A headphone charging stand detection method, system and device

Abstract

The present invention relates to the technical field of Bluetooth headsets, and specifically discloses a headset charging stand detection method, system and device. The present invention first obtains detection feature information, wherein the detection feature information includes the shooting feature information of the camera, the feature information of the headset charging stand and the light source position coordinates, and then obtains the position coordinates shot by the camera according to the shooting feature information, and then obtains the detected position coordinates with the feature information of the headset charging stand, and finally determines whether the detected position coordinates, the light source position coordinates and the position coordinates shot by the camera are collinear, and if they are collinear, the camera angle is adjusted so that the camera and the light source position coordinates are not on the same straight line, thereby avoiding the reflection of the side of the headset charging stand affecting the camera shooting, so that the photographed photo will not have a strong reflection spot due to the reflection of the side of the headset charging stand, and thus will not seriously affect the problem of defect detection of the headset charging stand.

Description

Technical Field

[0001] The present invention relates to the technical field of Bluetooth headsets, and in particular to a method, system and device for detecting a headset charging seat. Background Art

[0002] A Bluetooth headset is an audio device that uses Bluetooth technology to achieve wireless connection. A Bluetooth headset is mainly composed of a sound unit, a Bluetooth chip, a battery, a control circuit, a headphone charging stand and other components. The headphone charging stand is a charging stand used to dock with the headphone charging case for charging. After pairing and connecting with mobile phones, tablets, laptops and other devices through Bluetooth technology, it can receive audio signals transmitted by these devices and convert them into sound for playback.

[0003] During the production process of the headphone charging seat, when it is necessary to inspect its side appearance, a vacuum suction cup is usually used to fix the top of the headphone charging seat. The vacuum suction cup is then rotated and drives the side appearance of the headphone charging seat toward the camera. The camera then photographs the side appearance of the headphone charging seat being inspected to obtain a photo of the headphone charging seat. The photographed photo of the headphone charging seat is then compared with a photo of a preset standard headphone charging seat to obtain a detection result. However, when the camera is photographing the headphone charging seat, the photo taken will have a strong reflection spot due to the reflection on the side of the headphone charging seat. The photo with the reflection spot will have serious errors in the process of comparing it with the photo of the preset standard headphone charging seat, which will seriously affect the defect detection of the headphone charging seat. Therefore, a headphone charging seat detection method, system and device are needed to solve the problem that when the camera is photographing the headphone charging seat, the photo taken will have a strong reflection spot due to the reflection on the surface of the headphone charging seat, which will seriously affect the defect detection. Summary of the invention

[0004] The purpose of the present invention is to provide a headphone charging seat detection method, system and device to solve the technical problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A headphone charging seat detection method, applied to a headphone charging seat detection platform, comprising:

[0007] Acquire detection feature information, wherein the detection feature information includes camera shooting feature information, headphone charging stand feature information and light source position coordinates;

[0008] Acquire camera displacement information and camera angle information according to the shooting feature information of the camera, acquire camera displacement trajectory and displacement dwell time according to the camera displacement information, acquire camera dwell position according to the camera angle information and the camera displacement trajectory, and acquire camera position coordinates corresponding to the camera dwell position according to the light source position coordinates;

[0009] Acquire the camera orientation information according to the camera position coordinates and the camera angle information;

[0010] Acquire a side area and a side angle of the headphone charging seat according to the characteristic information of the headphone charging seat, and evenly divide the side area of ​​the headphone charging seat according to a preset area to obtain a plurality of sub-side areas;

[0011] Acquire a plurality of corresponding area center points according to the plurality of sub-side areas, and select a first area center point in a direction corresponding to the orientation information of the camera according to the plurality of area center points and the side angles, and acquire the detected position coordinates of the first area center point according to the position coordinates captured by the camera;

[0012] Determine whether the detected position coordinates, the light source position coordinates and the position coordinates photographed by the camera are collinear;

[0013] If the detected position coordinates, light source position coordinates and camera position coordinates are collinear, a driving instruction is issued to the camera, wherein the camera rotates based on a driving device, and the driving device is installed on the headphone charging stand detection platform. The driving device adjusts the angle of the camera according to the driving instruction to obtain angle adjustment information, and the camera photographs and detects the appearance of the headphone charging stand according to the angle adjustment information.

[0014] Preferably, the step of obtaining the camera displacement trajectory and the displacement dwell time according to the camera displacement information, and obtaining the camera dwell position according to the camera angle information and the camera displacement trajectory comprises:

[0015] Acquire a starting displacement position and a stopping displacement position of the camera within a preset time, and use a displacement trajectory between the starting displacement position and the stopping displacement position as a camera displacement trajectory;

[0016] Acquire a time sequence within a corresponding time period according to a preset time, and acquire a plurality of displacement positions at corresponding moments according to the time sequence;

[0017] Acquire a plurality of corresponding dwell times according to the plurality of displacement positions, and sort the plurality of dwell times in ascending order of duration to obtain a dwell time sorting table;

[0018] Obtain the last stay time according to the stay time sorting table, and use the displacement position corresponding to the last stay time as the displacement stay time;

[0019] Acquire a first displacement distance from the starting displacement position to the displacement position corresponding to the final dwell time according to the starting displacement position and the displacement position corresponding to the final dwell time;

[0020] Acquire a first angle of a displacement position corresponding to a dwell time from a starting displacement position to a final displacement position according to the camera angle information;

[0021] The starting displacement position is used as the starting displacement coordinate origin, and the coordinates of the camera stop position are calculated according to the first displacement distance, the starting displacement coordinate origin, and the first angle, wherein the calculation formula is:

[0022] TD=

[0023] Among them, TD (X, Y) represents the coordinates of the camera's stop position, Represents the x-axis coordinate of the origin of the starting displacement coordinate, Represents the y-axis coordinate of the origin of the starting displacement coordinate, represents the first angle, represents the first displacement distance;

[0024] The coordinates of the camera stop position are used as the camera stop position.

