Control method, system and device of image acquisition equipment and readable storage medium

Abstract

The invention discloses a control method, system and device of image acquisition equipment and a readable storage medium. The method comprises the steps that a plurality of preset road sign points of the laser range finder are determined, and the preset road sign points are located on the same horizontal plane; the laser range finder is controlled to measure height information of the surface of the to-be-measured object in the moving process according to the moving path formed by the multiple preset road sign points, and the height information is used for representing height changes of the surface of the to-be-measured object; based on the height information, determining a height position coordinate when the image acquisition device acquires the image data of the surface of the to-be-measured object; generating a height motion path of the image acquisition equipment based on the height position coordinates and the position coordinates of the positions of the plurality of preset road sign points; and controlling the image acquisition equipment to acquire image data of the surface of the to-be-measured object in a process of moving according to the height motion path. According to the invention, the technical problem that the to-be-measured object cannot be measured or detected correctly is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of visual acquisition, and in particular, to a control method, system, device and readable storage medium for an image acquisition device. Background Art

[0002] Currently, with the development of industrial inspection technology and the improvement of manufacturing precision, there are more and more high-precision inspection requirements in automated production. Based on this, high-precision line cameras and area cameras have been widely used, which can scan the surface of the object to be measured, and then complete the detection and classification of the object to be measured based on the scanning results.

[0003] In the related art, when using a line camera or an area camera to scan an object to be measured, the imaging clarity of the camera can be adjusted at the initial position, and the scanning height of the camera can be set, and the camera is controlled to scan the surface of the object to be measured at the scanning height. However, due to errors in the mechanical installation accuracy of the device and the unevenness of the surface of the object to be measured, the height differences between different regions of the surface of the object to be measured and the camera are different, resulting in a certain deviation between the measurement and detection results of the camera and the actual situation, so that the correct measurement or detection of the object to be measured cannot be made.

[0004] In view of the above problem that the correct measurement or detection of the object to be measured cannot be made, no effective solution has been proposed yet. Summary of the Invention

[0005] Embodiments of the present invention provide a control method, system, device and readable storage medium for an image acquisition device, so as to at least solve the technical problem that the correct measurement or detection of the object to be measured cannot be made.

[0006] According to one aspect of the embodiments of the present invention, a control method for an image acquisition device is provided. The method may include: determining a plurality of preset waypoints of a laser rangefinder, wherein the plurality of preset waypoints are on the same horizontal plane; controlling the laser rangefinder to measure the height information of the surface of the object to be measured during the movement along the movement path formed by the plurality of preset waypoints, wherein the height information is used to represent the height change of the surface of the object to be measured; determining the height position coordinates of the image acquisition device when collecting the image data of the surface of the object to be measured based on the height information; generating a height movement path of the image acquisition device based on the height position coordinates and the position coordinates of the positions where the plurality of preset waypoints are located; controlling the image acquisition device to collect the image data of the surface of the object to be measured during the movement along the height movement path.

[0007] According to one aspect of an embodiment of the present invention, there is also provided a control device for an image acquisition device. The device may include: a first determination unit configured to determine a plurality of preset waypoints of a laser rangefinder, wherein the plurality of preset waypoints are on the same horizontal plane; a first control unit configured to control the laser rangefinder to measure the height information of the surface of a to-be-measured object during the movement along the movement path formed by the plurality of preset waypoints, wherein the height information is used to represent the height change of the surface of the to-be-measured object; a second determination unit configured to determine the height position coordinates when the image acquisition device acquires the image data of the surface of the to-be-measured object based on the height information; a generation unit configured to generate a height movement path of the image acquisition device based on the height position coordinates and the position coordinates of the positions where the plurality of preset waypoints are located; and a second control unit configured to control the image acquisition device to acquire the image data of the surface of the to-be-measured object during the movement along the height movement path.

[0008] According to one aspect of an embodiment of the present invention, there is also provided a control system for an image acquisition device. The control system includes: a laser rangefinder, an image acquisition device, and a control unit; the laser rangefinder is configured to measure the height information of the surface of a to-be-measured object during the movement along the movement path formed by the plurality of preset waypoints, wherein the height information is used to represent the height change of the surface of the to-be-measured object, and the plurality of preset waypoints are on the same horizontal plane; the control unit is connected to the laser rangefinder and is configured to determine the image data of the surface of the to-be-measured object acquired by the image acquisition device based on the height information; generate a height movement path of the image acquisition device based on the height position coordinates and the position coordinates of the positions where the plurality of preset waypoints are located; the image acquisition device is connected to the control unit and is configured to acquire the image data of the surface of the to-be-measured object during the movement along the height movement path, and the image acquisition device and the laser rangefinder are mounted on the same mechanical axis.

[0009] According to one aspect of an embodiment of the present invention, there is also provided a computer-readable storage medium. The computer-readable storage medium includes a stored program, wherein when the program runs, it controls the device where the storage medium is located to execute the control method of the image acquisition device according to the embodiment of the present invention.

