Micro-assembly-oriented full-coverage image acquisition and visual positioning device

Abstract

The invention discloses a micro-assembly-oriented full-coverage image acquisition and visual positioning device, which comprises an assembly frame capable of being assembled, and is characterized in that flexible and accurate adjustment of heights, rotation angles, positions and lens angles of an industrial camera I and an industrial camera II is realized by utilizing a cylinder I, a rotating part, an adjusting part I and an adjusting part II; all parts of the micro-assembly object are covered in all directions, acquisition blind areas are eliminated, and the device adapts to complex assembly scenes; the lens debugging assembly not only can quickly switch micro-distance, wide-angle and fisheye lenses to meet the diversified acquisition requirements of the whole micro-assembly process, but also can accurately control the displacement of the lens group through the intelligent zooming part based on parameters such as object size and spatial distance fed back by an image analysis chip and through the magnetic driving assembly to realize intelligent adjustment of the focal length. Comprehensive and high-quality image information is provided for visual positioning, multi-angle and multi-mode collection is achieved, the visual positioning precision is improved, and positioning errors are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of micro-assembly, and in particular to a full-coverage image acquisition and visual positioning device for micro-assembly. Background Art

[0002] Micro-assembly refers to the assembly process of tiny parts. In view of their small size, extremely high precision requirements, and difficult operation, corresponding technologies, equipment and solutions are developed to meet the needs of precise operation, efficient assembly and quality control of parts in micro-assembly scenarios, improve the accuracy, efficiency and stability of micro-assembly, and ensure the high-quality completion of micro-assembly tasks.

[0003] In micro-assembly, image acquisition is carried out through high-resolution microscopes or cameras with special optical lenses, combined with ring and backlight sources, to capture the details and position information of tiny components. Positioning is achieved through image preprocessing and feature extraction, using SIFT and deep learning algorithms, etc., and comparing with standard templates. Combined with multi-eye vision or depth sensors, the coordinates and posture of the components in three-dimensional space are calculated, and the data is fed back to the motion control system to guide the precise operation of micro-assembly equipment.

[0004] In the existing technology, full-coverage image acquisition and visual positioning devices for micro-assembly, although they adopt a multi-camera array collaborative acquisition strategy during image acquisition, are limited by the traditional fixed camera position and single-view imaging mode, and face significant technical bottlenecks. On the one hand, due to the fixed physical installation position and viewing angle of multiple cameras, it is difficult to fully cover the entire area of the complex three-dimensional surface of micro-objects. Visual blind spots are easily formed in special geometric structures such as component grooves and inner corners, resulting in data loss in image information. On the other hand, each camera is generally equipped with a single lens. According to the principle of optical imaging, although a telephoto lens can achieve high-magnification microscopic imaging to obtain the microscopic details of the components, its field of view is narrow and cannot present the global information of the assembly scene. Although a wide-angle lens can cover a large spatial range, it is difficult to meet the stringent requirements of micro-assembly for submicron detail resolution, and it is not convenient to intelligently zoom according to the image. The above problems lead to an inherent contradiction between the spatial scale and detail level of the acquired image, which seriously affects the execution accuracy of subsequent positioning algorithms such as feature extraction, three-dimensional reconstruction, and high-precision pose solution based on visual information.

[0005] To this end, we propose a full-coverage image acquisition and visual positioning device for micro-assembly. Summary of the Invention

[0006] In response to the shortcomings of the existing technology, the present invention provides a full-coverage image acquisition and visual positioning device for micro-assembly, which solves the problems in the existing technology of blind spots in image acquisition, single lens acquisition function and inability to intelligently zoom.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: a full-coverage image acquisition device for micro-assembly, comprising an assembly frame that can be assembled, the inner wall of the assembly frame is slidably connected to a connecting frame, the inner wall of the assembly frame is fixedly connected to multiple groups of cylinders 1, the output end of the cylinder 1 is fixedly connected to the connecting frame, the inner wall of the connecting frame is rotatably connected to a rotating disk, an industrial camera 1 is provided below the rotating disk, a buffer portion is provided between the two, the lower surface of the rotating disk is fixedly connected to multiple groups of guide rails, each group is slidably connected to a slide, a mounting seat is provided below the slide, a buffer portion is also provided between the two, the inner wall of the mounting seat is rotatably connected to a shaft, and the shaft is mounted with an industrial camera 2; The connecting frame is provided with a rotating part capable of driving the rotating disk to rotate, the rotating disk is provided with an adjusting part 1 capable of controlling the movement of the slide on the guide rail, and a adjusting part 2 for controlling the rotation of the industrial camera 2 is provided between the mounting seat and the shaft; The surfaces of industrial camera 1 and industrial camera 2 are both provided with lens debugging components, including frames fixed on the surfaces of industrial camera 1 and industrial camera 2, and macro lenses, wide-angle lenses and fisheye lenses are arranged in the frames, and sliders are fixed to each of them for sliding connection with the inner wall of the frame, and an intelligent zoom part is installed on the outer surface of the frame, and the intelligent zoom part includes a lens cover, a lens group and an image analysis chip, as well as a magnetic drive component for controlling the movement of the lens group, and the frame is also provided with a control part for controlling the movement of the slider.

