Visual sensor optimal focal plane control method and device, environment control system and medium

Abstract

The invention discloses a visual sensor optimal focal plane control method and device, an environment control system and a medium. The visual sensor optimal focal plane control method is applied to an environment control system, a visual sensor is assembled in the environment control system, and the visual sensor optimal focal plane control method comprises the following steps: determining the optimal focal plane of the visual sensor based on a calibration environment state corresponding to a plurality of target humidity, a plurality of target temperatures and a plurality of target air pressures in which the visual sensor is located; obtaining the calibration humidity, the calibration temperature and the calibration air pressure in the calibration environment state; acquiring an optimal working distance corresponding to the target calibration object in the calibration environment state, and generating an optimal focal plane calibration data set of the visual sensor according to the target humidity, the target temperature, the target air pressure, the calibration humidity, the calibration temperature, the calibration air pressure and the target working distance; the actual humidity, the actual temperature and the actual air pressure of the visual sensor in the current environment state are obtained, and the actual optimal focal plane working distance of the visual sensor in the current environment state is determined.

Description

Technical Field

[0001] The present invention relates to the technical field of semiconductor detection equipment, and in particular to a method, device, environmental control system and medium for optimal focal plane control of a visual sensor. Background Art

[0002] A visual sensor refers to an instrument that uses optical elements and imaging devices to obtain image information of the external environment. Image resolution is usually used to describe the performance of a visual sensor. The accuracy of a visual sensor is not only related to the resolution, but also to the detection distance of the object being measured. The farther the distance of the object being measured, the worse its absolute position accuracy.

[0003] The traditional optimal focal plane control technology of visual sensors, also known as autofocus technology, is mainly based on a fixed focal plane distance with a ranging sensor and a motion stage to control the distance between the target to be observed and the visual sensor to remain at a pre-designed working distance. Obviously, the shortcoming of this method is that it does not take into account the changes in the focal length and aberration of the visual sensor caused by the thermal expansion of different materials and the refractive index of light caused by environmental changes, which will lead to the displacement of the optimal imaging position. In response to this shortcoming, the usual response methods include accepting or tolerating the range of changes from the application level and recalibrating regularly. However, both of the above methods have corresponding limitations. The former accepts or tolerates the range of changes from the application level, which will limit the application scenario to relatively low-magnification imaging conditions and cannot guarantee stable imaging quality. The latter adopts a regular recalibration method, which needs to consider the impact of the calibration cycle. For long-term low-frequency recalibration, it is usually acceptable, but at the same time, it puts forward high requirements for the control of environmental changes. For short-term high-frequency recalibration, it is usually considered unacceptable in high-speed application scenarios. Summary of the invention

[0004] The present invention provides a method, device, environmental control system and medium for controlling the optimal focal plane of a visual sensor, so as to solve the problems that the current optimal focal plane control of a visual sensor has corresponding limitations, stable imaging quality cannot be guaranteed, and calibration cannot be completed based on environmental changes.

[0005] According to one aspect of the present invention, there is provided a method for controlling the optimal focal plane of a visual sensor applied to an environmental control system, wherein the environmental control system is equipped with a visual sensor, and the method for controlling the optimal focal plane of the visual sensor comprises: Based on the calibration environment state corresponding to the multiple target humidity, multiple target temperature and multiple target air pressure of the visual sensor, obtain the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state; Acquire a target working distance corresponding to a target calibration object under the calibration environment state, and generate an optimal focal plane calibration data set of the visual sensor according to the target humidity, the target temperature, the target air pressure, the calibration humidity, the calibration temperature, the calibration air pressure and the target working distance; The actual humidity, actual temperature and actual air pressure of the visual sensor under the current environmental state are obtained, and the actual optimal focal plane working distance of the visual sensor under the current environmental state is determined according to the optimal focal plane calibration data set, the actual humidity, the actual temperature and the actual air pressure.

[0006] Optionally, the optimal focal plane control method of the visual sensor further includes: The initial humidity, initial temperature and initial air pressure in the initial environment state where the visual sensor is located are obtained, and multiple target humidity, multiple target temperatures and multiple target air pressures are determined based on the initial humidity, the initial temperature and the initial air pressure.

