Laser radar rotating motor pasting surface recognition positioning method and system thereof

Abstract

The present application relates to the technical field of device mounting positioning, and particularly relates to a mounting surface identification and positioning method for a laser radar rotating motor and a system thereof. The method comprises the following steps: a camera on a machine table photographs a mounting surface in a horizontal direction on the rotating motor to obtain an original image; the original image is preprocessed to obtain a target mounting area, and a feature information is extracted through an edge detection algorithm, wherein the feature information comprises a detection frame and a plurality of frame lines; reference information is set, the detection frame and the plurality of frame lines are processed through a data analysis method, and a position reference coordinate A and a reference angle of the mounting surface of the rotating motor are calculated in combination with the reference information; an optical lens is sucked by a suction mechanism on the machine table, and the optical lens is mounted based on the position reference coordinate A and the reference angle. The present application has high identification and positioning precision, and can ensure that the optical lens is accurately mounted at a specified position on the mounting surface of the rotating motor.

Description

Technical Field

[0001] This invention relates to the field of equipment mounting and positioning technology, and in particular to a method and system for identifying and positioning the mounting surface of a lidar rotary motor. Background Technology

[0002] A lidar system mainly consists of an optical system and a motor, among which the motor is the key component for lidar scanning. Currently, optical lenses are mounted on the rotating motor mounting surface 33 of the lidar, and the rotation angle and speed of the optical lenses can be precisely controlled through the motor control system.

[0003] In the current optical lens mounting process, a rotary motor is rotated to bring the mounting surface 33 to a suitable mounting angle before the optical lens is mounted onto the mounting surface 33. This method requires precise positioning of the optical lens and is quite difficult. If the mounting is not done correctly, it will affect the control accuracy of the subsequent motor control system. Motor mounting positioning is a critical step in the manufacturing and assembly process of lidar. Therefore, it is urgent to develop a method for identifying and positioning the mounting surface of the lidar rotary motor to ensure that the optical lens can be accurately and stably installed in the designated position. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0005] Therefore, the present invention provides a method for identifying and positioning the mounting surface of a lidar rotary motor, which has high positioning accuracy and can ensure that the optical lens is accurately mounted at the designated position on the mounting surface of the rotary motor.

[0006] A method for identifying and locating the mounting surface of a lidar rotary motor according to an embodiment of the present invention includes the following steps: S1, use a camera on the machine to take a picture of the horizontal mounting surface of the rotary motor to obtain the original image; S2, the original image is preprocessed to obtain the target mounting area, and feature information is extracted by an edge detection algorithm, wherein the feature information includes a detection box and multiple box lines; S3, set reference information, process the detection frame and multiple frame lines through data analysis methods, and calculate the coordinates and reference angle of the position reference point A of the mounting surface of the rotary motor in combination with the reference information; S4, the suction mechanism on the machine picks up the optical lens and mounts the optical lens based on the coordinates and reference angle of the position reference point A.

[0007] The beneficial effects of this invention are that the laser radar rotary motor mounting surface identification and positioning method of this invention combines machine vision technology and data analysis methods to obtain the coordinates and reference angle of the position reference point A of the rotary motor mounting surface, locates the rotary motor, then picks up the optical lens, and mounts the optical lens according to the coordinates and reference angle of the position reference point A. Under the premise of ensuring the positioning accuracy of the rotary motor, it can ensure that the optical lens can be accurately and stably mounted on the mounting surface of the rotary motor. Due to the high positioning accuracy, the yield rate of optical lens mounting is also high, which can meet the product process requirements.

[0008] According to an embodiment of the present invention, step S2 specifically includes: S21, The original image is processed to obtain a grayscale image; S22, perform adaptive brightness adjustment on the grayscale image; S23, the grayscale image after brightness adjustment is filtered using a filter to obtain a filtered image; S24, determine the target mounting area from the filtered image using a pre-set Mark template; S25, the edge of the target mounting area is extracted using an edge detection algorithm to obtain the feature information.

