Industrial focusing method, device and equipment and storage medium

Abstract

The invention provides an industrial focusing method and device, equipment and a storage medium, and is applied to the technical field of industrial focusing, and the method comprises the steps: carrying out the projection of a light spot image from a plurality of preset angles after the light spot image is obtained, and obtaining a brightness distribution curve of the light spot image at each preset angle; and screening out a first brightness peak point and a second brightness peak point from the brightness distribution curves of all preset angles. And determining a light spot center of the light spot image according to the first brightness peak point and the second brightness peak point. And the distance between the microscopic imaging assembly and the target object is adjusted based on the light spot center and the preset light spot center of the target object so that the focus of the microscopic imaging assembly can be located on the surface of the target object, and the problems that in a traditional industrial focusing method, the surface of the target object influences the laser light spot, and the focusing precision and accuracy are interfered are solved.

Description

Technical Field

[0001] The present application relates to the field of industrial focusing technology, and in particular to an industrial focusing method, device, equipment and storage medium. Background Art

[0002] Industrial focusing systems play a vital role in the industrial sector, particularly in precision manufacturing, materials testing, and biomedical imaging. One of their core objectives is to quickly and precisely focus on the target object, obtaining clear, accurate images for subsequent analysis and measurement. Triangulation, a common active focusing technique, is widely adopted in many industrial focusing systems due to its simple principle, relatively easy implementation, and high focusing accuracy.

[0003] However, in practical applications, the surface of the target object is often not an ideal flat surface, but rather has varying degrees of unevenness. These unevennesses can significantly affect the interaction between the laser spot and the target surface during the triangulation focusing process, thereby interfering with the focusing precision and accuracy. Summary of the Invention

[0004] The purpose of this application is to provide an industrial focusing method, device, equipment and storage medium to solve the problem of the influence of the target object surface on the laser spot in the traditional industrial focusing method, which interferes with the focusing precision and accuracy.

[0005] In a first aspect, embodiments of the present application provide an industrial focusing method for use in an industrial focusing system. The industrial focusing system includes a laser emitting assembly, a receiving imaging assembly, a microscopic imaging assembly, and a driving assembly. The laser emitting assembly is configured to emit a laser beam toward a target object. The laser beam is focused onto the target object's surface and reflected to form a laser spot. The laser beam is shaped like an oblique cross. The receiving imaging assembly is configured to capture the laser spot and obtain a spot image. The industrial focusing method includes: after obtaining the spot image, projecting the spot image from multiple preset angles to obtain a brightness distribution curve for the spot image at each preset angle. A first brightness peak point and a second brightness peak point are selected from the brightness distribution curves for all preset angles. The first brightness peak point and the second brightness peak point are the two points with the highest brightness values ​​in the brightness distribution curves for all preset angles. The first brightness peak point corresponds to a first spot image formed by the first arm of the oblique cross-shaped laser beam. The second brightness peak point corresponds to a second spot image formed by the second arm of the oblique cross-shaped laser beam. The spot center of the spot image is determined based on the first brightness peak point and the second brightness peak point. Based on the light spot center and the preset light spot center of the target object, the distance between the microscopic imaging component and the target object is adjusted so that the focus of the microscopic imaging component is located on the surface of the target object.

[0006] The industrial focusing method provided in the embodiment of the present application projects the spot image from multiple preset angles and selects two brightness peak points to determine the center of the spot. This method can more comprehensively analyze the characteristics of the spot image and effectively avoid center extraction errors caused by problems such as spot deformation and uneven intensity. Compared with traditional single-angle or simple processing methods, it can more accurately determine the center position of the spot, thereby improving the accuracy of industrial focusing and making the focus of the microscopic imaging component fall more accurately on the surface of the target object. At the same time, the present application adopts a laser spot in the shape of an oblique cross. In actual application, even if this laser spot in the shape of an oblique cross becomes irregular due to the complex conditions of the surface of the target object, the center of the spot can be accurately determined by the industrial focusing method provided in the embodiment of the present application through the difference in direction, thereby enhancing the adaptability of different types of spots and expanding the scope of application of the present application in different industrial scenarios and under different target object conditions.

[0007] One possible implementation method is to determine the spot center of a spot image based on a first brightness peak point and a second brightness peak point, including: determining the first image coordinates of the first brightness peak point in the image coordinate system of the receiving imaging component based on a first preset angle corresponding to the first brightness peak point, first position information of a brightness distribution curve of the first brightness peak point at the first preset angle, a second preset angle corresponding to the second brightness peak point, and second position information of the brightness distribution curve of the second brightness peak point at the second preset angle. Based on the first image coordinates and the second image coordinates, a first straight line of the first spot image and a second straight line of the second spot image are determined. The intersection of the first straight line and the second straight line is calculated to obtain the spot center.

