Image acquisition control method and image acquisition control device

Abstract

The embodiment of the present specification provides an image acquisition control method and an image acquisition control device, wherein the image acquisition control method comprises: controlling a detection module to emit a detection signal to an acquisition object to determine a first relative pose condition between the acquisition object and the detection module; wherein the detection module is adapted to be linked with an image acquisition device; based on the first relative pose condition, controlling a second relative pose between the acquisition object and the image acquisition device to make the acquisition object in a focusing range of the image acquisition device. By using the above scheme, adaptive adjustment of the focusing condition can be realized, and the focusing condition consistency during image acquisition is guaranteed, thereby effectively improving the image quality and imaging stability.

Description

TECHNICAL FIELD

[0001] Embodiments of the present specification relate to the technical field of image acquisition, and particularly relate to an image acquisition control method and an image acquisition control device. BACKGROUND

[0002] Image acquisition technology can convert information of a real space into image type data, and then perform corresponding image processing operations on the image according to different application scenarios, and meet the needs of the related application scenarios through the image processing results. For example, in a defect detection scenario, the image can be subjected to image processing operations related to defect detection, so as to determine whether the collected acquisition object has defects through the image processing results.

[0003] When acquiring an image, the physical attribute information (such as position, angle, etc.) and process attribute information (such as structure, size, material, etc.) of the acquisition object will affect the focusing situation when acquiring the image, thereby reducing the image quality and imaging stability, resulting in poor image processing results.

[0004] Therefore, the problem of the non-ideal focusing situation when acquiring an image needs to be solved by those skilled in the art. SUMMARY

[0005] Therefore, the present specification provides an image acquisition control method and an image acquisition control device, which can realize adaptive adjustment of the focusing situation and guarantee the consistency of the focusing situation when acquiring an image, effectively improving the image quality and imaging stability.

[0006] Specifically, the present specification provides an image acquisition control method, comprising:

[0007] controlling a detection module to emit a detection signal to an acquisition object to determine a first relative pose condition between the acquisition object and the detection module; wherein the detection module is adapted to be linked with an image acquisition device;

[0008] based on the first relative pose condition, controlling a second relative pose between the acquisition object and the image acquisition device, so that the acquisition object is in a focusing range of the image acquisition device.

[0009] The present specification also provides an image acquisition control device, comprising:

[0010] a detection module connected with an image acquisition device and linked with the image acquisition device;

[0011] A control unit is adapted to control the detection module to emit a detection signal to the collection object to determine a first relative pose condition between the collection object and the detection module, and to control a second relative pose between the collection object and the image capture device based on the first relative pose condition, so that the collection object is within a focusing range of the image capture device.

[0012] Optionally, the detection module comprises a laser, a transceiver optical assembly and a receiver.

[0013] The laser is adapted to emit a laser detection signal.

[0014] The transceiver optical assembly is adapted to transmit the laser detection signal to the collection object and transmit a light reflection signal from the collection object to the receiver.

[0015] The receiver is adapted to determine actual signal attribute information according to the light reflection signal, so that the control unit determines the first relative pose condition between the collection object and the detection module based on the actual signal attribute information.

[0016] Optionally, the transceiver optical assembly further comprises a semi-transparent and semi-reflective unit arranged in an optical path of the laser detection signal and the light reflection signal.

[0017] Optionally, the transceiver optical assembly further comprises a collimating unit arranged between the semi-transparent and semi-reflective unit and the collection object and located in the optical path of the laser detection signal and the light reflection signal.

[0018] Optionally, the transceiver optical assembly and the image capture device share part of the optical path.

[0019] The image acquisition control method provided in the embodiments of the present specification controls the detection module to emit a detection signal to the acquisition object to determine a first relative pose condition between the acquisition object and the detection module; wherein the detection module is adapted to be linked with the image acquisition device; based on the first relative pose condition, a second relative pose between the acquisition object and the image acquisition device is controlled to make the acquisition object in the focusing range of the image acquisition device. As can be seen from the above, by controlling the detection signal emitted by the detection module to the acquisition object, the first relative pose condition between the acquisition object and the detection module can be determined, and since the detection module is linked with the image acquisition device, the first relative pose condition between the acquisition object and the detection module can be used to represent the second relative pose condition between the acquisition object and the image acquisition device, so that the second relative pose between the acquisition object and the image acquisition device is controllable, thereby realizing adaptive adjustment of the focusing condition and guaranteeing the consistency of the focusing condition during image acquisition, effectively improving the image quality and imaging stability, and further improving the accuracy and reliability of the image processing result. In addition, the image acquisition control method provided in the embodiments of the present specification can be applied to application scenarios where at least one of the acquisition object is variable and batch image acquisition, and has higher universality. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the following will briefly introduce the drawings needed to be used in the embodiments of the present specification or the prior art description. Obviously, the drawings described below are only some embodiments of the present specification, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0021] Figure 1 A flowchart of an image acquisition control method provided by the embodiments of the present specification.

[0022] Figure 2 A flowchart of a method for determining a first relative pose condition provided by the embodiments of the present specification.

[0023] Figure 3 A scene diagram for determining the first relative pose condition provided by the embodiments of the present specification.

[0024] Figure 4 A light spot diagram with directionality provided by the embodiments of the present specification.

[0025] Figure 5 Another light spot diagram with directionality provided by the embodiments of the present specification.

[0026] Figure 6A flowchart of another image acquisition control method provided in the embodiments of this specification.

[0027] Figure 7a This is a schematic diagram of an image of a circuit board acquired by an image acquisition device in the current pose, as provided in an embodiment of this specification.

[0028] Figure 7b for Figure 7a A schematic diagram of the parabola between the relevant object pose and imaging quality assessment information.

[0029] Figure 7c For image acquisition devices Figure 7b The image of the circuit board acquired under the pose of the object being acquired at the top of the parabola shown.

[0030] Figure 8 This is a structural block diagram of an image acquisition and control device provided in an embodiment of this specification.

[0031] Figure 9 This is a structural block diagram of a detection module provided in an embodiment of this specification. Detailed Implementation

[0032] As described in the background section, the physical attributes (such as position and angle) and process attributes (such as structure, color, texture, and material) of the object being acquired can affect the focusing during image acquisition, thereby reducing imaging quality and stability, and resulting in poor image processing results.

[0033] For example, for the same object A1, if the position or angle of object A1 shifts, the focus will also change, potentially resulting in a blurry image and reduced image quality. Furthermore, if multiple images of object A1 are acquired, multiple images with different imaging effects may be obtained. Therefore, if image processing operations are performed, different processing results may be obtained depending on the timing of image acquisition, thus reducing the accuracy and reliability of the image processing results.

