Calibration device and method of visual inspection equipment and visual inspection equipment

Abstract

The invention discloses a calibration device and method for visual inspection equipment and the visual inspection equipment, and relates to the technical field of test calibration. The calibration method of the visual inspection equipment comprises the following steps: acquiring a laser receiving signal, and judging whether the current mounting position of the visual inspection equipment is abnormal or not according to the laser receiving signal; and when the current installation position of the visual detection equipment is abnormal, the current installation position of the visual detection equipment is calibrated according to the initial image data and the current image data of the to-be-detected sample and / or the current installation position information of the visual detection equipment. By means of the method, automatic detection and calibration can be carried out on information such as the height and the angle of the installation position of the camera, so that normal use of the camera is ensured, and accidents caused by deviation of the height and the angle of the camera are avoided. And compared with the prior art, the detection precision and efficiency are high, manual participation in detection and calibration is not needed, and the implementation cost is low.

Description

Technical Field

[0001] The present application relates to the technical field of test calibration, and in particular to a calibration device and method for visual inspection equipment and visual inspection equipment. Background Art

[0002] Industrial vision cameras have the advantages of high resolution, high speed, and high stability, and are often used in automated production, automobile manufacturing, logistics warehousing and other fields. However, during use, the deviation of the camera's angle and / or height due to on-site equipment vibration or other non-human factors is difficult to detect at the first time, thus affecting the accuracy of camera detection and even causing production accidents. Therefore, it is necessary to perform real-time detection and calibration of the camera's angle, height and other parameters.

[0003] Existing detection and calibration methods mainly rely on manual assistance tools for deviation detection and calibration. However, this method requires manual operation, and its detection and calibration accuracy is not high, and the labor cost is high. Summary of the invention

[0004] Purpose of the invention: An embodiment of the present application provides a calibration method for visual inspection equipment, aiming to overcome the technical problems of low calibration accuracy and high cost caused by camera calibration through manual auxiliary tools in the prior art; another purpose of an embodiment of the present application is to provide a calibration device for visual inspection equipment; the third purpose of the present application is to provide a visual inspection equipment.

[0005] Technical solution: A calibration method for a visual inspection device according to an embodiment of the present application includes: acquiring the laser receiving signal, and judging whether the current installation position of the visual inspection device is abnormal according to the laser receiving signal;

[0006] When an abnormality occurs in the current installation position of the visual inspection device, the current installation position of the visual inspection device is calibrated according to the initial image data and current image data of the sample to be tested, and / or according to the current installation position information of the visual inspection device.

[0007] Correspondingly, a calibration device for a visual inspection device described in an embodiment of the present application comprises: a laser detection module, a position detection module and a control module; the laser detection module is arranged on the visual inspection device and connected to the control module, and is used to receive a signal emitted by a laser at a current installation position of the visual inspection device, which is recorded as a laser receiving signal; the visual inspection device is communicatively connected to the control module, and is used to detect initial image data and current image data of a sample to be tested; wherein both the initial image data and the current image data include the same preset marker; the position detection module is arranged on the visual inspection device and connected to the control module, and is used to detect the current installation position information of the visual inspection device;

[0008] The control module is used to: obtain the laser receiving signal, and determine whether the current installation position of the visual inspection device is abnormal according to the laser receiving signal;

[0009] When an abnormality occurs in the current installation position of the visual inspection device, the current installation position of the visual inspection device is calibrated according to the initial image data and current image data of the sample to be tested, and / or the current installation position information of the visual inspection device.

[0010] Correspondingly, a visual inspection device described in an embodiment of the present application includes a calibration device for the visual inspection device as described above.

[0011] Beneficial effect: Compared with the prior art, the calibration device and method of the visual inspection device and the visual inspection device of the embodiment of the present application, the calibration device at least includes: a laser detection module, a position detection module and a control module; the laser detection module is arranged on the visual inspection device and connected to the control module, and is used to receive the signal emitted by the laser at the current installation position of the visual inspection device, which is recorded as a laser receiving signal; the visual inspection device is communicatively connected to the control module, and is used to detect the initial image data and current image data of the sample to be tested; the initial image data and the current image data both include the same preset marker; the position detection module is arranged on the visual inspection device and is connected to the control module, and is used to detect the current installation position information of the visual inspection device; the calibration method includes: obtaining the laser receiving signal, and judging whether the current installation position of the visual inspection device is abnormal according to the laser receiving signal; and when the current installation position of the visual inspection device is abnormal, calibrating the current installation position of the visual inspection device according to the initial image data and current image data of the sample to be tested, and / or the current installation position information of the visual inspection device. This method can realize automatic detection and calibration of the camera's installation position, such as height, angle and other information, so as to ensure the normal use of the camera and avoid accidents caused by deviations in camera height and angle. Compared with the existing technology, it has high detection accuracy and efficiency, and does not require manual participation in detection and calibration, so the implementation cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 It is a schematic diagram of the circuit structure of a calibration device for a visual inspection device provided in an embodiment of the present application;

[0014] Figure 2 is a structural schematic diagram of a visual inspection device provided in an embodiment of the present application;

[0015] Figure 3 is a flow chart of a calibration method for a visual inspection device provided in an embodiment of the present application;

[0016] Figure 4 is a flow chart of another calibration method of a visual inspection device provided in an embodiment of the present application;

[0017] Figure 5 is a schematic diagram of image data grid division provided in an embodiment of the present application;

[0018] Figure 6 is a schematic diagram of the coordinate positions of the preset markers provided in the embodiments of the present application;

[0019] Figure 7 is a schematic diagram of the structure of each laser detection unit provided in the embodiments of the present application;

[0020] Figure 8 is a schematic diagram of a first laser detection provided in an embodiment of the present application;

[0021] Fig. 9 is a schematic diagram of a second laser detection provided in an embodiment of the present application;

[0022] Fig.10 is a third laser detection schematic diagram provided in an embodiment of the present application;

[0023] Fig.11 It is a schematic diagram of the overall process of a calibration method for a visual inspection device provided in an embodiment of the present application.

[0024] Reference numerals:

[0025] Visual inspection device-100; laser inspection module-200; position inspection module-300; control module-400; server-500; lifting rod-10; lifting drive module-20; first rotating table-30; supporting rod-40; second rotating table-50; camera body-60; auxiliary bracket-70; camera body protective cover-80; first laser inspection unit-210; second laser inspection unit-220; third laser inspection unit-230; first laser emitting unit-211; first laser baffle-212; first laser receiving plate-213; first through hole-2120; second laser emitting unit-221; second laser baffle-222; second laser receiving plate-223; second through hole 2220; third laser emitting unit-231; third laser baffle-232; third laser receiving plate-233; third through hole 2320. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0027] It should be understood that although the terms first, second, etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one component from another component. Therefore, the first component discussed below can be referred to as the second component without departing from the teachings of the concepts of the present application. As used herein, the term "and / or" includes any one of the associated listed items and all combinations of one or more.

[0028] Those skilled in the art will appreciate that the drawings are only schematic diagrams of example embodiments and may not be to scale. The modules or processes in the drawings are not necessarily required to implement the present application and therefore cannot be used to limit the scope of protection of the present application.