[0008] In one possible implementation, any one of the first and second image coordinates is used as the target image coordinate, the first and second spot images are used as the target spot images, and the first and second straight lines are used as the target straight lines. Determining the target straight line of the target spot image based on the target image coordinates includes: constructing a parameter space corresponding to the target spot image. The horizontal axis of the parameter space represents the angle of the candidate straight line. The vertical axis of the parameter space represents the polar parameters of the candidate straight line. Based on the target image coordinates, all target angles in the parameter space are traversed to determine the target polar parameters corresponding to each of all target angles. The target straight line is determined based on all target angles and the target polar parameters corresponding to each target angle.

[0009] One possible implementation method determines the target line based on all target angles and the target polar parameters corresponding to each target angle. This includes constructing candidate line parameter combinations using the target angles and target polar parameters. Based on the target image coordinates, the candidate line parameter combinations in the parameter space are voted to determine the target line.

[0010] One possible implementation method determines the first image coordinates of the first brightness peak point in the image coordinate system of the receiving imaging component and the second image coordinates of the second brightness peak point in the image coordinate system based on a first preset angle corresponding to the first brightness peak point, first position information of a brightness distribution curve of the first brightness peak point at the first preset angle, a second preset angle corresponding to the second brightness peak point, and second position information of the brightness distribution curve of the second brightness peak at the second preset angle. The method includes: performing an inverse rotation operation on the first preset angle and the first position information to obtain the first image coordinates. Performing an inverse rotation operation on the second preset angle and the second position information to obtain the second image coordinates.

[0011] One possible implementation involves selecting a first brightness peak point and a second brightness peak point from the brightness distribution curves at all preset angles. This includes extracting the point with the maximum brightness value from the target brightness distribution curve for any preset angle among the brightness distribution curves at all preset angles to obtain the brightness peak point. The brightness peak point includes both brightness value and location information. The first and second brightness peak points are selected from the brightness peak points of the brightness distribution curves at all preset angles.

[0012] One possible implementation involves adjusting the distance between the microscopic imaging assembly and the target object based on the light spot center and a preset light spot center of the target object. This includes determining an offset of the light spot center based on the light spot center and the preset light spot center. Determining the defocus of the target object based on the offset and system parameters of the industrial focusing system. The system parameters include the angle between the laser emission assembly and the plane of the target object. Based on the defocus, the distance between the microscopic imaging assembly and the target object is adjusted so that the focus of the microscopic imaging assembly is located on the surface of the target object.

[0013] In a second aspect, embodiments of the present application provide an industrial focusing device for use in an industrial focusing system. The industrial focusing system includes a laser emitting assembly, a receiving imaging assembly, a microscopic imaging assembly, and a drive assembly. The laser emitting assembly is used to emit a laser beam toward a target object. The laser beam is focused onto the target object's surface and reflected to form a laser spot. The laser beam is shaped like an oblique cross. The receiving imaging assembly is used to capture the laser spot and produce a spot image. The industrial focusing device includes a projection module, a screening module, a determination module, and an adjustment module.

[0014] The projection module is used to project the spot image from multiple preset angles after acquiring the spot image, so as to obtain a brightness distribution curve of the spot image at each preset angle.

[0015] A screening module is configured to screen a first brightness peak point and a second brightness peak point from the brightness distribution curves at all preset angles. The first brightness peak point and the second brightness peak point are two brightness maximum points in the brightness distribution curves at all preset angles. The first brightness peak point corresponds to a first spot image formed by the first arm of the oblique cross-shaped laser beam. The second brightness peak point corresponds to a second spot image formed by the second arm of the oblique cross-shaped laser beam.

[0016] The determination module is used to determine the spot center of the spot image according to the first brightness peak point and the second brightness peak point.

[0017] The adjustment module is used to adjust the distance between the microscopic imaging component and the target object based on the light spot center and the preset light spot center of the target object, so that the focus of the microscopic imaging component is located on the surface of the target object.

[0018] In a third aspect, embodiments of the present application provide an industrial focusing device that has the functionality to implement the industrial focusing method of the first aspect or any possible implementation described above. This functionality can be implemented through hardware or through hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the aforementioned functionality.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores instructions. When the computer-readable storage medium is run on a computer, the computer can execute the industrial focusing method of the above-mentioned first aspect or any possible implementation method.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the industrial focus determination method of the first aspect or any possible implementation method described above.