[0034] For example, when the acquired object A2 is replaced with acquired object A3, the focus will change because the surfaces of acquired object A2 and acquired object A3 have different details. This may cause the image of acquired object A3 to become blurry, thus reducing image quality. Therefore, when performing image processing operations on the image of acquired object A3, the error rate of the image processing results increases, thereby reducing the accuracy and reliability of the image processing results.

[0035] As can be seen from the above, even for the same collection object, the focusing condition will change when the position, angle, etc. of the collection object change, which easily affects the imaging quality and imaging stability, resulting in poor image processing results. For various collection objects, the focusing condition is more complex and changeable, which also easily affects the imaging quality and imaging stability, resulting in poor image processing results.

[0036] In order to solve the problem of unsatisfactory focusing condition during image collection, the present specification provides an image collection control method, which controls a detection module to emit a detection signal to a collection object to determine a first relative pose condition between the collection object and the detection module; wherein the detection module is adapted to be linked with an image collection device; based on the first relative pose condition, a second relative pose between the collection object and the image collection device is controlled to make the collection object in a focusing range of the image collection device. Thus, adaptive adjustment of the focusing condition can be realized, and the focusing condition consistency during image collection can be ensured, effectively improving the image quality and imaging stability.

[0037] In order to make those skilled in the art more clearly understand and implement the concept, scheme and advantages of the present application, the technical scheme is described in detail below with reference to the drawings and specific embodiments.

[0038] Reference Figure 1 A flowchart of an image collection control method provided by the embodiments of the present specification is shown in the figure. In the embodiments of the present specification, the image collection control method can include:

[0039] S01, control a detection module to emit a detection signal to a collection object to determine a first relative pose condition between the collection object and the detection module; wherein the detection module is adapted to be linked with an image collection device.

[0040] In specific implementation, the detection module can be configured as a mechanical structure having functions of emitting a detection signal, receiving a light reflection signal from the collection object, and collecting a laser echo signal contained in the light reflection signal, etc. The laser echo signal is a signal formed based on the collection object reflecting the laser detection signal. For example, the detection module can include an emission module and a receiving module, the emission module is adapted to emit a detection signal, and the receiving module is adapted to receive a reflection signal, filter the reflection signal to obtain a laser echo signal, and collect the laser echo signal to generate a corresponding electrical signal.

[0041] In specific implementation, the electric signal generated by the receiving module can be transmitted to the processing module, and the processing module can determine the first relative pose condition between the detection module and the collection object. The first relative pose condition is suitable for representing whether the first relative pose between the collection object and the detection module is appropriate. The determination of whether the first relative pose between the collection object and the detection module is appropriate can be determined by prior data, laboratory data, human judgment, etc., and is for the purpose of realizing that the collection object is in the focusing range of the image collection device. For example, it can be set that when the first relative pose is within the preset pose allowable range, the first relative pose is appropriate; or it can be set that when the first relative pose overlaps with the preset pose, the first relative pose is appropriate.

[0042] In specific implementation, the first relative pose can be understood as the relative relationship between the pose of the detection module and the pose of the collection object. The pose can include at least one of position and angle. The relative pose can include at least one of relative position and relative angle.

[0043] In specific implementation, the processing module can be configured with program code for obtaining the first relative pose condition based on the electric signal of the receiving module.

[0044] It can be understood that, according to specific circumstances, the processing module can be arranged in the detection module, or can be arranged in other devices (such as an image collection control device), or can be an independently running module, and the embodiments of the present application do not limit this.

[0045] In specific implementation, since the detection module is linked with the image collection device, there is a correlation between the pose of the detection module and the pose of the image collection device. Based on this, after determining the first relative pose condition between the collection object and the detection module, the first relative pose condition can be used to reflect whether the second relative pose between the collection object and the image collection device is appropriate.

[0046] The second relative pose can be understood as the relative relationship between the pose of the collection object and the pose of the image collection device.

[0047] S02, based on the first relative pose condition, controlling the second relative pose between the collection object and the image collection device, so that the collection object is in the focusing range of the image collection device.

[0048] The focusing range can be understood as the range in which the image collection device can collect a relatively clear image.

[0049] In a specific implementation, since the first relative pose condition can reflect whether the second relative pose between the collection object and the image collection device is appropriate, when it is determined according to the first relative pose condition that the second relative pose is inappropriate, the second relative pose can be adjusted. Moreover, when the second relative pose is adjusted, since the detection module is linked with the image collection device, the first relative pose between the collection object and the detection module also changes.

[0050] After the second relative pose is adjusted, the above step S01 can be performed again, so as to obtain the adjusted first relative pose condition, and according to the first relative pose condition, it is determined whether the adjusted second relative pose is appropriate, so as to determine whether to continue to adjust the second relative pose, until the second relative pose is determined to be appropriate according to the first relative pose condition (that is, the collection object is in the focusing range of the image collection device) and then stopped.

[0051] As can be seen from the above, by controlling the detection signal emitted by the detection module to the collection object, the first relative pose condition between the collection object and the detection module can be determined, and since the detection module is linked with the image collection device, the first relative pose condition between the collection object and the detection module can be used to represent the second relative pose condition between the collection object and the image collection device, so that the second relative pose between the collection object and the image collection device is controllable, thereby realizing adaptive adjustment of the focusing condition and guaranteeing the focusing consistency during image collection, effectively improving the image quality and imaging stability, and further improving the accuracy and reliability of the image processing result.

[0052] In addition, the image collection control method provided by the embodiments of the present specification can be applied to application scenarios where at least one of the collection object is variable and batch image collection exists, and has higher universality.

[0053] In actual application, the illumination control method described in the embodiments of the present specification can be used first to ensure that the collection object is in the focusing range of the image collection device, and then subsequent image collection and image processing can be performed.

[0054] In a specific implementation, the detection component and the image collection device can be arranged on the same side of the collection object, so that the first relative pose condition more accurately represents the second relative pose condition, and the probability of misjudgment is reduced.

[0055] In specific implementations, the image acquisition device and the acquisition object can be controlled to move to adjust the relative pose according to specific conditions and requirements. When one of the image acquisition device and the acquisition object is controlled to move, the relative pose can be represented by the position and / or angle of the moving subject (i.e., one of the image acquisition device and the acquisition object).

[0056] In specific implementations, the degree of movement of at least one of the image acquisition device and the acquisition object can be controlled according to specific application scenarios and requirements, so that the adjustment accuracy of the second pose can be controlled.

