Light source detection method, apparatus, system, medium, and electronic device

Abstract

The present disclosure relates to a light source detection method, device, system, medium and electronic equipment, the method comprising: lighting a to-be-detected light source, controlling a camera to capture a first image of the to-be-detected light source, and determining a pose of the to-be-detected light source in a base coordinate system of a multi-axis mechanical device according to the first image; controlling a bright chroma detection device placed at the end of the multi-axis mechanical device to rotate around the to-be-detected light source from at least one direction according to the pose of the to-be-detected light source in the base coordinate system of the multi-axis mechanical device, obtaining bright chroma values of the to-be-detected light source at multiple light emitting angles in each direction, and determining a corresponding light distribution curve of each direction; determining corresponding bright chroma compensation values of different positions on the to-be-detected light source according to the corresponding light distribution curve of each direction and a pose relationship between the camera and the to-be-detected light source; and performing bright chroma consistency detection on the to-be-detected light source according to the bright chroma compensation values. The present disclosure compensates the bright chroma of the to-be-detected light source by measuring the light distribution curve of the to-be-detected light source.

Description

Technical Field

[0001] This disclosure relates to the field of display technology, and in particular to a light source detection method, apparatus, system, medium, and electronic device. Background Technology

[0002] For small-pitch LED direct-view display technologies, such as miniLED and MicroLED screens, the pixel pitch is typically within millimeters or even fractions of a millimeter, resulting in high pixel density. Due to differences in brightness and color between different LEDs and modules, when assembled into large screens, the human eye perceives noticeable inconsistencies in brightness and color, such as speckles or bright patches, especially with small-pitch COB (Chip On Board) screens produced using this technology. Simultaneously, during LCD manufacturing, inconsistencies in brightness and color between different batches of backlight LEDs and LED chips lead to variations in brightness and color consistency and values ​​across different screens after passing through the quantum diffusion film. Therefore, brightness and color consistency testing is necessary. Summary of the Invention

[0003] To overcome the problems existing in related technologies, this disclosure provides a light source detection method, apparatus, system, medium, and electronic device.

[0004] According to a first aspect of the present disclosure, a light source detection method is provided, comprising:

[0005] The light source to be tested is lit, the camera is controlled to capture a first image of the light source to be tested, and the pose of the light source to be tested in the base coordinate system of the multi-axis mechanical device is determined based on the first image. The camera is fixed outside the multi-axis mechanical device.

[0006] Based on the position and orientation of the light source under test in the base coordinate system of the multi-axis mechanical device, the luminance and chromaticity detection device placed at the end of the multi-axis mechanical device is controlled to rotate around the light source under test from at least one direction to obtain the luminance and chromaticity values ​​of the light source under test at multiple emission angles in each of the directions.

[0007] Based on the luminance and chromaticity values ​​of the light source under test at multiple emission angles in each of the directions, a light distribution curve corresponding to each of the directions is determined, and the light distribution curve characterizes the luminance and chromaticity attenuation information of the light source under test at different emission angles in the direction.

[0008] Based on the light distribution curve corresponding to each direction and the pose relationship between the camera and the light source under test, determine the luminance and chromaticity compensation values ​​corresponding to different positions on the light source under test.

[0009] The brightness and color consistency of the light source under test are detected based on the brightness and color compensation value.

[0010] Optionally, determining the light distribution curve corresponding to each of the said directions based on the luminance and chromaticity values ​​of the light source under test at multiple emission angles in each of the said directions includes:

[0011] For each of the aforementioned directions, the luminance and chromaticity values ​​of the light source under test at multiple emission angles in that direction are interpolated;

[0012] Determine the attenuation ratio of the luminance and chromaticity value of each emission angle relative to the luminance and chromaticity value of the target emission angle to obtain the luminance and chromaticity attenuation information corresponding to each emission angle, wherein the target emission angle is the angle perpendicular to the light source to be tested;

[0013] Based on the luminance and chromaticity attenuation information corresponding to each emission angle, the light distribution curve corresponding to the direction is obtained.

[0014] Optionally, the luminance and chromaticity detection device placed at the end of the multi-axis mechanical device is controlled to rotate around the light source under test in at least one direction, including:

[0015] The brightness and color detection device placed at the end of the multi-axis mechanical device is controlled to rotate around the spherical surface centered on the light source to be tested from both the horizontal and vertical directions.