[0007] Optionally, the environmental control system is equipped with a temperature sensor, a humidity sensor and an air pressure sensor; Based on the calibration environment state corresponding to the multiple target humidity, multiple target temperature and multiple target air pressure of the visual sensor, the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state are obtained, including: Based on the calibration environment state of the corresponding visual sensor determined by selecting the target humidity, the target temperature and the target air pressure in sequence, the calibration humidity measured by the humidity sensor, the calibration temperature measured by the temperature sensor and the calibration air pressure measured by the pressure sensor under the calibration environment state are obtained.

[0008] Optionally, obtaining a target working distance corresponding to a target calibration object under the calibration environment state includes: An initial working distance of the target calibration object in the Z direction is obtained by using the Z direction motion axis to control the movement of the target calibration object in the Z direction under the calibration environment state, and a target working distance corresponding to the target calibration object in the calibration environment state is determined according to the initial working distance.

[0009] Optionally, determining a target working distance corresponding to the target calibration object in the calibration environment state according to the initial working distance includes: Based on the initial working distance, the visual sensor is used to collect a corresponding position image, and the image clarity corresponding to the position image is determined according to the position image; A target working distance corresponding to the target calibration object under the calibration environment state is determined according to the image clarity and the initial working distance.

[0010] Optionally, determining the actual working distance of the visual sensor in the current environmental state according to the optimal focal plane calibration data set, the actual humidity, the actual temperature, and the actual air pressure includes: Table lookup and interpolation are performed according to the optimal focal plane calibration data set, the actual humidity, the actual temperature and the actual air pressure to obtain the actual optimal focal plane working distance of the visual sensor under the current environmental state.

[0011] According to another aspect of the present invention, a visual sensor optimal focus plane control device is provided, wherein the visual sensor optimal focus plane control device is applied to an environmental control system, wherein the environmental control system is equipped with a visual sensor, and the visual sensor optimal focus plane control device comprises: A parameter acquisition module, used to execute the calibration environment state corresponding to multiple target humidity, multiple target temperature and multiple target air pressure of the visual sensor, and obtain the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state; a calibration data set generation module, configured to obtain a target working distance corresponding to a target calibration object under the calibration environment state, and generate an optimal focal plane calibration data set of the visual sensor according to the target humidity, the target temperature, the target air pressure, the calibration humidity, the calibration temperature, the calibration air pressure and the target working distance; The visual sensor optimal focal plane control module is used to obtain the actual humidity, actual temperature and actual air pressure of the visual sensor under the current environmental state, and determine the actual optimal focal plane working distance of the visual sensor under the current environmental state according to the optimal focal plane calibration data set, the actual humidity, the actual temperature and the actual air pressure.

[0012] According to another aspect of the present invention, there is provided an environmental control system, the environmental control system comprising a visual sensor; The environmental control system also includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the optimal focal plane control method of the visual sensor described in any embodiment of the present invention.

[0013] Optionally, the environmental control system also includes multiple temperature sensors, multiple humidity sensors, multiple air pressure sensors and ranging sensors.

[0014] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the optimal focal plane control method of a visual sensor described in any embodiment of the present invention when executed.

[0015] According to the technical solution of the embodiment of the present invention, the optimal focal plane control method of the visual sensor is applied to an environmental control system, wherein the environmental control system is equipped with a visual sensor, and based on a calibration environment state corresponding to multiple target humidity, multiple target temperature and multiple target air pressure where the visual sensor is located, the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state are obtained, the target working distance corresponding to the target calibration object under the calibration environment state is obtained, and the optimal focal plane control method of the visual sensor is generated according to the target humidity, the target temperature, the target air pressure, the calibration humidity, the calibration temperature, the calibration air pressure and the target working distance. The optimal focal plane calibration data set is used to realize one-time calibration, and there is no need to repeat the calibration within the range of subsequent visual sensor working environment changes, and it does not rely on strict environmental conditions; further, the actual humidity, actual temperature and actual air pressure of the visual sensor under the current environmental state are obtained, and the actual optimal focal plane working distance of the visual sensor under the current environmental state is determined according to the optimal focal plane calibration data set, the actual humidity, the actual temperature and the actual air pressure, so as to solve the problem that the working distance is difficult to stably control due to the shallow depth of field of the high-power objective lens, realize high-speed real-time optimal focal plane adjustment, and maintain the consistency and stability of the imaging quality during movement.

