A visual tool alignment device and method

Abstract

This invention discloses a visual tool alignment device and method, comprising: a first light source and a second light source disposed inside a housing; a first reflector group and a second reflector group respectively mounted on two adjacent, perpendicular sides of the housing; the first light source, the first reflector group, a semi-transparent / semi-reflective mirror, and a camera sequentially forming a first optical path, wherein light emitted from the first light source leaves a first projected image on the camera via the first optical path; the second light source, the second reflector group, the semi-transparent / semi-reflective mirror, and the camera sequentially forming a second optical path, wherein light emitted from the second light source leaves a second projected image on the camera via the second optical path; and a processing module that calculates the coordinates for visual tool alignment based on the first and second projected images respectively. Through this invention, the position of the tool to be aligned can be quickly obtained, achieving rapid automatic alignment, improving alignment accuracy and reliability, enhancing tool alignment positioning accuracy and work efficiency, and offering simple and quick operation.

Description

Technical Field

[0001] This invention relates to the field of automated alignment, and in particular to a vision tool alignment device and method. Background Technology

[0002] With the rapid development of technology, the demand for tool alignment is increasing across various industries, and the requirements are becoming more stringent. Alignment is increasingly widely used in product manufacturing, processing, and testing processes, especially in needle alignment within the precision dispensing field. Due to the ever-growing demands for accuracy and speed, existing methods are no longer sufficient to meet these needs.

[0003] Existing automatic tool alignment methods are mainly divided into contact tool alignment methods and non-contact tool alignment methods, which have the following disadvantages: Contact alignment methods, such as configuring pressure sensors on the tool to be aligned (e.g., dispensing needles), will cause deformation errors, wear or damage to the tool during the contact process, and their application in actual production lines has been gradually reduced; Non-contact tool alignment mainly includes fiber laser tool alignment methods and CCD camera tool alignment methods. However, the fiber laser tool alignment method is difficult to obtain the correct position through one or several adjustments, resulting in problems such as inconvenient operation, low alignment accuracy, inability to achieve fast alignment, high cost, long time consumption, and low efficiency. Summary of the Invention

[0004] In view of this, the visual tool alignment device and method provided by the embodiments of the present invention can quickly obtain the position of the tool to be aligned, realize rapid automatic alignment, greatly improve the alignment accuracy and reliability, improve the positioning accuracy and work efficiency of tool alignment, and is simple and quick to operate.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0006] According to one aspect of the present invention, a visual tool alignment device is provided, comprising a housing, a first light source, a second light source, a first mirror group, a second mirror group, a semi-transparent / semi-reflective mirror, a camera, and a processing module; wherein:

[0007] The first light source and the second light source are disposed inside the housing, and the light emitted by the first light source and the second light source are perpendicular to each other;

[0008] The first reflector group and the second reflector group are respectively installed on two adjacent sides of the housing that are perpendicular to each other;

[0009] The first light source, the first reflector group, the semi-transparent / semi-reflective mirror and the camera sequentially form the first optical path. The light emitted by the first light source enters the camera through the first optical path and leaves a first projected image on the camera.

[0010] The second light source, the second reflector group, the semi-transparent / semi-reflective mirror and the camera sequentially form the second optical path. The light emitted by the second light source enters the camera through the second optical path and leaves a second projected image on the camera.

[0011] The processing module calculates the first image coordinates u and the second image coordinates v based on the first projected image and the second projected image, respectively, and calculates the xy coordinates of the visual tool alignment based on the first image coordinates u and the second image coordinates v.

[0012] In one possible design, when the first light source is lit, the second light source is turned off, and at this time, a first projected image is generated by the first optical path; when the second light source is lit, the first light source is turned off, and at this time, a second projected image is generated by the second optical path.

