Automatic measurement positioning method, device and equipment

Abstract

The invention relates to an automatic measurement positioning method, device and equipment, and the method comprises the steps: carrying out the image collection of a detection object through a first camera in an optical system, recognizing the actual coordinates of a mark point according to the collected image, and obtaining an actual coordinate point set; calculating to obtain an optimal affine matrix according to the actual coordinate point set, the initial coordinate point set and the coordinate deviation of the first camera and the second camera; the precision of the second camera is higher than that of the first camera, and the field of view of the first camera is larger than that of the second camera; performing position compensation on the initial positioning point coordinates according to the optimal affine matrix, and determining the adjusted positioning point coordinates; and according to the adjusted positioning point coordinates and the preset measurement point deviation, obtaining the measurement point coordinates of the detected object. Accurate positioning of measuring points is achieved, and positioning reliability is improved.

Description

Technical Field

[0001] The present application relates to the field of automated measurement technology, and in particular to an automated measurement and positioning method, device and equipment. Background Art

[0002] With the development of science and technology and the continuous progress of society, the demand for small integrated circuit chips and the requirements for production precision are gradually increasing. Most of the current PCB (Printed Circuit Board) board automated measurement equipment uses a measuring camera for positioning and measurement, and uses a combination of an objective lens converter and a zoom lens to perform positioning mark identification and high-magnification measurement. The conversion of the zoom lens is carried out in the optical system, and mechanical switching is prone to errors, which has the disadvantage of low positioning reliability. Summary of the invention

[0003] Based on this, it is necessary to provide an automated measurement and positioning method, device and equipment that can improve positioning reliability in order to address the above problems.

[0004] The first aspect of the present application provides an automated measurement and positioning method, comprising:

[0005] The first camera in the optical system acquires an image of the object to be detected, and recognizes the actual coordinates of the marking points according to the acquired image to obtain an actual coordinate point set;

[0006] The optimal affine matrix is ​​calculated based on the actual coordinate point set, the initial coordinate point set, and the coordinate deviations of the first camera and the second camera; the initial coordinate point set is obtained by roughly positioning the detected object in the set coordinate system by the first camera in the registration phase and recording the coordinates of the marking points;

[0007] According to the optimal affine matrix, position compensation is performed on the initial positioning point coordinates to determine the adjusted positioning point coordinates; the initial positioning point coordinates are obtained by performing secondary positioning of the detected object in the set coordinate system through the second camera in the optical system during the registration phase, and recording the positioning point coordinates in each unit; the accuracy of the second camera is higher than that of the first camera, and the field of view of the first camera is larger than the field of view of the second camera;

[0008] The coordinates of the measuring point of the detection object are obtained according to the adjusted positioning point coordinates and the preset measuring point deviation; wherein the measuring point deviation is obtained by recording the deviation from the measuring point to the initial positioning point coordinates during the registration phase.

[0009] In one embodiment, the actual coordinates of the marker points are identified according to the acquired image to obtain the actual coordinate point set, including:

[0010] Identify the pixel position of the marking point according to the collected image, and calculate the deviation between the marking point and the center point of the image according to the pixel position of the marking point;

[0011] According to the deviation between the marked point in the image and the center point of the image, and the relative coordinates of the first camera and the reference object when the marked point is in the field of view of the first camera, the position of the marked point is calculated to construct an actual coordinate point set.

[0012] In one embodiment, the step of identifying the pixel position of the marker point according to the acquired image, and calculating the deviation between the marker point in the image and the center point of the image according to the pixel position of the marker point includes:

[0013] According to the collected image, the pixel position of the marking point is identified, and the movement direction of the carrying platform on which the test object is placed along the X-axis and the Y-axis and the angle parameter of the first camera are corrected for the pixel position of the marking point to obtain the actual pixel position of the marking point;

[0014] According to the actual pixel position of the marking point, the deviation between the marking point in the image and the center point of the image is calculated.

[0015] In one embodiment, the position of the marker point is calculated based on the deviation between the marker point in the image and the center point of the image, and the relative coordinates of the first camera and the reference object when the marker point is in the field of view of the first camera, and the actual coordinate point set is constructed, including:

[0016] Calculate the initial position of the marking point according to the deviation between the marking point in the image and the center point of the image, and the relative coordinates of the first camera and the reference object when the marking point is in the field of view of the first camera;

[0017] According to the preliminary position of the marking point and the vertical deviation angle of the motion trajectory of the X-axis motor and the Y-axis motor, the position of the marking point is calculated to construct an actual coordinate point set.

[0018] In one of the embodiments, the optimal affine matrix includes a rotation matrix and a translation matrix.

[0019] In one embodiment, performing position compensation on the initial positioning point coordinates according to the optimal affine matrix to determine the adjusted positioning point coordinates includes:

[0020] Performing position compensation on the initial positioning point coordinates according to the rotation matrix and the translation matrix to obtain preliminarily adjusted positioning point coordinates;

[0021] The adjusted coordinates of the positioning point are calculated based on the initially adjusted coordinates of the positioning point and the vertical deviation angles of the motion trajectories of the X-axis motor and the Y-axis motor.