[0016] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 is a flow chart of a method for controlling an optimal focal plane of a visual sensor provided according to Embodiment 1 of the present invention; Figure 2 is a schematic diagram of an environment of an environmental control system equipped with a visual sensor applicable to an embodiment of the present invention; Figure 3 is a flow chart of a method for controlling an optimal focal plane of a visual sensor provided in accordance with Embodiment 2 of the present invention; Figure 4 is a structural schematic diagram of an optimal focal plane control device for a visual sensor provided according to Embodiment 3 of the present invention; Figure 5 It is a structural schematic diagram of an environmental control system for implementing the optimal focal plane control method of a visual sensor according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0020] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0021] Embodiment 1

[0022] Figure 1 A flowchart of a visual sensor optimal focus control method is provided for the first embodiment of the present invention. This embodiment is applicable to the case of optimal focus calibration control of a visual sensor that is adaptive to the environment. The visual sensor optimal focus control method can be executed by a visual sensor optimal focus control device. The visual sensor optimal focus control device can be implemented in the form of hardware and / or software. The visual sensor optimal focus control device can be configured in an environmental control system. The visual sensor optimal focus control method is applied to an environmental control system, in which a visual sensor is installed, such as Figure 1 As shown, the optimal focus plane control method of the visual sensor includes: S110, based on the calibration environment state corresponding to multiple target humidity, multiple target temperature and multiple target air pressure of the visual sensor, obtain the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state.

[0023] Among them, the target humidity, target temperature and target air pressure are selected and set according to the environmental state parameters of the scene using the visual sensor. The selected number of target humidity, target temperature and target air pressure can be set according to the calibration requirements. Multiple target humidity, multiple target temperatures and multiple target air pressures can be the same number or different numbers. This embodiment does not impose any restrictions on their number.

[0024] For example, see Figure 2 As shown, the environmental control system is equipped with 6 temperature sensors, 4 humidity sensors, 2 air pressure sensors and 1 distance sensor, and their numbers and positions are exemplary settings, and this embodiment does not impose any special restrictions on this.

[0025] The calibration environment state is an environment state determined based on target humidity, target temperature and target air pressure. One target humidity, one target temperature and one target air pressure can determine one calibration environment state, and multiple target humidities, multiple target temperatures and multiple target air pressures can correspondingly determine multiple calibration environment states.

[0026] In this embodiment, the selection of multiple target humidity, multiple target temperatures, and multiple target air pressures can be selected based on the parameters under the initial environmental state, that is, the initial humidity, initial temperature, and initial air pressure under the initial environmental state of the visual sensor are obtained, and the initial humidity, initial temperature, and initial air pressure are used as the first selected values, and multiple target humidity, multiple target temperatures, and multiple target air pressures are selected with a calibration step size.

[0027] The initial humidity, initial temperature and initial air pressure are parameters under the initial environmental conditions when the visual sensor is calibrated for the optimal focal plane. The initial humidity, initial temperature and initial air pressure can be collected by a humidity sensor, a temperature sensor and an air pressure sensor respectively, or can be based on the parameters stored in the previous use. This embodiment does not impose any restrictions on this.

[0028] The calibration step size can be selected and set according to the visual sensor optimal focal plane calibration requirements, and this embodiment does not impose any special restrictions on this.

[0029] The calibrated humidity, calibrated temperature and calibrated air pressure are the values ​​actually measured by the corresponding sensors under each calibrated environmental state. Considering that multiple humidity sensors are configured in the environmental control system, multiple calibrated humidity can be measured. Similarly, multiple temperature sensors can measure multiple calibrated temperatures, and multiple air pressure sensors can measure multiple calibrated air pressures.