[0013] In one possible design, the first reflector group includes a first reflector and a second reflector, with the reflective surfaces of the first and second reflectors arranged opposite to each other, so that light emitted from the first light source is reflected by the first reflector and bent 90 degrees to reach the second reflector, and then bent 90 degrees again by the second reflector to reach the semi-transparent / semi-reflective mirror.

[0014] In one possible design, the first and second reflectors are in the shape of a 45-degree triangular pyramid, so that the light emitted from the first light source is reflected by the first reflector and bent 90 degrees to reach the second reflector, and then bent 90 degrees again by the second reflector to reach the semi-transparent / semi-reflective mirror.

[0015] In one possible design, the second reflector group includes a third reflector and a fourth reflector, the reflective surfaces of which are arranged opposite to each other, so that light emitted from the second light source is reflected by the third reflector and bent 90 degrees to reach the fourth reflector, and then bent 90 degrees again by the fourth reflector to reach the semi-transparent / semi-reflective mirror.

[0016] In one possible design, the third and fourth reflectors are in the shape of a 45-degree triangular pyramid, so that the light emitted from the second light source is reflected by the third reflector and bent 90 degrees to reach the fourth reflector, and then bent 90 degrees again by the fourth reflector to reach the semi-transparent / semi-reflective mirror.

[0017] In one possible design, the camera is a linear image sensor.

[0018] In one possible design, the linear image sensor consists of a plurality of image sensors arranged linearly, with two rows of linear image sensors positioned at a perpendicular angle on the side facade of the housing base plate.

[0019] In one possible design, the light emitted by the first light source and / or the second light source just covers the linear image sensor.

[0020] According to another aspect of the present invention, a visual tool alignment method is provided, applied to the visual tool alignment apparatus described in any embodiment of the present invention, the method comprising:

[0021] The light emitted by the first light source enters the camera through the first optical path and leaves a first projected image on the camera; wherein, the first optical path is composed of the first light source, the first reflector group, the semi-transparent / semi-reflective mirror and the camera in sequence;

[0022] The light emitted from the second light source enters the camera through the second optical path, leaving a second projected image on the camera; wherein, the second optical path is composed of the second light source, the second reflector group, the semi-transparent / semi-reflective mirror, and the camera in sequence;

[0023] The first image coordinates u and the second image coordinates v are calculated based on the first projected image and the second projected image, respectively.

[0024] The xy coordinates of the visual tool alignment are calculated based on the first image coordinate u and the second image coordinate v.

[0025] Compared with related technologies, the present invention provides a visual tool alignment device and method, comprising a housing, a first light source, a second light source, a first reflector group, a second reflector group, a semi-transparent / semi-reflective mirror, a camera, and a processing module; wherein: the first light source and the second light source are disposed inside the housing, and the light emitted by the first light source and the second light source are perpendicular to each other; the first reflector group and the second reflector group are respectively installed on two adjacent sides of the housing that are perpendicular to each other; the first light source, the first reflector group, the semi-transparent / semi-reflective mirror, and the camera sequentially form a first optical path, and the light emitted by the first light source enters the camera through the first optical path, leaving a first projected image on the camera; the second light source, the second reflector group, the semi-transparent / semi-reflective mirror, and the camera sequentially form a second optical path, and the light emitted by the second light source enters the camera through the second optical path, leaving a second projected image on the camera; the processing module calculates a first image coordinate u and a second image coordinate v based on the first projected image and the second projected image, and calculates the xy coordinates for visual tool alignment based on the first image coordinate u and the second image coordinate v. Through the embodiments of this invention, by utilizing an optical path design and an optical path structure composed of a semi-transparent / semi-reflective mirror, combined with a camera-based visual positioning tool, the position of the tool to be aligned (such as a dispensing needle) can be quickly obtained, achieving rapid automatic alignment. This greatly improves the accuracy and reliability of alignment, and indirectly improves the positioning accuracy and work efficiency of tool alignment. Operation is simple and quick. Furthermore, by utilizing the aforementioned optical path design and the application of the semi-transparent / semi-reflective mirror, a camera is eliminated, significantly reducing the cost of tool alignment. Costs are controllable, manual confirmation is reduced, and the visual tool alignment device becomes more automated, indirectly improving machine efficiency and alignment speed. It also prevents damage to the tool to be aligned, avoiding accidents and unnecessary losses. This invention solves the problems of easy wear and tear on the tool to be aligned, inconvenient operation, low alignment accuracy, inability to achieve rapid alignment, high cost, long time consumption, and low efficiency when using existing tool alignment methods. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the structure of a vision tool alignment device provided in an embodiment of the present invention;