[0016] Optionally, determining the luminance and chromaticity compensation values ​​corresponding to different positions on the light source under test based on the light distribution curve corresponding to each of the directions and the pose relationship between the camera and the light source under test includes:

[0017] The light distribution surface of the light source under test is determined based on the first light distribution curve corresponding to the horizontal direction and the second light distribution curve corresponding to the vertical direction.

[0018] Based on the pose relationship between the camera and the light source under test, determine the angle between the camera and different positions on the light source under test;

[0019] Based on the luminance and chromaticity attenuation information corresponding to the angle in the light distribution surface, the corresponding luminance and chromaticity compensation value is determined.

[0020] Optionally, determining the pose of the light source under test in the base coordinate system of the multi-axis mechanical device based on the first image includes:

[0021] Identify the image position of the light source to be tested based on the first image;

[0022] Based on the image position of the light source under test and the pre-calibrated internal and external parameters of the camera, determine the pose of the light source under test in the camera coordinate system;

[0023] Based on the pose of the light source under test in the camera coordinate system and the transformation matrix from the camera to the base of the multi-axis mechanical device, the pose of the light source under test in the base coordinate system of the multi-axis mechanical device is determined.

[0024] Optionally, the method further includes:

[0025] The calibration plate placed at the end of the multi-axis mechanical device is controlled to move to multiple positions, and the camera is controlled to capture multiple corresponding second images;

[0026] Based on the multiple second images, the intrinsic and extrinsic parameters of the camera are calibrated and the transformation matrix from the camera to the multi-axis mechanical device substrate is calculated.

[0027] According to a second aspect of the present disclosure, a light source detection device is provided, comprising:

[0028] The first control module is used to light up the light source to be tested, control the camera to capture a first image of the light source to be tested, and determine the pose of the light source to be tested in the base coordinate system of the multi-axis mechanical device based on the first image. The camera is fixed outside the multi-axis mechanical device.

[0029] The second control module is used to control the luminance and chromaticity detection device placed at the end of the multi-axis mechanical device to rotate around the light source under test from at least one direction according to the pose of the light source under test in the base coordinate system of the multi-axis mechanical device, so as to obtain the luminance and chromaticity values ​​of the light source under test at multiple emission angles in each of the directions.

[0030] The attenuation determination module is used to determine the light distribution curve corresponding to each of the directions based on the luminance and chromaticity values ​​of the light source under test at multiple emission angles in each direction. The light distribution curve characterizes the luminance and chromaticity attenuation information of the light source under test at different emission angles in the direction.

[0031] The compensation determination module is used to determine the luminance and chromaticity compensation values ​​corresponding to different positions on the light source under test based on the light distribution curve corresponding to each of the directions and the pose relationship between the camera and the light source under test.

[0032] The detection module is used to perform brightness and color consistency detection on the light source under test based on the brightness and color compensation value.

[0033] According to a third aspect of the present disclosure, a light source detection system is provided, comprising:

[0034] camera;

[0035] A multi-axis mechanical device, wherein the camera is fixed outside the multi-axis mechanical device;

[0036] A brightness and color detection device is used to be placed at the end of the multi-axis mechanical device;

[0037] A light source detection device is used to control the camera, the multi-axis mechanical device, and the brightness and color detection device, and to execute the light source detection method provided in the first aspect of the present disclosure.

[0038] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, having stored thereon computer program instructions that, when executed by a processor, implement the light source detection method provided in the first aspect of the present disclosure.

[0039] According to a fifth aspect of the present disclosure, an electronic device is provided, comprising:

[0040] processor;

[0041] Memory used to store processor-executable instructions;

[0042] The processor is configured to execute instructions stored in the memory to implement the light source detection method provided in the first aspect of the present disclosure.

[0043] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0044] This disclosure determines the luminance and chromaticity attenuation caused by the angle between the camera and the light source under test by measuring the light distribution curve of the light source under test and obtaining the pose relationship between the camera and the light source under test. When performing luminance and chromaticity consistency detection on the light source under test, the luminance and chromaticity are compensated accordingly based on the luminance and chromaticity attenuation, thereby improving the influence of luminance and chromaticity gradient caused by different light emission angles of LED or LCD screens during the luminance and chromaticity detection process and obtaining accurate luminance and chromaticity consistency detection results.

[0045] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0046] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0047] Figure 1 A schematic diagram of a light source detection system provided in an exemplary embodiment is shown.

