Method for performing side view camera visual positioning by using laser compensation

Abstract

The invention provides a method for performing side-view camera visual localization by using laser compensation, which comprises the following steps of: 1, acquiring real-time height data of a side-view camera, and adjusting the height of the camera based on the focal length of the side-view camera; step 2, acquiring a Mark point image, and calculating pixel offset of a Mark point based on a visual identification algorithm; and step 3, based on the relative position of the Mark point, calculating the translation offset and the rotation angle of the PCB. Through double detection of laser and vision, the system can accurately calculate translation and rotation offset, and the detection accuracy is remarkably improved. The automatic laser focusing function ensures that images of elements with different heights are clear, the manual focusing time is shortened, and the detection efficiency is improved. Through accurate measurement of the relative position of the Mark point, the rotation error accumulation phenomenon is effectively reduced, and the detection result is more reliable. The compensation system is higher in stability in a complex environment and is not influenced by vibration or illumination fluctuation, and a reliable detection scheme is provided for the modern electronic manufacturing industry.

Description

Technical Field

[0001] The invention relates to a positioning method, in particular to a method for performing visual positioning of a side-view camera using laser compensation, and belongs to the technical field of visual positioning. Background Art

[0002] A side-view camera is an optical device used for precision inspection. It is usually installed on electronic manufacturing lines to capture side images of components to detect defects such as welding quality and positional deviation.

[0003] Currently in the field of electronics manufacturing, the re-inspection of side-view cameras is mostly based on the following methods:

[0004] Visual system separate detection: Through image recognition technology, detect the position offset and rotation angle of the mark point, and calculate the relative translation and rotation offset.

[0005] Reference point calibration: Specific points on the PCB are calibrated manually or by machine in advance to facilitate quick positioning during subsequent inspections.

[0006] Multi-image calibration: Capture mark point images at multiple angles to reduce error accumulation caused by a single angle view.

[0007] This method usually does not use additional auxiliary sensors and relies only on visual algorithms for positioning and offset analysis. Although this method performs well in simpler detection scenarios, it has the following drawbacks in precision electronics manufacturing:

[0008] 1. Limited positioning accuracy: In the detection of highly complex and tiny components, it is difficult to cope with tiny deviations by relying solely on the visual system, resulting in insufficient positioning accuracy.

[0009] 2. Rotational error accumulation: The visual system is prone to error accumulation when calculating the rotation angle and cannot accurately measure the deviation of small rotation angles.

[0010] 3. Unable to automatically adjust focus: As the height of the component changes, it is difficult for the visual system to adjust the focus in real time, causing image blur and affecting detection accuracy.

[0011] 4. Poor adaptability to complex environments: In complex environments such as vibration or lighting, pure visual recognition is easily disturbed, resulting in inaccurate positioning.

[0012] Therefore, a method of visual positioning of side-view camera using laser compensation is proposed. Summary of the invention

[0013] In view of this, the present invention provides a method for visual positioning of a side-view camera using laser compensation to solve or alleviate one of the technical problems existing in the prior art and at least provide a beneficial option.

[0014] The technical solution of the embodiment of the present invention is implemented as follows: A method for visual positioning of a side-view camera using laser compensation comprises the following steps:

[0015] Step 1: Obtain real-time height data of the side-view camera, and adjust the camera height based on the focal length of the side-view camera;

[0016] Step 2: Obtain the Mark point image and calculate the pixel offset of the Mark point based on the visual recognition algorithm;

[0017] Step 3: Calculate the translation offset and rotation angle of the PCB based on the relative position of the Mark point;

[0018] Step 4: Calculate the new coordinates after translation and rotation, and adjust the camera position based on the new coordinate parameters;

[0019] Step 5: Use laser sensor for height compensation.

[0020] Further preferred: in step 1, before obtaining the real-time height data of the side-view camera, the side-view camera is moved above the Mark point position.

[0021] Further preferably, in step 1, the actual distance between the side-view camera and the Mark point is measured using a laser sensor, and the height of the camera is adjusted according to the measured distance and the focal length of the side-view camera.

[0022] Further preferably, in step 2, two diagonal Mark point images are collected for visual recognition analysis.

[0023] Further preferably, in step 2, the pixel offset between the actual image and the calibration image is calculated by visual recognition technology, and the pixel offset is converted into millimeter units to determine the specific displacement value of the Mark point.

[0024] Further preferably: in step three, the translation and rotation offset of the PCB is calculated using the relative position change between the two Mark points.

[0025] Further preferably: in step 4, a new observation point position is calculated according to the translation offset (Δx, Δy) and the rotation angle Δθ, and the actual coordinates of the side view camera are adjusted according to the observation point position coordinates.

