Target, information detection method, device, terminal and storage medium

Abstract

The application is suitable for the field of visual measurement, and provides a target, an information detection method and device, a terminal and a storage medium, wherein the method comprises: controlling a camera to take a picture of the target to obtain a first imaging image; based on the first imaging image, extracting a first pixel point pair with the farthest relative distance on the inner circumference of a circular ring, a second pixel point pair with the farthest relative distance on the outer circumference of the circular ring, a center pixel point of three circles and a vertex pixel point of a first triangle; based on the first pixel point pair and the second pixel point pair, determining a first straight line where the long diameter of the circular ring in the first imaging image is located; based on the center pixel point and the vertex pixel point, determining a second straight line where the bottom side of the first triangle in the first imaging image is located; and determining the intersection of the first straight line and the second straight line as the imaging center point of the target in the first imaging image. The scheme can improve the image data processing efficiency and the practicability of the target.

Description

Technical Field

[0001] This application belongs to the field of visual measurement technology, and in particular relates to a target, information detection method, device, terminal and storage medium. Background Technology

[0002] As the manufacturing precision of industrial robots improves, their application in precision measurement is gradually increasing. Spatial planar pose measurement, as an indispensable part of industrial robot applications, is also gradually receiving extensive research.

[0003] Pose refers to the position and orientation of the robot's end effector in a specified coordinate system.

[0004] Typically, after a robot replaces a new tool or after a long period of operation, the center point of the tool will deviate to a certain extent, which will reduce the robot's machining accuracy. Therefore, it is necessary to measure the center point of the robot's end effector in order to compensate for the deviation.

[0005] Currently, the most accurate measurement method is the visual sensor measurement method, which uses a camera to acquire images of targets with feature points. The commonly used targets are checkerboard targets, and the center point of the target is determined by the dense corner points in the checkerboard.

[0006] However, due to the distortion that easily occurs when acquiring images of targets during camera imaging, the dense corner features are affected by factors such as the direction of image distortion due to camera imaging distortion, making it difficult to guarantee the reliability and consistency of corner features. Furthermore, the number of features that need to be identified and solved under dense corners is too large, which leads to significant interference in image feature processing under imaging distortion. The calibration process is complex, the accuracy of the target center point measurement is poor, and the processing efficiency is low, resulting in poor practicality. Summary of the Invention

[0007] This application provides a target, information detection method, device, terminal, and storage medium to solve the problems in the prior art where dense corner features are affected by imaging angle distortion and other factors, making it difficult to guarantee the reliability and consistency of corner features, causing significant interference to image feature processing under imaging distortion, resulting in poor accuracy in determining the target center point, and complex calibration process with low processing efficiency and poor practicality.

[0008] A first aspect of this application provides a target, including:

[0009] Target main pattern;

[0010] The target body pattern includes a ring, and three circles and a first triangle located within the ring;

[0011] Wherein, the ring is a concentric ring; the centers of the three circles are located on the circumference of the ring; the base of the first triangle passes through the diameter of the ring and the midpoint of the base coincides with the center of the ring; the second triangle formed by the line connecting the centers of the three circles is collinear with the base of the first triangle, and the second triangle and the first triangle are similar triangles.

[0012] A second aspect of this application provides a target information detection method, wherein the target is the target described in the first aspect, and the method includes:

[0013] The camera is controlled to take pictures of the target to obtain a first imaging image;

[0014] Based on the first imaging image, the first pair of pixels with the farthest relative distance on the inner circumference of the ring, the second pair of pixels with the farthest relative distance on the outer circumference of the ring, the center pixels of the three circles, and the vertex pixels of the first triangle are extracted.

[0015] Based on the first pixel pair and the second pixel pair, the first straight line containing the major axis of the ring in the first imaging image is determined;

[0016] Based on the center pixel and the vertex pixel, determine the second straight line where the base of the first triangle in the first imaging image is located;

[0017] The intersection of the first straight line and the second straight line is determined as the imaging center point of the target in the first imaging image.

[0018] A third aspect of this application provides a target information detection device, wherein the target is as described in the first aspect, and the device includes:

[0019] The control module is used to control the camera to take pictures of the target and obtain a first imaging image;

[0020] The extraction module is used to extract, based on the first imaging image, the first pair of pixels that are farthest apart on the inner circumference of the ring, the second pair of pixels that are farthest apart on the outer circumference of the ring, the center pixels of the three circles, and the vertex pixels of the first triangle.

[0021] The processing module is configured to determine, based on the first pixel pair and the second pixel pair, a first straight line containing the major axis of the annulus in the first imaging image; and to determine, based on the center pixel and the vertex pixel, a second straight line containing the base of the first triangle in the first imaging image.

[0022] The determining module is used to determine the intersection of the first straight line and the second straight line as the imaging center point of the target in the first imaging image.

[0023] A fourth aspect of this application provides a terminal including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described in the second aspect.

[0024] A fifth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described in the second aspect.

[0025] The sixth aspect of this application provides a computer program product that, when run on a terminal, causes the terminal to perform the steps of the method described in the second aspect above.

[0026] As can be seen from the above, in this embodiment, the major axis of the ellipse-like image of the ring in the target is determined by the feature pixels on the inner and outer circumferences of the ring, achieving a first distortion correction process. The base of the triangle in the ring is determined by the feature pixels of the three circles and the triangle in the ring, achieving another distortion correction process. The intersection of the major axis of the ellipse-like image of the ring in the target and the base of the triangle in the ring is then determined as the actual imaging center of the target, achieving precise positioning of the target imaging center, reducing interference factors in the image feature processing process, improving measurement accuracy, improving image data processing efficiency, and enhancing the practicality of the target. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram showing the relative positional relationship of the main graphic features of the target provided in the embodiments of this application;

[0029] Figure 2 This is a schematic diagram of a target imaging image provided in an embodiment of this application;

[0030] Figure 3 This is a schematic diagram of a finished target sample provided in an embodiment of this application;

[0031] Figure 4This is a flowchart of a target information detection method provided in an embodiment of this application;

[0032] Figure 5 This is a schematic diagram of the spatial pose data of a target plane provided in an embodiment of this application;

[0033] Figure 6 This is a schematic diagram of the camera imaging principle provided in an embodiment of this application;

[0034] Figure 7 This is a structural diagram of a target information detection device provided in an embodiment of this application;

[0035] Figure 8 This is a structural diagram of a terminal provided in an embodiment of this application. Detailed Implementation

[0036] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0037] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0038] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0039] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0040] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0041] In specific implementations, the terminals described in the embodiments of this application include, but are not limited to, other portable devices such as mobile phones, laptop computers, or tablet computers with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads). It should also be understood that in some embodiments, the device is not a portable communication device, but a desktop computer with touch-sensitive surfaces (e.g., touchscreen displays and / or touchpads).

