Portable optometry head detection device and detection device control method

Abstract

The invention relates to a portable optometry head detection device and a detection device control method, and relates to the field of optometry head detection technologies. The moving platform is arranged on the three-dimensional moving base; and the detection device body is arranged on the mobile platform and is used for detecting the optometry head, and the three-dimensional mobile base is adopted, so that the detection device body can move in the three-dimensional direction while the stability of the detection process is ensured, and the detection universality of the detection device body is improved.

Description

Technical Field

[0001] The present application relates to the field of optometrist detection technology, and in particular to a portable optometrist detection device and a detection device control method. Background Art

[0002] The comprehensive optometrist is a comprehensive refractive examination instrument that can realize the function of refractive examination by mechanically replacing lenses. The main measurement performance indicators of the comprehensive optometrist are: spherical lens vertex power, cylindrical lens vertex power, prismatic power, cylindrical lens axis position, etc.

[0003] The performance index of the comprehensive optometrist may change during the production, assembly and use, which will lead to inaccurate optometry and affect the judgment of the optometrist. For example, a Chinese patent with publication number CN104422583A discloses an optical system including: a beam splitter; a first objective lens; a first reflective element, the first reflective element is arranged between the beam splitter and the first objective lens; a graticule, the graticule is arranged on the object focus of the first objective lens; a focusing element, the first objective lens is arranged between the focusing element and the first reflective element; a second objective lens, the distance between the focusing element and the second objective lens is adjustable; an imaging element, the imaging element is located in the exit light path of the beam splitter. The device to be detected (for example: a comprehensive optometrist) is placed between the first objective lens and the second objective lens. By adjusting the distance between the focusing element and the second objective lens, the reference pattern on the graticule can be clearly presented on the imaging element. The performance index of the device to be detected is calculated based on the distance between the focusing element and the second objective lens, so as to make a quantitative judgment on the device to be detected.

[0004] The prior art has the following problems: the detection device is usually fixedly installed at a certain position, and there are many types of lenses. The center positions of different types of lenses are different, so when they are not compatible, detection cannot be performed. There is still room for improvement. Summary of the invention

[0005] In order to improve the problem that the detection device is usually fixedly installed in a certain position, the center positions of different types of lenses are different, and detection cannot be performed when they are not compatible, the present application provides a portable optometrist detection device and a detection device control method.

[0006] In a first aspect, the present application provides a portable optometrist detection device, which adopts the following technical solution: A portable optometrist detection device, comprising: Three-dimensional mobile base; A mobile platform is mounted on a three-dimensional mobile base; and The detection device body is arranged on a mobile platform to detect the optometry head.

[0007] By adopting the above technical solution, on the one hand, by adopting a three-dimensional mobile base, the detection device body can be moved in three-dimensional directions while ensuring the stability of the detection process, thereby improving the detection versatility of the detection device body; on the other hand, the three-dimensional mobile base is relatively light and can be transported away from the corresponding area, thereby improving the portability of the detection device body.

[0008] Optionally, a slide rail is provided on the three-dimensional mobile base, and the mobile platform is slidably connected to the slide rail.

[0009] By adopting the above technical solution and setting the slide rail, the staff can also manually move the detection device body, thereby improving the versatility of the movement of the detection device body.

[0010] Optionally, a hexagonal plum bolt is threadedly connected to the movable platform, and one end of the screw rod of the hexagonal plum bolt is tightly pressed against the slide rail.

[0011] By adopting the above technical solution, when the hexagonal plum bolt is tightened against the slide rail, the pressure between the slide rail and the mobile platform is increased, and the friction force between the mobile platform and the slide rail is increased while the friction coefficient remains unchanged, making it difficult for the mobile platform to slide relative to the slide rail, thereby improving the stability of the mobile platform after movement.

[0012] Optionally, it also includes a horizontal fine-tuning component, which includes a threaded rod and a mounting platform. The number of the threaded rods is three. The detection device body is fixed on the mounting platform. One end of the threaded rod is rotatably connected to the mobile platform, and the other end of the threaded rod is threadedly connected to the mounting platform.

[0013] By adopting the above technical solution, the relative positions of the mounting table and the movable platform at the threaded rods are adjusted by three threaded rods, thereby adjusting the relative inclination angle of the mounting table, so that the mounting table remains horizontally placed, thereby improving the installation accuracy and detection accuracy of the detection device body.