[0048] Figure 2 A flowchart of a light source detection method provided in an exemplary embodiment is shown.

[0049] Figure 3 A schematic diagram of the light distribution curve is shown.

[0050] Figure 4 It shows Figure 2 A flowchart of the specific implementation method of step S201.

[0051] Figure 5 A schematic diagram is shown showing a calibration plate placed at the end of a six-axis mechanical device.

[0052] Figure 6 A schematic diagram is shown of a brightness and color detection device placed at the end of a six-axis mechanical device.

[0053] Figure 7 A block diagram of a light source detection device provided in an exemplary embodiment is shown.

[0054] Figure 8 A block diagram of an electronic device provided in an exemplary embodiment is shown. Detailed Implementation

[0055] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0056] It should be noted that all actions involving the acquisition of signals, information, or data in this disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the location is situated, and with authorization from the owner of the relevant device.

[0057] For area scan cameras, to accurately detect luminance and chromaticity values ​​and differences in luminance and chromaticity, in addition to the camera needing to conform to the human visual matching function, the influence of luminance and chromaticity gradients caused by different emission angles of LEDs or LCD screens during the detection process also needs to be considered. Therefore, embodiments of this disclosure provide a light source detection system and a light source detection method.

[0058] Figure 1 A schematic diagram of a light source detection system provided in an exemplary embodiment is shown. Please refer to... Figure 1 The light source detection system includes: a camera 101, a multi-axis mechanical device 102, a luminance and colorimetric detection device 103, and a light source detection device 104.

[0059] like Figure 1As shown, camera 101 is fixed outside the multi-axis mechanical device 102, and its shooting angle can cover the movement of the multi-axis mechanical device 102 within a certain range, while also covering the light source under test, thereby capturing an image of the light source under test. The light source under test can be an LED screen or an LCD screen. In some embodiments, camera 101 can be fixed on a bracket and positioned above the light source under test.

[0060] The multi-axis mechanical device 102 can specifically be a six-axis mechanical device, which includes six movable rotation axes. In this disclosure, the XYZ spatial coordinates and Euler angles of the end point relative to the base coordinate system can be obtained within the multi-axis mechanical device 102.

[0061] A luminance and chromaticity detection device 103 is placed at the end of a multi-axis mechanical device 102 to collect the luminance and chromaticity values ​​of the light source under test. By controlling the movement of the robotic arm of the multi-axis mechanical device 102, the luminance and chromaticity detection device 103 placed at the end of the multi-axis mechanical device 102 is moved. The luminance and chromaticity detection device 103 can follow the multi-axis mechanical device 102 in rotating around the light source under test, for example, rotating horizontally around a sphere centered on the light source under test, and / or rotating vertically around a sphere centered on the light source under test.

[0062] The light source detection device 104 can be used to control the camera 101, the multi-axis mechanical device 102, and the luminance and color detection device 103. The light source detection device 104 can implement the light source detection method provided in the embodiments of this disclosure, and its specific process will be described in detail below.

[0063] In some embodiments, the light source detection system includes a calibration plate. The calibration plate is placed at the end of a multi-axis mechanical device to calibrate the camera's intrinsic and extrinsic parameters. It may be in the form of a checkerboard or other types of calibration plate, with the physical spacing of the checkerboard grid determined by measurement. During calibration, the calibration plate at the end of the multi-axis mechanical device is moved by controlling the movement of its robotic arm.

[0064] Figure 2 A flowchart illustrating a light source detection method provided in an exemplary embodiment is shown. Please refer to... Figure 2 The method includes the following steps:

[0065] S201, Light up the light source to be tested, control the camera to capture the first image of the light source to be tested, and determine the pose of the light source to be tested in the base coordinate system of the multi-axis mechanical device based on the first image.

[0066] The camera is fixed outside the multi-axis mechanical device, and the positional relationship between the camera, the multi-axis mechanical device, and the light source to be measured can be referenced. Figure 1 .

[0067] S202, based on the pose of the light source under test in the base coordinate system of the multi-axis mechanical device, control the luminance and chromaticity detection device placed at the end of the multi-axis mechanical device to rotate around the light source under test from at least one direction, and obtain the luminance and chromaticity values ​​of the light source under test at multiple emission angles in each direction.