[0021] Among them, the technical effects brought about by any design method in the second to fifth aspects can refer to the technical effects brought about by different possible implementation methods in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 A system architecture diagram of an industrial focusing system provided in an embodiment of the present application; Figure 2 A schematic flow chart of an industrial focusing method provided in an embodiment of the present application; Figure 3 A schematic structural diagram of an industrial focusing device provided in an embodiment of the present application; Figure 4 Another system architecture diagram of an industrial focusing system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0026] Currently, when using industrial focusing systems to observe target objects, the surface of the target object has varying degrees of unevenness. These unevenness can significantly affect the interaction between the laser spot and the target surface, thereby interfering with the precision and accuracy of the focusing system.

[0027] For example, when the uneven surface of the target object completely overlaps with the laser spot, the laser spot's shape and energy distribution are severely disrupted. This alters the laser's reflective properties, preventing the industrial focusing system from accurately identifying the target object's true planar position. Furthermore, the system may misjudge the target and even cause system chatter, severely impacting the stability and effectiveness of the focusing process, increasing the risk of focus failure and reducing work efficiency.

[0028] If the boundaries of pits or bumps on the target object's surface happen to fall within the coverage area of ​​the laser spot, the shape and intensity distribution of the laser spot will become complex and irregular. This asymmetric, multi-peaked, or stretched deformation of the spot causes reflected light from different heights to enter the lens simultaneously. As a result, a single spot position corresponds to information at multiple different physical heights, leading to inaccurate extraction of the spot center and prone to jitter. This not only increases the complexity of the focusing algorithm but can also lead to a decrease in focusing accuracy or even render the focusing algorithm ineffective, making it impossible to achieve the desired high-precision focusing goal.

[0029] Based on this, an embodiment of the present application provides an industrial focusing method, device, equipment and storage medium, which includes: after acquiring a spot image, projecting the spot image from multiple preset angles to obtain a brightness distribution curve of the spot image at each preset angle. Filter out a first brightness peak point and a second brightness peak point from the brightness distribution curves of all preset angles. The first brightness peak point and the second brightness peak point are two maximum brightness value points in the brightness distribution curves of all preset angles. The first brightness peak point corresponds to the first spot image formed by the first arm of the oblique cross-shaped laser beam. The second brightness peak point corresponds to the second spot image formed by the second arm of the oblique cross-shaped laser beam. Based on the first brightness peak point and the second brightness peak point, determine the spot center of the spot image. Based on the spot center and the preset spot center of the target object, adjust the distance between the microscopic imaging component and the target object so that the focus of the microscopic imaging component is located on the surface of the target object.

[0030] The industrial focusing method provided in the embodiment of the present application projects the spot image from multiple preset angles and selects two brightness peak points to determine the center of the spot. This method can more comprehensively analyze the characteristics of the spot image and effectively avoid center extraction errors caused by problems such as spot deformation and uneven intensity. Compared with traditional single-angle or simple processing methods, it can more accurately determine the center position of the spot, thereby improving the accuracy of industrial focusing and making the focus of the microscopic imaging component fall more accurately on the surface of the target object. At the same time, the present application adopts a laser spot in the shape of an oblique cross. In actual application, even if this laser spot in the shape of an oblique cross becomes irregular due to the complex conditions of the surface of the target object, the center of the spot can be accurately determined by the industrial focusing method provided in the embodiment of the present application through the difference in direction, thereby enhancing the adaptability of different types of spots and expanding the scope of application of the present application in different industrial scenarios and under different target object conditions.

[0031] The method provided in the embodiments of the present application will be described below with reference to specific drawings.

[0032] In a first aspect, the present application provides an industrial focusing system. Figure 1As shown, the industrial focusing system 100 may include a laser emitting component 101 , a receiving imaging component 102 , a microscopic imaging component 103 and a driving component 104 .

[0033] The laser emitting assembly 101 is used to generate a laser beam of a preset shape and emit the laser beam of the preset shape toward a target object. The laser beam is focused onto the surface of the target object and is reflected by the target object to form a laser spot.

[0034] Exemplarily, the shape of the laser beam may be an oblique cross.

[0035] The receiving imaging component 102 is used to receive a laser spot formed by the laser beam reflected from the surface of the target object. For example, the receiving imaging component 102 can use a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS) sensor.