[0025] Preferably, the step of acquiring the side area and side angle of the headphone charging seat according to the characteristic information of the headphone charging seat comprises:

[0026] Acquire side image information of the headphone charging seat according to the characteristic information of the headphone charging seat;

[0027] The side image information is extracted based on Canny edge detection to obtain the side edge contour;

[0028] Acquire pixels within the corresponding side edge contour according to the side edge contour, and compare the pixels within the edge contour information based on a preset pixel-area table to obtain the side area of ​​the headphone charging stand;

[0029] Acquire the upper surface position coordinates and the lower surface position coordinates of the headphone charging seat according to the side edge contour, and connect the upper surface position coordinates and the lower surface position coordinates to obtain a connecting line;

[0030] The lower surface position coordinates are extended toward one end to obtain an extension line, an angle between the connecting line and the extension line is obtained according to the connecting line and the extension line, and the angle between the connecting line and the extension line is used as a side angle.

[0031] Preferably, the step of obtaining a plurality of corresponding area center points according to the plurality of sub-side areas, and selecting a first area center point in a direction corresponding to the orientation information of the camera according to the plurality of area center points and the side angles comprises:

[0032] Using the direction corresponding to the orientation information of the camera as a reference direction;

[0033] Acquire the orientation of the center point of the area at the side angle on each of the sub-side areas according to the reference direction;

[0034] The orientations of the plurality of area center points are compared with a reference direction to obtain area center points with the same orientation, and the area center points with the same orientation are used as first area center points.

[0035] Preferably, the step of determining whether the detected position coordinates, the light source position coordinates and the position coordinates captured by the camera are collinear comprises:

[0036] The first slope is calculated according to the detected position coordinates and the light source position coordinates, wherein the calculation formula is:

[0037] ;

[0038] in, represents the first slope, Indicates the x-axis coordinate of the detected position, Indicates the y-axis coordinate of the detected position, Represents the x-axis coordinate of the light source position, Indicates the y-axis coordinate of the light source position;

[0039] The second slope is calculated according to the light source position coordinates and the position coordinates captured by the camera, wherein the calculation formula is:

[0040] ;

[0041] in, represents the second slope, Represents the x-axis coordinate of the light source position, Represents the y-axis coordinate of the light source position, Indicates the x-axis coordinate of the camera. Indicates the coordinate of the y-axis captured by the camera;

[0042] Determining whether the first slope is equal to the second slope;

[0043] If they are equal, the detected position coordinates, the light source position coordinates and the camera position coordinates are collinear;

[0044] If they are not equal, the detected position coordinates, the light source position coordinates and the camera captured position coordinates are not collinear.

[0045] Preferably, the step of photographing and detecting the appearance of the headphone charging stand by the camera according to the angle adjustment information comprises:

[0046] Get the initial angle of the camera;

[0047] Acquire a corresponding adjustment angle according to the angle adjustment information, and acquire an adjusted camera shooting angle according to the adjustment angle and the initial angle;

[0048] Obtaining adjusted position coordinates of the camera according to the position coordinates captured by the camera and the adjusted camera shooting angle, and determining whether the adjusted position coordinates, the detected position coordinates and the light source position coordinates are collinear;

[0049] If the adjustment position coordinates, the detected position coordinates and the light source position coordinates are collinear, obtaining a first vector from the light source position to the detected position according to the light source position coordinates and the detected position coordinates, obtaining a first vector modulus according to the first vector, and calculating a first angle between the light source position and the detected position according to the first vector and the first vector modulus;

[0050] Then, according to the coordinates of the adjusted position and the coordinates of the detected position, a second vector from the adjusted position to the detected position is obtained, according to the second vector, a second vector modulus is obtained, and according to the second vector and the second vector modulus, a second angle between the adjusted position and the detected position is calculated;

[0051] Draw a reflection path according to the first angle, the second angle, the adjustment position coordinates, the detected position coordinates and the light source position coordinates, and determine whether the reflection path is the same as the preset reflection path, and if they are the same, continue to adjust the camera shooting angle until the reflection path is different from the preset reflection path;

[0052] If the adjustment position coordinates, the detected position coordinates and the light source position coordinates are not collinear, the camera photographs and detects the appearance of the headphone charging stand according to the angle adjustment information.

[0053] The present application also provides an earphone charging stand detection system, comprising:

[0054] A first acquisition module is used to acquire detection feature information, wherein the detection feature information includes camera shooting feature information, headphone charging stand feature information and light source position coordinates;

[0055] A second acquisition module is used to acquire camera displacement information and camera angle information according to the shooting feature information of the camera, and acquire a camera displacement trajectory and a displacement dwell time according to the camera displacement information, acquire a camera dwell position according to the camera angle information and the camera displacement trajectory, and acquire a camera position coordinate corresponding to the camera dwell position according to the light source position coordinate;

[0056] A third acquisition module is used to acquire the camera orientation information according to the camera position coordinates and the camera angle information;

[0057] a fourth acquisition module, configured to acquire a side area and a side angle of the headphone charging seat according to the characteristic information of the headphone charging seat, and evenly divide the side area of ​​the headphone charging seat according to a preset area to obtain a plurality of sub-side areas;

[0058] a fifth acquisition module, configured to acquire a plurality of corresponding area center points according to the plurality of sub-side areas, and to select a first area center point in a direction corresponding to the orientation information of the camera according to the plurality of area center points and the side angles, and to acquire the detected position coordinates of the first area center point according to the position coordinates captured by the camera;

[0059] A first judgment module is used to judge whether the detected position coordinates, the light source position coordinates and the position coordinates photographed by the camera are collinear;

[0060] If the detected position coordinates, light source position coordinates and camera position coordinates are collinear, a driving instruction is issued to the camera, wherein the camera rotates based on a driving device, and the driving device is installed on the headphone charging stand detection platform. The driving device adjusts the angle of the camera according to the driving instruction to obtain angle adjustment information, and the camera photographs and detects the appearance of the headphone charging stand according to the angle adjustment information.