[0008] Preferably, the image analysis chip includes a spatiotemporal fusion preprocessing module, a heterogeneous feature extraction module, a dynamic decision optimization module, a flexible drive control module and a multimodal interactive interface module; the spatiotemporal fusion preprocessing module adopts a spatiotemporal joint processing strategy to perform conventional noise reduction and enhancement processing on the single-frame images collected by industrial camera 1 and industrial camera 2, and also uses the time series information between adjacent frames to remove motion artifacts in dynamic scenes through optical flow field analysis; the heterogeneous feature extraction module integrates the traditional image feature operator and the feature extraction model derived from the generative adversarial network (GAN). For the size of the object, the traditional Hough transform is used to detect the contour size; for the distance parameter, the traditional Hough transform is used to detect the contour size. By building a GAN-based stereo matching network, a high-precision disparity map is generated; the dynamic decision optimization module introduces a hybrid decision-making mechanism of reinforcement learning and Bayesian optimization. The chip builds a reward function based on historical image data and focal length adjustment effects, and uses reinforcement learning to allow the chip to autonomously explore the optimal focal length adjustment strategy; at the same time, the Bayesian optimization algorithm is used to quickly predict the optimal focal length range based on the current image features; the flexible drive control module is based on the control strategy of the adaptive pulse sequence. The control signal generated by the module is no longer a pulse with a fixed frequency and duty cycle. Instead, it dynamically adjusts the parameters of the pulse sequence according to the real-time load, position feedback and other information of the lens group to accurately control the operation of the magnetic drive component; The multimodal interactive interface module integrates multimodal communication protocols such as 5G, industrial Ethernet, and wireless sensor networks, and can achieve high-speed data transmission with the camera.

[0009] Preferably, the rotating part includes a harmonic reducer mounted on a connecting frame by bolts, and a motor 1 is installed on the harmonic reducer. The output end of the motor 1 is fixedly connected to the input end of the harmonic reducer, and the output end of the harmonic reducer is fixedly connected to the rotating disk. Through the above components, the motor 1 can control the wave generator in the harmonic reducer to rotate, and then drive the rotating disk and multiple industrial cameras 2 to rotate. The harmonic reducer has extremely high transmission accuracy and its return error is extremely small, which can ensure that the rotating disk is accurately positioned during the rotation process, thereby obtaining accurate image information and providing a reliable data basis for subsequent visual positioning.

[0010] Preferably, the lens cover is mounted on the frame, the image analysis chip is mounted on the lens cover, the lens group is located in the lens cover, and moving parts are fixedly connected on both sides, the moving parts are composed of a rod body and a roller, and are in contact with the inner wall of the lens cover, the magnetic drive assembly includes two central magnetic blocks fixed on the surface of the moving part, the inner wall of the lens cover is respectively fixedly connected with two groups of micro electric push rods 1 and micro electric push rods 2, the output ends of the micro electric push rods 1 and micro electric push rods 2 are respectively fixedly connected with magnetic block 1 and magnetic block 2 that repel the central magnetic block, through the above components, after the image analysis chip has been analyzed, the micro electric push rods 1 and micro electric push rods 2 are controlled to move synchronously, one extending and the other contracting, and due to the repulsive force, the lens group can be driven to move, thereby achieving precise zooming, greatly improving the shooting flexibility and adaptability.