[0030] Specifically, based on the calibration environment state of the corresponding visual sensor determined by selecting the target humidity, target temperature and target air pressure in sequence, the calibration humidity measured by the humidity sensor, the calibration temperature measured by the temperature sensor and the calibration air pressure measured by the pressure sensor under the calibration environment state are obtained.

[0031] S120, obtaining a target working distance corresponding to a target calibration object under a calibration environment state, and generating an optimal focal plane calibration data set for the visual sensor according to target humidity, target temperature, target air pressure, calibration humidity, calibration temperature, calibration air pressure and target working distance.

[0032] Among them, the target working distance is the distance between the visual sensor and the target calibration object under the calibration environment state. The target working distance is the optimal position interval distance for the visual sensor to capture the clearest image of the target calibration object. The target working distance can be determined according to the clarity of the image of the target calibration object captured by the visual sensor. This embodiment does not impose any restrictions on the target working distance.

[0033] In this embodiment, an initial working distance of the target calibration object in the Z direction is obtained by controlling the movement of the target calibration object in the Z direction using the Z direction motion axis in the calibration environment state, and a target working distance corresponding to the target calibration object in the calibration environment state is determined according to the initial working distance.

[0034] The initial working distance is the distance between the visual sensor and the target calibration object recorded by the distance measuring sensor after the target calibration object is controlled to move in the Z direction using the Z-axis motion axis in the calibration environment state. Since the target calibration object can move to multiple positions in the Z direction, multiple initial working distances under the calibration environment state can be obtained accordingly.

[0035] Furthermore, based on each initial working distance, a corresponding position image is collected using a visual sensor to obtain a plurality of position images, and the image clarity corresponding to each position image is determined.

[0036] It can be known that the image clarity can be calculated using existing image processing methods, and this embodiment does not impose any special limitation on the calculation method.

[0037] On the basis of the above, the curve of image clarity changing with the corresponding initial working distance is fitted, and then the working distance corresponding to the optimal clarity is calculated, that is, the target working distance corresponding to the target calibration object under the calibration environment state.

[0038] In this embodiment, the corresponding calibration humidity, calibration temperature and calibration air pressure are obtained under different calibration environment states, and the target working distance corresponding to the target calibration object under the calibration environment state is further obtained, and then the complete optimal focal plane calibration data set of the visual sensor can be obtained. The optimal focal plane calibration data set may include target humidity, target temperature, target air pressure, calibration humidity, calibration temperature, calibration air pressure and target working distance.

[0039] S130, obtaining actual humidity, actual temperature and actual air pressure of the visual sensor in the current environmental state, and determining the actual optimal focal plane working distance of the visual sensor in the current environmental state according to the optimal focal plane calibration data set, actual humidity, actual temperature and actual air pressure.

[0040] Among them, the actual humidity, actual temperature and actual air pressure are the values ​​actually measured by the corresponding sensors under the current environmental conditions. Considering that multiple humidity sensors are configured in the environmental control system, multiple actual humidity can be measured. Similarly, multiple temperature sensors can measure multiple actual temperatures, and multiple air pressure sensors can measure multiple actual air pressures.

[0041] Specifically, in the actual application of the visual sensor, a table lookup and interpolation is performed based on the optimal focal plane calibration data set, actual humidity, actual temperature and actual air pressure to obtain the actual Z-direction working distance corresponding to the optimal focal plane of the visual sensor under the current environmental conditions, that is, the actual optimal focal plane working distance of the visual sensor under the current environmental conditions.

[0042] Table lookup interpolation is a method for searching in the optimal focal plane calibration data set based on actual humidity, actual temperature and actual air pressure, which can reduce unnecessary search times and improve search efficiency.

[0043] The actual optimal focal plane working distance is the distance between the visual sensor and the target calibration object in the Z direction under the current environmental state, which is the optimal focal plane working distance of the visual sensor.

