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CN112284274A - Method and system for detecting aperture and nest diameter of mechanical connecting hole - Google Patents

Method and system for detecting aperture and nest diameter of mechanical connecting hole Download PDF

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Publication number
CN112284274A
CN112284274A CN202011137899.3A CN202011137899A CN112284274A CN 112284274 A CN112284274 A CN 112284274A CN 202011137899 A CN202011137899 A CN 202011137899A CN 112284274 A CN112284274 A CN 112284274A
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image
camera
diameter
connecting hole
aperture
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程晖
张天阳
黄朕祺
周赜远
赵嘉栋
杨语
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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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
    • G01B11/08—Measuring arrangements characterised by the use of optical techniques for measuring diameters
    • 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

本发明公开了一种机械连接孔孔径和窝径检测方法及系统。该方法包括：使相机完成自动对焦，并确定相机的自动对焦位置；将所述相机设置在所述自动对焦位置，并采集连接孔的图像信息；对所述图像信息进行处理，提取所述连接孔的边界；基于连接孔边界计算孔径和窝径的长度。本发明通过相机对连接孔进行数字化检测，获得连接孔孔径窝径参数的真实值，可使得检测精度达到像素点级别。且本发明通过相机完成连接孔的隔空测量，不与连接孔接触，避免了对工件的损伤。

Figure 202011137899

The invention discloses a method and a system for detecting the diameter of a mechanical connection hole and a hole diameter. The method includes: enabling a camera to complete auto-focusing, and determining an auto-focusing position of the camera; setting the camera at the auto-focusing position, and collecting image information of a connection hole; processing the image information to extract the connection Boundary of the hole; calculates the length of the hole and the pocket diameter based on the boundary of the connecting hole. In the invention, the digital detection of the connection hole is carried out by the camera, and the real value of the hole diameter parameter of the connection hole is obtained, so that the detection accuracy can reach the pixel level. In addition, the present invention completes the space measurement of the connection hole through the camera, and does not contact the connection hole, thereby avoiding damage to the workpiece.

Figure 202011137899

Description

Method and system for detecting aperture and nest diameter of mechanical connecting hole
Technical Field
The invention relates to the field of digital intelligent detection, in particular to a method and a system for detecting the aperture and the nest diameter of a mechanical connecting hole.
Background
In the assembly process of complex machinery, the detection quality of the aperture nest diameter of the mechanical connecting hole is an important factor influencing the assembly quality of the complex machinery.
At present, in the manufacturing process, the aperture nest diameter of the connecting hole is usually measured manually, so the detection quality can change along with the difference of the operation level of workers, the detection precision is difficult to guarantee, and the workload of the workers is also large. At present, in manufacturing, a method for detecting the aperture of a connecting hole is a go-no go gauge detection method. Although the go-no go gauge can greatly improve the detection speed when being produced in batches, the go-no go gauge needs to pass through the connecting hole, so the connecting hole can be damaged, and the go gauge is worn after being used for many times, so the detection quality is influenced. Meanwhile, through the detection of the go-no go gauge, whether the aperture meets the tolerance requirement or not can be obtained, the specific numerical value of the aperture cannot be obtained, and the quantitative detection of the aperture cannot be completed. At present, the quality of each dimple is inspected by using a rivet or a bolt, and the method is greatly influenced by the precision of the rivet or the bolt, and the precision of a connecting hole is influenced because the rivet or the bolt needs to be in contact with the connecting hole.
Disclosure of Invention
Based on the above, the invention aims to provide a method and a system for detecting the aperture and the nest diameter of a mechanical connecting hole.
In order to achieve the purpose, the invention provides the following scheme:
a mechanical connection hole aperture and nest diameter detection method comprises the following steps:
enabling the camera to finish automatic focusing and determining the automatic focusing position of the camera;
setting the camera at the automatic focusing position, and acquiring image information of the connecting hole;
processing the image information and extracting the boundary of the connecting hole;
the lengths of the aperture and dimple diameter are calculated based on the boundary of the connecting hole.
Optionally, the enabling the camera to complete automatic focusing and determining an automatic focusing position of the camera specifically includes:
initializing focusing parameters; the focusing parameters include: camera position, camera movement step length and image definition;
moving a camera according to the camera moving step length and updating the position of the camera;
shooting the connecting holes at the positions of the cameras;
calculating the definition of the shot image through a Tenengrad image definition evaluation function;
and determining the corresponding camera position as an automatic focusing position when the definition of the shot image is maximum.
Optionally, the calculation formula of the definition of the shot image is as follows:
Figure BDA0002737331310000021
Figure BDA0002737331310000022
Figure BDA0002737331310000023
Figure BDA0002737331310000024
wherein, I (x, y) represents the gray value of the captured image at (x, y), n is the total number of pixels in the captured image, Q represents the sharpness of the captured image, Gx represents the kernel of the horizontal derivation at a certain pixel point of the image, Gy represents the kernel of the vertical derivation at a certain pixel point of the image, and S (x, y) represents the gradient value of the image at (x, y).
