Imaging Device Angle Calculation Using Feature Points
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Solution Overview
Problem
Existing imaging devices struggle to accurately calculate the angle between the imaging direction and the normal direction of a flat surface of an object to be inspected, especially when the positioning of the imaging device is unknown, and cannot control the imaging direction effectively within an allowable angle range without specialized distance sensors.
Innovation Solution
An imaging device with a pan/tilt mechanism, an angle calculation unit that uses multiple images to determine the angle between the imaging direction and the normal direction of the object, and a control unit to adjust the imaging direction within an allowable range, eliminating the need for special distance sensors and allowing for accurate image capture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If the angle between the imaging direction and the normal direction of the flat surface is calculated using the floor surface as a reference, then the calculation is simple, but the calculation becomes inaccurate when the floor surface is not orthogonal to the wall surface
Solution Approach 1:
The patent replaces the mechanical reference system (floor surface) with a visual reference system (feature points on the wall surface). Instead of using the floor surface as a mechanical reference for angle calculation, the system detects feature points on the wall surface and calculates angles based on the geometric relationships between these visual features, eliminating the dependency on floor-wall orthogonality.
Solution Approach 2:
The patent introduces feature points on the wall surface as an intermediary element between the imaging device and the wall surface. These feature points serve as mediators for establishing the angular relationship, allowing the system to calculate the angle between the imaging direction and the normal direction of the wall surface through the geometric configuration of the detected feature points rather than through direct mechanical measurement.
2Measurement precision
If specialized distance sensors are used to calculate the angle between the imaging direction and the normal direction of the flat surface, then the angle calculation becomes accurate, but the device complexity increases
Solution Approach 1:
The patent makes the imaging device universal by enabling it to perform multiple functions: capturing images for inspection purposes and simultaneously detecting feature points for angle calculation. The same imaging unit used for primary inspection functionality is also utilized for detecting feature points on the wall surface, eliminating the need for separate specialized distance sensors or angle measurement devices.
Solution Approach 2:
The imaging device serves itself by using its own imaging capability to detect feature points on the wall surface and calculate the angle between the imaging direction and the normal direction. The system leverages its inherent imaging function for dual purposes: primary inspection and angular measurement, making the device self-sufficient without requiring additional specialized sensors.
3Adaptability or versatility
If the imaging device positioning is unknown, then the device can be deployed flexibly, but the angle between the imaging direction and the normal direction of the flat surface cannot be calculated
Solution Approach 1:
The patent performs preliminary detection of feature points on the wall surface before conducting the actual inspection. By first identifying and recording the positions of feature points, the system establishes the geometric reference framework needed for angle calculation. This preliminary action enables subsequent angle calculations even when the imaging device's absolute positioning is unknown, as the angular relationships are derived from the relative positions of detected feature points.
Solution Approach 2:
The system uses feedback from the detected feature points to dynamically calculate and adjust the angle between the imaging direction and the normal direction of the wall surface. The detected positions of feature points provide feedback information that enables real-time angular measurement, allowing the system to adapt to unknown positioning while maintaining measurement capability.
Data Source
AI summary
In an aspect of the invention, first and second images having parallax are acquired by an imaging unit (202) including a first imaging part (202A) and a second imaging part (202B), and an angle between an imaging direction of the imaging unit (202) and a normal direction of a flat surface of an object to be inspected having the flat surface is calculated on the basis of the acquired first and second images. The pan/tilt of the imaging unit (202) are controlled by a pan/tilt control unit (210), but images for inspection showing the object to be inspected are taken and acquired by the imaging unit in a case in which the calculated angle is controlled to an angle within an allowable angle range.