[0011] Preferably, the adjusting part 1 includes a motor 2 installed on the upper surface of the rotating disk, and the inner wall of the lower surface of the rotating disk is rotatably connected to a transmission screw, and the output end of the motor 2 is connected to the transmission screw through a synchronous belt. The adjusting part 2 includes gears fixed to the surfaces of both ends of the shaft rod, and the surface of the mounting seat is fixedly connected to two cylinders 2, and the output end of the cylinder 2 is fixedly connected to a rack, and the rack is meshed with the gear. Through the above components, the motor 2 can drive the transmission screw to rotate through the synchronous belt, and the transmission screw controls the slide and the industrial camera 2 to move, and the position can be adjusted according to the size of the assembled object. The cylinder 2 can drive the rack to move, and the rack cooperates with the gear to drive the shaft rod and the industrial camera 2 to rotate in the mounting seat to adjust the angle of the industrial camera 2.

[0012] Preferably, the buffer portion includes plate one and plate two, the surface of plate one is rotatably connected to a plurality of connecting arms one, the surface of plate two is rotatably connected to a plurality of connecting arms two, the connecting arm two is rotatably connected to the inner wall of connecting arm one, and a buffer airbag is fixedly connected to the corresponding side of plate one and plate two. Through the above components, when subjected to vibration, the buffer airbag can be deformed, and then connecting arm one and connecting arm two cooperate to achieve the effect of buffering and shock absorption, thereby improving the protection of industrial camera one and industrial camera two.

[0013] Preferably, a buffer spring is fixedly connected to one side corresponding to the plate one and the plate two, and there are multiple buffer springs. Through the above components, the buffer spring can cooperate with multiple buffer airbags to further improve the buffer protection effect.

[0014] Preferably, the control unit includes an adjusting screw rotatably connected to the inner wall of the frame, the adjusting screw is threadedly connected to the inner wall of the slide, and a motor three is fixedly connected to one side surface of the frame, and the output end of the motor three is fixedly connected to one end of the adjusting screw. Through the above components, motor three is turned on, and motor three can drive the adjusting screw to rotate, and the adjusting screw drives the slide to move, thereby controlling the switching of the macro lens, wide-angle lens and fisheye lens, and can quickly replace the appropriate lens at different assembly stages or for different micro-assembly tasks.

[0015] Preferably, two shielding blocks are fixedly connected to the surface of one side of the frame away from the intelligent zoom unit. Through the above components, the shielding blocks can shield the macro lens, wide-angle lens and fisheye lens to reduce impurities attached to the inside.

[0016] Preferably, the connecting frame is composed of a disc frame and three groups of sliding rods fixed on the disc frame.

[0017] In summary, the technical effects and advantages of the present invention are as follows: 1. In the present invention, by utilizing the first cylinder, the rotating part, the first adjustment part and the second adjustment part, the height, rotation angle, position and lens angle of the first industrial camera and the second industrial camera can be flexibly and accurately adjusted, covering all parts of the micro-assembly object, eliminating the acquisition blind spots, and adapting to complex assembly scenarios; the lens debugging component can not only quickly switch between macro, wide-angle and fisheye lenses to meet the diversified acquisition needs of the entire micro-assembly process, but also can use the intelligent zoom part to accurately control the displacement of the lens group through the magnetic drive component based on the object size, spatial distance and other parameters fed back by the image analysis chip, to achieve intelligent adjustment of the focal length, provide comprehensive and high-quality image information for visual positioning, realize multi-angle and multi-mode acquisition, improve visual positioning accuracy, and reduce positioning errors.

[0018] 2. In the present invention, by providing a buffer part, the impact of vibration on industrial camera 1 and industrial camera 2 is effectively reduced, the risk of equipment damage caused by vibration is reduced, the service life of the device is significantly extended, and the stability and continuity of the acquisition and positioning work are guaranteed.