[0068] Specifically, the movement of the robotic arm of the multi-axis mechanical device is controlled to move the end effector luminance and chromaticity detection device, and during the movement of the luminance and chromaticity detection device, the device is controlled to collect luminance and chromaticity values. Specifically, the luminance and chromaticity detection device at the end effector of the multi-axis mechanical device is controlled to rotate around the light source under test in at least one direction, and in each direction, the device is controlled to collect luminance and chromaticity values ​​of the light source under test at multiple discrete angles in that direction. Optionally, the luminance and chromaticity values ​​can be represented as tristimulus values, including one luminance component and two chromaticity components.

[0069] In some embodiments, the at least one direction includes a horizontal direction and a vertical direction. Therefore, the luminance and chromaticity detection device placed at the end of the multi-axis mechanical device is controlled to rotate around a spherical surface centered on the light source under test from both the horizontal and vertical directions. For example, during the rotation of the luminance and chromaticity detection device from the horizontal direction around the spherical surface centered on the light source under test, the luminance and chromaticity detection device is controlled to collect luminance and chromaticity values ​​at m1 positions in the horizontal direction, thereby obtaining the luminance and chromaticity values ​​of the light source under test at m1 emission angles in the horizontal direction; during the rotation of the luminance and chromaticity detection device from the vertical direction around the spherical surface centered on the light source under test, the luminance and chromaticity detection device is controlled to collect luminance and chromaticity values ​​at m2 positions in the vertical direction, thereby obtaining the luminance and chromaticity values ​​of the light source under test at m2 emission angles in the vertical direction.

[0070] S203. Based on the luminance and chromaticity values ​​of the light source under test at multiple emission angles in each direction, determine the light distribution curve corresponding to each direction. The light distribution curve characterizes the luminance and chromaticity attenuation information of the light source under test at different emission angles in that direction.

[0071] Specifically, for each direction, based on the luminance and chromaticity values ​​of the light source under test at multiple emission angles in that direction, the luminance and chromaticity attenuation information corresponding to each emission angle is determined, thereby generating the light distribution curve for that direction.

[0072] In some embodiments, for each direction, the luminance and chromaticity values ​​of the light source under test at multiple emission angles in that direction are interpolated to determine the attenuation ratio of the luminance and chromaticity values ​​at each emission angle relative to the luminance and chromaticity values ​​at a target emission angle, thereby obtaining luminance and chromaticity attenuation information corresponding to each emission angle. The target emission angle is the angle perpendicular to the light source under test. Then, based on the luminance and chromaticity attenuation information corresponding to each emission angle, the light distribution curve corresponding to that direction is obtained. In this process, by interpolating the luminance and chromaticity values ​​of the light source under test at multiple discrete emission angles in that direction and calculating the luminance and chromaticity attenuation information corresponding to each emission angle, a continuous light distribution curve is generated.

[0073] Figure 3 A schematic diagram of a light distribution curve is shown. For example... Figure 3 As shown, the horizontal axis of the light distribution curve represents the emission angle, and the vertical axis represents the luminance and chromaticity attenuation information. 0° represents the target emission angle perpendicular to the light source under test, and the luminance and chromaticity attenuation information corresponding to the target emission angle is 100%. It can be seen from the figure that as the emission angle increases, the luminance and chromaticity values ​​gradually decrease.

[0074] It should be understood that Figure 3 The light distribution curve shown is only a simplified example. In reality, since the shape of the luminance attenuation curve is not necessarily the same as the shape of the chromaticity attenuation curve, the light distribution curve in each direction may include a first sub-light distribution curve for the luminance component, and a second sub-light distribution curve and a third sub-light distribution curve corresponding to the two chromaticity components, respectively.

[0075] S204. Based on the light distribution curve corresponding to each direction and the pose relationship between the camera and the light source under test, determine the luminance and chromaticity compensation values ​​corresponding to different positions on the light source under test.

[0076] Specifically, based on the light distribution curve corresponding to each direction and the pose relationship between the camera and the light source under test, the brightness and color attenuation caused by the angle between the camera and different positions on the light source under test are determined, and then the corresponding brightness and color compensation values ​​are determined.

[0077] S205, based on the luminance and chromaticity compensation value, perform luminance and chromaticity consistency testing on the light source under test.

[0078] When performing brightness and chromaticity consistency testing, first, compensation is performed according to the brightness and chromaticity compensation values ​​corresponding to different positions on the light source under test, and then consistency testing is performed based on the compensated brightness and chromaticity values.