[0057] In specific implementations, the detection signal can be of the optical wave type (such as a laser detection signal, an infrared detection signal, etc.), the electromagnetic wave type (such as a millimeter wave detection signal), or the mechanical wave type (such as an ultrasonic detection signal), according to specific conditions. The type of detection signal emitted by the detection module can be set according to specific scenarios and requirements. The specific type of detection signal is not limited by the embodiments of the present specification.

[0058] In specific implementations, as shown in Figure 2 The method for determining the first relative pose condition provided by the embodiments of the present specification is shown in the flowchart. Specifically, in the process of controlling the detection module to emit a detection signal to the acquisition object to determine the first relative pose condition between the acquisition object and the detection module, the following steps are included:

[0059] S11, controlling the detection module to emit a laser detection signal to the acquisition object.

[0060] S12, receiving a light reflection signal from the acquisition object by the detection module, and determining actual signal attribute information.

[0061] In specific implementations, after the detection module collects the laser echo signal in the light reflection signal, the signal attribute information can be calculated by executing relevant program codes to determine the actual signal attribute information of the laser echo signal. According to the specific configuration of the detection module, the actual signal attribute information can include one or more of the actual spot size, the actual signal strength, the actual signal frequency, and the actual signal wavelength.

[0062] S13, determining the first relative pose condition between the acquisition object and the detection module based on the actual signal attribute information.

[0063] In practical implementation, signal attribute information judgment conditions are set according to specific circumstances. The first relative pose is determined by whether the actual signal attribute information meets the preset signal attribute information judgment conditions. The signal attribute information judgment conditions can be set based on one or more information types contained in the actual signal attribute information, and the thresholds or threshold ranges for corresponding information types can be set based on prior data, laboratory data, human judgment, etc. This specification does not impose specific limitations on this.

[0064] Specifically, when the actual signal attribute information meets the preset signal attribute information judgment conditions, the first relative pose condition is set to indicate that the relative pose between the acquisition object and the detection module is appropriate; when the actual signal attribute information does not meet the preset signal attribute information judgment conditions, the first relative pose condition is set to indicate that the relative pose between the acquisition object and the detection module is inappropriate.

[0065] As can be seen from the above, using laser detection signals can improve the directionality, monochromaticity and coherence of the signals, which is beneficial for extracting laser echo signals from light reflection signals and obtaining more reliable actual signal attribute information. Thus, the first relative pose can be determined by whether the actual signal attribute information is related to the preset signal attribute information, thereby improving the accuracy and reliability of the first relative pose.

[0066] In practical implementation, based on the internal structure of the detection module, the detection signal emitted by the detection module can have a certain divergence angle. Depending on the different poses of the object being collected, the size of the contact area between the detection signal emitted by the detection module and the surface of the object will also vary accordingly. Specifically, the size of the contact area between the detection signal emitted by the detection module and the surface of the object being collected is positively correlated with the distance between the object being collected and the detection module. For example, as... Figure 3 The image shown is a schematic diagram of a scenario for determining the first relative pose, as provided in an embodiment of this specification. Figure 3 As the distance between the target object (not shown in the figure) and the detection module 30 gradually increases, the detection signal ( Figure 3 The contact area between the object being collected (not shown in the image) and the surface of the object being collected (e.g., ... Figure 3 The gray-filled areas (3a to 3c) shown in the diagram also gradually increase in size.

[0067] And, according to the reflection condition of the surface of the collection object and the size of the contact area, the laser echo signal received by the detection module can include signal components with different signal attribute information (such as different signal strengths), and based on this, the actual signal attribute information distribution of the laser echo signal can be obtained after the detection module collects the laser echo signal, and an image can be formed, so that the actual signal attribute information of the detection signal is determined by using an image analysis algorithm.

[0068] In an optional example, in the process of determining the actual signal attribute information of the laser echo signal, the following steps can be included: based on the electrical signal obtained by the detection module collecting the laser echo signal, a reference mark image is formed; and based on the reference mark image, the actual signal attribute information of the detection signal is determined. Wherein, the reference mark image can include the distribution information of the actual signal attribute information of the laser echo signal.

[0069] In specific implementation, the specific image analysis algorithm used can be determined according to specific conditions. For example, since the reference mark image can include the distribution information of the actual signal attribute information of the laser echo signal, the distribution boundary information of a specified threshold (such as a specified intensity threshold) in the reference mark image can be extracted and summarized as the contour information of the reference mark image, so that the actual signal attribute information of the detection signal is determined according to the contour information of the reference mark image.

[0070] In specific implementation, in order to achieve the purpose that the collection object is in the focusing range of the image acquisition device, the signal attribute information threshold or signal attribute information threshold interval corresponding to the focusing range can be set for the signal attribute information judgment condition. When the actual signal attribute information meets the signal attribute information judgment condition, the first relative pose between the collection object and the detection module is appropriate, that is, the collection object is in the focusing range of the image acquisition device.

[0071] In an optional example, in combination with reference Figure 3 In this example, the collection object moves relative to the detection module 30, and the signal attribute information threshold corresponds Figure 3 The plane shown by the dotted line 3B.

[0072] When the collection object is located on the plane shown by the dotted line 3B, the actual signal attribute information obtained after the detection signal is emitted to the collection object reaches the signal attribute information threshold, and it can be determined that the collection object is in the focusing range of the image acquisition device.

[0073] When the collection object is not located on the plane shown by the dotted line 3B, and the actual signal attribute information obtained after the detection module 30 emits the detection signal to the collection object does not reach the signal attribute information threshold, it can be determined that the first relative pose between the collection object and the detection module 30 is not appropriate, that is, the collection object is not in the focusing range of the image acquisition device, the movement of the collection object relative to the detection module 30 is controlled, so as to adjust the second relative pose between the collection object and the image acquisition device, and the detection module 30 continues to emit the detection signal to the collection object until the collection object moves to the plane shown by the dotted line 3B.

[0074] In a specific implementation, according to the internal structure of the detection module, the detection module can have an optical assembly that collimates the divergence angle of the detection signal, so that the detection module emits a unidirectional detection signal. Based on this, according to the first relative pose between the collection object and the detection module, when the collection object is located on the focal plane of the detection module, the light spot is the clearest and the light spot size is the smallest; when the collection object is farther away from the focal plane of the detection module, the light spot is more blurred and the light spot size is larger.

[0075] Moreover, after the emission light path and the receiving light path of the detection module are designed, the laser echo signal can form a directional light spot in the detection module. According to the direction of the light spot, the positional relationship between the collection object and the focal plane of the detection module can be determined. According to the specific design of the light path, the direction of the light spot can be determined by the shape of the light spot, or the direction of the light spot can be determined by the position of the light spot deviating from the optical axis.