[0042] The following discussion describes terminals that include displays and touch-sensitive surfaces. However, it should be understood that terminals may include one or more other physical user interface devices such as physical keyboards, mice, and / or joysticks.

[0043] The terminal supports a variety of applications, such as one or more of the following: drawing applications, presentation applications, word processing applications, website creation applications, disc burning applications, spreadsheet applications, game applications, telephone applications, video conferencing applications, email applications, instant messaging applications, exercise support applications, photo management applications, digital camera applications, digital camcorder applications, web browsing applications, digital music player applications, and / or digital video player applications.

[0044] Various applications that can run on a terminal can use at least one common physical user interface device, such as a touch-sensitive surface. One or more functions of the touch-sensitive surface and the corresponding information displayed on the terminal can be adjusted and / or changed between and / or within applications. In this way, the terminal's common physical architecture (e.g., the touch-sensitive surface) can support various applications with user interfaces that are intuitive and transparent to the user.

[0045] It should be understood that the sequence number of each step in this embodiment does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of this application embodiment.

[0046] In this embodiment, a feature target and its corresponding information detection method are designed. Using the feature target, the major axis of the ellipse-like image formed by the inner and outer circumferences of the ring is determined by the feature pixels. The base of the triangle within the ring is determined by the feature pixels of the three circles and the triangle within the ring. The intersection of the major axis of the ellipse-like image formed by the ring and the base of the triangle within the ring is then determined as the actual imaging center of the target, achieving precise positioning of the target's imaging center. Based on this, both precise positioning of the target center and solving the spatial pose of the target plane can be achieved, enabling distortion removal of spatial image features, reducing interference factors in the image feature processing process, and improving measurement accuracy.

[0047] To illustrate the technical solution described in this application, specific embodiments are provided below.

[0048] First, combined Figure 1 As shown in the embodiments of this application, a target is proposed, the target comprising:

[0049] Target main pattern;

[0050] The target body pattern includes a ring, and three circles and a first triangle located within the ring;

[0051] Wherein, the ring is a concentric ring; the centers of the three circles are located on the circumference of the ring; the base of the first triangle passes through the diameter of the ring and the midpoint of the base coincides with the center of the ring; the second triangle formed by the line connecting the centers of the three circles is collinear with the base of the first triangle, and the second triangle and the first triangle are similar triangles.

[0052] In one example, the three vertices of the first triangle lie on a circle concentric with the annulus; the base of the second triangle passes through the diameter of the annulus and the midpoint of the base coincides with the center of the annulus.

[0053] This target is a type of circular target, and the pattern on the target is a pattern symmetrical to the diameter of a relative circular ring.

[0054] The target consists of a ring and three circles and a triangle arranged in a specific manner within it; the ring is a concentric ring, and the centers of the three circles within the ring are located on circles concentric with the ring.

[0055] In one example, the first triangle located inside the ring can be an inscribed triangle of the three circles inside the ring, that is, the vertices of the first triangle are located on the circumferences of the three circles inside the ring.

[0056] In applications, due to the influence of camera imaging distortion, based on the principle of near objects appearing larger and distant objects appearing smaller, a circular target may be distorted into an ellipse in camera imaging.

[0057] Combination Figure 2 As shown, in the camera image, the ring transforms into a near-elliptical shape with a major axis b and a minor axis a. The ring is divided into two halves of different areas by its major axis; based on the principle that objects appear larger when closer and smaller when farther away, Figure 2 The upper half of the diagram represents the side of the target farther from the camera, and the lower half represents the side of the target closer to the camera. Here, a = a1 + a2, and the length of a1 is less than a2.

[0058] Furthermore, due to the symmetry invariance of circles, after the circle in the target forms an elliptical shape in the camera image, the major axis *b* of this elliptical shape is the diameter of the circle in the target as reflected in the camera. Therefore, the projection of the target center in the camera image must lie on this straight line. As for the three smaller circles inside the target ring, their relatively small size allows for the approximate neglect of the center offset caused by perspective distortion. Based on this, the pixel coordinates of the target's center in the camera image can be determined by feature fitting of the ellipse, the triangle inside it, and the three smaller circles.

[0059] This target structure, by changing the main pattern of the target, utilizes a symmetrical ring, a first triangle set within the ring, and a line connecting the centers of the three circles to form a second triangle similar in shape to the first triangle. It also defines the relative positional relationship between the three circles and the triangle and the diameter and center of the ring, thereby arranging the feature points and main graphic features in the target, reducing unnecessary dense corner points, reducing interference factors in the image feature processing process, improving measurement accuracy, image data processing efficiency, and the practicality of the target.

[0060] Furthermore, in order to select the calibration board within an image and thus facilitate feature recognition of the circular target within the calibration board, in one embodiment, a combination of... Figure 3 As shown, a square border with an inner chamfer can also be set on the target outside the circular ring, with the circular ring located at the center of the square border, forming the production style of the calibration plate, which serves to effectively identify and annotate the main pattern of the target.

[0061] Below, based on the above-mentioned target embodiments, a specific target information detection method is also provided to achieve effective determination of spatial planar pose.

[0062] See Figure 4 , Figure 4 This is a flowchart of a target information detection method provided in an embodiment of this application. Figure 1 .like Figure 4 As shown, a target information detection method includes the following steps:

[0063] Step 401: Control the camera to take a picture of the target to obtain the first image.

