuring system, and
A kind of real-time angular, length measurement method.
According to one aspect of the disclosure, real-time angular, length measuring system include:
Identity device identifies object of reference and object on the image of acquisition, and angular baseline or length are marked on object of reference
Spend line of reference, label target object angle line or object length line on object；
Input unit inputs the length of length line of reference；
Angle calcu-lation device is based on angular baseline and object angle line, calculates the angle between object of reference and object；
And
Length estimates device, is based on the length of length line of reference and object length line and length line of reference, estimates mesh
Mark the length of object.
According at least one embodiment of the disclosure, measuring system further include:
For storing the characteristic storage device of object and object of reference feature.
According at least one embodiment of the disclosure, measuring system further include:
Suggestion device prompts user annotation angular baseline or length line of reference and object angle line or object long
Spend line.
According at least one embodiment of the disclosure, measuring system further include:
Device is arranged in image, the resolution ratio of the image for acquisition to be arranged.
According at least one embodiment of the disclosure, measuring system further include:
Grabgraf device, for obtaining the image at a certain moment；And
Recording apparatus, for obtaining the video of certain a period of time.
According to another aspect of the present disclosure, real-time angular, length measurement method are surveyed using above-mentioned real-time angular, length
Amount system, comprising the following steps:
The image of target area at a time is obtained by camera, includes object in target area；
Object of reference is selected from image；
Angle between measurement object and object of reference: angular baseline is marked on object of reference, is gazed in object subscript
Object angle line is marked, so that object angle line and angular baseline is constituted angle, is based on angular baseline and object angle line, passes through survey
The angle calcu-lation device of amount system calculates the angle value between object of reference and object；
Measure the length of object: the length of selection length line of reference marks length line of reference, in target on object of reference
Label target object length line on object inputs the length of length line of reference by the input unit of measuring system, is based on length reference
The length of line and object length line and length line of reference estimates that device estimates object by the length of measuring system
Length.
According at least one embodiment of the disclosure,
Measurement method further include:
On object of reference mark angular baseline after, or on object of reference mark length line of reference after, store object of reference
Feature；
On object after label target object angle line, or on object after label target object length line, mesh is stored
Mark the feature of object.
According at least one embodiment of the disclosure,
The prompt information angular dimension baseline or length line of reference that user provides according to the measuring system, and mark mesh
Mark object angle line or object length line.
According at least one embodiment of the disclosure,
Measurement method further include: the resolution ratio of the image of acquisition is configured.
According at least one embodiment of the disclosure,
The step of obtaining target area image at a time include:
The image that a certain moment is directly acquired by camera carries out real-time angular, linear measure longimetry；Or
The video that certain a period of time is acquired by camera, the image at selected parts a certain moment carries out real-time angle from video
Degree, linear measure longimetry.
Detailed description of the invention
Attached drawing shows the illustrative embodiments of the disclosure, and it is bright together for explaining the principles of this disclosure,
Which includes these attached drawings to provide further understanding of the disclosure, and attached drawing is included in the description and constitutes this
Part of specification.
Fig. 1 is the structure blocki diagram of real-time angular according at least one embodiment of the disclosure, length measuring system.
Fig. 2 is the step flow chart of real-time angular according at least one embodiment of the disclosure, length measurement method.
Specific embodiment
The disclosure is described in further detail with embodiment with reference to the accompanying drawing.It is understood that this place
The specific embodiment of description is only used for explaining related content, rather than the restriction to the disclosure.It also should be noted that being
Convenient for description, part relevant to the disclosure is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure can
To be combined with each other.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with embodiment.
The disclosure provides a kind of real-time angular, length measuring system, and real-time angular is carried out using the system, length is surveyed
The method of amount, camera and sensor do not can enter scene situations such as more severe mainly for operating environment, by by
Three method, apparatus acquire image, identify object and object of reference, on the image of acquisition to obtain between object and object of reference
Real-time angular estimates the length of object, to carry out real time auxiliary measuring.
In an optional embodiment of the disclosure, real-time angular, length measuring system can be imaged by high definition
Head and image processing apparatus (such as Halcon image processing software) come identify image, acquisition image and processing image.Such as Fig. 1 institute
Show, real-time angular, length measuring system include: for identifying object of reference and object on the image of acquisition, in the picture
Angular baseline and length line of reference, the mark of label target object angle line and object length line on object are marked on object of reference
Identification device；For inputting input unit of the length referring to line length；Based on angular baseline and object angle line, object of reference is calculated
The angle calcu-lation device of angle between object；Based on length line of reference and object length line and length line of reference
Length, estimation object length length estimate device.
In an optional embodiment of the disclosure, in order to simplify operating process, improve measurement accuracy, real-time angular,
Suggestion device, characteristic storage device, image setting device, grabgraf device and recording apparatus can also be arranged in length measuring system.
