A curved surface imaging method and a curved surface imaging system

Abstract

The present application provides a curved surface imaging method and a curved surface imaging system, which relate to the field of imaging technology. The curved surface imaging system may include a control device, a height sensor, an imaging device, a stage, and a three-axis motion system. When it is necessary to perform three-dimensional imaging on the curved surface object to be processed on the stage, the control device may first divide the three-dimensional imaging into regions to obtain m regions. Afterwards, for each region, the control device may use the height sensor to collect the coordinate data of the cross section corresponding to the region, so as to use the coordinate data of the cross section to determine the imaging angle corresponding to the region, thereby realizing automatic determination of the imaging angle. Afterwards, the control device may control the imaging device to scan the cross section corresponding to the region at the imaging angle corresponding to the region, thereby realizing three-dimensional imaging of the region, thereby realizing automatic imaging of the curved surface object, without the need to manually adjust the imaging angle, and improving imaging efficiency.

Description

Technical Field

[0001] The present application relates to the field of imaging technology, and in particular to a curved surface imaging method and a curved surface imaging system. Background Art

[0002] There are many 3D curved surface designs in 3C products, such as curved screens, curved battery covers, and curved middle frames. In order to ensure product quality, it is necessary to use imaging devices (such as cameras) to perform three-dimensional imaging of these curved surface designs (also known as curved surface objects) to use the curved surface images to detect whether the curved surface design meets the requirements.

[0003] However, during the imaging process, it is necessary to manually adjust the angle of the imaging device when scanning the curved object, which makes the imaging process cumbersome and the imaging efficiency low. Summary of the invention

[0004] The present application provides a curved surface imaging method and a curved surface imaging system, which are used to improve imaging efficiency and reduce imaging distortion.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a curved surface imaging method, which is applied to a control device in a curved surface imaging system, wherein the curved surface imaging system also includes a stage, an imaging device, and a height sensor. First, the control device can divide the curved surface object to be processed on the stage into m areas along a first direction; wherein m is a positive integer. Thereafter, for each of the m areas, the control device controls the height sensor to detect a cross section of the area along a second direction to collect first coordinate data of the cross section of the area. The second direction is perpendicular to the first direction.

[0007] Afterwards, the control device may determine an imaging angle corresponding to the cross section of the region based on the first coordinate data of the cross section of the region, wherein the imaging angle represents an angle between the imaging scan and a third direction when the imaging device scans the cross section, and the third direction is perpendicular to the plane where the second direction and the first direction are located.

[0008] Finally, the control device may control the imaging device to scan the cross section of the region at the imaging angle to obtain three-dimensional point cloud data corresponding to the region.

[0009] In the present application, the control device divides the curve object to be processed into regions along the first direction, and uses the height sensor to collect the first coordinate data of the cross section parallel to the second direction corresponding to each region, so as to use the coordinate data to determine the imaging angle matching the cross section, thereby realizing automatic determination of the imaging angle. Afterwards, for each region, the above-mentioned control device can control the imaging device to scan the cross section at the imaging angle corresponding to the cross section of the region, and obtain the three-dimensional point cloud data corresponding to the cross section, that is, obtain the three-dimensional point cloud data corresponding to the region, without manually adjusting the imaging angle, thereby realizing automatic three-dimensional imaging of the curved surface object, simplifying the imaging process, and improving the three-dimensional imaging efficiency. In addition, since the imaging angle is automatically determined and adjusted, it is suitable for three-dimensional imaging of curved surface objects of different types and shapes.

[0010] In one possible design, the imaging angle corresponding to the above-mentioned section includes the imaging angles corresponding to each contour point of the section. The imaging angle corresponding to the contour point is the angle between the normal vector corresponding to the contour point and the third direction, thereby accurately determining the imaging angle and ensuring the accuracy of imaging.

[0011] In a possible design, the first coordinate data of the cross section includes the first coordinate data of each contour point of the cross section. The first coordinate data may include a coordinate value in a first direction, a coordinate value in a second direction, and a coordinate value in a third direction. The coordinate values ​​in the first direction of each contour point of the cross section are the same.

[0012] The imaging angles corresponding to each of the above cross sections of the cross section may include imaging angles corresponding to each contour point of the cross section.

[0013] Correspondingly, the process of determining the imaging angle corresponding to the contour point includes: first, the control device can perform curve fitting on the second coordinate data of the contour point of the cross section of the region to obtain the curve equation corresponding to the cross section of the region. The second coordinate data includes the coordinate values ​​of the second direction and the third direction in the first coordinate data, but does not include the coordinate value of the first direction. The curve equation ensures the contour line of the cross section of the region on the plane where the second direction and the third direction are located.

[0014] Afterwards, for each contour point of the cross section of the region, the control device can determine the normal vector corresponding to the contour point based on the curve equation and the second coordinate data of the contour point, so as to determine the imaging angle corresponding to the contour point using the normal vector corresponding to the contour point. Based on this, adaptive determination of the imaging angle is achieved, and the accuracy of the imaging angle determination is guaranteed, thereby ensuring the imaging accuracy.

[0015] In a possible design, the process of controlling the imaging device to scan the cross section of the region at the imaging angle may include: for each contour point of the cross section of the region, the control device may control the imaging device to scan the contour point at the imaging angle corresponding to the contour point, so as to achieve automatic adjustment of the imaging angle during the scanning process. Moreover, when the imaging device scans the contour point at an angle between the normal vector corresponding to the contour point and the third direction, the distortion of the three-dimensional image corresponding to the curved surface object can be avoided, so that the three-dimensional image corresponding to the curved surface object matches the actual situation of the curved surface object, thereby improving the accuracy of imaging.

[0016] In a possible design, the first direction is the Y-axis direction, the second direction is the X-axis direction, and the third direction is the Z-axis direction. The curved surface imaging system may further include a motion device in the X-axis direction, a motion device in the Y-axis direction, and a motion device in the Z-axis direction. The imaging device is mounted on the motion device in the Z-axis direction, and the stage is placed on the motion device in the Y-axis direction. Accordingly, the process of controlling the imaging device to scan the contour point at the imaging angle corresponding to the contour point may include:

[0017] The control device may determine the moving distance ∆x in the X-axis direction corresponding to the moving device in the Z-axis direction based on the second coordinate data of the contour point, the distance between the moving device in the X-axis direction and the stage along the Z-axis direction (i.e., the height difference between the moving device in the X-axis direction and the stage), and the imaging angle corresponding to the contour point. i_1 .