[0064] Step 402: Based on the first image, extract the first pixel pair with the farthest relative distance on the inner circumference of the ring, the second pixel pair with the farthest relative distance on the outer circumference of the ring, the center pixels of the three circles, and the vertex pixels of the first triangle.

[0065] The first triangle has three vertex pixels, and the three circles each have three center pixels.

[0066] The first pixel pair with the greatest relative distance on the inner circumference of the ring and the second pixel pair with the greatest relative distance on the outer circumference of the ring are specifically the pixel pairs along the major axis of the ellipse-like structure formed by the distortion of the ring in the first imaging image.

[0067] Combination Figure 2 As shown, due to perspective distortion, the target image is an ellipse. The edge pixels of the target can be extracted based on the image. Then, the image edge is fitted by the least squares method to obtain eight contour pixel sets N1-N6. N1 and N2 are the inner and outer ring contours of the ring, respectively. N3 is the contour corresponding to the triangle inside the ring. N4, N5 and N6 are the contours corresponding to the three circles inside the ring.

[0068] By calculating the two points farthest apart in the two contours N1 and N2 respectively, we can obtain the two points A1(u) farthest apart on the inner circumference of the annulus. A1 ,v A1 ), B1(u B1 ,v B1 ), and the two points A2(u) that are farthest apart on the outer circumference of the ring. A2 ,v A2 ), B2(u B2 ,v B2 ).

[0069] If the target also has a square border with an inner chamfer outside the ring, then N7 and N8 contour pixel sets can be fitted. N7 and N8 are the inner and outer frames of the target border, respectively. This can be used to accurately capture the target circular area in complex environments and reduce the amount of computation.

[0070] Step 403: Based on the first pixel pair and the second pixel pair, determine the first straight line containing the major axis of the ring in the first imaging image.

[0071] When we obtain the first pair of pixels that are farthest apart on the inner circumference of the ring and the second pair of pixels that are farthest apart on the outer circumference of the ring, we can consider that the two pixels that are farthest apart on the inner circumference are pixels along the major axis of the ring, and similarly, the two pixels that are farthest apart on the outer circumference are also pixels along the major axis of the ring.

[0072] To avoid the influence of image distortion on the imaging of the ring, it is necessary to find the relevant pixels on both the inner and outer circumferences of the ring in the first imaging image, so as to jointly determine the line containing the major axis of the ring in the first imaging image.

[0073] In one specific implementation, determining the first straight line containing the major axis of the ring in the first imaging image based on the first pixel pair and the second pixel pair includes:

[0074] Based on the first pixel pair, determine the midpoint of the first pixel and the first slope of the straight line containing the first pixel pair; based on the second pixel pair, determine the midpoint of the second pixel and the second slope of the straight line containing the second pixel pair.

[0075] Calculate the average pixel value between the midpoint of the first pixel and the midpoint of the second pixel to obtain the coordinates of the first midpoint of the major axis of the ring in the first imaging image; calculate the average value of the first slope and the second slope to obtain the first target slope of the major axis of the ring in the first imaging image.

[0076] Based on the coordinates of the first midpoint and the slope of the first target, the first straight line containing the major axis of the ring in the first imaging image is determined.

[0077] The midpoint of the first pixel is the midpoint of the two pixels in the first pixel pair, and the midpoint of the second pixel is the midpoint of the two pixels in the second pixel pair.

[0078] The first slope is the slope of the line containing the two midpoints of the first pixel point, and the second slope is the slope of the line containing the two midpoints of the second pixel point.

[0079] Then, based on the average of the pixel coordinates of the two midpoints and the average of the two slopes, a straight line is determined, and this straight line is taken as the line containing the major axis of the ring in the first imaging image.

[0080] That is, on the inner circumference of the obtained ring, the two points A1(u) that are farthest apart are... A1 ,v A1 ), B1(u B1 ,v B1 ), and the two points A2(u) that are farthest apart on the outer circumference of the ring. A2 ,v A2 ), B2(uB2 ,v B2 After that, take the midpoints (u1, v1) and (u2, v2) respectively, and take the average pixel value of the two midpoints as the midpoint (u0, v0) of the major axis b of the ring in the first image (i.e., the major axis of the ellipse-like structure in the first image). At the same time, take the average slope of the lines A1B1 and A2B2 as the slope of the major axis of the ring in the first image, and we can obtain the line l1:

[0081] .

[0082] This process uses feature pixels on the inner and outer circumferences of the ring to determine straight lines, ensuring the accuracy of the determined lines and achieving distortion correction in one step.

[0083] Step 404: Based on the center pixel and the vertex pixel, determine the second straight line where the base of the first triangle in the first image is located.

[0084] Based on the relative positional relationship between the three circles within the ring of the target and the first triangle, and based on the center and vertex pixels identified in the imaging image, it is possible to calculate which line is collinear between the second triangle formed by the line connecting the centers of the three circles and the first triangle.

[0085] To overcome the effects of camera imaging distortion, when determining the second straight line containing the base of the first triangle in the first image, it is necessary to use the center pixels of the three circles inside the target ring and the three vertex pixels of the first triangle to assist each other in determining the second straight line containing the base of the triangle.

[0086] In one specific implementation, determining the second straight line containing the base of the first triangle in the first image based on the center pixel and vertex pixels includes:

[0087] The first set of straight lines is determined by connecting the center pixels of the three circles in pairs.

[0088] The second set of straight lines is determined by connecting each pair of the vertex pixels of the first triangle;

[0089] A third line is selected from the first set of lines, and a fourth line is selected from the second set of lines, wherein the third line and the fourth line are the two lines that are closest in relative distance to each other in the first set of lines and the second set of lines, respectively.

[0090] Calculate the average slope of the third line and the fourth line to obtain the second target slope of the base of the first triangle in the first imaging image;

[0091] Calculate the average pixel value of the two center pixels passed by the third straight line and the two vertex pixels passed by the fourth straight line to obtain the coordinates of the second midpoint of the base of the first triangle in the first imaging image;

[0092] Based on the coordinates of the second midpoint and the slope of the second target, the second straight line containing the base of the first triangle in the first imaging image is determined.