In an optional embodiment of the disclosure, suggestion device can prompt user annotation angular baseline or length to join
According to line and object angle line or object length line.
Specifically, starting angle calcu-lation device when user selects the angle between measurement object and object of reference, prompt
Device automatically prompting user marks first line of angle, i.e. angular baseline.User can be with unrestricted choice object of reference, in object of reference
Upper mark angular baseline.After the completion of angular baseline mark, suggestion device automatically prompting user marks Article 2 line, i.e., in object
The object angle line of upper mark.Behind the position for determining object, according to the characteristic angle of object, Article 2 line is attached to
On object, first line and Article 2 line can be extended according to actual needs, two lines is made to intersect to form angle.First
The angle of the angle that line and Article 2 line are formed, that is, between object of reference and object.After the completion of Article 2 line mark, angle calcu-lation
Device can calculate angle degree in real time.For user after choosing object of reference or object, characteristic storage device can store ginseng
According to the identification characteristics of object and object, facilitate subsequent operation, such as when object is mobile, measuring system can be based on storage
The identification characteristics of object of reference and object identify object of reference and object, determine the position of first line and Article 2 line, thus
The angle of the two is calculated in real time.Preferably, characteristic storage device can be opened when first line is labeled on object of reference by user
Begin storage object of reference feature；It can start the feature for storing object when Article 2 line is labeled on object by user.It is excellent
Choosing, measuring system can dynamically calculate the angle value of first line and Article 2 line between 0-180 °.
When user selects the length of measurement object, starting length estimates device, suggestion device automatically prompting user mark
First line of note, i.e. length line of reference.User can mark length line of reference with unrestricted choice object of reference on object of reference.Length
The length of line of reference can be by obtaining after actual measurement object of reference, and passes through input unit input measurement system reserve.Length
Start-stop position when line of reference should refer to actual measurement in mark, to guarantee measuring accuracy.Preferably, identity device can be with
According to any referring to length value automatic marking length line of reference of input, such as inputted by input unit referring to length and be
106cm, then identity device can mark 106cm's automatically based on the object of reference feature that characteristic storage device stores on object of reference
Length line of reference.After the completion of length line of reference mark, suggestion device automatically prompting user marks Article 2 line, i.e., on object
The object length line of mark.After user marks Article 2 line on object, length estimation device can be based on length reference
The length of line and length line of reference calculates the length of object in real time and shows on the image.Wherein, length estimation precision can
To manually control.Preferably, characteristic storage device can start storage ginseng when first line is labeled on object of reference by user
According to object feature；It can start the feature for storing object when Article 2 line is labeled on object by user.Object length
Line has dependency for object.When object is mobile, measuring system can object of reference based on storage and object
Identification characteristics identify object of reference and object, determine the position of first line and Article 2 line, calculate the length of object in real time
Degree.
Preferably, before the length of measurement object, if having stored the feature for being intended to the object of reference of selection in measuring system,
Then user directly can select a certain object of reference according to this feature, after identity device identifies the object of reference, then mark length manually
Line of reference or identity device can the mark length references on object of reference automatically of the length based on the length line of reference of input
Line.After the completion of length line of reference mark, if having stored the feature for being intended to the object of selection in measuring system, user can be straight
It connects according to this feature selection target object, after identity device identifies object, manual label target object length line, object length line
After the completion of mark, length estimation device provides the length value of object automatically.Likewise, between measurement object and object of reference
Angle before, if having stored the identification characteristics of the object of reference or object that are intended to selection in measuring system, user can be direct
Object of reference or object are selected according to feature, further complete identification, mark and angle calcu-lation.
In an optional embodiment of the disclosure, image setting device can be set according to actual needs the figure of acquisition
The resolution ratio of picture.
In an optional embodiment of the disclosure, grabgraf device can acquire a certain region a certain by camera
The image at moment.Recording apparatus can acquire video of a certain region within certain a period of time by camera.
In an optional embodiment of the disclosure, as shown in Fig. 2, being measured using real-time angular, length measuring system
Angle between object and object of reference, or measurement object length method the following steps are included:
Firstly, image is acquired, for example, grabgraf device passes through high-definition camera by high-definition camera identification object region
The image of target area at a time is obtained, target area domestic demand includes object；
When needing to measure the angle between object and object of reference: being based on object position, determined from image
Object of reference；According to the prompt of suggestion device, angular baseline is marked on object of reference by identity device；Angular baseline mark is completed
Afterwards, according to the prompt of suggestion device, the label target object angle line on object extends object angle line and/or angle base
Line makes object angle line and angular baseline structure have angle, and after the completion of object angle line mark, angle calcu-lation device is automatic
The angle degree between object of reference and object is calculated and displayed；
When needing to measure the length of object: being based on object position, object of reference is determined from image；By defeated
Enter the length of the object of reference of device input actual measurement；Mark length line of reference manually, or pass through identity device automatic marking
Length line of reference；After the completion of length line of reference mark, according to the prompt of suggestion device, the label target object length on object
Line；After the completion of object length line mark, the length of object is calculated and displayed in length estimation device automatically.
