CN111028291A - Element alignment method and device - Google Patents
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Abstract
The invention discloses a component alignment method and a device, wherein a motor coordinate system of a camera steering motor is mapped into a real-time image, so that the moving track of the steering motor is associated with an actual component to be aligned, the coordinate position can be visually checked, the real-time observation and coordinate adjustment are facilitated, the compensation calibration updating is carried out on the coordinate of the component to be aligned when the position information of the component to be aligned in the real-time image changes, the manual calibration of the position of each component to be measured is not required, and the technical problem that the real-time observation and coordinate adjustment are not facilitated in the prior art is solved.
Description
Technical Field
The present invention relates to the field of information processing, and in particular, to a method and an apparatus for aligning components.
Background
The existing coordinate motion track programming alignment mode is mainly characterized in that a starting point is set in a camera vision center alignment mode, a camera center is positioned to a target position by operating the movement of a motor, and the camera moves according to a programmed track; the moving speed is slow, the time required for moving to the target position is long, when hundreds of coordinate points are set, the efficiency is extremely low, and the coordinate is not beneficial to observing and adjusting in real time.
Disclosure of Invention
The invention provides an element alignment method and a device, which are used for solving the problem of the existing coordinate motion track programming alignment mode, and mainly set a starting point in a camera vision center alignment mode, position a camera center to a target position by operating the movement of a motor, and move according to a programmed track; the moving speed is slow, the time required for moving to the target position is long, when hundreds of coordinate points are set, the efficiency is extremely low, and the technical problem of coordinate adjustment is not easy to observe in real time.
The invention provides an element alignment method, which comprises the following steps:
mapping a motor coordinate system of a camera steering motor to a real-time image, wherein the real-time image comprises at least one element to be aligned, determining preset coordinate information corresponding to the element to be aligned in the real-time image on the motor coordinate system, wherein the preset coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, and generating a corresponding alignment track on the motor coordinate system according to the preset coordinate information of the element;
when the position information of the element to be aligned in the real-time image changes, performing compensation calibration updating on preset coordinate information of the element to be aligned on the motor coordinate system to obtain updated coordinate information and alignment tracks of the element, and aligning the camera steering motor to the updated start point coordinate information;
and moving the camera steering motor along the updated alignment track.
Preferably, the generating a corresponding alignment track on the motor coordinate system according to the preset coordinate information of the element specifically includes:
and determining the coordinate information of the starting point and the coordinate sequence information, and generating a corresponding alignment track on the motor coordinate system by taking the coordinate information of the starting point as the starting point according to the coordinate sequence information, the coordinate information of the middle point and the coordinate information of the end point.
Preferably, the component aligning method further includes:
generating coordinate list information corresponding to the preset coordinate information of the element, wherein the coordinate list information specifically includes: the reference point coordinate of the motor coordinate system, the start point coordinate information, the middle point coordinate information and the end point coordinate information.
Preferably, when the position information of the component to be aligned in the real-time image changes, performing compensation calibration updating on preset coordinate information of the component to be aligned on the motor coordinate system to obtain updated coordinate information and alignment trajectory of the component, and aligning the camera steering motor to the updated start coordinate information further includes:
updating the coordinate list information, wherein the updated coordinate list information specifically includes: the motor coordinate system comprises reference point coordinates of the motor coordinate system, updated start point coordinate information, updated middle point coordinate information and updated end point coordinate information.
Preferably, the performing, calibrating and updating the preset coordinate information of the element to be aligned on the motor coordinate system specifically includes:
and performing compensation calibration updating on the preset coordinate information of the element to be aligned on the motor coordinate system through a precise vision correction algorithm.
The invention provides an element contraposition device, comprising:
the system comprises a mapping module, a positioning module and a positioning module, wherein the mapping module is used for mapping a motor coordinate system of a camera steering motor to a real-time image, the real-time image comprises at least one element to be aligned, preset coordinate information corresponding to the element to be aligned in the real-time image is determined on the motor coordinate system, the preset coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, and a corresponding alignment track is generated on the motor coordinate system according to the preset coordinate information of the element;
the updating module is used for compensating, calibrating and updating the preset coordinate information of the element to be aligned on the motor coordinate system when the position information of the element to be aligned in the real-time image changes, so as to obtain the updated coordinate information and alignment track of the element, and aligning the camera steering motor to the updated start point coordinate information;
and the moving module is used for moving the camera steering motor along the updated alignment track.
