CN-121977443-A - Cloud deck plane measurement method and device based on visual guidance

CN121977443ACN 121977443 ACN121977443 ACN 121977443ACN-121977443-A

Abstract

The application relates to a cradle head plane measurement method and a cradle head plane measurement device based on visual guidance, which realize accurate conversion from macroscopic image information to microscopic positioning operation by establishing a mapping relation between pixel coordinates in a first image and a rotation angle of a cradle head; when the target area is changed, the target rotation angle of the cradle head to be adjusted can be automatically calculated according to the new pixel coordinates identified in the second image and the mapping relation, and the cradle head can accurately adjust the direction of the small-view-field camera according to the calculated target rotation angle, so that the small-view-field camera is accurately aligned with the displaced second subarea from the initial first subarea, the process not only improves the automation level of detection, reduces the operation complexity, but also ensures the high-precision detection capability when the target area is dynamically changed, thereby effectively solving the problems of low positioning precision, complex operation, low detection efficiency and difficult accurate positioning of the small-view-field camera in the prior art.

Inventors

YANG SHIZHONG
WANG KAILUN
LONG PENGYU
WU YONGQIANG

Assignees

湖南北斗微芯产业发展有限公司

Dates

Publication Date: 20260505
Application Date: 20260120

Claims (10)

1. A cradle head plane measurement method based on visual guidance, the method comprising: Under the condition that a plane is horizontally placed, acquiring a first image of a target area in the plane based on a large-field camera at a historical moment, wherein the large-field camera is perpendicular to the plane; the method comprises the steps of identifying pixel coordinates corresponding to a plane position point in a first image, and setting a mapping relation between the pixel coordinates in the first image and a rotation angle of a tripod head, wherein the tripod head is arranged above the plane, a small-view-field camera is fixedly arranged on the tripod head, and the small-view-field camera is aligned with a first subarea in the target area; Responding to a measurement instruction, and acquiring a second image of a target area of the plane, which is shot at the current moment based on the large-view-field camera; Under the condition that the target area in the second image is changed compared with the target area in the first image, identifying pixel coordinates corresponding to a plane position point in the second image, and determining a target rotation angle of the cradle head according to the pixel coordinates of the second image and the mapping relation; and adjusting the cradle head according to the target rotation angle, so that the small-field-of-view camera is adjusted from being aligned with the first subarea to being aligned with a second subarea in the target area.
2. The method for measuring the plane of the cradle head based on visual guidance according to claim 1, wherein the cradle head is a two-axis platform, and the two-axis platform comprises a pitching axis and a horizontal rotation axis.
3. The method for measuring a pan-tilt plane based on visual guidance according to claim 2, wherein the setting of the mapping relationship between the pixel coordinates in the first image and the rotation angle of the pan-tilt comprises: adjusting the biaxial platform to point to a first standard point in the first image, and determining an initial azimuth angle and a depression angle of the biaxial holder; Selecting a plurality of second calibration points in the first image, and measuring azimuth angle increment and overlook angle increment of each second calibration point relative to the first calibration point; determining pixel coordinates of each of the second calibration points with the first calibration point as an origin; Constructing a nonlinear equation set according to the pixel coordinates of each second calibration point and the corresponding azimuth angle increment and overlook angle increment; solving the nonlinear equation set to obtain a parameter solution of the nonlinear equation set; And determining the rotation angle of each second calibration point according to the parameter solution.
4. A cradle head plane measurement method based on visual guidance according to claim 3, wherein the solving the nonlinear equation set to obtain a parameter solution of the nonlinear equation set comprises: And solving the nonlinear equation set based on the Newton iteration method to obtain a parameter solution of the nonlinear equation set.
5. The vision-guided pan-tilt-level measurement method of claim 1, wherein identifying pixel coordinates in the first image that correspond to a level location point comprises: pixel coordinates in the first image corresponding to planar location points are identified based on image processing techniques.
6. The vision-guided pan-tilt-level measurement method of claim 1, wherein the small field-of-view camera is configured to image and detect the second sub-region with high resolution, and wherein the detection includes at least one of dimensional measurement, surface defect detection, or micro-feature analysis.
7. The vision-guided pan-tilt-level measurement method of claim 1, wherein the change in the target area in the second image compared to the target area in the first image comprises at least one of displacement, rotation, and field-of-view offset.
8. A cradle head plane measurement device based on visual guidance, the device comprising: the system comprises a first image acquisition module, a first image acquisition module and a second image acquisition module, wherein the first image acquisition module is used for acquiring a first image of a target area in a plane based on a large-field camera at a historical moment when the plane is placed horizontally; The system comprises a mapping relation determining module, a first image processing module and a second image processing module, wherein the mapping relation determining module is used for identifying pixel coordinates corresponding to plane position points in the first image, and setting a mapping relation between the pixel coordinates in the first image and the rotation angle of a tripod head, wherein the tripod head is arranged above the plane, a small-view-field camera is fixedly arranged on the tripod head, and the small-view-field camera is aligned with a first subarea in the target area; The second image acquisition module is used for responding to the measurement instruction and acquiring a second image of the target area of the plane, which is shot at the current moment based on the large-view-field camera; The rotation angle determining module is used for identifying pixel coordinates corresponding to a plane position point in the second image under the condition that the target area in the second image is changed compared with the target area in the first image, and determining the target rotation angle of the holder according to the pixel coordinates of the second image and the mapping relation; and the cradle head adjustment measurement module is used for adjusting the cradle head according to the target rotation angle so as to enable the small-view-field camera to be adjusted from being aligned with the first subarea to be aligned with the second subarea in the target area.
9. An electronic device comprising at least one controller and a memory for communicative connection with the controller, the memory storing instructions executable by the at least one controller to cause the at least one controller to perform a vision-guided pan-tilt-level measurement method according to any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform a vision-guided pan-tilt-plane measurement method according to any one of claims 1 to 7.