Optionally, the processing the image information to extract the boundary of the connection hole specifically includes:
carrying out binarization processing on the acquired image, and respectively obtaining an aperture image and a pit diameter image by setting different gray threshold values;
and extracting the image boundaries of the aperture image and the nest diameter image after binaryzation by using a Sobel edge detection algorithm.
Optionally, the calculating the lengths of the aperture and the socket diameter based on the boundary of the connection hole specifically includes:
processing the extracted image boundary by using an ellipse recognition algorithm in Opencv to obtain the endpoint coordinate A of the long axis of the aperture of the connecting hole0(x0，y0)、A1(x1，y1) Minor axis end point coordinate B of aperture of connecting hole0(m0，n0)、B1(m1，n1) Coordinates C of long shaft end point of socket diameter of connecting hole0(X0，Y0)、C1(X1，Y1) And coordinates D of end point of minor axis of socket diameter of connecting hole0(M0，N0)、D1(M1，N1)；A0The position of the starting point of the long axis of the aperture of the connecting hole on the image (x)0，y0) Is A0Pixel point coordinates on the image; a. the1The position of the end point of the aperture major axis of the connecting hole on the image (x)1，y1) Is A1Pixel point coordinates on the image; b is0The position of the starting point of the minor axis of the aperture of the connecting hole on the image (m)0，n0) Is B0Pixel point coordinates on the image; b is1The position of the end point of the minor axis of the aperture of the connecting hole on the image (m)1，n1) Is B1Pixel point coordinates on the image; c0The position of the long axis starting point of the pit diameter of the connecting hole on the image (X)0，Y0) Is C0Pixel point coordinates on the image; c1The position of the long axis end point of the pit diameter of the connecting hole on the image (X)1，Y1) Is C1Pixel point coordinates on the image; d0The starting point of the minor axis of the pit diameter of the connecting hole is in the imagePosition (M)0，N0) Is D0Pixel point coordinates on the image; d1The position of the minor axis end point of the socket diameter of the connecting hole on the image (M)1，N1) Is D1Pixel point coordinates on the image;
acquiring a transverse calibration result a and a longitudinal calibration result b of the camera; the transverse calibration result a is the real transverse length of a pixel point, and the longitudinal calibration result b is the real longitudinal length of a pixel point;
according to the calibration results a and b of the camera in the transverse and longitudinal directions, the real length A, B of the long and short axes of the aperture of the connecting hole and the real length C, D of the long and short axes of the socket of the connecting hole are calculated, and the calculation formula is as follows:
Figure BDA0002737331310000031
Figure BDA0002737331310000032
Figure BDA0002737331310000033
Figure BDA0002737331310000034
the invention also provides a mechanical connection hole aperture and nest diameter detection system, which comprises:
the position determining module is used for enabling the camera to finish automatic focusing and determining the automatic focusing position of the camera;
the acquisition module is used for setting the camera at the automatic focusing position and acquiring the image information of the connecting hole;
the image processing module is used for processing the image information and extracting the boundary of the connecting hole;
and the length calculation module is used for calculating the lengths of the aperture and the nest diameter based on the boundary of the connecting hole.
Optionally, the position determining module specifically includes:
the initialization unit is used for initializing focusing parameters; the focusing parameters include: camera position, camera movement step length and image definition;
a moving unit for moving the camera by the camera moving step length and updating the camera position;
a shooting unit for shooting the connecting holes at each camera position;
the definition calculating unit is used for calculating the definition of the shot image through a Tenengrad image definition evaluation function;
and the determining unit is used for determining that the corresponding camera position when the definition of the shot image is maximum is an automatic focusing position.
Optionally, the calculation formula of the definition of the shot image is as follows:
Figure BDA0002737331310000041
Figure BDA0002737331310000042
Figure BDA0002737331310000043
Figure BDA0002737331310000044
wherein, I (x, y) represents the gray value of the captured image at (x, y), n is the total number of pixels in the captured image, Q represents the sharpness of the captured image, Gx represents the kernel of the horizontal derivation at a certain pixel point of the image, Gy represents the kernel of the vertical derivation at a certain pixel point of the image, and S (x, y) represents the gradient value of the image at (x, y).
Optionally, the image processing module specifically includes:
the binarization processing unit is used for carrying out binarization processing on the acquired image and respectively obtaining an aperture image and a pit diameter image by setting different gray threshold values;
and the image boundary extraction unit is used for extracting the image boundaries of the aperture image and the nest diameter image after binaryzation by utilizing a Sobel edge detection algorithm.