[0022] In one embodiment, obtaining the coordinates of the measuring point of the detection object according to the adjusted positioning point coordinates and the preset measuring point deviation includes:

[0023] According to the adjusted coordinates of the positioning points, the second camera is used to capture the image of the detection object to obtain an image with the positioning points, and image matching is performed between the acquired image and a preset template image to obtain the actual coordinates of the positioning points; the template image is obtained according to the coordinates of the positioning points detected by the second camera in the registration stage;

[0024] The coordinates of the measuring point of the detection object are obtained according to the actual coordinates of the positioning point and the preset measuring point deviation.

[0025] In one embodiment, according to the adjusted coordinates of the positioning point, the second camera is used to capture the image of the detection object to obtain an image with the positioning point, and image matching is performed between the acquired image and a preset template image to obtain the actual coordinates of the positioning point, including:

[0026] According to the adjusted coordinates of the positioning point, adjusting the relative position of the second camera and the detection object so that the positioning point of the detection object is located in the field of view of the second camera;

[0027] An image with a positioning point is obtained by photographing the second camera, and image matching is performed between the obtained image and a preset template image to obtain the actual coordinates of the positioning point.

[0028] A second aspect of the present application provides an automated measurement and positioning device, comprising:

[0029] An image acquisition module is used to acquire an image of the detection object through a first camera in the optical system, and to identify the actual coordinates of the marking points according to the acquired image to obtain an actual coordinate point set;

[0030] A data processing module, used to calculate an optimal affine matrix according to the actual coordinate point set, the initial coordinate point set and the coordinate deviations of the first camera and the second camera; the initial coordinate point set is obtained by roughly positioning the detected object in a set coordinate system by the first camera in the registration phase and recording the coordinates of the marking points;

[0031] A coordinate compensation module is used to perform position compensation on the initial positioning point coordinates according to the optimal affine matrix to determine the adjusted positioning point coordinates; the initial positioning point coordinates are obtained by performing secondary positioning of the detected object in the set coordinate system through the second camera in the optical system during the registration phase and recording the positioning point coordinates in each unit; the accuracy of the second camera is higher than that of the first camera, and the field of view of the first camera is larger than the field of view of the second camera;

[0032] The measuring point positioning module is used to obtain the measuring point coordinates of the detection object according to the adjusted positioning point coordinates and the preset measuring point deviation; wherein the measuring point deviation is obtained by recording the deviation from the measuring point to the initial positioning point coordinates during the registration phase.

[0033] The third aspect of the present application provides an automated measurement and positioning device, comprising a controller, a carrying platform and an optical system, wherein the carrying platform is used to place a test object, the controller is connected to the carrying platform, and a first camera and a second camera in the optical system; the controller performs automated measurement and positioning according to the above method.

[0034] The above-mentioned automated measurement and positioning method, device and equipment, in the registration stage, uses the first camera with a large field of view in the optical system to capture images for rough positioning of the detection object in the set coordinate system, records the coordinates of the marking points to obtain the initial coordinate point set, uses the second camera with high precision in the optical system for secondary positioning to record the coordinates of the positioning points in each unit to obtain the initial positioning point coordinates, and records the deviation from the measuring point to the initial positioning point coordinates to obtain the measuring point deviation. During actual measurement and positioning, the first camera is used to capture images of the detection object, and the actual coordinates of the marking points are identified based on the captured images to obtain the actual coordinate point set. Based on the actual coordinate point set, the initial coordinate point set and the coordinate deviation of the first camera and the second camera, the optimal affine matrix is ​​calculated, and the initial positioning point coordinates are positionally compensated based on the optimal affine matrix to determine the adjusted positioning point coordinates. Finally, based on the adjusted positioning point coordinates and the preset measuring point deviation, the measuring point coordinates of the detection object are obtained, so as to achieve accurate positioning of the measuring point and improve positioning reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flowchart of an automated measurement and positioning method in one embodiment;

[0036] Figure 2 A schematic diagram of rough positioning and secondary positioning marking positions in an embodiment;

[0037] Figure 3 A flowchart of an embodiment of identifying the actual coordinates of the marking points according to the collected image to obtain the actual coordinate point set;

[0038] Figure 4 It is a flow chart of performing position compensation on the initial positioning point coordinates and determining the adjusted positioning point coordinates according to the optimal affine matrix in one embodiment;

[0039] Figure 5 is a flow chart of obtaining the coordinates of the measuring points of the detected object according to the adjusted positioning point coordinates and the preset measuring point deviation in one embodiment;

[0040] Figure 6A schematic diagram of a secondary positioning matching image in an embodiment;

[0041] Figure 7 FIG. 4 is a structural block diagram of an automatic measurement and positioning device in one embodiment. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It 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.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0044] It can be understood that the “connection” in the following embodiments should be understood as “electrical connection”, “communication connection”, etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.