[0036] The microscopic imaging assembly 103 is used to provide a high-magnification magnification function, allowing an operator or an industrial focusing system to observe the microscopic structure of a target object in detail. The microscopic imaging assembly 103 may include multiple precision optical lenses, such as an objective lens, an eyepiece, and an intermediate lens.

[0037] The drive assembly 104 is used to move the microscopic imaging assembly 103 or the stage according to the control signal. This movement is usually performed along the optical axis (i.e., the Z-axis) to adjust the distance between the microscopic imaging assembly 103 and the target object to achieve precise focusing.

[0038] It should be noted that the above Figure 1 The illustrated industrial focusing system 100 is merely an example of an application scenario of the present invention, and does not limit the application scenario of the present invention.

[0039] On the one hand, the embodiment of the present application provides an industrial focusing method, which can be Figure 1 The industrial focusing system 100 shown in FIG. Figure 2 As shown, the method may include the following steps.

[0040] S201 , after acquiring the spot image, projecting the spot image from multiple preset angles to obtain a brightness distribution curve of the spot image at each preset angle.

[0041] Specifically, the laser emitting component emits a laser beam in the shape of an oblique cross toward the target object. The laser beam of the preset shape is reflected by the surface of the target object to form a laser spot. The receiving imaging component captures the laser spot reflected from the surface of the target object and obtains a spot image.

[0042] After receiving the spot image, the spot image is projected from multiple preset angles to convert the spot image into a one-dimensional brightness distribution curve. The one-dimensional brightness distribution curve can be used to represent the change in pixel brightness of the spot image at the preset angle.

[0043] For example, from 0° to 360°, the spot image is projected with rotation about the center point every 1° to obtain a one-dimensional projection brightness distribution curve of the spot image at each angle.

[0044] This application uses a laser beam shaped like an oblique cross to illuminate the target object, producing a laser spot in the shape of an oblique cross. This unique "X" shape provides position information in both the horizontal and vertical directions, significantly enhancing the robustness of this application's industrial focusing system. Even in complex or interfering environments, the system relies on position information in the unaffected direction to maintain precise focus and ensure stable operation.

[0045] At the same time, the oblique cross-shaped spot in this application makes its intersection in the spot image less likely to be obscured by other spots. This design ensures the stability and recognizability of the intersection position, thereby improving the accuracy of spot center positioning. Compared with point spots or straight spots, the oblique cross spot can still provide sufficient information to determine the spot center when facing occlusion or blur, which can avoid focus failure caused by insufficient information.

[0046] S202 , screening out a first brightness peak point and a second brightness peak point from the brightness distribution curves at all preset angles.

[0047] The first brightness peak point and the second brightness peak point are the two maximum brightness points in the brightness distribution curve for all preset angles. The first brightness peak point corresponds to the first spot image formed by the first arm of the oblique cross-shaped laser beam. The second brightness peak point corresponds to the second spot image formed by the second arm of the oblique cross-shaped laser beam.

[0048] In one possible implementation, for a target brightness distribution curve at any preset angle among all the brightness distribution curves at preset angles, the point with the maximum brightness value is extracted from the target brightness distribution curve to obtain a brightness peak point. The brightness peak point includes both brightness value and position information. A first brightness peak point and a second brightness peak point are selected from the brightness peak points of the brightness distribution curves at all preset angles.

[0049] For example, for each one-dimensional brightness distribution curve of all preset angles, the maximum brightness value is extracted from the one-dimensional brightness distribution curve of the angle. and its corresponding position These maxima and their positions together constitute the so-called light distribution, denoted as Each light element in the light distribution consists of two parts: and , that is, light={ , }.

[0050] For each light element in the light distribution, first calculate its first-order derivative and second-order derivative. Points where the first-order derivative is zero may be maxima or minima. The sign of the second-order derivative at these points is checked to determine whether they are maxima or minima. If the second-order derivative is less than zero, the point is a maximum.

[0051] By applying the above second-order derivative discrimination method to all light elements in the light distribution, two brightness peak points can be found. These two brightness peak points correspond to the brightest positions of the two arms of the oblique cross spot at different projection angles. Then, the projection angles corresponding to the two brightness peak points are obtained. and , and the positions of the two brightness peak points on the one-dimensional projection brightness distribution curve and .

[0052] S203 , determining a spot center of the spot image according to the first brightness peak point and the second brightness peak point.