[0061] Preferably, the second acquisition module includes:

[0062] A first acquisition unit is used to acquire a starting displacement position and a stopping displacement position of the camera within a preset time, and use a displacement trajectory between the starting displacement position and the stopping displacement position as a camera displacement trajectory;

[0063] A second acquisition unit, configured to acquire a time series within a corresponding time period according to a preset time, and acquire a plurality of displacement positions at corresponding moments according to the time series;

[0064] A third acquisition unit is used to acquire a plurality of corresponding stay times according to the plurality of displacement positions, and sort the plurality of stay times in ascending order of duration to obtain a stay time sorting table;

[0065] A fourth acquisition unit is used to acquire the last stay time according to the stay time ranking table, and use the displacement position corresponding to the last stay time as the displacement stay time;

[0066] A fifth acquisition unit, configured to acquire a first displacement distance from the starting displacement position to the displacement position corresponding to the final dwell time according to the starting displacement position and the displacement position corresponding to the final dwell time;

[0067] A sixth acquisition unit, configured to acquire a first angle of a displacement position corresponding to a dwell time at a final position from a starting displacement position according to the camera angle information;

[0068] The first calculation unit is used to use the starting displacement position as the starting displacement coordinate origin, and calculate the coordinates of the camera stop position according to the first displacement distance, the starting displacement coordinate origin, and the first angle, wherein the calculation formula is:

[0069] TD=

[0070] Among them, TD (X, Y) represents the coordinates of the camera's stop position, Represents the x-axis coordinate of the origin of the starting displacement coordinate, Represents the y-axis coordinate of the origin of the starting displacement coordinate, represents the first angle, represents the first displacement distance;

[0071] The coordinates of the camera stop position are used as the camera stop position.

[0072] The present application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0073] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented.

[0074] The beneficial effects of the present application are as follows: the present invention first obtains detection feature information, wherein the detection feature information includes the shooting feature information of the camera, the feature information of the headphone charging seat and the position coordinates of the light source, and then obtains the camera displacement information and the camera angle information according to the shooting feature information of the camera, and obtains the camera displacement trajectory and the displacement dwell time according to the camera displacement information, obtains the camera dwell position according to the camera angle information and the camera displacement trajectory, obtains the camera position coordinates corresponding to the camera dwell position according to the light source position coordinates, and then obtains the camera orientation information according to the camera position coordinates and the camera angle information, and then obtains the side area and the side angle of the headphone charging seat according to the feature information of the headphone charging seat, and evenly distributes the side area of ​​the headphone charging seat according to the preset area. The side areas are divided into multiple sub-areas, and the corresponding multiple area center points are obtained according to the multiple sub-side areas. The first area center point corresponding to the orientation information of the camera is screened out according to the multiple area center points and the side angles. The detected position coordinates of the first area center point are obtained according to the position coordinates taken by the camera. Finally, it is determined whether the detected position coordinates, the light source position coordinates and the position coordinates taken by the camera are collinear. If they are collinear, the camera angle is adjusted to make the camera and the light source position coordinates not on the same line, thereby avoiding the reflection from the side of the headphone charging stand to affect the camera shooting, so that the photographed photos will not have strong reflected light spots due to the reflection from the side of the headphone charging stand, and will not seriously affect the problem of defect detection of the headphone charging stand. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 The figure is a schematic diagram of a method flow of an embodiment of the present application.

[0076] Figure 2 A schematic diagram of the system structure of an embodiment of the present application.

[0077] Figure 3 A schematic diagram of the internal structure of a computer device according to an embodiment of the present application.

[0078] Figure 4 This is a schematic diagram of the side area and side angle of an embodiment of the present application.

[0079] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0080] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0081] like Figure 1-3 As shown, the present application provides an earphone charging seat detection method, which is applied to an earphone charging seat detection platform, comprising:

[0082] S1. Acquire detection feature information, wherein the detection feature information includes camera shooting feature information, headphone charging stand feature information, and light source position coordinates;

[0083] S2, acquiring camera displacement information and camera angle information according to the shooting feature information of the camera, acquiring camera displacement trajectory and displacement dwell time according to the camera displacement information, acquiring camera dwell position according to the camera angle information and the camera displacement trajectory, and acquiring camera position coordinates corresponding to the camera dwell position according to the light source position coordinates;

[0084] S3, acquiring camera orientation information according to the camera position coordinates and camera angle information;

[0085] S4. acquiring a side area and a side angle of the headphone charging seat according to the characteristic information of the headphone charging seat, and evenly dividing the side area of ​​the headphone charging seat according to a preset area to obtain a plurality of sub-side areas;

[0086] S5, acquiring a plurality of corresponding area center points according to the plurality of sub-side areas, and selecting a first area center point in a direction corresponding to the orientation information of the camera according to the plurality of area center points and the side angles, and acquiring the detected position coordinates of the first area center point according to the position coordinates captured by the camera;

[0087] S6, determining whether the detected position coordinates, the light source position coordinates and the position coordinates captured by the camera are collinear;

[0088] If the detected position coordinates, light source position coordinates and camera position coordinates are collinear, a driving instruction is issued to the camera, wherein the camera rotates based on a driving device, and the driving device is installed on the headphone charging stand detection platform. The driving device adjusts the angle of the camera according to the driving instruction to obtain angle adjustment information, and the camera photographs and detects the appearance of the headphone charging stand according to the angle adjustment information.