Optionally, the length calculating module specifically includes:
an identification unit, configured to process the extracted image boundary using an ellipse identification algorithm in Opencv to obtain a connection hole aperture major axis endpoint coordinate a0(x0，y0)、A1(x1，y1) Minor axis end point coordinate B of aperture of connecting hole0(m0，n0)、B1(m1，n1) Coordinates C of long shaft end point of socket diameter of connecting hole0(X0，Y0)、C1(X1，Y1) And coordinates D of end point of minor axis of socket diameter of connecting hole0(M0，N0)、D1(M1，N1)；A0The position of the starting point of the long axis of the aperture of the connecting hole on the image (x)0，y0) Is A0Pixel point coordinates on the image; a. the1The position of the end point of the aperture major axis of the connecting hole on the image (x)1，y1) Is A1Pixel point coordinates on the image; b is0The position of the starting point of the minor axis of the aperture of the connecting hole on the image (m)0，n0) Is B0Pixel point coordinates on the image; b is1The position of the end point of the minor axis of the aperture of the connecting hole on the image (m)1，n1) Is B1Pixel point coordinates on the image; c0The position of the long axis starting point of the pit diameter of the connecting hole on the image (X)0，Y0) Is C0Pixel point coordinates on the image; c1The position of the long axis end point of the pit diameter of the connecting hole on the image (X)1，Y1) Is C1Pixel point coordinates on the image; d0The starting point of the minor axis of the socket diameter of the connecting hole is shown in the figurePosition on the image, (M)0，N0) Is D0Pixel point coordinates on the image; d1The position of the minor axis end point of the socket diameter of the connecting hole on the image (M)1，N1) Is D1Pixel point coordinates on the image;
the calibration result acquisition unit is used for acquiring a transverse calibration result a and a longitudinal calibration result b of the camera; the transverse calibration result a is the real transverse length of a pixel point, and the longitudinal calibration result b is the real longitudinal length of a pixel point;
the real length calculating unit is used for calculating the real length A, B of the aperture major axis and the minor axis of the connecting hole and the real length C, D of the aperture major axis and the minor axis of the connecting hole according to the calibration results a and b of the camera in the transverse direction and the longitudinal direction, and the calculation formula is as follows:
Figure BDA0002737331310000051
Figure BDA0002737331310000052
Figure BDA0002737331310000061
Figure BDA0002737331310000062
according to the specific embodiment provided by the invention, the invention discloses the following technical effects:
1) the detection precision is high. The invention carries out digital detection on the connecting hole through the camera to obtain the true value of the aperture nest diameter parameter of the connecting hole, so that the detection precision can reach the pixel point level.
2) The workpiece is not damaged. According to the invention, the camera is used for completing the spacing measurement of the connecting hole, and the connecting hole is not contacted, so that the damage to the workpiece is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is an overall flow chart of a mechanical connection hole aperture and nest diameter detection method provided by the present invention;
FIG. 2 is a flowchart of an auto-focusing method according to the present invention;
FIG. 3 is a flow chart of an image processing method provided by the present invention;
FIG. 4 is a schematic diagram of a camera provided by the present invention;
FIG. 5 is an image of a connection hole at a different location provided by the present invention;
FIG. 6 is a graph showing the variation trend of the image sharpness along with the position of the camera according to the present invention; .
FIG. 7 is an original image provided by the present invention;
FIG. 8 is a binarized aperture image provided by the present invention;
FIG. 9 is a nest diameter image after binarization processing provided by the invention;
FIG. 10 is an aperture image boundary extracted by the Sobel edge detection algorithm provided by the present invention;
FIG. 11 is a dimple diameter image boundary extracted by the Sobel edge detection algorithm provided by the present invention;
FIG. 12 is a schematic diagram of the aperture image recognition result provided by the present invention;
FIG. 13 is a schematic diagram of a dimple diameter image recognition result provided by the present invention;
FIG. 14 is a block diagram of a mechanical linkage hole diameter and socket diameter detection system provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a system for detecting the aperture and the nest diameter of a mechanical connecting hole.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, a method for detecting the aperture and the nest diameter of a mechanical connection hole comprises the following steps:
step 1: the camera is aligned with the attachment hole as in fig. 4.
Step 2: the auto-focusing function is operated to make the camera complete auto-focusing through the movement of the sliding table of the guide rail, as shown in fig. 2, which is a flow chart of the auto-focusing method. The auto-focusing steps of the camera are as follows:
step 2.1: and initializing focusing parameters. The focusing parameters include: camera position x, camera movement step L, image sharpness Q.
Step 2.2: the camera is moved in steps and the camera position x is updated x + L.
Step 2.3: a photograph was taken and the image sharpness Q was calculated by the Tenengrad image sharpness evaluation function. The Tenengrad image definition evaluation function formula is as follows, wherein I (x, y) represents the gray value of a shot image at the position (x, y), and n is the total number of pixel points in the shot image;
Figure BDA0002737331310000071
Figure BDA0002737331310000072
Figure BDA0002737331310000073
Figure BDA0002737331310000081
step 2.4: and judging whether the image definition Q is a maximum value at the current camera position x. If so, the automatic focusing is completed, otherwise, the step 2.2 is returned to, and the camera is continuously moved. As shown in fig. 5, at x 1000, the image resolution Q4.102061; at x-2000, image sharpness Q-4.604799; at x 3000, the image sharpness Q5.847310; at x 4000, image sharpness Q50.635648; at x 5000, image sharpness Q24.105014; at x 6000, image sharpness Q6.019339; at x 7000, image sharpness Q4.183125; at x 8000, the image sharpness Q2.811283. The degree of image sharpness changes with the change of Q, and it can be seen from fig. 5 that the image is sharper when Q is larger. The trend of Q with x is shown in FIG. 6, where it can be seen that Q has a maximum value. After the automatic focusing is finished, the camera will move to the position where x is 5000.