[0014] In a second aspect, the present application provides a detection device control method, which adopts the following technical solution: A detection device control method, applied to the above-mentioned optometry head detection device, comprises: Control the movement of the mobile platform and obtain the horizontal and vertical coordinates of the current detection image and the preset image center; Analyze the current detection image to obtain the shadow area; When the preset center of the image falls into the shadow area, the current horizontal coordinate and vertical coordinate are recorded, and the current horizontal coordinate and vertical coordinate are combined as edge coordinates, and the movement continues until the number of recorded edge coordinates is three; When the number of edge coordinates is three, the center coordinate is calculated based on the three edge coordinates, and the edge coordinate of the third record is defined as the starting edge coordinate; The center moving direction and the lens radius are calculated based on the center coordinates and the starting edge coordinates; The mobile platform is controlled to move according to the center moving direction and the lens radius to achieve the alignment of the detection device body.

[0015] By adopting the above technical scheme, on the one hand, by adopting a three-dimensional mobile base, the detection device body can be moved in three-dimensional directions while ensuring the stability of the detection process, thereby improving the detection versatility of the detection device body; on the other hand, the three-dimensional mobile base is relatively light and can be transported away from the corresponding area, thereby improving the portability of the detection device body; furthermore, by using three points that are not on the same straight line to determine a circle, the contour and contour center of the lens can be obtained without manual operation, thereby improving the automation and intelligence of the detection device body to align the center of the lens.

[0016] Optionally, after controlling the mobile platform to move according to the central moving vector, a method for checking the horizontal placement state of the detection device body is also included, the method comprising: Controlling the mobile platform to move in a preset semi-right angle direction, and acquiring a first verification detection image; Analyzing the first check detection image to obtain a first check shadow area; Analyzing the first verification detection image based on a preset first cross mark feature and horizontal and vertical dividing lines to determine a first horizontal line area and a first vertical line area; Determine a first overlap area based on the first horizontal line area, the first vertical line area and the first check shadow area; Continue to move when the first overlapping area does not exist; When there is a first overlapped area between one of the first horizontal line area or the first vertical line area and the first checked shadow area, a first moving distance and the overlapped first horizontal line area or the first vertical line area are acquired, and the first horizontal line area is defined as the overlapped horizontal line area, and the first vertical line area is defined as the overlapped vertical line area; Calculating a first deflection angle based on a first moving distance, a lens radius, and a preset edge length in a first cross mark feature; Determining an actual first deflection angle based on the first deflection angle and the coincident horizontal line area or the coincident vertical line area; Finding a corresponding first leveling operation scheme from a preset operation database based on the actual first deflection angle; The horizontal fine adjustment assembly is controlled to perform leveling according to a first leveling operation scheme.

[0017] By adopting the above technical solution, by determining the intersection position of the cross mark feature and the shadow area, it is determined whether there is a tilt on the plane. When tilted, a leveling operation solution is automatically taken to correct it, thereby preventing the detection device from tilting itself during the detection process, thereby improving the self-calibration capability of the detection device.

[0018] Optionally, the method of controlling the mobile platform to move and acquiring the first verification detection image includes: When the first check shadow area does not exist, the mobile platform is controlled to move at a preset fast speed; When the first check shadow area appears, a maximum moving distance is calculated based on the first edge length and a preset image radius; Control the mobile platform to continue moving the maximum moving distance at a fast speed; If there is a first overlapping area after the mobile platform moves the maximum moving distance, the movement is stopped; If the first overlapping area does not exist, the mobile platform is controlled to move at a preset slow speed until the first overlapping area exists.

[0019] By adopting the above technical solution, the mobile platform can move quickly when it is determined that there will be no overlap, and move slowly when it is about to touch, thereby improving the movement efficiency of the mobile platform while ensuring that the moment of overlap is not missed.

[0020] Optionally, a method for checking the actual first deflection angle is further included, the method comprising: Controlling the mobile platform to move horizontally and acquiring a second verification detection image; Analyzing the second verification detection image based on a preset second cross mark feature and a second horizontal and vertical dividing line to determine a second horizontal line area and a second vertical line area; Analyzing the second horizontal line region based on the second cross mark feature and the preset second horizontal dividing line to determine the horizontal line angle quadrant; analyzing the second check detection image to obtain a second check shadow area; determining a second coincidence area based on the second lateral area and the second check shadow area; When the second overlapping area appears, obtaining a second moving distance; Calculating a second deflection angle based on a second moving distance, a lens radius, and a second edge length preset in a second cross mark feature; determining an actual second deflection angle based on the second deflection angle and the cross-line angle quadrant; When the actual second deflection angle exists, searching a corresponding second leveling operation scheme from a preset operation database based on the actual second deflection angle; Controlling the horizontal fine-tuning component to perform leveling according to the second leveling operation scheme and then obtaining and outputting an actual first deflection angle; When the actual second deflection angle does not exist, the actual first deflection angle is directly output.

[0021] By adopting the above technical solution, since the detection device itself is portable, the three-dimensional mobile base itself may be tilted during the detection process. Therefore, it is determined whether it is caused by the three-dimensional mobile base or the detection device and corrections are made in turn, thereby improving the orderliness of data correction.