[0018] Afterwards, the control device controls the motion device in the Z-axis direction to move along the X-axis direction based on the moving distance, that is, the distance moved by the motion device in the Z-axis direction is the moving distance.

[0019] Afterwards, after the movement of the motion device in the Z-axis direction is completed, the control device controls the imaging device to rotate so that the angle between the imaging device and the Z-axis direction is the imaging angle corresponding to the contour point, so that the direction of the imaging device when scanning the contour point (i.e., the laser emission direction) is the direction of the normal vector corresponding to the contour point, so that the imaging device can scan the contour point from the normal vector perspective to avoid distortion.

[0020] In another possible implementation, the first direction may also be the X-axis direction, and the second direction may be the Y-axis direction.

[0021] In a possible design method, after obtaining the three-dimensional point cloud data corresponding to each area of ​​the curved surface object, the control device can combine the three-dimensional point cloud data corresponding to each area to obtain the complete three-dimensional point cloud data corresponding to the curved surface object. Afterwards, the control device can perform quality analysis on the three-dimensional point cloud data corresponding to the curved surface object to obtain the quality analysis result corresponding to the curved surface object, and the quality analysis result can indicate the quality of the curved surface object, such as whether the shape meets the requirements.

[0022] Optionally, the above-mentioned quality analysis process may include: based on preset parameter data (or standard data), performing quality analysis on the three-dimensional point cloud data corresponding to the curved surface object. Specifically, the standard data may include a standard three-dimensional image corresponding to the curved surface object. The control device may determine the three-dimensional image corresponding to the curved surface object, that is, the actual three-dimensional image, based on the three-dimensional point cloud data corresponding to the curved surface object. Afterwards, the control device may determine that the actual three-dimensional image is matched with the standard three-dimensional image to obtain a similarity. When the similarity is greater than or equal to a preset threshold, the control device may determine that the quality analysis result indicates that the quality is qualified. When the similarity is less than a preset threshold, the control device may determine that the quality analysis result indicates that the quality is unqualified.

[0023] In a second aspect, the present application provides a curved surface imaging system, which includes a control device, a stage, an imaging device, a height sensor, a motion device in the X-axis direction, a motion device in the Y-axis direction, and a motion device in the Z-axis direction; the control device is electrically connected to the stage, the imaging device, the height sensor, the motion device in the X-axis direction, the motion device in the Y-axis direction, and the motion device in the Z-axis direction, respectively.

[0024] The stage is placed on the motion device in the Y-axis direction, the imaging device and the height sensor are placed on the motion device in the Z-axis direction, and the motion device in the Z-axis direction can move along the X-axis direction. The stage is used to place the curved surface object to be processed. The height sensor is used to collect the first coordinate data of the cross section of the curved surface object to be processed on the stage. The imaging device is used to perform three-dimensional imaging of the curved surface object; and the control device is used to execute the curved surface imaging method as described above.

[0025] In the present application, the control device utilizes an imaging device, a height detection sensor, a motion device in the X-axis direction, a motion device in the Y-axis direction, and a motion device in the Z-axis direction to realize automatic imaging of the curved surface object to be processed (i.e., the curved surface object to be imaged) on the stage, without the need to manually determine and adjust the imaging angle, thereby simplifying the imaging process and improving the imaging efficiency.

[0026] In a possible design, the curved surface imaging system may further include a fixed plate, which is mounted on the moving device in the Z-axis direction, and the height detection sensor and the imaging device are mounted on the fixed plate. That is, the height detection sensor and the imaging device are mounted on the moving device in the Z-axis direction through the fixed plate, which facilitates the installation of the height detection sensor and the imaging device.

[0027] In a possible design, the curved surface imaging system may further include a motor, which is electrically connected to the imaging device. The imaging device is mounted on a motion device in the Z-axis direction via the motor, thereby facilitating the control device to control the imaging device to rotate.

[0028] In a third aspect, the present application provides a chip, which includes a communication interface and at least one processor: the communication interface is used to input and / or output signaling or data; the at least one processor is used to execute a computer program to implement a method as described in any one of the first aspects above.

[0029] In a fourth aspect, the present application provides a control device, which includes at least a memory and one or more processors; the memory and the processor are coupled; the memory is used to store computer program code, and the computer program code includes computer instructions; when the processor executes the computer instructions, the control device executes the method as described in any one of the above-mentioned first aspects.

[0030] In a fifth aspect, the present application provides a computer storage medium, comprising computer instructions, which, when executed on a control device, enable the control device to execute a method as described in any one of the above-mentioned first aspects.

[0031] In a sixth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method as described in any one of the above-mentioned first aspects.

[0032] It can be understood that the beneficial effects that can be achieved by the curved imaging system described in the second aspect, the chip described in the third aspect, the control device described in the fourth aspect, the computer storage medium described in the fifth aspect, and the computer program product described in the sixth aspect provided above can refer to the beneficial effects in the first aspect and any possible implementation method thereof, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of a curved surface object provided in an embodiment of the present application Figure 1 ;

[0034] Figure 2 A schematic diagram of a curved surface object provided in an embodiment of the present application Figure 2 ;

[0035] Figure 3 A schematic diagram of imaging a curved surface object provided in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of a curved surface imaging system provided in an embodiment of the present application Figure 1 ;

[0037] Figure 5 A schematic diagram of the structure of a control device provided in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of a curved surface imaging system provided in an embodiment of the present application Figure 2 ;

[0039] Figure 7 A schematic diagram of a flow chart of a curved surface imaging method provided in an embodiment of the present application;

[0040] Figure 8 An example diagram of a curved object segmentation provided in an embodiment of the present application;

[0041] Fig. 9 A curve fitting schematic diagram provided for an embodiment of the present application;

[0042] Fig.10 A schematic diagram of a sight angle provided in an embodiment of the present application Figure 1 ;

[0043] Fig.11 A schematic diagram of a sight angle provided in an embodiment of the present application Figure 2 ;

[0044] Fig.12 An imaging angle diagram provided in an embodiment of the present application Figure 1 ;

[0045] Fig.13 An imaging angle diagram provided in an embodiment of the present application Figure 2 ;

[0046] Fig.14 A schematic diagram of a three-dimensional imaging provided in an embodiment of the present application Figure 1 ;

[0047] Fig.15 A schematic diagram of a three-dimensional imaging provided in an embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0048] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or design solutions. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way. In the embodiments of the present application, "at least one" refers to one or more, and "multiple" refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple. In the embodiments of the present application, "first", "second", "1", "2" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this embodiment, unless otherwise specified, "multiple" means two or more.