[0079] According to the above technical solution, by measuring the light distribution curve of the light source under test and obtaining the pose relationship between the camera and the light source under test, the luminance and chromaticity attenuation caused by the angle between the camera and different positions on the light source under test can be determined. When performing luminance and chromaticity consistency detection on the light source under test, the luminance and chromaticity are compensated accordingly based on the luminance and chromaticity attenuation, thereby improving the influence of luminance and chromaticity gradient caused by different light emission angles of LED or LCD screens during the luminance and chromaticity detection process, and obtaining accurate luminance and chromaticity consistency detection results.

[0080] In some embodiments, the light distribution surface of the light source under test can be determined based on the first light distribution curve corresponding to the horizontal direction and the second light distribution curve corresponding to the vertical direction. The angle between the camera and different positions on the light source under test is determined based on the pose relationship between the camera and the light source under test. The corresponding luminance and chromaticity compensation value is determined based on the luminance and chromaticity attenuation information corresponding to the angle in the light distribution surface.

[0081] In this process, based on two light distribution curves in the horizontal and vertical directions, the luminance and color attenuation information of the emission angle at any position on the surface centered on the light source under test can be calculated through matrix multiplication, thereby generating a light distribution surface. The luminance and color compensation value is then determined based on the light distribution surface. It can be understood that the luminance and color attenuation information at any position can be obtained by matrix multiplication between the luminance and color attenuation information of one emission angle in the horizontal direction and the luminance and color attenuation information of one emission angle in the vertical direction.

[0082] In some embodiments, Figure 4 It shows Figure 2 A flowchart illustrating the specific implementation of step S201. Please refer to... Figure 4 Step S201, determining the pose of the light source under test in the base coordinate system of the multi-axis mechanical device based on the first image, further includes the following steps:

[0083] S401, Identify the image position of the light source to be tested based on the first image.

[0084] S402, based on the image position of the light source under test and the pre-calibrated internal and external parameters of the camera, determines the pose of the light source under test in the camera coordinate system.

[0085] S403, based on the pose of the light source under test in the camera coordinate system and the transformation matrix from the camera to the multi-axis mechanical device base, determine the pose of the light source under test in the base coordinate system of the multi-axis mechanical device.

[0086] According to the above technical solution, a camera is used to capture a first image of the light source to be tested, and the position of the light source to be tested is identified based on the first image. The identified image coordinates are first transformed to the pose in the camera coordinate system, and then transformed to the pose in the base coordinate system of the multi-axis mechanical device.

[0087] Understandably, the camera's intrinsic and extrinsic parameters need to be calibrated beforehand. During calibration, a calibration plate is placed at the end of the multi-axis mechanical device. By controlling the movement of the robotic arm of the multi-axis mechanical device, the calibration plate at the end is moved. Specifically, the calibration plate is moved to multiple positions, and at each position, the camera captures a corresponding second image, resulting in multiple second images. Based on these multiple second images, the camera's intrinsic and extrinsic parameters are calibrated, and the transformation matrix from the camera to the multi-axis mechanical device substrate is calculated.

[0088] In some embodiments, to improve calibration accuracy, the number of multiple second images used for calibrating camera intrinsic and extrinsic parameters may be greater than or equal to 15.

[0089] To facilitate a further understanding of this technical solution, the following description is based on a specific embodiment. This specific embodiment includes the following steps:

[0090] Step 1: Set up the testing environment by fixing the camera outside the six-axis mechanical device and keeping the camera position unchanged throughout the process.

[0091] Step two, refer to Figure 5 Place the calibration plate on the end flange of the six-axis mechanical device, ensuring that it is within the camera's imaging field of view.

[0092] Step 3: Control the calibration plate placed at the end of the six-axis mechanical device to move to n positions respectively, and simultaneously control the camera to take n corresponding second images. Based on the n second images, calibrate the camera's intrinsic and extrinsic parameters, and calculate the transformation matrix from the camera to the base of the six-axis mechanical device.

[0093] Step 4: Light up the light source to be tested, control the camera to capture the first image of the light source to be tested, identify the position of the light source to be tested based on the first image, first convert the identified image coordinates to the pose in the camera coordinate system, and then transform them to the pose in the base coordinate system of the six-axis mechanical device.