[0027] Figure 2 A visual tool alignment device provided in this embodiment of the invention determines coordinates.<U,V> A schematic diagram;

[0028] Figure 3 This is a flowchart illustrating a visual tool alignment device and method provided in an embodiment of the present invention.

[0029] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] To make the technical problems, solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0031] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0033] In one embodiment, such as Figure 1 and Figure 2 As shown, the present invention provides a visual tool alignment device, the device comprising a housing 80, a first light source 10, a second light source 20, a first reflector group 30, a second reflector group 40, a semi-transparent / semi-reflective mirror 50, a camera 60, and a processing module 70; wherein:

[0034] The first light source 10 and the second light source 20 are disposed inside the housing 80, and the light emitted by the first light source 10 and the second light source 20 is perpendicular to each other;

[0035] The first reflector group 30 and the second reflector group 40 are respectively installed on two adjacent sides of the housing 80 that are perpendicular to each other.

[0036] The first light source 10, the first reflector group 30, the semi-transparent / semi-reflective mirror 50 and the camera 60 sequentially form the first optical path 1. The light emitted by the first light source 10 enters the camera 60 through the first optical path 1 and leaves a first projected image on the camera 60.

[0037] The second light source 20, the second reflector group 40, the semi-transparent / semi-reflective mirror 50 and the camera 60 sequentially form the second optical path 2. The light emitted by the second light source 20 enters the camera 60 through the second optical path 2 and leaves a second projected image on the camera 60.

[0038] The processing module 70 calculates the first image coordinates u and the second image coordinates v based on the first projected image and the second projected image, respectively, and calculates the xy coordinates of the visual tool alignment based on the first image coordinates u and the second image coordinates v.

[0039] In this embodiment, by utilizing an optical path design and an optical path structure composed of a semi-transparent / semi-reflective mirror, combined with a camera-based visual positioning tool, the position of the tool to be aligned (such as a dispensing needle) can be quickly obtained, achieving rapid automatic alignment. This greatly improves the accuracy and reliability of alignment, and indirectly improves the positioning accuracy and efficiency of tool alignment. The operation is simple and quick. Furthermore, by utilizing the aforementioned optical path design and the application of the semi-transparent / semi-reflective mirror, a camera is eliminated, significantly reducing the cost of tool alignment. Costs are controllable, and manual confirmation is reduced, making the visual tool alignment device more automated. This indirectly improves the machine's working efficiency and alignment speed, without damaging the tool to be aligned, preventing accidents and avoiding unnecessary losses. This solution addresses the problems of easy wear and tear on the tool to be aligned, inconvenient operation, low alignment accuracy, inability to achieve rapid alignment, high cost, long time consumption, and low efficiency associated with existing tool alignment methods.

[0040] In one embodiment, the first reflector group 30 includes a first reflector 33 and a second reflector 34, with the reflective surfaces of the first reflector 33 and the second reflector 34 arranged opposite to each other. The first light source 10, the first reflector 33, the second reflector 34, the semi-transparent / semi-reflective mirror 50, and the camera 60 sequentially form a first optical path 1, which allows the light emitted by the first light source 10 to enter the camera 60 through the first optical path 1 and leave a first projected image on the camera 60. That is, the light emitted by the first light source 10 can be reflected by the first reflector 33, bend 90 degrees to reach the second reflector 34, bend 90 degrees after reaching the semi-transparent / semi-reflective mirror 50, and then be reflected by the semi-transparent / semi-reflective mirror 50 before entering the camera 60 and leaving a first projected image on the camera 60.