[0093] Due to camera image distortion, the three smaller circles within the annulus and the first triangle may deform at different angles or in different directions. Therefore, it is necessary to use the first set of lines and the second set of lines to find the two lines with the closest relative distance between them.

[0094] The determination of the two lines with the closest relative distance can be based on the relationship between the second triangle formed by connecting the centers of the three small circles and the first triangle inside the ring, which are similar triangles. The two lines with the same extension direction in the first set of lines and the second set of lines are compared pairwise to find the two lines with the closest relative distance in the two sets. Based on these two lines, the second line containing the base of the first triangle in the first imaging image is determined.

[0095] Specifically, after obtaining the set of contour pixels corresponding to the three circles within the annulus, the center pixel coordinates o1(u) of the three circles can be determined by fitting. o1 v 01 ), o2 (u o2 v 02 ), o3 (u o3 v 03 Given two pairs of straight lines, find the line l. o1 , l o2 , l o3 After obtaining the set of pixels corresponding to the contour of the triangle inside the ring, the pixel coordinates p1 (u) of the three vertices of the first triangle are extracted. p1 v p1 ), p2(u p2 v p2 ), p3(u p3 v p3 Given pairs of straight lines, find the line l. p1 , l p2 , l p3 .

[0096] Furthermore, since the base of the first triangle is collinear with the base of the second triangle formed by the lines connecting the centers of the three circles, the slope k of the straight line can be obtained. oi =k pj (i, j = 1, 2, 3), and the line l oi With l pjIf the minimum distance between them is close to 0, then the slope k2 of the second target at the base of the first triangle in the first image can be obtained. oi +k pj ) / 2, then take the average pixel value (u0′, v0′) of the two center pixels and two vertex pixels of the two lines that are close to 0, and we can draw line l2:

[0097] .

[0098] This process uses the feature pixels of the three circles inside the ring and the first triangle to determine the straight line, ensuring the accuracy of the determined straight line and achieving another distortion correction.

[0099] Step 405: Determine the intersection of the first straight line and the second straight line as the imaging center point of the target in the first imaging image.

[0100] The intersection of lines l1 and l2 mentioned above is the imaging center point of the target. Each line in l1 and l2 is obtained from two related lines, which has higher accuracy and more accurate positioning of the imaging center point of the target.

[0101] Furthermore, in an optional implementation, the method further includes:

[0102] When the first straight line coincides with the second straight line, the midpoint coordinates of the major axis of the ring in the first imaging image or the midpoint coordinates corresponding to the base of the first triangle are determined as the imaging center point.

[0103] Specifically, the average pixel value can be calculated based on the first pixel pair and the second pixel pair, and used as the coordinates of the midpoint of the major axis of the ring in the first imaging image.

[0104] Alternatively, the average pixel value can be calculated based on the two center pixels of the third line and the two vertex pixels of the fourth line, and used as the coordinates of the second midpoint of the base of the first triangle in the first image.

[0105] In the above process, the intersection of the major axis of the ellipse-like image of the ring in the target and the straight line containing the base of the first triangle inside the ring is the actual imaging center of the target. Regardless of whether perspective distortion is considered, its positioning accuracy is higher.

[0106] Even when perspective distortion exists in the first imaging image, the target imaging center after distortion correction can be accurately determined.

[0107] In this embodiment, the major axis of the ellipse-like image of the ring in the target is determined by the feature pixels on the inner and outer circumferences of the ring, achieving a first distortion correction. Then, the base of the triangle within the ring is determined by the feature pixels of the three circles and the triangle, achieving another distortion correction. Finally, the intersection of the major axis of the ellipse-like image of the ring in the target and the base of the triangle within the ring is determined as the actual imaging center of the target. This achieves precise positioning of the target imaging center, reduces interference factors in the image feature processing process, improves measurement accuracy, enhances image data processing efficiency, and improves the practicality of the target.

[0108] Furthermore, in an optional implementation, after determining the imaging center point of the target in the first imaging image, the method further includes:

[0109] The actual center point of the target is determined based on the imaging center point;

[0110] The camera's pose is adjusted using the actual center point as a reference point;

[0111] The optical axis of the camera after pose adjustment passes through the actual center point.

[0112] Specifically, after determining the imaging center point of the target in the first imaging image, the actual center point of the target can be determined based on the imaging center point and the camera imaging principle.

[0113] Then, the camera's pose is adjusted so that the camera's optical axis passes through the actual center point of the target, so as to carry out subsequent image acquisition and realize the calculation of other pose data of the target relative to the camera.

[0114] Specifically, after adjusting the camera's pose using the actual center point as a reference, the process also includes:

[0115] The camera is controlled to take a picture of the target to obtain a second imaging image; the pose of the target is detected based on the second imaging image.

[0116] Combination Figure 5 As shown, when the normal vector of the spatial plane is determined, its rotational attitude mainly consists of the pitch angle θ, azimuth angle φ, and rotation angle α. Adding the spatial coordinates (x, y, z) of point o uniquely determines the spatial pose of the target plane. The following description will elaborate on how to determine the spatial pose of the target plane in this embodiment.

[0117] Combination Figure 6 The diagram shown illustrates the principle of camera imaging, including the camera coordinate system X with the camera's optical center as the origin. c Y c Zc The target plane has a camera imaging plane coordinate system X2Y2Z2, which is aligned with the camera's z-axis and has parallel x and y axes, and a world coordinate system X3Y3Z3, which is located on the target plane. When determining the spatial pose of the target plane, it is necessary to ensure that the actual center point of the target is collinear with the camera's optical axis, that is, the camera's optical axis passes through the actual center point of the target.

[0118] The following section will elaborate on the implementation process of target pose detection based on the second imaging image.

[0119] In an optional implementation, the target pose detection based on the second imaging image specifically includes:

[0120] Based on the second imaging image, the third pixel pair with the farthest relative distance on the inner circumference of the ring, the fourth pixel pair with the farthest relative distance on the outer circumference of the ring, the center pixels of the three circles, and the vertex pixels of the first triangle are extracted.