In the disclosure, measurement miscellaneous function may be implemented in real-time angular, length measuring system, too fast for vibration frequency
Robot or robot be under high temperature and high pressure environment and be not suitable for installation camera and sensor, can not close-in measurement
The case where, measuring system can carry out feature knowledge to object and object of reference within sweep of the eye in third party's monitoring camera
Not, angular baseline or length line of reference, label target object angle line or object length on object are marked on object of reference
Line, and the length of the angle and object between object and object of reference is further calculated in real time, thus to be outdoor dangerous
Operation provides convenience.In addition, real-time angular, length measuring system will not influence original system tray as auxiliary measurement system
Structure conveniently adds or deletes.Real-time angular, length measuring system can also store the identification characteristics of object and object of reference, when
When the position of object or object of reference changes, the reality of object still can be dynamically calculated in real time according to the identification characteristics of storage
Border angle and length.
It will be understood by those of skill in the art that above embodiment is used for the purpose of clearly demonstrating the disclosure, and simultaneously
Non- be defined to the scope of the present disclosure.For those skilled in the art, may be used also on the basis of disclosed above
To make other variations or modification, and these variations or modification are still in the scope of the present disclosure.
Claims (10)
1. a kind of real-time angular, length measuring system characterized by comprising
Identity device identifies object and object of reference on the image of acquisition, and angular baseline or length are marked on the object of reference
Spend line of reference, label target object angle line or object length line on the object；
Input unit inputs the length of the length line of reference；
Angle calcu-lation device is based on the angular baseline and object angle line, calculates the angle between object of reference and object；
And
Length estimates device, is based on the length of the length line of reference and object length line and the length line of reference, estimates
Calculate the length of object.
2. measuring system according to claim 1, which is characterized in that the measuring system further include:
For storing the characteristic storage device of object and object of reference feature.
3. measuring system according to claim 1, which is characterized in that the measuring system further include:
Suggestion device prompts angular baseline or length line of reference and the object angle line or target described in user annotation
Object length line.
4. measuring system according to claim 1, which is characterized in that the measuring system further include:
Device is arranged in image, the resolution ratio of the image for acquisition to be arranged.
5. measuring system according to claim 1, which is characterized in that the measuring system further include:
Grabgraf device, for obtaining the image at a certain moment；And
Recording apparatus, for obtaining the video of certain a period of time.
6. a kind of real-time angular, length measurement method, which is characterized in that using the reality as described in any one of claims 1 to 5
When angle, length measuring system,
The measurement method the following steps are included:
The image of the target area at a time is obtained by camera, includes object in the target area；
Object of reference is selected from described image；
It measures the angle between the object and object of reference: marking angular baseline on the object of reference, in the object
Upper label target object angle line makes the object angle line and angular baseline constitute angle, is based on the angular baseline and mesh
Object angle line is marked, the angle value between the object of reference and object is calculated by the angle calcu-lation device of the measuring system；
It measures the length of the object: marking the length line of reference on the object of reference, marked on the object
Object length line inputs the length of the length line of reference by the input unit of the measuring system, is based on the length
The length of line of reference and object length line and the length line of reference estimates device by the length of the measuring system
Estimate the length of the object.
7. measurement method according to claim 6, which is characterized in that the measurement method further include:
After marking angular baseline on the object of reference, or on the object of reference after mark length line of reference, described in storage
The feature of object of reference；
After marking the object angle line on the object, or the object length is marked on the object
After line, the feature of the object is stored.
8. measurement method according to claim 6 or 7, which is characterized in that
User marks the angular baseline or length line of reference, and mark institute according to the prompt information that the measuring system provides
State object angle line or object length line.
9. measurement method according to claim 7 or 8, which is characterized in that the measurement method further include:
The resolution ratio of the image of acquisition is configured.
10. measurement method according to claim 6, which is characterized in that obtain the figure of the target area at a time
As the step of include:
Real-time angular, linear measure longimetry are carried out by the image that the camera directly acquires a certain moment；Or
The video that certain a period of time is acquired by the camera, the image at selected parts a certain moment carries out real-time from the video
Angle, linear measure longimetry.
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| CN201811532435.5A CN109506595A (en) | 2018-12-14 | 2018-12-14 | Real-time angular, length measuring system and method |
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| CN111649865A (en) * | 2020-05-12 | 2020-09-11 | 北京大熊座科技有限公司 | Wind power and wind direction detection method based on image processing technology |
| CN113220019A (en) * | 2021-04-26 | 2021-08-06 | 西安热工研究院有限公司 | Unmanned aerial vehicle-based photovoltaic module inclination angle detection method and system |
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Application publication date: 20190322 |