[0029] Figure 1 Schematic diagram of the circuit structure of a calibration device for visual inspection equipment provided in an embodiment of the present application. Figure 1 , the calibration device of the visual inspection device 100 includes: a laser detection module 200, a position detection module 300 and a control module 400. Wherein, the laser detection module 200 is arranged on the visual inspection device and connected to the control module 400, and is used to receive the signal emitted by the laser at the current installation position of the visual inspection device, which is recorded as a laser receiving signal. Wherein, the visual inspection device 100 is communicatively connected to the control module 400, and is used to detect the initial image data and current image data of the sample to be tested. Wherein, the initial image data and the current image data both include the same preset marker. Wherein, the position detection module 300 is arranged on the visual inspection device and connected to the control module 400, and is used to detect the current installation position information of the visual inspection device.

[0030] The visual inspection device 100 can be connected to the control module 400 through the server 500 for communication, and is used to detect the initial image data and the current image data of the sample to be tested and send them to the control module 400 through the server 500.

[0031] The preset marker may be an object with a mark. Specifically, when the visual inspection device initially collects image data of the sample to be tested, the preset marker may be fixed next to the sample to be tested (e.g., next to the sample to be photographed), and the position of the preset marker is always fixed and always exists in the initial image data and image data at any other time.

[0032] The control module 400 is used to receive the laser receiving signal, the initial image data and current image data of the sample to be tested, and the current installation position information of the visual inspection device. The control module 400 can be a controller such as a PLC.

[0033] Figure 2 is a schematic diagram of the structure of a visual inspection device provided in an embodiment of the present application. Figure 2The visual inspection device includes: a lifting rod 10, which is vertically arranged and has a first end and a second end; a lifting drive module 20, which is connected to the first end; a first rotating table 30, which is arranged at the second end and is rotatably connected to the lifting rod 10; a support rod 40, which has a third end and a fourth end, and the third end is fixedly connected to the first rotating table 30; a second rotating table 50, which is arranged at the fourth end and is rotatably connected to the fourth end; and a camera body 60, which is arranged on the second rotating table 50 and is fixedly connected to the second rotating table 50.

[0034] The visual inspection device may be an industrial camera, etc. The lifting rod 10 is arranged perpendicular to the ground.

[0035] The lifting drive module 20 is used to drive the lifting rod 10 to move up or down in the vertical direction, so as to drive the camera body to move up or down in the vertical direction, thereby adjusting the height of the camera body.

[0036] The first rotating platform 30 is used to rotate in the horizontal direction to drive the camera body 60 to rotate clockwise or counterclockwise in the horizontal direction, so as to adjust the angle of the camera body in the horizontal direction.

[0037] The second rotating platform 50 is used to rotate up and down along the pitch angle direction to drive the camera body 60 to rotate up and down along the pitch angle direction, so as to adjust the angle of the camera body in the pitch angle direction.

[0038] The first rotating table 30 and the second rotating table 50 are electric rotating tables, which can be driven to rotate by configuring motors. The specific configurations can be made according to actual conditions and are not specifically limited here.

[0039] Optionally, a first transmission mechanism is provided at the first end; the lifting drive module 20 includes a first motor 21, a first motor drive unit and a second transmission mechanism 22; wherein the first motor 21 is connected to the first motor drive unit, the output shaft of the first motor 21 is connected to the second transmission mechanism 22, and the second transmission mechanism 22 cooperates with the first transmission mechanism at the first end.

[0040] The second transmission mechanism includes a turbine rod, and a helical gear or a worm gear mounted on the turbine rod. Accordingly, the first transmission mechanism at the first end of the lifting rod can be a corresponding gear or a worm. The turbine rod is connected to the output shaft of the first motor. When the first motor drive unit drives the first motor to rotate, the first motor drives the turbine rod to rotate. When the turbine rod rotates, the movement of the helical gear or the worm gear will be transmitted to the gear or the worm on the lifting rod, so that the lifting rod can move up or down.

[0041] The first motor may be a servo motor, and correspondingly, the first motor driving unit may be a servo driver.

[0042] Optionally, the visual inspection device further comprises a displacement detection unit, and the displacement detection unit is built in the lifting rod.

[0043] Among them, the displacement detection unit is used to detect the actual height of the lifting rod, and thus can be used to detect whether the camera height deviates, and to feedback the camera height when adjusting the camera height to assist the adjustment, thereby improving the adjustment accuracy and efficiency.

[0044] The displacement detection unit may be a pull-rope type displacement sensor.

[0045] Optionally, the first rotating platform includes a first rotating body, a second motor, a second motor driving unit and a first angle detection unit are arranged in the first rotating body, and the second motor driving unit is connected to the second motor and the first angle detection unit respectively.

[0046] The first rotating body is fixedly connected to the support rod, the base of the first rotating body is parallel to the ground and perpendicular to the lifting rod. The center of the base of the first rotating body is coaxial with the center of the lifting rod, and the base of the first rotating body is arranged at the second end of the lifting rod, and can be rotatably connected to the second end of the lifting rod through a bearing, so that when the first rotating body rotates, the first rotating body can drive the support rod and the camera body to rotate horizontally around the lifting rod.

[0047] The second motor may be a servo motor, and correspondingly, the second motor driving unit may be a servo driver.

[0048] Among them, the first angle detection unit is used to provide real-time feedback on the horizontal angle of the camera body. It can be used to detect whether the horizontal angle of the camera deviates, and to provide feedback on the horizontal angle of the camera when adjusting the horizontal angle of the camera to assist in the adjustment, thereby improving the adjustment accuracy and efficiency.

[0049] The first angle detection unit may be an angle sensor.

[0050] Optionally, the second rotating platform includes a second rotating body, in which a third motor, a third motor driving unit and a second angle detection unit are arranged; the third motor driving unit is connected to the third motor and the second angle detection unit respectively.

[0051] The third motor may be a servo motor, and correspondingly, the third motor driving unit may be a servo driver.

[0052] Among them, the second rotating body is arranged at the fourth end of the support rod, and the camera body is arranged on the second rotating body, which is fixedly connected to the camera body and can be rotatably connected to the fourth end through a hinge mechanism, so that when the second rotating body rotates along the pitch angle direction, the second rotating body can drive the camera body to rotate along the pitch angle direction.

[0053] Among them, the second angle detection unit is used to provide real-time feedback on the pitch angle of the camera body. It can be used to detect whether the angle of the camera in the pitch angle direction deviates, and to provide feedback on the pitch angle of the camera when adjusting the pitch angle of the camera to assist in the adjustment, thereby improving the adjustment accuracy and efficiency.

[0054] Optionally, continue to Figure 2 The visual inspection device also includes an auxiliary bracket 70; a sleeve is arranged outside the support rod 40; one end of the auxiliary bracket 70 is fixed to the ground, and the other end is fixedly connected to the outer wall of the sleeve.

[0055] Among them, the auxiliary bracket 70 is used to fix the entire main equipment on the one hand, and on the other hand, its internal hollow design facilitates cable laying and acts as a bridge cable trough.

[0056] Optionally, continue to Figure 2 The visual inspection device also includes a camera body protective cover 80, and the second rotating platform 50 is welded to the camera body protective cover 80 or fastened with a threaded nut.