[0044] The technical solution of the embodiment of the present invention is based on the calibration environment state corresponding to multiple target humidity, multiple target temperature and multiple target air pressure of the visual sensor, to obtain the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state; to obtain the target working distance corresponding to the target calibration object under the calibration environment state, and to generate the best focal plane calibration data set of the visual sensor according to the target humidity, target temperature, target air pressure, calibration humidity, calibration temperature, calibration air pressure and target working distance; to obtain the actual humidity, actual temperature and actual air pressure of the visual sensor under the current environmental state, and to determine the actual best focal plane working distance of the visual sensor under the current environmental state according to the best focal plane calibration data set, actual humidity, actual temperature and actual air pressure. The present invention solves the problems that there are corresponding limitations in the best focal plane control of the visual sensor at present, the stable imaging quality cannot be guaranteed, and the calibration cannot be completed based on environmental changes, and realizes the real-time best focal plane adjustment of the visual sensor, and maintains the consistency and stability of the imaging quality during the movement of the target calibration object.

[0045] Embodiment 2 Figure 3This is a flowchart of a visual sensor optimal focus plane control method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment provides an optional implementation method for implementing a visual sensor optimal focus plane control method for visual sensor optimal focus plane calibration in a calibration environment state. Figure 3 As shown, the optimal focus plane control method of the visual sensor includes: S210, obtaining the initial humidity, initial temperature and initial air pressure in the initial environment state where the visual sensor is located, and determining multiple target humidity, multiple target temperatures and multiple target air pressures based on the initial humidity, initial temperature and initial air pressure.

[0046] Among them, the initial humidity, initial temperature and initial air pressure of the environmental control system in the initial environment state are recorded as .

[0047] On the basis of the above, before calibrating the optimal focal plane of the visual sensor, the related equipment connected to the visual sensor will be warmed up according to the required calibration conditions so that the related equipment connected to the visual sensor reaches the operating temperature and other conditions of the calibration environment remain consistent.

[0048] Specifically, based on initial humidity, initial temperature and initial air pressure , and then select multiple target humidity, multiple target temperature and multiple target air pressure with a calibration step size.

[0049] Among them, multiple target humidity It can be expressed as ; Multiple target temperatures It can be expressed as ; Multiple target pressures It can be expressed as ; Thus, we can get Different calibration environment states for a combination.

[0050] S220, based on the calibration environment state corresponding to the multiple target humidities, multiple target temperatures and multiple target air pressures of the visual sensor, obtain the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state.

[0051] Specifically, set different calibration environment states in turn Expressed as , reaching a steady state under each calibration environmental state, and obtaining the calibration humidity, calibration temperature and calibration air pressure under the calibration environmental state at the same time.

[0052] Among them, the calibration humidity It can be expressed as ; Calibration temperature It can be expressed as ; Calibration air pressure It can be expressed as .

[0053] S230, obtaining an initial working distance for controlling the movement of the target calibration object in the Z direction using the Z direction motion axis in the calibration environment state, and determining a target working distance corresponding to the target calibration object in the calibration environment state according to the initial working distance.

[0054] Specifically, a visual sensor is used to collect a corresponding position image based on the initial working distance, and the image clarity corresponding to the position image is determined according to the position image, and the target working distance corresponding to the target calibration object in the calibration environment state is determined according to the image clarity and the initial working distance.

[0055] S240, generating an optimal focal plane calibration data set for the visual sensor according to the target humidity, target temperature, target air pressure, calibration humidity, calibration temperature, calibration air pressure and target working distance.

[0056] In this embodiment, steps S210 to S230 are repeated to obtain a complete optimal focal plane calibration data set. .

[0057] S250, obtaining the actual humidity, actual temperature and actual air pressure of the visual sensor in the current environmental state, and performing table lookup interpolation according to the optimal focal plane calibration data set, the actual humidity, the actual temperature and the actual air pressure to obtain the actual optimal focal plane working distance of the visual sensor in the current environmental state.