[0049] There are many 3D curved surface designs (or curved objects) in 3C products (i.e., computers, communications, and consumer electronics), such as curved screens (such as Figure 1 Screen 10 shown), curved battery cover (such as Figure 2 The battery cover 11 shown in the figure) and the curved middle frame, etc. Among them, Figure 2 The mobile phone shown is an integrated one, and the battery cover 11 can be understood as a back cover, and the edge of the back cover can be a curved surface. In addition, the portion of the back cover corresponding to the camera can be in a convex state, which is also equivalent to a curved surface. In order to ensure product quality, it is necessary to use an imaging device (such as a camera) to perform three-dimensional imaging on these curved surface objects, so as to use the image of the curved surface object to detect whether the curved surface object meets the requirements.

[0050] In one implementation, Figure 3As shown, multiple imaging devices 20 can be used to scan the curved surface object 21 to be processed, so as to perform all-round imaging of the curved surface object 21 from different angles, thereby obtaining a three-dimensional image of the curved surface object 21. However, in order to ensure the accuracy of imaging, it is necessary to manually adjust the imaging angle of each imaging device 20 (or it can be understood as the shooting angle of the imaging device 20), which makes the imaging angle adjustment process cumbersome, thereby making the imaging process cumbersome and causing low imaging efficiency. In addition, since multiple imaging devices 20 are required to capture images, the imaging cost is high. In addition, when the curved shape of the curved surface object 21 changes, it is necessary to manually adjust the imaging angle of the imaging device 20 one by one again, and the degree of automation of image capture of the curved surface object 21 is low.

[0051] Therefore, in order to solve the above problems, the present application provides a curved surface imaging system and a curved surface imaging method. Figure 4 As shown, the curved surface imaging system may include an imaging device, a three-axis motion device (or a three-axis motion system), a height sensor (or a height detector), a control device, and a stage. The control device may be electrically connected to the imaging device, the three-axis motion device, the height sensor, and the stage.

[0052] Among them, Figure 4 As shown, the three-axis motion device may include a motion device in the X-axis direction (or called an operating system in the X-axis direction), a motion device in the Y-axis direction (or called an operating system in the Y-axis direction), and a motion device in the Z-axis direction (or called an operating system in the Z-axis direction). The motion system based on the XYZ-axis directions adjusts the distance between the surface object to be processed and the imaging device, as well as the imaging angle. Among them, the motion device in the Z-axis direction can move along the X-axis direction.

[0053] like Figure 4 As shown, the stage is placed on a moving device in the Y-axis direction. The stage can move forward and backward on the running device in the Y-axis direction. The stage is used to place the curved surface object to be processed. The stage is located below the imaging device and the height sensor, so that the height sensor can detect the curved surface object on the stage, and the imaging device can scan the curved surface object on the stage.

[0054] like Figure 4 As shown, the height sensor and the imaging device can be placed on a moving device in the Z-axis direction. The height sensor is used to measure the height value of the curved surface object to be processed in the Z-axis direction. In the embodiment of the present application, in the process of measuring the height value, the height sensor can collect the coordinate values ​​of each contour point on the cross section of the detected curved surface object.

[0055] Optionally, the height detection sensor may be a laser height detection sensor. Of course, the height detection sensor may also be other types, such as an ultrasonic height detection sensor, which is not limited in the present application.

[0056] The imaging device may also be referred to as a 3D imaging device. The imaging device is used for laser scanning to obtain three-dimensional point cloud data of the surface object to be processed, or three-dimensional image data of the surface object, so as to realize three-dimensional imaging of the surface object to be processed. The imaging device may include a laser radar.

[0057] Based on this, the implementation process of the above-mentioned curved surface imaging method can be: after the relevant personnel place the curved surface object to be processed on the stage, the control device can divide the side length of the curved surface object along the Y-axis direction into m segments to obtain m side length segments. Afterwards, for each of the m side length segments, the control device can control the height sensor to be placed above the cross section parallel to the X-axis corresponding to the side length segment (hereinafter referred to as the cross section corresponding to the side length segment), and control the height sensor to move along the X-axis direction to measure the height of the cross section corresponding to the side length segment. During the measurement process, the height sensor can collect the coordinate data P1-P of the cross section corresponding to the side length segment, thereby determining the contour point of the cross section corresponding to the side length segment. n (i.e. P1(x1,y s , z1), P2(x2, y s , z2),…,P n (x n ,y s , z n )). Where n is a positive integer. Where y s Indicates the coordinate value in the Y-axis direction of the cross section corresponding to the edge length segment.

[0058] Afterwards, for each contour point of the cross section corresponding to the side length segment, the control device determines the imaging angle corresponding to the contour point. The imaging angle corresponding to the contour point represents the angle at which the imaging device scans the contour point. Afterwards, the control device controls the imaging device to scan the cross section corresponding to the side length segment. Each time a contour point is scanned, the imaging device scans according to the imaging angle corresponding to the contour point to restore the contour point, thereby realizing automatic adjustment of the imaging angle without manual adjustment, avoiding the cumbersome imaging angle adjustment process, and improving the adjustment efficiency of the imaging angle.

[0059] After the scanning of the section corresponding to the side length segment is completed, the control device obtains the three-dimensional point cloud data corresponding to the section corresponding to the side length segment, that is, obtains the three-dimensional image data corresponding to the section. After obtaining the three-dimensional image data corresponding to the section corresponding to each side length segment, it indicates that the complete three-dimensional image data corresponding to the curved surface object is obtained, and the automatic imaging of the curved surface object to be processed is realized without manual adjustment of parameters, thereby improving the imaging efficiency. Moreover, there is no need for multiple imaging devices to capture images at different angles, thereby reducing costs. In addition, since the parameters, such as the imaging angle, are automatically adjusted, even if the curved surface shape of the curved surface object to be processed is different, the imaging angle can be adaptively adjusted without manual targeted adjustment, thereby improving the degree of automation of image acquisition of the curved surface object.

[0060] It should be noted that the above-mentioned control device may not be electrically connected to the stage, and the control device may realize the movement of the stage in the Y-axis direction by controlling the movement of the motion device in the Y-axis direction.

[0061] For example, Figure 5 As shown, the control device may include a processor (or controller) 110. The processor 110 may be the nerve center and command center of the control device. The processor 110 may generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0062] Among them, optionally, a memory can also be set in the processor 110 for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory can save instructions or data that the processor 110 has just used or cyclically used. If the processor 110 needs to use the instruction or data again, it can be directly called from the memory. Repeated access is avoided, the waiting time of the processor 110 is reduced, and the efficiency of the system is improved.