[0009] According to an embodiment of the present invention, step S3 specifically includes the following steps: S31, set the reference information in the interactive interface, the reference information including: offset distance D and reference direction; S32, the plurality of frame lines include at least a first vertical frame line L11, a second vertical frame line L21, a first horizontal frame line L12 and a second horizontal frame line L22, wherein the first vertical frame line L11 and the first horizontal frame line L12 intersect at point P1, and the second vertical frame line L21 and the second horizontal frame line L22 intersect at point P2; S33, connect the intersection point P1 and the intersection point P2 to form a line segment, the line segment being L3; S34, Calculate the center point P3 of the line segment L3; S35, Based on the reference direction and the center point P3, obtain the perpendicular bisector L4 that passes through the center point P3 and is perpendicular to the line segment L3; S36. Based on the center point P3, the perpendicular bisector L4, and the offset distance D, determine the position reference point A of the mounting surface of the rotary motor, and then obtain the coordinates of the position reference point A, wherein the position reference point A is on the perpendicular bisector L4. S37, calculate the slope between the center point P3 and the position reference point A, where the slope is the reference angle.

[0010] According to one embodiment of the present invention, in step S36, the coordinates of the position reference point A include: Based on the pixel coordinate system, the pixel coordinates of the position reference point A are obtained; The coordinates of the position reference point A are obtained based on the offset distance D and the conversion coefficient between the pixel offset distance and the offset distance D.

[0011] According to one embodiment of the present invention, in step S2, obtaining the target mounting area further includes: The filtered image is processed by an adaptive thresholding algorithm to obtain a binary image; Connected component detection is performed on the binary image to obtain the target mounting region.

[0012] According to one embodiment of the present invention, in step S1, the rotary motor of the lidar is placed on the support of the machine base, and the rotary motor is fixed by a mechanical positioning mechanism so that the mounting surface of the rotary motor is arranged in the horizontal direction.

[0013] A lidar rotary motor mounting surface identification and positioning system according to an embodiment of the present invention includes: A rotary motor includes a movable part and a fixed part, wherein the movable part moves on the fixed part and there is a gap between the two; A vision controller is used to transmit control signals; The machine is used to mount optical lenses on the moving part of a rotary motor when it is in a static state. The machine is also equipped with a camera, which takes pictures of the mounting surface on the rotary motor in the horizontal direction according to the control signal to obtain the original image. An industrial control computer executes the above-described method for identifying and locating the mounting surface of a laser radar rotary motor.

[0014] According to one embodiment of the present invention, the machine tool further includes: The support base is used to house the rotary motor of the lidar; A mechanical positioning mechanism abuts against the movable part of the rotary motor to orient and lock the movement of the movable part of the rotary motor, so that the mounting surface of the rotary motor is arranged in the horizontal direction.

[0015] According to one embodiment of the present invention, the mechanical positioning mechanism includes a first locking assembly, the first locking assembly comprising: A first cylinder, the output end of which is adapted to be close to or far from the moving part of the rotary motor; A limiting member is provided at the output end of the first cylinder, and the limiting member abuts against the plane of the movable part of the rotary motor to restrict the movement of the movable part of the rotary motor along the first direction.

[0016] According to one embodiment of the present invention, the mechanical positioning mechanism further includes a second locking assembly, the second locking assembly comprising: The second cylinder has its output end perpendicular to the support base; A pressing member is connected to the output end of the second cylinder and passes through the support seat. The pressing member can abut against the first cylinder to push the first cylinder to drive the limiting member to move in the extension direction of the output end of the second cylinder until the limiting protrusion provided on the limiting member abuts against the movable part of the rotary motor and maintains a set pressure to restrict the movable part of the rotary motor from moving in the second direction.

[0017] According to one embodiment of the present invention, the mechanical positioning mechanism further includes a clamping mechanism, the clamping mechanism comprising: A clamping cylinder having a linear travel stroke in the horizontal direction; A clamping plate, which is connected to the clamping cylinder, is used to drive the clamping plate to press the rotary motor onto the support seat via the clamping cylinder.

[0018] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of the method flow of Embodiment 1 of the present invention.

[0022] Figure 2 This is a schematic diagram of a binary image according to Embodiment 1 of the present invention.

[0023] Figure 3 This is a schematic diagram of the detection frame and the connection structure of multiple frame lines in Embodiment 1 of the present invention.

[0024] Figure 4 This is a schematic diagram of the system structure of Embodiment 2 of the present invention.

[0025] Figure 5 This is a three-dimensional structural diagram of the rotary motor clamping mechanism according to Embodiment 2 of the present invention.

[0026] Figure 6This is a structural diagram of the first locking component of the rotary motor clamping mechanism in Embodiment 2 of the present invention when it does not abut against the rotating part of the rotary motor.