Preferably, the mapping module is specifically configured to map a motor coordinate system of a camera steering motor to a real-time image, where the real-time image includes at least one element to be aligned, determine preset coordinate information corresponding to the element to be aligned in the real-time image on the motor coordinate system, where the preset coordinate information includes start point coordinate information, middle point coordinate information, and end point coordinate information, determine the start point coordinate information and coordinate order information, and generate a corresponding alignment track on the motor coordinate system using the start point coordinate information as a start point according to the coordinate order information, the middle point coordinate information, and the end point coordinate information.
Preferably, the method further comprises the following steps:
a generating module, configured to generate coordinate list information corresponding to preset coordinate information of the component, where the coordinate list information specifically includes: the reference point coordinate of the motor coordinate system, the start point coordinate information, the middle point coordinate information and the end point coordinate information.
Preferably, the method further comprises the following steps:
a second updating module, configured to update the coordinate list information, where the updated coordinate list information specifically includes: the motor coordinate system comprises reference point coordinates of the motor coordinate system, updated start point coordinate information, updated middle point coordinate information and updated end point coordinate information.
Preferably, the update module is specifically configured to: when the position information of the element to be aligned in the real-time image changes, the preset coordinate information of the element to be aligned is compensated, calibrated and updated on the motor coordinate system through a precise vision correction algorithm, the updated coordinate information and alignment track of the element are obtained, and the camera steering motor is aligned to the updated start point coordinate information.
According to the technical scheme, the invention has the following advantages:
the invention provides an element alignment method, which comprises the following steps: mapping a motor coordinate system of a camera steering motor to a real-time image, wherein the real-time image comprises at least one element to be aligned, determining preset coordinate information corresponding to the element to be aligned in the real-time image on the motor coordinate system, wherein the preset coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, and generating a corresponding alignment track on the motor coordinate system according to the preset coordinate information of the element; when the position information of the element to be aligned in the real-time image changes, performing compensation calibration updating on preset coordinate information of the element to be aligned on the motor coordinate system to obtain updated coordinate information and alignment tracks of the element, and aligning the camera steering motor to the updated start point coordinate information; and moving the camera steering motor along the updated alignment track.
In the invention, the motor coordinate system of the camera steering motor is mapped into the real-time image, so that the moving track of the steering motor is associated with the actual element to be aligned, the coordinate position can be visually checked, the real-time observation and coordinate adjustment are facilitated, the compensation calibration updating is carried out on the coordinate of the element to be aligned when the position information of the element to be aligned in the real-time image is changed, the position manual calibration of each element to be measured is not needed, the traditional coordinate moving track programming alignment mode is solved, the starting point is mainly set in the camera visual center alignment mode, the camera center is positioned to the target position by operating the motor to move, and the camera moves according to the programmed track, because of the difference between the motor coordinate system and the object coordinate system, the motor moving speed has large influence, the moving speed is high, and the camera is difficult to accurately move and position to the target position, multiple repetitive movements may be required; the moving speed is slow, the time for moving to the target position is long, when hundreds of coordinate points are set, the efficiency is extremely low, and the technical problem of coordinate adjustment in real time is not facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a flow chart illustrating an embodiment of a component alignment method according to the present invention;
FIG. 2 is a flow chart illustrating a component alignment method according to another embodiment of the present invention;
fig. 3 is a schematic structural diagram of an embodiment of a device alignment apparatus provided in the present invention.
Detailed Description
The embodiment of the invention provides an element alignment method, which solves the problem of the existing coordinate motion track programming alignment mode, and mainly comprises the steps of setting a starting point in a camera vision center alignment mode, positioning the center of a camera to a target position by operating the movement of a motor, and moving according to a programmed track; the moving speed is slow, the time for moving to the target position is long, when hundreds of coordinate points are set, the efficiency is extremely low, and the technical problem of coordinate adjustment in real time is not facilitated.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an embodiment of the present invention provides an embodiment of a method for aligning components, including:
s101: mapping a motor coordinate system of a camera steering motor to a real-time image, wherein the real-time image comprises at least one element to be aligned, determining preset coordinate information corresponding to the element to be aligned in the real-time image on the motor coordinate system, wherein the preset coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, and generating a corresponding alignment track on the motor coordinate system according to the preset coordinate information of the element;
in the embodiment of the invention, when component alignment is required, a motor coordinate system of a camera steering motor is required to be mapped into a real-time image, the real-time image comprises at least one component to be aligned, preset coordinate information corresponding to the component to be aligned in the real-time image is determined on the motor coordinate system, the preset coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, and a corresponding alignment track is generated on the motor coordinate system according to the preset coordinate information of the component;