[0063] Alternatively, if Figure 5 As shown, the control device may further include an internal memory 111 , a display screen 112 , an antenna, and a wireless communication module 113 .

[0064] The processor 110 executes instructions stored in the internal memory 111 to perform various functional applications and data processing of the control device.

[0065] The display screen 112 is used to display images, such as images corresponding to the surface object to be processed, etc. Accordingly, the processor 110 may also include a graphics processing unit (GPU), etc., to realize displaying the image on the display screen.

[0066] The wireless communication module 113 can provide wireless communication solutions including wireless local area networks (WLAN) (such as Wi-Fi (wireless fidelity) networks), Bluetooth (BT), near field communication (NFC), infrared (IR), etc., which are applied to the control device. The wireless communication module 113 communicates with other devices, for example, sending the image data of the surface object to be processed to other devices, such as a server, so that other devices analyze the surface object based on the three-dimensional image data of the surface object to be processed to determine whether the surface object meets the requirements. Alternatively, data or instructions sent by other devices can be received through the wireless communication module 113.

[0067] The wireless communication module 113 receives electromagnetic waves via the antenna, modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110. The wireless communication module 113 can also receive signals to be sent from the processor 110, modulate and amplify them, and convert them into electromagnetic waves for radiation via the antenna.

[0068] It should be noted that the above Figure 5 The structure of the control device shown is only an example, and the control device may also include fewer components. For example, the control device does not need to display an image, and accordingly, the control device may not include the above-mentioned display screen 112. For another example, the control device does not need to communicate with other devices, and it does not include the above-mentioned wireless communication module 113. For another example, the control device may not include the above-mentioned display screen 112 and the above-mentioned wireless communication module 113. In addition, the control device may also include more components. For example, the control device also includes a mobile communication module, a subscriber identification module (SIM) card interface, etc. Among them, the mobile communication module can provide solutions for wireless communications including 2G / 3G / 4G / 5G applied to the control device.

[0069] The above briefly introduces the curved surface imaging system and the curved surface imaging method. The following will introduce a possible curved surface imaging system in detail. Specifically, Figure 6 As shown, the curved surface imaging system includes a motion device 30 in the Z-axis direction, a motion device 31 in the X-axis direction, a motion device 32 in the Y-axis direction, a fixing plate 33, a motor 34, a height sensor 35, an imaging device 36, a stage 37 and a control device ( Figure 6 not shown).

[0070] Among them, the above-mentioned Z-axis motion device 30, X-axis motion device 31, Y-axis motion device 32, motor 34, height sensor 35, imaging device 36 and stage 37 are electrically connected to the control device respectively.

[0071] The Z-axis motion device 30 can move along the X-axis direction. Optionally, the X-axis motion device 31 intersects with the Z-axis motion device 30. The Y-axis motion device 32 does not intersect with either the X-axis motion device 31 or the Z-axis motion device 30.

[0072] Fixed plate 33: installed on the Z-axis motion device 30. Since the Z-axis motion device 30 can move along the X-axis direction, the fixed plate 33 can move up and down along the Z-axis direction and move left and right along the X-axis direction. In a possible implementation, the fixed plate 33 can be installed at the intersection of the X-axis motion device 31 and the Z-axis motion device 30.

[0073] Optionally, the fixing plate 33 may serve as a back plate for the motor 34 and / or the height sensor 35. That is, the motor 34 and / or the height sensor 35 are mounted on the fixing plate.

[0074] It should be understood that the movement of the fixed plate 33 in the Z-axis direction and the X-axis direction is actually achieved by the control device controlling the movement of the motion device 30 in the Z-axis direction. For example, the control device can control the motion device 30 in the Z-axis direction to move in the X-axis direction to achieve the movement of the fixed plate 33 in the X-axis direction. The control device can control the motion device 30 in the Z-axis direction to move up and down to achieve the movement of the fixed plate 33 in the Z-axis direction.

[0075] Motor 34: used to drive the imaging device 36 to rotate, thereby changing the imaging angle of the imaging device 36. Specifically, the motor 34 can drive the imaging device 36 to rotate on the XZ plane.

[0076] In some embodiments, the motor 34 may be a double delta (DD) motor, so as to achieve fine control of the imaging angle. Of course, the motor may also include other types of motors, which are not limited in the present application.

[0077] Height sensor 35: Since the height sensor 35 is installed on the fixed plate 33, the fixed plate 33 can move along the Z-axis direction and the Z-axis direction. Therefore, the height sensor 35 can move along the Z-axis direction and the Z-axis direction.

[0078] Imaging device 36: Since the imaging device 36 is mounted on the fixing plate 33, the fixing plate 33 can move along the Z-axis direction and the Z-axis direction, and therefore, the imaging device 36 can also move along the Z-axis direction and the Z-axis direction.

[0079] The stage 37: The stage 37 can be mounted on the Y-axis motion device 32 via a motor. The control device can control the stage to move forward and backward along the Y-axis direction by driving the motor.

[0080] It should be noted that the above-mentioned control device can be an independent device, or integrated in other devices in the curved surface imaging system, such as integrated in other devices in the curved surface imaging system in the form of a chip, and this application does not limit it.

[0081] In addition, the above Figure 6 The devices included in the curved surface imaging system shown are only an example, and the curved surface imaging system may also include fewer devices. For example, the curved surface imaging system does not include the above-mentioned fixed plate 33 and / or motor 34. Taking the curved surface imaging system that does not include the above-mentioned fixed plate 33 as an example, the motor 34 and the height sensor 35 are directly installed on the motion device 30 in the Z-axis direction. Since the motion device 30 in the Z-axis direction can move along the X-axis direction, the motor 34 and the height sensor 35 can still move along the Z-axis direction and the X-axis direction. Taking the curved surface imaging system that does not include the above-mentioned motor 34 as an example, the imaging device 36 can be directly installed on the fixed plate 33, and the control device can directly control the rotational movement of the imaging device 36. It can be understood that the imaging device 36 can be installed with a device similar to a motor.

[0082] Taking the curved surface imaging system which does not include the above-mentioned fixed plate 33 and motor 34 as an example, the imaging device 36 and the height sensor 35 are directly installed on the Z-axis motion device 30, so that the imaging device and the height sensor move in the Z-axis direction and the X-axis direction, and the control device can directly control the rotational movement of the imaging device.