[0026] Further preferably: in step five, after the side view camera system moves to above the compensated point position, the camera focus is adjusted again using the laser sensor.

[0027] An electronic device, comprising: at least one processor, and a memory communicatively connected to the at least one processor;

[0028] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a method for visual positioning of a side-view camera using laser compensation.

[0029] A computer-readable storage medium stores computer instructions for causing a computer to execute a method for visual positioning of a side-view camera using laser compensation.

[0030] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution:

[0031] 1. Through dual detection of laser and vision, the system of the present invention can accurately calculate translation and rotation offset, which significantly improves the accuracy of detection.

[0032] 2. The laser automatic focusing function of the present invention ensures clear images of components at different heights, reduces manual focusing time, and improves detection efficiency.

[0033] 3. The present invention effectively reduces the accumulation of rotation errors by accurately measuring the relative positions of the Mark points, making the detection results more reliable.

[0034] 4. The compensation system of the present invention has stronger stability in complex environments and is not affected by vibration or light fluctuations, providing a reliable detection solution for the modern electronic manufacturing industry.

[0035] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 It is a flow chart of the method of the present invention;

[0038] Figure 2 It is a system structure diagram of the present invention. DETAILED DESCRIPTION

[0039] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0040] It should be clear that the following embodiments of the present disclosure are described by specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other in the absence of conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0041] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0042] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present disclosure. The drawings only show components related to the present disclosure rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0043] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0044] like Figure 1 As shown, an embodiment of the present invention provides a method for visual positioning of a side-view camera using laser compensation, comprising the following steps:

[0045] Step 1: Before obtaining the real-time height data of the side-view camera, move the side-view camera to the position above the Mark point to obtain the real-time height data of the side-view camera. Use the laser sensor to measure the actual distance between the side-view camera and the Mark point. According to the measured distance, the focal length of the camera and the accuracy requirements, adjust the height of the camera through the control system accordingly, and ensure the accuracy of the height data through verification and adjustment.

[0046] Step 2: Collect two diagonal Mark point images for visual recognition analysis. Calculate the pixel offset between the actual image and the calibration image through visual recognition technology, and convert the pixel offset into millimeter units to determine the specific displacement value of the Mark point. This is completed by converting the known pixel to millimeter ratio. The specific steps of calculating the pixel offset between the actual image and the calibration image through visual recognition technology include:

[0047] S1, converting the actual image and the calibration image into grayscale images, and performing filtering and denoising processing;

[0048] S2, extract the features of the Mark points from the actual image and the calibration image, match the features in the actual image with the features in the calibration image, and find the corresponding Mark points;

[0049] S3. In the calibration image, record the initial coordinates of the Mark point, find the matching Mark point in the actual image, and record its coordinates. According to the coordinates of the Mark point in the actual image and the coordinates of the Mark point in the calibration image, calculate the pixel offset on the X-axis and Y-axis.

[0050] Step 3: Use the relative position change between the two Mark points to calculate the translation and rotation offset of the PCB. Usually, the relative position change of the Mark points reflects the offset of the PCB in the horizontal (X-axis) and vertical (Y-axis) directions, as well as the rotation angle (θ).

[0051] Step 4: Calculate the new observation point coordinate position according to the translation offset (Δx, Δy) and the rotation angle Δθ, and adjust the actual coordinates of the side view camera according to the observation point position coordinates;

[0052] Step 5: After the side-view camera system moves to the position above the compensated point, use the laser sensor to adjust the camera focus again to complete the second height compensation to ensure a clear field of view and accurate position. This step can further improve the positioning accuracy and detection effect of the system.

[0053] The present invention adds a laser sensor to assist in adjusting the focal length of the camera during the detection of the position of the Mark point, and accurately adjusts the camera to the focal position through laser measurement, thereby ensuring the clarity of the image and the measurement accuracy. The laser sensor detects the height of the Mark point and accurately locates it, so that the system can more accurately calculate the relative position change between the Mark points, thereby obtaining the precise offset of the translation and rotation angles. The problem of rotation error accumulation in the traditional method is avoided. The laser sensor automatically adjusts the focal length of the camera according to the change of the component height, ensuring that the image can be kept clear in the detection of components at different heights, thereby improving the detection accuracy. The laser sensor can stably provide accurate height and position data in complex environments, so that the system can maintain a high detection accuracy in environments such as vibration or light fluctuations.