[0089] As described in the above steps S1-S6, during the production process of the headphone charging seat, when it is necessary to inspect its side appearance, a vacuum suction cup is usually used to fix the top of the headphone charging seat, and then the vacuum suction cup is rotated to drive the side appearance of the headphone charging seat toward the camera, and then the camera photographs the side appearance of the headphone charging seat being inspected to obtain a photograph of the headphone charging seat, and then the photographed headphone charging seat is compared with a preset standard headphone charging seat photograph, so that the inspection result can be obtained. However, in the process of photographing the headphone charging seat, the camera will cause strong reflections in the photographed photo due to the reflection of the side of the headphone charging seat. The reflected light spot will appear in the photo with the reflected light spot, and serious errors will occur in the process of comparing the photo of the preset standard headphone charging stand, which will seriously affect the defect detection of the headphone charging stand. The reflection in the photo is mainly caused by the camera lens, light source and shooting target being in the same straight line. Therefore, the present invention obtains detection feature information, wherein the detection feature information includes the camera shooting feature information, the headphone charging stand feature information and the light source position coordinates. In this way, the shooting feature information, the headphone charging stand feature information and the light source position coordinates can obtain whether the camera lens, light source and shooting target are in the same straight line. The specific judgment steps are: first, according to the The camera displacement information and camera angle information are obtained according to the shooting characteristic information of the camera, wherein the camera angle information in the scheme refers to the angle of rotation of the camera, and the moving point of the camera can be obtained through the camera displacement information and the camera angle information, which is conducive to obtaining the position coordinates of the camera shooting. The specific steps are to obtain the camera displacement trajectory and displacement dwell time according to the camera displacement information, wherein the displacement dwell time represents the position of the camera shooting, obtain the camera dwell position according to the camera angle information and the camera displacement trajectory, and obtain the camera position coordinates corresponding to the camera dwell position according to the light source position coordinates. The position coordinates of the camera shooting obtained in this way are important parameters for judging whether they are collinear with the detected position coordinates and the light source position coordinates. Then, the camera orientation information is obtained according to the camera position coordinates and the camera angle information, wherein the orientation of the position coordinates of the camera shooting is obtained based on the gyroscope, and the gyroscope is on the camera, so that the position coordinates and camera angle information of the camera shooting can be converted into the camera orientation information under the action of the gyroscope, and the camera orientation information is obtained to obtain the side area position of the headphone charging seat at the corresponding direction, specifically, the side area and side angle of the headphone charging seat are first obtained according to the characteristic information of the headphone charging seat (such as Figure 4As shown), the side area of ​​the headphone charging seat is evenly divided according to a preset area to obtain a plurality of sub-side areas, wherein the preset area is the camera's framing area. In this way, the side area of ​​the headphone charging seat is divided according to the framing area to facilitate camera shooting. When shooting other surfaces of the headphone charging seat that have not been photographed, it is only necessary to drive the headphone charging seat to rotate a certain angle by the vacuum suction cup. In this solution, the top of the headphone charging seat is fixed by a vacuum suction cup, wherein the vacuum suction cup is installed on the headphone charging seat detection platform. Then, the corresponding plurality of area center points are obtained according to the plurality of sub-side areas. The sub-side area in this solution is a trapezoid. The acquisition method is to first obtain the coordinates of the four vertices of the trapezoid, and then accumulate the X-axis coordinates and Y-axis coordinates of the four vertex coordinates respectively, and then calculate the average coordinates of the accumulated X-axis coordinates and Y-axis coordinates respectively, so that the centroid coordinates of the trapezoid can be obtained. The centroid coordinates of the trapezoid are used as the coordinates of the area center in this case, and the first area center point corresponding to the orientation information of the camera is selected according to the plurality of area center points and the side angles, and the first area center point is obtained according to the position coordinates of the camera shooting. Detection position coordinates, the detected position coordinates obtained in this way are important parameters for judging whether they are collinear with the position coordinates taken by the camera and the light source position coordinates. After the detected position coordinates, the light source position coordinates and the position coordinates taken by the camera are obtained, it is judged whether the detected position coordinates, the light source position coordinates and the position coordinates taken by the camera are collinear. If the detected position coordinates, the light source position coordinates and the camera position coordinates are collinear, a driving instruction is issued to the camera, wherein the camera rotates based on a driving device, and the driving device is installed on the headphone charging seat detection platform. The driving device adjusts the angle of the camera according to the driving instruction to obtain angle adjustment information, and the camera shoots and detects the appearance of the headphone charging seat according to the angle adjustment information. In this way, after identifying that the detected position coordinates, the light source position coordinates and the camera position coordinates are collinear, the camera position can be adjusted so that it is not on the same line as the light source position coordinates, thereby avoiding the reflection of the side of the headphone charging seat from affecting the camera shooting, so that the photographed photo will not have a strong reflection spot due to the reflection of the side of the headphone charging seat, and thus will not seriously affect the problem of headphone charging seat defect detection.

[0090] In one embodiment, the step S2 of acquiring the camera displacement trajectory and the displacement dwell time according to the camera displacement information, and acquiring the camera dwell position according to the camera angle information and the camera displacement trajectory includes:

[0091] S201, obtaining a starting displacement position and a stopping displacement position of a camera within a preset time, and taking a displacement trajectory between the starting displacement position and the stopping displacement position as a camera displacement trajectory;

[0092] S202, obtaining a time sequence within a corresponding time period according to a preset time, and obtaining a plurality of displacement positions at corresponding moments according to the time sequence;

[0093] S203, acquiring a plurality of corresponding stay times according to the plurality of displacement positions, and sorting the plurality of stay times in ascending order of duration to obtain a stay time sorting table;

[0094] S204, obtaining the last stay time according to the stay time ranking table, and taking the displacement position corresponding to the last stay time as the displacement stay time;

[0095] S205, obtaining a first displacement distance from the starting displacement position to the displacement position corresponding to the final dwell time according to the starting displacement position and the displacement position corresponding to the final dwell time;

[0096] S206, acquiring a first angle of a displacement position corresponding to a dwell time from a starting displacement position to a final displacement position according to the camera angle information;

[0097] S207, taking the starting displacement position as the starting displacement coordinate origin, and calculating the coordinates of the camera stop position according to the first displacement distance, the starting displacement coordinate origin, and the first angle, wherein the calculation formula is:

[0098] TD=

[0099] Among them, TD (X, Y) represents the coordinates of the camera's stop position, Represents the x-axis coordinate of the origin of the starting displacement coordinate, Represents the y-axis coordinate of the origin of the starting displacement coordinate, represents the first angle, represents the first displacement distance;

[0100] The coordinates of the camera stop position are used as the camera stop position.