[0121] Based on the third pixel pair and the fourth pixel pair, the fifth straight line containing the major axis of the ring in the second imaging image is determined;

[0122] The azimuth angle of the target is obtained by converting the slope of the fifth straight line into an angle.

[0123] Similarly, based on the image obtained by the camera, feature pixels need to be extracted, and on this basis, the line containing the major axis of the ring in the image needs to be determined. The process of determining the line containing the major axis of the ring in the image is the same as that in the aforementioned embodiments, and will not be repeated here.

[0124] In this embodiment, the slope of the line containing the major axis is further converted into the corresponding angle, which is used as the azimuth angle of the target, thereby determining the azimuth angle of the target plane.

[0125] After determining the fifth straight line containing the major axis of the ring in the second imaging image based on the third and fourth pixel pairs, as an optional implementation, it further includes:

[0126] Obtain the first side circumference pixel set and the second side circumference pixel set obtained by dividing the target circumference of the ring by the fifth straight line; the target circumference is the inner circumference or the outer circumference of the ring;

[0127] The set of circumferential pixels with the smaller number of pixels between the first side circumferential pixel set and the second side circumferential pixel set is taken as the target circumferential pixel set;

[0128] Determine the farthest distance between the pixels in the target circumferential pixel set and the fifth straight line;

[0129] The pitch angle of the target is calculated based on the camera's focal length, the farthest distance value, and the maximum relative distance value on the target circumference.

[0130] The target circumferential pixel set is the set with the smaller pixel count between the first and second side circumferential pixel sets. Based on the imaging projection principle of near-large and distant-small, the target circumferential pixel set can be determined as the imaging portion of the target on the side furthest from the camera.

[0131] At this point, it is necessary to determine the farthest distance between the pixels in the target circular pixel set and the line containing the major axis of the annulus. See [example example]. Figure 2 The target circumference is the outer circumference of the ring, and the target circumference pixel set is the pixel set of the part of the outer circumference of the ring located on the upper side of the major axis b. The farthest distance between the pixel points in the target circumference pixel set and the line containing the major axis of the ring is a1.

[0132] The maximum relative distance on the target circumference is the major axis corresponding to the inner circumference of the ring in the second imaging image, or the length of the major axis corresponding to the inner circumference of the ring.

[0133] Subsequently, based on the camera's focal length, the maximum distance value, and the maximum relative distance value on the target's circumference, the target's pitch angle can be calculated using the camera's imaging principle.

[0134] For example, the ratio between the farthest distance value and the maximum relative distance on the target circumference can be calculated. Based on the camera's focal length and the radial dimension of the target circumference of the ring in the target, the angle between the target plane and the imaging plane can be obtained using the camera's focal length as the pitch angle.

[0135] In one specific implementation, the target's pitch angle is calculated based on the camera's focal length, maximum distance value, and maximum relative distance value on the target's circumference, including:

[0136] The pitch angle of the target is calculated using the following pre-constructed formula:

[0137]

[0138] in, The pitch angle is... The focal length of the camera. The farthest distance value, This is the maximum relative distance value on the target circumference.

[0139] Using this formula, only three parameters need to be calculated: the camera focal length, the farthest distance value that can be directly observed from the target image, and the maximum relative distance value on the target circumference. No other related parameters need to be considered. It uses fewer parameters, avoids measurement errors introduced by too much data, and has a simple algorithm, accurate results, and high efficiency.

[0140] The aforementioned pre-constructed formula is obtained in advance. In one specific implementation, the construction process of the formula is as follows:

[0141] Based on the pitch angle, the maximum distance value, the focal length of the camera, the radius of the target circumference in the target, and the object distance of the target, combined with the projection principle, the first equation is constructed:

[0142] ;

[0143] Based on the maximum relative distance value on the target circumference, the radius of the target circumference in the target, the focal length of the camera, and the object distance to the target, a second equation is constructed:

[0144] ;

[0145] Based on the first equation and the second equation, the pre-constructed formula is obtained;

[0146] Among them, among them, The pitch angle is... The farthest distance value, The focal length of the camera. The radius of the target circumference within the target is given. The object distance of the circular target is... This is the maximum relative distance value on the target circumference.

[0147] In the process of converting the pre-constructed formula based on the first and second equations, the following can be introduced: The relational expression is transformed into a formula to obtain... The solution formula is as follows:

[0148] .

[0149] This process eliminates parameters such as the radius of the target circle and the object distance from the target by converting formulas, reducing measurement errors caused by additional parameters. The algorithm is simple, the results are accurate, and the efficiency is high.

[0150] Furthermore, in this embodiment of the application, after selecting the set of circumferential pixels with the smaller pixel count between the first and second side circumferential pixel sets as the target circumferential pixel set, the method further includes:

[0151] The side of the target's circumferential pixel set relative to the fifth straight line is defined as the far side of the target relative to the camera.

[0152] Based on the far side, determine the pitch direction corresponding to the pitch angle.

[0153] In this embodiment of the application, the direction perpendicular to the major axis of the ring in the imaging image is defined as the imaging distortion direction. In this direction, the imaging image is clearly divided into two parts: one that is larger in the near direction and one that is smaller in the far direction.

[0154] Specifically, when determining the side of the target's circumferential pixel set relative to the fifth straight line as the farthest side of the target relative to the camera, the farthest point from the fifth straight line in the target's circumferential pixel set can be selected, and the pixel coordinates (u) of this farthest point can be determined. B v B Substitute this into the line l1 containing the major axis of the annulus in the image: Corresponding formula In the middle, when When the value is greater than or equal to 0, the value of θ is positive; when... When the value of θ is less than 0, the value of θ is negative.

[0155] In one example, combined Figure 2 As shown, when θ is positive, the farthest point is located above the line containing the major axis b of line l1; otherwise, the farthest point is located on line l1 (…). Figure 2 The point is located on the lower side of the line containing the major axis (b). The side of the farthest point relative to the major axis (b) is the far side of the target relative to the camera.