[0076] In an optional example, as shown in Figure 4 FIG. 3B is a schematic diagram of a directional light spot provided by an embodiment of the present specification. When the collection object moves away from the focal plane of the detection module in the direction of the detection module (that is, the collection object is located between the detection module and the focal plane of the detection module), the detection module emits a detection signal to obtain a light spot GB1, the light spot GB1 is located on one side (the right side in the figure) of the optical axis GZ1 of the detection module, and is semicircular. When the collection object is located on the focal plane of the detection module, the detection module emits a detection signal to obtain a light spot GB2, the center of the light spot GB2 coincides with the optical axis GZ1 of the detection module, and is circular. When the collection object moves away from the focal plane of the detection module in the opposite direction of the detection module, the detection module emits a detection signal to obtain a light spot GB3, the light spot GB3 is located on the other side (the left side in the figure) of the optical axis GZ1 of the detection module, and is semicircular.

[0077] Thus, according to the shape and position of the light spot, the semicircular light spot located on the right side of the optical axis GZ1 of the detection module is defined as a first light spot direction, and the semicircular light spot located on the left side of the optical axis GZ1 of the detection module is defined as a second light spot direction, so that the positional relationship between the collection object and the focal plane of the detection module can be determined according to the direction of the light spot. In addition, since the circular light spot with the center coinciding with the optical axis GZ1 of the detection module is unique, it can not be defined as a direction, or it can be defined as a third light spot direction.

[0078] In another optional example, as shown in FIG. 6, another schematic diagram of a light spot with a direction provided by an embodiment of the present specification is provided. When the collection object is away from the focal plane of the detection module in the direction of the detection module (i.e., the collection object is located between the detection module and the focal plane of the detection module), the detection module obtains a light spot gb1 after emitting a detection signal, the light spot gb1 is deviated to one side (the right side in the figure) of the optical axis GZ2 of the detection module, and is circular. Figure 5 When the collection object is located on the focal plane of the detection module, the detection module obtains a light spot gb2 after emitting a detection signal, the center of the light spot gb2 coincides with the optical axis GZ2 of the detection module, and is circular. When the collection object is away from the focal plane of the detection module in the opposite direction of the detection module, the detection module obtains a light spot gb3 after emitting a detection signal, the light spot gb3 is deviated to the other side (the left side in the figure) of the optical axis GZ2 of the detection module, and is circular.

[0079] Thus, according to the shape and position of the light spot, the circular light spot deviated to the right side of the optical axis GZ2 of the detection module is defined as a first light spot direction, and the circular light spot deviated to the left side of the optical axis GZ2 of the detection module is defined as a second light spot direction, so that the positional relationship between the collection object and the focal plane of the detection module can be determined according to the direction of the light spot. In addition, since the circular light spot with the center coinciding with the optical axis GZ2 of the detection module is unique, it can not be defined as a direction, or it can be defined as a third light spot direction.

[0080] In a specific implementation, when the actual signal attribute information is determined, the actual signal attribute information can include an actual light spot size and an actual light spot direction. Specifically, after the detection module emits a laser detection signal to the collection object and receives a light reflection signal from the collection object through the detection module, the actual light spot size and the actual light spot direction can be determined.

[0081] Based on the actual light spot size and the actual light spot direction, a first relative pose condition between the collection object and the detection module can be determined. When the first relative pose condition indicates that the first relative pose between the collection object and the detection module is not appropriate, an adjustment direction of a second relative pose between the collection object and the image acquisition device can be determined according to the actual light spot direction. For example, in combination with reference toFigure 5 When the first relative position condition indicates that the first relative position between the collection object and the detection module is inappropriate, if the direction of the actual light spot is the first direction, the collection object moves away from the detection module and the image collection device, and if the direction of the actual light spot is the second direction, the collection object moves towards the detection module and the image collection device.

[0082] By using the above scheme, the calculation of the actual light spot size and the actual light spot direction is less and more intuitive, thereby reducing the calculation amount and improving the efficiency of obtaining the first relative position condition and ensuring the accuracy of the first relative position condition.

[0083] In specific implementation, when the actual signal attribute information includes the actual light spot size and the actual light spot direction, in order to achieve the purpose of the collection object being in the focusing range of the image collection device and improve the focusing efficiency, the signal attribute information judgment condition can be set according to the light spot size threshold interval corresponding to the focusing range.

[0084] In specific implementation, in the process of adjusting the second relative position between the collection object and the image collection device, the two objects can be too close or too far away. For the case that the collection object and the image collection device are too close, the risk of collision and wear of the surface of the collection object and the image collection device is increased. For the case that the collection object and the image collection device are too far away, the image collection device cannot collect enough clear image details, and the adjustment efficiency and controllability are reduced. In order to avoid the above problems, the adjustment process of the second relative position can be controlled by the first relative position condition.

[0085] In an optional example, the first relative position condition between the collection object and the detection module can be determined by comparing the actual signal attribute information with preset first signal attribute information and second signal attribute information. The first signal attribute information is obtained when the collection object and the detection module are close to each other, and the second signal attribute information is obtained when the collection object and the detection module are far away from each other.

[0086] Specifically, according to the comparison result of the actual signal attribute information with the preset first signal attribute information and the second signal attribute information, whether the collection object and the detection module are too close or too far away can be determined, so that whether the collection object and the image collection device are too close or too far away can be determined. Therefore, the adjustment mode of the second relative position between the collection object and the image collection device is determined by the first relative position condition.

[0087] With the above scheme, the risk of collision and abrasion between the surface of the collection object and the image collection device can be avoided during adjustment of the second relative pose between the collection object and the image collection device, wear is reduced, and the image collection device can collect sufficient clear image details, improving adjustment efficiency and controllability.

[0088] In a specific implementation, when the first relative pose condition indicates that the collection object is too close to the detection module, the second relative pose can be increased so that the collection object and the image collection device are relatively far apart; when the first relative pose condition indicates that the collection object is too far away from the detection module, the second relative pose can be reduced so that the collection object and the image collection device are relatively close.

[0089] In a specific implementation, when the first relative pose condition indicates that the collection object is neither too far away from the detection module nor too close to the detection module, the second relative pose between the collection object and the image collection device can be controlled according to the actual signal attribute information. For details, refer to the description of the related part above, which will not be repeated here.

[0090] In a specific implementation, the first signal attribute information and the second signal attribute information can be set according to one or more information types included in the actual signal attribute information. For example, when the actual signal attribute information includes an actual spot size and an actual spot direction, the first signal attribute information includes a first spot size and a first spot direction; the second signal attribute information includes a second spot size and a second spot direction; and the first spot direction is opposite to the second spot direction.

[0091] In order to facilitate understanding of the role and use principle of the first signal attribute information and the second signal attribute information, the following will be described through specific examples.