[0045] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, components, parts, or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the relevant listed items.

[0046] In one embodiment, Figure 1 As shown, an automated measurement and positioning method is provided, comprising:

[0047] Step S110: Capture an image of the object to be detected by using the first camera in the optical system, and identify the marking points based on the captured image ( Figure 2The actual coordinates of the M points in the image are obtained to obtain the actual coordinate point set. Among them, the optical system includes a first camera and a second camera, the accuracy of the second camera is higher than that of the first camera, and the field of view of the first camera is larger than the field of view of the second camera. The first camera can adopt a large field of view positioning camera, and the second camera can adopt a measuring camera. The large field of view positioning camera is used for coarse positioning, estimating and correcting the offset caused by the placement of the detection object, and the measuring camera is used for secondary positioning to realize the deviation compensation within the unit. The use of a large field of view positioning camera for coarse positioning allows for a larger position error when placing the detection object, including the amount of rotation and the amount of translation in the horizontal and vertical directions, so that automatic positioning can be achieved as long as the marker falls in the field of view of the positioning camera, greatly reducing the operation of human intervention to correct the positioning offset.

[0048] Specifically, in the registration phase, the first camera is used to roughly locate the object to be detected in the set coordinate system, and the coordinates of the marking points are recorded to obtain the initial coordinate point set. The second camera is used to re-locate the object to be detected in the set coordinate system, and the coordinates of each unit ( Figure 2 Unit area) in the middle positioning point ( Figure 2 The coordinates of the initial positioning point are obtained by recording the coordinates of the measuring point (the middle T point) and the deviation of the measuring point to the initial positioning point coordinates to obtain the measuring point deviation for saving. After the registration stage is over, the automated measurement stage is carried out, and the image of the detection object that needs to be measured and positioned is captured by the first camera, and the measurement point coordinates of the detection object are determined based on the captured image analysis. Among them, the detection object can be a PCB board, a wafer, or other objects that need to be automatically measured and positioned. The marking point coordinates can be defined as the coordinates of the position of the center point of the marking point.

[0049] It can be understood that when the first camera and the second camera are used to capture images during the registration stage and the automated measurement stage, the position of the carrier platform on which the test object is placed can be kept stationary, and the camera can be driven to move by a motor to change the relative position of the camera and the test object. Alternatively, the first camera and the second camera can be kept stationary (the coordinate deviation between the first camera and the second camera remains unchanged), and the test object can be moved by driving the carrier platform by a motor to change the relative position of the camera and the test object. The set coordinate system can be a motor coordinate system or a coordinate system established with other reference objects (such as cameras), as long as the initial coordinate point set and the initial positioning point coordinates are determined in the same coordinate system during the registration stage.

[0050] For ease of understanding, the following explanation is given by taking the measurement and positioning of the detection object driven by the motor-driven carrying platform as an example. The controller can be connected to the first camera, the second camera and the motor, and the controller can be used to control the motor to drive the carrying platform to move, and control the first camera and the second camera to collect images, thereby completing the automated measurement and positioning. Among them, the motor may include an X-axis motor and a Y-axis motor, which are used to drive the carrying platform to move along the X-axis direction and the Y-axis direction respectively.

[0051] like Figure 2 As shown, more than three relatively scattered marking points M can be selected around the detection object for coordinate system conversion and rough positioning. The marking points M can be circles, corners, etc. on the detection object. There are repeated units on the detection object. In order to reduce repeated registration of measurement points and improve positioning accuracy, a positioning point T in each unit Unit is selected as a positioning feature point to find the measurement point according to the relative position deviation.

[0052] The registration process can be carried out on the software interface that reads the design file of the test object, or it can be carried out on the machine using the actual test object. Taking the actual test object as an example, the registration process is as follows:

[0053] 1) First, perform rough positioning. The motor drives the carrying platform to move so that the mark point M is in the field of view of the first camera. The first camera is used to identify the mark point M on the test object, and the actual coordinates of the motor are recorded to obtain the center positions of all the mark points M, M1, M2, M3, M4, etc., which are recorded as the initial coordinate point set: M = {M1, M2, M3, M4L}. It should be noted that the initial coordinate point set here can be understood as the set of the first rough positioning coordinates of each mark point M obtained by the first camera in the registration stage, which is different from the second rough positioning coordinates of each mark point M in the subsequent automated measurement.

[0054] 2) Then perform secondary positioning, select a positioning point T, drive the carrying platform to move by the motor so that the positioning point T is located in the field of view of the second camera, record the actual coordinates of the motor to obtain the coordinates of the initial positioning point, and save the image of the positioning point T as the template image.