[0041] Preferably, the first reflector 33 and the second reflector 34 are in the shape of a 45-degree triangular pyramid, so that the light emitted by the first light source 1 is reflected by the first reflector 33 and bent 90 degrees to reach the second reflector 34, and then bent 90 degrees again by the second reflector 34 to reach the semi-transparent / semi-reflective mirror 7.

[0042] The second reflector group 40 includes a third reflector 45 and a fourth reflector 46, with the reflective surfaces of the third reflector 45 and the fourth reflector 46 arranged opposite to each other. The second light source 20, the third reflector 45, the fourth reflector 46, the semi-transparent / semi-reflective mirror 50, and the camera 60 sequentially form the second optical path 2, which allows the light emitted by the second light source 20 to enter the camera 60 through the second optical path 2 and leave a second projected image on the camera 60. That is, the light emitted by the second light source 20 can be reflected by the third reflector 45, bend 90 degrees to reach the fourth reflector 46, bend 90 degrees again after reaching the semi-transparent / semi-reflective mirror 50, and then be reflected by the semi-transparent / semi-reflective mirror 50 before entering the camera 60 and leaving a second projected image on the camera 60.

[0043] Preferably, the third reflector 45 and the fourth reflector 46 are in the shape of a 45-degree triangular pyramid, which allows the light emitted by the second light source 20 to be reflected by the third reflector 45 and then bent 90 degrees to reach the fourth reflector 46, and then bent 90 degrees again by the reflector 46 to reach the semi-transparent / semi-reflective mirror 50.

[0044] Furthermore, when the first light source 10 is lit, the second light source 20 is turned off. At this time, the first projection image is generated by the first optical path 1, forming the first image coordinate u of the tool; when the second light source 20 is lit, the first light source 10 is turned off. At this time, the second projection image is generated by the second optical path 2, forming the second image coordinate v of the tool.

[0045] In this embodiment, by using an optical path design that combines multiple reflectors to form a reflector group and an optical path structure composed of a semi-transparent / semi-reflective mirror, a camera is eliminated, significantly reducing the cost of tool alignment, reducing manual confirmation operations, making the vision tool alignment device more automated, indirectly improving the machine's working efficiency, and also increasing the alignment speed. It will not damage the alignment tool, prevent accidents, and avoid unnecessary losses.

[0046] In one embodiment, the camera 60 is a linear image sensor.

[0047] Preferably, the linear image sensor is composed of a plurality of image sensors arranged in a linear manner, with two rows of linear image sensors arranged at a vertical angle on the side facade of the base plate.

[0048] Preferably, the first light source 10 and / or the second light source 20 utilize functional tools such as lampshades, light shields, or lifting plates to ensure that the light emitted by the first light source 10 and / or the second light source 20 just covers the linear image sensor and does not affect other directions.

[0049] In one embodiment, such as Figure 2As shown, the processing module 70 calculates the first image coordinates u and the second image coordinates v based on the first projected image and the second projected image, respectively; including:

[0050] Because the tool blocks light in the light path, it creates vertical stripe shadows in the image. Given that each pixel in the image has a horizontal coordinate of i and a vertical coordinate of j, and the image width is m and the height is n, then:

[0051]

[0052] For the first projected image of the first optical path 1, Max(x) is taken as the first image coordinate u; for the second projected image of the second optical path 2, Max(x) is taken as the second image coordinate v.

[0053] Projecting either of the two projected images above onto the ordinate, we get:

[0054]

[0055] Each measurement tool action is defined as follows: taking two projected images (i.e., the first projected image and the second projected image) of the first optical path 1 and the second optical path 2 in sequence, obtaining the coordinates u of the first image and the coordinates v of the second image, and constructing a coordinate system.<u,v> This is the pixel coordinate system for measurement.