[0053] Specifically, first, the positions of the first brightness peak point and the second brightness peak point in the rotated coordinate system are converted to positions in the original coordinate system to obtain the first image coordinates and the second image coordinates. A parameter space corresponding to the spot image is constructed, in which the horizontal axis of the parameter space represents the angle of the candidate line, and the vertical axis represents the polar parameters of the candidate line. Based on the first image coordinates and the second image coordinates, all possible straight line parameter groups in the parameter space are voted, and by counting the voting results in the parameter space, the two most likely straight lines can be obtained. Based on the voting results, the two points with the highest accumulator in the parameter space are obtained, and the corresponding two target straight lines can be obtained. The two targets correspond to the first brightness peak point and the second brightness peak point, respectively. Finally, based on the two target straight lines, their intersection is calculated to obtain the spot center of the spot image.

[0054] A possible implementation method is to determine the first image coordinates of the first brightness peak point in the image coordinate system of the receiving imaging component and the second image coordinates of the second brightness peak point in the image coordinate system based on the first preset angle corresponding to the first brightness peak point, the first position information of the brightness distribution curve of the first brightness peak point at the first preset angle, the second preset angle corresponding to the second brightness peak point, and the second position information of the brightness distribution curve of the second brightness peak at the second preset angle.

[0055] Specifically, an inverse rotation operation is performed on the first preset angle and the first position information to obtain the first image coordinates. An inverse rotation operation is performed on the second preset angle and the second position information to obtain the second image coordinates.

[0056] For example, using the inverse rotation formula, the first preset angle and first position information of the first brightness peak point in the rotated coordinate system are converted to obtain the position of the first brightness peak point in the original coordinate system, i.e., the first image coordinates. Using the inverse rotation formula, the second preset angle and second position information of the second brightness peak point in the rotated coordinate system are converted to obtain the position of the second brightness peak point in the original coordinate system, i.e., the second image coordinates.

[0057] The inverse rotation formula can be:

[0058] in, , is the coordinate after rotation, is the preset angle, , is the original position coordinate of the position information corresponding to the preset angle.

[0059] The inverse rotation formula is obtained by performing the inverse rotation operation on the following rotation formula. The rotation formula is:

[0060] Furthermore, since the straight lines corresponding to the first image coordinates and the second image coordinates both intersect with the central coordinate system, the position of the first image coordinate can be determined as A by the following formula: The position of the second image coordinate is B .

[0061]

[0062] Furthermore, a first straight line of the first light spot image and a second straight line of the second light spot image are determined according to the first image coordinates and the second image coordinates.

[0063] Specifically, a parameter space corresponding to the target spot image is constructed. The horizontal axis of the parameter space represents the angle of the candidate line. The vertical axis of the parameter space represents the polar parameters of the candidate line. Based on the target image coordinates, all target angles in the parameter space are traversed to determine the target polar parameters corresponding to each of the target angles. The target line is determined based on all target angles and the target polar parameters corresponding to each target angle. For all target angles and the target polar parameters corresponding to each target angle, candidate line parameter combinations are constructed using the target angles and target polar parameters. Based on the target image coordinates, the candidate line parameter combinations in the parameter space are voted on to obtain the target line.

[0064] For example, two two-dimensional parameter space accumulators are defined: , for A and B For any given point in the , construct the set of all possible lines that fall on the given point .in, is the horizontal axis of the parameter space, is the vertical axis of the parameter space. This process constructs a set of lines based on known points, rather than starting from the edge points of the entire spot image, which can simplify the search range of candidate lines. Then, based on the center point (xi, yi) of all edge points in the spot image, combined with known points A and B, the angle of the candidate line is calculated: A ; B ; Further, get the position of the point in the accumulator where the straight line may be higher ( , ), the point with higher probability is the point with the highest value determined by voting in the accumulator. The two points with higher probability are ( , )and( , Based on this ( , ) It can be determined that the slope of the first straight line is , the intercept is .based on( , ) It can be determined that the slope of the second straight line is , the intercept is .

[0065] Finally, the intersection of the first straight line and the second straight line is calculated to obtain the center of the light spot.

[0066] Exemplarily, the slopes and intercepts of the first straight line and the second straight line obtained according to the above steps are obtained by solving the equation group: , we can get the position of the center of the light spot as (x, y).

[0067] S204 , adjusting the distance between the microscopic imaging component and the target object based on the light spot center and the preset light spot center of the target object, so that the focus of the microscopic imaging component is located on the surface of the target object.

[0068] In one possible implementation, an offset of the spot center is determined based on the spot center and a preset spot center. The defocus of the target object is determined based on the offset and system parameters of the industrial focusing system. These system parameters include the angle between the laser emission assembly and the plane of the target object. Based on the defocus, the distance between the microscopic imaging assembly and the target object is adjusted to ensure that the focus of the microscopic imaging assembly is located on the target object surface.