[0010] According to one aspect of an embodiment of the present invention, there is also provided a processor. The processor is configured to run a program, wherein when the program is run by the processor, it executes the control method of the image acquisition device according to the embodiment of the present invention.

[0011] In the embodiments of the present application, the height information of the surface of the object to be measured is measured in advance by a laser rangefinder. Based on this height information, it can be determined whether different regions of the surface of the object to be measured are flat. Furthermore, according to the height information of the surface of the object to be measured measured by the laser rangefinder, the height position coordinates when the image acquisition device acquires the image data of the surface of the object to be measured are determined, so as to ensure that during the movement of the image acquisition device according to the height position coordinates, the relative height between the image acquisition device and the surface of the object to be measured is fixed, so as to avoid the problem of inconsistent imaging clarity when the image acquisition device acquires the image data of the surface of the object to be measured due to the unevenness of the surface of the object to be measured, and achieve the purpose of ensuring imaging clarity without adjusting parameters such as the focal length when the image acquisition device acquires the image data of different regions of the surface of the object to be measured. Furthermore, the technical effect of improving the accuracy of detecting the object to be measured by using the image data acquired by the image acquisition device is realized, thereby solving the technical problem of being unable to make a correct measurement or detection of the object to be measured. Description of the Drawings

[0012] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0013] Figure 1 is a flowchart of a control method for an image acquisition device according to an embodiment of the present invention;

[0014] Figure 2 is a schematic diagram of a control system for an image acquisition device according to an embodiment of the present invention;

[0015] Figure 3 is a schematic diagram of the surface of an object to be measured according to an embodiment of the present invention;

[0016] Figure 4 is a schematic diagram of a mechanical shaft according to an embodiment of the present invention;

[0017] Figure 5 is a schematic diagram of a laser rangefinder and an image acquisition device according to an embodiment of the present invention;

[0018] Figure 6 is a schematic diagram of the line scan result of a laser rangefinder on the surface of an object to be measured according to an embodiment of the present invention;

[0019] Figure 7 is a schematic diagram of a control device for an image acquisition device according to an embodiment of the present invention. Detailed Embodiments

[0020] To enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0021] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0022] According to an embodiment of the present invention, an embodiment of a control method for an image acquisition device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0023] Figure 1 is a flowchart of a control method for an image acquisition device according to an embodiment of the present invention. As Figure 1 shown, the method may include the following steps:

[0024] Step S101, determining a plurality of preset waypoints of the laser rangefinder.

[0025] In the technical solution provided in step S101 of the present invention above, the plurality of preset waypoints are shooting points on the scanning path of the pre-set image acquisition device, where the plurality of preset waypoints may be on the same horizontal plane. The laser rangefinder and the image acquisition device are arranged on the same mechanical axis, and the relative height between them is fixed. The image acquisition device may be a line array camera or a area array camera, and no specific limitation is made here.

[0026] In this embodiment, a plurality of shooting points for the pre-set image acquisition device to collect image data of the surface of the object to be measured can be determined as the plurality of preset waypoints of the laser rangefinder, and the connection lines of the plurality of preset waypoints can form the scanning path of the laser rangefinder.

[0027] Step S102: During the process of controlling the laser rangefinder to move along a movement path formed by a plurality of preset waypoints, measure the height information of the surface of the object to be measured.

[0028] In the technical solution provided in step S102 of the present invention, after determining the plurality of preset waypoints of the laser rangefinder, the connection line of the plurality of preset waypoints can be determined as the movement path of the laser rangefinder, that is, the scanning path of the laser rangefinder. Since the plurality of preset waypoints are on the same horizontal plane, based on this, during the process of controlling the laser rangefinder to move along the movement path formed by the plurality of preset waypoints, measure the height information of the surface of the object to be measured, where the height information is used to represent the height change of the surface of the object to be measured, and the height change can indicate whether the surface of the object to be measured is flat.

[0029] In this embodiment, the laser rangefinder is disposed opposite to the surface of the object to be measured. Based on this, during the process of controlling the laser rangefinder to move along the movement path, the laser rangefinder can be controlled to continuously emit laser beams. After the laser beams irradiate the surface of the object to be measured, they will be reflected back by the surface of the object to be measured. The laser rangefinder can receive the reflected light signals, and then, according to the time interval from emitting the laser beams to receiving the reflected light signals and the laser transmission speed, calculate the distance between the laser rangefinder and the surface of the object to be measured, and further determine the height information of the surface of the object to be measured based on this distance, that is, the concave and convex conditions of the surface of the object to be measured.

[0030] For example, since the plurality of preset waypoints are on the same horizontal plane, based on this, if the surface of the object to be measured is uneven, the distances measured between the surface of the object to be measured and the laser rangefinder during the process of the laser rangefinder moving along the movement path formed by the connection line of the plurality of preset waypoints are not equal. If the surface of the object to be measured is flat, the distances measured between the surface of the object to be measured and the laser rangefinder by the laser rangefinder are equal. That is, during the process of the laser rangefinder moving along the movement path, the distance measured between the surface of the object to be measured and it can indicate the height change condition of the surface of the object to be measured. For example, if the surface of the object to be measured is sunken, the distance measured between the surface of the object to be measured and the laser rangefinder is farther, and conversely, if the surface of the object to be measured is convex, the distance measured between the surface of the object to be measured and the laser rangefinder is closer.