[0057] Usually, during the use of visual inspection equipment, deviations in the angle and / or height of the camera due to on-site equipment vibration or other non-human factors are difficult to detect in the first place, thus affecting the accuracy of camera detection and even causing production accidents. Therefore, it is necessary to perform real-time detection and calibration of the camera's angle, height and other parameters. Existing detection and calibration methods mainly rely on manual auxiliary tools for deviation detection and calibration. However, this method requires manual operation, and its detection and calibration accuracy is not high, and the labor cost is high.

[0058] To this end, the present application provides a calibration method for visual inspection equipment to realize deviation detection and calibration of the angle and / or height of the visual inspection equipment, thereby solving the technical problem in the prior art that camera calibration through manual auxiliary tools results in low calibration accuracy and high cost.

[0059] Figure 3 is a flow chart of a calibration method for a visual inspection device provided in an embodiment of the present application. The method is applied to a calibration device for a visual inspection device to implement deviation detection and calibration of the installation height and / or angle of the visual inspection device. Figure 3 , the method comprises the following steps:

[0060] Step 101: Acquire a laser receiving signal, and determine whether the current installation position of the visual inspection device is abnormal based on the laser receiving signal.

[0061] The laser receiving signal is a laser signal emitted by the laser detection module when the laser detection module is in the current installation position of the visual detection device.

[0062] Among them, when there is no abnormality in the current installation position of the visual inspection device, that is, when it is the same as the initial installation position, it means that the current installation position is reasonable, such as the current height, the angle in the horizontal direction, and the angle in the pitch angle direction. At this time, the laser detection module can receive the laser signal emitted by the current installation position of the visual inspection device. When there is an abnormality in the current installation position of the visual inspection device, that is, when it changes relative to the initial installation position, it means that the current installation position has deviated, such as the current height, the angle in the horizontal direction, and the angle in the pitch angle direction. At least one of the deviations occurs, and the laser detection module cannot receive the laser signal emitted by the current installation position of the visual inspection device.

[0063] The current installation position of the visual inspection device includes the installation height, the angle in the horizontal direction, and the angle in the pitch angle direction of the visual inspection device.

[0064] Step 102: When an abnormality occurs in the current installation position of the visual inspection device, the current installation position of the visual inspection device is calibrated according to the initial image data and current image data of the sample to be tested and / or according to the current installation position information of the visual inspection device.

[0065] The initial image data of the sample to be tested is the image data of the sample to be tested taken by the visual inspection device at the initial installation position. The initial installation position can be regarded as the installation position of the visual inspection device, such as the installation height, horizontal angle, and pitch angle are all within the normal range. In other words, the initial image data is the image data when there is no abnormality in the height, horizontal angle, and pitch angle of the visual inspection device.

[0066] Among them, the current installation position information of the visual detection equipment includes the installation height information of the visual detection equipment (such as height size and deviation, etc.), angle information in the horizontal direction (such as angle direction, angle size and angle deviation, etc.) and angle information in the pitch angle direction (such as angle direction, angle size and angle deviation, etc.).

[0067] Among them, the current installation position information of the visual detection device can be obtained by installing a corresponding detection unit or sensor on the visual detection device for detection. For example, the height of the visual detection device is detected by a displacement detection unit, the angle of the visual detection device in the horizontal direction is detected by a first angle detection unit, and the angle of the visual detection device in the pitch angle direction is detected by a second angle detection unit. The specific settings can be made according to actual conditions, and no specific limitation is made here. Among them, the detection unit or sensor is connected to the control module. Exemplarily, the signal line between the sensor and the control module (such as PLC) uses a shielded cable, and the network cable uses Category 6 to prevent signal interference.

[0068] In the technical solution of this embodiment, the working principle of the calibration method of the visual inspection device is as follows: Figure 3 , first, obtain the laser receiving signal, and judge whether the current installation position of the visual inspection device is abnormal according to the laser receiving signal. Then, when the current installation position of the visual inspection device is abnormal, the current installation position of the visual inspection device is calibrated according to the initial image data and current image data of the sample to be tested, and / or according to the current installation position information of the visual inspection device. It can be seen that the laser receiving signal can detect whether the current installation position of the visual inspection device is abnormal, such as whether the current height, the current angle in the horizontal direction, and the current angle in the pitch angle direction are deviated. When it is detected that the current installation position of the visual inspection device is abnormal, the current installation position of the visual inspection device can be calibrated according to the detection data of the visual inspection device, such as the initial image data and current image data of the sample to be tested detected by the visual inspection device, and / or according to the current installation position information of the visual inspection device, so that the current installation position of the visual inspection device can meet the normal working requirements of the visual inspection device, thereby avoiding the situation that the abnormality affects the normal production or even causes the production accident. And compared with the method of camera calibration by artificial auxiliary tools in the prior art, the present application can improve the accuracy of deviation detection and calibration, improve efficiency, and reduce costs.

[0069] Figure 4 FIG. 1 is a flow chart of another method for calibrating a visual inspection device provided in an embodiment of the present application. Figure 4 , the method comprises the following steps:

[0070] Step 201: Acquire a laser receiving signal.

[0071] The laser receiving signal is a first level signal or a second level signal.

[0072] Wherein, the first level signal and the second level signal are mutually opposite signals. Wherein, the first level signal can be a high level signal or a low level signal. Similarly, correspondingly, the second level signal can be a low level signal or a high level signal. Exemplarily, in the technical solution of the present application, the first level signal is a high level signal and the second level signal is a low level signal as an example for explanation (the same below, no further description).

[0073] Step 202: Determine whether the laser receiving signal is a first level signal. If yes, execute step 203. Otherwise, execute step 204.

[0074] Specifically, when the received signal is a first level signal, it means that the laser detection module has not received the laser signal emitted when it is at the current installation position of the visual detection device, and therefore it can be determined that the current installation position of the visual detection device is abnormal, and the abnormal situation is calibrated according to step 203. Otherwise, when the received signal is a second level signal, it means that the laser detection module can receive the laser signal emitted when it is at the current installation position of the visual detection device, and therefore it can be determined that the current installation position of the visual detection device is not abnormal.

[0075] Step 203: If an abnormality occurs in the current installation position of the visual inspection device, the current installation position of the visual inspection device is calibrated for the first time according to the current installation position information of the visual inspection device; and if the first calibration does not meet the preset calibration conditions, the current installation position of the visual inspection device is calibrated for the second time according to the initial image data and current image data of the sample to be tested.

[0076] The preset calibration condition is: whether the installation position after calibration meets the initial installation position or the required installation position. For example, whether the height after calibration meets the expected height, whether the horizontal angle after calibration meets the expected angle, and whether the pitch angle after calibration meets the expected angle.

[0077] Specifically, when an abnormality occurs in the current installation position of the visual inspection device, the current installation position of the visual inspection device is first calibrated according to the current installation position information of the visual inspection device. If the preset calibration conditions can be met after the first calibration, there is no need to perform a secondary calibration through the initial image data and current image data of the sample to be tested by visual inspection. When the first calibration does not meet the preset calibration conditions, the current installation position of the visual inspection device is calibrated for the second time according to the initial image data and current image data of the sample to be tested. This can reduce the complexity of the control process, reduce the load of the visual inspection equipment, and thus reduce the jamming of the visual inspection equipment and the server, extend the service life of the visual inspection equipment, reduce production costs, and improve production efficiency.