[0083] A possible curved surface imaging system involved in the present application is described in detail above. The implementation process of a possible curved surface imaging method will be described in detail below. The curved surface imaging method is a method for self-adjusting the imaging angle based on contour guidance. The control device can divide the surface of the curved surface object to be processed into m areas along the Y-axis direction. For each of the m areas, the control device controls the height sensor to measure the coordinate data (such as three-dimensional coordinate data) of the cross section corresponding to the area and parallel to the X-axis direction, so that the control device can use the coordinate data of the cross section corresponding to the area to determine the imaging angle corresponding to the cross section, that is, the imaging angle corresponding to the area. Among them, the imaging angle corresponding to the cross section represents the angle between the imaging device and the Z-axis direction when scanning the cross section. Afterwards, the control device can control the imaging device to scan the cross section at the imaging angle corresponding to the cross section, thereby realizing the scanning of the area and obtaining the three-dimensional coordinate data of the area, thereby realizing fast and automatic three-dimensional imaging of the curved surface object, without the need to manually determine and adjust the imaging angle, greatly simplifying the imaging debugging process, improving the imaging efficiency of the curved surface object, and improving the degree of automation of imaging. In addition, since there is no need to manually determine and adjust the imaging angle, adaptive adjustment of the imaging angle of curved surface objects of different types and shapes can be achieved, thereby achieving adaptive imaging of the curved surface objects. Specifically, the process of the curved surface imaging method can be as follows: Figure 7 shown.

[0084] S201. The control device obtains the size of the curved surface object to be processed on the stage.

[0085] The size of the curved surface object includes the length of the edge of the curved surface object, for example, the size may include length and / or width.

[0086] In some embodiments, the size of the curved surface object may be input by a user into the control device, or may be sent to the control device by other devices.

[0087] S202: The control device divides the edge of the surface object in the Y-axis direction into m segments based on the size of the surface object, and obtains m edge length segments.

[0088] Here, m is greater than or equal to 1.

[0089] For example, the curved surface object is a curved display screen, which has a long side and a short side. The side of the curved surface object in the Y-axis direction can be a long side or a wide side. For example, if the short side of the curved surface object is parallel to the Y-axis, then the side of the curved surface object in the Y-axis direction is the wide side. For another example, if the long side of the curved surface object is parallel to the Y-axis, then the length of the curved surface object in the Y-axis direction is the long side.

[0090] In the embodiment of the present application, the control device divides the edge of the curved surface object in the Y-axis direction into m segments to obtain m edge length segments, that is, the surface area of ​​the curved surface object is divided into m areas along the Y-axis direction, and one edge length segment corresponds to one area, so as to image each area separately. Figure 8 As shown, m is 6, and the edge of the surface object in the Y-axis direction is divided into 6 edge length segments, namely edge length segment 1, edge length segment 2, edge length segment 3, edge length segment 4, edge length segment 5 and edge length segment 6. Accordingly, the surface area of ​​the surface object is divided into 6 areas along the Y-axis direction, namely area 1, area 2, area 3, area 4, area 5 and area 6.

[0091] Optionally, since the imaging device is required to scan each of the m regions, and the laser (or laser beam) emitted by the imaging device has a width limit, in order to ensure the integrity of the imaging, the width of each region, that is, the length of each side segment is less than or equal to the line width of the laser emitted by the imaging device. For example, if the width of the laser emitted by the imaging device is 7 mm, then the length of each side segment is less than or equal to 7 mm.

[0092] In some embodiments, the control device may evenly divide the edge of the curved surface object in the Y-axis direction into m segments, and the length of each segment is the same, so as to facilitate the control of the movement of the height detection sensor, the stage, etc. Of course, the control device may not evenly divide the edge of the curved surface object in the Y-axis direction, and this application does not limit it.

[0093] The above describes the process of segmenting a surface object. After the surface object is segmented, it is necessary to determine the imaging angle corresponding to the cross section parallel to the X-axis direction corresponding to each side segment. The following will continue to describe the process of determining the imaging angle.

[0094] S203, the control device moves the height detection sensor to above the sth side length segment among the m side length segments.

[0095] Exemplarily, the control device can drive the fixed plate to move by moving the motion device in the Z-axis direction, thereby realizing the movement of the height detection sensor on the fixed plate, so that the height detection sensor is perpendicular to the cross section corresponding to the sth side length segment and is located above the sth area.

[0096] It is understandable that the control device can calculate the position of the sth region of the surface object according to the position of the surface object on the stage. The position of the surface object can be characterized by the position of the stage, and the position of the stage can be the position of the center point of the stage, and generally speaking, the surface object is located in the center of the stage, so the position of the surface object (such as the position of the center point of the surface object) can be characterized by the position of the stage. Afterwards, the control device can calculate the position of the entire surface object based on the position of the surface object and the size of the surface object. Among them, the position of the stage can be sent by the stage or the motion device in the Y-axis direction. Of course, the position of the entire surface object can also be determined by other methods. For example, there are multiple sensors on the stage, such as a pressure sensor, and the position of the entire surface object can be determined by the data collected by the pressure sensor. The present application does not limit the method of determining the position of the entire surface object.

[0097] In some embodiments, the control device may sequentially use each side length segment as the sth side length segment according to the arrangement order of the m side length segments. Figure 8 In the arrangement order of the side length segments 1 to 6 shown, side length segment 1 is first used as the s-th side length segment to determine the imaging angle corresponding to side length segment 1. Then, side length segment 2 is used as the s-th side length segment to determine the imaging angle corresponding to side length segment 2. By analogy, side length segment 6 is finally used as the s-th side length segment to determine the imaging angle corresponding to side length segment 6. Of course, the control device can also randomly select a side length segment as the s-th side length segment, which is not limited in the present application.

[0098] S204 , the control device controls the height detection sensor to move along the X-axis direction to scan the cross section corresponding to the s-th side length segment, so as to determine the coordinate data of the contour points of the cross section corresponding to the s-th side length segment.

[0099] The cross section corresponding to the sth side length segment may be a cross section corresponding to any point on the sth side length segment, which includes the point and is parallel to the X-axis direction. Alternatively, the cross section corresponding to the sth side length segment is a cross section corresponding to a specific point on the sth side length segment, such as a cross section corresponding to a middle point.

[0100] Among them, the coordinate data of the contour point of the cross section corresponding to the sth side length segment is P1-P n (i.e. P1(x1,y s , z1), P2(x2, y s , z2),…,P n (x n ,y s , z n )). Among them, P n (x n ,y s, z n ) represents the three-dimensional coordinate data of the nth contour point of the cross section. s Indicates the coordinate value of the section in the Y-axis direction.