[0055] 3) Select the measurement point P in the unit Unit where the selected positioning point T is located, record the deviation of the measurement point P to the initial positioning point coordinates as the measurement point deviation F, drive the carrying platform to move to other units Unit through the motor, add the positioning point T of other units Unit, and the measurement points in other units Unit can be automatically generated without repeated addition. For example, based on the position of the measurement point P in the first unit Unit in the unit Unit, the measurement points can be automatically generated for other units Unit. Finally, save the relevant data to complete the registration process.

[0056] During actual automated measurement, after the detection object to be measured and positioned is placed on the carrying platform, the carrying platform is driven to move by a motor so that the detection object is located in the field of view of the first camera, and the first camera is controlled to capture an image of the detection object, and the actual coordinates of the selected marking point M are identified based on the captured image to obtain an actual coordinate point set. Specifically, the actual coordinates of the marking point M in the motor coordinate system can be determined based on the image analysis captured by the first camera, and the actual coordinate point set M′ is constructed for subsequent calculation of the optimal affine matrix based on the coordinate data in the same coordinate system. In other embodiments, the actual coordinates of the marking point M in the camera coordinate system can also be analyzed based on the image captured by the first camera. Before calculating the optimal affine matrix, the actual coordinates of the marking point M in the camera coordinate system are first converted to the actual coordinates of the marking point M in the motor coordinate system, and then the optimal affine matrix is ​​calculated based on the coordinate data in the same coordinate system.

[0057] It should be noted that the actual coordinates of the above-mentioned marking point M can be understood as the second coarse positioning coordinates of each marking point M obtained by identifying the first camera in the automated measurement stage, which is different from the first coarse positioning coordinates of each marking point M in the aforementioned registration stage. The so-called first coarse positioning coordinates and the second coarse positioning coordinates are the coordinates of the marking point M in the motor coordinate system determined by the image captured by the first camera. Due to different measurement stages, the coordinate values ​​obtained for the same marking point M may be different, because coarse positioning only requires the marking point M to be roughly in the center of the camera's field of view to record the motor coordinate value. Therefore, it can be understood that in some embodiments, the values ​​of the first coarse positioning coordinates and the second coarse positioning coordinates may be the same or different.

[0058] In one embodiment, Figure 3 As shown, in step S110, the actual coordinates of the marking points are identified according to the collected image to obtain an actual coordinate point set, including step S112 and step S114.

[0059] Step S112: Identify the pixel position of the marker point based on the captured image, and calculate the deviation between the marker point and the center point of the image based on the pixel position of the marker point. Identify the pixel position P of the marker point M based on the image captured by the first camera, and then calculate the deviation Δx, Δy between the marker point and the center point of the image.

[0060] Δx = (P columns - W / 2) × actual pixel size × 0.001

[0061] Δy=(Prow-H / 2)×actual pixel size×0.001

[0062] Among them, (P 行 , P 列) represents the pixel position of the marker point M, W and H are the pixel length and width of the image captured by the first camera, for example, W = 2592, H = 2048. The specific value of the actual pixel size can be set and saved in advance.

[0063] Step S114: According to the deviation between the marked point in the image and the center point of the image, and the relative coordinates of the first camera and the reference object when the marked point is in the field of view of the first camera, the position of the marked point is calculated and the actual coordinate point set is constructed.

[0064] Similarly, the motor drives the carrying platform to move the detection object, and obtains the relative coordinates of the first camera and the reference object when the marking point is in the field of view of the first camera, specifically the current actual coordinates of the carrying platform on which the detection object is placed, which can be obtained according to the current motor position S i Determine, that is, the second rough positioning coordinates of the above-mentioned marking point M. After calculating the deviation Δx, Δy between the marking point M in the image and the center point of the image, combined with the current motor position S i Calculate the center point of the marker point M: i x=S i x+Δx;M i y=S i y-Δy; where Δx and Δy are added or subtracted according to the moving direction of the carrier platform. i x,M i y), and obtain the actual coordinate point set M′.

[0065] Explanation of the relative coordinates of the first camera and the reference object: When the first camera is fixed and the motor drives the carrying platform to move the detection object, the reference object can be the fixed end of the camera or the motor, and the two are relatively fixed. At this time, the relative coordinates are the coordinates of the motor moving end when the marking point M is in the field of view of the first camera. When the detection object and the carrying platform are fixed and the motor drives the first camera to move, the reference object can be the carrying platform or the detection object. At this time, the relative coordinates are the coordinates of the motor moving end when the marking point is in the field of view of the first camera. Of course, it can also be the coordinates of the first camera obtained with a point on the detection object as the coordinate origin. Other similar transformation methods will not be repeated.

[0066] In one embodiment, step S112 specifically includes: identifying the pixel position of the marking point based on the collected image, and the movement direction of the supporting platform where the test object is placed along the X-axis and Y-axis and the angle parameters of the first camera, correcting the pixel position of the marking point to obtain the actual pixel position of the marking point; based on the actual pixel position of the marking point, calculating the deviation between the marking point in the image and the center point of the image.

