Automatic control system of visual acquisition device

Abstract

The invention relates to the technical field of visual acquisition control, in particular to an automatic control system of a visual acquisition device, which comprises a data acquisition module and a data analysis module, the correction module is used for determining whether to correct the position of each shooting device according to whether the proportion of a to-be-collected object in the picture of the shooting device in the primary shooting data of the plurality of shooting devices is within a preset proportion range and whether the to-be-collected object and the plurality of shooting devices have position deviation; the control module is used for calculating the vibration offset according to the correction value and the movement speed of the shooting device; the evaluation module is used for determining whether the positions of the shooting devices are corrected for the second time or not according to the vibration offset generated in the process of correcting the shooting devices and the data variation of the weighing object placing table; according to the invention, the accuracy of the acquisition position is improved by correcting the acquisition position of the visual acquisition device, so that the accuracy of data acquisition of the visual acquisition device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of visual acquisition control, and particularly relates to an automatic control system for a visual acquisition device. Background Art

[0002] In the current era of rapid digital and intelligent development, visual acquisition technology plays a crucial role in many fields. In industrial production, it is widely used in product quality inspection and production process monitoring, capable of quickly and accurately identifying product defects, ensuring product quality, and improving production efficiency; in the field of logistics and warehousing, visual acquisition can achieve automatic identification and inventory of goods, optimize warehouse management, and reduce labor costs; in the medical field, the acquisition of medical images relies on visual acquisition technology, providing key evidence for disease diagnosis. However, traditional visual acquisition methods have many limitations. On the one hand, there is a lack of an intelligent adjustment mechanism in the layout of cameras. In the past, cameras with a fixed layout were usually used, which was difficult to flexibly adjust according to different acquisition tasks and object characteristics, resulting in incomplete or inaccurate acquired data. On the other hand, during the acquisition process, it is impossible to adjust the acquisition parameters in real time according to the actual situation, resulting in a serious impact on the quality of the acquired data, such as blurred images, overexposure or underexposure.

[0003] For example, Chinese Patent Application Publication No.: CN114143458A discloses an image acquisition control method and device based on machine vision, including a Camera Link image acquisition unit, a digital input acquisition unit, a digital output control unit, an FPGA processor unit, a DDR3 flash memory unit, a FLASH storage unit, and a PCI-E communication unit; the FPGA processor unit is configured to obtain image data through the Camera Link image acquisition unit and convert the image data into data to be processed, where the image data is serial data and the data to be processed is parallel data; when it is identified according to the data to be processed that there is a quality problem with the product, a warning message is sent to an external device by the digital output control unit; when it is identified according to the data to be processed that the product is a defective product, the defective product is marked by the digital output control unit. This invention application realizes the conversion of Camera Link data inside the FPGA processor unit and combines image acquisition with hardware control to improve the integration of the image acquisition control device.

[0004] However, the existing technology has the problem that the analysis of the acquisition position of the visual acquisition device is not accurate enough, resulting in inaccurate acquisition positions and inaccurate acquisition data of the visual acquisition device. Summary of the Invention

[0005] To this end, the present invention provides an automatic control system for a visual acquisition device to overcome the problem in the prior art that the analysis of the acquisition position of the visual acquisition device is not accurate enough, resulting in inaccurate acquisition positions and inaccurate acquisition data of the visual acquisition device.

[0006] To achieve the above object, the present invention provides an automatic control system for a visual acquisition device, including: A data acquisition module, which includes a plurality of photographing devices for acquiring geometric data of an object and a weighing platform for acquiring weight data of the object. The plurality of photographing devices include two photographing devices with an included angle of 90 degrees in the horizontal direction of the weighing platform and one photographing device in the vertical direction of the weighing platform; A data analysis module, which is connected to the data acquisition module and is used to determine whether to correct the positions of the photographing devices according to whether the proportion of the object to be acquired in the frame of the photographing device in the initial photographing data of the plurality of photographing devices is within a preset proportion range and whether there is a position deviation between the object to be acquired and the plurality of photographing devices; A control module, which is connected to the data analysis module and is used to determine the vibration offset generated during the process of correcting each photographing device according to the correction amount of each photographing device and the movement speed of each photographing device when correcting the positions of the photographing devices; An evaluation module, which is respectively connected to the control module and the data acquisition module and is used to determine whether to perform secondary correction on the positions of the photographing devices according to the vibration offset generated during the process of correcting each photographing device and the data change amount of the weighing platform; An adjustment module, which is respectively connected to the evaluation module and the control module and is used to determine whether to adjust the movement speed of each photographing device or adjust the preset data change amount and the preset vibration offset amount based on the comparison result between the position deviation amount between the object to be acquired and the photographing device in the photographing data secondarily acquired by the photographing device in the vertical direction and the preset deviation amount when performing secondary correction on the positions of the photographing devices.