[0058] According to the technical solution of the embodiment of the present invention, the optimal focal plane control method of the visual sensor is applied to the environmental control system, in which the visual sensor is equipped, based on the calibration environment state corresponding to multiple target humidity, multiple target temperature and multiple target air pressure of the visual sensor, the calibration humidity, calibration temperature and calibration air pressure in the calibration environment state are obtained, the target working distance corresponding to the target calibration object in the calibration environment state is obtained, and the optimal focal plane calibration data set of the visual sensor is generated according to the target humidity, target temperature, target air pressure, calibration humidity, calibration temperature, calibration air pressure and target working distance, so as to realize one-time calibration, and no repeated calibration is required within the range of subsequent changes in the working environment of the visual sensor, and strict environmental conditions are not relied on; further, the actual humidity, actual temperature and actual air pressure of the visual sensor in the current environmental state are obtained, and the actual working distance of the visual sensor in the current environmental state is determined according to the optimal focal plane calibration data set, actual humidity, actual temperature and actual air pressure, so as to solve the problem that the working distance is difficult to be stably controlled due to the shallow depth of field of the high-power objective lens, realize high-speed real-time optimal focal plane adjustment, and maintain the consistency and stability of imaging quality during movement.

[0059] Embodiment 3 Figure 4 The schematic diagram of the structure of a visual sensor optimal focal plane control device provided by the third embodiment of the present invention. The visual sensor optimal focal plane control device is applied to an environmental control system, in which a visual sensor is installed, such as Figure 4 As shown, the optimal focus plane control device of the visual sensor includes: The parameter acquisition module 310 is used to execute the calibration environment state corresponding to the multiple target humidity, multiple target temperature and multiple target air pressure of the visual sensor, and obtain the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state; The calibration data set generation module 320 is used to obtain the target working distance corresponding to the target calibration object under the calibration environment state, and generate the best focal plane calibration data set of the visual sensor according to the target humidity, target temperature, target air pressure, calibration humidity, calibration temperature, calibration air pressure and target working distance; The visual sensor optimal focal plane control module 330 is used to obtain the actual humidity, actual temperature and actual air pressure of the visual sensor under the current environmental state, and determine the actual optimal focal plane working distance of the visual sensor under the current environmental state based on the optimal focal plane calibration data set, actual humidity, actual temperature and actual air pressure.

[0060] Optionally, the optimal focus plane control device of the visual sensor also includes: The initial parameter acquisition module is used to acquire the initial humidity, initial temperature and initial air pressure in the initial environment state of the visual sensor, and determine multiple target humidity, multiple target temperatures and multiple target air pressures based on the initial humidity, initial temperature and initial air pressure.

[0061] Optionally, the environmental control system is equipped with a temperature sensor, a humidity sensor and an air pressure sensor; Based on the calibration environment state corresponding to multiple target humidity, multiple target temperature and multiple target air pressure of the visual sensor, the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state are obtained, which is specifically used for: Based on the calibration environment state of the corresponding visual sensor determined by selecting the target humidity, target temperature and target air pressure in sequence, the calibration humidity measured by the humidity sensor, the calibration temperature measured by the temperature sensor and the calibration air pressure measured by the pressure sensor under the calibration environment state are obtained.

[0062] Optionally, the target working distance corresponding to the target calibration object under the calibration environment state is obtained, which is specifically used for: The initial working distance of the target calibration object in the Z direction is obtained by controlling the movement of the target calibration object in the Z direction using the Z direction motion axis under the calibration environment state, and the target working distance corresponding to the target calibration object under the calibration environment state is determined according to the initial working distance.

[0063] Optionally, a target working distance corresponding to the target calibration object in the calibration environment state is determined according to the initial working distance, specifically for: Using a visual sensor to collect a corresponding position image based on the initial working distance, and determining the image clarity corresponding to the position image according to the position image; The target working distance corresponding to the target calibration object under the calibration environment state is determined according to the image clarity and the initial working distance.

[0064] Optionally, the actual optimal focal plane working distance of the visual sensor under the current environmental state is determined according to the optimal focal plane calibration data set, actual humidity, actual temperature and actual air pressure, specifically for: According to the optimal focal plane calibration data set, actual humidity, actual temperature and actual air pressure, a table lookup and interpolation is performed to obtain the actual optimal focal plane working distance of the visual sensor under the current environmental conditions.