[0156] In other examples, the farthest point could also be located on line l1 ( Figure 2 The middle line is either to the left or right of the line containing the major axis (b), but is not limited to this.

[0157] Furthermore, after determining the azimuth, elevation, and corresponding elevation direction of the target plane, in order to measure the rotation angle of the target plane relative to its normal vector, the method further includes:

[0158] The camera's pose is adjusted according to the azimuth angle, the pitch angle, and the pitch direction corresponding to the pitch angle;

[0159] The imaging plane of the camera after pose adjustment is parallel to the plane where the target is located.

[0160] The camera's pose can be adjusted by using a robotic arm to move the camera in space.

[0161] Furthermore, after this, the camera can be controlled to take pictures of the target to obtain a third imaging image; based on the third imaging image, the orientation of the vertex of the first triangle is extracted; with the set positive direction as a reference, the rotation angle of the plane where the target is located about its normal vector is determined based on the orientation of the vertex; thus, the target pose data including azimuth, pitch angle, pitch direction and rotation angle are obtained.

[0162] The positive direction setting can be achieved by setting a positive direction marker outside the target, so that after the target rotates around its normal vector, the positive direction indicated by the marker can be used as a reference to obtain the angle between the apex of the first triangle and the positive direction, which is then used as the rotation angle of the plane where the target is located around its normal vector.

[0163] By following the steps above, the optical center of the camera is aligned with the actual center point of the target, and the camera's optical axis is perpendicular to the target plane. At this point, the rotation angle α of the target circular target around its normal vector can be determined by the angle between the direction of the vertex of the triangle inside the ring and the preset positive direction. The algorithm then ends.

[0164] In one application scenario, this method is applicable to solving the spatial planar pose of a feature circular target based on a robotic arm.

[0165] The above embodiments of this application design a feature target and its corresponding information detection method. With this feature target, it is possible to achieve accurate positioning of the target center and solve the spatial pose of the target plane, reduce interference factors in the image feature processing process, improve measurement accuracy, improve image data processing efficiency, and improve the practicality of the target.

[0166] See Figure 7 , Figure 7 This is a structural diagram of a target information detection device provided in an embodiment of this application. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0167] The target information detection device 700 includes:

[0168] Control module 701 is used to control the camera to take pictures of the target to obtain a first imaging image;

[0169] The extraction module 702 is used to extract, based on the first imaging image, the first pair of pixels that are farthest apart on the inner circumference of the ring, the second pair of pixels that are farthest apart on the outer circumference of the ring, the center pixels of the three circles, and the vertex pixels of the first triangle.

[0170] The processing module 703 is used to determine, based on the first pixel pair and the second pixel pair, the first straight line containing the major axis of the annulus in the first imaging image; and to determine, based on the center pixel and the vertex pixel, the second straight line containing the base of the first triangle in the first imaging image.

[0171] The determining module 704 is used to determine the intersection of the first straight line and the second straight line as the imaging center point of the target in the first imaging image.

[0172] Specifically, the processing module 703 is used for:

[0173] Based on the first pixel pair, determine the midpoint of the first pixel and the first slope of the straight line containing the first pixel pair;

[0174] Based on the second pixel pair, determine the midpoint of the second pixel and the second slope of the straight line containing the second pixel pair;

[0175] Calculate the average pixel value between the midpoint of the first pixel and the midpoint of the second pixel to obtain the coordinates of the first midpoint of the major axis of the ring in the first image.

[0176] Calculate the average of the first slope and the second slope to obtain the first target slope of the major axis of the ring in the first imaging image;

[0177] Based on the coordinates of the first midpoint and the slope of the first target, the first straight line containing the major axis of the ring in the first imaging image is determined.

[0178] Specifically, the processing module 703 is used for:

[0179] The first set of straight lines is determined by connecting the center pixels of the three circles in pairs.

[0180] The second set of straight lines is determined by connecting each pair of the vertex pixels of the first triangle;

[0181] A third line is selected from the first set of lines, and a fourth line is selected from the second set of lines, wherein the third line and the fourth line are the two lines that are closest in relative distance to each other in the first set of lines and the second set of lines, respectively.

[0182] Calculate the average slope of the third line and the fourth line to obtain the second target slope of the base of the first triangle in the first imaging image;

[0183] Calculate the average pixel value of the two center pixels passed by the third straight line and the two vertex pixels passed by the fourth straight line to obtain the coordinates of the second midpoint of the base of the first triangle in the first imaging image;

[0184] Based on the coordinates of the second midpoint and the slope of the second target, the second straight line containing the base of the first triangle in the first imaging image is determined.

[0185] The determining module 704 is also used for:

[0186] When the first straight line coincides with the second straight line, the midpoint coordinates of the major axis of the ring in the first imaging image or the midpoint coordinates corresponding to the base of the first triangle are determined as the imaging center point.

[0187] The device also includes:

[0188] The pose adjustment module is used for:

[0189] The actual center point of the target is determined based on the imaging center point;

[0190] The camera's pose is adjusted using the actual center point as a reference point;

[0191] The optical axis of the camera after pose adjustment passes through the actual center point.

[0192] The device also includes:

[0193] The pose detection module is used for:

[0194] The camera is controlled to take a picture of the target to obtain a second imaging image;

[0195] The target's pose is detected based on the second imaging image.

[0196] The pose detection module is specifically used for:

[0197] Based on the second imaging image, the third pixel pair with the farthest relative distance on the inner circumference of the ring, the fourth pixel pair with the farthest relative distance on the outer circumference of the ring, the center pixels of the three circles, and the vertex pixels of the first triangle are extracted.

[0198] Based on the third pixel pair and the fourth pixel pair, the fifth straight line containing the major axis of the ring in the second imaging image is determined;

[0199] The azimuth angle of the target is obtained by converting the slope of the fifth straight line into an angle.