[0092] In an optional example, the detection module emits a laser detection signal and receives a light reflection signal from the collection object, and the actual signal intensity of the laser echo signal in the light reflection signal is determined, i.e., the actual signal attribute information in this example.

[0093] The actual signal intensity is compared with a preset first signal intensity and a preset second signal intensity, respectively. The first signal intensity is greater than the second signal intensity.

[0094] If the actual signal strength is greater than the first signal strength, the first relative position indicates that the collection object is too close to the detection module, and the second relative position is increased to make the collection object and the image collection device relatively far away. After the second relative position is increased, the detection module continues to emit the detection signal, and the actual signal strength is determined again until the actual signal strength is less than the first signal strength.

[0095] If the actual signal strength is less than the second signal strength, the first relative position indicates that the collection object is too far away from the detection module, and the second relative position is decreased to make the collection object and the image collection device relatively close. After the second relative position is decreased, the detection module continues to emit the detection signal, and the actual signal strength is determined again until the actual signal strength is greater than the second signal strength.

[0096] If the actual signal strength is less than the first signal strength and greater than the second signal strength, the actual signal strength can be compared with a preset signal strength threshold to determine whether to adjust the second relative position and the adjustment mode of the second relative position. Specifically, if the actual signal strength is greater than the preset signal strength threshold, the first relative position indicates that the first relative position between the collection object and the detection module is not appropriate, and the second relative position is continuously decreased; and if the actual signal strength is less than the preset signal strength threshold, the first relative position indicates that the first relative position between the collection object and the detection module is not appropriate, and the second relative position is continuously increased. After the second relative position is adjusted, the detection module continues to emit the detection signal, and the actual signal strength is determined again until the actual signal strength is equal to the signal strength threshold, and the first relative position indicates that the first relative position between the collection object and the detection module is appropriate.

[0097] In another optional example, the detection module emits a laser detection signal and receives a light reflection signal from the collection object, and the actual spot size and the actual spot direction of the laser echo signal in the light reflection signal are determined as the actual signal attribute information of the example.

[0098] The actual spot size is compared with a preset first spot size and a preset second spot size, respectively, and the actual spot direction is compared with a preset first spot direction and a preset second spot direction, respectively. The first spot direction is opposite to the second spot direction.

[0099] If the actual spot size is greater than the first spot size and the actual spot direction is consistent with the first spot direction, the first relative pose condition indicates that the collection object is too close to the detection module, and the second relative position is increased to make the collection object and the image acquisition device relatively far away. After increasing the second relative position, the detection module continues to emit the detection signal, and the actual spot size and the actual spot direction are determined again until the actual spot size consistent with the first spot direction is less than the first spot size.

[0100] If the actual spot size is greater than the second spot size and the actual spot direction is consistent with the second spot direction, the first relative pose condition indicates that the collection object is too far away from the detection module, and the second relative position is decreased to make the collection object and the image acquisition device relatively close. After decreasing the second relative position, the detection module continues to emit the detection signal, and the actual spot size and the actual spot direction are determined again until the actual spot size consistent with the second spot direction is less than the second spot size.

[0101] If the actual spot size is between the first spot size and the second spot size, and the actual spot direction is consistent with the first spot direction or the second spot direction, the actual signal strength can be compared with the preset spot size threshold interval to determine whether to adjust the second relative position and the adjustment mode of the second relative position. Specifically, if the actual spot size does not belong to the preset spot size threshold interval, the first relative pose condition indicates that the first relative pose between the collection object and the detection module is not appropriate, and the second relative position is continuously increased or decreased according to the direction of the actual spot; after adjusting the second relative position, the detection module continues to emit the detection signal, and the actual spot size and the actual spot direction are determined again until the actual spot size belongs to the preset spot size threshold interval, and the first relative pose condition indicates that the first relative pose between the collection object and the detection module is appropriate.

[0102] In specific implementation, since the first relative pose condition can represent the second relative pose condition between the collection object and the image acquisition device, the image acquisition control method can further include: when the first relative pose condition indicates that the collection object is too close to the detection module, a related reminding operation is performed. The reminding operation can include generating visual and / or audible prompt information. In this way, the user can be reminded that the collection object is too close to the image acquisition device.

[0103] In a specific implementation, when the first relative pose condition indicates that the collection object is too far away from the detection module, since it takes a certain amount of time to adjust the second relative pose between the collection object and the image acquisition device, the image acquisition control method can further include: prohibiting the image acquisition device from performing image acquisition.

[0104] In a specific implementation, after the collection object is within the focusing range of the image acquisition device, the image acquisition device can acquire a clearer image. In order to further improve the accuracy of the second relative pose, so that the image acquisition device can acquire a clearer image, the image acquired by the image acquisition device can be used as a basis for judging whether the second relative pose needs to be further adjusted. Wherein, when adjusting the second relative pose based on the image acquired by the image acquisition device, the adjustment accuracy can be less than the adjustment accuracy when adjusting the second relative pose based on the first relative pose condition.

[0105] In an optional example, as shown in Figure 6 The image acquisition control method can further include:

[0106] S21, determining the pose of the collection object when the collection object is within the focusing range of the image acquisition device, to obtain a focusing reference pose.

[0107] S22, adjusting the pose of the collection object based on the focusing reference pose, and controlling the detection module to emit detection signals to the collection object and controlling the image acquisition device to perform image acquisition when the pose of the collection object changes.

[0108] In a specific implementation, the collection object moves around the focusing reference pose to change its own pose, and the detection module is controlled to emit detection signals to the collection object multiple times, and the image acquisition device is controlled to perform image acquisition multiple times synchronously.

[0109] S23, evaluating the imaging quality of the image acquisition device when the pose of the collection object changes based on the actual signal attribute information determined by the detection module and the image acquired by the image acquisition device.

[0110] In a specific implementation, the actual signal attribute information and the image corresponding to the same collection object pose are obtained from the obtained actual signal attribute information and the image, so as to evaluate the imaging quality of the image acquisition device at the corresponding collection object pose.

[0111] S24, determining the best focusing pose of the collection object based on the imaging quality evaluation result.

[0112] In specific implementations, the imaging quality evaluation result can be adapted to represent the imaging quality of the image acquisition device at each acquisition object pose when the acquisition object pose continuously changes. The imaging quality evaluation result can be represented by corresponding computer recognizable characters. The embodiments of the present specification do not limit the specific representation of the imaging quality evaluation result.

[0113] Thus, on the basis of the detection module, the image feedback of the image acquisition device is added, so that the second relative pose between the acquisition object and the image acquisition device can be accurately controlled, thereby ensuring that the image acquisition device is in focus.