[0056] In one embodiment, the processing module 70 calculates the xy coordinates of the visual tool alignment based on the first image coordinate u and the second image coordinate v; including:

[0057] Let x and y be the motor coordinates of the alignment tool (such as a dispensing needle) that needs to move. During actual measurement, the coordinates (u, v) need to be converted to coordinates (x, y), that is:<x,y> = f(u,v), where f(u,v) is a function.

[0058] Specifically, according to the above Figure 1 and Figure 2 The geometric structure can be transformed from coordinates (u,v) to coordinates (x,y) using a mapping transformation. The detailed process is as follows:

[0059] Given:

[0060]

[0061] Where Pa is the parameter matrix, pa and pb are known quantities of the calibration action, w is the scaling parameter, and Hab is the transformation matrix.

[0062] but:

[0063] p′ b =Hab p a

[0064] in:

[0065]

[0066] To obtain h in the above formula 11 -h 33 This involves moving the motor-driven tool to four specified positions, which is the calibration process. Figure 2 As shown, four corresponding sets were obtained simultaneously.<x,y> and<u,v> ,Right now:

[0067] <x1,y1,w> T =H<u1,v1,1>

[0068] <x2,y2,w> T =H<u2,v2,1>

[0069] <x3,y3,w> T =H<u3,v1,1>

[0070] <x4,y4,w> T =H<u4,v1,1>

[0071] Where xi and yi are the motor coordinates recorded after four calibration operations; ui and vi are the pixel coordinates calculated during calibration, i = 1, 2, 3, 4.

[0072] Specifically, by setting h33 = 1, we can derive a system of 8 homogeneous equations from the 4 equations, and thus obtain 8 parameters.

[0073] The formula for converting the final coordinates (u, v) to coordinates (x, y) is as follows:

[0074] p b =H ab p a

[0075] in:

[0076]

[0077] In this embodiment, the processing module calculates the first image coordinates u and the second image coordinates v based on the first and second projected images, respectively, and calculates the xy coordinates for visual tool alignment based on the first image coordinates u and the second image coordinates v. This allows for rapid determination of the tool's position, achieving fast and automatic alignment, greatly improving alignment accuracy and reliability. It also indirectly improves the positioning accuracy and efficiency of tool alignment, and the operation is simple and quick.

[0078] In one embodiment, such as Figure 3 As shown, the present invention provides a visual tool alignment method, the method comprising:

[0079] S1. The light emitted by the first light source enters the camera through the first optical path and leaves a first projected image on the camera; wherein, the first optical path is composed of the first light source, the first reflector group, the semi-transparent / semi-reflective mirror and the camera in sequence.

[0080] S2. The light emitted by the second light source enters the camera through the second optical path and leaves a second projected image on the camera; wherein, the second optical path is composed of the second light source, the second reflector group, the semi-transparent / semi-reflective mirror and the camera in sequence;

[0081] S3. Calculate the first image coordinates u and the second image coordinates v based on the first projected image and the second projected image, respectively;

[0082] S4. Calculate the xy coordinates of the visual tool alignment based on the first image coordinate u and the second image coordinate v.

[0083] In this embodiment, by utilizing an optical path design and an optical path structure composed of a semi-transparent / semi-reflective mirror, combined with a camera-based visual positioning tool, the position of the tool to be aligned (such as a dispensing needle) can be quickly obtained, achieving rapid automatic alignment. This greatly improves the accuracy and reliability of alignment, and indirectly improves the positioning accuracy and efficiency of tool alignment. The operation is simple and quick. Furthermore, by utilizing the aforementioned optical path design and the application of the semi-transparent / semi-reflective mirror, a camera is eliminated, significantly reducing the cost of tool alignment. Costs are controllable, and manual confirmation is reduced, making the visual tool alignment device more automated. This indirectly improves the machine's working efficiency and alignment speed, without damaging the tool to be aligned, preventing accidents and avoiding unnecessary losses. This solution addresses the problems of easy wear and tear on the tool to be aligned, inconvenient operation, low alignment accuracy, inability to achieve rapid alignment, high cost, long time consumption, and low efficiency associated with existing tool alignment methods.