[0200] The pose detection module is also specifically used for:

[0201] Obtain the first side circumference pixel set and the second side circumference pixel set obtained by dividing the target circumference of the ring by the fifth straight line; the target circumference is the inner circumference or the outer circumference of the ring;

[0202] The set of circumferential pixels with the smaller number of pixels between the first side circumferential pixel set and the second side circumferential pixel set is taken as the target circumferential pixel set;

[0203] Determine the farthest distance between the pixels in the target circumferential pixel set and the fifth straight line;

[0204] The pitch angle of the target is calculated based on the camera's focal length, the farthest distance value, and the maximum relative distance value on the target circumference.

[0205] The pose detection module is further specifically used for:

[0206] The pitch angle of the target is calculated using the following pre-constructed formula:

[0207]

[0208] in, The pitch angle is... The focal length of the camera. The farthest distance value, This is the maximum relative distance value on the target circumference.

[0209] The pose detection module is also specifically used for:

[0210] Based on the pitch angle, the maximum distance value, the focal length of the camera, the radius of the target circumference in the target, and the object distance of the target, combined with the projection principle, the first equation is constructed:

[0211] ;

[0212] Based on the maximum relative distance value on the target circumference, the radius of the target circumference in the target, the focal length of the camera, and the object distance to the target, a second equation is constructed:

[0213] ;

[0214] Based on the first equation and the second equation, the pre-constructed formula is obtained;

[0215] Among them, among them, The pitch angle is... The farthest distance value, The focal length of the camera. The radius of the target circumference within the target is given. The object distance of the circular target is... This is the maximum relative distance value on the target circumference.

[0216] The pose detection module is further specifically used for:

[0217] The side of the target's circumferential pixel set relative to the fifth straight line is defined as the far side of the target relative to the camera.

[0218] Based on the far side, determine the pitch direction corresponding to the pitch angle.

[0219] The pose adjustment module is also used for:

[0220] The camera's pose is adjusted according to the azimuth angle, the pitch angle, and the pitch direction corresponding to the pitch angle;

[0221] The imaging plane of the camera after pose adjustment is parallel to the plane where the target is located.

[0222] The pose detection module is also specifically used for:

[0223] The camera is controlled to take pictures of the target to obtain a third imaging image;

[0224] Based on the third imaging image, the orientation of the vertex of the first triangle is extracted;

[0225] Using the set positive direction as a reference, the rotation angle of the plane containing the target around its normal vector is determined based on the orientation of the apex angle;

[0226] The target pose data, including the azimuth angle, the pitch angle, the pitch direction, and the rotation angle, is obtained.

[0227] The target information detection device provided in this application embodiment can implement all the processes of the above-described target information detection method embodiment and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0228] Figure 8 This is a structural diagram of a terminal provided in an embodiment of this application. As shown in the figure, the terminal 8 of this embodiment includes: at least one processor 80 ( Figure 8 (Only one is shown in the diagram), memory 81, and computer program 82 stored in said memory 81 and executable on said at least one processor 80, wherein said processor 80 executes said computer program 82 to implement the steps in any of the above method embodiments.

[0229] The terminal 8 can be a computing device such as a desktop computer, laptop, handheld computer, or cloud server. The terminal 8 may include, but is not limited to, a processor 80 and a memory 81. Those skilled in the art will understand that... Figure 8 This is merely an example of terminal 8 and does not constitute a limitation on terminal 8. It may include more or fewer components than shown, or combine certain components, or different components. For example, the terminal may also include input / output devices, network access devices, buses, etc.

[0230] The processor 80 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0231] The memory 81 can be an internal storage unit of the terminal 8, such as a hard disk or memory of the terminal 8. The memory 81 can also be an external storage device of the terminal 8, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the terminal 8. Furthermore, the memory 81 can include both internal storage units and external storage devices of the terminal 8. The memory 81 is used to store the computer program and other programs and data required by the terminal. The memory 81 can also be used to temporarily store data that has been output or will be output.

[0232] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0233] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0234] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0235] In the embodiments provided in this application, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0236] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0237] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0238] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0239] The methods described in this application can be implemented in whole or in part by a computer program product. When the computer program product is run on a terminal, the terminal executes the steps in the various method embodiments described above.

[0240] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for detecting information about a target, characterized in that, The target includes a target body pattern; the target body pattern includes a ring, and three circles and a first triangle located within the ring; wherein the ring is a concentric ring; the centers of the three circles are located on a circle concentric with the ring; the base of the first triangle passes through the diameter of the ring and the midpoint of the base coincides with the center of the ring; the second triangle formed by the lines connecting the centers of the three circles is collinear with the base of the first triangle, and the second triangle and the first triangle are similar triangles; the method includes: The camera is controlled to take pictures of the target to obtain a first imaging image; Based on the first imaging image, the first pair of pixels with the farthest relative distance on the inner circumference of the ring, the second pair of pixels with the farthest relative distance on the outer circumference of the ring, the center pixels of the three circles, and the vertex pixels of the first triangle are extracted. Based on the first pixel pair and the second pixel pair, the first straight line containing the major axis of the ring in the first imaging image is determined; Based on the center pixel and the vertex pixel, determine the second straight line where the base of the first triangle in the first imaging image is located; The intersection of the first straight line and the second straight line is determined as the imaging center point of the target in the first imaging image.

2. The method according to claim 1, characterized in that, The step of determining the first straight line containing the major axis of the annulus in the first imaging image based on the first pixel pair and the second pixel pair includes: Based on the first pixel pair, determine the midpoint of the first pixel and the first slope of the straight line containing the first pixel pair; Based on the second pixel pair, determine the midpoint of the second pixel and the second slope of the straight line containing the second pixel pair; Calculate the average pixel value between the midpoint of the first pixel and the midpoint of the second pixel to obtain the coordinates of the first midpoint of the major axis of the ring in the first image. Calculate the average of the first slope and the second slope to obtain the first target slope of the major axis of the ring in the first imaging image; Based on the coordinates of the first midpoint and the slope of the first target, the first straight line containing the major axis of the ring in the first imaging image is determined.