[0031] Optionally, the laser rangefinder can be controlled to scan the height information of different regions of the surface of the object to be measured. Since the laser rangefinder and the image acquisition device are installed on the same mechanical axis and the relative distance between the laser rangefinder and the image acquisition device is fixed, based on this, after the laser rangefinder measures the height information of different regions of the surface of the object to be measured, that is, when the image acquisition device acquires the image data of different regions of the surface of the object to be measured, the height change information of the movement path of the image acquisition device can be obtained.

[0032] Step S103: Based on the height information, determine the height position coordinates when the image acquisition device acquires the image data of the surface of the object to be measured.

[0033] In the technical solution provided in step S103 of the present invention, after obtaining the height information of the surface of the object to be measured, since the laser rangefinder and the image acquisition device are installed on the same mechanical axis and the relative height between the laser rangefinder and the image acquisition device is fixed, based on this, the height position coordinates when the image acquisition device acquires the image data of the surface of the object to be measured can be determined according to the height information and the relative height between the laser rangefinder and the image acquisition device. It should be noted that when the image acquisition device acquires the image data of the surface of the object to be measured, the distance between the image acquisition device and the surface of the object to be measured remains unchanged, so as to ensure that the imaging clarity of the image acquisition device remains unchanged.

[0034] In this embodiment, after determining the height information of the surface of the object to be measured, it is possible to determine whether the surface of the object to be measured is flat based on the height information. If it is not flat, the height distance between the image acquisition device and the surface of the object to be measured when acquiring the image data of the surface of the object to be measured can be adjusted according to the height information, so that the imaging clarity of the image data acquired by the image acquisition device when acquiring the image data of different regions of the object to be measured is consistent.

[0035] For example, as introduced above, the laser rangefinder and the image acquisition device are installed on the same mechanical axis and the relative height between the laser rangefinder and the image acquisition device is fixed. The laser rangefinder and the image acquisition device are both arranged opposite to the surface of the object to be measured. Based on this, after determining the height information of the surface of the object to be measured, the target height information of the position where the image acquisition device is located when acquiring the image data of the surface of the object to be measured can be determined according to the height information of the surface of the object to be measured and the relative height between the image acquisition device and the laser rangefinder.

[0036] Optionally, since the image acquisition device and the laser rangefinder are installed on the same mechanical axis, based on this, if the distance between the image acquisition device and the surface of the object to be measured is greater than the distance between the laser rangefinder and the surface of the object to be measured, it means that the distance between the image acquisition device and the surface of the object to be measured is larger. In this case, the sum value of the height value of each point included in the height information of the surface of the object to be measured and the relative height between the laser rangefinder and the image acquisition device can be determined as the target height information of the position where the image acquisition device is located when acquiring the image data of the surface of the object to be measured.

[0037] Optionally, if the distance between the image acquisition device and the surface of the object to be measured is less than the distance between the laser rangefinder and the surface of the object to be measured, it indicates that the distance between the laser rangefinder and the surface of the object to be measured is greater. In this case, the height value of each point included in the height information of the surface of the object to be measured, as well as the difference in the relative height between the laser rangefinder and the image acquisition device, can be determined as the target height information of the position where the image acquisition device acquires the image data of the surface of the object to be measured.

[0038] Optionally, after determining the target height information of the position where the image acquisition device acquires the image data of the surface of the object to be measured, the height position coordinates of the position corresponding to the target height information can be determined as the height position coordinates of the image acquisition device when acquiring the image data of the surface of the object to be measured.

[0039] Step S104: Generate a height movement path of the image acquisition device based on the height position coordinates and the position coordinates of the positions where multiple preset waypoints are located.

[0040] In the technical solution provided in step S104 of the present invention, after determining the height position coordinates of the image acquisition device when acquiring the image data of the surface of the object to be measured, a height movement path of the image acquisition device can be generated according to the height position coordinates and the position coordinates of the positions where multiple preset waypoints are located. Among them, the height between each point on the movement path and the surface of the object to be measured remains unchanged.

[0041] For example, the height position coordinates in the position coordinates of the positions where multiple preset waypoints are located can be replaced with the height position coordinates of the image acquisition device when acquiring the image data of the surface of the object to be measured at the corresponding positions, so as to obtain updated preset waypoints, and the connection line of the positions where the updated preset waypoints are located is determined as the height movement path of the image acquisition device.

[0042] Optionally, as can be seen from the introduction of step S101 above, multiple preset waypoints are shooting points on the scanning path of the pre-set image acquisition device. Based on this, after updating the multiple preset waypoints, the image acquisition device can be controlled to be at any updated preset waypoint, and then the clarity of the image acquisition device can be adjusted so that the image acquisition device can clearly acquire the image data of the surface of the object to be measured. After that, the clarity of the image acquisition device is controlled to remain unchanged.