[0084] In one embodiment, when the first light source is lit, the second light source is turned off. At this time, a first projected image is generated by the first optical path, forming the first image coordinate u of the tool; when the second light source is lit, the first light source is turned off. At this time, a second projected image is generated by the second optical path, forming the second image coordinate v of the tool.

[0085] In one embodiment, step S3, which involves calculating the first image coordinates u and the second image coordinates v based on the first projected image and the second projected image respectively, includes:

[0086] Because the tool blocks light in the light path, it creates vertical stripe shadows in the image. Given that each pixel in the image has a horizontal coordinate of i and a vertical coordinate of j, and the image width is m and the height is n, then:

[0087]

[0088] For the first projected image of the first optical path 1, Max(x) is taken as the first image coordinate u; for the second projected image of the second optical path 2, Max(x) is taken as the second image coordinate v.

[0089] Projecting either of the two projected images above onto the ordinate, we get:

[0090]

[0091] Each measurement tool action is defined as follows: taking two projected images (i.e., the first projected image and the second projected image) of the first optical path 1 and the second optical path 2 in sequence, obtaining the coordinates u of the first image and the coordinates v of the second image, and constructing a coordinate system.<u,v> This is the pixel coordinate system for measurement.

[0092] In one embodiment, step S4, calculating the xy coordinates of the visual tool alignment based on the first image coordinate u and the second image coordinate v, includes:

[0093] Let x and y be the motor coordinates of the alignment tool (such as a dispensing needle) that needs to move. During actual measurement, the coordinates (u, v) need to be converted to coordinates (x, y), that is:<x,y> = f(u,v), where f(u,v) is a function.

[0094] Specifically, according to the above Figure 1 and Figure 2 The geometric structure can be transformed from coordinates (u,v) to coordinates (x,y) using a mapping transformation. The detailed process is as follows:

[0095] Given:

[0096]

[0097] Where Pa is the parameter matrix, pa and pb are known quantities of the calibration action, w is the scaling parameter, and Hab is the transformation matrix.

[0098] but:

[0099] p′ b =H ab p a

[0100] in:

[0101]

[0102] To obtain h in the above formula 11 -h 33 This involves moving the motor-driven tool to four specified positions, which is the calibration process. Figure 2 As shown, four corresponding sets were obtained simultaneously.<x,y> and<u,v> ,Right now:

[0103] <x1,y1,w> T =H<u1,v1,1>

[0104] <x2,y2,w> T =H<u2,v2,1>

[0105] <x3,y3,w> T =H<u3,v1,1>

[0106] <x4,y4,w> T =H<u4,v1,1>

[0107] Where xi and yi are the motor coordinates recorded after four calibration operations; ui and vi are the pixel coordinates calculated during calibration, i = 1, 2, 3, 4.

[0108] Specifically, by setting h33 = 1, we can derive a system of 8 homogeneous equations from the 4 equations, and thus obtain 8 parameters.

[0109] The formula for converting the final coordinates (u, v) to coordinates (x, y) is as follows:

[0110] p′ b =H ab p a

[0111] in:

[0112]

[0113] In this embodiment, the first image coordinates u and the second image coordinates v are calculated based on the first and second projected images, respectively. The xy coordinates for visual tool alignment are then calculated based on the first image coordinates u and the second image coordinates v. This allows for rapid and automatic alignment of the tool, significantly improving alignment accuracy and reliability. It also indirectly improves the positioning accuracy and efficiency of tool alignment, and the operation is simple and quick.