[0027] Figure 7 This is a structural diagram of the first locking component of the rotary motor clamping mechanism in Embodiment 2 of the present invention when it abuts against the rotating part of the rotary motor.

[0028] Figure 8 This is a structural diagram of the rotary motor clamping mechanism of Embodiment 2 of the present invention when the second locking component does not abut against the first locking component.

[0029] Figure 9 This is a structural diagram of the rotary motor clamping mechanism of Embodiment 2 of the present invention when the second locking component abuts against the first locking component.

[0030] Figure 10 This is a structural diagram of the clamping assembly of the rotary motor clamping mechanism in Embodiment 2 of the present invention when it abuts against the fixed end of the rotary motor.

[0031] Figure 11 This is a structural diagram of the rotary motor of the rotary motor clamping mechanism according to Embodiment 2 of the present invention.

[0032] Figure 12 This is a structural diagram of the limiting component of the rotary motor clamping mechanism according to Embodiment 2 of the present invention.

[0033] Figure 13 This is a schematic diagram of the computer device structure according to Embodiment 3 of the present invention.

[0034] In the diagram: 1. Support base; 2. Vision controller; 3. Rotary motor; 31. Moving part; 32. Fixed part; 33. Mounting surface; 34. Contact part; 4. Camera; 5. Mechanical positioning mechanism; 51. First locking assembly; 511. First cylinder; 512. Limiting component; 5121. Limiting main structure; 5122. Limiting magnet; 5123. Limiting protrusion; 52. Second locking assembly; 521. Second cylinder; 522. Pressing component; 6. Industrial control computer; 7. Clamping mechanism; 71. Clamping cylinder; 72. Clamping plate; 721. Abutment part; 10. Computer equipment; 1002. Processor; 1004. Memory; 1006. Transmission device. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, features defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0037] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0038] Example 1 This application provides a method for identifying and locating the mounting surface of a lidar rotary motor, such as... Figure 1 As shown, the method includes the following steps: S1, the camera 4 on the machine tool takes a picture of the horizontal mounting surface 33 on the rotary motor 3 to obtain the original image.

[0039] S2 preprocesses the original image to obtain the target mounting area, and extracts feature information through an edge detection algorithm. The feature information includes detection boxes and multiple bounding boxes.

[0040] S3, set reference information, process the detection frame and multiple frame lines through data analysis methods, and combine the reference information to calculate the coordinates and reference angle of the position reference point A of the mounting surface 33 of the rotary motor 3.

[0041] S4, the suction mechanism on the machine picks up the optical lens and mounts the optical lens based on the coordinates and reference angle of the position reference point A.

[0042] Furthermore, step S2 specifically includes: S21, process the original image to obtain a grayscale image.

[0043] S22 performs adaptive brightness adjustment on the grayscale image.

[0044] S23, use a filter to filter the brightness-adjusted grayscale image to obtain a filtered image.

[0045] S24, determine the target mounting area from the filtered image using a pre-set Mark template.

[0046] S25 uses an edge detection algorithm to extract the edges of the target mounting area and obtain feature information.

[0047] It should be noted that the shape of the Mark template can be rectangular, square or other shapes, and is preset according to the size and shape of the mounting surface 33 of the rotary motor 3. Since the preset Mark template can directly determine the target mounting area, the processing process is simplified and the processing efficiency is improved.

[0048] In some embodiments, the filtered image can also be processed using an adaptive thresholding algorithm to obtain a binary image, such as... Figure 2 As shown, connected component detection is performed on a binary image to obtain the target mounting region. Although it does not require a pre-set Mark template and can obtain the target mounting region through connected component detection algorithms, this method is more cumbersome and has a more complex algorithm compared to determining the target mounting region from a filtered image using a pre-set Mark template, thus reducing detection efficiency. Furthermore, contour detection algorithms based on binary image topology analysis can be used for connected component detection in binary images, but this is not the only option.

[0049] Furthermore, such as Figure 3 As shown, step S3 specifically includes the following steps: S31, set reference information in the interactive interface. The reference information includes: offset distance D and reference direction; S32, the multiple frame lines include at least a first vertical frame line L11, a second vertical frame line L21, a first horizontal frame line L12, and a second horizontal frame line L22, wherein the first vertical frame line L11 and the first horizontal frame line L12 intersect at point P1, and the second vertical frame line L21 and the second horizontal frame line L22 intersect at point P2.

[0050] S33, connect intersection point P1 and intersection point P2 to form a line segment L3.