[0022] Optionally, also include: Get the moving distance and detection parameters of the slide rail; Calculate the offset distance based on the detection parameters and the moving distance of the slide rail; Control the mobile platform to move according to the offset distance and the preset slide rail direction.

[0023] By adopting the above technical solution, when the distance required for measurement is not the current distance due to human movement, the mobile platform is automatically controlled to move and the corresponding detection distance is corrected, which is more precise and has smaller errors than manual operation.

[0024] Optionally, a formula for calculating the first deflection angle based on the first moving distance and the first edge length in the first cross mark feature is as follows: ,in, is the first deflection angle, is the first moving distance, is the lens radius, is the length of the first edge in the first cross mark feature.

[0025] In summary, the present application includes at least the following beneficial technical effects: By adopting a three-dimensional mobile base, the detection device body can be moved in three-dimensional directions while ensuring the stability of the detection process, thereby improving the detection versatility of the detection device body; The lens contour and contour center can be obtained by using three points that are not on the same straight line to determine a circle, without manual operation, thus improving the automation and intelligence of the detection device body aligning the lens center; By determining the intersection of the cross mark feature and the shadow area, it is possible to determine whether there is a tilt on the plane. If there is a tilt, a leveling operation is automatically taken to correct it, preventing the detection device from tilting itself during the detection process, thereby improving the self-calibration capability of the detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1It is a flow chart of a detection device control method in an embodiment of the present application.

[0027] Figure 2 It is a structural schematic diagram of a portable optometry head detection device in an embodiment of the present application.

[0028] Figure 3 yes Figure 2 Enlarged schematic diagram of part A in the middle.

[0029] Figure 4 It is a schematic diagram of the current detection image in an embodiment of the present application.

[0030] Figure 5 It is a flow chart of a method for checking the horizontal placement state of a detection device body after controlling a mobile platform to move according to a central moving vector in an embodiment of the present application.

[0031] Figure 6 It is a schematic diagram of the first verification detection image in an embodiment of the present application.

[0032] Figure 7 It is a flowchart of a method for controlling the movement of a mobile platform and obtaining a first verification detection image in an embodiment of the present application.

[0033] Figure 8 It is a flow chart of a method for verifying an actual first deflection angle in an embodiment of the present application.

[0034] Fig. 9 It is a schematic diagram of the second verification detection image in an embodiment of the present application.

[0035] Fig.10 It is a flowchart of a method for recording edge coordinates and continuing to move when the center of an image falls into a shadow area in an embodiment of the present application.

[0036] Fig.11 It is a schematic diagram when an overlapping area appears in the current detection image in an embodiment of the present application.

[0037] Fig.12 It is a flowchart of a specific method of controlling the movement of a mobile platform to obtain edge coordinates and then selecting a moving direction to continue moving in an embodiment of the present application.

[0038] Explanation of the reference numerals: 1. three-dimensional mobile base; 11. slide rail; 2. mobile platform; 21. hexagonal plum blossom bolt; 3. horizontal fine-tuning assembly; 31. threaded rod; 32. mounting table; 33. toggle block; 4. detection device body. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 12It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] The present application embodiment discloses a detection device control method. Figure 1 , a detection device control comprises: Step 100: Control the mobile platform 2 to move, and obtain the horizontal coordinates and vertical coordinates of the current detection image and the preset image center.

[0041] Reference Figure 2 The method is applied to a portable optometrist head detection device, which includes a three-dimensional mobile base 1, a mobile platform 2, a horizontal fine-tuning component 3 and a detection device body 4. The mobile platform 2 is mounted on the three-dimensional mobile base 1 to facilitate movement. The horizontal fine-tuning component 3 is mounted on the mobile platform 2, and the detection device body 4 is mounted on the horizontal fine-tuning component 3 to facilitate leveling of the detection device body 4 through the horizontal fine-tuning component 3.

[0042] Reference Figure 2 The three-dimensional mobile base 1 can be the base of any kind of computerized optometrist head, which will not be elaborated here. It can realize the movement of the spare parts installed on the top of the base in three-dimensional directions. A slide rail 11 is fixedly connected to the three-dimensional mobile base 1, and the mobile platform 2 is slidably connected to the slide rail 11, so that the mobile platform 2 can be manually moved. The mobile platform 2 extends outside the three-dimensional mobile base 1, which increases the movement range of the mobile platform 2. In order to facilitate the sliding of the mobile platform 2 along the length direction of the slide rail 11, a hexagonal plum bolt 21 is threadedly connected to the mobile platform 2, and one end of the screw of the hexagonal plum bolt 21 is tightly pressed against the slide rail 11.