[0101] In an embodiment of the present application, the control device can move the stage along the Y-axis direction to change the position of the curved surface object, so that the height sensor can be located above the cross section corresponding to the s-th side length segment of the curved surface object. In addition, the control device can move the motion device in the Z-axis direction along the X-axis direction to move the height sensor to one end of the cross section corresponding to the s-th side length segment, and the end can be used as the starting position. Afterwards, the control device can send relevant instructions to the height sensor to trigger the height sensor to start measuring the height of the cross section, that is, to start collecting the coordinate data of the cross section. Among them, during the measurement of the height of the cross section, the control device can control the motion device in the Z-axis direction to move along the X-axis direction, so that the height sensor can move along the X-axis direction, and then the height sensor can collect the heights of different contour points of the interface in turn, and obtain the three-dimensional coordinate data of different contour points of the cross section. Afterwards, after the height sensor measures the other end of the cross section, it indicates that the complete three-dimensional coordinate data of the cross section has been collected, and the control device can trigger the height sensor to stop working.

[0102] In some embodiments, the height detection sensor may be a laser height detection sensor. Correspondingly, the three-dimensional coordinate data of the contour point is point cloud data. The laser height detection sensor emits a laser to the cross section corresponding to the s-th side length segment. The laser height detection sensor can determine the height of the reflection point (i.e., the contour point) based on the time difference between the laser emission and reception. Moreover, the laser height detection sensor can determine the three-dimensional coordinate data of each reflection point. Of course, the height detection sensor can also be other types of sensors, such as radar sensors, etc., as long as it can determine the three-dimensional coordinate data of the reflection point during the height detection period. This application does not limit the type of height detection sensor.

[0103] In some embodiments, the height detection sensor may send the three-dimensional coordinate data of the scanned contour points to the control device during scanning of the cross section corresponding to the s-th side length segment. Alternatively, the three-dimensional coordinate data of the scanned contour points may be sent to the control device after scanning of the cross section corresponding to the s-th side length segment is completed.

[0104] S205. The control device filters the coordinate data of the contour points of the cross section corresponding to the s-th side length segment to obtain the coordinate data of the filtered contour points.

[0105] In an embodiment of the present application, in order to remove noise data, the control device can filter the coordinate data of the contour points of the cross section corresponding to the sth side length segment collected to ensure the effect of curve fitting based on the data of the contour points and reduce the impact of noise data.

[0106] S206. The control device performs high-dimensional modeling on the coordinate data of the filtered contour points to obtain a curve equation corresponding to the cross section corresponding to the s-th side length segment.

[0107] Among them, the curve equation corresponding to the cross section corresponding to the s-th side length segment represents the two-dimensional contour line of the cross section corresponding to the s-th side length segment, specifically, represents the contour of the cross section corresponding to the s-th side length segment on the XZ plane.

[0108] The three-dimensional coordinate data (or first coordinate data) of the filtered contour point (such as P1 (x1, y s , z1), P2(x2, y s , z2),…,P n (x n ,y s , z n )) High-dimensional modeling is actually P1(x1, z1), P2(x2, z2), …, P n (x n , z n ) for high-dimensional modeling, that is, curve fitting is performed on the coordinate data (or second coordinate data) of the contour points on the XZ plane (such as Fig. 9 ), to fit the curve corresponding to the cross section corresponding to the s-th side length segment, and thus obtain the curve equation corresponding to the cross section.

[0109] The fitting function used in the curve fitting can be a polynomial function, which can be specifically represented by Formula 1: h(x)=w0+w1x+w2x 2 +…w n x n . Among them, by determining w(w0,w1,w2,…,w n ) so that h(x,z) can describe P as accurately as possible n (x n , z n ), so that the curve corresponding to the cross section corresponding to the s-th side length segment obtained by fitting matches the cross section as much as possible to ensure the curve fitting effect.

[0110] Among them, optionally, the above w(w0,w1,w2,…,w n ) can be determined by the least squares method. Specifically, the formula used by the least squares method can be Formula 2, ||w|| represents the norm. Optionally, ||w|| can be expressed as Formula 3, Of course, ||w|| can also be calculated using other norm calculation formulas, such as , this application does not limit the calculation formula of the norm.

[0111] Wherein, λ in the above formula 2 is a preset value, and the value range of λ can be (0,0.1].

[0112] It can be understood that since the calculation of w in Formula 1 is related to the coordinate value in the Z-axis direction, h(x) in the above Formula 1 is actually a function of z, that is, h(x)=w0+w1x+w2x 2 +…w n x n It can be expressed as h(x,z)=w0+w1x+w2x 2 +…w n x n .

[0113] In some embodiments, the step of filtering the three-dimensional coordinate data of the contour points of the cross section corresponding to the s-th side length segment in the above S205 is an optional step. After obtaining the three-dimensional coordinate data of the contour points of the cross section corresponding to the s-th side length segment, the control device can directly perform high-dimensional modeling based on the three-dimensional coordinate data of the contour points, that is, execute the above S206, thereby improving the modeling efficiency.

[0114] S207. For each contour point of the cross section corresponding to the s-th side length segment, the control device calculates the imaging angle corresponding to the contour point based on the curve equation corresponding to the cross section and the coordinate data of the contour point in the XZ plane.

[0115] The imaging angle corresponding to the contour point represents the angle at which the imaging device scans the contour point.

[0116] In some embodiments, generally speaking, when observing the shape of an object, the shape observed when the line of sight is perpendicular to the surface of the object is the actual shape of the object. For example, when observing a circular object, the shape observed when the line of sight is perpendicular to the surface of the object is a circle, that is, the shape observed when the line of sight is perpendicular to the tangent of the object is a circle (see Fig.10 When the line of sight is not perpendicular to the surface of the object, the shape observed is another shape. For example, when the line of sight is not perpendicular to the tangent of the object, the shape observed is an ellipse (see Fig.11 As shown). Therefore, in order to ensure imaging accuracy and avoid imaging distortion, the imaging angle corresponding to the contour point can be the angle corresponding to the normal vector corresponding to the contour point, that is, the angle θ between the normal vector corresponding to the contour point and the Z-axis direction of the contour point.

[0117] Optionally, the normal vector corresponding to the above contour point can be expressed as

[0118] Formula 4, Calculate, where is obtained by i , zi ) is calculated by taking the x derivative. is obtained by i , z i ) is calculated by taking the z derivative. After that, the control device can use Formula 5, , the imaging angle θ corresponding to the contour point is calculated.