[0007] Further, the data analysis module determining whether to correct the positions of the photographing devices includes: Under the condition that the proportion of the object to be acquired in the frame of the photographing device in the initial photographing data of the plurality of photographing devices is not within the preset proportion range or there is a position deviation between the object to be acquired and the plurality of photographing devices, it is determined to correct the positions of the photographing devices.

[0008] Further, the data analysis module determining that the proportion of the object to be acquired in the frame of the photographing device in the initial photographing data of the plurality of photographing devices is not within the preset proportion range includes that the ratio of the number of pixels occupied by the object to be acquired to the total number of pixels in the frame is not within the preset proportion range.

[0009] Further, the preset proportion range is determined according to the historical average proportion of the object to be collected in the shooting device's picture frame during the historical collection process.

[0010] Further, the data analysis module determines that the position deviation of the object to be collected from the plurality of shooting devices includes that the deviation distance between the central position of the object to be collected and the preset central position is greater than the preset deviation distance.

[0011] Further, the control module determines the vibration offset generated during the process of correcting each shooting device, including: The vibration offset is determined according to the product of the correction amount of each shooting device, the moving speed of each shooting device, and the vibration coefficient.

[0012] Further, the evaluation module determines whether to perform secondary correction on the positions of the shooting devices, including: Under the condition that the vibration offset generated during the process of correcting each shooting device is greater than the preset vibration offset or the data change amount of the reset stage is greater than the preset data change amount, it is determined to perform secondary correction on the positions of the shooting devices.

[0013] Further, the preset vibration offset is determined according to the minimum value of the vibration offset when the object to be collected with the same weight deviates during the process of correcting each shooting device, and the preset data change amount is determined according to the minimum value of the data change amount of the reset stage when the object to be collected with the same weight deviates during the process of correcting each shooting device.

[0014] Further, the adjustment module determines to adjust the moving speed of each shooting device or to adjust the preset data change amount and the preset vibration offset, including: When performing secondary correction on the positions of the shooting devices, under the condition that the position deviation amount between the object to be collected and the shooting device in the shooting data secondarily obtained by the shooting device in the vertical direction is greater than the preset deviation amount, it is determined to adjust the moving speed of each shooting device; When performing secondary correction on the positions of the shooting devices, under the condition that the position deviation amount between the object to be collected and the shooting device in the shooting data secondarily obtained by the shooting device in the vertical direction is less than or equal to the preset deviation amount, it is determined to adjust the preset data change amount and the preset vibration offset.

[0015] Further, the adjustment amount of the movement speed of each imaging device in the horizontal direction is negatively correlated with the position deviation amount between the object to be collected and the imaging device in the imaging data obtained by the imaging device for the second time in the vertical direction. The adjustment amount of the preset data change amount is negatively correlated with the position deviation amount between the object to be collected and the imaging device in the imaging data obtained by the imaging device for the second time in the vertical direction. The adjustment amount of the preset vibration offset amount is negatively correlated with the position deviation amount between the object to be collected and the imaging device in the imaging data obtained by the imaging device for the second time in the vertical direction.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows. The data analysis module of the present invention determines whether to correct the position of the imaging device based on the proportion of the object to be collected in the imaging frame of the imaging device and the position deviation from the imaging device, which can ensure that the proportion of the object to be collected in the frame is within a suitable range, avoiding problems such as incomplete or unclear image information caused by improper proportion, thereby improving the quality of the imaging data and providing a reliable data basis for subsequent visual inspection and other work. By judging and correcting the position deviation of the imaging device, it is ensured that the position of the object to be collected in the frame is accurate, and its center position is as close as possible to the preset center position (the optical center of the imaging device), which is crucial for accurate visual inspection, can reduce the detection error caused by the position deviation of the object, and improve the accuracy and reliability of the detection. Through the above method, the accuracy of the acquisition position of the visual acquisition device is improved by correcting the acquisition position of the visual acquisition device, and further the accuracy of the data acquired by the visual acquisition device is improved.