[0094] In step four, if the light source to be tested is a point light source, other calibration objects or calibration plates can be placed to assist in identification and positioning when identifying the light source; if the light source to be tested is a surface light source, positioning can be assisted by positioning points on the surface.

[0095] Step 5, refer to Figure 6 The luminance and chromaticity detection device is replaced on the end of the six-axis mechanical device. Based on the position of the light source to be tested to the base of the six-axis mechanical device, the luminance and chromaticity detection device at the end of the six-axis mechanical device is controlled to rotate around the spherical surface centered on the light source to be tested from the horizontal and vertical directions respectively, so as to obtain the luminance and chromaticity values ​​of the light source to be tested at m discrete angles in each direction.

[0096] Step six: For each direction, interpolate the luminance and chromaticity values ​​at the above m angles, and calculate the luminance and chromaticity attenuation information corresponding to each angle, thereby determining the light distribution curve for that direction.

[0097] Step 7: Based on the light distribution curves in each direction and the pose relationship between the camera and the light source under test, determine the luminance and chromaticity compensation values ​​corresponding to different positions on the light source under test, and perform luminance and chromaticity consistency detection on the light source under test based on the luminance and chromaticity compensation values.

[0098] Figure 5 and Figure 6 These represent two states at the end of the six-axis mechanical device. During calibration, a checkerboard calibration plate is placed at the end of the six-axis mechanical device. By moving the six-axis mechanical device and controlling the camera to capture a second image, the intrinsic and extrinsic parameters of the camera, as well as the transformation matrix from the camera to the base of the six-axis mechanical device, can be obtained. This transformation matrix includes translation and projection scale transformation. When detecting the light source under test, the calibration plate needs to be replaced with a luminance and chromaticity detection device. The six-axis mechanical device is then controlled to rotate around a spherical surface centered on the light source under test, and the luminance and chromaticity detection device is controlled to collect luminance and chromaticity values.

[0099] Since there is a deviation between the center of the calibration plate and the end point center when the calibration plate and the brightness and colorimetry detection device are placed, calibration can be used to determine the transformation matrix or transformation relationship of the tool coordinate system of the brightness and colorimetry detection device (or calibration plate) relative to the end point coordinate system. Thus, based on the pose relationship between the light source under test and the base of the six-axis mechanical device, combined with the transformation relationship between the brightness and colorimetry detection device (or calibration plate) and the end point coordinate system, and the end point coordinates obtained in the six-axis mechanical device, the end point tool of the six-axis mechanical device can be controlled to move to the expected position.

[0100] Figure 7 A block diagram of a light source detection device provided in an exemplary embodiment is shown. (Refer to...) Figure 7 The light source detection device 700 includes:

[0101] The first control module 701 is used to light up the light source to be tested, control the camera to capture a first image of the light source to be tested, and determine the pose of the light source to be tested in the base coordinate system of the multi-axis mechanical device based on the first image. The camera is fixed outside the multi-axis mechanical device.

[0102] The second control module 702 is used to control the luminance and chromaticity detection device placed at the end of the multi-axis mechanical device to rotate around the light source under test from at least one direction according to the pose of the light source under test in the base coordinate system of the multi-axis mechanical device, so as to obtain the luminance and chromaticity values ​​of the light source under test at multiple emission angles in each of the directions.

[0103] The attenuation determination module 703 is used to determine the light distribution curve corresponding to each of the directions based on the luminance and chromaticity values ​​of the light source under test at multiple emission angles in each direction. The light distribution curve represents the luminance and chromaticity attenuation information of the light source under test at different emission angles in the direction.

[0104] The compensation determination module 704 is used to determine the luminance and chromaticity compensation values ​​corresponding to different positions on the light source under test based on the light distribution curve corresponding to each direction and the pose relationship between the camera and the light source under test.

[0105] The detection module 705 is used to perform brightness and color consistency detection on the light source under test based on the brightness and color compensation value.

[0106] Optionally, the attenuation determination module 703 includes:

[0107] An interpolation submodule is used to interpolate the luminance and chromaticity values ​​of the light source under test at multiple emission angles in each of the directions.

[0108] The attenuation calculation submodule is used to determine the attenuation ratio of the luminance and chromaticity value of each emission angle relative to the luminance and chromaticity value of the target emission angle, and to obtain the luminance and chromaticity attenuation information corresponding to each emission angle, wherein the target emission angle is the angle perpendicular to the light source to be measured.