And step 3: keeping the camera position consistent with the camera position when the automatic focusing is finished, shooting a picture of the connecting hole, and processing the picture through an image processing algorithm to obtain the lengths of the long shaft and the short shaft of the aperture pit diameter of the connecting hole. The image processing algorithm process is shown in fig. 3, and comprises the following steps:
step 3.1: the acquired raw image is processed, and the raw image is shown in fig. 7.
Step 3.2: the acquired image is subjected to binarization processing, and an aperture image and a pit diameter image are respectively obtained by setting different gray level thresholds, wherein the processed aperture image is shown in fig. 8, and the processed pit diameter image is shown in fig. 9.
Step 3.3: the boundary of the binarized image is extracted by using a Sobel edge detection algorithm, the extraction result of the aperture image is shown in figure 10, and the extraction result of the pit diameter image is shown in figure 11.
Step 3.5: processing the extracted image boundary by using an ellipse recognition algorithm in Opencv to obtain the endpoint coordinate A of the long axis of the aperture of the connecting hole0(x0，y0)、A1(x1，y1) And the minor axis end point coordinate B of the aperture of the connecting hole0(m0，n0)、B1(m1，n1) Obtaining coordinates C of the long shaft end point of the socket diameter of the connecting hole0(X0，Y0)、C1(X1，Y1) And the minor axis end point coordinate D of the aperture of the connecting hole0(M0，N0)、D1(M1，N1)。A0The position of the starting point of the long axis of the aperture of the connecting hole on the image (x)0，y0) Is A0Pixel point coordinates on the image; a. the1The position of the end point of the aperture major axis of the connecting hole on the image (x)1，y1) Is A1Pixel point coordinates on the image; b is0The position of the starting point of the minor axis of the aperture of the connecting hole on the image (m)0，n0) Is B0Pixel point coordinates on the image; b is1The position of the end point of the minor axis of the aperture of the connecting hole on the image (m)1，n1) Is B1Pixel point coordinates on the image; c0The position of the long axis starting point of the pit diameter of the connecting hole on the image (X)0，Y0) Is C0Pixel point coordinates on the image; c1The position of the long axis end point of the pit diameter of the connecting hole on the image (X)1，Y1) Is C1Pixel point coordinates on the image; d0The position of the minor axis starting point of the pit diameter of the connecting hole on the image (M)0，N0) Is D0Pixel point coordinates on the image; d1The position of the minor axis end point of the socket diameter of the connecting hole on the image (M)1，N1) Is D1Coordinates of pixel points on the image.
Step 3.6: according to the calibration results a and b of the camera in the transverse direction and the longitudinal direction, the real length A, B of the long axis and the short axis of the aperture of the connecting hole and the real length C, D of the long axis and the short axis of the socket of the connecting hole are calculated. And the calibration results a and b of the camera in the transverse and longitudinal directions are the real transverse and longitudinal lengths of a pixel point. The aperture image recognition result is shown in fig. 12, the dimple image recognition result is shown in fig. 13, and the calculation formula of the true length A, B, C, D is as follows:
Figure BDA0002737331310000091
Figure BDA0002737331310000092
Figure BDA0002737331310000093
Figure BDA0002737331310000094
and 4, step 4: if the use is finished, the equipment is closed; if the use is continued, the step 2 is returned to.
As shown in fig. 14, the present invention also provides a mechanical connection hole aperture and socket aperture detection system, comprising:
a position determining module 1401, configured to enable the camera to complete auto-focus, and determine an auto-focus position of the camera.
The position determining module specifically includes:
the initialization unit is used for initializing focusing parameters; the focusing parameters include: camera position, camera movement step size, and image sharpness.
And the moving unit is used for moving the camera according to the camera moving step length and updating the camera position.
And the shooting unit is used for shooting the connecting hole at each camera position.
The definition calculating unit is used for calculating the definition of the shot image through a Tenengrad image definition evaluation function; the calculation formula of the definition of the shot image is as follows:
Figure BDA0002737331310000101
Figure BDA0002737331310000102
Figure BDA0002737331310000103
Figure BDA0002737331310000104
wherein, I (x, y) represents the gray value of the captured image at (x, y), n is the total number of pixels in the captured image, Q represents the sharpness of the captured image, Gx represents the kernel of the horizontal derivation at a certain pixel point of the image, Gy represents the kernel of the vertical derivation at a certain pixel point of the image, and S (x, y) represents the gradient value of the image at (x, y).
And the determining unit is used for determining that the corresponding camera position when the definition of the shot image is maximum is an automatic focusing position.
The collecting module 1402 is configured to set the camera at the auto-focus position, and collect image information of the connecting hole.