[0119] In addition, the above-mentioned method of determining the imaging angle corresponding to the contour point by the normal vector is only an example. The imaging angle corresponding to the contour point can also be determined by other methods, such as determining the imaging angle corresponding to the contour point based on a preset coordinate value range corresponding to the surface object to which the coordinate value of the contour point on the XZ plane belongs.

[0120] After determining the imaging angle corresponding to the section corresponding to the sth side length segment, the control device can use the imaging device to scan the section at the imaging angle to achieve three-dimensional imaging. The following will continue to introduce the process of scanning the section to perform three-dimensional imaging on the curved surface object.

[0121] S208. The control device moves the imaging device to above the cross section corresponding to the s-th side length segment.

[0122] Specifically, the control device may move the motion system in the Y-axis direction so that the imaging device is located vertically above the cross section corresponding to the s-th side length segment. Specifically, the control device may move the imaging device to one end of the cross section corresponding to the s-th side length segment to start scanning from the starting position. The specific movement process can refer to the movement process of the height detection sensor described above, which will not be repeated here.

[0123] S209: The control device controls the imaging device to start scanning the cross section corresponding to the s-th side length segment.

[0124] Specifically, the control device may send a relevant instruction to the imaging device to trigger the imaging device to start scanning the cross section corresponding to the s-th side length segment, so as to realize three-dimensional imaging of the cross section. Since the laser emitted by the imaging device has a certain width, the imaging device actually scans the s-th area of ​​the curved surface object during scanning the cross section corresponding to the s-th side length segment.

[0125] S210. During scanning, the control device controls the imaging device to scan the contour point of the cross section at an imaging angle corresponding to the contour point to obtain three-dimensional point cloud data corresponding to the s-th side length segment.

[0126] The three-dimensional point cloud data corresponding to the s-th side length segment represents the three-dimensional image data of the s-th region.

[0127] In the embodiment of the present application, during scanning of the cross section corresponding to the s-th side length segment, for each contour point of the cross section, when the imaging device scans the position corresponding to the three-dimensional coordinate data of the contour point, the control device can control the imaging device to scan at the imaging angle corresponding to the contour point. Optionally, the control device can move the motion device in the Z-axis direction along the X-axis direction, and rotate the imaging device through a motor to change the imaging angle of the imaging device, thereby realizing automatic adjustment of the imaging angle without manual adjustment, improving the adjustment efficiency, and thus improving the imaging efficiency.

[0128] Specifically, when scanning the i-th contour point, the control device calculates the height difference H between the X-axis motion device and the position of the stage and the Z-axis coordinate value z of the i-th contour point. i The difference between the X-axis motion device and the i-th contour point is obtained (i.e. Hz i ). The coordinate value z of the i-th contour point in the Z-axis direction i It is measured by the height sensor introduced above.

[0129] Afterwards, the control device is based on the Hz i The imaging angle θ corresponding to the i-th contour point is calculated as Fig.12 shown The size of ) / (Hz i ) can be calculated . The coordinate value of the target coordinate point on the motion device in the x-axis direction and the coordinate value x of the i-th contour point in the x-axis direction are i The line between the target coordinate point and the i-th contour point can be understood as the normal vector corresponding to the i-th contour point. , (Hz i ), the height difference between the moving device in the X-axis direction and the position of the imaging device, combined with the principle of similar triangles, can be calculated as follows Fig.12 shown ,Should Indicates the distance that the motion device in the Z-axis direction needs to move in the X-axis direction. After that, the control device can control the imaging device to rotate so that the laser emission direction of the imaging device is θ with the Z-axis direction, and the laser emission direction is tangent to the i-th contour point (such as Fig.12 or Fig.13 As shown in the figure), the imaging angle can be adjusted, and the imaging device can be adjusted with a normal vector (as shown in the figure). Fig.12 or Fig.13The i-th contour point is scanned from a viewing angle (as shown) to ensure imaging accuracy. Fig.12 or Fig.13 The z shown i It can be expressed as z passing through the i-th contour point i The position of the imaging device may be preset data, sent by a motion device in the Z-axis direction, or manually input, and the present application does not limit it. Similarly, the position of the stage may also be preset data, sent by a motion device in the Z-axis direction, or manually input.

[0130] Of course, the above-mentioned method of adjusting the imaging angle is only one method, and the imaging angle can also be adjusted in other ways, such as not moving the motion device in the Z-axis direction along the X-axis direction, or moving a shorter distance and directly rotating the imaging device so that the angle between the imaging device and the Z-axis direction is the imaging angle corresponding to the contour point.

[0131] In the embodiment of the present application, the control device can receive the three-dimensional image data obtained by the imaging device scanning the cross section corresponding to the s-th side length segment, and realize the three-dimensional curved surface imaging of the cross section corresponding to the s-th side length segment, that is, realize the three-dimensional imaging of the s-th region. Moreover, during the scanning, the control device controls the imaging device to scan the cross section based on the angle corresponding to the normal vector corresponding to the contour point, and can accurately restore the shape of the s-th region, avoid distortion of the three-dimensional image of the s-th region, and further avoid distortion of the three-dimensional image corresponding to the curved surface object, thereby ensuring the accuracy of the imaging. For example, based on the angle corresponding to the normal vector corresponding to the contour point, the following can be realized. Fig.14 The three-dimensional imaging effect shown is such that the obtained three-dimensional image of the curved surface object has a high similarity with the actual shape of the curved surface object, a small error, and a good imaging effect.

[0132] Furthermore, since the present application can automatically determine and adjust the imaging angle to realize automatic imaging of three-dimensional images of curved surface objects, it can be adapted to three-dimensional imaging of different curved surface objects and realize adaptive imaging of curved surface objects.

[0133] In some embodiments, when the imaging accuracy requirement is low, the imaging angle corresponding to the contour point may not be the angle corresponding to the normal vector corresponding to the contour point, but an angle determined based on other methods, but the achieved three-dimensional imaging effect (see Fig.15 The 3D imaging effect shown may be poor, but the imaging speed may be faster.

[0134] S211. After the cross-section scanning corresponding to the s-th side length segment is completed, the control device determines whether there is an unscanned side length segment.

[0135] In the embodiment of the present application, if there is an unscanned side length segment, the control device may continue scanning and execute S212. If there is no unscanned side length segment, the control device may end scanning and execute S214.

[0136] S212: The control device selects a new side length segment from the side length segments that have not been scanned.

[0137] S213: The control device takes the new side length segment as the sth side length segment and returns to the above S203.