[0051] S34, calculate the center point P3 of line segment L3.

[0052] S35, based on the reference direction and center point P3, obtain the perpendicular bisector L4 that passes through center point P3 and is perpendicular to line segment L3.

[0053] S36, based on the center point P3, the perpendicular bisector L4, and the offset distance D, determine the position reference point A of the mounting surface 33 of the rotary motor 3, and then obtain the coordinates of the position reference point A, wherein the position reference point A lies on the perpendicular bisector L4; more specifically, the coordinates of the position reference point A include: Based on the pixel coordinate system, the pixel coordinates of the position reference point A are obtained.

[0054] The coordinates of the position reference point A are obtained based on the offset distance D and the conversion coefficient between the pixel offset distance and the offset distance D.

[0055] S37, calculate the slope between the center point P3 and the position reference point A, where the slope is the reference angle.

[0056] In step S1, the rotary motor 3 of the lidar is placed on the support seat 1 of the machine base, and the rotary motor 3 is fixed by the mechanical positioning mechanism 5, so that the mounting surface 33 of the rotary motor 3 is configured in the horizontal direction, thereby achieving precise positioning of the rotary motor 3 by the support seat 1 and improving the accuracy of identification and positioning.

[0057] Example 2 This application provides a lidar rotary motor mounting surface identification and positioning system, such as... Figure 4-12 As shown, it includes: The rotary motor 3 includes a movable part 31 and a fixed part 32. The movable part 31 moves on the fixed part 32, and there is a gap between the two. Vision controller 2 is used to transmit control signals; The machine is used to attach optical lenses when the moving part 31 of the rotary motor 3 is in a static state. The machine is also equipped with a camera 4, which takes pictures of the mounting surface 33 on the rotary motor 3 in the horizontal direction according to the control signal to obtain the original image. Industrial computer 6 executes the above-mentioned laser radar rotary motor mounting surface identification and positioning method.

[0058] like Figure 2 As shown, the machine also includes a support base 1 and a mechanical positioning mechanism 5. The support base 1 is used to place the rotary motor 3 of the lidar. The mechanical positioning mechanism 5 abuts against the movable part of the rotary motor 3 to orient and lock the movement of the movable part of the rotary motor 3, so that the mounting surface 33 of the rotary motor 3 is positioned in the horizontal direction. The mechanical positioning mechanism 5 can fix the position of the movable part 31 of the rotary motor 3 to ensure that the position of the movable part 31 of the rotary motor 3 does not change during lens mounting, thereby ensuring the assembly accuracy between the lens and the rotary motor 3.

[0059] It should be noted that, as Figure 11As shown, the movable part 31 is also provided with a contact part 34 that can abut against the mechanical positioning mechanism 5 relative to the mounting surface 33, and the contact surface between the contact part 34 and the mechanical positioning mechanism 5 is a plane to ensure that the contact part 34 abuts against the mechanical positioning mechanism 5 is a surface contact.

[0060] like Figure 6-9 As shown, the mechanical positioning mechanism 5 includes a first locking component 51 and a second locking component 52. The first locking component 51 limits the movement of the movable part 31 of the rotary motor 3 in a first direction, and the second locking component 52 limits the movement of the movable part 31 of the rotary motor 3 in a second direction. The first direction is the rotational direction, and the second direction is the linear movement direction. Thus, through the cooperation of the first locking component 51 and the second locking component 52, the directional locking of the movable part 31 of the rotary motor 3 is effectively achieved.

[0061] The first locking assembly 51 includes a first cylinder 511 and a limiting member 512. The output end of the first cylinder 511 is adapted to approach or move away from the movable part 31 of the rotary motor 3. The limiting member 512 is disposed at the output end of the first cylinder 511 and abuts against the plane of the movable part 31 of the rotary motor 3 to restrict the movable part 31 of the rotary motor 3 from moving along the first direction, thereby preventing the rotary motor 3 from shifting its position during the lens mounting process and further improving the mounting accuracy of the optical lens.

[0062] The second locking assembly 52 includes a second cylinder 521 and a pressing member 522. The output end of the second cylinder 521 is perpendicular to the support base 1. The pressing member 522 is connected to the output end of the second cylinder 521 and passes through the support base 1. It can abut against the first cylinder 511 to push the first cylinder 511 to drive the limiting member 512 to move in the extension direction of the output end of the second cylinder 521 until the limiting protrusion on the limiting member 512 abuts against the movable part 31 of the rotary motor 3 and maintains a set pressure to restrict the movable part 31 of the rotary motor 3 from moving in the second direction. This further ensures that the position of the movable part 31 of the rotary motor 3 does not change and further ensures the accuracy of the optical lens mounting based on the position reference coordinates and reference angle in subsequent steps.