[0069] Specifically, the deviation between the actual light spot center and the preset light spot center (the position where the light spot center should be ideally located) is compared to obtain the offset of the light spot center. Based on the offset and system parameters (such as the laser emission angle, etc.), the defocus of the target object is calculated, that is, the distance deviation between the plane where the target object is located and the optimal imaging plane of the microscopic imaging component. Based on the calculated defocus, the drive component adjusts the distance between the microscopic imaging component (such as the objective lens or the stage) and the target object. For example, if the defocus is positive, it means that the target object is above the focal plane of the microscopic imaging component. The drive component will drive the objective lens downward or drive the stage carrying the target object upward until the focus of the microscopic imaging component accurately falls on the surface of the target object, thereby achieving precise focusing.

[0070] This application projects the spot image from multiple preset angles and screens out two brightness peak points to determine the spot center. This method can more comprehensively analyze the characteristics of the spot image and effectively avoid center extraction errors caused by problems such as spot deformation and uneven intensity. Compared with traditional single angle or simple processing methods, it can more accurately determine the spot center position, thereby improving the accuracy of industrial focusing and allowing the focus of the microscopic imaging component to fall more accurately on the surface of the target object.

[0071] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the working principle of the device. It can be understood that in order to realize the above functions, the industrial focusing device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0072] In the embodiments of the present application, the functional modules of the industrial focusing device can be divided according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into a single processing module. The above integrated modules can be implemented in the form of hardware or software functional modules.

[0073] It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. In actual implementation, there may be other division methods. Figure 3 FIG. 1 shows a possible schematic diagram of the industrial focusing device involved in the above and embodiments. Figure 3 As shown, the industrial focusing device 300 may include: a projection module 301 , a screening module 302 , a determination module 303 and an adjustment module 304 .

[0074] The projection module 301 is used to support the industrial focusing device 300 to perform Figure 2 Schematic diagram of S201 in the industrial focusing method.

[0075] The screening module 302 is used to support the industrial focusing device 300 to perform Figure 2 Schematic diagram of S202 in the industrial focusing method.

[0076] Determining module 303, used to support the industrial focusing device 300 to execute Figure 2 Schematic diagram of S203 in the industrial focusing method.

[0077] Adjustment module 304, used to support the industrial focusing device 300 to perform Figure 2 Schematic diagram of S204 in the industrial focusing method.

[0078] In one possible implementation, the device may also be configured to determine the first image coordinates of the first brightness peak point in the image coordinate system of the receiving imaging component and the second image coordinates of the second brightness peak point in the image coordinate system based on a first preset angle corresponding to the first brightness peak point, first position information of the brightness distribution curve of the first brightness peak point at the first preset angle, a second preset angle corresponding to the second brightness peak point, and second position information of the brightness distribution curve of the second brightness peak at the second preset angle. Based on the first image coordinates and the second image coordinates, a first straight line of the first light spot image and a second straight line of the second light spot image are determined. The intersection of the first straight line and the second straight line is calculated to obtain the light spot center.

[0079] In one possible implementation, any one of the first and second image coordinates is used as the target image coordinate, the first and second spot images are used as the target spot images, and the first and second straight lines are used as the target straight lines. The device can also be used to construct a parameter space corresponding to the target spot image. The horizontal axis of the parameter space represents the angle of the candidate straight line. The vertical axis of the parameter space represents the polar parameters of the candidate straight line. Based on the target image coordinates, all target angles in the parameter space are traversed to determine the target polar parameters corresponding to each of all target angles. The target straight line is determined based on all target angles and the target polar parameters corresponding to each target angle.

[0080] In one possible implementation, the device can also be used to construct candidate line parameter combinations using target angle and target polar parameters. Based on the target image coordinates, the candidate line parameter combinations in the parameter space are voted to obtain the target line.

[0081] In a possible implementation, the device may also be configured to perform an inverse rotation operation on the first preset angle and the first position information to obtain first image coordinates, and perform an inverse rotation operation on the second preset angle and the second position information to obtain second image coordinates.

[0082] In one possible implementation, the device can also be used to extract the point with the maximum brightness value from the target brightness distribution curve at any preset angle among all the preset angle brightness distribution curves to obtain a brightness peak point. The brightness peak point includes brightness value and position information. A first brightness peak point and a second brightness peak point are selected from the brightness peak points of the brightness distribution curves at all the preset angles.