[0017] Further, the present invention determines the vibration offset amount generated during the correction process based on the product of the correction amount of each imaging device, the movement speed of each imaging device, and the vibration coefficient, which can accurately quantify the vibration offset amount. In this way, the specific value of the position deviation caused by vibration of each imaging device during the correction process can be clearly understood, providing accurate data support for subsequent compensation or adjustment, and avoiding the influence of inaccurate position of the imaging device caused by vibration on the imaging and detection results. This multi-factor consideration method is more in line with the actual situation, can more comprehensively evaluate the influence of vibration on the position of the imaging device during the correction process, and makes the calculated vibration offset amount more reliable and accurate. Through the above method, the accuracy of the acquisition position of the visual acquisition device is improved by correcting the acquisition position of the visual acquisition device, and further the accuracy of the data acquired by the visual acquisition device is improved.

[0018] Furthermore, the evaluation module of the present invention determines whether to perform secondary calibration based on the vibration offset generated during the calibration process and the data change amount of the weighing and placing platform, which can effectively address the possible position deviation problems during the calibration process. When the vibration offset or data change amount exceeds the preset value, performing secondary calibration can further adjust the position of the imaging device to ensure that it is in an ideal position, providing an accurate basis for subsequent imaging and detection, and avoiding detection errors caused by inaccurate initial calibration. By considering both the vibration offset and the data change amount of the weighing and placing platform, the impact of the calibration effect on the entire detection system can be evaluated more comprehensively. Without such evaluation and secondary calibration, a large vibration offset or data change may change the position of the object to be collected, thereby affecting the quality of the captured image and the accuracy of the detection result. Through the above method, the accuracy of the acquisition position of the vision acquisition device is improved by calibrating the acquisition position, and thus the accuracy of the data acquired by the vision acquisition device is improved.

[0019] Furthermore, the present invention determines whether the object to be collected has a position change due to vibration based on the comparison result between the position deviation amount between the object to be collected and the imaging device in the imaging data obtained secondarily by the imaging devices in the vertical direction when performing secondary calibration of the positions of the imaging devices. If the position deviation amount is greater than the preset deviation amount, it indicates that the object to be collected has a position change due to vibration. Therefore, the moving speed of each imaging device during secondary calibration is adjusted to reduce vibration and prevent the object to be collected from having a secondary position change. If the position deviation amount is less than or equal to the preset deviation amount, it indicates that the object to be collected has not had a position change due to vibration. Therefore, the preset data change amount and the preset vibration offset are adjusted to make the judgment standard of the system more adaptable to the current stable acquisition state. Through the above method, the accuracy of the acquisition position of the vision acquisition device is improved by calibrating the acquisition position, and thus the accuracy of the data acquired by the vision acquisition device is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of the automatic control system module of the vision acquisition device according to an embodiment of the present invention; Figure 2 It is a schematic structural diagram of the automatic control system of the vision acquisition device according to an embodiment of the present invention; Figure 3 It is a schematic structural diagram of the imaging device of the automatic control system of the vision acquisition device according to an embodiment of the present invention; Figure 4 It is a schematic structural diagram of the control execution module of the automatic control system of the vision acquisition device according to an embodiment of the present invention; In the figure, 1 is a synchronous belt; 2 is a multifunctional integrated touch screen display; 3 is a switch; 4 is a rack; 5 is a synchronous pulley (including synchronous pulley 5-1, synchronous pulley 5-2, synchronous pulley 5-3, and synchronous pulley 5-4); 6 is a camera; 6-1 is a bottom pulley; 6-2 is a flash; 6-3 is a non-zoom camera; 7 is a control execution module; 8 is a camera support base; 9 is a vertical stabilizing tube; 10 is a vertical outer casing; 11 is a mechanical casing; 12 is a high-precision weighing platform; 13 is an annular solid-color baffle; 14 is a stepping motor; 15 is a baffle; 16 is an electric slip ring; 17 is a power and signal transmission line; 18 is an aluminum profile; 19 is a shaft seat plate; 20 is a gear; 21 is a lubricating collar; 22 is a spiral elevation support frame. Detailed implementation manners

[0021] In order to make the objectives and advantages of the present invention more clearly understood, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] The preferred implementation manners of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these implementation manners are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0023] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0024] Please refer to Figures 1 - 4 as shown in Figure 1 which is a schematic structural diagram of the automatic control system module of the visual acquisition device according to an embodiment of the present invention; Figure 2 which is a schematic structural diagram of the automatic control system of the visual acquisition device according to an embodiment of the present invention; Figure 3 which is a schematic structural diagram of the shooting device of the automatic control system of the visual acquisition device according to an embodiment of the present invention; Figure 4 which is a schematic structural diagram of the control execution module of the automatic control system of the visual acquisition device according to an embodiment of the present invention.