[0063] like Figure 12As shown, the limiting member 512 includes a limiting main structure 5121, and a limiting magnet 5122 is also provided on the limiting main structure 5121. The limiting magnet 5122 is provided corresponding to the movable part 31 of the rotary motor 3, and can magnetically attract the movable part 31 of the rotary motor 3. Through magnetic attraction, when the rotation angle of the movable part 31 of the rotary motor 3 is too large (the deflection angle of the mounting surface 33 on the movable part 31 is too large), the limiting magnet 5122 can attract the movable part 31 of the rotary motor 3, so that the position of the movable part 31 of the rotary motor 3 can be corrected until the position of the mounting surface 33 on the movable part 31 is corrected to face upward, that is, the position of the mounting surface 33 is in the horizontal direction.

[0064] After the position of the movable part 31 of the rotary motor 3 is corrected, the movable part 31 of the rotary motor 3 is then limited in the linear movement direction by the limiting protrusion 5123 provided on the limiting main structure 5121. The limiting protrusion 5123 is located on the side closest to the rotary motor 3. When the output end of the second cylinder 521 drives the pressing member 522 to abut against the lifting cylinder, and then the output end of the second cylinder 521 continues to extend, the pressing member 522 pushes the lifting cylinder to move along the output direction of the second cylinder 521. At this time, the lifting cylinder drives the limiting member 512 to move synchronously, and the limiting protrusion 5123 provided on the limiting member 512 abuts against the side of the movable part 31 of the rotary motor 3. Subsequently, the second cylinder 521 continuously applies force to the lifting cylinder through the pressing member 522, causing the lifting cylinder to drive the limiting protrusion 5123 on the limiting member 512 to continue acting on the movable part 31 of the rotary motor 3, until a set pressure is generated between the limiting protrusion 5123 and the movable part 31 of the rotary motor 3. In this embodiment, the pressure between the limiting protrusion 5123 and the movable part 31 is set to 5 Newtons, and maintaining this pressure value can achieve the purpose of restricting the linear movement of the movable part 31 of the rotary motor 3. It should be noted that the pressure between the limiting protrusion 5123 and the movable part 31 can be adjusted according to actual needs and is not limited to the pressure value mentioned above.

[0065] like Figure 10As shown, the machine tool also includes a clamping mechanism 7, which is located below the support base 1. The clamping mechanism 7 includes a clamping cylinder 71 and a clamping plate 72. The clamping cylinder 71 has a linear travel in the horizontal direction. The clamping plate 72 is connected to the clamping cylinder 71, and a contact part 721 that abuts against the fixing part 32 of the rotary motor 3 is provided on the side of the clamping plate 72 opposite to the rotary motor 3. Therefore, the clamping plate 72 can be adjusted to move closer to or further away from the fixing part 32 of the rotary motor 3 by the extension and retraction movement of the clamping cylinder 71. When it is necessary to clamp the rotary motor 3, the clamping cylinder 71 can be retracted to make the clamping plate 72 move closer to the fixing part 32 of the rotary motor 3 until the contact part 721 of the clamping plate 72 abuts against the surface of the fixing part 32 of the rotary motor 3, thereby achieving the clamping and fixing of the rotary motor 3, avoiding the positional displacement of the rotary motor 3 during the lens mounting process, and further improving the mounting accuracy of the optical lens.

[0066] It should be noted that, Figures 5 to 10 This is a schematic diagram showing that the optical lens has been mounted on mounting surface 33. Figure 11 A schematic diagram of the mounting surface 33 of the rotary motor 3 without an optical lens mounted on it.

[0067] During the mounting process of the optical lens, a set pressure, such as 5 Newtons, is generated between the limiting protrusion 5123 and the movable part 31 of the rotary motor 3. When the suction mechanism picks up the optical lens and places it on the mounting surface 33 of the rotary motor 3, the optical lens will exert pressure on the mounting surface 33 of the rotary motor 3, such as 10 Newtons. The two pressures generated further prevent the rotary motor 3 from shifting its position during the lens mounting process.