[0083] In one possible implementation, the device can also be used to determine an offset of the light spot center based on the light spot center and a preset light spot center. The defocus of the target object is determined based on the offset and system parameters of the industrial focusing system. These system parameters include the angle between the laser emission assembly and the plane of the target object. Based on the defocus, the distance between the microscopic imaging assembly and the target object is adjusted to ensure that the focus of the microscopic imaging assembly is located on the surface of the target object.

[0084] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0085] The industrial focusing device 300 provided in the embodiment of the present application is used to perform the above Figure 2 The industrial focusing method shown can therefore achieve the same effect as the above-mentioned industrial focusing method.

[0086] An embodiment of the present application also provides an industrial focusing device, which can execute the industrial focusing method and related steps in the above method embodiment.

[0087] An embodiment of the present application also provides a computer-readable storage medium having instructions stored thereon, which, when executed, execute the industrial focusing method and related steps in the above method embodiment.

[0088] An embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the industrial focusing method and related steps in the above method embodiment.

[0089] In some embodiments, the methods described herein may be implemented as computer program instructions encoded in a machine-readable format on a computer-readable storage medium or on other non-transitory media or articles of manufacture.

[0090] The embodiment of the present application also provides an industrial focusing system 100, such as Figure 4 As shown, the industrial focusing system 100 includes at least one processor 401 and at least one interface circuit 402 .

[0091] As an example, when the industrial focusing system 100 includes a processor and an interface circuit, the processor may be Figure 4 The processor 401 shown in the solid line frame (or the processor 401 shown in the dotted line frame) may be Figure 4 The interface circuit 402 shown in the solid line frame (or the interface circuit 402 shown in the dotted line frame). When the industrial focusing system 100 includes two processors and two interface circuits, the two processors include Figure 4The processor 401 shown in the solid line frame and the processor 401 shown in the dotted line frame, the two interface circuits include Figure 4 The interface circuit 402 shown in the solid line frame and the interface circuit 402 shown in the dotted line frame are not limited to this.

[0092] The processor 401 and the interface circuit 402 can be interconnected via a line. For example, the interface circuit 402 can be used to receive signals. For another example, the interface circuit 402 can be used to send signals to other devices (such as the processor 401). For example, the interface circuit 402 can read computer instructions stored in the memory and send the computer instructions to the processor 401. The processor 401 executes the instructions and, in conjunction with the input and output devices, implements the various steps in the above embodiments, such as implementing Figure 2 Of course, the industrial focusing system may also include other discrete components, which are not specifically limited in the embodiments of the present application.

[0093] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0094] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0095] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0096] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0097] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the contributing part or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0098] The above content is only a specific embodiment of this application, but the scope of protection of this application is not limited to this. Any changes or replacements within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An industrial focusing method, characterized in that: Applied to an industrial focusing system, the industrial focusing system includes a laser emitting component, a receiving imaging component, a microscopic imaging component, and a driving component; the laser emitting component is used to emit a laser beam toward a target object, the laser beam is focused onto the surface of the target object and reflected to form a laser spot; the laser beam is a laser beam in the shape of an oblique cross; the receiving imaging component is used to acquire the laser spot and obtain a spot image; the industrial focusing method includes: After acquiring the light spot image, projecting the light spot image from multiple preset angles to obtain a brightness distribution curve of the light spot image at each preset angle; A first brightness peak point and a second brightness peak point are selected from the brightness distribution curves at all preset angles; the first brightness peak point and the second brightness peak point are two brightness maximum points in the brightness distribution curves at all preset angles; the first brightness peak point corresponds to a first light spot image formed by the first arm of the oblique cross-shaped laser beam; and the second brightness peak point corresponds to a second light spot image formed by the second arm of the oblique cross-shaped laser beam; determining a spot center of the spot image according to the first brightness peak point and the second brightness peak point; Based on the light spot center and a preset light spot center of the target object, the distance between the microscopic imaging component and the target object is adjusted so that the focus of the microscopic imaging component is located on the surface of the target object.

2. The method according to claim 1, characterized in that The step of determining the spot center of the spot image according to the first brightness peak point and the second brightness peak point includes: Determining, based on a first preset angle corresponding to the first brightness peak point, first position information of a brightness distribution curve of the first brightness peak point at the first preset angle, a second preset angle corresponding to the second brightness peak point, and second position information of a brightness distribution curve of the second brightness peak at the second preset angle, a first image coordinate of the first brightness peak point in the image coordinate system of the receiving imaging component and a second image coordinate of the second brightness peak point in the image coordinate system; determining a first straight line of the first light spot image and a second straight line of the second light spot image according to the first image coordinates and the second image coordinates; The intersection point of the first straight line and the second straight line is calculated to obtain the center of the light spot.