[0114] In an optional example, when the acquisition object is in the focus reference pose, the detection module can emit a detection signal to the acquisition object to determine the actual signal attribute information MS1, and the image acquisition device can capture an image P1. Then, starting from the focus reference pose, the image acquisition device is moved closer or farther away, so that the acquisition object moves around the focus reference pose. When the acquisition object pose changes, the detection module is controlled to emit a detection signal to the acquisition object, and the image acquisition device is controlled to capture an image, thereby obtaining a plurality of actual signal attribute information MSA to MSN corresponding to different poses of the acquisition object, and a plurality of images PA to PN corresponding to different poses of the acquisition object.

[0115] Based on the actual signal attribute information MS1, MSA to MSN determined by the detection module and the images P1, PA to PN captured by the image acquisition device, the actual signal attribute information and the image corresponding to the same acquisition object pose (such as the actual signal attribute information MS1 and the image P1) can be obtained, and the imaging quality of the image acquisition device at the corresponding acquisition object pose can be evaluated, thereby obtaining the imaging quality corresponding to each acquisition object pose.

[0116] Then, according to the imaging quality corresponding to a plurality of acquisition object poses, an optimization process (such as the least square method, curve fitting, etc.) is performed to calculate the optimal focus pose of the acquisition object.

[0117] In specific implementations, in the process of evaluating the imaging quality of the image acquisition device when the acquisition object pose changes based on the actual signal attribute information determined by the detection module and the images captured by the image acquisition device, the gray scale features of the images can be extracted, and the imaging quality of the image acquisition device at the acquisition object pose can be evaluated based on the gray scale features and the actual signal attribute information corresponding to the same acquisition object pose.

[0118] The gray scale features of the image can be extracted by using one or more combinations of a Roberts operator, a Prewitt operator (a first-order differential operator), a Sobel operator, a Laplace operator, and a self-defined operator.

[0119] In specific implementations, the image acquisition control method provided by the embodiments of the present specification can be widely applied to various application scenarios involving image acquisition, such as a shooting scenario, a defect detection scenario, a critical dimension detection scenario, a key point detection scenario, a target recognition scenario, and the like. Accordingly, according to the specific application scenario, the image in the embodiments of the present specification can be obtained by acquiring a collection object such as a person, an object, or an environment. The present specification does not make specific limitations on the application scenario and the collection object.

[0120] For example, in the critical dimension detection scenario of a circuit board, as shown in Figure 7a , it is a schematic diagram of the image of the circuit board acquired by the image acquisition device in the current pose. As shown in Figure 7a , it can be seen that the image of the circuit board acquired by the image acquisition device in the current pose is relatively blurred.

[0121] By using the method provided by the embodiments of the present specification, the detection module is controlled to emit a detection signal to the collection object to determine the first relative pose condition between the collection object and the detection module; based on the first relative pose condition, the second relative pose between the collection object and the image acquisition device is controlled to make the collection object in the focusing range of the image acquisition device.

[0122] Then, the pose of the collection object when it is in the focusing range of the image acquisition device is determined to obtain a focusing reference pose; based on the focusing reference pose, the pose of the collection object is adjusted, and when the pose of the collection object changes, the detection module is controlled to emit a detection signal to the collection object, and the image acquisition device is controlled to perform image acquisition; based on the actual signal attribute information determined by the detection module and the image acquired by the image acquisition device, the imaging quality of the image acquisition device when the pose of the collection object changes is evaluated.

[0123] Furthermore, based on the imaging quality evaluation information corresponding to each collection object pose included in the imaging quality evaluation result, curve fitting is performed to obtain a parabola about the collection object pose and the imaging quality evaluation information, as shown in Figure 7b , and the collection object pose WZ corresponding to the top of the parabola is taken as the optimal focusing pose of the collection object. As shown in Figure 7c , it is an image of the circuit board acquired by the image acquisition device when the collection object is in the optimal focusing pose (i.e., the collection object pose WZ). In comparison with Figure 7a and Figure 7cIt can be known that the image acquisition control method provided by the embodiments of the present specification can ensure that the image acquisition device is focused clearly during image acquisition, and can ensure the consistency of the focusing condition during image acquisition, effectively improve the imaging quality and imaging stability, and further improve the accuracy and reliability of the image processing result.

[0124] It can be understood that the embodiments described above provide various implementation schemes, each of which can be combined with each other without conflict, cross-referenced, thereby extending a plurality of possible implementation schemes, which can be considered as the embodiments disclosed and disclosed by the embodiments of the present specification.

[0125] The present specification also provides an image acquisition control device corresponding to the above-mentioned image acquisition control method, which will be described in detail below with reference to the accompanying drawings through specific embodiments. It should be noted that the image acquisition control device described below can be considered as a functional module required to implement the image acquisition control method provided by the present specification; the content of the image acquisition control device described below can be mutually corresponding to the content of the image acquisition control method described above.

[0126] In specific implementation, as shown in Figure 8 , a structural block diagram of an image acquisition control device provided by the embodiments of the present specification. In Figure 8 , the image acquisition control device M10 includes a detection module M11 and a control unit M12, wherein:

[0127] The detection module M11 is connected with the image acquisition device (not shown in the figure) and is linked with the image acquisition device;

[0128] The control unit M11 is adapted to control the detection module to emit a detection signal to the acquisition object to determine the first relative pose condition between the acquisition object and the detection module, and based on the first relative pose condition, control the second relative pose between the acquisition object and the image acquisition device, so that the acquisition object is in the focusing range of the image acquisition device; wherein the process of determining the first relative pose condition between the acquisition object and the detection module and the process of controlling the second relative pose between the acquisition object and the image acquisition device can refer to the description of the above-mentioned related part, which will not be repeated here.

[0129] It can be known from the above that by controlling the detection signal emitted by the detection module to the collection object, the first relative pose condition between the collection object and the detection module can be determined, and since the detection module is linked with the image collection device, the first relative pose condition between the collection object and the detection module can be used to represent the second relative pose condition between the collection object and the image collection device, so that the second relative pose condition between the collection object and the image collection device is controllable, thereby realizing adaptive adjustment of the focusing condition and guaranteeing the focusing condition consistency during image collection, effectively improving the image quality and imaging stability, and further improving the accuracy and reliability of the image processing result.

[0130] In addition, the image collection control device provided by the embodiments of the present specification can be applied to application scenarios where at least one of the collection object is variable and batch image collection exists, and has higher universality.

[0131] It can be understood that in actual application, the control unit can be implemented by one processor or two processors. The processor can be implemented by a central processing unit (CPU), a graphics processing unit (GPU), a field programmable gate array (FPGA), or the like, or can be implemented by a specific integrated circuit (ASIC) or one or more integrated circuits configured to implement the embodiments of the present specification.