[0043] Step S105: Control the image acquisition device to acquire the image data of the surface of the object to be measured while moving along the height movement path.

[0044] In the technical solution provided in step S105 of the present invention above, after determining the height movement path of the image acquisition device and adjusting the clarity of the image acquisition device, during the process of controlling the image acquisition device to move along the height movement path, the image data on the surface of the object to be measured can be acquired.

[0045] Optionally, if the height of the image acquisition device is variable, the height movement path can be stored in the image acquisition device, and then the image acquisition device can be controlled to move along the height movement path, and the distance between the image acquisition device and the surface of the object to be measured can be adjusted in real time, so that the distance between the image acquisition device and the surface of the object to be measured remains unchanged, so as to ensure that the clarity of the acquired image data remains consistent without modifying the shooting clarity of the image acquisition device.

[0046] Optionally, as introduced above, the image acquisition device and the laser rangefinder are installed on the same mechanical axis. If the height of the mechanical axis is variable, the height movement path can also be stored in the height control end of the mechanical axis, and then the height of the mechanical axis can be adjusted to adjust the distance between the image acquisition device and the surface of the object to be measured, so that the distance between the image acquisition device and the surface of the object to be measured remains unchanged.

[0047] In steps S101 to S105 of the present application above, the height information of the surface of the object to be measured is measured in advance by the laser rangefinder. Based on this height information, it can be determined whether different regions of the surface of the object to be measured are flat. Furthermore, according to the height information of the surface of the object to be measured measured by the laser rangefinder, the height position coordinates when the image acquisition device acquires the image data on the surface of the object to be measured are determined, so as to ensure that during the process of the image acquisition device moving according to the height position coordinates, the relative height between the image acquisition device and the surface of the object to be measured is fixed, so as to avoid the problem of inconsistent imaging clarity when the image acquisition device acquires the image data on the surface of the object to be measured due to the unevenness of the surface of the object to be measured, and achieve the purpose of ensuring the imaging clarity without adjusting parameters such as the focal length when the image acquisition device acquires the image data of different regions on the surface of the object to be measured. Furthermore, the technical effect of improving the accuracy of detecting the object to be measured by using the image data acquired by the image acquisition device is achieved, thereby solving the technical problem of being unable to make a correct measurement or detection of the object to be measured.

[0048] The above method of this embodiment will be further introduced below.

[0049] As an alternative embodiment, the laser rangefinder and the image acquisition device are mounted on the same mechanical axis. In step S103, based on the height information, determining the height position coordinates when the image acquisition device acquires the image of the surface of the object to be measured includes: determining the relative height between the laser rangefinder and the image acquisition device; based on the height information and the relative height, determining the target height information of the image acquisition device when the image acquisition device acquires the image data of the surface of the object to be measured; and based on the target height information, determining the height position coordinates when the image acquisition device acquires the image data of the surface of the object to be measured.

[0050] In this embodiment, since the laser rangefinder and the image acquisition device are mounted on the same mechanical axis and both the laser rangefinder and the image acquisition device are directed towards the surface of the object to be measured, based on this, the relative height between the laser rangefinder and the image acquisition device can be determined. Among them, the relative height can be determined by the difference between the height distance between the laser rangefinder and the surface of the object to be measured at the same position and the height distance between the image acquisition device and the surface of the object to be measured.

[0051] Optionally, after determining the relative height between the laser rangefinder and the image acquisition device, based on the acquired height information of the surface of the object to be measured and the relative height, the target height information of the image acquisition device when the image acquisition device acquires the image data of the surface of the object to be measured can be determined, where the target height information can be used to indicate the height change of the position where the image acquisition device is located during the process of acquiring the image data of the surface of the object to be measured.

[0052] For example, since the height information of the surface of the object to be measured is obtained by measuring the distance between each point on the surface of the object to be measured and the laser rangefinder by the laser rangefinder, that is, the height information of the surface of the object to be measured can indicate the concave and convex conditions of the surface of the object to be measured. Based on this, after determining the relative height between the laser rangefinder and the image acquisition device, the height value of each point on the surface of the object to be measured included in the height information of the surface of the object to be measured and the relative height between the laser rangefinder and the image acquisition device can be used to determine the target distance between the image acquisition device and the surface of the object to be measured, and then the target height information of the image acquisition device can be determined based on the target distance.

[0053] Optionally, after determining the target height information of the image acquisition device, based on the target height information, the height value between the image acquisition device and each point on the surface of the object to be measured when the image acquisition device acquires the image data of the surface of the object to be measured can be determined, and then the height position coordinates where the image acquisition device is located when acquiring the image data of the surface of the object to be measured can be determined based on the height value.

[0054] In this embodiment, after determining the distance between the laser rangefinder and the surface of the object to be measured, based on this distance and the relative height between the laser rangefinder and the image acquisition device, the height position coordinates of the position where the image acquisition device is located when collecting the image data of the surface of the object to be measured can be determined, so as to ensure that the distance between the image acquisition device and each point on the surface of the object to be measured is fixed during the movement according to the height position coordinates, so as to ensure the clarity of the image data of the surface of the object to be measured collected by the image acquisition device. Next, the process of determining the target height information of the image acquisition device when collecting the image data of the surface of the object to be measured will be further introduced.