An image processing module 1403, configured to process the image information and extract a boundary of the connection hole.
The image processing module specifically comprises:
the binarization processing unit is used for carrying out binarization processing on the acquired image and respectively obtaining an aperture image and a pit diameter image by setting different gray threshold values;
and the image boundary extraction unit is used for extracting the image boundaries of the aperture image and the nest diameter image after binaryzation by utilizing a Sobel edge detection algorithm.
A length calculation module 1404 for calculating the lengths of the aperture and the dimple diameter based on the boundary of the connection hole.
The length calculation module specifically includes:
an identification unit, configured to process the extracted image boundary using an ellipse identification algorithm in Opencv to obtain a connection hole aperture major axis endpoint coordinate a0(x0，y0)、A1(x1，y1) Minor axis end point coordinate B of aperture of connecting hole0(m0，n0)、B1(m1，n1) Coordinates C of long shaft end point of socket diameter of connecting hole0(X0，Y0)、C1(X1，Y1) And coordinates D of end point of minor axis of socket diameter of connecting hole0(M0，N0)、D1(M1，N1)；A0The position of the starting point of the long axis of the aperture of the connecting hole on the image (x)0，y0) Is A0Pixel point coordinates on the image; a. the1The position of the end point of the aperture major axis of the connecting hole on the image (x)1，y1) Is A1Pixel point coordinates on the image; b is0The position of the starting point of the minor axis of the aperture of the connecting hole on the image (m)0，n0) Is B0Pixel point coordinates on the image; b is1The position of the end point of the minor axis of the aperture of the connecting hole on the image (m)1，n1) Is B1Pixel point coordinates on the image; c0The position of the long axis starting point of the pit diameter of the connecting hole on the image (X)0，Y0) Is C0Pixel point coordinates on the image; c1The position of the long axis end point of the pit diameter of the connecting hole on the image (X)1，Y1) Is C1Pixel point coordinates on the image; d0The position of the minor axis starting point of the pit diameter of the connecting hole on the image (M)0，N0) Is D0Pixel point coordinates on the image; d1The position of the minor axis end point of the socket diameter of the connecting hole on the image (M)1，N1) Is D1Coordinates of pixel points on the image.
The calibration result acquisition unit is used for acquiring a transverse calibration result a and a longitudinal calibration result b of the camera; the transverse calibration result a is the real transverse length of a pixel point, and the longitudinal calibration result b is the real longitudinal length of a pixel point;
the real length calculating unit is used for calculating the real length A, B of the aperture major axis and the minor axis of the connecting hole and the real length C, D of the aperture major axis and the minor axis of the connecting hole according to the calibration results a and b of the camera in the transverse direction and the longitudinal direction, and the calculation formula is as follows:
Figure BDA0002737331310000111
Figure BDA0002737331310000112
Figure BDA0002737331310000113
Figure BDA0002737331310000114
the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (10)

1.一种机械连接孔孔径和窝径检测方法，其特征在于，包括：1. a mechanical connection hole aperture and pit diameter detection method, is characterized in that, comprises: 使相机完成自动对焦，并确定相机的自动对焦位置；Make the camera complete autofocus and determine the camera's autofocus position; 将所述相机设置在所述自动对焦位置，并采集连接孔的图像信息；Setting the camera at the auto-focusing position, and collecting image information of the connection hole; 对所述图像信息进行处理，提取所述连接孔的边界；processing the image information to extract the boundary of the connection hole; 基于连接孔边界计算孔径和窝径的长度。Calculate the length of the hole diameter and the socket diameter based on the connection hole boundary. 2.