[0132] In specific implementation, as Figure 9 described, the detection module M20 can include a laser M21, a transceiving optical assembly M22, and a receiver M23.

[0133] The laser M21 is adapted to emit a laser detection signal (such as Figure 9 a black dashed line in FIG. 1).

[0134] The transceiving optical assembly M22 is adapted to transmit the laser detection signal to the collection object W1, and transmit a light reflection signal (such as Figure 9 a gray dotted line in FIG. 1) from the collection object W1 to the receiver M23.

[0135] The receiver M23 is adapted to determine actual signal attribute information according to the light reflection signal, so that the control unit (not shown in the figure) determines the first relative pose condition between the collection object W1 and the detection module M20 based on the actual signal attribute information. The receiver M23 can be provided with a filter for obtaining the laser echo signal in the light reflection signal.

[0136] In a specific implementation, the transceiving optical assembly can further include a semi-transparent and semi-reflective unit arranged in the light paths of the laser detection signal and the light reflection signal. In this way, the space can be effectively saved while reasonably integrating the light paths.

[0137] For example, continuing to refer to Figure 9 , the transceiving optical assembly M22 includes a semi-transparent and semi-reflective unit M22-1 with an upper half part being transparent and a lower half part being opaque. The upper half part of the semi-transparent and semi-reflective unit M22-1 is arranged in the light path of the laser detection signal, so that the laser detection signal can pass through, and the lower half part of the semi-transparent and semi-reflective unit M22-1 is arranged in the light path of the light reflection signal, so that the light reflection signal is refracted to the receiver M23.

[0138] In a specific implementation, in order to obtain a light spot with a direction, the transceiving optical assembly can further include a collimating unit arranged between the semi-transparent and semi-reflective unit and the collection object and located in the light paths of the laser detection signal and the light reflection signal. In this way, the collimating unit can collimate the laser detection signal and the light reflection signal, improve the unidirectionality of the laser detection signal and the light reflection signal, and according to the actual distance between the collection object and the focal plane of the collimating unit, the light spot can be offset in a certain direction, so that the light spot has directionality.

[0139] For example, continuing to refer to Figure 9 , the transceiving optical assembly M22 can further include a collimating unit M22-2. The collimating unit M22-2 is located between the semi-transparent and semi-reflective unit M22-1 and the collection object W1, and the collimating unit M22-2 is located in the light paths of the laser detection signal and the light reflection signal, so as to collimate the laser detection signal and the light reflection signal.

[0140] In a specific implementation, when the transceiving optical assembly includes the collimating unit, the receiver can calculate the size of the radius r of the actual light spot by using the following formula, so as to determine the size of the actual light spot:

[0141]

[0142] Wherein, W is the beam waist radius of the laser echo signal after the collimation unit; λ is the wavelength of the laser echo signal; z is the distance between the surface of the collection object irradiated by the laser detection signal and the focal plane, which can be obtained by comparing the laser detection signal and the laser echo signal.

[0143] In specific implementation, the transceiving optical assembly can share part of the optical path with the image collection device, so as to avoid the detection assembly from blocking the image collection device, facilitate the image collection device to collect images, and improve the matching degree of the field of view of the detection assembly and the image collection device, so that the first relative pose condition can more accurately represent the second relative pose condition, and the probability of misjudgment is reduced.

[0144] For example, continuing to refer to Figure 9 , the transceiving optical assembly M22 can further include a light splitting unit M22-3. The light splitting unit M22-3 is located between the collimation unit M22-2 and the collection object W1, and the light splitting unit M22-3 is located on the optical path of the laser detection signal and the light reflection signal, and is adapted to transmit the laser detection signal to the collection object W1, and transmit the light reflection signal to the collimation unit M22-2 and the image collection device MA respectively.

[0145] In specific implementation, when part of the optical path is shared between the transceiving optical assembly and the image collection device, the transceiving optical assembly can further include an objective lens M22-4, which is adapted to magnify the collection object, and is beneficial to the image collection device to collect images.

[0146] In actual application, the specific types of the devices in the transceiving optical assembly can be selected according to specific conditions and requirements. For example, the semi-transparent semi-reflective unit can include a semi-transparent semi-reflective prism; the collimation unit can include a collimation mirror; and the light splitting unit can include a light splitting prism. The present specification does not make specific limitations in this regard.

[0147] In specific implementation, the transceiving optical assembly can further include an adjusting member, which is adapted to adjust the position of the collimation unit according to the optical path condition, so as to realize adaptive adjustment of the position of the collimation unit.

[0148] In specific implementations, when the image acquisition control device controls the second relative pose change between the image acquisition device and the acquisition object, the specific implementation of the second relative pose change can be determined according to the actual connection relationship of the image acquisition control device. As an optional example, since the image acquisition control device is connected with the image acquisition device, when the relative pose continuous change is implemented, the image acquisition control device can control the image acquisition device to move. As another optional example, the image acquisition control device can be connected with the image acquisition device and a loading device loading the acquisition object respectively, so that at least one of the image acquisition device and the acquisition object can be controlled to move.

[0149] In specific implementations, the present specification also provides another image acquisition control device, which can include a memory and a processor, the memory stores computer instructions executable on the processor, and the processor executes the computer instructions to perform the steps of the image acquisition control method provided by the embodiments of the present specification. The specific content and implementation of the image acquisition control method can be referred to the description of the above related parts, which will not be repeated here.

[0150] In specific implementations, the movement of the image acquisition device can be achieved by a pose adjustment device. It can be understood that the specific components of the pose adjustment device can be determined according to the actual application scene and requirements, so as to form a mechanical structure capable of achieving at least one of position adjustment and angle adjustment.

[0151] For example, the pose adjustment device can include a piston assembly and a piston controller, the image acquisition device is connected with a movable shaft of the piston assembly, and the movement speed and movement direction of the piston assembly are controlled by the piston controller, so that the image acquisition device can move linearly.

[0152] For another example, the pose adjustment device can include a motor and a motor controller, the image acquisition device is connected with a rotating shaft of the motor, and the rotating speed and rotating direction of the motor are controlled by the motor controller, so that the angle of the image acquisition device can rotate.

[0153] In specific implementations, the image acquisition device can also be connected with an image processing device, and the image processing device is suitable for processing the image collected by the image acquisition device after focusing on the acquisition object.

[0154] In specific implementations, the image processing steps performed by the image processing device can be set according to application scenarios and requirements. For example, in detection scenarios such as defect detection scenarios, critical dimension detection scenarios, and key point detection scenarios, the image processing device can be set to perform detection-related image processing steps such as defect detection, critical dimension detection, and key point detection; in a target recognition scenario, the image processing device can be set to perform target recognition-related image processing steps. The steps performed by the image processing device are not specifically limited in the specification.