[0025] The automatic control system of the visual acquisition device according to an embodiment of the present invention includes: A data acquisition module, which includes several photographing devices for acquiring the geometric data of an object and a weighing platform for acquiring the weight data of the object. The several photographing devices include two photographing devices with an included angle of 90 degrees in the horizontal direction of the weighing platform and one photographing device in the vertical direction of the weighing platform; A data analysis module, which is connected to the data acquisition module and is used to determine whether to correct the positions of the photographing devices according to whether the proportion of the object to be acquired in the frame of the photographing device in the initial photographing data of the several photographing devices is within a preset proportion range and whether there is a position deviation between the object to be acquired and the several photographing devices; A control module, which is connected to the data analysis module and is used to determine the vibration offset amount generated during the process of correcting each photographing device according to the correction amount of each photographing device and the moving speed of each photographing device when correcting the positions of the photographing devices; An evaluation module, which is respectively connected to the control module and the data acquisition module and is used to determine whether to perform secondary correction on the positions of the photographing devices according to the vibration offset amount generated during the process of correcting each photographing device and the data change amount of the weighing platform; An adjustment module, which is respectively connected to the evaluation module and the control module and is used to determine to adjust the moving speed of each photographing device or adjust the preset data change amount and the preset vibration offset amount based on the comparison result between the position deviation amount between the object to be acquired and the photographing device in the photographing data secondarily acquired by the photographing device in the vertical direction and the preset deviation amount when performing secondary correction on the positions of the photographing devices.

[0026] In the embodiment of the present invention, the correction amount is the distance that the photographing device needs to move during the correction process, and the photographing device can be selected as a high-precision camera.

[0027] In the embodiment of the present invention, the visual acquisition device includes a synchronous belt (1), which is connected to a lateral stepping motor and drives the camera to move horizontally by riveting with the camera; a multi-functional integrated touch screen display (2) for sending control signals for display and collecting information for display; a switch (3), a physical switch for controlling the operation on / off of the entire device; a rack (4), which is steadily fitted with the gear of the bottom stepping motor and is riveted to the shooting component to drive the shooting component to move; a synchronous pulley (5) for giving the movement direction of the synchronous belt; a camera (6), which is composed of a non-zoom camera (6-3), a flash (6-2) and a bottom pulley (6-1) for collecting object photos; a control execution module (7) for sending control signals and processing the collected information for collection and transmission; a camera support base (8), which is connected to the longitudinal synchronous belt and moves vertically along the vertical stabilizing tube; a vertical stabilizing tube (9) for the camera support to move in the vertical direction; a vertical outer shell (10) for wrapping the equipment moving in the vertical direction to reduce the damage to the equipment caused by other environmental factors; a mechanical outer shell (11), the main frame shape of the entire equipment, protecting the stability of the equipment and reducing other interferences to the equipment; a high-precision weighing platform (12) for calculating the mass of an object; an annular solid-color baffle (13) for providing a solid-color background for taking photos and can replace baffles of different heights according to the size of the object to be photographed; a stepping motor (14) for controlling the rotation of the equipment; a baffle (15) for covering the bottom motor and the gear to reduce the entry of dust and other items; a slip ring (16) for providing 360-degree rotating conduction; a power and signal transmission line (17); an aluminum profile (18); a shaft seat plate (19) for smoothly moving the supporting synchronous pulley; a gear (20); a lubricating collar (21) for smoothly moving on the vertical stabilizing tube;The spiral lifting support frame (22) is used to adjust the horizontal stability of the device through a knob on uneven ground. The imaging device mainly consists of a stepper motor (14), a synchronous belt (1), a camera (6), and a high-precision weighing stage (12). The camera (6) is fixed on the aluminum profile (18) through a pulley (6-1), and its camera captures images of the object illuminated by the flash. The camera (6) is connected to the synchronous belt (1) and can be driven by the movement of the synchronous belt to achieve its own movement. The shaft seat plate (19) is fixed on the aluminum profile plate by riveting, and the protruding end is used to fix the synchronous pulley (5). The stepper motor is connected to the synchronous pulley at the other end to drive the synchronous belt to move. The stepper motor is riveted to the aluminum profile on the electric slip ring (16) by riveting. At the same time, the rack (4) is driven to rotate by the stepper motor at the bottom. Since the rack is connected to the aluminum profile, the entire horizontal imaging assembly can be driven to operate. The stepper motor drives the synchronous pulley (5-1), which meshes with the synchronous pulley (5-2). The synchronous pulley (5-2) is coaxial with the synchronous pulley (5-3). The rotation of the synchronous pulley drives the rotation of the synchronous pulley, thereby driving the synchronous belt (1) to move. The synchronous belt drives the synchronous pulley (5-4) to rotate, so that the stepper motor drives the synchronous belt to move smoothly in the vertical direction. The vertical camera support base (8) is riveted to the synchronous belt, and the synchronous vertical movement drives the vertical camera support base to move in the vertical direction. The smooth collar (21) is combined with the camera support base (8) and sleeved on the vertical stabilizing tube (9) to ensure that the camera support base runs smoothly up and down without swaying, so that the entire vertical imaging assembly can be driven to operate.;