[0078] It should be noted that when an abnormality occurs in the current installation position of the visual inspection device, the abnormality can be calibrated using any of the current installation position information of the visual inspection device and the initial image data and / or current image data of the sample to be tested.

[0079] Preferably, in the technical solution of this embodiment, when an abnormality occurs in the current installation position of the visual inspection device, the current installation position of the visual inspection device is first calibrated according to the current installation position information of the visual inspection device; and when the first calibration does not meet the preset calibration conditions, the current installation position of the visual inspection device is calibrated for the second time according to the initial image data and current image data of the sample to be tested. In this way, the load of the visual inspection device can be reduced, thereby reducing the jamming of the visual inspection device and the server, extending the service life of the visual inspection device, reducing production costs, and improving production efficiency.

[0080] As a specific implementation method, optionally, the implementation process of performing a first calibration on the current installation position of the visual inspection device based on the current installation position information of the visual inspection device can be: when an abnormality occurs in the current installation position of the visual inspection device, performing a first calibration on the current installation position of the visual inspection device based on the deviation between the current installation position information of the visual inspection device and the initial installation position information.

[0081] Among them, the initial installation position information of the visual inspection device can be obtained through detection by the position detection module.

[0082] Among them, the initial installation position information of the visual inspection equipment includes the initial installation height information of the visual inspection equipment (such as height size and deviation, etc.), the initial installation angle information in the horizontal direction (such as angle direction, angle size and angle deviation, etc.) and the initial installation angle information in the pitch angle direction (such as angle direction, angle size and angle deviation, etc.).

[0083] Specifically, when the current installation position of the visual inspection equipment is abnormal, such as the height of the camera body deviates. At this time, the installation height deviation of the camera body can be obtained through the current installation height and the initial installation height of the camera body, and the height of the camera body is calibrated for the first time according to the installation high end deviation. Similarly, the calibration of the angle of the camera body in the horizontal direction and the calibration of the angle in the pitch angle direction are the same as the calibration principle of the height, and will not be repeated one by one.

[0084] As a specific implementation, optionally, the implementation process of performing a second calibration on the current installation position of the visual inspection device based on the initial image data and current image data of the sample to be tested is: when the first calibration does not meet the preset calibration conditions, the current installation position of the visual inspection device is calibrated for the second time based on the coordinate changes of each corresponding preset node in the initial image data and the current image data.

[0085] The initial image data and the current image data both contain the same preset marker, and the preset marker is provided with a plurality of preset nodes.

[0086] The coordinate change of the preset node includes the coordinate position change of the preset node in the initial image data and the current image data, such as the horizontal coordinate change and the vertical coordinate change.

[0087] Among them, when the corresponding coordinates of each preset node in the initial data image and the current image data of the sample to be tested detected by the visual inspection device do not change, it means that the current installation position of the visual inspection device is reasonable, that is, the installation position of the camera body has no deviation or no deviation after calibration.

[0088] Among them, after detecting the initial image data and the current image data, the visual inspection device will pre-process the initial image data and the current image data.

[0089] Figure 5 is a schematic diagram of image data grid division provided in an embodiment of the present application, Figure 6 Schematic diagram of the coordinate position of the preset marker provided in the embodiment of the present application. Specifically, the preprocessing process is: the visual recognition system of the visual detection device is used to segment the photographed photo or image into Figure 5 As shown in the figure, there are several grids (the higher the camera resolution, the more grids can be divided. Assume 23*45 grids). If the actual area is 230*450mm, then one grid corresponds to a time range of 10mm, and 10mm is the adjustment accuracy. After capturing the preset marker, establish Figure 6 The coordinate axes X and Y shown are used to confirm the position of the preset marker M and its coordinate axes, such as (X1, Y1), by using the visual recognition system of the visual detection equipment (the specific recognition method can be achieved through the existing visual coordinate recognition method, which will not be repeated here).

[0090] The current installation position information of the visual inspection device includes at least: installation height, first installation angle and second installation angle. The installation height is the height of the camera body, the first installation angle is the angle of the camera body in the horizontal direction, and the second installation angle is the angle of the camera body in the pitch angle direction.

[0091] The preset nodes of the preset marker may be arranged around the edge and / or the center of the preset marker.

[0092] For example, see Figure 6, the multiple preset nodes of the preset marker M are respectively the first edge node B1, the second edge node B2, the third edge node B3, the fourth edge node B4 and the central node B0. Wherein, the coordinates of the first edge node B1, the second edge node B2, the third edge node B3, the fourth edge node B4 and the central node B0 are respectively: B1 (Xa, Ya), B2 (Xb, Yb), B3 (Xc, Yc), B4 (Xd, Yd), B0 (X1, Y1).

[0093] Furthermore, the specific implementation method of performing a second calibration on the current installation position of the visual inspection device according to the coordinate changes of each corresponding preset node in the initial image data and the current image data may include: performing a second calibration on the current installation height of the visual inspection device according to the coordinate changes of any node in the initial image data and the current image data. Performing a second calibration on the current first installation angle of the visual inspection device according to the coordinate changes of the second edge node, the fourth edge node and the central node in the initial image data and the current image data. Performing a second calibration on the current second installation angle of the visual inspection device according to the coordinate changes of the first edge node, the third edge node and the central node in the initial image data and the current image data.

[0094] As the vertical height, horizontal angle (left and right deflection angle) and pitch angle (up and down deflection angle) of the camera body change, the position of the preset marker in the initial image data and the current image data will also change.

[0095] Specifically, when the current installation height of the visual inspection equipment is abnormal, that is, when the height of the camera body deviates, the coordinates of all preset nodes will change as a whole. For example, when the current height of the camera body is higher than the initial installation height, the vertical coordinates of all preset nodes in the current image data will become larger relative to the initial image data. On the contrary, they will become smaller. Therefore, when the height of the camera body deviates, the height of the camera body can be calibrated according to the coordinate changes of any node in the initial image data and the current image data.

[0096] When the current first installation angle of the visual inspection device is abnormal, that is, the angle of the camera body in the horizontal direction deviates, the sample will change in width, that is, the horizontal coordinates of the second edge node, the fourth edge node and the center node will change. For example, when the angle of the camera body in the horizontal direction changes, the horizontal coordinate difference between the second edge node and the center node in the initial image data and the current image data will change, and the horizontal coordinate difference between the fourth edge node and the center node in the initial image data and the current image data will change. Therefore, when the angle of the camera body in the horizontal direction deviates, the horizontal angle of the camera body can be calibrated according to the changes in the horizontal coordinates of the second edge node, the fourth edge node and the center node.

[0097] When the current second installation angle of the visual inspection device is abnormal, that is, the angle of the camera body in the pitch angle direction deviates, the sample will be stretched or shortened, that is, the longitudinal coordinates of the first edge node, the third edge node and the center node will change. For example, when the angle of the camera body in the pitch angle direction changes, the longitudinal coordinate difference between the first edge node and the center node in the initial image data and the current image data will change, and the longitudinal coordinate difference between the third edge node and the center node in the initial image data and the current image data will change. Therefore, when the angle of the camera body in the horizontal direction deviates, the angle of the camera body in the pitch angle direction can be calibrated according to the change of the longitudinal coordinates of the first edge node, the third edge node and the center node.