3. The method according to claim 2, characterized in that Taking any one of the first image coordinates and the second image coordinates as target image coordinates, taking the first light spot image and the second light spot image as target light spot images, and taking the first straight line and the second straight line as target straight lines; Determining a target straight line of the target spot image according to the target image coordinates includes: Constructing a parameter space corresponding to the target spot image; the horizontal axis of the parameter space represents the angle of the candidate straight line; the vertical axis of the parameter space represents the polar diameter parameter of the candidate straight line; Based on the target image coordinates, traverse all target angles in the parameter space and determine the target polar diameter parameter corresponding to each target angle in all target angles; The target straight line is determined according to all target angles and the target polar diameter parameter corresponding to each target angle.

4. The method according to claim 3, characterized in that The determining of the target straight line according to all target angles and the target polar diameter parameter corresponding to each target angle includes: Constructing a candidate straight line parameter combination using the target angle and the target polar diameter parameter; Based on the target image coordinates, the candidate line parameter combinations in the parameter space are voted to obtain the target line.

5. The method according to claim 2, characterized in that The determining, based on a first preset angle corresponding to the first brightness peak point, first position information of a brightness distribution curve of the first brightness peak point at the first preset angle, a second preset angle corresponding to the second brightness peak point, and second position information of the brightness distribution curve of the second brightness peak at the second preset angle, a first image coordinate of the first brightness peak point in the image coordinate system of the receiving imaging component and a second image coordinate of the second brightness peak point in the image coordinate system, includes: Performing an inverse rotation operation on the first preset angle and the first position information to obtain the first image coordinates; An inverse rotation operation is performed on the second preset angle and the second position information to obtain the second image coordinates.

6. The method according to claim 1, characterized in that The step of selecting the first brightness peak point and the second brightness peak point from the brightness distribution curves of all preset angles includes: For a target brightness distribution curve at any preset angle among all the brightness distribution curves at preset angles, extract a point with the maximum brightness value from the target brightness distribution curve to obtain a brightness peak point; the brightness peak point includes brightness value and position information; The first brightness peak point and the second brightness peak point are screened out from the brightness peak points of the brightness distribution curves at all preset angles.

7. The method according to claim 1, characterized in that The adjusting the distance between the microscopic imaging component and the target object based on the light spot center and a preset light spot center of the target object includes: Determining an offset of the light spot center according to the light spot center and the preset light spot center; Determining a defocus amount of the target object according to the offset and system parameters of the industrial focusing system; the system parameters include an angle between the laser emitting assembly and the plane where the target object is located; Based on the defocus amount, the distance between the microscopic imaging assembly and the target object is adjusted so that the focus of the microscopic imaging assembly is located on the surface of the target object.

8. An industrial focusing device, characterized in that: Applied to an industrial focusing system, the industrial focusing system includes a laser emitting component, a receiving imaging component, a microscopic imaging component, and a driving component; the laser emitting component is used to emit a laser beam toward a target object, the laser beam is focused onto the surface of the target object and reflected to form a laser spot; the laser beam is a laser beam in the shape of an oblique cross; the receiving imaging component is used to acquire the laser spot and obtain a spot image; the industrial focusing device includes: A projection module is used to project the light spot image from multiple preset angles after acquiring the light spot image, so as to obtain a brightness distribution curve of the light spot image at each preset angle; a screening module, configured to screen out a first brightness peak point and a second brightness peak point from the brightness distribution curves at all preset angles; the first brightness peak point and the second brightness peak point being two brightness maximum points in the brightness distribution curves at all preset angles; the first brightness peak point corresponding to a first light spot image formed by the first arm of the oblique cross-shaped laser beam; and the second brightness peak point corresponding to a second light spot image formed by the second arm of the oblique cross-shaped laser beam; a determination module, configured to determine a spot center of the spot image according to the first brightness peak point and the second brightness peak point; An adjustment module is used to adjust the distance between the microscopic imaging component and the target object based on the light spot center and a preset light spot center of the target object, so that the focus of the microscopic imaging component is located on the surface of the target object.

9. An industrial focusing device, characterized in that: The industrial focusing device includes a processor and a memory, wherein the memory stores machine-executable instructions that can be executed by the processor, and the processor executes the machine-executable instructions to implement the industrial focusing method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by a processor, the computer-executable instructions prompt the processor to implement the industrial focusing method according to any one of claims 1 to 7.

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