根据权利要求1所述的机械连接孔孔径和窝径检测方法，其特征在于，所述使相机完成自动对焦，并确定相机的自动对焦位置，具体包括：2. The method for detecting mechanical connection hole aperture and socket diameter according to claim 1 , wherein the camera is automatically focused and the autofocus position of the camera is determined, specifically comprising: 初始化对焦参数；所述对焦参数包括：相机位置、相机移动步长和图像清晰度；Initialize focus parameters; the focus parameters include: camera position, camera movement step size and image clarity; 按所述相机移动步长移动相机，并更新所述相机位置；Move the camera according to the camera moving step, and update the camera position; 在各所述相机位置对所述连接孔进行拍摄；photographing the connection holes at each of the camera positions; 通过Tenengrad图像清晰度评价函数计算拍摄图像的清晰度；Calculate the sharpness of the captured image through the Tenengrad image sharpness evaluation function; 确定所述拍摄图像的清晰度最大时对应的相机位置为自动对焦位置。It is determined that the camera position corresponding to the maximum sharpness of the captured image is the automatic focus position. 3.根据权利要求2所述的机械连接孔孔径和窝径检测方法，其特征在于，所述拍摄图像的清晰度的计算公式如下：3. mechanical connection hole aperture and hole diameter detection method according to claim 2, is characterized in that, the calculation formula of the sharpness of described photographed image is as follows:
Figure FDA0002737331300000011
Figure FDA0002737331300000011
Figure FDA0002737331300000012
Figure FDA0002737331300000012
Figure FDA0002737331300000013
Figure FDA0002737331300000013
Figure FDA0002737331300000014
Figure FDA0002737331300000014
 其中，I(x,y)表示拍摄图像在(x,y)处的灰度值，n为拍摄图像中像素点总数，Q表示拍摄图像的清晰度，Gx表示图像某像素点处横向求导的内核，Gy表示图像某像素点处纵向求导的内核，S(x,y)表示图像在(x，y)处的梯度值。Among them, I(x, y) represents the gray value of the captured image at (x, y), n is the total number of pixels in the captured image, Q represents the sharpness of the captured image, and Gx represents the horizontal derivation at a certain pixel of the image The kernel of , Gy represents the kernel of longitudinal derivation at a certain pixel of the image, and S(x, y) represents the gradient value of the image at (x, y). 4.根据权利要求1所述的机械连接孔孔径和窝径检测方法，其特征在于，所述对所述图像信息进行处理，提取所述连接孔的边界，具体包括：4. The method for detecting the hole diameter and socket diameter of a mechanical connection hole according to claim 1, wherein the processing of the image information to extract the boundary of the connection hole specifically comprises: 对采集的图像进行二值化处理，通过设定不同的灰度阈值，分别得到孔径图像和窝径图像；Binarize the collected images, and obtain aperture images and fossa diameter images by setting different grayscale thresholds; 利用Sobel边缘检测算法，提取二值化后的所述孔径图像和所述窝径图像的图像边界。Using the Sobel edge detection algorithm, the image boundaries of the binarized aperture image and the pit diameter image are extracted. 5.根据权利要求4所述的机械连接孔孔径和窝径检测方法，其特征在于，所述基于连接孔边界计算孔径和窝径的长度，具体包括：5. mechanical connection hole aperture and hole diameter detection method according to claim 4, is characterized in that, described based on connection hole boundary calculates the length of aperture and hole diameter, specifically comprises: 使用Opencv中椭圆识别算法处理提取后的图像边界，得到连接孔孔径长轴端点坐标A0(x0，y0)、A1(x1，y1)、连接孔孔径短轴端点坐标B0(m0，n0)、B1(m1，n1)、连接孔窝径长轴端点坐标C0(X0，Y0)、C1(X1，Y1)以及连接孔窝径短轴端点坐标D0(M0，N0)、D1(M1，N1)；A0为连接孔孔径长轴起点在图像上的位置，(x0，y0)为A0在图像上的像素点坐标；A1为连接孔孔径长轴末点在图像上的位置，(x1，y1)为A1在图像上的像素点坐标；B0为连接孔孔径短轴起点在图像上的位置，(m0，n0)为B0在图像上的像素点坐标；B1为连接孔孔径短轴末点在图像上的位置，(m1，n1)为B1在图像上的像素点坐标；C0为连接孔窝径长轴起点在图像上的位置，(X0，Y0)为C0在图像上的像素点坐标；C1为连接孔窝径长轴末点在图像上的位置，(X1，Y1)为C1在图像上的像素点坐标；D0为连接孔窝径短轴起点在图像上的位置，(M0，N0)为D0在图像上的像素点坐标；D1为连接孔窝径短轴末点在图像上的位置，(M1，N1)为D1在图像上的像素点坐标；Use the ellipse recognition algorithm in Opencv to process the extracted image boundary, and obtain the coordinates A 0 (x 0 , y 0 ) and A 1 (x 1 , y 1 ) of the endpoints of the long axis of the connecting hole aperture, and the coordinates of the short axis endpoints of the connecting hole diameter B 0 (m 0 , n 0 ), B 1 (m 1 , n 1 ), the long-axis end point coordinates of the connecting hole diameter C 0 (X 0 , Y 0 ), C 1 (X 1 , Y 1 ), and the connecting hole diameter The coordinates of the short axis end point D 0 (M 0 , N 0 ), D 1 (M 1 , N 1 ); A 0 is the position of the starting point of the long axis of the connecting hole aperture on the image, (x 0 , y 0 ) is A 0 in the image Pixel coordinates on the image; A 1 is the position of the end point of the long axis of the connecting hole aperture on the image, (x 1 , y 1 ) is the pixel coordinate of A 1 on the image; B 0 is the starting point of the short axis of the connecting hole aperture The position on the image, (m 0 , n 0 ) is the pixel coordinate of B 0 on the image; B 1 is the position of the end point of the short axis of the connecting hole aperture on the image, (m 1 , n 1 ) is B 1 Pixel coordinates on the image; C 0 is the position on the image of the starting point of the long axis of the connecting hole