[0101] As described in the above steps S201-S207, since the camera needs to take a photo of the headphone charging stand for comparison with the preset photo when detecting defects on the headphone charging stand, the camera is focused and photographed when it stops. On this basis, the starting displacement position and the stopping displacement position of the camera within the preset time are first obtained, and the displacement trajectory between the starting displacement position and the stopping displacement position is used as the camera displacement trajectory. In this way, the displacement distance of the camera can be obtained through the camera displacement trajectory, and the displacement distance is an important parameter for obtaining the camera stop position. Then, the time series within the corresponding time period is obtained according to the preset time, and multiple displacement positions at corresponding moments are obtained according to the time series. Then, the corresponding multiple stay times are obtained according to the multiple displacement positions, and the multiple stay times are sorted in ascending order of duration to obtain a stay time sorting table. In this way, the stay time sorting table can be used to The longest dwell time can be quickly screened out, wherein the displacement dwell time corresponding to the longest dwell time is the time of the camera shooting point, thereby effectively screening out the camera shooting point, and then obtaining the first displacement distance from the starting displacement position to the displacement position corresponding to the last dwell time according to the starting displacement position and the displacement position corresponding to the last dwell time, and then obtaining the first angle from the starting displacement position to the displacement position corresponding to the last dwell time according to the camera angle information, and finally, taking the starting displacement position as the starting displacement coordinate origin, and calculating the coordinates of the camera dwell position according to the first displacement distance, the starting displacement coordinate origin, and the first angle, the coordinates of the camera dwell position calculated in this way can be used as the camera dwell position, and then after obtaining the camera dwell position, the camera dwell position is used to determine whether the coordinates of the detected position and the coordinates of the light source position are collinear.

[0102] In one embodiment, the step S4 of acquiring the side area and side angle of the headphone charging seat according to the characteristic information of the headphone charging seat includes:

[0103] S401, acquiring side image information of the headphone charging seat according to the characteristic information of the headphone charging seat;

[0104] S402, extracting the edge of the side image information based on Canny edge detection to obtain the side edge contour;

[0105] S403, acquiring pixels in the corresponding side edge contour according to the side edge contour, and comparing the pixels in the edge contour information based on a preset pixel-area table to obtain the side area of ​​the headphone charging seat;

[0106] S404, acquiring the upper surface position coordinates and the lower surface position coordinates of the headphone charging seat according to the side edge contour, and connecting the upper surface position coordinates and the lower surface position coordinates to obtain a connecting line;

[0107] S405, extending the lower surface position coordinates toward one end to obtain an extension line, obtaining an angle between the connecting line and the extension line according to the connecting line and the extension line, and using the angle between the connecting line and the extension line as a side angle.

[0108] As described in the above steps S401-S405, the present invention first obtains the side image information of the headphone charging seat according to the characteristic information of the headphone charging seat, and then extracts the edge of the side image information based on Canny edge detection to obtain the side edge contour, and then obtains the pixels in the corresponding side edge contour according to the side edge contour, and compares the pixels in the edge contour information based on a preset pixel-area table to obtain the side area of ​​the headphone charging seat. The side area of ​​the headphone charging seat obtained by standardization is conducive to obtaining the subsequent detected position coordinates, so as to standardize the values ​​of the detected position coordinates, and then obtains the upper surface position coordinates and the lower surface position coordinates of the headphone charging seat according to the side edge contour, and connects the upper surface position coordinates and the lower surface position coordinates to obtain a connecting line, and then extends the lower surface position coordinates to one end to obtain an extended line, and obtains the angle between the connecting line and the extended line according to the connecting line and the extended line, and uses the angle between the connecting line and the extended line as the side angle (such as Figure 4 As shown in the figure), the side angle obtained in this way can provide an important basis for obtaining the center point of the subsequent area.

[0109] In one embodiment, the step S5 of acquiring corresponding multiple area center points according to the multiple sub-side areas, and selecting the first area center point in the direction corresponding to the orientation information of the camera according to the multiple area center points and the side angle includes:

[0110] S501, taking the direction corresponding to the orientation information of the camera as a reference direction;

[0111] S502, obtaining the orientation of the center point of the area at the side angle on each of the sub-side areas according to the reference direction;

[0112] S503: Compare the orientations of the plurality of area center points with a reference direction to obtain area center points with the same orientation, and use the area center points with the same orientation as first area center points.

[0113] As described in the above steps S501-S503, when obtaining the first area center point, the present invention first uses the direction corresponding to the orientation information of the camera as a reference direction, so that the reference direction can be used as a benchmark, which is conducive to obtaining the orientation direction of the subsequent area center point, and then obtains the orientation direction of the area center point at the side angle of each sub-side area according to the reference direction, and then compares the orientation directions of multiple area center points with the reference direction to obtain area center points with the same direction, and uses the area center points with the same direction as the first area center point, so that the area center point corresponding to the camera direction can be obtained, and the area center point corresponding to the camera is the position where the headphone charging stand is detected, which can provide an important basis for the subsequent detected position coordinates.

[0114] In one embodiment, the step S6 of determining whether the detected position coordinates, the light source position coordinates and the position coordinates captured by the camera are collinear includes:

[0115] S601, calculating a first slope according to the detected position coordinates and the light source position coordinates, wherein the calculation formula is:

[0116] ;

[0117] in, represents the first slope, Indicates the x-axis coordinate of the detected position, Indicates the y-axis coordinate of the detected position, Represents the x-axis coordinate of the light source position, Indicates the y-axis coordinate of the light source position;

[0118] S602: Calculate a second slope according to the light source position coordinates and the position coordinates captured by the camera, wherein the calculation formula is:

[0119] ;

[0120] in, represents the second slope, Represents the x-axis coordinate of the light source position, Represents the y-axis coordinate of the light source position, Indicates the x-axis coordinate of the camera. Indicates the coordinate of the y-axis captured by the camera;

[0121] S603, determining whether the first slope is equal to the second slope;

[0122] If they are equal, the detected position coordinates, the light source position coordinates and the camera position coordinates are collinear;

[0123] If they are not equal, the detected position coordinates, the light source position coordinates and the camera captured position coordinates are not collinear.