[0028] Specifically, under the condition of determining whether to correct the positions of the imaging devices, the data analysis module determines whether to correct the positions of the imaging devices according to whether the proportion of the object to be captured in the frame of the imaging device in the initial capture data of several imaging devices is within the preset proportion range and whether there is a position deviation between the object to be captured and the several imaging devices; If the proportion of the object to be captured in the frame of the imaging device in the initial capture data of several imaging devices is not within the preset proportion range or there is a position deviation between the object to be captured and the several imaging devices, the data analysis module determines to correct the positions of the imaging devices; If the proportion of the object to be captured in the frame of the imaging device in the initial capture data of several imaging devices is within the preset proportion range and there is no position deviation between the object to be captured and the several imaging devices, the data analysis module determines that there is no need to correct the positions of the imaging devices.

[0029] In the embodiment of the present invention, the data analysis module determines that the proportion of the object to be collected in the frame of the shooting device in the initial shooting data of several shooting devices is not within the preset proportion range, including that the ratio of the number of pixels occupied by the object to be collected to the total number of pixels in the frame is not within the preset proportion range. The data analysis module determines that there is a position deviation between the object to be collected and the several shooting devices, including that the deviation distance between the central position of the object to be collected and the preset central position is greater than the preset deviation distance. The minimum value of the preset proportion range is three-fifths of the historical average proportion of the object to be collected in the frame of the shooting device during the historical acquisition process of the visual detection device, and the maximum value of the preset proportion range is seven-fifths of the historical average proportion of the object to be collected in the frame of the shooting device during the historical acquisition process of the visual detection device. The preset central position is the optical center of the shooting device, and the preset deviation distance is the average deviation distance between the central position of the object to be collected and the preset central position during the visual detection process of several objects to be collected with the same proportion of the shooting device frame. However, the above values are not limited to this, and those skilled in the art can also adjust the values according to actual needs.

[0030] In the embodiment of the present invention, correcting the positions of the shooting devices includes correcting the distances between the shooting devices and the object to be collected and correcting the positions of the shooting devices. For example, assume that in the initial shooting, the data analysis module finds that the proportion of the object to be collected in the frame is 30%, while the preset proportion range is 40% (minimum value) - 56% (maximum value), the horizontal deviation between the object center and the optical center is 5 mm, the vertical deviation is 3 mm, and the preset deviation distance is 2 mm. Since the object proportion is less than the minimum value of the preset range (30% < 40%), it indicates that the distance between the shooting device and the object is too far. The control module drives the stepper motor to move the shooting device closer to the object in the vertical direction until the object proportion reaches the preset range (such as adjusted to 45%). The horizontal deviation of the object center is 5 mm, which is greater than the preset deviation distance of 2 mm. Therefore, the control drives the lateral stepper motor to drive the synchronous belt to move the shooting device 5 mm in the direction of the object center. The vertical deviation of the object center is 3 mm, which is greater than the preset deviation distance of 2 mm. Therefore, the control drives the longitudinal stepper motor to drive the camera support base to move along the vertical stabilizing tube to move the shooting device 3 mm in the direction of the object center.