[0068] In summary, the laser radar rotary motor mounting surface identification and positioning method and system of the present invention fixes the mounting surface 33 of the rotary motor 3 horizontally through the mechanical positioning mechanism 5, and obtains the coordinates and reference angle of the position reference point A of the mounting surface 33 of the rotary motor 3 by combining machine vision technology and data analysis methods to position the rotary motor 3. Then, the optical lens is picked up and mounted according to the coordinates and reference angle of the position reference point A. Under the premise of ensuring the positioning accuracy of the rotary motor 3, it can ensure that the optical lens can be accurately and stably installed on the mounting surface 33 of the rotary motor 3. Due to the high positioning accuracy, the yield rate of optical lens mounting is also high, which can meet the product process requirements.

[0069] Example 3 This application provides a computer device including a processor and a memory. The memory stores at least one instruction or at least one program. The at least one instruction or at least one program is loaded and executed by the processor to implement a laser radar rotary motor mounting surface identification and positioning method as provided in the above method embodiment.

[0070] Figure 13 This diagram illustrates a hardware structure of an apparatus for implementing a laser radar rotary motor mounting surface identification and positioning method provided in the embodiments of this application. The apparatus may constitute or include the device or system provided in the embodiments of this application. Figure 13 As shown, the computer device 10 may include one or more processors 1002 (the processor may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 1004 for storing data, and a transmission device 1006 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, a power supply, and / or a camera 4. Those skilled in the art will understand that... Figure 13 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer device 10 may also include... Figure 13 The more or fewer components shown, or having the same Figure 13 The different configurations shown.

[0071] It should be noted that the aforementioned one or more processors and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuit may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer device 10 (or mobile device). As involved in the embodiments of this application, the data processing circuit serves as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0072] The memory 1004 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the method for identifying and locating the mounting surface of a lidar rotary motor in this embodiment of the application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 1004, thereby implementing the aforementioned method. The memory 1004 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 1004 may further include memory remotely located relative to the processor, and these remote memories can be connected to the computer device 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0073] The transmission device 1006 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer device 10. In one example, the transmission device 1006 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 1006 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0074] The display may be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer device 10 (or mobile device).

[0075] Example 4 This application embodiment also provides a computer-readable storage medium, which can be disposed in a server to store at least one instruction or at least one program related to implementing a method for identifying and locating the mounting surface of a lidar rotary motor in the method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the method for identifying and locating the mounting surface of a lidar rotary motor provided in the above method embodiment.

[0076] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0077] Example 5 This invention also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform a method for identifying and locating the mounting surface of a lidar rotary motor provided in the various optional embodiments described above.

[0078] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, the above description focuses on specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are also possible or may be advantageous.

[0079] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device, equipment, and storage medium embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0080] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0081] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A method for identifying and locating the mounting surface of a lidar rotary motor, characterized in that, The method includes the following steps: S1, the camera (4) on the machine is used to take pictures of the mounting surface (33) on the rotary motor (3) in the horizontal direction to obtain the original image; S2, the original image is preprocessed to obtain the target mounting area, and feature information is extracted by an edge detection algorithm, wherein the feature information includes a detection box and multiple box lines; S3, set reference information, process the detection frame and multiple frame lines through data analysis methods, and combine the reference information to calculate the coordinates and reference angle of the position reference point (A) of the mounting surface (33) of the rotary motor (3); wherein, step S3 specifically includes the following steps: S31, set the reference information in the interactive interface, the reference information including: offset distance D and reference direction; S32, the plurality of frame lines include at least a first vertical frame line (L11), a second vertical frame line (L21), a first horizontal frame line (L12), and a second horizontal frame line (L22), wherein the first vertical frame line (L11) and the first horizontal frame line (L12) intersect to form a first intersection point (P1), and the second vertical frame line (L21) and the second horizontal frame line (L22) intersect to form a second intersection point (P2). S33, connect the first intersection point (P1) and the second intersection point (P2) into a line segment (L3). S34, Calculate the center point (P3) of the line segment (L3); S35, based on the reference direction and the center point (P3), obtain the perpendicular bisector (L4) that passes through the center point (P3) and is perpendicular to the line segment (L3). S36. Based on the center point (P3), the vertical line (L4) and the offset distance D, determine the position reference point (A) of the mounting surface (33) of the rotary motor (3), and then obtain the coordinates of the position reference point (A), wherein the position reference point (A) is on the vertical line (L4). S37, calculate the slope between the center point (P3) and the position reference point (A), where the slope is the reference angle; S4, the suction mechanism on the machine picks up the optical lens and mounts the optical lens based on the coordinates and reference angle of the position reference point (A).