[0067] Among them, the angle parameter θ between the movement direction of the carrying platform along the X-axis and the Y-axis and the first camera can be obtained by moving the marking point up, down, left, and right within the same field of view to obtain the movement deviation, and then calculated based on the movement deviation. The actual pixel position P' of the marking point is obtained by rotating the original pixel position P of the marking point M by θ.

[0068] P'x=(Px-W / 2)×cosθ-(Py-H / 2)×sinθ+W / 2

[0069] P'y=(Px-W / 2)×sinθ+(Py-H / 2)×cosθ+H / 2

[0070] Among them, (P'x, P'y) represents the actual pixel position of the marking point, and (Px, Py) represents the original pixel position of the marking point. W and H are the pixel length and width of the image taken by the first camera, for example, W=2592, H=2048. Substitute the actual pixel position of the marking point (P'x, P'y) into the above formula for calculating the deviation Δx, Δy to obtain a more accurate deviation between the marking point and the center point of the image. In this embodiment, the movement direction of the supporting platform along the X-axis and Y-axis and the angle parameter θ of the first camera are taken into account to calculate the deviation Δx, Δy between the marking point and the center point of the image, which can improve the accuracy of the deviation calculation.

[0071] Furthermore, step S114 specifically includes: calculating the preliminary position of the marking point according to the deviation between the marking point in the image and the center point of the image, and the relative coordinates of the first camera and the reference object when the marking point is in the field of view of the first camera; calculating the position of the marking point according to the preliminary position of the marking point and the vertical deviation angle of the motion trajectory of the X-axis motor and the Y-axis motor, and constructing an actual coordinate point set.

[0072] It can be understood that in actual motor control, the motion trajectories (or moving directions) of the two motors in the X-axis and Y-axis directions are not absolutely vertical. Before measuring and positioning, it is possible to pre-debug and determine the vertical deviation angle α of the motion trajectories of the X-axis motor and the Y-axis motor and save it. i The calculated position of the center point of the marker point M (M i x,M i y), as the initial position of the marking point. Then, the initial position of the marking point is corrected in combination with the vertical deviation angle α to obtain a more accurate position of the marking point: M i 'x=M i xM i y×sinα,M i 'y=M i y×cosα. According to the final determined position of the center point of each marking point M (M i 'x, M i'y), construct the actual coordinate point set M′.

[0073] Step S120: Calculate and obtain an optimal affine matrix according to the actual coordinate point set, the initial coordinate point set, and the coordinate deviations of the first camera and the second camera.

[0074] Among them, there is a spatial position difference (horizontal X and Y directions) between the first camera and the second camera, and the coordinate deviation of the first camera and the second camera can also be measured and determined in advance before the measurement and positioning and saved. The coordinate deviation of the first camera and the second camera is specifically the coordinate deviation Offset of the center of the field of view of the first camera minus the center of the field of view of the second camera: Offset = LocCam-MeaCam, LocCam is the center of the field of view of the first camera, and MeaCam is the center of the field of view of the second camera.

[0075] After obtaining the actual coordinate point set M', the coordinate deviation Offset of the first camera and the second camera, as well as the initial coordinate point set M determined in the registration phase, are combined to calculate the optimal affine matrix using the coordinate points determined in the same coordinate system. The optimal affine matrix may specifically include a rotation matrix R and a translation matrix t. Where:

[0076]

[0077] Selecting several sets of template positioning points and actual positioning points in the initial coordinate point set M and the actual coordinate point set M′, the rotation matrix can be obtained and translation matrix

[0078] Step S130: According to the optimal affine matrix, the initial positioning point coordinates are positionally compensated to determine the adjusted positioning point coordinates. Correspondingly, after determining the rotation matrix R and the translation matrix t, the initial positioning point coordinates T determined in the registration phase are positionally compensated to determine the adjusted positioning point coordinates T'.

[0079] T'=R*T+t

[0080]

[0081] Wherein, (Tx, Ty) represents the coordinates of the initial positioning point, and (Tx', Ty') represents the coordinates of the positioning point after adjustment.

[0082] Furthermore, if Figure 4 As shown, step S130 may include step S132 and step S134.

[0083] Step S132: performing position compensation on the initial positioning point coordinates according to the rotation matrix and the translation matrix to obtain preliminarily adjusted positioning point coordinates.

[0084] Step S134: Calculate the adjusted coordinates of the positioning point according to the initially adjusted coordinates of the positioning point and the vertical deviation angles of the motion trajectories of the X-axis motor and the Y-axis motor.

[0085] Similarly, considering the vertical deviation angle α of the X-axis motor and Y-axis motor motion trajectory, after compensating the initial positioning point coordinates T determined in the registration phase according to the rotation matrix R and the translation matrix t, the positioning point coordinates T' are obtained as the preliminary adjusted positioning point coordinates. Then, the preliminary adjusted positioning point coordinates are corrected in combination with the vertical deviation angle α to obtain more accurate final adjusted positioning point coordinates.