[0043] Reference Figure 2 and Figure 3 , the horizontal fine-tuning assembly 3 includes a threaded rod 31 and a mounting platform 32. There are three threaded rods 31, one end of which is rotatably connected to the mobile platform 2, and the other end of which is threadedly connected to the mounting platform 32, so that the screw drive is realized by rotating the threaded rod 31, thereby adjusting the horizontality of the mounting platform 32. The detection device body 4 is fixed on the mounting platform 32, so as to facilitate the leveling of the detection device body 4 through the horizontal fine-tuning assembly 3. In order to facilitate the rotation of the threaded rod 31, a toggle block 33 is also fixedly connected to the threaded rod 31.

[0044] The current detection image is the image sent back by the detection device body 4, such as Figure 4As shown. The detection device body 4 is connected to an external display, and the device to be detected (for example: a comprehensive optometry head) is placed between the first objective lens and the second objective lens. By adjusting the distance between the focusing element and the second objective lens, the reference pattern on the graticule can be clearly presented on the imaging element. The performance index of the device to be detected is calculated based on the distance between the focusing element and the second objective lens, thereby making a quantitative judgment on the device to be detected. The image center is the position of the center of the current detection image. The horizontal coordinate is the coordinate of the movement in the horizontal direction. The vertical coordinate is the coordinate of the movement in the vertical direction. Here, the horizontal coordinate and the vertical coordinate are actually the coordinates of the image center in the entire actual scene, not the coordinates in the current detection image. Both can be obtained by recording the moving distance of the mobile platform 2.

[0045] Step 101: Analyze the current detection image to obtain the shadow area.

[0046] The shadow area is the shadow area, which is actually the area blocked by the outer frame of the lens, such as Figure 4 The analysis method may be to compare the colors of the features.

[0047] Step 102: When the preset center of the image falls into the shadow area, the current horizontal coordinate and vertical coordinate are recorded, and the current horizontal coordinate and vertical coordinate are combined as edge coordinates, and the movement is continued until the number of recorded edge coordinates is three.

[0048] The edge coordinates include horizontal and vertical coordinates. When the center of the image falls into the shadow area, it means that the edge of the lens has been reached.

[0049] Step 103: When the number of edge coordinates is three, the center coordinate is calculated based on the three edge coordinates, and the third recorded edge coordinate is defined as the starting edge coordinate.

[0050] When the number of edge coordinates is three, it means that three coordinate points at the boundary of the lens have been found, and the three coordinate points can form a circle, so all the orientations of the lens have been determined.

[0051] Step 104: Calculate the center moving direction and the lens radius based on the center coordinates and the starting edge coordinates.

[0052] The center moving direction is the direction from the starting edge coordinate to the center coordinate. The lens radius is the radius of the lens. The calculation method is to draw a vector between two points, and then get the center moving direction through the direction of the vector, and get the lens radius through the distance of the vector.

[0053] Step 105: Control the mobile platform 2 to move according to the center moving direction and the lens radius to achieve alignment of the detection device body 4.

[0054] Here, only the mirror surface where the lens is located is aligned, but since there may be deviation in the direction of the central axis of the lens, adjustment is required.

[0055] Step 106: Obtain the moving distance and detection parameters of the slide rail 11.

[0056] The moving distance of the slide rail 11 is the moving distance of the mobile platform 2 along the length direction of the slide rail 11. Here, it can be obtained by measuring the distance with a distance meter. The detection parameter is the parameter required for the detection, for example: the distance between the reference plane of the device to be detected and the front focal plane of the second objective lens.

[0057] Step 107 : Calculate the offset distance based on the detection parameters and the moving distance of the slide rail 11 .

[0058] Here, the detection parameter is converted into the actually required moving distance of the slide rail 11, and then the offset distance is obtained by subtracting the actually required moving distance of the slide rail 11 from the moving distance of the slide rail 11. It should be noted that the offset distance here is the distance that still needs to be moved.

[0059] Step 108: Control the mobile platform 2 to move according to the offset distance and the preset direction of the slide rail 11.

[0060] The direction of the slide rail 11 is the direction of the positive offset distance. For example, if the moving distance of the slide rail 11 is 2 cm, and the actual detection parameter requires 3 cm, then Figure 2 In the arrangement shown, the offset distance is 1 cm, and the direction of the slide rail 11 is forward, so the base 61 needs to be moved forward 1 cm.

[0061] Reference Figure 5 , after controlling the mobile platform 2 to move according to the central moving vector, it also includes a method for checking the horizontal placement state of the detection device body 4, the method comprising: Step 200: Control the mobile platform 2 to move in a preset semi-right angle direction, and obtain a first verification detection image.

[0062] The semi-right angle direction is the direction of 45°. The first check detection image is the current detection image when the mobile platform 2 moves along the direction of 45°. The acquisition method is the same as the current detection image method, which will not be repeated here. The starting point of the movement here is the center of the lens, and the center of the lens has nothing to do with the tilt process of the detection device body 4, so the center of the lens is accurate.