2. The method for identifying and locating the mounting surface of a lidar rotary motor as described in claim 1, characterized in that, Step S2 specifically includes: S21, The original image is processed to obtain a grayscale image; S22, perform adaptive brightness adjustment on the grayscale image; S23, the grayscale image after brightness adjustment is filtered using a filter to obtain a filtered image; S24, determine the target mounting area from the filtered image using a pre-set Mark template; S25, the edge of the target mounting area is extracted using an edge detection algorithm to obtain the feature information.

3. The method for identifying and locating the mounting surface of a lidar rotary motor as described in claim 1, characterized in that, In step S36, the coordinates of the position reference point (A) include: Based on the pixel coordinate system, the pixel coordinates of the position reference point (A) are obtained; The coordinates of the position reference point (A) are obtained based on the offset distance D and the conversion coefficient between the pixel offset distance and the offset distance D.

4. The method for identifying and locating the mounting surface of a lidar rotary motor as described in claim 2, characterized in that, In step S2, obtaining the target mounting area further includes: The filtered image is processed by an adaptive thresholding algorithm to obtain a binary image; Connectivity detection is performed on the binary image to obtain the target mounting region.

5. The method for identifying and locating the mounting surface of a lidar rotary motor as described in claim 1, characterized in that, In step S1, the rotary motor (3) of the laser radar is placed on the support seat (1) of the machine base, and the rotary motor (3) is fixed by the mechanical positioning mechanism (5) so that the mounting surface (33) of the rotary motor (3) is arranged in the horizontal direction.

6. A laser radar rotary motor mounting surface identification and positioning system, characterized in that, include: The rotary motor (3) includes a movable part (31) and a fixed part (32), wherein the movable part (31) moves on the fixed part (32) and there is a gap between the two; A vision controller (2) is used to transmit control signals; The machine is used to mount optical lenses on the moving part (31) of the rotary motor (3) in a static state. A camera (4) is also provided on the machine. The camera (4) takes pictures of the mounting surface (33) on the rotary motor (3) in the horizontal direction according to the control signal to obtain the original image. An industrial control computer (6) performs the laser radar rotary motor mounting surface identification and positioning method as described in any one of claims 1 to 5.

7. The laser radar rotary motor mounting surface identification and positioning system as described in claim 6, characterized in that, The machine also includes: Support (1) for placing the rotary motor (3); The mechanical positioning mechanism (5) abuts against the movable part (31) of the rotary motor (3) to orient and lock the movable part (31) of the rotary motor (3) to restrict its movement, so that the mounting surface (33) of the rotary motor (3) is arranged in the horizontal direction.

8. The laser radar rotary motor mounting surface identification and positioning system as described in claim 7, characterized in that, The mechanical positioning mechanism (5) includes a first locking assembly (51), which includes: The first cylinder (511) has its output end adapted to be close to or away from the moving part (31) of the rotary motor (3). A limiting member (512) is provided at the output end of the first cylinder (511). The limiting member (512) abuts against the plane of the movable part (31) of the rotary motor (3) to restrict the movable part (31) of the rotary motor (3) from moving along the first direction.

9. The laser radar rotary motor mounting surface identification and positioning system as described in claim 8, characterized in that, The mechanical positioning mechanism (5) further includes a second locking assembly (52), which includes: The output end of the second cylinder (521) is arranged perpendicular to the support seat (1); The pressing member (522) is connected to the output end of the second cylinder (521) and penetrates the support seat (1). It can abut against the first cylinder (511) to push the first cylinder (511) to drive the limiting member (512) to move in the direction of the extension of the output end of the second cylinder (521) until the limiting protrusion (5123) provided on the limiting member (512) abuts against the movable part (31) of the rotary motor (3) and maintains a set pressure to restrict the movable part (31) of the rotary motor (3) from moving in the second direction.

10. The laser radar rotary motor mounting surface identification and positioning system as described in claim 9, characterized in that, The machine tool also includes a clamping mechanism (7), which includes: Clamping cylinder (71) has a linear travel stroke in the horizontal direction; A clamping plate (72) is connected to a clamping cylinder (71) so that the clamping plate (72) can be driven by the clamping cylinder (71) to press the rotary motor (3) onto the support seat (1).

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