[0114] It should be noted that the above method embodiments and device embodiments belong to the same concept, and the specific implementation process can be found in the device embodiments. Furthermore, the technical features in the device embodiments are also applicable in the method embodiments, and will not be repeated here.

[0115] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0116] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0117] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A visual tool alignment device, characterized in that, The device includes a housing, a first light source, a second light source, a first reflector group, a second reflector group, a semi-transparent / semi-reflective mirror, a camera, and a processing module; wherein: The first light source and the second light source are disposed inside the housing, and the light emitted by the first light source and the second light source are perpendicular to each other; The first reflector group and the second reflector group are respectively installed on two adjacent sides of the housing that are perpendicular to each other; The first light source, the first reflector group, the semi-transparent / semi-reflective mirror and the camera sequentially form the first optical path. The light emitted by the first light source enters the camera through the first optical path and leaves a first projected image on the camera. The second light source, the second reflector group, the semi-transparent / semi-reflective mirror and the camera sequentially form the second optical path. The light emitted by the second light source enters the camera through the second optical path and leaves a second projected image on the camera. The processing module calculates the first image coordinates and the second image coordinates based on the first projected image and the second projected image, respectively, and calculates the coordinates of the visual tool alignment based on the first image coordinates and the second image coordinates; When the first light source is lit, the second light source is turned off, and at this time, a first projected image is generated by the first optical path; when the second light source is lit, the first light source is turned off, and at this time, a second projected image is generated by the second optical path. The first reflector group includes a first reflector and a second reflector. The reflective surfaces of the first reflector and the second reflector are arranged opposite to each other, so that the light emitted by the first light source is reflected by the first reflector and bent 90 degrees to reach the second reflector, and then bent 90 degrees and reflected by the second reflector to reach the semi-transparent / semi-reflective mirror. The second reflector group includes a third reflector and a fourth reflector. The reflective surfaces of the third and fourth reflectors are arranged opposite to each other, so that the light emitted by the second light source is reflected by the third reflector and bent 90 degrees to reach the fourth reflector, and then bent 90 degrees again by the fourth reflector to reach the semi-transparent / semi-reflective mirror.

2. The apparatus as claimed in claim 1, characterized in that, The first and second reflectors are shaped like 45-degree triangular pyramids, so that the light emitted from the first light source is reflected by the first reflector and bent 90 degrees to reach the second reflector, and then bent 90 degrees again by the second reflector to reach the semi-transparent / semi-reflective mirror.

3. The apparatus as described in claim 1, characterized in that, The third and fourth reflectors are shaped like 45-degree triangular pyramids, so that the light emitted from the second light source is reflected by the third reflector and bent 90 degrees to reach the fourth reflector, and then bent 90 degrees again by the fourth reflector to reach the semi-transparent / semi-reflective mirror.

4. The apparatus as claimed in claim 1, characterized in that, The camera is a linear image sensor.

5. The apparatus as described in claim 4, characterized in that, The linear image sensor consists of a plurality of image sensors arranged linearly, with two rows of linear image sensors set at a vertical angle on the side facade of the bottom plate of the housing.

6. The apparatus as described in claim 4 or 5, characterized in that, The light emitted by the first light source and / or the second light source just covers the linear image sensor.

7. A visual tool alignment method, applied to the visual tool alignment apparatus as described in any one of claims 1 to 6, characterized in that, The method includes: The light emitted by the first light source enters the camera through the first optical path and leaves a first projected image on the camera; wherein, the first optical path is composed of the first light source, the first reflector group, the semi-transparent / semi-reflective mirror and the camera in sequence; The light emitted from the second light source enters the camera through the second optical path, leaving a second projected image on the camera; wherein, the second optical path is composed of the second light source, the second reflector group, the semi-transparent / semi-reflective mirror, and the camera in sequence; The first image coordinates and the second image coordinates are calculated based on the first projected image and the second projected image, respectively. The coordinates of the visual tool alignment are calculated based on the first image coordinates and the second image coordinates.

Images