Description

Cloud deck plane measurement method and device based on visual guidance Technical Field The embodiment of the application relates to the technical field of automatic detection, in particular to a cradle head plane measurement method and device based on visual guidance. Background In industrial manufacturing and electronic component production processes, high-precision detection of planar objects is a core link of quality control. Existing detection systems commonly adopt manual operation or a single high-resolution camera scheme, and have obvious defects. The manual detection mode depends on visual or manual adjustment equipment of operators, so that the efficiency is low, the labor intensity is high, the interference of subjective factors is easy to cause, the positioning accuracy is unstable, and the requirement of modern precision manufacturing on consistency is difficult to meet. When using a fixed high resolution camera, due to the narrow field of view, the camera or workpiece must be moved repeatedly by mechanical means to cover the entire detection area, which is time consuming and tedious, and multiple positioning is prone to introducing accumulated errors, affecting overall measurement accuracy. Meanwhile, a large-field-of-view camera can quickly acquire a large-area image, but has insufficient resolution, so that tiny defects cannot be effectively identified or fine size analysis can not be performed, while a small-field-of-view high-resolution camera has detail capturing capability and is extremely sensitive to a target position, and when a planar target is displaced, rotated or the field of view is shifted, the system lacks an automatic correction mechanism, so that the camera cannot be accurately aligned to a new area, and further obvious measurement deviation is generated. In an actual application scene, tiny change of the position of a workpiece frequently occurs, the prior art cannot dynamically adapt to change of a target area, detection efficiency and reliability are severely restricted, and the problem is more remarkable particularly in the field of high-precision electronic element detection. Disclosure of Invention The main purpose of the disclosed embodiments is to provide a cradle head plane measurement method and device based on visual guidance, which not only can ensure that the high-precision detection capability can be maintained when the target area is dynamically changed, but also can effectively overcome the problems of low positioning precision, complex operation, low detection efficiency and difficult accurate positioning of a small-view-field camera in the prior art. The application provides a cradle head plane measurement method based on visual guidance, which comprises the following steps: Under the condition that a plane is horizontally placed, acquiring a first image of a target area in the plane based on a large-field camera at a historical moment, wherein the large-field camera is perpendicular to the plane; the method comprises the steps of identifying pixel coordinates corresponding to a plane position point in a first image, and setting a mapping relation between the pixel coordinates in the first image and a rotation angle of a tripod head, wherein the tripod head is arranged above the plane, a small-view-field camera is fixedly arranged on the tripod head, and the small-view-field camera is aligned with a first subarea in the target area; Responding to a measurement instruction, and acquiring a second image of a target area of the plane, which is shot at the current moment based on the large-view-field camera; Under the condition that the target area in the second image is changed compared with the target area in the first image, identifying pixel coordinates corresponding to a plane position point in the second image, and determining a target rotation angle of the cradle head according to the pixel coordinates of the second image and the mapping relation; and adjusting the cradle head according to the target rotation angle, so that the small-field-of-view camera is adjusted from being aligned with the first subarea to being aligned with a second subarea in the target area. The cradle head plane measurement method based on visual guidance provided by the embodiment has at least the following beneficial effects: According to the method, the mapping relation between the pixel coordinates in the first image and the rotation angle of the holder is established, so that accurate conversion from macroscopic image information to microscopic positioning operation is realized, when a target area is changed, the target rotation angle which needs to be adjusted by the holder can be automatically calculated according to the new pixel coordinates identified in the second image in combination with the mapping relation, the positioning accuracy and efficiency are remarkably improved in comparison with the mode that the camera position needs to be adjusted by manual experience jud