[0019] 3. In the present invention, the rotating arm rotates through the cooperation of the motor 1 and the harmonic reducer. The harmonic reducer has extremely high transmission accuracy and its return error is extremely small, which can ensure that the rotating disk 5 is accurately positioned during the rotation process, thereby obtaining accurate image information and providing a reliable data basis for subsequent visual positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of a full-coverage image acquisition and visual positioning device for micro-assembly of the present invention; Figure 2 This is a schematic diagram of the bottom-up structure of a full-coverage image acquisition and visual positioning device for micro-assembly according to the present invention; Figure 3 The present invention is a full coverage image acquisition and visual positioning device for micro assembly Figure 2 Schematic diagram at point A in the middle; Figure 4 This is a partial structural diagram of a full-coverage image acquisition and visual positioning device for micro-assembly of the present invention; Figure 5 The present invention is a full coverage image acquisition and visual positioning device for micro assembly Figure 4 Schematic diagram of part of the structure; Figure 6 This is a partial structural diagram of a full-coverage image acquisition and visual positioning device for micro-assembly according to the present invention; Figure 7 This is a schematic cross-sectional view of the intelligent zoom portion of a full-coverage image acquisition and visual positioning device for micro-assembly according to the present invention; Figure 8 The present invention is a full coverage image acquisition and visual positioning device for micro assembly Figure 7 Schematic diagram of the structure at point B.

[0021] In the figure: 1. Assembly frame; 2. Connecting frame; 3. Cylinder 1; 4. Rotating part; 41. Motor 1; 42. Harmonic reducer; 5. Rotating disk; 6. Adjusting part 1; 61. Motor 2; 62. Drive screw; 63. Synchronous belt; 7. Industrial camera 1; 8. Industrial camera 2; 9. Buffer part; 91. Plate 1; 92. Plate 2; 93. Buffer airbag; 94. Connecting arm 1; 95. Connecting arm 2; 96. Buffer spring; 10. Guide rail; 11. Slide; 12. Lens debugging assembly; 121. Frame; 122. Smart zoom part; 1221. Lens cover; 1222, lens group; 1223, micro electric push rod one; 1224, magnetic block one; 1225, micro electric push rod two; 1226, magnetic block two; 1227, moving part; 1228, central magnetic block; 123, macro lens; 124, wide-angle lens; 125, fisheye lens; 126, sliding part; 127, motor three; 128, adjusting screw; 129, blocking block; 13, adjusting part two; 131, cylinder two; 132, rack; 133, gear; 14, mounting seat; 15, shaft; 16, image analysis chip. DETAILED DESCRIPTION

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] refer to Figure 1 - Figure 8 The shown device is a full-coverage image acquisition device for micro-assembly, comprising an assembly frame 1 that can be assembled. The inner wall of the assembly frame 1 is slidably connected to a connecting frame 2, which is composed of a disc frame and three groups of slide rods fixed on the disc frame. The inner wall of the assembly frame 1 is fixedly connected to multiple groups of cylinders 3, and the output end of the cylinder 3 is fixedly connected to the connecting frame 2. The inner wall of the connecting frame 2 is rotatably connected to a rotating disk 5, and an industrial camera 7 is arranged below the rotating disk 5, with a buffer portion 9 between the two. The lower surface of the rotating disk 5 is fixedly connected to multiple groups of guide rails 10, each group is slidably connected to a slide 11, and a mounting seat 14 is arranged below the slide 11, and there is also a buffer portion 9 between the two. The inner wall of the mounting seat 14 is rotatably connected to a shaft rod 15, and the shaft rod 15 is installed with an industrial camera 2 8.

[0024] Among them, a rotating part 4 that can drive the rotating disk 5 to rotate is provided on the connecting frame 2, and the rotating part 4 includes a harmonic reducer 42 installed on the connecting frame 2 by bolts. A motor 41 is installed on the harmonic reducer 42, and the output end of the motor 41 is fixedly connected to the input end of the harmonic reducer 42, and the output end of the harmonic reducer 42 is fixedly connected to the rotating disk 5.

[0025] In this embodiment: Motor 1 41 can control the wave generator in the harmonic reducer 42 to rotate, and then drive the rotating disk 5 and multiple industrial cameras 2 8 to rotate. The harmonic reducer 42 has extremely high transmission accuracy and its return error is extremely small, which can ensure that the rotating disk 5 is accurately positioned during the rotation process, thereby obtaining accurate image information and providing a reliable data basis for subsequent visual positioning.

[0026] Among them, the rotating disk 5 is provided with an adjustment part 6 that can control the movement of the slide 11 on the guide rail 10. The adjustment part 6 includes a motor 2 61 installed on the upper surface of the rotating disk 5. The inner wall of the lower surface of the rotating disk 5 is rotatably connected to a transmission screw 62. The output end of the motor 2 61 is connected to the transmission screw 62 through a synchronous belt 63.