[0031] According to the present invention, the data analysis module determines whether to correct the position of the imaging device based on the proportion of the object to be captured in the frame of the imaging device and the position deviation from the imaging device, which can ensure that the proportion of the object to be captured in the frame is within an appropriate range, avoid problems such as incomplete or unclear image information caused by improper proportion, thereby improving the quality of the captured data, providing a reliable data basis for subsequent visual inspection and other work. By judging and correcting the position deviation of the imaging device, it ensures that the position of the object to be captured in the frame is accurate, and its central position is as close as possible to the preset central position (the optical center of the imaging device), which is crucial for precise visual inspection, can reduce the detection error caused by the position deviation of the object, and improve the accuracy and reliability of the detection. By the above method, the accuracy of the acquisition position of the visual acquisition device is improved by correcting the acquisition position, and further the accuracy of the data acquired by the visual acquisition device is improved.

[0032] Specifically, the control module determines the vibration offset generated during the correction of each imaging device, and the vibration offset is determined according to the product of the correction amount of each imaging device, the movement speed of each imaging device, and the vibration coefficient.

[0033] In an embodiment of the present invention, it is assumed that there are two imaging devices with a horizontal included angle of 90 degrees (horizontal camera A and horizontal camera B) and a vertical imaging device (vertical camera C). If horizontal camera A needs to move 10 mm in the horizontal direction and vertical camera C needs to move 15 mm in the vertical direction, the movement speed of horizontal camera A is 5 mm / s, the movement speed of vertical camera C is 3 mm / s, the vibration coefficient of horizontal camera A is 0.02, and the vibration coefficient of vertical camera C is 0.03, then the vibration offset generated by horizontal camera A during the correction process is 1 mm, and the vibration offset generated by vertical camera C during the correction process is 1.35 mm.

[0034] According to the present invention, the vibration offset generated during the correction process is determined according to the product of the correction amount of each imaging device, the movement speed of each imaging device, and the vibration coefficient, which can accurately quantify the vibration offset. In this way, the specific value of the position deviation caused by vibration of each imaging device during the correction process can be clearly understood, providing accurate data support for subsequent compensation or adjustment, avoiding the inaccurate position of the imaging device caused by vibration and affecting the imaging and detection results. This multi-factor consideration method is more in line with the actual situation, can more comprehensively evaluate the influence of vibration on the position of the imaging device during the correction process, and makes the calculated vibration offset more reliable and accurate. By the above method, the accuracy of the acquisition position of the visual acquisition device is improved by correcting the acquisition position, and further the accuracy of the data acquired by the visual acquisition device is improved.

[0035] Specifically, under the condition of determining whether to perform secondary correction on the positions of the shooting devices, the evaluation module determines whether to perform secondary correction on the positions of the shooting devices according to the vibration offset generated during the correction of each shooting device and the data change amount of the weighing platform; If the vibration offset generated during the correction of each shooting device is greater than the preset vibration offset or the data change amount of the weighing platform is greater than the preset data change amount, the evaluation module determines to perform secondary correction on the positions of the shooting devices; If the vibration offset generated during the correction of each shooting device is less than or equal to the preset vibration offset and the data change amount of the weighing platform is less than or equal to the preset data change amount, the evaluation module determines that there is no need to perform secondary correction on the positions of the shooting devices.

[0036] In the embodiment of the present invention, the preset vibration offset is the minimum value of the vibration offset when the objects to be collected with the same weight deviate during the correction of each shooting device, and the preset data change amount is the minimum value of the data change amount of the weighing platform when the objects to be collected with the same weight deviate during the correction of each shooting device. However, the above values are not limited to this, and those skilled in the art can also adjust the values according to actual needs.

[0037] The evaluation module of the present invention determines whether to perform secondary correction based on the vibration offset generated during the correction process and the data change amount of the weighing platform, which can effectively address the possible position deviation problems during the correction process. When the vibration offset or the data change amount exceeds the preset value, performing secondary correction can further adjust the position of the shooting device to ensure that it is in an ideal position, providing an accurate basis for subsequent shooting and detection, and avoiding detection errors caused by inaccurate initial correction. By considering both the vibration offset and the data change amount of the weighing platform, it is possible to more comprehensively evaluate the impact of the correction effect on the entire detection system. If such evaluation and secondary correction are not performed, a large vibration offset or data change may change the position of the object to be collected, thereby affecting the quality of the captured image and the accuracy of the detection result. Through the above method, the accuracy of the acquisition position of the visual acquisition device is improved by correcting the acquisition position, thereby improving the accuracy of the data acquired by the visual acquisition device.