[0086] T i x”=T i x'+T i y'×sinα,T i y”=T i y'÷cosα

[0087] Among them, (T i x”,T i y”) represents the final adjusted positioning point coordinates in the corresponding unit, (T i x',T i y') represents the coordinates of the initial adjusted positioning point in the corresponding unit.

[0088] Step S140: Obtain the coordinates of the measuring point of the object to be detected based on the adjusted coordinates of the positioning point and the preset measuring point deviation. Correspondingly, based on the adjusted coordinates of the positioning point and the measuring point deviation F determined in the registration phase, the coordinates of the measuring point P on the object to be detected can be found. Figure 5 As shown, step S140 includes step S142 and step S144.

[0089] Step S142: according to the adjusted coordinates of the positioning point, the second camera is used to capture an image of the object to be detected to obtain an image with the positioning point, and image matching is performed between the acquired image and a preset template image to obtain the actual coordinates of the positioning point.

[0090] The template image is obtained based on the coordinates of the positioning point detected by the second camera in the registration phase. After determining the adjusted coordinates of the positioning point, the relative position of the second camera and the object to be detected can be adjusted based on the adjusted coordinates of the positioning point, so that the positioning point of the object to be detected is located in the field of view of the second camera, and an image with the positioning point is obtained by shooting with the second camera, and image matching is performed based on the obtained image and the preset template image to obtain the actual coordinates of the positioning point.

[0091] Specifically, according to the adjusted positioning point coordinates, the motor can be controlled to adjust the carrying platform to drive the detection object to move, so that the positioning point T in the corresponding unit on the detection object is located in the field of view of the second camera, and the saved template image is used as the secondary positioning template, and the template is matched with the image captured by the second camera to obtain the actual coordinate T" of the positioning point, that is, the location of the secondary positioning point, and complete the deviation correction. Figure 6 As shown in the figure, the coordinates corresponding to the center of the field of view are the adjusted coordinates of the positioning point T', and the calculation process of the position of the secondary positioning point T" is as follows:

[0092] Δx=(P 列 -1280 / 2)×actual pixel size×0.001

[0093] Δy=(P 行 -960 / 2)×actual pixel size×0.001

[0094] T”=T'+(Δx,Δy)

[0095] The adjusted positioning point coordinates T' may refer to the initially adjusted positioning point coordinates or the finally adjusted positioning point coordinates. The pixel position (P 行 , P 列 ), according to the pixel position of the positioning point (P 行 , P 列 ), calculate the deviation Δx, Δy between the positioning point in the image and the center point of the image. Finally, based on the deviation Δx, Δy and the adjusted positioning point coordinates T', calculate the actual coordinates T" of the positioning point.

[0096] Step S144: Obtain the coordinates of the measuring point of the object to be detected according to the actual coordinates of the positioning point and the preset measuring point deviation. Correspondingly, the measuring point P can be found by superimposing the actual coordinates T" of the positioning point with the measuring point deviation F.

[0097] P=T”+F

[0098]

[0099] Wherein, (Px, Py) represents the coordinates of the measuring point in the corresponding unit of the detected object, (Fx, Fy) represents the deviation of the measuring point, and (Tx", Ty") represents the actual coordinates of the positioning point in the corresponding unit.

[0100] The above-mentioned automated measurement and positioning method adopts a dual-camera optical system of a large-field positioning camera and a measuring camera. The large-field positioning camera is used in the coarse positioning stage to overcome the uncertainty of the user's manual placement of the test object and the problem of coarse positioning failure caused by large errors. The measuring camera is used in the secondary positioning stage to achieve accurate positioning of the measuring point through operations such as coordinate transformation, affine transformation, and template matching of the centers of the two cameras. This solution does not require the use of a reducer and an objective lens converter, and there is no switching error caused by the reducer and the objective lens converter. At the same time, a relatively low-priced camera is used for coarse positioning, saving costs.

[0101] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0102] Based on the same inventive concept, the embodiment of the present application also provides an automated measurement and positioning device for implementing the automated measurement and positioning method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more automated measurement and positioning device embodiments provided below can refer to the limitations of the automated measurement and positioning method above, and will not be repeated here.

[0103] In one embodiment, Figure 7 As shown, an automated measurement and positioning device is provided, comprising an image acquisition module 110, a data processing module 120, a coordinate compensation module 130 and a measurement point positioning module 140, wherein:

[0104] The image acquisition module 110 is used to acquire an image of the inspection object through a first camera in the optical system, and recognize the actual coordinates of the marking points according to the acquired image to obtain an actual coordinate point set.

[0105] The data processing module 120 is used to calculate the optimal affine matrix based on the actual coordinate point set, the initial coordinate point set and the coordinate deviation of the first camera and the second camera; the initial coordinate point set is obtained by roughly positioning the detected object in the set coordinate system through the first camera during the registration phase and recording the coordinates of the marking points.