[0063] Step 201: Analyze a first verification detection image to obtain a first verification shadow area.

[0064] The first check shadow area is the shadow area in the first check detection image. The analysis process is similar to step 101 and will not be described in detail here.

[0065] Step 202: Analyze the first verification detection image based on the preset first cross mark feature and the horizontal and vertical dividing lines to determine a first horizontal line area and a first vertical line area.

[0066] The first cross mark feature is the feature of the cross mark in the imaging element mapped in the detection image. The horizontal and vertical dividing lines are virtual dividing lines in the image into horizontal and vertical directions, such as Figure 6 The first horizontal line area is the area occupied by the horizontal lines in the cross mark in the horizontal direction. The first vertical line area is the area occupied by the vertical lines in the cross mark in the vertical direction. The analysis method is to compare the cross mark feature with the image to obtain the area occupied by the cross mark, and then obtain the horizontal area and the vertical area according to the first horizontal and vertical dividing line, which are defined as the first horizontal line area and the first vertical line area respectively, and the center position is the image center.

[0067] Step 203: Determine a first overlapping area based on the first horizontal line area, the first vertical line area and the first check shadow area.

[0068] The first overlap area is the overlap area between the first horizontal line area and the first check shadow area, or between the first vertical line area and the first check shadow area. The determination method is to compare all coordinate points in the two areas. When the coordinate points are the same, the first overlap area exists.

[0069] Step 204: Continue moving when the first overlapping area does not exist.

[0070] If it does not exist, it means that the boundary position has not been reached and you can continue to move.

[0071] Step 205: When there is a first overlapping area between the first horizontal line area or the first vertical line area and the first check shadow area, obtain the first moving distance and the overlapping first horizontal line area or the first vertical line area, define the first horizontal line area as the overlapping horizontal line area, and define the first vertical line area as the overlapping vertical line area.

[0072] The first moving distance is the distance from the center of the lens to the coordinate point corresponding to the first overlap area, which can be obtained by coordinate calculation.

[0073] When there is a first overlapped area between the first horizontal line area or the first vertical line area and the first check shadow area, it means that an overlapped position has occurred. Therefore, it is necessary to determine whether it is the first horizontal line area or the first vertical line area.

[0074] Step 206: Calculate a first deflection angle based on the first moving distance, the lens radius, and a preset edge length in the first cross mark feature.

[0075] The formula is as follows: ,in, is the first deflection angle, is the first moving distance, is the lens radius, is the length of the first edge in the first cross mark feature. After the calculation is completed here, two angles will appear, such as Figure 6 As shown, one is 45° upward and the other is 45° downward.

[0076] Step 207: Determine the actual first deflection angle based on the first deflection angle and the overlapping horizontal line area or the overlapping vertical line area.

[0077] The actual first deflection angle is a first deflection angle determined according to the overlapping horizontal line area or the overlapping vertical line area, and is determined in such a way that when the overlapping area is the overlapping horizontal line area, it is below 45°, and when the overlapping area is the overlapping vertical line area, it is above 45°.

[0078] Step 208: searching a corresponding first leveling operation solution from a preset operation database based on the actual first deflection angle.

[0079] The first leveling operation scheme is an operation scheme for eliminating the actual first deflection angle so that the detection device body 4 is placed horizontally. The database stores a mapping relationship between the actual first deflection angle and the first leveling operation scheme. It is obtained by the staff in the field according to the different deflection angles corresponding to different operation schemes during actual operation. When the system receives the actual first deflection angle, it automatically finds the corresponding first leveling operation scheme from the database and outputs it.

[0080] Step 209: Control the horizontal fine-tuning component 3 to perform leveling according to the first leveling operation scheme.

[0081] Reference Figure 7 , the method of controlling the mobile platform 2 to move and obtaining the first verification detection image includes: Step 300: When the first check shadow area does not exist, control the mobile platform 2 to move at a preset fast speed.

[0082] Fast speed is a faster speed. If it does not exist, it means that the distance to the shadow area is far, so if you move at a fast speed, you will not touch it in a short time, so you can move quickly.

[0083] Step 301: Calculate a maximum moving distance based on a first edge length and a preset image radius when a first checking shadow area appears.

[0084] The image radius is the radius of the image in the actual scene. The maximum moving distance is the distance that can be moved at a fast speed without overlapping the area.

[0085] If the first check shadow area appears here, it means that it is close to the edge, but there is still a distance that can be moved quickly. The maximum value of this distance is the image radius minus the length of the first edge. If the length of the first edge is inclined, when there is an overlapping area, the moving distance is greater than the maximum moving distance. Therefore, when moving the maximum moving distance, there will definitely be no overlapping area or the area that has just overlapped.

[0086] Step 302: Control the mobile platform 2 to continue moving the maximum moving distance at a fast speed.