diameter, (X 0 , Y 0 ) is the pixel coordinate of C 0 on the image; C 1 is the connecting hole diameter and length The position of the end point of the axis on the image, (X 1 , Y 1 ) is the pixel coordinate of C 1 on the image; D 0 is the position of the starting point of the short axis of the connecting hole and socket diameter on the image, (M 0 , N 0 ) is the pixel coordinate of D 0 on the image; D 1 is the position of the short-axis end point of the connecting pore diameter on the image, (M 1 , N 1 ) is the pixel coordinate of D 1 on the image; 获取相机的横向标定结果a和纵向标定结果b；所述横向标定结果a为一个像素点真实横向长度，所述纵向标定结果b为一个像素点真实纵向长度；Obtain the horizontal calibration result a and the vertical calibration result b of the camera; the horizontal calibration result a is the true horizontal length of a pixel, and the vertical calibration result b is the true vertical length of a pixel; 根据相机横向纵向的标定结果a、b，计算得到连接孔孔径长短轴的真实长度A、B，和连接孔窝径长短轴的真实长度C、D，计算公式如下：According to the horizontal and vertical calibration results a and b of the camera, the true lengths A and B of the long and short axes of the connecting hole aperture and the true lengths C and D of the long and short axes of the connecting hole diameter are calculated. The calculation formulas are as follows:
Figure FDA0002737331300000021
Figure FDA0002737331300000021
Figure FDA0002737331300000031
Figure FDA0002737331300000031
Figure FDA0002737331300000032
Figure FDA0002737331300000032
Figure FDA0002737331300000033
Figure FDA0002737331300000033
 6.一种机械连接孔孔径和窝径检测系统，其特征在于，包括：6. A mechanical connection hole aperture and socket diameter detection system, characterized in that, comprising: 位置确定模块，用于使相机完成自动对焦，并确定相机的自动对焦位置；The position determination module is used to make the camera complete auto-focus and determine the auto-focus position of the camera; 采集模块，用于将所述相机设置在所述自动对焦位置，并采集连接孔的图像信息；an acquisition module, configured to set the camera at the auto-focusing position and acquire image information of the connection hole; 图像处理模块，用于对所述图像信息进行处理，提取所述连接孔的边界；an image processing module, configured to process the image information and extract the boundary of the connection hole; 长度计算模块，用于基于连接孔边界计算孔径和窝径的长度。Length calculation module for calculating the length of the hole diameter and the socket diameter based on the boundary of the connecting hole. 7.根据权利要求6所述的机械连接孔孔径和窝径检测系统，其特征在于，所述位置确定模块具体包括：7. The mechanical connection hole diameter and socket diameter detection system according to claim 6, wherein the position determination module specifically comprises: 初始化单元，用于初始化对焦参数；所述对焦参数包括：相机位置、相机移动步长和图像清晰度；an initialization unit for initializing focus parameters; the focus parameters include: camera position, camera movement step size and image clarity; 移动单元，用于按所述相机移动步长移动相机，并更新所述相机位置；a moving unit, used for moving the camera according to the camera moving step, and updating the camera position; 拍摄单元，用于在各所述相机位置对所述连接孔进行拍摄；a photographing unit for photographing the connection hole at each of the camera positions; 清晰度计算单元，用于通过Tenengrad图像清晰度评价函数计算拍摄图像的清晰度；a sharpness calculation unit, used for calculating the sharpness of the captured image through the Tenengrad image sharpness evaluation function; 确定单元，用于确定所述拍摄图像的清晰度最大时对应的相机位置为自动对焦位置。A determination unit, configured to determine that the camera position corresponding to the maximum sharpness of the captured image is the automatic focus position. 8.根据权利要求7所述的机械连接孔孔径和窝径检测系统，其特征在于，所述拍摄图像的清晰度的计算公式如下：8. The mechanical connection hole aperture and socket diameter detection system according to claim 7, wherein the calculation formula of the sharpness of the captured image is as follows:
Figure FDA0002737331300000034
Figure FDA0002737331300000034
Figure FDA0002737331300000035
Figure FDA0002737331300000035
Figure FDA0002737331300000041
Figure FDA0002737331300000041
Figure FDA0002737331300000042
Figure FDA0002737331300000042