[0098] Further, each preset node includes a horizontal coordinate and a vertical coordinate. The current installation position of the visual inspection device is calibrated for the second time according to the coordinate changes of each preset node corresponding to the initial image data and the current image data, and also includes: the current installation height of the visual inspection device is calibrated for the second time according to the difference between the vertical coordinate value of any node in the initial image data and the current image data; the current first installation angle of the visual inspection device is calibrated for the second time according to the difference between the horizontal coordinate difference of the second edge node and the central node in the initial image data and the current image data, and / or the difference between the horizontal coordinate difference of the fourth edge node and the central node in the initial image data and the current image data; the current second installation angle of the visual inspection device is calibrated for the second time according to the difference between the vertical coordinate difference of the first edge node and the central node in the initial image data and the current image data, and / or the difference between the vertical coordinate difference of the third edge node and the central node in the initial image data and the current image data.

[0099] Specifically, when the height of the camera body deviates, the overall coordinates of all nodes change, so the height of the camera body can be calibrated according to the difference between the vertical coordinate of any node in the initial image data and the current image data. Therefore, when the height of the camera body deviates, the height of the camera body can be calibrated according to the difference between the vertical coordinate of any node in the initial image data and the current image data.

[0100] When the angle of the camera body in the horizontal direction deviates, the difference between the horizontal coordinates of the second edge node and the center node in the initial image data and the current image data, and the difference between the horizontal coordinates of the fourth edge node and the center node in the initial image data and the current image data will change. For example, when the angle of the camera body in the horizontal direction is too large, the difference between the horizontal coordinates of the second edge node and the center node in the initial image data and the current image data, and the difference between the horizontal coordinates of the fourth edge node and the center node in the initial image data and the current image data will increase. On the contrary, it will decrease. Therefore, when the angle of the camera body in the pitch angle direction deviates, the angle of the camera body in the horizontal direction can be calibrated according to the difference between the horizontal coordinate difference of the second edge node and the center node in the initial image data and the current image data, and / or the difference between the horizontal coordinate difference of the fourth edge node and the center node in the initial image data and the current image data.

[0101] When the angle of the camera body in the pitch angle direction deviates, the difference between the longitudinal coordinates of the first edge node and the center node in the initial image data and the current image data, and the difference between the longitudinal coordinates of the third edge node and the center node in the initial image data and the current image data will change. For example, when the angle deviation of the camera body in the pitch angle direction is greater, the difference between the longitudinal coordinates of the first edge node and the center node in the initial image data and the current image data, and the difference between the longitudinal coordinates of the third edge node and the center node in the initial image data and the current image data will become larger. On the contrary, it will become smaller. Therefore, when the angle of the camera body in the pitch angle direction deviates, according to the difference between the longitudinal coordinate difference of the first edge node and the center node in the initial image data and the current image data, and / or the difference between the longitudinal coordinate difference of the third edge node and the center node in the initial image data and the current image data, the angle of the camera body in the pitch angle direction can be calibrated.

[0102] It should be noted that, in the technical solution of the present embodiment, the method for verifying and detecting the results after the first calibration and the second calibration can be: by judging the laser receiving signal (that is, detecting the height of the camera body, the angle of the camera body in the horizontal direction, and the angle in the pitch angle direction through the laser detection module to see whether they are calibrated well), and / or judging according to the current installation position information of the visual detection equipment (that is, detecting the height of the camera body, the angle of the camera body in the horizontal direction, and the angle in the pitch angle direction through the sensor to see whether they are calibrated well). The specific settings can be made according to the actual situation and are not specifically limited here.

[0103] Step 204: The laser receiving signal is a second level signal, and the current installation position of the visual inspection device is normal.

[0104] It should be noted that in the technical solution of the present application, the method for judging whether the current installation position of the visual inspection device is abnormal, that is, whether the height of the camera body, the angle in the horizontal direction, and the angle in the pitch angle direction are deviated can also be: judging the abnormality based on the initial image data and current image data of the sample to be tested, and / or, based on the current installation position information of the visual inspection device. The specific setting can be made according to the actual situation, and no specific limitation is made here.

[0105] On the basis of the above embodiments, optionally, the laser detection module includes: a first laser detection unit, a second laser detection unit and a third laser detection unit; the first laser detection unit, the second laser detection unit and the third laser detection unit are all connected to the control module. Among them, the first laser detection unit is used to receive the signal emitted by the laser at the current installation height of the visual detection device, which is recorded as the first received signal; the second laser detection unit is used to receive the signal emitted by the laser at the current first installation angle of the visual detection device, which is recorded as the second received signal; the third laser detection unit is used to receive the signal emitted by the laser at the current second installation angle of the visual detection device, which is recorded as the third received signal.

[0106] Judging whether the current installation position of the visual inspection device is abnormal based on the laser receiving signal also includes: obtaining a first receiving signal, a second receiving signal and a third receiving signal, and judging whether the current installation height of the visual inspection device is abnormal based on the first receiving signal; judging whether the current first installation angle of the visual inspection device is abnormal based on the second receiving signal, and judging whether the current second installation angle of the visual inspection device is abnormal based on the third receiving signal.

[0107] Among them, the laser detection module 200 is set on the visual detection equipment, and the laser detection module includes: a first laser detection unit, a second laser detection unit and a third laser detection unit; the first laser detection unit, the second laser detection unit and the third laser detection unit are all connected to the control module.

[0108] See also Figure 2 , the lifting rod 10 also has a first preset position 110; the first rotating platform 30 has a second preset position 310; and the camera body 60 has a third preset position 610. The first laser detection unit 210 is fixedly arranged at the first preset position 110 of the lifting rod 10; the second laser detection unit 220 is fixedly arranged at the second preset position 310 of the first rotating platform 30; and the third laser detection unit 230 is fixedly arranged at the third preset position 610 of the camera body 60.

[0109] The first preset position can be a position at any height on the lifting rod, and the specific height can be set according to actual conditions, and no specific limitation is made here. Similarly, the second preset position and the third preset position are also set in the same way.

[0110] The first laser detection unit 210 is installed at the first preset position 110 of the lifting rod 10, and when initially installed, the laser signal emitted by the first laser detection unit 210 is parallel to the ground, and the first laser detection unit 210 can receive the laser signal emitted by it. However, when the height of the camera body changes, the laser signal emitted by the first laser detection unit 210 is no longer parallel to the ground. At this time, the first laser detection unit 210 cannot receive the laser signal emitted by it, thereby detecting whether the height of the camera body deviates. Therefore, compared with the existing method of detecting whether the camera height deviates by relying on manual experience, the solution of the present application can more accurately measure whether the height of the camera body has changed, thereby providing more accurate information and improving the accuracy of camera height calibration.