[0109] The curve acquisition submodule is used to obtain the light distribution curve corresponding to the direction based on the luminance and chromaticity attenuation information corresponding to each emission angle.

[0110] Optionally, the compensation determination module 704 includes:

[0111] The surface determination submodule is used to determine the light distribution surface of the light source under test based on the first light distribution curve corresponding to the horizontal direction and the second light distribution curve corresponding to the vertical direction.

[0112] Angle determination submodule is used to determine the angle between the camera and different positions on the light source under test, based on the pose relationship between the camera and the light source under test.

[0113] The compensation determination submodule is used to determine the corresponding luminance and chromaticity compensation value based on the luminance and chromaticity attenuation information corresponding to the angle in the light distribution surface.

[0114] Optionally, the first control module 701 includes:

[0115] A position recognition submodule is used to identify the image position of the light source to be tested based on the first image;

[0116] The first pose determination submodule is used to determine the pose of the light source under test in the camera coordinate system based on the image position of the light source under test and the pre-calibrated camera intrinsic and extrinsic parameters;

[0117] The second pose determination submodule is used to determine the pose of the light source under test in the base coordinate system of the multi-axis mechanical device based on the pose of the light source under test in the camera coordinate system and the transformation matrix from the camera to the base of the multi-axis mechanical device.

[0118] Optionally, the light source detection device 700 further includes a calibration module, which controls the calibration plate placed at the end of the multi-axis mechanical device to move to multiple positions respectively, controls the camera to capture multiple corresponding second images, and is used to calibrate the intrinsic and extrinsic parameters of the camera and calculate the transformation matrix from the camera to the substrate of the multi-axis mechanical device based on the multiple second images.

[0119] Regarding the light source detection device 700 in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments of the relevant methods, and will not be elaborated here.

[0120] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the light source detection method provided in this disclosure.

[0121] Figure 8 This is a block diagram illustrating an electronic device 800 according to an exemplary embodiment. For example, the electronic device 800 may be a smartphone, computer, server, tablet device, etc. (Refer to...) Figure 8 The electronic device 800 includes a processing component 822, which further includes one or more processors, and a memory resource represented by a memory 832 for storing instructions executable by the processing component 822, such as application programs. The application programs stored in the memory 832 may include one or more modules, each corresponding to a set of instructions, such as... Figure 7 The various modules shown are illustrated. Furthermore, the processing component 822 is configured to execute instructions to perform the light source detection method in the above embodiments.

[0122] The electronic device 800 may further include: a power supply component 826 configured to perform power management of the electronic device 800; a wired or wireless network interface 850 configured to connect the electronic device 800 to a network; and an input / output interface 858. The electronic device 800 can operate an operating system stored in the memory 832.

[0123] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of this disclosure. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0124] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A light source detection method characterized by, The method comprises the following steps: lighting a to-be-tested light source, controlling a camera to capture a first image of the to-be-tested light source, and determining a pose of the to-be-tested light source in a base coordinate system of a multi-axis mechanical device according to the first image, wherein the camera is fixed outside the multi-axis mechanical device; controlling a luminance detection device placed at the end of the multi-axis mechanical device to rotate around a sphere with the to-be-tested light source as the center from at least one direction, to obtain luminance values of the to-be-tested light source at a plurality of light emitting angles in each direction; determining a light distribution curve corresponding to each direction according to the luminance values of the to-be-tested light source at a plurality of light emitting angles in each direction, wherein the light distribution curve represents luminance decay information corresponding to different light emitting angles in the direction; determining a luminance compensation value corresponding to different positions on the to-be-tested light source according to the light distribution curve corresponding to each direction and a pose relationship between the camera and the to-be-tested light source; performing luminance consistency detection on the to-be-tested light source according to the luminance compensation value; the method of determining a light distribution curve corresponding to each direction according to the luminance values of the to-be-tested light source at a plurality of light emitting angles in each direction comprises: interpolating the luminance values of the to-be-tested light source at a plurality of light emitting angles in each direction; determining a decay ratio of the luminance value of each light emitting angle relative to the luminance value of a target light emitting angle, to obtain luminance decay information corresponding to each light emitting angle, wherein the target light emitting angle is an angle perpendicular to the to-be-tested light source; obtaining a light distribution curve corresponding to each direction according to the luminance decay information corresponding to each light emitting angle.