[0055] As an optional implementation manner, based on the height information and the relative height, determining the target height information of the image acquisition device when collecting the image data of the surface of the object to be measured includes: in response to the distance between the image acquisition device and the surface of the object to be measured being greater than the distance between the laser rangefinder and the surface of the object to be measured, determining the sum value of each height value in the height information and the relative height as the target height information of the image acquisition device; in response to the distance between the image acquisition device and the surface of the object to be measured being less than the distance between the laser rangefinder and the surface of the object to be measured, determining the difference value between each height value in the height information and the relative height as the target height information of the image acquisition device.

[0056] In this embodiment, after determining the height information of the surface of the object to be measured and the relative height between the laser rangefinder and the image acquisition device, the target height information of the image acquisition device can be further determined according to the height value of each point on the surface of the object to be measured and the relative height between the laser rangefinder and the image acquisition device, where the target height information can be used to indicate the height change of the position where the image acquisition device is located during the process of collecting the image data of the surface of the object to be measured.

[0057] For example, since the height information of the surface of the object to be measured is used to indicate the concavity and convexity of the surface of the object to be measured, and the laser rangefinder and the image acquisition device are installed on the same mechanical axis, the relative height between the laser rangefinder and the image acquisition device is used to indicate the height difference between the two on the same mechanical axis, that is, the positional relationship in the vertical direction. Based on this, if the distance between the image acquisition device and the surface of the object to be measured is greater than the distance between the laser rangefinder and the surface of the object to be measured, it means that the distance between the image acquisition device and the surface of the object to be measured is larger. In this case, the sum value of the height at which the laser rangefinder is separated from the surface of the object to be measured and the height value of each point on the surface of the object to be measured can be determined as the target height information of the position where the image acquisition device is located when collecting the image data of the surface of the object to be measured.

[0058] Optionally, if the distance between the image acquisition device and the surface of the object to be measured is less than the distance between the laser rangefinder and the surface of the object to be measured, it indicates that the distance between the laser rangefinder and the surface of the object to be measured is greater. In this case, the difference between the height of the distance between the laser rangefinder and the surface of the object to be measured and the height value of each point on the surface of the object to be measured can be determined as the target height information of the position where the image acquisition device is located when acquiring the image data of the surface of the object to be measured.

[0059] In this embodiment, since the image acquisition device and the laser rangefinder are installed on the same mechanical axis, based on this, the relative height between the laser rangefinder and the image acquisition device, as well as the height information of the surface of the object to be measured, can be used to determine the target height information of the position where the image acquisition device is located when acquiring the image data of the surface of the object to be measured, so as to ensure that the height of the distance between each position point where the image acquisition device is located and the surface of the object to be measured remains unchanged when the image acquisition device acquires the image data of the surface of the object to be measured.

[0060] As an optional implementation manner, based on the target height information, determining the height position coordinates of the image acquisition device when acquiring the image data of the surface of the object to be measured includes: based on the target height information, determining the height value between the image acquisition device and the surface of the object to be measured; based on the height value, determining the height position coordinates of the image acquisition device when acquiring the image data of the surface of the object to be measured.

[0061] In this embodiment, the target height information is used to indicate the height change situation of the position where the image acquisition device is located during the process of acquiring the image data of the surface of the object to be measured. Based on this, after determining the target height information, the height position coordinates of the image acquisition device when acquiring the image data of the surface of the object to be measured can be determined according to the height information.

[0062] As an optional implementation manner, step S104, generating the height movement path of the image acquisition device based on the height position coordinates and the position coordinates of multiple preset waypoints includes: using the height position coordinates to replace the height position coordinates in the position coordinates of the multiple preset waypoints to obtain the position coordinates of the target waypoints; determining the connection line of the position coordinates of the target waypoints as the height movement path of the image acquisition device.

[0063] In this embodiment, after determining the height position coordinates of the position where the image acquisition device is located when acquiring the image data of the surface of the object to be measured, the height position coordinates corresponding to the multiple preset waypoints can be further determined, and then the height position coordinates are used to replace the height position coordinates in the position coordinates of the multiple preset waypoints to obtain the position coordinates of the target waypoints. The position coordinates of the target waypoints are the position coordinates of the position where the image acquisition device is located when acquiring the image data of the surface of the object to be measured.

[0064] Optionally, after determining the position coordinates of the target road marking points, the connection line of the position coordinates of the target position points can be determined as the height movement path of the image acquisition device, where the height movement path is used to indicate the travel route of the image acquisition device when acquiring the image data of the surface of the object to be measured.

[0065] As an optional implementation manner, in step S105, when controlling the image acquisition device to move along the height movement path, acquiring the image data of the surface of the object to be measured includes: sending a data acquisition instruction to the image acquisition device, where the data acquisition instruction is used to instruct the image acquisition device to acquire the image data of the surface of the object to be measured during the movement along the height movement path.