[0027] In this embodiment, the second motor 61 can drive the transmission screw 62 to rotate through the synchronous belt 63. The transmission screw 62 controls the movement of the slide 11 and the second industrial camera 8, and can adjust the position according to the size of the assembled object.

[0028] Among them, the mounting base 14 is provided with an adjustment part 13 for controlling the rotation of the industrial camera 8. The adjustment part 13 includes gears 133 fixed on the surfaces of both ends of the shaft 15. The surface of the mounting base 14 is fixedly connected to two cylinders 131. The output end of the cylinder 131 is fixedly connected to a rack 132, and the rack 132 is meshed with the gear 133.

[0029] In this embodiment: the cylinder 2 131 can drive the rack 132 to move, and the rack 132 cooperates with the gear 133 to drive the shaft 15 and the industrial camera 2 8 to rotate in the mounting seat 14 to adjust the angle of the industrial camera 2 8.

[0030] Among them, the surfaces of industrial camera 1 7 and industrial camera 2 8 are both provided with a lens debugging assembly 12, and the lens debugging assembly 12 includes a frame 121 fixed on the surface of industrial camera 1 7 and industrial camera 2 8, and a macro lens 123, a wide-angle lens 124 and a fisheye lens 125 are provided in the frame 121, and the surface is fixedly connected with a slider 126 that is slidably connected to the inner wall of the frame 121, and the frame 121 is also provided with a control unit for controlling the movement of the slider 126, and the control unit includes an adjusting screw 128 that is rotatably connected to the inner wall of the frame 121, and the adjusting screw 128 is threadedly connected to the inner wall of the slider 126, and a motor 3 127 is fixedly connected to the surface of one side of the frame 121, and the output end of the motor 3 127 is fixedly connected to one end of the adjusting screw 128, and an intelligent zoom unit 122 is installed on the outer surface of the frame 121, and the intelligent zoom unit 122 includes a lens cover 1221, a lens group 1222 and The image analysis chip 16 and the magnetic drive assembly for controlling the movement of the lens group 1222. The frame 121 is also provided with a control unit for controlling the movement of the slider 126. The lens cover 1221 is installed on the frame 121, and the image analysis chip 16 is installed on the lens cover 1221. The lens group 1222 is located in the lens cover 1221, and is fixedly connected to a moving part 1227 on both sides. The moving part 1227 is composed of a rod and a roller, and is fitted with the inner wall of the lens cover 1221. The magnetic drive assembly includes two central magnetic blocks 1228 fixed on the surface of the moving part 1227. The inner wall of the lens cover 1221 is respectively fixedly connected with two groups of micro electric push rods 1 1223 and micro electric push rods 2 1225. The output ends of the micro electric push rods 1 1223 and the micro electric push rods 2 1225 are respectively fixedly connected with magnetic blocks 1 1224 and magnetic blocks 2 1226 that repel the central magnetic block 1228.

[0031] In this embodiment: turn on motor three 127, motor three 127 can drive the adjusting screw 128 to rotate, and the adjusting screw 128 drives the slider 126 to move, thereby controlling the switching of the macro lens 123, the wide-angle lens 124 and the fisheye lens 125, and can quickly replace the appropriate lens at different assembly stages or for different micro-assembly tasks. Two blocking blocks 129 are fixedly connected to the surface of the side of the frame 121 away from the intelligent zoom unit 122, which can block the macro lens 123, the wide-angle lens 124 and the fisheye lens 125 to reduce impurities attached to the inside. After the image analysis chip 16 analyzes the captured image, it controls the micro electric push rod 1 1223 and the micro electric push rod 2 1225 to move synchronously, one extending and the other contracting. Due to the repulsive force, the lens group 1222 can be driven to move, thereby achieving precise zooming, greatly improving the shooting flexibility and adaptability.

[0032] Among them, the buffer part 9 includes plate 1 91 and plate 2 92. The surface of plate 1 91 is rotatably connected to multiple connecting arms 1 94, and the surface of plate 2 92 is rotatably connected to multiple connecting arms 2 95. Connecting arm 2 95 is rotatably connected to the inner wall of connecting arm 1 94. The corresponding side of plate 1 91 and plate 2 92 is fixedly connected to a buffer airbag 93, and the corresponding side of plate 1 91 and plate 2 92 is fixedly connected to a buffer spring 96. There are multiple buffer springs 96.