[0065] The optimal focus plane control device for a visual sensor provided in an embodiment of the present invention can execute the optimal focus plane control method for a visual sensor provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the optimal focus plane control method for a visual sensor.

[0066] Embodiment 4 Continue to see Figure 2 As shown in the figure, the environmental control system includes multiple temperature sensors, multiple humidity sensors, multiple air pressure sensors and distance sensors. When the visual sensor is calibrated at the optimal focal plane, the humidity, temperature and air pressure can be controlled independently. Figure 2 The environmental control system shown in the figure is assembled. Figure 2 The device also includes but is not limited to a visual sensor 10, a Z-axis motion axis 20, a target calibration object 30, a control cabinet, and the like.

[0067] The humidity sensor is set in a place with good air circulation within 2m around the equipment connected to the visual sensor, and avoids the radiator or air outlet to monitor the changes in environmental humidity. A humidity sensor.

[0068] The temperature sensor is set within 0.2m around the visual sensor. In addition, a temperature sensor is placed on the support structure of the vision sensor. A temperature sensor is placed on the support structure of the target calibration object. A temperature sensor is used to jointly monitor the temperature changes of the environment where the visual sensor is located.

[0069] The air pressure sensor can be realized by selecting a barometer. The air pressure sensor is installed on the upper part of the equipment connected to the visual sensor or inside the control cabinet, and avoids the position of the air flow inlet and outlet. It can be known that it can be placed A pressure sensor, which is used to monitor the changes in air pressure in the environment where the visual sensor is located.

[0070] The distance measuring sensor can be implemented by selecting a laser distance measuring sensor. The distance measuring sensor is set within 0.2m near the visual sensor. It can be known that one laser distance measuring sensor can be placed to measure different working distances from the visual sensor to the surface of the target calibration object.

[0071] Furthermore, Figure 5 FIG. 4 is a schematic diagram showing a structure of an environmental control system 410 that can be used to implement an embodiment of the present invention. The environmental control system includes a visual sensor, such as Figure 5 As shown, the environmental control system 410 also includes at least one processor 411, and a memory connected to the at least one processor 411, such as a read-only memory (ROM 412), a random access memory (RAM 413), etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM 412) or the computer program loaded from the storage unit 418 to the random access memory (RAM 413). In RAM 413, various programs and data required for the operation of the environmental control system 410 can also be stored. The processor 411, ROM 412 and RAM 413 are connected to each other through a bus 414. An I / O (input / output) interface 415 is also connected to the bus 414.

[0072] Multiple components in the environmental control system 410 are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a disk, an optical disk, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the environmental control system 410 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0073] The processor 411 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 411 executes the various methods and processes described above, such as the optimal focus control method of the visual sensor.

[0074] In some embodiments, the visual sensor optimal focus control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on the environmental control system 410 via the ROM 412 and / or the communication unit 419. When the computer program is loaded into the RAM 413 and executed by the processor 411, one or more steps of the visual sensor optimal focus control method described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to execute the visual sensor optimal focus control method in any other appropriate manner (e.g., by means of firmware).

[0075] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0076] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0077] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0078] To provide interaction with a user, the systems and techniques described herein may be implemented on an environmental control system having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball), through which the user can provide input to the environmental control system. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0079] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0080] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0081] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0082] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling the optimal focal plane of a visual sensor, characterized in that: The optimal focal plane control method of the visual sensor is applied to an environmental control system, wherein the environmental control system is equipped with a visual sensor, and the optimal focal plane control method of the visual sensor comprises: Based on the calibration environment state corresponding to the multiple target humidity, multiple target temperature and multiple target air pressure of the visual sensor, obtain the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state; Acquire a target working distance corresponding to a target calibration object under the calibration environment state, and generate an optimal focal plane calibration data set of the visual sensor according to the target humidity, the target temperature, the target air pressure, the calibration humidity, the calibration temperature, the calibration air pressure and the target working distance; The actual humidity, actual temperature and actual air pressure of the visual sensor under the current environmental state are obtained, and the actual optimal focal plane working distance of the visual sensor under the current environmental state is determined according to the optimal focal plane calibration data set, the actual humidity, the actual temperature and the actual air pressure.