[0111] The second laser detection unit 220 is installed at the second preset position 310 of the first rotating table 30, and when initially installed, the laser signal emitted by the second laser detection unit 220 is parallel to the ground, and the second laser detection unit 220 can receive the laser signal emitted by it. However, when the angle of the camera body in the horizontal direction changes, the laser signal emitted by the second laser detection unit 220 is no longer parallel to the ground. At this time, the second laser detection unit 220 cannot receive the laser signal emitted by it, thereby detecting whether the angle of the camera body in the horizontal direction deviates. Therefore, compared with the existing method of detecting whether the angle of the camera in the horizontal direction deviates by relying on manual experience, the solution of the present application can more accurately measure whether the angle of the camera body in the horizontal direction has changed, thereby providing more accurate information and improving the accuracy of the camera's horizontal angle calibration.

[0112] Among them, the third laser detection unit 230 is installed at the third preset position 610 of the camera body 60, and when initially installed, the laser signal emitted by the third laser detection unit 230 is parallel to the ground, and the third laser detection unit 230 can receive the laser signal emitted by it. However, when the angle of the camera body in the pitch angle direction changes, the laser signal emitted by the third laser detection unit 230 is no longer parallel to the ground. At this time, the third laser detection unit 230 cannot receive the laser signal emitted by it, thereby detecting whether the angle of the camera body in the pitch angle direction deviates. Therefore, compared with the existing method of relying on manual experience to detect whether the angle of the camera in the pitch angle direction deviates, the solution of the present application can more accurately measure whether the angle of the camera body in the pitch angle direction has changed, thereby providing more accurate information and improving the accuracy of the angle calibration of the camera in the pitch angle direction.

[0113] Figure 7 is a schematic diagram of the structure of each laser detection unit provided in the embodiment of the present application. Figure 7 The first laser detection unit 210 includes a first laser emitting unit 211, a first laser baffle 212 and a first laser receiving plate 213; the first laser emitting unit 211 is fixedly arranged at the first preset position 110; the first laser baffle 212 is provided with a first through hole 2120, and the first laser emitting unit 211, the first through hole 2120 and the first laser receiving plate 213 are located on the same horizontal line when initially installed.

[0114] The first laser receiving plate 213 may be a photoelectric sensor. The first laser baffle 212 may be provided with a plurality of first through holes 2120, which are of the same size and shape and are coaxially arranged. The specific number of the through holes may be set according to actual conditions and is not specifically limited here.

[0115] Figure 8 is a schematic diagram of the first laser detection provided in the embodiment of the present application. Among them, judging whether the current installation height of the visual detection device is abnormal according to the first received signal, the specific implementation process is: refer to Figure 8When the height of the camera body does not change, the first laser emitting unit 211, the first through hole 2120 and the first laser receiving plate 213 are on the same horizontal line. At this time, the laser emitted by the first laser emitting unit 211 can be emitted to the first laser receiving plate 213 through the first through hole 2120, so the first laser receiving plate 213 can receive the laser signal, that is, at this time, the first receiving signal is a second level signal. When the height of the camera body changes, the first laser emitting unit 211, the first through hole 2120 and the first laser receiving plate 213 are not on the same horizontal line. At this time, the laser emitted by the first laser emitting unit 211 can no longer be emitted to the first laser receiving plate 213 through the first through hole 2120, so the first laser receiving plate 213 cannot receive the laser signal, that is, at this time, the first receiving signal is a first level signal. In this way, it is possible to detect whether the height of the camera body is deviated.

[0116] The second laser detection unit 220 includes a second laser emitting unit 221, a second laser baffle 222 and a second laser receiving plate 223; the second laser emitting unit 221 is fixedly arranged at a second preset position; the second laser baffle 222 is provided with a second through hole 2220, and the second laser emitting unit 221, the second through hole 2220 and the second laser receiving plate 223 are located on the same horizontal line when initially installed.

[0117] The second laser receiving plate 223 may be a photoelectric sensor. The second laser baffle 222 may be provided with a plurality of second through holes 2220, which are of the same size and shape and are coaxially arranged. The specific number of the second through holes may be set according to actual conditions and is not specifically limited here.

[0118] Fig. 9 is a schematic diagram of the second laser detection provided in the embodiment of the present application. Among them, judging whether the current first installation angle of the visual detection device is abnormal according to the second received signal, the specific implementation process is: refer to Fig. 9 When the angle of the camera body in the horizontal direction does not change, the second laser emitting unit 221, the second through hole 2220 and the second laser receiving plate 223 are on the same horizontal line. At this time, the laser emitted by the second laser emitting unit 221 can be emitted to the second laser receiving plate 223 through the second through hole 2220, so the second laser receiving plate 223 can receive the laser signal, that is, the second receiving signal is a second level signal. When the angle of the camera body in the horizontal direction changes, the second laser emitting unit 221, the second through hole 2220 and the second laser receiving plate 223 are not on the same horizontal line, for example Figure 5At the angle A1 in the image, the laser emitted by the second laser emitting unit 221 can no longer pass through the second through hole 2220 to the second laser receiving plate 223, so the second laser receiving plate 223 cannot receive the laser signal, that is, the second receiving signal is a first level signal. In this way, it is possible to detect whether the angle of the camera body in the horizontal direction is deviated.

[0119] The third laser detection unit 230 includes a third laser emitting unit 231, a third laser baffle 232 and a third laser receiving plate 233; the third laser emitting unit 231 is fixedly arranged at a third preset position; the third laser baffle 232 is provided with a third through hole 2320, and the third laser emitting unit 231, the third through hole 2320 and the third laser receiving plate 233 are located on the same horizontal line when initially installed.

[0120] The third laser receiving plate 233 may be a photoelectric sensor. The third laser baffle 232 may be provided with a plurality of third through holes 2320, which are of the same size and shape and are coaxially arranged. The specific number of the third through holes may be set according to actual conditions and is not specifically limited here.

[0121] Fig.10 is a schematic diagram of the third laser detection provided in the embodiment of the present application. Among them, judging whether the current second installation angle of the visual detection device is abnormal according to the third received signal, the specific implementation process is: refer to Fig.10 When the angle of the camera body in the pitch direction does not change, the third laser emitting unit 231, the third through hole 2320 and the third laser receiving plate 233 are on the same horizontal line. At this time, the laser emitted by the third laser emitting unit 231 can be emitted to the third laser receiving plate 233 through the third through hole 2320, so the third laser receiving plate 233 can receive the laser signal, that is, at this time, the third receiving signal is a second level signal. When the angle of the camera body in the pitch direction changes, the third laser emitting unit 231, the third through hole 2320 and the third laser receiving plate 233 are not on the same horizontal line, for example Figure 6 At the angle A2 in the figure, the laser emitted by the third laser emitting unit 231 can no longer pass through the third through hole 2320 to be emitted to the third laser receiving plate 233, so the third laser receiving plate 233 cannot receive the laser signal, that is, the third receiving signal is a first level signal at this time. In this way, it is possible to detect whether the angle of the camera body in the pitch angle direction is deviated.