2. The method of claim 1, wherein, the method of controlling the luminance detection device placed at the end of the multi-axis mechanical device to rotate around a sphere with the to-be-tested light source as the center from at least one direction comprises: controlling the luminance detection device placed at the end of the multi-axis mechanical device to rotate around a sphere with the to-be-tested light source as the center from a horizontal direction and a vertical direction respectively.

3. The method of claim 2, wherein, the method of determining a luminance compensation value corresponding to different positions on the to-be-tested light source according to the light distribution curve corresponding to each direction and the pose relationship between the camera and the to-be-tested light source comprises: determining a light distribution surface of the to-be-tested light source according to a first light distribution curve corresponding to the horizontal direction and a second light distribution curve corresponding to the vertical direction; determining an angle between different positions on the to-be-tested light source and the camera according to the pose relationship between the camera and the to-be-tested light source; determining a corresponding luminance compensation value according to luminance decay information corresponding to the angle in the light distribution surface.

4. The method according to any one of claims 1 to 3, characterized in that, the method of determining a pose of the to-be-tested light source in a base coordinate system of a multi-axis mechanical device according to a first image comprises: recognizing an image position of the to-be-tested light source according to the first image; determining a pose of the to-be-tested light source in a camera coordinate system according to the image position of the to-be-tested light source and pre-calibrated camera internal and external parameters; According to the pose of the to-be-tested light source in a camera coordinate system and a transformation matrix of the camera to a base of the multi-axis mechanical device, a pose of the to-be-tested light source in a base coordinate system of the multi-axis mechanical device is determined.

5. The method of claim 4, wherein, The method further comprises: controlling a calibration board placed at an end of the multi-axis mechanical device to move to a plurality of positions respectively, and controlling the camera to capture a plurality of second images corresponding to the plurality of positions respectively; according to the plurality of second images, calibrating internal and external parameters of the camera and calculating the transformation matrix of the camera to the base of the multi-axis mechanical device.

6. A light source detection apparatus, characterized by comprising: comprise: a first control module configured to light up a to-be-tested light source, control a camera to capture a first image of the to-be-tested light source, and determine a pose of the to-be-tested light source in a base coordinate system of a multi-axis mechanical device according to the first image, the camera being fixed outside the multi-axis mechanical device; a second control module configured to control a light chroma detection device placed at an end of the multi-axis mechanical device to rotate around a spherical surface with the to-be-tested light source as a center from at least one direction, obtain light chroma values of the to-be-tested light source at a plurality of light emitting angles in each of the directions, according to the pose of the to-be-tested light source in the base coordinate system of the multi-axis mechanical device; a decay determining module configured to determine a light distribution curve corresponding to each of the directions according to the light chroma values of the to-be-tested light source at the plurality of light emitting angles in each of the directions, the light distribution curve representing light chroma decay information corresponding to different light emitting angles in the direction; a compensation determining module configured to determine light chroma compensation values corresponding to different positions on the to-be-tested light source according to the light distribution curve corresponding to each of the directions and a pose relationship between the camera and the to-be-tested light source; a detection module configured to perform light chroma consistency detection on the to-be-tested light source according to the light chroma compensation values. The decay determining module comprises: an interpolation submodule configured to interpolate the light chroma values of the to-be-tested light source at the plurality of light emitting angles in each of the directions; a decay calculating submodule configured to determine a decay ratio of a light chroma value of each of the light emitting angles relative to a light chroma value of a target light emitting angle, obtain light chroma decay information corresponding to each of the light emitting angles, the target light emitting angle being an angle perpendicular to the to-be-tested light source; a curve obtaining submodule configured to obtain the light distribution curve corresponding to each of the directions according to the light chroma decay information corresponding to each of the light emitting angles.

7. A light source detection system characterized by, comprise: a camera; a multi-axis mechanical device, the camera being fixed outside the multi-axis mechanical device; a light chroma detection device configured to be placed at an end of the multi-axis mechanical device; a light source detection device configured to control the camera, the multi-axis mechanical device, and the light chroma detection device, and perform the method of any one of claims 1-5.

8. A computer-readable storage medium having stored thereon computer program instructions, wherein, The program instructions are executed by the processor to implement the method of any one of claims 1-5.

9. An electronic device, comprising: comprise: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions stored in the memory to implement the method of any one of claims 1-5.

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