 其中，I(x,y)表示拍摄图像在(x,y)处的灰度值，n为拍摄图像中像素点总数，Q表示拍摄图像的清晰度，Gx表示图像某像素点处横向求导的内核，Gy表示图像某像素点处纵向求导的内核，S(x,y)表示图像在(x，y)处的梯度值。Among them, I(x, y) represents the gray value of the captured image at (x, y), n is the total number of pixels in the captured image, Q represents the sharpness of the captured image, and Gx represents the horizontal derivation at a certain pixel of the image The kernel of , Gy represents the kernel of the longitudinal derivation at a certain pixel of the image, and S(x, y) represents the gradient value of the image at (x, y). 9.根据权利要求6所述的机械连接孔孔径和窝径检测系统，其特征在于，所述图像处理模块具体包括：9. The mechanical connection hole diameter and socket diameter detection system according to claim 6, wherein the image processing module specifically comprises: 二值化处理单元，用于对采集的图像进行二值化处理，通过设定不同的灰度阈值，分别得到孔径图像和窝径图像；The binarization processing unit is used to perform binarization processing on the collected image, and by setting different grayscale thresholds, the aperture image and the pit diameter image are obtained respectively; 图像边界提取单元，用于利用Sobel边缘检测算法，提取二值化后的所述孔径图像和所述窝径图像的图像边界。The image boundary extraction unit is used for extracting the image boundary of the binarized aperture image and the fossa diameter image by using the Sobel edge detection algorithm. 10.根据权利要求9所述的机械连接孔孔径和窝径检测系统，其特征在于，所述长度计算模块具体包括：10. The mechanical connection hole diameter and socket diameter detection system according to claim 9, wherein the length calculation module specifically comprises: 识别单元，用于使用Opencv中椭圆识别算法处理提取后的图像边界，得到连接孔孔径长轴端点坐标A0(x0，y0)、A1(x1，y1)、连接孔孔径短轴端点坐标B0(m0，n0)、B1(m1，n1)、连接孔窝径长轴端点坐标C0(X0，Y0)、C1(X1，Y1)以及连接孔窝径短轴端点坐标D0(M0，N0)、D1(M1，N1)；A0为连接孔孔径长轴起点在图像上的位置，(x0，y0)为A0在图像上的像素点坐标；A1为连接孔孔径长轴末点在图像上的位置，(x1，y1)为A1在图像上的像素点坐标；B0为连接孔孔径短轴起点在图像上的位置，(m0，n0)为B0在图像上的像素点坐标；B1为连接孔孔径短轴末点在图像上的位置，(m1，n1)为B1在图像上的像素点坐标；C0为连接孔窝径长轴起点在图像上的位置，(X0，Y0)为C0在图像上的像素点坐标；C1为连接孔窝径长轴末点在图像上的位置，(X1，Y1)为C1在图像上的像素点坐标；D0为连接孔窝径短轴起点在图像上的位置，(M0，N0)为D0在图像上的像素点坐标；D1为连接孔窝径短轴末点在图像上的位置，(M1，N1)为D1在图像上的像素点坐标；The recognition unit is used to process the extracted image boundary using the ellipse recognition algorithm in Opencv, and obtain the coordinates A 0 (x 0 , y 0 ) and A 1 (x 1 , y 1 ) of the long-axis end point of the connecting hole aperture, and the short connecting hole diameter Axis endpoint coordinates B 0 (m 0 , n 0 ), B 1 (m 1 , n 1 ), connecting hole diameter long axis endpoint coordinates C 0 (X 0 , Y 0 ), C 1 (X 1 , Y 1 ) and the coordinates D 0 (M 0 , N 0 ), D 1 (M 1 , N 1 ) of the short-axis end point of the hole diameter of the connecting hole; A 0 is the position of the starting point of the long axis of the hole diameter on the image, (x 0 , y 0 ) is the pixel coordinate of A 0 on the image; A 1 is the position of the end point of the long axis of the connecting hole aperture on the image, (x 1 , y 1 ) is the pixel coordinate of A 1 on the image; B 0 is the connection The position of the starting point of the short axis of the hole aperture on the image, (m 0 , n 0 ) is the pixel coordinate of B 0 on the image; B 1 is the position of the end point of the short axis of the connecting hole on the image, (m 1 , n 1 ) is the pixel coordinate of B 1 on the image; C 0 is the position of the starting point of the long axis of the diameter of the connecting hole on the image, (X 0 , Y 0 ) is the pixel coordinate of C 0 on the image; C 1 is The position of the end point of the long axis of the connecting hole diameter on the image, (X 1 , Y 1 ) is the pixel coordinate of C 1 on the image; D 0 is the position of the starting point of the short axis of the connecting hole diameter on the image, (M 0 , N 0 ) is the pixel coordinate of D 0 on the image; D 1 is the position of the end point of the short axis of the connecting pore diameter on the image, (M 1 , N 1 ) is the pixel coordinate of D 1 on the image ; 标定结果获取单元，用于获取相机的横向标定结果a和纵向标定结果b；所述横向标定结果a为一个像素点真实横向长度，所述纵向标定结果b为一个像素点真实纵向长度；a calibration result obtaining unit, used for obtaining the horizontal calibration result a and the vertical calibration result b of the camera; the horizontal calibration result a is the true horizontal length of a pixel, and the vertical calibration result b is the true vertical length of a pixel; 真实长度计算单元，用于根据相机横向纵向的标定结果a、b，计算得到连接孔孔径长短轴的真实长度A、B，和连接孔窝径长短轴的真实长度C、D，计算公式如下：The true length calculation unit is used to calculate the true lengths A and B of the long and short axes of the connecting hole aperture, and the true lengths C and D of the long and short axes of the connecting hole diameter according to the horizontal and vertical calibration results a and b of the camera. The calculation formulas are as follows:
Figure FDA0002737331300000051
Figure FDA0002737331300000051
Figure FDA0002737331300000052
Figure FDA0002737331300000052
Figure FDA0002737331300000053
Figure FDA0002737331300000053
Figure FDA0002737331300000054
Figure FDA0002737331300000054
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Application publication date: 20210129