[0087] Step 303: If there is a first overlapping area after the mobile platform 2 moves the maximum moving distance, stop moving.

[0088] If there is a second overlapping area, it means that the vehicle is tilted at 45° and there is no need to move further.

[0089] Step 304: If the first overlapping area does not exist, control the mobile platform 2 to move at a preset slow speed until the first overlapping area exists.

[0090] The slow speed is a slow speed, at which the mobile platform 2 can immediately react and stop moving when the first overlapping area appears. If it does not exist, it means that the boundary has not been reached, but the first overlapping area may appear at any time, so the mobile platform 2 is controlled to move at the slow speed until the first overlapping area exists.

[0091] Reference Figure 8 , further comprising a method for checking the actual first deflection angle, the method comprising: Step 400: Control the mobile platform 2 to move horizontally and obtain a second verification detection image.

[0092] The second check detection image is the current detection image when the mobile platform 2 moves horizontally. The acquisition method is the same as the current detection image method, which will not be repeated here. Here, when the bottom of the three-dimensional mobile base 1 is uneven when moving in a horizontal manner, the horizontal movement is actually an inclined movement, and the intersection point is not a point on the horizontal arc surface.

[0093] Step 401: Analyze the second verification detection image based on the preset second cross mark feature and the second horizontal and vertical dividing line to determine the second horizontal line area and the second vertical line area.

[0094] The second cross mark feature is the feature of the cross mark in the imaging element mapped in the detection image. The horizontal and vertical dividing lines are virtual 45° dividing lines in the image, such as Fig. 9 Since the detection device body 4 will not deflect much, it can basically be determined by 45°.

[0095] The second horizontal line area is the area occupied by the horizontal lines in the cross mark in the horizontal direction. The second vertical line area is the area occupied by the vertical lines in the cross mark in the vertical direction. The analysis method is to compare the cross mark features with the image to obtain the area occupied by the cross mark, and then obtain the horizontal area and the vertical area according to the second horizontal and vertical dividing line, which are defined as the second horizontal line area and the second vertical line area respectively, and the center position is the image center.

[0096] Step 402: Analyze the second horizontal line area based on the second cross mark feature and the preset second horizontal dividing line to determine the horizontal line angle quadrant.

[0097] The horizontal line angle quadrant is the quadrant of the angle where the horizontal line is located. The first horizontal line direction is the horizontal horizontal direction. First, the image is divided into two quadrants according to the first horizontal line direction, and then the area where the first horizontal line area falls is determined, such as Fig. 9 As shown, only the direction that is the same as the moving direction is selected here, so the second horizontal line area falls into the first quadrant.

[0098] Step 403: Analyze the second verification detection image to obtain a second verification shadow area.

[0099] The second check shadow area is the shadow area in the second check detection image. The analysis process is similar to step 101 and will not be described in detail here.

[0100] Step 404: Determine a second overlapping area based on the second lateral area and the second check shadow area.

[0101] The second overlap area is the overlap area between the second horizontal line area and the second check shadow area. The determination method is to compare all coordinate points in the two areas. When the coordinate points are the same, the second overlap area exists.

[0102] Step 405: Obtain a second moving distance when a second overlapping area appears.

[0103] The second moving distance is the distance from the center of the lens to the coordinate point corresponding to the appearance of the second overlap area, which can be obtained by coordinate calculation.

[0104] Step 406: Calculate a second deflection angle based on the second moving distance, the lens radius, and a second edge length preset in the second cross mark feature.

[0105] The second sideline length is the length of the sideline in the second cross mark feature. Here, the default design assumes that the lengths of the horizontal and vertical lines are the same. The second deflection angle is the deflection angle of the second cross mark feature. The calculation formula is as follows: ,in, is the second deflection angle, is the second moving distance, is the lens radius, is the length of the second edge in the cross mark feature. After the calculation is completed, two angles will appear, such as Fig. 9 As shown, one is in the first quadrant and the other is in the fourth quadrant Step 407: Determine the actual second deflection angle based on the second deflection angle and the cross-line angle quadrant.

[0106] The actual first deflection angle is a first deflection angle determined according to the horizontal line angle quadrant, and can be determined by comparing it with the horizontal line angle quadrant.

[0107] Here, since both are relative to the directions of the three-dimensional movable base 1, the opposite quadrants are determined, that is, if the horizontal line angle quadrant is in the first quadrant, the actual second deflection angle is in the fourth quadrant.

[0108] Step 408: When the actual second deflection angle exists, searching for a corresponding second leveling operation solution from a preset operation database based on the actual second deflection angle.