[0106] The coordinate compensation module 130 is used to perform position compensation on the initial positioning point coordinates according to the optimal affine matrix to determine the adjusted positioning point coordinates; the initial positioning point coordinates are obtained by performing secondary positioning of the detected object in the set coordinate system through the second camera in the optical system during the registration phase, and recording the positioning point coordinates in each unit; the accuracy of the second camera is higher than that of the first camera, and the field of view of the first camera is larger than the field of view of the second camera.

[0107] The measuring point positioning module 140 is used to obtain the measuring point coordinates of the detected object according to the adjusted positioning point coordinates and the preset measuring point deviation; wherein the measuring point deviation is obtained by recording the deviation from the measuring point to the initial positioning point coordinates during the registration phase.

[0108] In one embodiment, the image acquisition module 110 is used to identify the pixel position of the marker point based on the acquired image, and calculate the deviation of the marker point in the image and the center point of the image based on the pixel position of the marker point; calculate the position of the marker point based on the deviation of the marker point in the image and the center point of the image, and the relative coordinates of the first camera and the reference object when the marker point is in the field of view of the first camera, and construct an actual coordinate point set.

[0109] In one embodiment, the image acquisition module 110 is used to identify the pixel position of the marking point based on the acquired image, as well as the movement direction of the supporting platform on which the test object is placed along the X-axis and the Y-axis and the angle parameters of the first camera, and correct the pixel position of the marking point to obtain the actual pixel position of the marking point; based on the actual pixel position of the marking point, the deviation between the marking point in the image and the center point of the image is calculated.

[0110] In one embodiment, the image acquisition module 110 is used to calculate the preliminary position of the marking point based on the deviation between the marking point in the image and the center point of the image, and the relative coordinates of the first camera and the reference object when the marking point is in the field of view of the first camera; calculate the position of the marking point based on the preliminary position of the marking point and the vertical deviation angle of the motion trajectory of the X-axis motor and the Y-axis motor, and construct an actual coordinate point set.

[0111] In one embodiment, the coordinate compensation module 130 is used to perform position compensation on the initial positioning point coordinates according to the rotation matrix and the translation matrix to obtain the preliminary adjusted positioning point coordinates; based on the preliminary adjusted positioning point coordinates and the vertical deviation angles of the motion trajectories of the X-axis motor and the Y-axis motor, the adjusted positioning point coordinates are calculated.

[0112] In one embodiment, the measuring point positioning module 140 is used to acquire an image with the positioning point by performing image acquisition on the inspection object through the second camera according to the adjusted positioning point coordinates, and to perform image matching between the acquired image and a preset template image to obtain the actual coordinates of the positioning point; the template image is obtained according to the positioning point coordinates detected by the second camera in the registration stage; the measuring point coordinates of the inspection object are obtained according to the actual coordinates of the positioning point and the preset measurement point deviation.

[0113] In one embodiment, the measurement point positioning module 140 is used to adjust the relative position of the second camera and the detection object according to the adjusted positioning point coordinates, so that the positioning point of the detection object is located in the field of view of the second camera; an image with the positioning point is obtained by shooting with the second camera, and image matching is performed between the acquired image and the preset template image to obtain the actual coordinates of the positioning point.

[0114] Each module in the above-mentioned automatic measurement and positioning device can be implemented in whole or in part by software, hardware and their combination. Each module can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module above.

[0115] In one embodiment, an automated measurement and positioning device is also provided, comprising a controller, a carrying platform and an optical system, wherein the carrying platform is used to place the detection object, and the controller is connected to the carrying platform, and the first camera and the second camera in the optical system; the controller performs automated measurement and positioning according to the above method. The controller may be a CPU, an MCU, an FPGA, etc.

[0116] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0117] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. An automated measurement and positioning method, characterized in that: include: The first camera in the optical system acquires an image of the object to be detected, and recognizes the actual coordinates of the marking points according to the acquired image to obtain an actual coordinate point set; Calculating an optimal affine matrix according to the actual coordinate point set, the initial coordinate point set, and the coordinate deviations of the first camera and the second camera; The initial coordinate point set is obtained by roughly positioning the detected object in the set coordinate system by using the first camera during the registration phase and recording the coordinates of the marking points; According to the optimal affine matrix, position compensation is performed on the initial positioning point coordinates to determine the adjusted positioning point coordinates; the initial positioning point coordinates are obtained by performing secondary positioning of the detected object in the set coordinate system through the second camera in the optical system during the registration phase, and recording the positioning point coordinates in each unit; the accuracy of the second camera is higher than that of the first camera, and the field of view of the first camera is larger than the field of view of the second camera; The coordinates of the measuring point of the detection object are obtained according to the adjusted positioning point coordinates and the preset measuring point deviation; wherein the measuring point deviation is obtained by recording the deviation from the measuring point to the initial positioning point coordinates during the registration phase.