[0155] The embodiments of the present specification also provide a computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions perform the steps of the image acquisition control method of any of the preceding embodiments when executed. The specific steps can refer to the method steps described in the preceding embodiments, which will not be described here.

[0156] The computer-readable storage medium can include a memory, a removable or non-removable medium, an erasable or non-erasable medium, a writable or rewritable medium, a digital or analog medium, etc.

[0157] The computer instructions can include any suitable type of code implemented using any suitable high-level, low-level, object-oriented, visual, compiled, and / or interpreted programming language, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, encrypted code, etc.

[0158] It can be understood that the terms "first", "second" in the present specification are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can be explicitly or implicitly included one or more of the features. Moreover, the terms "first", "second" and the like are used to distinguish similar objects, and do not necessarily be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0159] Although the embodiments of the present specification are disclosed as above, the embodiments of the present specification are not limited thereto. Any person skilled in the art can make various modifications and changes without departing from the spirit and scope of the embodiments of the present specification, and therefore the scope of protection of the embodiments of the present specification should be subject to the scope defined by the claims.

Claims

1. An image capturing control method characterized by comprising: The method comprises the following steps: controlling a detection module to emit a detection signal to a collection object to determine a first relative pose condition between the collection object and the detection module, the first relative pose condition being suitable for representing whether a second relative pose condition between the collection object and an image collection device is suitable; wherein the detection module is suitable for being linked with the image collection device; the step of controlling the detection module to emit a detection signal to a collection object to determine a first relative pose condition between the collection object and the detection module comprises: controlling the detection module to emit a laser detection signal to the collection object; receiving, by the detection module, a light reflection signal from the collection object and determining actual signal attribute information, the actual signal attribute information comprising: an actual light spot size and an actual light spot direction; determining the first relative pose condition between the collection object and the detection module based on the actual signal attribute information; wherein the step of determining the first relative pose condition between the collection object and the detection module based on the actual signal attribute information comprises: comparing the actual signal attribute information with preset first signal attribute information and second signal attribute information to determine the first relative pose condition between the collection object and the detection module; wherein the first signal attribute information is obtained when the collection object and the detection module are close to each other, and the second signal attribute information is obtained when the collection object and the detection module are far away from each other; based on the first relative pose condition, controlling the second relative pose condition between the collection object and the image collection device by controlling the movement of the collection object, so that the collection object is within the focusing range of the image collection device.

2. The image capturing control method according to claim 1, characterized by, The first signal attribute information comprises a first light spot size and a first light spot direction; the second signal attribute information comprises a second light spot size and a second light spot direction; and the first light spot direction is opposite to the second light spot direction.

3. The image capturing control method according to claim 1, characterized by, The step of controlling the second relative pose condition between the collection object and the image collection device based on the first relative pose condition by controlling the movement of the collection object comprises: when the first relative pose condition indicates that the collection object is too close to the detection module, increasing the second relative pose condition; when the first relative pose condition indicates that the collection object is too far away from the detection module, decreasing the second relative pose condition.

4. The image acquisition control method of claim 3, wherein, The step of controlling the second relative pose condition between the collection object and the image collection device based on the first relative pose condition by controlling the movement of the collection object comprises: when the first relative pose condition indicates that the collection object is neither too far away from the detection module nor too close to the detection module, controlling the second relative pose condition between the collection object and the image collection device according to the actual signal attribute information.

5. The image capturing control method according to claim 1, characterized by, The method further comprises the following steps: determining a pose of the collection object when the collection object is within the focusing range of the image collection device to obtain a focusing reference pose; Adjust a pose of the collection object based on the focusing reference pose, and control the detection module to emit a detection signal to the collection object and control the image acquisition device to acquire an image when the pose of the collection object changes; Evaluate an imaging quality of the image acquisition device when the pose of the collection object changes based on the actual signal attribute information determined by the detection module and the image acquired by the image acquisition device; Determine an optimal focusing pose of the collection object based on the imaging quality evaluation result.

6. The image acquisition control method of claim 5, wherein, The evaluating the imaging quality of the image acquisition device when the pose of the collection object changes based on the actual signal attribute information determined by the detection module and the image acquired by the image acquisition device comprises: Extracting a gray scale feature of the image; Evaluating the imaging quality of the image acquisition device at the pose of the collection object based on the gray scale feature and the actual signal attribute information corresponding to the same pose of the collection object.

7. The image capturing control method according to claim 1, characterized by, Further comprising: When the first relative pose condition indicates that the collection object is too close to the detection module, performing a relevant reminding operation.

8. An image capture control device, characterized by, Comprise: A detection module connected with the image acquisition device and linked with the image acquisition device; A control unit adapted to control the detection module to emit a detection signal to the collection object to determine a first relative pose condition between the collection object and the detection module, the first relative pose condition being adapted to represent whether a second relative pose between the collection object and the image acquisition device is appropriate, and control the second relative pose between the collection object and the image acquisition device by controlling the movement of the collection object based on the first relative pose condition, so that the collection object is within a focusing range of the image acquisition device; Wherein, the detection module comprises a laser, a transceiver optical assembly and a receiver; wherein: The laser is adapted to emit a laser detection signal; The transceiver optical assembly is adapted to transmit the laser detection signal to the collection object and transmit a light reflection signal from the collection object to the receiver; The receiver is adapted to determine actual signal attribute information according to the light reflection signal, so that the control unit determines the first relative pose condition between the collection object and the detection module based on the actual signal attribute information; wherein, the determining the actual signal attribute information according to the light reflection signal, so that the control unit determines the first relative pose condition between the collection object and the detection module based on the actual signal attribute information comprises comparing the actual signal attribute information with preset first signal attribute information and second signal attribute information to determine the first relative pose condition between the collection object and the detection module; wherein, the first signal attribute information is obtained when the collection object and the detection module are close to each other, the second signal attribute information is obtained when the collection object and the detection module are far away from each other, and the actual signal attribute information comprises an actual light spot size and an actual light spot direction.

9. The image capture control device of claim 8, wherein, The transceiving optical assembly further comprises a semi-transmissive and semi-reflective unit arranged on the light paths of the laser detection signal and the light reflection signal.

10. The image capture control device of claim 9, wherein, The transceiving optical assembly further comprises a collimating unit arranged between the semi-transmissive and semi-reflective unit and the collection object and located on the light paths of the laser detection signal and the light reflection signal.

11. The image capture control device of claim 8, wherein, The transceiving optical assembly shares part of the light paths with the image collection device.

Images