[0066] In this embodiment, after determining the travel route of the image acquisition device when acquiring the image data of the surface of the object to be measured, the clarity of the image acquisition device at the initial position point of the travel route can be adjusted so that the image acquisition device can clearly capture the image data of the surface of the object to be measured. If the height of the image acquisition device is adjustable, the height movement path can be stored in the image acquisition device, and then a data acquisition instruction is sent to the image acquisition device to control the image acquisition device to adjust the distance between the image acquisition device and the surface of the object to be measured in real time during the movement along the height movement path, so that the distance between the image acquisition device and the surface of the object to be measured remains unchanged, thereby achieving that the clarity of the acquired image data remains consistent without modifying the shooting clarity of the image acquisition device.

[0067] Optionally, as introduced above, the image acquisition device and the laser rangefinder are installed on the same mechanical axis. If the height of the mechanical axis is variable, the height movement path can also be stored in the height control end of the mechanical axis, and then by adjusting the height of the mechanical axis, the distance between the image acquisition device and the surface of the object to be measured can be adjusted so that when the image acquisition device receives the data acquisition instruction and acquires the image data of the surface of the object to be measured, the distance between the image acquisition device and the surface of the object to be measured remains unchanged, and thus the clarity of the acquired image data of the surface of the object to be measured remains unchanged.

[0068] In the above steps, the height information of the surface of the object to be measured is pre-measured by a laser rangefinder. Based on this height information, it can be determined whether different regions of the surface of the object to be measured are flat. Furthermore, according to the height information of the surface of the object to be measured measured by the laser rangefinder, the height position coordinates when the image acquisition device acquires the image data of the surface of the object to be measured are determined, so as to ensure that during the movement of the image acquisition device according to the height position coordinates, the relative height between the image acquisition device and the surface of the object to be measured is fixed, so as to avoid the problem of inconsistent imaging clarity when the image acquisition device acquires the image data of the surface of the object to be measured due to the unevenness of the surface of the object to be measured, and achieve the purpose of ensuring imaging clarity without adjusting parameters such as the focal length when the image acquisition device acquires the image data of different regions of the surface of the object to be measured. Furthermore, the technical effect of improving the accuracy of detecting the object to be measured using the image data acquired by the image acquisition device is realized, thereby solving the technical problem of being unable to make a correct measurement or detection of the object to be measured.

[0069] The embodiment of the present invention also provides a control system for an image acquisition device. Figure 2 It is a control system for an image acquisition device according to an embodiment of the present invention, as Figure 2 shown. The control system 200 of the image acquisition device includes: a laser rangefinder 201, an image acquisition device 202, and a control unit 203.

[0070] The laser rangefinder 201 is used to measure the height information of the surface of the object to be measured during the movement along a movement path composed of a plurality of preset waypoints. The height information is used to represent the height change of the surface of the object to be measured, and the plurality of preset waypoints are on the same horizontal plane.

[0071] The control unit 202 is used to be connected to the laser rangefinder, and is used to determine the image data of the surface of the object to be measured based on the height information; generate the height movement path of the image acquisition device based on the height position coordinates and the position coordinates of the positions where the plurality of preset waypoints are located.

[0072] The image acquisition device 203 is connected to the control unit and is used to acquire the image data of the surface of the object to be measured during the movement along the height movement path, and the image acquisition device and the laser rangefinder are installed on the same mechanical axis.

[0073] It should be noted that the laser rangefinder 201 is disposed opposite to the surface of the object to be measured, the image acquisition device 203 is disposed opposite to the surface of the object to be measured, and the laser rangefinder 201 is disposed parallel to the image acquisition device 203.

[0074] Figure 3 It is a schematic diagram of the surface of an object to be measured according to an embodiment of the present invention, as Figure 3 shown. The surface of the object to be measured is uneven, that is, the height of the surface of the object to be measured is inconsistent.

[0075] Figure 4 is a schematic diagram of a mechanical shaft according to an embodiment of the present invention. As Figure 4 shown, the mechanical shaft includes a stage, on which a laser rangefinder and an image acquisition device can be installed and moved along the X direction or the Y direction to complete the scanning of the object to be measured or collect the image data of the surface of the object to be measured.

[0076] Figure 5 is a schematic diagram of a laser rangefinder and an image acquisition device according to an embodiment of the present invention. As Figure 5 shown, the laser rangefinder and the image acquisition device are deployed adjacent to each other, and the relative height between the laser rangefinder and the image acquisition device is fixed. Both the laser rangefinder and the image acquisition device are arranged facing the surface of the object to be measured.

[0077] Figure 6 is a schematic diagram of the line scan result of the surface of the object to be measured by a laser rangefinder according to an embodiment of the present invention. As Figure 6 shown, the line scan result obtained after the laser rangefinder scans the surface of the object to be measured corresponds to the height of the surface of the object to be measured shown in Figure 3 Based on this line scan result, the height change of the surface of the object to be measured can be determined.