2. The optimal focal plane control method of a visual sensor according to claim 1, characterized in that: The optimal focal plane control method of the visual sensor also includes: The initial humidity, initial temperature and initial air pressure in the initial environment state where the visual sensor is located are obtained, and multiple target humidity, multiple target temperatures and multiple target air pressures are determined based on the initial humidity, the initial temperature and the initial air pressure.

3. The optimal focal plane control method of a visual sensor according to claim 1, characterized in that: The environmental control system is equipped with a temperature sensor, a humidity sensor and an air pressure sensor; Based on the calibration environment state corresponding to the multiple target humidity, multiple target temperature and multiple target air pressure of the visual sensor, the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state are obtained, including: Based on the calibration environment state of the corresponding visual sensor determined by selecting the target humidity, the target temperature and the target air pressure in sequence, the calibration humidity measured by the humidity sensor, the calibration temperature measured by the temperature sensor and the calibration air pressure measured by the pressure sensor under the calibration environment state are obtained.

4. The optimal focal plane control method of a visual sensor according to claim 1, characterized in that: Obtaining a target working distance corresponding to a target calibration object under the calibration environment state includes: An initial working distance of the target calibration object in the Z direction is obtained by using the Z direction motion axis to control the movement of the target calibration object in the Z direction under the calibration environment state, and a target working distance corresponding to the target calibration object in the calibration environment state is determined according to the initial working distance.

5. The optimal focal plane control method of a visual sensor according to claim 4, characterized in that: Determining a target working distance corresponding to the target calibration object under the calibration environment state according to the initial working distance includes: Based on the initial working distance, the visual sensor is used to collect a corresponding position image, and the image clarity corresponding to the position image is determined according to the position image; A target working distance corresponding to the target calibration object under the calibration environment state is determined according to the image clarity and the initial working distance.

6. The optimal focal plane control method of a visual sensor according to claim 1, characterized in that: Determining the actual optimal focal plane working distance of the visual sensor under the current environmental state according to the optimal focal plane calibration data set, the actual humidity, the actual temperature, and the actual air pressure includes: Table lookup and interpolation are performed according to the optimal focal plane calibration data set, the actual humidity, the actual temperature and the actual air pressure to obtain the actual optimal focal plane working distance of the visual sensor under the current environmental state.

7. A visual sensor optimal focus control device, characterized in that: The optimal focal plane control device for a visual sensor is applied to an environmental control system, wherein a visual sensor is installed in the environmental control system. The optimal focal plane control device for a visual sensor comprises: A parameter acquisition module, used to execute the calibration environment state corresponding to multiple target humidity, multiple target temperature and multiple target air pressure of the visual sensor, and obtain the calibration humidity, calibration temperature and calibration air pressure under the calibration environment state; a calibration data set generation module, configured to obtain a target working distance corresponding to a target calibration object under the calibration environment state, and generate an optimal focal plane calibration data set of the visual sensor according to the target humidity, the target temperature, the target air pressure, the calibration humidity, the calibration temperature, the calibration air pressure and the target working distance; The visual sensor optimal focal plane control module is used to obtain the actual humidity, actual temperature and actual air pressure of the visual sensor under the current environmental state, and determine the actual optimal focal plane working distance of the visual sensor under the current environmental state according to the optimal focal plane calibration data set, the actual humidity, the actual temperature and the actual air pressure.

8. An environmental control system, characterized in that: The environmental control system includes a visual sensor; The environmental control system also includes: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the optimal focus plane control method for a visual sensor according to any one of claims 1 to 6.

9. The environmental control system according to claim 8, characterized in that: The environmental control system also includes a plurality of temperature sensors, a plurality of humidity sensors, a plurality of air pressure sensors and a distance measuring sensor.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the optimal focal plane control method for a visual sensor according to any one of claims 1 to 6 when executed.

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