[0033] In this embodiment: when subjected to vibration, the buffer airbag 93 can be deformed, and then the connecting arm 1 94 and the connecting arm 2 95 cooperate to achieve the effect of buffering and shock absorption, thereby improving the protection of industrial camera 1 7 and industrial camera 2 8. The buffer spring 96 can cooperate with multiple buffer airbags 93 to further improve the buffering protection effect.

[0034] Among them, the image analysis chip 16 includes a spatiotemporal fusion preprocessing module, a heterogeneous feature extraction module, a dynamic decision optimization module, a flexible drive control module and a multimodal interactive interface module; The spatiotemporal fusion preprocessing module uses a spatiotemporal joint processing strategy to perform conventional noise reduction and enhancement processing on single-frame images captured by industrial cameras 17 and 28. It also uses the time series information between adjacent frames to remove motion artifacts in dynamic scenes through optical flow field analysis; The heterogeneous feature extraction module combines traditional image feature operators with a feature extraction model derived from a generative adversarial network (GAN). For object size, it uses the traditional Hough transform to detect outline dimensions. For distance parameters, it builds a GAN-based stereo matching network to generate high-precision disparity maps. The dynamic decision optimization module introduces a hybrid decision-making mechanism of reinforcement learning and Bayesian optimization. The chip builds a reward function based on historical image data and focus adjustment effects. Through reinforcement learning, the chip autonomously explores the optimal focus adjustment strategy. At the same time, it uses the Bayesian optimization algorithm to quickly predict the optimal focus range based on current image features. The flexible drive control module is based on an adaptive pulse sequence control strategy. The control signal generated by the module is no longer a pulse with a fixed frequency and duty cycle. Instead, it dynamically adjusts the parameters of the pulse sequence based on the real-time load and position feedback of the lens group 1222 to accurately control the operation of the magnetic drive component. The multimodal interactive interface module integrates multimodal communication protocols such as 5G, industrial Ethernet, and wireless sensor networks, and can achieve high-speed data transmission with the camera.

[0035] The working principle of the present invention is as follows: when performing image acquisition, first, the cylinder 13 drives the connecting frame 2 to move in the mounting frame, adjusts the industrial camera 1 7 and the industrial camera 2 8 to a suitable height, and at the same time, turns on the control part, the motor 3 127 can drive the adjusting screw 128 to rotate, and the adjusting screw 128 drives the slider 126 to move, thereby controlling the switching of the macro lens 123, the wide-angle lens 124 and the fisheye lens 125. After switching to the required lens, the adjustment part 2 13 is turned on, the cylinder 2 131 drives the rack 132 to move, and the rack 132 cooperates with the gear 133 to drive the shaft 15 and the industrial camera 2 8 to rotate in the mounting seat 14 to adjust the angle of the industrial camera 2 8. After the adjustment is completed, the industrial camera 1 7 and the industrial camera 2 8 cooperate with the intelligent zoom part 122 to capture images of small objects. At the same time, the motor 1 41 can control the wave generator in the harmonic reducer 42 to rotate, and then drives the rotating disk 5 and multiple industrial cameras 2 8 to rotate, thereby realizing full coverage image acquisition operation; After the acquisition is completed, the image is transmitted to the image analysis chip 16. The spatiotemporal fusion preprocessing module first performs conventional processing such as noise reduction and enhancement on the single-frame images acquired by industrial camera 1 7 and industrial camera 2 8. At the same time, a spatiotemporal joint processing strategy is used to analyze the time series information between adjacent frames. Through optical flow field analysis, the motion trajectory of small objects in dynamic scenes is accurately captured, and motion artifacts caused by object movement or camera shake are effectively removed, thereby improving image quality and providing clear and accurate image data for subsequent analysis. Heterogeneous Feature Extraction Module: This module combines traditional image feature operators with a model derived from a generative adversarial network (GAN) to perform deep feature extraction on preprocessed images. It uses traditional algorithms such as the Hough transform to detect the outlines of tiny objects and calculate their sizes. A GAN-based stereo matching network analyzes the differences between images captured by two industrial cameras, generating a high-precision disparity map. This allows for precise calculation of object distance parameters and comprehensive acquisition of key feature information about tiny objects. Flexible drive control module: Based on the focal length adjustment scheme derived from the dynamic decision optimization module and an adaptive pulse sequence control strategy, a control signal with variable frequency and duty cycle is generated. This module monitors the load changes and position feedback of lens group 1222 in real time, dynamically adjusts the pulse sequence parameters, and precisely controls the magnetic drive assembly to achieve high-precision movement of lens group 1222 and complete fine adjustment of the lens focal length. During the adjustment process, micro electric push rod 1223 and micro electric push rod 2 1225 are controlled to move synchronously, one extending and the other retracting. Due to the repulsive force, the lens group 1222 can be driven to move, thereby achieving precise zooming, greatly improving shooting flexibility and adaptability. Multimodal interaction interface module: Throughout the entire process, it maintains high-speed data transmission with industrial cameras through integrated multimodal communication protocols such as 5G, industrial Ethernet, and wireless sensor networks, ensuring the real-time and stability of image acquisition and command transmission; When the equipment is vibrated, the buffer airbag 93 can be deformed, and the buffer spring 96 can cooperate with the buffer airbag 93, and then the connecting arm 1 94 and the connecting arm 2 95 cooperate to achieve the effect of buffering and shock absorption, thereby improving the protection of industrial camera 1 7 and industrial camera 2 8 and extending the overall service life.