[0124] As described in the above steps S601-S603, since the main cause of shooting reflection is that the camera lens, light source and shooting target are in the same straight line, the present invention calculates a first slope according to the detected position coordinates and the light source position coordinates, and then calculates a second slope according to the light source position coordinates and the position coordinates shot by the camera, and then determines whether the first slope is equal to the second slope. If they are equal, the detected position coordinates, the light source position coordinates and the position coordinates shot by the camera are collinear. If they are not equal, the detected position coordinates, the light source position coordinates and the position coordinates shot by the camera are not collinear. For example: the position coordinates of the detected object are (1,2), the position coordinates of the light source are (3,4), and the position coordinates shot by the camera are (5,6), the first slope = =1, second slope== =1, the first slope is equal to the second slope, then the detected position, the light source position and the camera shooting position are on the same line, so the position of the camera can be quickly adjusted to avoid the problem that the camera will take pictures with strong reflection spots due to the reflection of the side of the headphone charging stand, which seriously affects the defect detection of the headphone charging stand. The above values ​​are only used for illustration and are not the only reference.

[0125] In one embodiment, step S6 of photographing and detecting the appearance of the headphone charging stand according to the angle adjustment information by the camera includes:

[0126] S604, obtaining the initial angle of the camera shooting;

[0127] S605, acquiring a corresponding adjustment angle according to the angle adjustment information, and acquiring an adjusted camera shooting angle according to the adjustment angle and the initial angle;

[0128] S606, obtaining the adjusted position coordinates of the camera according to the position coordinates photographed by the camera and the adjusted camera shooting angle, and determining whether the adjusted position coordinates, the detected position coordinates and the light source position coordinates are collinear;

[0129] If the adjustment position coordinates, the detected position coordinates and the light source position coordinates are collinear, then a vector from the light source position to the detected position is obtained according to the light source position coordinates and the detected position coordinates, a corresponding light source position-detected position vector modulus is obtained according to the vector from the light source position to the detected position, and an angle between the light source position and the detected position is calculated according to the vector from the light source position to the detected position and the light source position-detected position vector modulus;

[0130] then obtaining a vector from the adjusted position to the detected position according to the adjusted position coordinates and the detected position coordinates, obtaining a corresponding modulus of the adjusted position-detected position vector according to the vector from the adjusted position to the detected position, and calculating an angle between the adjusted position and the detected position according to the vector from the adjusted position to the detected position and the modulus of the adjusted position-detected position vector;

[0131] Draw a reflection path according to the angle between the light source position and the detected position, the angle between the adjustment position and the detected position, the adjustment position coordinates, the detected position coordinates and the light source position coordinates, and determine whether the reflection path is the same as the preset reflection path. If they are the same, continue to adjust the camera shooting angle until the reflection path is different from the preset reflection path;

[0132] If the adjustment position coordinates, the detected position coordinates and the light source position coordinates are not collinear, the camera photographs and detects the appearance of the headphone charging stand according to the angle adjustment information.

[0133] As described in the above steps S604-S606, the present invention first obtains the initial angle of the camera shooting, and then obtains the corresponding adjustment angle according to the angle adjustment information, and obtains the adjusted camera shooting angle according to the adjustment angle and the initial angle, and then obtains the adjusted position coordinates of the adjusted camera according to the position coordinates of the camera shooting and the adjusted camera shooting angle, and then determines whether the adjusted position coordinates, the detected position coordinates and the light source position coordinates are collinear. If the adjusted position coordinates, the detected position coordinates and the light source position coordinates are collinear, then obtain a first vector from the light source position to the detected position according to the light source position coordinates and the detected position coordinates, obtain a first vector modulus according to the first vector, and calculate a first angle between the light source position and the detected position according to the first vector and the first vector modulus, for example: the detected position coordinates ( , ), light source position coordinates ( , ), then the first vector from the light source position to the detected position is calculated according to the light source position coordinates and the detected position coordinates, wherein the calculation formula is: ( - , - ),in; represents a first vector, and the first vector modulus is obtained according to the first vector, wherein the calculation formula is: ,in, represents the first vector modulus, and the first angle between the light source position and the detected position is calculated according to the first vector and the first vector modulus, wherein the calculation formula is: ,in, represents the first angle, and a specific example is: the detected position coordinates ( , ), light source position coordinates ( , ), the first vector = ( - , - ) = (-4, -4), the first vector modulus = = , the first angle = °, then obtain a second vector from the adjusted position to the detected position according to the adjusted position coordinates and the detected position coordinates, obtain a second vector modulus according to the second vector, and calculate a second angle between the adjusted position and the detected position according to the second vector and the second vector modulus, wherein the calculation method of the second angle is the same as the calculation method of the first angle, so that when the first angle, the second angle, the adjusted position coordinates, the detected position coordinates and the light source position coordinates are known, the corresponding reflection path can be drawn, and it is determined whether the reflection path is the same as the preset reflection path. If they are the same, continue to adjust the camera shooting angle until The reflection path is different from the preset reflection path, so the camera can avoid reflection shooting by avoiding the reflection path corresponding to the reflection. If the adjustment position coordinates, the detected position coordinates and the light source position coordinates are not collinear, the camera shoots and detects the appearance of the headphone charging stand according to the angle adjustment information. In this way, by adjusting the camera position, it can be made not to be on the same line as the light source position coordinates, thereby avoiding the reflection from the side of the headphone charging stand to affect the camera shooting, so that the taken photos will not have strong reflection spots due to the reflection from the side of the headphone charging stand, and will not seriously affect the problem of defect detection of the headphone charging stand.