[0109] The second leveling operation scheme is an operation scheme for eliminating the actual second deflection angle so as to eliminate the deflection caused by the three-dimensional mobile base 1. The database stores the mapping relationship between the actual second deflection angle and the second leveling operation scheme. The staff in this field obtains the second leveling operation scheme in reverse according to the different deflection angles corresponding to different operation schemes during actual operation. When the system receives the actual second deflection angle, it automatically finds the corresponding second leveling operation scheme from the database and outputs it.

[0110] Step 409: Control the horizontal fine-tuning component 3 to perform leveling according to the second leveling operation scheme to obtain and output the actual first deflection angle.

[0111] Here, after the horizontal fine-tuning component 3 is controlled to be leveled according to the second leveling operation scheme, the mobile platform 2 is already placed horizontally. Then, if the detection device body 4 is deflected, the output is performed according to the previous steps 200-209.

[0112] Step 410: Directly output the actual first deflection angle when the actual second deflection angle does not exist.

[0113] When the actual second deflection angle does not exist, it indicates that the three-dimensional mobile base 1 is already in a horizontal state.

[0114] Reference Fig.10 , the method of recording the edge coordinates and continuing to move when the center of the image falls into the shadow area includes: Step 500: forming edge tangents based on the shadow area and edge coordinates.

[0115] The edge tangent is the tangent line of the shadow area at the edge coordinates. Here, the system selects two points arbitrarily according to the boundary line of the shadow area to make a straight line, and then moves the two points infinitely close. Figure 4 In the figure, E is one of the edge coordinates, and B is the corresponding edge tangent.

[0116] Step 501: forming a movable orientation range based on the edge tangent line and the shadow area.

[0117] The movable orientation range is the range of orientations after moving to this edge coordinate. The purpose of forming here is to make the image center still inside the lens and not exceed the lens. The method of forming is to first form two range areas according to the edge tangent, and then select the range area without the shadow area as the movable orientation range.

[0118] Step 502: Select a direction in the movable direction range, define it as the moving direction, and continue moving along the moving direction.

[0119] Reference Fig.10 , the specific method of controlling the mobile platform 2 to move to obtain the edge coordinates and then selecting the moving direction to continue moving includes: Step 600: When the edge coordinates do not exist, control the mobile platform 2 to move along a preset first horizontal direction to obtain edge coordinates, and define the movable orientation range obtained for the first time as a first movable orientation range.

[0120] The first horizontal direction is the direction of horizontal movement. When the edge coordinate does not exist, it means that the first edge has not been reached for the first time, so you can move at will at this time, but for the convenience of calculation, you can move in the first horizontal direction. Figure 4 As shown, D1 is a path that intersects with the shadow area after moving in the first horizontal direction, and finally forms Fig.11 Image shown.

[0121] Step 601: Determine a vertical direction perpendicular to the first horizontal direction based on the first horizontal direction and the first movable orientation range.

[0122] The vertical direction is a direction perpendicular to the first horizontal direction and falls within the first movable orientation range. Fig.11As shown, when moving to point E, the moving direction obtained according to the first movable direction range is the downward direction of the B boundary line, so the vertical direction can only be the direction of D2.

[0123] Step 602: Control the mobile platform 2 to move in the vertical direction to obtain a second movable orientation range.

[0124] Step 603: Determine a second horizontal direction perpendicular to the vertical direction based on the vertical direction and the second movable orientation range.

[0125] The second horizontal direction is a direction perpendicular to the vertical direction, and is determined here to be a direction opposite to the first horizontal direction.

[0126] Step 604: Control the mobile platform 2 to move in the second horizontal direction to obtain the starting edge coordinates.

[0127] The purpose of the two perpendicular directions is to make the triangle formed by connecting the three coordinate points end to end form a right angle at the second edge coordinate, and then form a right triangle. In this way, the calculation process is relatively simple. You only need to calculate the distance between the first edge coordinate and the third edge coordinate. This distance is the diameter, and half of it is the radius. Then calculate the direction between the third edge coordinate and the first edge coordinate.

[0128] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A portable optometry head detection device, characterized in that: include: Three-dimensional mobile base (1); A mobile platform (2) is arranged on the three-dimensional mobile base (1); as well as The detection device body (4) is arranged on the mobile platform (2) to detect the optometry head.

2. A portable optometry head detection device according to claim 1, characterized in that: The three-dimensional mobile base (1) is provided with a slide rail (11), and the mobile platform (2) is slidably connected to the slide rail (11).

3. A portable optometry head detection device according to claim 2, characterized in that: A hexagonal plum bolt (21) is threadedly connected to the mobile platform (2), and one end of the screw rod of the hexagonal plum bolt (21) is tightly pressed against the slide rail (11).

4. A portable optometry head detection device according to claim 3, characterized in that: The invention also comprises a horizontal fine-tuning assembly (3), wherein the horizontal fine-tuning assembly (3) comprises a threaded rod (31) and a mounting platform (32), wherein the number of the threaded rods (31) is three, the detection device body (4) is fixed on the mounting platform (32), one end of the threaded rod (31) is rotatably connected to the mobile platform (2), and the other end of the threaded rod (31) is threadedly connected to the mounting platform (32).