[0038] Specifically, under the condition of determining to adjust the moving speed of each shooting device or to adjust the preset data change amount and the preset vibration offset, the adjustment module determines to adjust the moving speed of each shooting device or to adjust the preset data change amount and the preset vibration offset according to the comparison result between the position deviation amount between the object to be collected and the shooting device in the shooting data secondarily acquired by the shooting device in the vertical direction during the secondary correction of the positions of each shooting device and the preset deviation amount; When the position deviation amount between the object to be collected and the imaging device in the imaging data secondarily obtained by the imaging devices in the vertical direction is greater than the preset deviation amount during the secondary calibration of the positions of the imaging devices, the adjustment module determines to adjust the moving speeds of the imaging devices; When the position deviation amount between the object to be collected and the imaging device in the imaging data secondarily obtained by the imaging devices in the vertical direction is less than or equal to the preset deviation amount during the secondary calibration of the positions of the imaging devices, the adjustment module determines to adjust the preset data change amount and the preset vibration offset amount.

[0039] In the embodiments of the present invention, the deviation amount is the deviation distance between the central position of the object to be collected and the preset central position (the imaging device in the vertical direction), and the preset position deviation amount is the maximum deviation distance between the central position of the object to be collected and the preset central position (the imaging device in the vertical direction) during the visual detection of several objects to be collected with the same proportion of the imaging device frame. However, the above values are not limited to this, and those skilled in the art can also adjust the values according to actual needs.

[0040] Specifically, when the adjustment module determines to adjust the moving speeds of the imaging devices, it determines to adjust the moving speeds of the imaging devices with a first adjustment coefficient. When the adjustment module determines to adjust the preset data change amount and the preset vibration offset amount, it determines to adjust the preset data change amount and the preset vibration offset amount with a second adjustment coefficient respectively.

[0041] In the embodiments of the present invention, the value range of the first adjustment coefficient is set to 0.82 - 0.96, the preferred value of the first adjustment coefficient is 0.88, the value range of the second adjustment coefficient is set to 1.03 - 1.18, the preferred value of the second adjustment coefficient is 1.11. The adjustment amount of the moving speed of each imaging device in the horizontal direction is negatively correlated with the position deviation amount between the object to be collected and the imaging device in the imaging data secondarily obtained by the imaging device in the vertical direction. The adjustment amount of the preset data change amount is negatively correlated with the position deviation amount between the object to be collected and the imaging device in the imaging data secondarily obtained by the imaging device in the vertical direction. The adjustment amount of the preset vibration offset amount is negatively correlated with the position deviation amount between the object to be collected and the imaging device in the imaging data secondarily obtained by the imaging device in the vertical direction. However, the above values are not limited to this, and those skilled in the art can also adjust the values according to actual needs.

[0042] The present invention determines whether the object to be collected has a position change due to vibration based on the comparison result between the position deviation amount between the object to be collected and the imaging device obtained by the secondary acquisition of the imaging device in the vertical direction and the preset deviation amount when the positions of the imaging devices are corrected for the second time. If the position deviation amount is greater than the preset deviation amount, it indicates that the object to be collected has a position change due to vibration. Therefore, the moving speeds of the imaging devices during the second correction are adjusted to reduce vibration and prevent the object to be collected from having a secondary position change. If the position deviation amount is less than or equal to the preset deviation amount, it indicates that the object to be collected has no position change due to vibration. Therefore, the preset data change amount and the preset vibration offset amount are adjusted to make the judgment standard of the system more adaptable to the current stable acquisition state. By the above method, the accuracy of the acquisition position of the visual acquisition device is improved by correcting the acquisition position, and thus the accuracy of the data collected by the visual acquisition device is improved.