3. The method according to claim 1, characterized in that, Determining the second straight line containing the base of the first triangle in the first image based on the center pixel and the vertex pixel includes: The first set of straight lines is determined by connecting the center pixels of the three circles in pairs. The second set of straight lines is determined by connecting each pair of the vertex pixels of the first triangle; A third line is selected from the first set of lines, and a fourth line is selected from the second set of lines, wherein the third line and the fourth line are the two lines that are closest in relative distance to each other in the first set of lines and the second set of lines, respectively. Calculate the average slope of the third line and the fourth line to obtain the second target slope of the base of the first triangle in the first imaging image; Calculate the average pixel value of the two center pixels passed by the third straight line and the two vertex pixels passed by the fourth straight line to obtain the coordinates of the second midpoint of the base of the first triangle in the first imaging image; Based on the coordinates of the second midpoint and the slope of the second target, the second straight line containing the base of the first triangle in the first imaging image is determined.

4. The method according to claim 1, characterized in that, The method further includes: When the first straight line coincides with the second straight line, the midpoint coordinates of the major axis of the ring in the first imaging image or the midpoint coordinates corresponding to the base of the first triangle are determined as the imaging center point.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: The actual center point of the target is determined based on the imaging center point; The camera's pose is adjusted using the actual center point as a reference point; The optical axis of the camera after pose adjustment passes through the actual center point.

6. The method according to claim 5, characterized in that, After adjusting the camera's pose using the actual center point as a reference point, the process further includes: The camera is controlled to take a picture of the target to obtain a second imaging image; The target's pose is detected based on the second imaging image.

7. The method according to claim 6, characterized in that, The pose detection of the target based on the second imaging image includes: Based on the second imaging image, the third pixel pair with the farthest relative distance on the inner circumference of the ring, the fourth pixel pair with the farthest relative distance on the outer circumference of the ring, the center pixels of the three circles, and the vertex pixels of the first triangle are extracted. Based on the third pixel pair and the fourth pixel pair, the fifth straight line containing the major axis of the ring in the second imaging image is determined; The azimuth angle of the target is obtained by converting the slope of the fifth straight line into an angle.

8. The method according to claim 7, characterized in that, After determining the fifth straight line containing the major axis of the ring in the second imaging image based on the third pixel pair and the fourth pixel pair, the method further includes: Obtain the first side circumference pixel set and the second side circumference pixel set obtained by dividing the target circumference of the ring by the fifth straight line; the target circumference is the inner circumference or the outer circumference of the ring; The set of circumferential pixels with the smaller number of pixels between the first side circumferential pixel set and the second side circumferential pixel set is taken as the target circumferential pixel set; Determine the farthest distance between the pixels in the target circumferential pixel set and the fifth straight line; The pitch angle of the target is calculated based on the camera's focal length, the farthest distance value, and the maximum relative distance value on the target circumference.

9. The method according to claim 8, characterized in that, The calculation of the target's pitch angle based on the camera's focal length, the furthest distance value, and the maximum relative distance value on the target's circumference includes: The pitch angle of the target is calculated using the following pre-constructed formula: in, The pitch angle is... The focal length of the camera. The farthest distance value, This is the maximum relative distance value on the target circumference.

10. The method according to claim 9, characterized in that, Before calculating the pitch angle of the target using the following pre-constructed formula, the method further includes: Based on the pitch angle, the maximum distance value, the focal length of the camera, the radius of the target circumference in the target, and the object distance to the target, combined with the projection principle, the first equation is constructed: ； Based on the maximum relative distance value on the target circumference, the radius of the target circumference in the target, the focal length of the camera, and the object distance to the target, a second equation is constructed: ； Based on the first equation and the second equation, the pre-constructed formula is obtained; in, The pitch angle is... The farthest distance value, The focal length of the camera. The radius of the target circumference within the target is given. The distance to the target is [the distance between the target and the target]. This is the maximum relative distance value on the target circumference.

11. The method according to claim 8, characterized in that, After selecting the set of circumferential pixels with smaller pixel counts from the first and second side circumferential pixel sets as the target circumferential pixel set, the method further includes: The side of the target's circumferential pixel set relative to the fifth straight line is defined as the far side of the target relative to the camera. Based on the far side, determine the pitch direction corresponding to the pitch angle.

12. The method according to claim 11, characterized in that, After determining the pitch direction corresponding to the pitch angle based on the distal side, the method further includes: The camera's pose is adjusted according to the azimuth angle, the pitch angle, and the pitch direction corresponding to the pitch angle; The imaging plane of the camera after pose adjustment is parallel to the plane where the target is located.

13. The method according to claim 12, characterized in that, After adjusting the camera's pose according to the azimuth angle, the pitch angle, and the pitch direction corresponding to the pitch angle, the method further includes: The camera is controlled to take pictures of the target to obtain a third imaging image; Based on the third imaging image, the orientation of the vertex of the first triangle is extracted; Using the set positive direction as a reference, the rotation angle of the plane containing the target around its normal vector is determined based on the orientation of the apex angle; The target pose data, including the azimuth angle, the pitch angle, the pitch direction, and the rotation angle, is obtained.

14. An information detection device for a target, characterized in that, The target includes a target body pattern; the target body pattern includes a ring, and three circles and a first triangle located within the ring; wherein the ring is a concentric ring; the centers of the three circles are located on the circumference concentric with the ring; the base of the first triangle passes through the diameter of the ring and the midpoint of the base coincides with the center of the ring; the second triangle formed by the line connecting the centers of the three circles is collinear with the base of the first triangle, and the second triangle and the first triangle are similar triangles; the device includes: The control module is used to control the camera to take pictures of the target and obtain a first imaging image; The extraction module is used to extract, based on the first imaging image, the first pair of pixels that are farthest apart on the inner circumference of the ring, the second pair of pixels that are farthest apart on the outer circumference of the ring, the center pixels of the three circles, and the vertex pixels of the first triangle. The processing module is configured to determine, based on the first pixel pair and the second pixel pair, a first straight line containing the major axis of the annulus in the first imaging image; and to determine, based on the center pixel and the vertex pixel, a second straight line containing the base of the first triangle in the first imaging image. The determining module is used to determine the intersection of the first straight line and the second straight line as the imaging center point of the target in the first imaging image.

15. A terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 13.

16. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 13.

Images