2. The method according to claim 1, characterized in that The actual coordinates of the marker points are identified according to the collected images to obtain the actual coordinate point set, including: Identify the pixel position of the marking point according to the collected image, and calculate the deviation between the marking point and the center point of the image according to the pixel position of the marking point; According to the deviation between the marked point in the image and the center point of the image, and the relative coordinates of the first camera and the reference object when the marked point is in the field of view of the first camera, the position of the marked point is calculated to construct an actual coordinate point set.

3. The method according to claim 2, characterized in that The step of identifying the pixel position of the marking point according to the collected image, and calculating the deviation between the marking point in the image and the center point of the image according to the pixel position of the marking point includes: According to the collected image, the pixel position of the marking point is identified, and the movement direction of the carrying platform on which the test object is placed along the X-axis and the Y-axis and the angle parameter of the first camera are corrected for the pixel position of the marking point to obtain the actual pixel position of the marking point; According to the actual pixel position of the marking point, the deviation between the marking point in the image and the center point of the image is calculated.

4. The method according to claim 2, characterized in that: The method calculates the position of the marked point according to the deviation between the marked point in the image and the center point of the image, and the relative coordinates of the first camera and the reference object when the marked point is in the field of view of the first camera, and constructs the actual coordinate point set, including: Calculate the initial position of the marking point according to the deviation between the marking point in the image and the center point of the image, and the relative coordinates of the first camera and the reference object when the marking point is in the field of view of the first camera; According to the preliminary position of the marking point and the vertical deviation angle of the motion trajectory of the X-axis motor and the Y-axis motor, the position of the marking point is calculated to construct an actual coordinate point set.

5. The method according to claim 1, characterized in that: The optimal affine matrix includes a rotation matrix and a translation matrix.

6. The method according to claim 5, characterized in that The step of performing position compensation on the initial positioning point coordinates according to the optimal affine matrix to determine the adjusted positioning point coordinates includes: Performing position compensation on the initial positioning point coordinates according to the rotation matrix and the translation matrix to obtain preliminarily adjusted positioning point coordinates; The adjusted coordinates of the positioning point are calculated based on the initially adjusted coordinates of the positioning point and the vertical deviation angles of the motion trajectories of the X-axis motor and the Y-axis motor.

7. The method according to any one of claims 1 to 6, characterized in that: The step of obtaining the coordinates of the measuring point of the detection object according to the adjusted positioning point coordinates and the preset measuring point deviation comprises: According to the adjusted coordinates of the positioning points, the second camera is used to capture the image of the detection object to obtain an image with the positioning points, and image matching is performed between the acquired image and a preset template image to obtain the actual coordinates of the positioning points; the template image is obtained according to the coordinates of the positioning points detected by the second camera in the registration stage; The coordinates of the measuring point of the detection object are obtained according to the actual coordinates of the positioning point and the preset measuring point deviation.

8. The method according to claim 7, characterized in that According to the adjusted coordinates of the positioning point, the second camera is used to acquire an image with the positioning point on the detection object, and image matching is performed between the acquired image and a preset template image to obtain the actual coordinates of the positioning point, including: According to the adjusted coordinates of the positioning point, adjusting the relative position of the second camera and the detection object so that the positioning point of the detection object is located in the field of view of the second camera; An image with a positioning point is obtained by photographing the second camera, and image matching is performed between the obtained image and a preset template image to obtain the actual coordinates of the positioning point.

9. An automated measurement and positioning device, characterized in that: include: An image acquisition module is used to acquire an image of the detection object through a first camera in the optical system, and to identify the actual coordinates of the marking points according to the acquired image to obtain an actual coordinate point set; A data processing module, used to calculate an optimal affine matrix according to the actual coordinate point set, the initial coordinate point set and the coordinate deviations of the first camera and the second camera; the initial coordinate point set is obtained by roughly positioning the detected object in a set coordinate system by the first camera in the registration phase and recording the coordinates of the marking points; A coordinate compensation module is used to perform position compensation on the initial positioning point coordinates according to the optimal affine matrix to determine the adjusted positioning point coordinates; the initial positioning point coordinates are obtained by performing secondary positioning of the detected object in the set coordinate system through the second camera in the optical system during the registration phase and recording the positioning point coordinates in each unit; the accuracy of the second camera is higher than that of the first camera, and the field of view of the first camera is larger than the field of view of the second camera; The measuring point positioning module is used to obtain the measuring point coordinates of the detection object according to the adjusted positioning point coordinates and the preset measuring point deviation; wherein the measuring point deviation is obtained by recording the deviation from the measuring point to the initial positioning point coordinates during the registration phase.

10. An automated measurement and positioning device, characterized in that: It includes a controller, a carrying platform and an optical system, wherein the carrying platform is used to place the detection object, and the controller is connected to the carrying platform and the first camera and the second camera in the optical system; The controller performs automated measurement and positioning according to the method described in any one of claims 1-8.

Images