[0078] The embodiment of the present invention also provides a control device for an image acquisition device. The control device for the image acquisition device in this embodiment can be used to execute the control method for the image acquisition device shown in the embodiment of the present invention Figure 1 shown.

[0079] Figure 7 is a schematic diagram of a control device for an image acquisition device according to an embodiment of the present invention. As Figure 7 shown, the control device 700 for the image acquisition device includes: a first determination unit 701, a first control unit 702, a second determination unit 703, a generation unit 704, and a second control unit 705.

[0080] The first determination unit 701 is configured to determine a plurality of preset landmark points of the laser rangefinder, wherein the plurality of preset landmark points are on the same horizontal plane.

[0081] The first control unit 702 is configured to control the laser rangefinder to measure the height information of the surface of the object to be measured during the movement along the movement path formed by the plurality of preset landmark points, wherein the height information is used to represent the height change of the surface of the object to be measured.

[0082] The second determination unit 703 is configured to determine the height position coordinates when the image acquisition device acquires the image data of the surface of the object to be measured based on the height information.

[0083] A generating unit 704, configured to generate a height movement path of the image acquisition device based on the height position coordinates and the position coordinates of multiple preset waypoints.

[0084] A second control unit 705, configured to control the image acquisition device to acquire image data on the surface of the object to be measured during the movement along the height movement path.

[0085] Optionally, the laser rangefinder and the image acquisition device are installed on the same mechanical axis. The second determination unit 703 includes: a first determination module, configured to determine the relative height between the laser rangefinder and the image acquisition device; a second determination module, configured to determine the target height information of the image acquisition device when the image acquisition device acquires image data on the surface of the object to be measured based on the height information and the relative height; a third determination module, configured to determine the height position coordinates of the image acquisition device when the image acquisition device acquires image data on the surface of the object to be measured based on the target height information.

[0086] Optionally, the second determination module includes: a first determination sub-module, configured to, in response to the distance between the image acquisition device and the surface of the object to be measured being greater than the distance between the laser rangefinder and the surface of the object to be measured, determine the sum value of each height value in the height information and the relative height as the target height information of the image acquisition device; a second determination sub-module, configured to, in response to the distance between the image acquisition device and the surface of the object to be measured being less than the distance between the laser rangefinder and the surface of the object to be measured, determine the difference value between each height value in the height information and the relative height as the target height information of the image acquisition device.

[0087] Optionally, the third determination module includes: a third determination sub-module, configured to determine the height difference between the image acquisition device and the surface of the object to be measured based on the target height information; a fourth determination sub-module, configured to determine the height position coordinates of the image acquisition device when the image acquisition device acquires image data on the surface of the object to be measured based on the height difference.

[0088] Optionally, the generating unit includes: a replacement module, configured to replace the height position coordinates in the position coordinates of multiple preset waypoints with the height position coordinates to obtain the position coordinates of the target waypoints; a fourth determination module, configured to determine the connection line of the position coordinates of the target waypoints as the height movement path of the image acquisition device.

[0089] Optionally, the second control unit 705 includes: a sending module, configured to send a data acquisition instruction to the image acquisition device, where the data acquisition instruction is used to instruct the image acquisition device to acquire image data on the surface of the object to be measured during the movement along the height movement path.

[0090] In the control device of the image acquisition device according to this embodiment, the height information of the surface of the object to be measured is measured in advance by a laser rangefinder. Based on this height information, it is possible to determine whether different regions of the surface of the object to be measured are flat. Furthermore, according to the height information of the surface of the object to be measured measured by the laser rangefinder, the height position coordinates when the image acquisition device acquires the image data of the surface of the object to be measured are determined, so as to ensure that during the movement of the image acquisition device according to the height position coordinates, the relative height between the image acquisition device and the surface of the object to be measured is fixed, so as to avoid the problem of inconsistent imaging clarity when the image acquisition device acquires the image data of the surface of the object to be measured due to the unevenness of the surface of the object to be measured, and achieve the purpose of ensuring imaging clarity without adjusting parameters such as the focal length when the image acquisition device acquires the image data of different regions of the surface of the object to be measured. Furthermore, the technical effect of improving the accuracy of detecting the object to be measured using the image data acquired by the image acquisition device is realized, thereby solving the technical problem of being unable to make a correct measurement or detection of the object to be measured.

[0091] According to an embodiment of the present invention, there is also provided a computer-readable storage medium. The computer-readable storage medium includes a stored program, wherein when the program is run by a processor, it controls the device where the storage medium is located to execute the control method of the image acquisition device according to the embodiment of the present invention.

[0092] According to an embodiment of the present invention, there is also provided a processor, which is used to run a program. Among them, the processor is used to run a program, and when the program runs, it executes the control method of the image acquisition device according to the embodiment of the present invention.

[0093] The above serial numbers of the embodiments of the present invention are only for description and do not represent the superiority or inferiority of the embodiments.

[0094] In the above embodiments of the present invention, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0095] In the several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in electrical or other forms.

[0096] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0097] In addition, each functional unit in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0098] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, read-only memory (ROM), random access memory (RAM), mobile hard disks, magnetic disks, or optical discs and other various media that can store program codes.