[0043] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. An automatic control system for a visual acquisition device, characterized in that: include: A data acquisition module, comprising a plurality of photographing devices for acquiring geometric data of an object and a weighing platform for acquiring weight data of an object, wherein the plurality of photographing devices comprises two photographing devices with an angle of 90 degrees in the horizontal direction of the weighing platform and a photographing device in the vertical direction of the weighing platform; A data analysis module connected to the data acquisition module, for determining whether to correct the position of each camera device according to whether the proportion of the object to be captured in the frame of the camera device in the initial shooting data of the camera devices is within a preset proportion range and whether there is a position deviation between the object to be captured and the camera devices; A control module connected to the data analysis module, for determining the vibration offset amount generated in the process of correcting each camera device according to the correction amount of each camera device and the movement speed of each camera device when correcting the position of each camera device; An evaluation module, which is connected to the control module and the data acquisition module respectively, and is used to determine whether to perform a secondary correction of the position of each camera device according to the vibration offset generated during the correction of each camera device and the data change of the weighing stage; An adjustment module is connected to the evaluation module and the control module respectively, and is used to determine whether to adjust the movement speed of each shooting device when performing a secondary correction on the position of each shooting device based on a comparison result of a position deviation between the object to be captured and the shooting device in the shooting data secondarily acquired by the shooting device in the vertical direction and a preset deviation, or to adjust the preset data change amount and the preset vibration offset.

2. The automatic control system of the visual acquisition device according to claim 1, characterized in that: The data analysis module determines whether to correct the position of each camera device, including: Under the condition that the proportion of the object to be captured in the frame of the shooting device in the initial shooting data of several shooting devices is not within a preset proportion range or there is a position deviation between the object to be captured and the several shooting devices, it is determined to correct the position of each shooting device.

3. The automatic control system of the visual acquisition device according to claim 2, characterized in that: The data analysis module determines that the proportion of the object to be collected in the initial shooting data of several shooting devices in the shooting device frame is not within a preset proportion range, including that the ratio of the number of pixels occupied by the object to be collected to the total number of pixels in the frame is not within the preset proportion range.

4. The automatic control system of the visual acquisition device according to claim 3, characterized in that: The preset proportion range is determined according to the historical average proportion of the object to be collected in the frame of the shooting device during the historical collection process.

5. The automatic control system of the visual acquisition device according to claim 2, characterized in that: The data analysis module determines that a position deviation occurs between the object to be collected and the plurality of photographing devices, including that a deviation distance between a center position of the object to be collected and a preset center position is greater than a preset deviation distance.

6. The automatic control system of the visual acquisition device according to claim 5, characterized in that: The control module determines the vibration offset generated during the correction of each shooting device, including: The vibration offset is determined according to the product of the correction amount of each camera, the movement speed of each camera, and the vibration coefficient.

7. The automatic control system of the visual acquisition device according to claim 6, characterized in that: The evaluation module determines whether to perform secondary correction of the position of each camera device, including: Under the condition that the vibration offset generated during the correction of each shooting device is greater than the preset vibration offset or the data change of the reset stage is greater than the preset data change, it is determined to perform a secondary correction of the position of each shooting device.

8. The automatic control system of the visual acquisition device according to claim 7, characterized in that: The preset vibration offset is determined according to the minimum value of the vibration offset when objects to be collected with the same weight are offset during the correction of each shooting device, and the preset data change is determined according to the minimum value of the data change of the weighing stage when objects to be collected with the same weight are offset during the correction of each shooting device.

9. The automatic control system of the visual acquisition device according to claim 8, characterized in that: The adjustment module determines to adjust the movement speed of each camera device or to adjust the preset data change amount and the preset vibration offset amount, including: When performing secondary correction of the position of each camera device, under the condition that the position deviation between the object to be captured and the camera device in the shooting data secondarily acquired by the camera device in the vertical direction is greater than a preset deviation, determining to adjust the movement speed of each camera device; When performing secondary correction on the positions of each shooting device, it is determined that the preset data change amount and the preset vibration offset amount are adjusted based on the condition that the position deviation of the object to be captured and the shooting device in the shooting data secondarily acquired by the shooting device in the vertical direction is less than or equal to the preset deviation amount.

10. The automatic control system of the visual acquisition device according to claim 9, characterized in that: The adjustment amount of the movement speed of each shooting device in the horizontal direction is negatively correlated with the position deviation amount of the object to be collected and the shooting device in the shooting data acquired for the second time by the shooting device in the vertical direction; the adjustment amount of the preset data change amount is negatively correlated with the position deviation amount of the object to be collected and the shooting device in the shooting data acquired for the second time by the shooting device in the vertical direction; the adjustment amount of the preset vibration offset amount is negatively correlated with the position deviation amount of the object to be collected and the shooting device in the shooting data acquired for the second time by the shooting device in the vertical direction.

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