[0122] Fig.11 is a schematic diagram of the overall flow of a calibration method for a visual inspection device provided in an embodiment of the present application. Fig.11, the overall process of the calibration method of the visual inspection equipment includes: first, the visual sample is initialized and recorded, such as the initial image data. The X-coordinate position and Y-coordinate position of the five preset nodes of the preset marker of the sample are recorded, and the XY coordinate deviation value of each preset node under the initial installation position is obtained. At the same time, the sensor is initialized and recorded. The height, horizontal rotation angle (i.e., the rotation angle of the camera in the horizontal direction) and vertical rotation angle (i.e., the rotation angle of the camera in the pitch angle direction) of the camera body are respectively initially set, for example, set to Hsp, Bsp and Asp respectively. During the normal visual inspection process of the camera on the sample to be tested (i.e., production mode), the sensor monitors the current installation information of the camera body in real time, such as the current height value of the camera body, the current value of the horizontal rotation angle and the current value of the vertical rotation angle. And the current height value of the camera body, the current value of the horizontal rotation angle and the current value of the vertical rotation angle are compared with the corresponding initial setting values ​​respectively. And the height, horizontal rotation angle and vertical rotation angle of the camera body are detected in real time by the laser monitoring module to see if there is any abnormality. When any one of the height, horizontal rotation angle, and vertical rotation angle of the camera body deviates, first, it is adjusted according to the detection deviation results of each sensor, that is, the first calibration. If the preset calibration conditions are not met after the first calibration, the visual inspection device is switched to the self-test mode, and the deviations of the height, horizontal rotation angle, and vertical rotation angle of the camera body are specifically judged and calibrated for the second time according to the calibration method provided in this application based on the initial image data and current image data of the visual inspection device. If there is still an abnormality after the second calibration, it means that the equipment is faulty and needs manual adjustment.

[0123] It should be noted that in the technical solution of the embodiment of the present application, when two or more of the height, horizontal rotation angle and vertical rotation angle of the camera body deviate and need to be calibrated, a one-to-one calibration method is used during the calibration process. That is, any one of them is calibrated first, and after the calibration is qualified, the other quantities are calibrated in turn, thereby ensuring the accuracy of the calibration.

[0124] Correspondingly, the embodiment of the present application also provides a calibration device for a visual inspection device. The calibration device for the visual inspection device includes: a laser detection module, a position detection module and a control module; the laser detection module is arranged on the visual inspection device and connected to the control module, and is used to receive the signal emitted by the laser at the current installation position of the visual inspection device, which is recorded as a laser receiving signal; the visual inspection device is communicatively connected to the control module, and is used to detect the initial image data and current image data of the sample to be tested; wherein the initial image data and the current image data both include the same preset marker; the position detection module is arranged on the visual inspection device and connected to the control module, and is used to detect the current installation position information of the visual inspection device; the control module is used to: obtain the laser receiving signal, and determine whether the current installation position of the visual inspection device is abnormal according to the laser receiving signal; and when the current installation position of the visual inspection device is abnormal, the current installation position of the visual inspection device is calibrated according to the initial image data and current image data of the sample to be tested, and / or the current installation position information of the visual inspection device.

[0125] In the technical solution of this embodiment, the calibration device of the visual detection equipment includes: a laser detection module, a position detection module and a control module; the laser detection module is arranged on the visual detection equipment and connected to the control module, and is used to receive the signal emitted by the laser at the current installation position of the visual detection equipment, which is recorded as a laser receiving signal; the visual detection equipment is connected to the control module for communication, and is used to detect the initial image data and current image data of the sample to be tested; wherein the initial image data and the current image data both include the same preset marker; the position detection module is arranged on the visual detection equipment and connected to the control module, and is used to detect the current installation position information of the visual detection equipment; the control module is used to: obtain the laser receiving signal, and determine whether the current installation position of the visual detection equipment is abnormal according to the laser receiving signal; and when the current installation position of the visual detection equipment is abnormal, the current installation position of the visual detection equipment is calibrated according to the initial image data and current image data of the sample to be tested, and / or the current installation position information of the visual detection equipment. Through this device, the installation position of the camera, such as height, angle and other information, can be automatically detected and calibrated, thereby ensuring the normal use of the camera and avoiding the occurrence of accidents caused by deviations in the camera height and angle. Compared with the existing technology, it has high detection accuracy and efficiency, does not require human participation in detection and calibration, and has low implementation cost.

[0126] In some embodiments, the laser receiving signal is a first level signal or a second level signal. The control module is also used to: when the laser receiving signal is a first level signal, determine that the current installation position of the visual inspection device is abnormal; when the laser receiving signal is the second level signal, determine that the current installation position of the visual inspection device is normal.

[0127] In some embodiments, the control module is also used to: when an abnormality occurs in the current installation position of the visual inspection device, first perform a first calibration on the current installation position of the visual inspection device based on the current installation position information of the visual inspection device; and when the first calibration does not meet the preset calibration conditions, perform a second calibration on the current installation position of the visual inspection device based on the initial image data and current image data of the sample to be tested.

[0128] In some embodiments, the position detection module is further used to obtain the initial installation position information of the visual inspection device. The control module is further used to: when an abnormality occurs in the current installation position of the visual inspection device, perform a first calibration on the current installation position of the visual inspection device according to the deviation between the current installation position information of the visual inspection device and the initial installation position information.

[0129] In some embodiments, the preset marker has a plurality of preset nodes. The control module is further used to: when the first calibration does not meet the preset calibration conditions, perform a second calibration on the current installation position of the visual inspection device according to the coordinate changes of the corresponding preset nodes in the initial image data and the current image data.

[0130] In some embodiments, the current installation position information includes at least: installation height, first installation angle and second installation angle; multiple preset nodes are respectively a first edge node, a second edge node, a third edge node, a fourth edge node and a central node. The control module is also used to: perform a second calibration on the current installation height of the visual inspection device according to the coordinate changes of any node in the initial image data and the current image data; perform a second calibration on the current first installation angle of the visual inspection device according to the coordinate changes of the second edge node, the fourth edge node and the central node in the initial image data and the current image data; perform a second calibration on the current second installation angle of the visual inspection device according to the coordinate changes of the first edge node, the third edge node and the central node in the initial image data and the current image data.

[0131] In some embodiments, each preset node includes a horizontal coordinate and a vertical coordinate. The control module is also used to: perform a second calibration on the current installation height of the visual inspection device according to the difference between the vertical coordinate value of any node in the initial image data and the current image data; perform a second calibration on the current first installation angle of the visual inspection device according to the difference between the horizontal coordinate difference of the second edge node and the central node in the initial image data and the current image data, and / or the difference between the horizontal coordinate difference of the fourth edge node and the central node in the initial image data and the current image data; perform a second calibration on the current second installation angle of the visual inspection device according to the difference between the vertical coordinate difference of the first edge node and the central node in the initial image data and the current image data, and / or the difference between the vertical coordinate difference of the third edge node and the central node in the initial image data and the current image data.

[0132] In some embodiments, the laser detection module includes: a first laser detection unit, a second laser detection unit and a third laser detection unit; the first laser detection unit, the second laser detection unit and the third laser detection unit are all connected to the control module. Among them, the first laser detection unit is used to receive the signal emitted by the laser at the current installation height of the visual detection device, which is recorded as the first received signal; the second laser detection unit is used to receive the signal emitted by the laser at the current first installation angle of the visual detection device, which is recorded as the second received signal; the third laser detection unit is used to receive the signal emitted by the laser at the current second installation angle of the visual detection device, which is recorded as the third received signal. The control module is also used to: obtain the first received signal, the second received signal and the third received signal, and judge whether the current installation height of the visual detection device is abnormal according to the first received signal; judge whether the current first installation angle of the visual detection device is abnormal according to the second received signal, and judge whether the current second installation angle of the visual detection device is abnormal according to the third received signal.