5. A detection device control method, characterized in that: Applied to a portable optometry head detection device as claimed in any one of claim 4, comprising: Control the mobile platform (2) to move, and obtain the horizontal coordinates and vertical coordinates of the center of the current detection image and the preset image; Analyze the current detection image to obtain the shadow area; When the preset center of the image falls into the shadow area, the current horizontal coordinate and vertical coordinate are recorded, and the current horizontal coordinate and vertical coordinate are combined as edge coordinates, and the movement continues until the number of recorded edge coordinates is three; When the number of edge coordinates is three, the center coordinate is calculated based on the three edge coordinates, and the edge coordinate of the third record is defined as the starting edge coordinate; The center moving direction and the lens radius are calculated based on the center coordinates and the starting edge coordinates; The moving platform (2) is controlled to move according to the center moving direction and the lens radius, so as to achieve alignment of the detection device body (4).

6. A detection device control method according to claim 5, characterized in that: After controlling the mobile platform (2) to move according to the central moving vector, a method for checking the horizontal placement state of the detection device body (4) is also included, the method comprising: Controlling the mobile platform (2) to move in a preset semi-right angle direction, and acquiring a first verification detection image; Analyzing the first check detection image to obtain a first check shadow area; Analyzing the first verification detection image based on a preset first cross mark feature and horizontal and vertical dividing lines to determine a first horizontal line area and a first vertical line area; Determine a first overlap area based on the first horizontal line area, the first vertical line area and the first check shadow area; Continue to move when the first overlapping area does not exist; When there is a first overlapped area between one of the first horizontal line area or the first vertical line area and the first checked shadow area, a first moving distance and the overlapped first horizontal line area or the first vertical line area are acquired, and the first horizontal line area is defined as the overlapped horizontal line area, and the first vertical line area is defined as the overlapped vertical line area; Calculating a first deflection angle based on a first moving distance, a lens radius, and a preset edge length in a first cross mark feature; Determining an actual first deflection angle based on the first deflection angle and the coincident horizontal line area or the coincident vertical line area; Finding a corresponding first leveling operation scheme from a preset operation database based on the actual first deflection angle; The horizontal fine adjustment component (3) is controlled to perform leveling according to the first leveling operation scheme.

7. A detection device control method according to claim 6, characterized in that: The method of controlling the movement of the mobile platform (2) and obtaining a first verification detection image comprises: When the first check shadow area does not exist, the mobile platform (2) is controlled to move at a preset fast speed; When the first check shadow area appears, a maximum moving distance is calculated based on the first edge length and a preset image radius; Controlling the mobile platform (2) to continue moving at a fast speed and at a maximum moving distance; If the first overlapping area exists after the mobile platform (2) moves the maximum moving distance, the movement is stopped; If the first overlapping area does not exist, the mobile platform (2) is controlled to move at a preset slow speed until the first overlapping area exists.

8. A detection device control method according to claim 6, characterized in that: Also included is a method for checking the actual first deflection angle, the method comprising: Controlling the mobile platform (2) to move horizontally and acquiring a second verification detection image; Analyzing the second verification detection image based on a preset second cross mark feature and a second horizontal and vertical dividing line to determine a second horizontal line area and a second vertical line area; Analyzing the second horizontal line region based on the second cross mark feature and the preset second horizontal dividing line to determine the horizontal line angle quadrant; analyzing the second check detection image to obtain a second check shadow area; determining a second coincidence area based on the second lateral area and the second check shadow area; When the second overlapping area appears, obtaining a second moving distance; Calculating a second deflection angle based on a second moving distance, a lens radius, and a second edge length preset in a second cross mark feature; determining an actual second deflection angle based on the second deflection angle and the cross-line angle quadrant; When the actual second deflection angle exists, searching a corresponding second leveling operation scheme from a preset operation database based on the actual second deflection angle; Controlling the horizontal fine-tuning component (3) to perform leveling according to the second leveling operation scheme, and then obtaining and outputting an actual first deflection angle; When the actual second deflection angle does not exist, the actual first deflection angle is directly output.

9. A detection device control method according to claim 5, characterized in that: Also includes: Obtaining the moving distance and detection parameters of the slide rail (11); Calculating the offset distance based on the detection parameters and the moving distance of the slide rail (11); The mobile platform (2) is controlled to move according to the offset distance and the preset direction of the slide rail (11).

10. A detection device control method according to claim 6, characterized in that: The formula for calculating the first deflection angle based on the first moving distance and the first edge length in the first cross mark feature is as follows: ,in, is the first deflection angle, is the first moving distance, is the lens radius, is the length of the first edge in the first cross mark feature.

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