[0099] The above description is only a preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A control method for an image acquisition device, characterized in that, comprising: Determining a plurality of preset waypoints of a laser rangefinder, wherein the plurality of preset waypoints are on the same horizontal plane; Controlling the laser rangefinder to measure the height information of the surface of a to-be-measured object during movement along a movement path formed by the plurality of preset waypoints, wherein the height information is used to represent the height change of the surface of the to-be-measured object; Based on the height information, determining the height position coordinates of the image acquisition device when acquiring image data of the surface of the to-be-measured object; Based on the height position coordinates and the position coordinates of the positions where the plurality of preset waypoints are located, generating a height movement path of the image acquisition device; Controlling the image acquisition device to acquire the image data of the surface of the to-be-measured object during movement along the height movement path.

2. The method according to claim 1, characterized in that, The laser rangefinder and the image acquisition device are installed on the same mechanical axis. Based on the height information, determining the height position coordinates of the image acquisition device when acquiring image data of the surface of the to-be-measured object includes: Determining the relative height between the laser rangefinder and the image acquisition device; Based on the height information and the relative height, determining the target height information of the image acquisition device when the image acquisition device acquires the image data of the surface of the to-be-measured object; Based on the target height information, determining the height position coordinates of the image acquisition device when the image acquisition device acquires the image data of the surface of the to-be-measured object.

3. The method according to claim 2, characterized in that, Based on the height information and the relative height, determining the target height information of the image acquisition device when the image acquisition device acquires the image data of the surface of the to-be-measured object includes: In response to the distance between the image acquisition device and the surface of the to-be-measured object being greater than the distance between the laser rangefinder and the surface of the to-be-measured object, determining the sum value of each height value in the height information and the relative height as the target height information of the image acquisition device; In response to the distance between the image acquisition device and the surface of the to-be-measured object being less than the distance between the laser rangefinder and the surface of the to-be-measured object, determining the difference value between each height value in the height information and the relative height as the target height information of the image acquisition device.

4. The method according to claim 2, characterized in that, Based on the target height information, determining the height position coordinates of the image acquisition device when the image acquisition device acquires the image data of the surface of the to-be-measured object includes: Based on the target height information, determining the distance height between the image acquisition device and the surface of the to-be-measured object; Based on the distance height, determining the height position coordinates of the image acquisition device when the image acquisition device acquires the image data of the surface of the to-be-measured object.

5. The method according to claim 1, characterized in that, Generate a height movement path of the image acquisition device based on the height position coordinates and the position coordinates of the multiple preset waypoints, including: Replace the height position coordinates in the position coordinates of the multiple preset waypoints with the height position coordinates to obtain the position coordinates of the target waypoints; Determine the connection line of the position coordinates of the target waypoints as the height movement path of the image acquisition device.

6. The method according to claim 1, wherein, When controlling the image acquisition device to move along the height movement path, collect the image data on the surface of the object to be measured, including: Send a data acquisition instruction to the image acquisition device, where the data acquisition instruction is used to instruct the image acquisition device to collect the image data on the surface of the object to be measured during the movement along the height movement path.

7. A control system for an image acquisition device, wherein, The control system includes: a laser rangefinder, an image acquisition device, and a control unit; The laser rangefinder is used to measure the height information of the surface of the object to be measured during the movement along the movement path formed by multiple preset waypoints, where the height information is used to represent the height change of the surface of the object to be measured, and the multiple preset waypoints are on the same horizontal plane; The control unit is connected to the laser rangefinder and is used to determine the image data of the surface of the object to be measured by the image acquisition device based on the height information; generate the height movement path of the image acquisition device based on the height position coordinates and the position coordinates of the positions where the multiple preset waypoints are located; The image acquisition device is connected to the control unit and is used to collect the image data on the surface of the object to be measured during the movement along the height movement path, and the image acquisition device and the laser rangefinder are installed on the same mechanical axis.

8. The control system according to claim 7, wherein, The laser rangefinder is disposed opposite to the surface of the object to be measured, the image acquisition device is disposed opposite to the surface of the object to be measured, and the laser rangefinder and the image acquisition device are disposed in parallel.

9. A control device for an image acquisition device, wherein, It includes: A first determination unit for determining multiple preset waypoints of the laser rangefinder, where the multiple preset waypoints are on the same horizontal plane; A first control unit for controlling the laser rangefinder to measure the height information of the surface of the object to be measured during the movement along the movement path formed by the multiple preset waypoints, where the height information is used to represent the height change of the surface of the object to be measured; A second determination unit for determining the height position coordinates when the image acquisition device collects the image data of the surface of the object to be measured based on the height information; A generation unit for generating the height movement path of the image acquisition device based on the height position coordinates and the position coordinates of the positions where the multiple preset waypoints are located; A second control unit, configured to control the image acquisition device to move along the height movement path and acquire the image data on the surface of the object to be measured during the movement.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a stored program, wherein when the program runs, it controls the device where the computer-readable storage medium is located to execute the method according to any one of claims 1 to 6.

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