[0036] The electrical components mentioned in this article are all connected to an external main controller and 220V mains electricity, and the main controller can be a conventional known device that performs control such as a computer.

[0037] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A full-coverage image acquisition device for micro-assembly, comprising an assembly frame (1), characterized in that: The inner wall of the assembly frame (1) is slidably connected to a connecting frame (2), the inner wall of the assembly frame (1) is fixedly connected to a plurality of cylinders (3), the output end of the cylinder (3) is fixedly connected to the connecting frame (2), the inner wall of the connecting frame (2) is rotatably connected to a rotating disk (5), an industrial camera (7) is provided below the rotating disk (5), and a buffer portion (9) is provided between the two, the lower surface of the rotating disk (5) is fixedly connected to a plurality of guide rails (10), each group is slidably connected to a slide (11), a mounting seat (14) is provided below the slide (11), and a buffer portion (9) is also provided between the two, the inner wall of the mounting seat (14) is rotatably connected to a shaft (15), and the shaft (15) is installed with an industrial camera (8), the connecting frame (2) is provided with a rotating portion (4), and the rotating disk (5) and the mounting seat (14) are respectively provided with an adjustment portion (6) and an adjustment portion (13); The surfaces of the industrial camera 1 (7) and the industrial camera 2 (8) are both provided with a lens debugging assembly (12), comprising a frame (121) fixed on the surface of the industrial camera 1 (7) and the industrial camera 2 (8), wherein a macro lens (123), a wide-angle lens (124) and a fisheye lens (125) are provided in the frame (121), and a slide (126) is fixed to each of the frames to be slidably connected to the inner wall of the frame (121), and an intelligent zoom unit (122) is installed on the outer surface of the frame (121), and the intelligent zoom unit (122) comprises a lens cover (1221), a lens group (1222) and an image analysis chip (16), as well as a magnetic drive assembly for controlling the movement of the lens group (1222), and the frame (121) is also provided with a control unit.

2. The visual positioning device of the full-coverage image acquisition device for micro-assembly according to claim 1, characterized in that: The image analysis chip (16) includes a spatiotemporal fusion preprocessing module, a heterogeneous feature extraction module, a dynamic decision optimization module, a flexible drive control module and a multimodal interactive interface module; The spatiotemporal fusion preprocessing module adopts a spatiotemporal joint processing strategy to perform conventional noise reduction and enhancement processing on the single-frame images collected by the industrial camera 1 (7) and the industrial camera 2 (8), and also uses the time series information between adjacent frames to remove motion artifacts in dynamic scenes through optical flow field analysis; The heterogeneous feature extraction module combines traditional image feature operators with a feature extraction model derived from a generative adversarial network (GAN). For object size, it uses the traditional Hough transform to detect outline dimensions. For distance parameters, it builds a GAN-based stereo matching network to generate a high-precision disparity map. The dynamic decision optimization module introduces a hybrid decision-making mechanism of reinforcement learning and Bayesian optimization. The chip builds a reward function based on historical image data and focus adjustment effects, and uses reinforcement learning to allow the chip to autonomously explore the optimal focus adjustment strategy. At the same time, the Bayesian optimization algorithm is used to quickly predict the optimal focus range based on current image features. The flexible drive control module is based on a control strategy of an adaptive pulse sequence. The control signal generated by the module is no longer a pulse with a fixed frequency and duty cycle. Instead, the parameters of the pulse sequence are dynamically adjusted according to information such as the real-time load and position feedback of the lens group (1222), thereby accurately controlling the operation of the magnetic drive component. The multimodal interactive interface module integrates multimodal communication protocols such as 5G, industrial Ethernet, and wireless sensor networks, and can achieve high-speed data transmission with the camera.