[0134] The present application also provides an earphone charging stand detection system, comprising:

[0135] A first acquisition module 1 is used to acquire detection feature information, wherein the detection feature information includes camera shooting feature information, headphone charging stand feature information and light source position coordinates;

[0136] A second acquisition module 2 is used to acquire camera displacement information and camera angle information according to the shooting feature information of the camera, and acquire a camera displacement trajectory and a displacement dwell time according to the camera displacement information, acquire a camera dwell position according to the camera angle information and the camera displacement trajectory, and acquire a camera position coordinate corresponding to the camera dwell position according to the light source position coordinate;

[0137] A third acquisition module 3 is used to acquire the camera orientation information according to the camera position coordinates and the camera angle information;

[0138] A fourth acquisition module 4 is used to acquire the side area and side angle of the headphone charging seat according to the characteristic information of the headphone charging seat, and evenly divide the side area of ​​the headphone charging seat according to a preset area to obtain a plurality of sub-side areas;

[0139] A fifth acquisition module 5 is used to acquire a plurality of corresponding area center points according to the plurality of sub-side areas, and to select a first area center point in a direction corresponding to the orientation information of the camera according to the plurality of area center points and the side angles, and to acquire the detected position coordinates of the first area center point according to the position coordinates captured by the camera;

[0140] A first judgment module 6 is used to judge whether the detected position coordinates, the light source position coordinates and the position coordinates captured by the camera are collinear;

[0141] If the detected position coordinates, light source position coordinates and camera position coordinates are collinear, a driving instruction is issued to the camera, wherein the camera rotates based on a driving device, and the driving device is installed on the headphone charging stand detection platform. The driving device adjusts the angle of the camera according to the driving instruction to obtain angle adjustment information, and the camera photographs and detects the appearance of the headphone charging stand according to the angle adjustment information.

[0142] In one embodiment, the second acquisition module includes:

[0143] A first acquisition unit is used to acquire a starting displacement position and a stopping displacement position of the camera within a preset time, and use a displacement trajectory between the starting displacement position and the stopping displacement position as a camera displacement trajectory;

[0144] A second acquisition unit, configured to acquire a time series within a corresponding time period according to a preset time, and acquire a plurality of displacement positions at corresponding moments according to the time series;

[0145] A third acquisition unit is used to acquire a plurality of corresponding stay times according to the plurality of displacement positions, and sort the plurality of stay times in ascending order of duration to obtain a stay time sorting table;

[0146] A fourth acquisition unit is used to acquire the last stay time according to the stay time ranking table, and use the displacement position corresponding to the last stay time as the displacement stay time;

[0147] A fifth acquisition unit, configured to acquire a first displacement distance from the starting displacement position to the displacement position corresponding to the final dwell time according to the starting displacement position and the displacement position corresponding to the final dwell time;

[0148] A sixth acquisition unit, configured to acquire a first angle of a displacement position corresponding to a dwell time at a final position from a starting displacement position according to the camera angle information;

[0149] The first calculation unit is used to use the starting displacement position as the starting displacement coordinate origin, and calculate the coordinates of the camera stop position according to the first displacement distance, the starting displacement coordinate origin, and the first angle, wherein the calculation formula is:

[0150] TD=

[0151] Among them, TD (X, Y) represents the coordinates of the camera's stop position, Represents the x-axis coordinate of the origin of the starting displacement coordinate, Represents the y-axis coordinate of the origin of the starting displacement coordinate, represents the first angle, represents the first displacement distance;

[0152] The coordinates of the camera stop position are used as the camera stop position.

[0153] The present invention also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for detecting a headphone charging seat are implemented.

[0154] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0155] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0156] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A headphone charging stand appearance detection method, applied to a headphone charging stand detection platform, characterized in that: include: Acquire detection feature information, wherein the detection feature information includes camera shooting feature information, headphone charging stand feature information and light source position coordinates; Acquire camera displacement information and camera angle information according to the shooting feature information of the camera, acquire camera displacement trajectory and displacement dwell time according to the camera displacement information, acquire camera dwell position at the displacement dwell time according to the camera angle information and the camera displacement trajectory, and acquire camera position coordinates corresponding to the camera dwell position according to the light source position coordinates; Acquire a starting displacement position and a stopping displacement position of the camera within a preset time, and use a displacement trajectory between the starting displacement position and the stopping displacement position as a camera displacement trajectory; Acquire a time sequence within a corresponding time period according to a preset time, and acquire a plurality of displacement positions at corresponding moments according to the time sequence; Acquire a plurality of corresponding dwell times according to the plurality of displacement positions, and sort the plurality of dwell times in ascending order of duration to obtain a dwell time sorting table; Obtain the last stay time according to the stay time ranking table, and use the displacement position corresponding to the last stay time as the displacement stay time; Obtaining a first displacement distance from the starting displacement position to the displacement position corresponding to the final dwell time according to the starting displacement position and the displacement position corresponding to the final dwell time; Acquire a first angle of a displacement position corresponding to a dwell time from a starting displacement position to a final displacement position according to the camera angle information; The starting displacement position is used as the starting displacement coordinate origin, and the coordinates of the camera stop position are calculated according to the first displacement distance, the starting displacement coordinate origin, and the first angle; The coordinates of the camera stop position are used as the camera stop position; Acquire the camera orientation information according to the camera position coordinates and the camera angle information; Acquire a side area and a side angle of the headphone charging seat according to the characteristic information of the headphone charging seat, and evenly divide the side area of ​​the headphone charging seat according to a preset area to obtain a plurality of sub-side areas; Acquire a plurality of corresponding area center points according to the plurality of sub-side areas, and select a first area center point in a direction corresponding to the orientation information of the camera according to the plurality of area center points and the side angles, and acquire the detected position coordinates of the first area center point according to the position coordinates captured by the camera; Determine whether the detected position coordinates, the light source position coordinates and the position coordinates photographed by the camera are collinear; If the detected position coordinates, the light source position coordinates and the camera position coordinates are collinear, a driving instruction is issued to the camera, wherein the camera is rotated based on a driving device, and the driving device is installed on the headphone charging seat detection platform. The driving device adjusts the angle of the camera according to the driving instruction to obtain angle adjustment information, and the camera shoots and detects the appearance of the headphone charging seat according to the angle adjustment information; Get the initial angle of the camera; Acquire a corresponding adjustment angle according to the angle adjustment information, and acquire an adjusted camera shooting angle according to the adjustment angle and the initial angle; Obtaining adjusted position coordinates of the camera according to the position coordinates captured by the camera and the adjusted camera shooting angle, and determining whether the adjusted position coordinates, the detected position coordinates and the light source position coordinates are collinear; If the adjustment position coordinates, the detected position coordinates and the light source position coordinates are collinear, obtaining a first vector from the light source position to the detected position according to the light source position coordinates and the detected position coordinates, obtaining a first vector modulus according to the first vector, and calculating a first angle between the light source position and the detected position according to the first vector and the first vector modulus; Then, according to the coordinates of the adjusted position and the coordinates of the detected position, a second vector from the adjusted position to the detected position is obtained, according to the second vector, a second vector modulus is obtained, and according to the second vector and the second vector modulus, a second angle between the adjusted position and the detected position is calculated; Draw a reflection path according to the first angle, the second angle, the adjustment position coordinates, the detected position coordinates and the light source position coordinates, and determine whether the reflection path is the same as the preset reflection path, and if they are the same, continue to adjust the camera shooting angle until the reflection path is different from the preset reflection path; If the adjustment position coordinates, the detected position coordinates and the light source position coordinates are not collinear, the camera photographs and detects the appearance of the headphone charging stand according to the angle adjustment information.