[0138] In the embodiment of the present application, after obtaining the three-dimensional image data corresponding to the s-th side length segment, it indicates that the scanning of the s-th area is completed, and the control device can select a new side length segment from the remaining unimaged side length segments. After that, the control device can continue to perform three-dimensional imaging on the new side length segment according to the three-dimensional imaging process of the s-th side length segment described above, until all side length segments are three-dimensionally imaged, and then the imaging process can be stopped to achieve three-dimensional imaging of the curved surface object.

[0139] S214: The control device ends the three-dimensional imaging of the curved surface object.

[0140] In some embodiments, when there is no unscanned side segment, the control device may output imaging end prompt information, such as displaying or voice outputting the imaging end prompt information, so that relevant personnel can be informed of the imaging end in time. Alternatively, the control device may send the imaging end prompt information to the terminal of the relevant personnel.

[0141] In some embodiments, after obtaining the complete three-dimensional image data corresponding to the curved surface object to be processed, the control device may display the corresponding three-dimensional image based on the three-dimensional image data. And / or, the control device may analyze the three-dimensional image data, such as comparing the three-dimensional image data with standard data, to determine whether the quality of the curved surface object meets the requirements.

[0142] In some embodiments, the above-mentioned movement of the height detection sensor and the imaging device in the X-axis direction and the Y-axis direction can be achieved by moving the fixed plate, and is actually achieved by moving the motion device in the Z-axis direction.

[0143] An embodiment of the present application also provides a computer-readable storage medium, which includes computer instructions. When the computer instructions are executed on a device in a curved surface imaging system (such as the above-mentioned control device, height sensor, stage, three-axis motion system, etc.), the device executes each function or step in the above-mentioned method embodiment.

[0144] An embodiment of the present application also provides a computer program product, including a computer program. When the computer program runs on a device in a curved surface imaging system, the device executes each function or step in the above method embodiment.

[0145] The embodiment of the present application provides a chip, the chip is used to execute instructions, when the chip is running, the technical solution in the above embodiment is executed. The implementation principle and technical effect are similar, and will not be repeated here.

[0146] It should be noted that the above-mentioned collection of three-dimensional coordinate data of contour points by using a height sensor is only an example, and the three-dimensional coordinate data of contour points can also be collected by other types of devices, such as by a device capable of emitting lasers.

[0147] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0148] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0149] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0150] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0151] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0152] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application shall be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A curved surface imaging method, characterized in that: A control device applied to a curved surface imaging system, wherein the curved surface imaging system further comprises an object stage, an imaging device and a height detection sensor; the method comprises: Divide the curved surface object to be processed on the stage into m areas along a first direction; wherein m is a positive integer; For each of the m regions, the height detection sensor is controlled to detect a cross section of the region along a second direction to obtain first coordinate data of the cross section of the region; wherein the second direction is perpendicular to the first direction; the first coordinate data of the cross section of the region is first coordinate data of a contour point of the cross section of the region; the first coordinate data includes a coordinate value of the first direction, a coordinate value of the second direction, and a coordinate value of a third direction; For each contour point of the cross section of the region, a normal vector corresponding to the contour point is determined based on a curve equation corresponding to the cross section of the region and second coordinate data of the contour point; the curve equation is obtained by curve fitting the second coordinate data of the contour point of the cross section of the region; the second coordinate data of the contour point includes the coordinate value of the second direction and the coordinate value of the third direction in the first coordinate data of the contour point; The angle between the normal vector corresponding to the contour point and the third direction is used as the imaging angle corresponding to the contour point; wherein the imaging angle corresponding to the contour point represents the angle between the imaging device and the third direction when scanning the contour point; the third direction is perpendicular to the plane where the second direction and the first direction are located; The imaging device is controlled to scan each contour point at an imaging angle corresponding to each contour point of the cross section of the region to obtain three-dimensional point cloud data corresponding to the region.

2. The method according to claim 1, characterized in that The first direction is the Y-axis direction, the second direction is the X-axis direction, and the third direction is the Z-axis direction; the curved surface imaging system further includes a motion device in the X-axis direction, a motion device in the Y-axis direction, and a motion device in the Z-axis direction; The imaging device is mounted on the moving device in the Z-axis direction, and the stage is placed on the moving device in the Y-axis direction; The controlling the imaging device to scan each contour point of the cross section of the region at an imaging angle corresponding to each contour point of the region comprises: Determine the moving distance in the X-axis direction corresponding to the moving device in the Z-axis direction based on the second coordinate data of the contour point, the distance between the moving device in the X-axis direction and the stage along the Z-axis direction, and the imaging angle corresponding to the contour point; Based on the moving distance, controlling the motion device in the Z-axis direction to move along the X-axis direction; After the movement is completed, the imaging device is controlled to rotate so that the angle between the imaging device and the Z-axis direction is the imaging angle corresponding to the contour point; wherein the direction of the imaging device when scanning the contour point is the direction of the normal vector corresponding to the contour point.

3. A curved surface imaging system, characterized in that: The curved surface imaging system comprises a control device, a stage, an imaging device, a height sensor, a motion device in the X-axis direction, a motion device in the Y-axis direction, and a motion device in the Z-axis direction; the control device is electrically connected to the imaging device, the height sensor, the motion device in the X-axis direction, the motion device in the Y-axis direction, and the motion device in the Z-axis direction, respectively; The stage is placed on the moving device in the Y-axis direction, the imaging device and the height detection sensor are placed on the moving device in the Z-axis direction, and the moving device in the Z-axis direction can move along the X-axis direction; The stage is used to place the curved surface object to be processed; The height detection sensor is used to collect first coordinate data of a cross section of the curved surface object on the stage; The imaging device is used to perform three-dimensional imaging on the curved surface object; The control device is used to execute the curved surface imaging method according to any one of claims 1 to 2.

4. The system according to claim 3, characterized in that The curved surface imaging system further comprises a fixed plate, wherein the fixed plate is mounted on the motion device in the Z-axis direction; The height detection sensor and the imaging device are mounted on the fixing plate.

5. A chip, characterized in that: The chip includes a communication interface and at least one processor: The communication interface is used to input and / or output signaling or data; The at least one processor is configured to execute a computer program to implement the method according to any one of claims 1 to 2.

6. A control device, characterized in that: The control device comprises at least a memory and one or more processors; the memory and the processor are coupled; the memory is used to store computer program code, and the computer program code comprises computer instructions; when the processor executes the computer instructions, the control device executes the method as described in any one of claims 1 to 2.

7. A computer storage medium, characterized in that: The method comprises computer instructions, which, when executed on a control device, cause the control device to execute the method according to any one of claims 1 to 2.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 2 is implemented.

Images