[0054] The present invention uses dual detection of laser and vision, and the system can accurately calculate translation and rotation offsets, significantly improving the accuracy of detection. The laser automatic focusing function of the present invention ensures clear images of components at different heights, reduces manual focusing time, and improves detection efficiency. The present invention effectively reduces the accumulation of rotation errors by accurately measuring the relative positions of the Mark points, making the detection results more reliable. The compensation system of the present invention has stronger stability in complex environments and is not affected by vibration or light fluctuations, providing a reliable detection solution for the modern electronics manufacturing industry.

[0055] Example 2

[0056] like Figure 2 As shown, an embodiment of the present invention provides a system for visual positioning of a side-view camera using laser compensation, including an AOI device, a client, a side-view camera, a laser sensor and a visual recognition system, wherein the AOI device is used to output point coordinates to the client; the optical sensor is used to obtain height compensation data and feed the data back to the client; the client is used to control the drive system to move the position and height of the side-view camera; the side-view camera is used to capture Mark point images and send the images to the visual recognition system; the visual recognition system is used to calculate the translation offset and rotation angle of the PCB, and send the results to the client.

[0057] Example 3

[0058] An electronic device, comprising: at least one processor, and a memory communicatively connected to the at least one processor;

[0059] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute a method for visual positioning of a side-view camera using laser compensation.

[0060] Exemplarily, the computer program may be divided into one or more modules / units, one or more modules / units are stored in a memory and executed by a processor to implement the present invention. One or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, and the instruction segments are used to describe the execution process of the computer program in a computer device.

[0061] The processor can be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete preset hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0062] The memory may be an internal storage unit of a computer device, such as a hard disk or memory of the computer device. The memory may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card, a secure digital card, a flash memory card, etc. equipped on the computer device. Furthermore, the memory may also include both an internal storage unit of a computer device and an external storage device.

[0063] Example 4

[0064] A computer-readable storage medium stores computer instructions for causing a computer to execute a method for visual positioning of a side-view camera using laser compensation.

[0065] The computer program may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of each of the above method embodiments may be implemented. The computer program includes computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electric carrier signal, telecommunication signal and software distribution medium, etc.

[0066] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0067] The steps in the method of the embodiment of the present invention can be adjusted in order, combined or deleted according to actual needs.

[0068] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic preset hardware, or in a combination of computer software and electronic preset hardware. Whether these functions are performed in preset hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0069] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for visual positioning of a side-view camera using laser compensation, characterized in that: The following steps are involved: Step 1: Obtain real-time height data of the side-view camera, and adjust the camera height based on the focal length of the side-view camera; Step 2: Obtain the Mark point image and calculate the pixel offset of the Mark point based on the visual recognition algorithm; Step 3: Calculate the translation offset and rotation angle of the PCB based on the relative position of the Mark point; Step 4: Calculate the new coordinates after translation and rotation, and adjust the camera position based on the new coordinate parameters; Step 5: Use laser sensor for height compensation.

2. The method for visual positioning of a side-view camera using laser compensation according to claim 1, characterized in that: In step 1, before obtaining the real-time height data of the side view camera, move the side view camera to above the Mark point position.

3. The method for side-view camera visual positioning using laser compensation according to claim 1, characterized in that: In step 1, the actual distance between the side-view camera and the Mark point is measured using a laser sensor, and the height of the camera is adjusted according to the measured distance and the focal length of the side-view camera.

4. The method for visual positioning of a side-view camera using laser compensation according to claim 1, characterized in that: In step 2, two diagonal Mark point images are collected for visual recognition analysis.

5. The method for visual positioning of a side-view camera using laser compensation according to claim 1, characterized in that: In step 2, the pixel offset between the actual image and the calibration image is calculated through visual recognition technology, and the pixel offset is converted into millimeter units to determine the specific displacement value of the Mark point.

6. The method for visual positioning of a side-view camera using laser compensation according to claim 1, characterized in that: In step three, the relative position change between the two mark points is used to calculate the translation and rotation offset of the PCB.

7. The method for visual positioning of a side-view camera using laser compensation according to claim 1, characterized in that: In step 4, the new observation point position is calculated according to the translation offset (Δx, Δy) and the rotation angle Δθ, and the actual coordinates of the side view camera are adjusted according to the observation point position coordinates.

8. The method for visual positioning of a side-view camera using laser compensation according to claim 1, characterized in that: In step five, after the side view camera system moves to the compensated point position, the laser sensor is used to adjust the camera focus again.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor, and a memory communicatively connected to the at least one processor; Wherein, the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method for visual positioning of a side-view camera using laser compensation as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, which are used to enable a computer to execute a method for performing side-view camera visual positioning using laser compensation as described in any one of claims 1-8.

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