[0133] Correspondingly, an embodiment of the present application further provides a visual inspection device, which includes a calibration device for the visual inspection device described in any embodiment of the present application.

[0134] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0135] The calibration device and method for the visual inspection equipment and the visual inspection equipment provided in the embodiments of the present application are introduced in detail above, and the principles and implementation methods of the present application are explained by using specific examples. The description of the above embodiments is only used to help understand the technical solution and core idea of ​​the present application; ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the present application.

Claims

1. A calibration method for visual inspection equipment, characterized in that: A calibration device for visual inspection equipment, the device comprising: a laser detection module, a position detection module and a control module; The laser detection module is arranged on the visual detection device and connected to the control module, and is used to receive a signal emitted by the laser at the current installation position of the visual detection device, which is recorded as a laser receiving signal; The visual inspection device is in communication connection with the control module, and is used to detect the initial image data and the current image data of the sample to be tested; wherein the initial image data and the current image data both include the same preset marker; The position detection module is arranged on the visual detection device and connected to the control module, and is used to detect the current installation position information of the visual detection device; The method comprises: acquiring the laser receiving signal, and judging whether the current installation position of the visual inspection device is abnormal according to the laser receiving signal; When an abnormality occurs in the current installation position of the visual inspection device, the current installation position of the visual inspection device is calibrated according to the initial image data and current image data of the sample to be tested, and / or according to the current installation position information of the visual inspection device.

2. The calibration method of the visual inspection equipment according to claim 1, characterized in that: The laser receiving signal is a first level signal or a second level signal; The determining whether the current installation position of the visual inspection device is abnormal according to the laser receiving signal comprises: when the laser receiving signal is the first level signal, determining that the current installation position of the visual inspection device is abnormal; When the laser receiving signal is the second level signal, it is determined that the current installation position of the visual inspection device is normal.

3. The calibration method of the visual inspection equipment according to claim 1, characterized in that: The method of calibrating the current installation position of the visual inspection device when an abnormality occurs in the current installation position of the visual inspection device comprises: firstly calibrating the current installation position of the visual inspection device for the first time according to the current installation position information of the visual inspection device when an abnormality occurs in the current installation position of the visual inspection device; When the first calibration does not meet the preset calibration condition, a second calibration is performed on the current installation position of the visual inspection device according to the initial image data and the current image data of the sample to be tested.

4. The calibration method of the visual inspection equipment according to claim 3, characterized in that: The position detection module is also used to obtain the initial installation position information of the visual inspection device; The first calibration of the current installation position of the visual inspection device based on the current installation position information of the visual inspection device includes: when an abnormality occurs in the current installation position of the visual inspection device, the first calibration of the current installation position of the visual inspection device is performed based on the deviation between the current installation position information of the visual inspection device and the initial installation position information.

5. The calibration method of the visual inspection equipment according to claim 3, characterized in that: The preset marker has a plurality of preset nodes; The second calibration of the current installation position of the visual inspection device based on the initial image data and the current image data of the sample to be tested includes: when the first calibration does not meet the preset calibration conditions, the second calibration of the current installation position of the visual inspection device is performed according to the coordinate changes of each corresponding preset node in the initial image data and the current image data.

6. The calibration method of the visual inspection equipment according to claim 5, characterized in that: The current installation position information includes at least: installation height, first installation angle and second installation angle; The multiple preset nodes are respectively a first edge node, a second edge node, a third edge node, a fourth edge node and a central node; The second calibration of the current installation position of the visual inspection device according to the coordinate changes of each preset node corresponding to the initial image data and the current image data includes: Performing a second calibration on the current installation height of the visual inspection device according to a change in the coordinates of any node in the initial image data and the current image data; Performing secondary calibration on the current first installation angle of the visual inspection device according to the coordinate changes of the second edge node, the fourth edge node and the central node in the initial image data and the current image data; A secondary calibration is performed on the current second installation angle of the visual inspection device according to the coordinate changes of the first edge node, the third edge node and the central node in the initial image data and the current image data.

7. The calibration method of the visual inspection equipment according to claim 6, characterized in that: Each preset node includes a horizontal coordinate and a vertical coordinate; The second calibration of the current installation position of the visual inspection device according to the coordinate changes of each preset node corresponding to the initial image data and the current image data also includes: Performing a second calibration on the current installation height of the visual inspection device according to the difference between the ordinate value of any node in the initial image data and the current image data; Performing secondary calibration on the current first installation angle of the visual inspection device according to the difference between the horizontal coordinate difference between the second edge node and the central node in the initial image data and the current image data, and / or the difference between the horizontal coordinate difference between the fourth edge node and the central node in the initial image data and the current image data; The current second installation angle of the visual inspection device is secondary calibrated based on the difference between the longitudinal coordinates of the first edge node and the central node in the initial image data and the current image data, and / or the difference between the longitudinal coordinates of the third edge node and the central node in the initial image data and the current image data.

8. The calibration method of the visual inspection equipment according to claim 6, characterized in that: The laser detection module comprises: a first laser detection unit, a second laser detection unit and a third laser detection unit; the first laser detection unit, the second laser detection unit and the third laser detection unit are all connected to the control module; Wherein, the first laser detection unit is used to receive a signal emitted by the laser at the current installation height of the visual inspection device, which is recorded as a first received signal; The second laser detection unit is used to receive a signal emitted by the laser at the current first installation angle of the visual inspection device, which is recorded as a second received signal; The third laser detection unit is used to receive a signal emitted by the laser at the current second installation angle of the visual inspection device, which is recorded as a third received signal; The method of judging whether the current installation position of the visual inspection device is abnormal based on the laser receiving signal also includes: acquiring the first receiving signal, the second receiving signal and the third receiving signal, and judging whether the current installation height of the visual inspection device is abnormal based on the first receiving signal; judging whether the current first installation angle of the visual inspection device is abnormal based on the second receiving signal, and judging whether the current second installation angle of the visual inspection device is abnormal based on the third receiving signal.

9. A calibration device for visual inspection equipment, characterized in that: It comprises: a laser detection module, a position detection module and a control module; the laser detection module is arranged on the visual detection device and connected to the control module, and is used to receive a signal emitted by the laser at the current installation position of the visual detection device, which is recorded as a laser receiving signal; the visual detection device is communicatively connected to the control module, and is used to detect the initial image data and the current image data of the sample to be tested; wherein the initial image data and the current image data both include the same preset marker; the position detection module is arranged on the visual detection device and connected to the control module, and is used to detect the current installation position information of the visual detection device; The control module is used to: obtain the laser receiving signal, and determine whether the current installation position of the visual inspection device is abnormal according to the laser receiving signal; When an abnormality occurs in the current installation position of the visual inspection device, the current installation position of the visual inspection device is calibrated according to the initial image data and current image data of the sample to be tested, and / or the current installation position information of the visual inspection device.

10. A visual inspection device, characterized in that: A calibration device comprising the visual inspection device as claimed in claim 9.

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