3. The full-coverage image acquisition device for microassembly according to claim 1, characterized in that: The rotating part (4) includes a harmonic reducer (42) mounted on the connecting frame (2) by bolts, a motor 1 (41) is mounted on the harmonic reducer (42), an output end of the motor 1 (41) is fixedly connected to an input end of the harmonic reducer (42), and the output end of the harmonic reducer (42) is fixedly connected to the rotating disk (5).

4. The full-coverage image acquisition device for microassembly according to claim 1, characterized in that: The lens cover (1221) is mounted on the frame (121), the image analysis chip (16) is mounted on the lens cover (1221), the lens group (1222) is located in the lens cover (1221), and is fixedly connected to a moving part (1227) on both sides. The moving part (1227) is composed of a rod body and a roller, and is in contact with the inner wall of the lens cover (1221). The magnetic drive assembly includes two central magnetic blocks (1228) fixed on the surface of the moving part (1227). The inner wall of the lens cover (1221) is respectively fixedly connected to two groups of micro electric push rods (1223) and micro electric push rods (2) (1225). The output ends of the micro electric push rods (1223) and micro electric push rods (2) (1225) are respectively fixedly connected to magnetic blocks (1224) and magnetic blocks (1226) that repel the central magnetic block (1228).

5. The full-coverage image acquisition device for microassembly according to claim 1, characterized in that: The regulating part 1 (6) includes a motor 2 (61) mounted on the upper surface of the rotating disk (5), a transmission screw (62) is rotatably connected to the inner wall of the lower surface of the rotating disk (5), and the output end of the motor 2 (61) is connected to the transmission screw (62) through a synchronous belt (63). The regulating part 2 (13) includes a gear (133) fixed to the surfaces of both ends of the shaft (15), and two cylinders 2 (131) are fixedly connected to the surface of the mounting seat (14). The output end of the cylinder 2 (131) is fixedly connected to a rack (132), and the rack (132) is meshed with the gear (133).

6. The full-coverage image acquisition device for microassembly according to claim 1, characterized in that: The buffer portion (9) includes a plate 1 (91) and a plate 2 (92), the surface of the plate 1 (91) is rotatably connected to a plurality of connecting arms 1 (94), the surface of the plate 2 (92) is rotatably connected to a plurality of connecting arms 2 (95), the connecting arms 2 (95) are rotatably connected to the inner wall of the connecting arm 1 (94), and a buffer airbag (93) is fixedly connected to the corresponding side of the plate 1 (91) and the plate 2 (92).

7. The full-coverage image acquisition device for microassembly according to claim 6, characterized in that: A buffer spring (96) is fixedly connected to one side of the plate 1 (91) and the plate 2 (92) corresponding to each other, and there are multiple buffer springs (96).

8. The full-coverage image acquisition device for microassembly according to claim 1, characterized in that: The control unit includes an adjusting screw (128) rotatably connected to the inner wall of the frame (121), the adjusting screw (128) is threadedly connected to the inner wall of the slide (126), a motor three (127) is fixedly connected to a side surface of the frame (121), and an output end of the motor three (127) is fixedly connected to one end of the adjusting screw (128).

9. The full-coverage image acquisition device for microassembly according to claim 1, characterized in that: Two blocking blocks (129) are fixedly connected to a surface of one side of the frame (121) away from the intelligent zoom unit (122).

10. The full-coverage image acquisition device for microassembly according to claim 1, characterized in that: The connecting frame (2) is composed of a disc frame and three groups of sliding rods fixed on the disc frame.

Images