2. The headphone charging stand appearance detection method according to claim 1, characterized in that: The step of acquiring the side area and side angle of the headphone charging seat according to the characteristic information of the headphone charging seat comprises: Acquire side image information of the headphone charging seat according to the characteristic information of the headphone charging seat; Based on Canny edge detection, edge extraction is performed on the side image information to obtain the side edge contour; Acquire pixels within the corresponding side edge contour according to the side edge contour, and compare the pixels within the edge contour information based on a preset pixel-area table to obtain the side area of ​​the headphone charging stand; Acquire the upper surface position coordinates and the lower surface position coordinates of the headphone charging seat according to the side edge contour, and connect the upper surface position coordinates and the lower surface position coordinates to obtain a connecting line; The lower surface position coordinates are extended toward one end to obtain an extension line, an angle between the connecting line and the extension line is obtained according to the connecting line and the extension line, and the angle between the connecting line and the extension line is used as a side angle.

3. The headphone charging stand appearance detection method according to claim 1, characterized in that: The step of acquiring a plurality of corresponding area center points according to the plurality of sub-side areas, and selecting a first area center point in a direction corresponding to the orientation information of the camera according to the plurality of area center points and the side angles includes: Using the direction corresponding to the orientation information of the camera as a reference direction; Acquire the orientation of the center point of the area at the side angle on each of the sub-side areas according to the reference direction; The orientations of the plurality of area center points are compared with a reference direction to obtain area center points with the same orientation, and the area center points with the same orientation are used as first area center points.

4. The headphone charging stand appearance detection method according to claim 1, characterized in that: The step of determining whether the detected position coordinates, the light source position coordinates and the position coordinates photographed by the camera are collinear comprises: The first slope is calculated according to the detected position coordinates and the light source position coordinates, wherein the calculation formula is: ； in, represents the first slope, Indicates the x-axis coordinate of the detected position, Indicates the y-axis coordinate of the detected position, Represents the x-axis coordinate of the light source position, Indicates the y-axis coordinate of the light source position; The second slope is calculated according to the light source position coordinates and the position coordinates captured by the camera, wherein the calculation formula is: ； in, represents the second slope, Represents the x-axis coordinate of the light source position, Represents the y-axis coordinate of the light source position, Indicates the x-axis coordinate of the camera. Indicates the coordinate of the y-axis captured by the camera; Determining whether the first slope is equal to the second slope; If they are equal, the detected position coordinates, the light source position coordinates and the camera position coordinates are collinear. If they are not equal, the detected position coordinates, the light source position coordinates and the camera captured position coordinates are not collinear.

5. An earphone charging stand appearance detection system, used to execute the earphone charging stand appearance detection method according to any one of claims 1 to 4, characterized in that: include: A first acquisition module is used to acquire detection feature information, wherein the detection feature information includes camera shooting feature information, headphone charging stand feature information and light source position coordinates; A second acquisition module is used to acquire camera displacement information and camera angle information according to the shooting feature information of the camera, and acquire a camera displacement trajectory and a displacement dwell time according to the camera displacement information, acquire a camera stop position at the displacement dwell time according to the camera angle information and the camera displacement trajectory, and acquire a camera position coordinate corresponding to the camera stop position according to the light source position coordinate; A third acquisition module is used to acquire the camera orientation information according to the camera position coordinates and the camera angle information; a fourth acquisition module, configured to acquire a side area and a side angle of the headphone charging seat according to the characteristic information of the headphone charging seat, and evenly divide the side area of ​​the headphone charging seat according to a preset area to obtain a plurality of sub-side areas; a fifth acquisition module, configured to acquire a plurality of corresponding area center points according to the plurality of sub-side areas, and to select a first area center point in a direction corresponding to the orientation information of the camera according to the plurality of area center points and the side angles, and to acquire the detected position coordinates of the first area center point according to the position coordinates captured by the camera; A first judgment module is used to judge whether the detected position coordinates, the light source position coordinates and the position coordinates photographed by the camera are collinear; If the detected position coordinates, light source position coordinates and camera position coordinates are collinear, a driving instruction is issued to the camera, wherein the camera rotates based on a driving device, and the driving device is installed on the headphone charging stand detection platform. The driving device adjusts the angle of the camera according to the driving instruction to obtain angle adjustment information, and the camera photographs and detects the appearance of the headphone charging stand according to the angle adjustment information.

6. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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