the mapping step is as follows: through coordinate transformation, the element to be aligned in the object is corresponded to the motor coordinate system, for example, the coordinate information of the element to be aligned is "(1, 1), (1,2), (2,1), (2, 2)", if the steering electrode directly refers to the coordinate system of the element to be aligned to perform track programming, distortion occurs and whether the alignment is accurate or not cannot be judged in the alignment process;
it should be noted that the preset coordinate information includes at least one of start point coordinate information, intermediate point coordinate information, and end point coordinate information, where the "preset coordinate information" is coordinate information preset manually, and is standard coordinate information set in advance, and the start point coordinate information, the intermediate point coordinate information, and the end point coordinate information are limitations of a coordinate trajectory moving sequence;
s102: when the position information of the element to be aligned in the real-time image changes, performing compensation calibration updating on preset coordinate information of the element to be aligned on a motor coordinate system to obtain updated coordinate information and alignment tracks of the element, and aligning the camera steering motor to the updated start point coordinate information;
mapping a motor coordinate system of a camera steering motor to a real-time image, wherein the real-time image comprises at least one element to be aligned, determining preset coordinate information corresponding to the element to be aligned in the real-time image on the motor coordinate system, wherein the preset coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, generating a corresponding alignment track on the motor coordinate system according to the preset coordinate information of the element, and when the position information of the element to be aligned in the real-time image changes, performing compensation calibration updating on the preset coordinate information of the element to be aligned on the motor coordinate system to obtain updated coordinate information and alignment track of the element, and aligning the camera steering motor to the updated starting point coordinate information;
it should be noted that "when the position information of the component to be aligned in the real-time image changes" may be that the component to be aligned is replaced, and since it cannot be guaranteed that the positions of the component before and after replacement do not change, the position information of the component to be aligned in the real-time image changes, but the types of the component before and after replacement are consistent, so that only the coordinate information needs to be updated, and reprogramming is not needed;
s103: moving a camera steering motor along the updated alignment track;
when the position information of the element to be aligned in the real-time image changes, performing compensation calibration updating on preset coordinate information of the element to be aligned on a motor coordinate system to obtain updated coordinate information and an alignment track of the element, and after aligning a camera steering motor to the updated start point coordinate information, moving the camera steering motor along the updated alignment track;
in the alignment process, the steering electrode drives the camera to move along the set track information, the movement tracks are in equal proportion due to coordinate mapping, if the position of the element to be aligned is accurate, the position of the element to be aligned and the movement track of the camera can be judged to be consistent from the camera, the element to be aligned is further judged to be qualified, and otherwise, the element to be aligned is not qualified;
the element alignment method provided by the embodiment of the invention comprises the following steps: mapping a motor coordinate system of a camera steering motor to a real-time image, wherein the real-time image comprises at least one element to be aligned, determining coordinate information of the element to be aligned in the real-time image on the motor coordinate system, wherein the coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, and generating a corresponding alignment track on the motor coordinate system according to the coordinate information of the element; when the position information of the element to be aligned in the real-time image changes, the compensation calibration updating is carried out on the coordinate of the element to be aligned on the motor coordinate system to obtain the updated coordinate information and alignment track of the element, and the camera steering motor is aligned to the updated start point coordinate information; the camera steering motor is moved along the updated alignment track, the motor coordinate system of the camera steering motor is mapped into a real-time image, so that the moving track of the steering motor is associated with an actual element to be aligned, the coordinate position can be visually checked, the coordinate can be observed and adjusted in real time, the compensation calibration updating is carried out on the coordinate of the element to be aligned when the position information of the element to be aligned in the real-time image is changed, the position manual calibration of each element to be measured is not needed, the existing coordinate moving track programming alignment mode is solved, the starting point is mainly set in the camera visual center alignment mode, the camera center is positioned to the target position by operating the motor to move according to the programmed track, and the influence on the moving speed of the motor is large due to the difference between the motor coordinate system and the object coordinate system, the moving speed is high, the target position is difficult to accurately move and position, and repeated movement may be needed; the moving speed is slow, the time for moving to the target position is long, when hundreds of coordinate points are set, the efficiency is extremely low, and the technical problem of coordinate adjustment in real time is not facilitated.
The above is a description of one embodiment of an element alignment method, and another embodiment of an element alignment method will be described in detail below.
Referring to fig. 2, another embodiment of the component alignment method provided in the present invention includes:
s201: mapping a motor coordinate system of a camera steering motor into a real-time image, wherein the real-time image comprises at least one element to be aligned, determining coordinate information of the element to be aligned in the real-time image on the motor coordinate system, the coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, determining the starting point coordinate information and coordinate sequence information, and generating a corresponding alignment track on the motor coordinate system by taking the starting point coordinate information as a starting point according to the coordinate sequence information, the middle point coordinate information and the end point coordinate information;
in the embodiment of the invention, when component alignment is required, a motor coordinate system of a camera steering motor is required to be mapped into a real-time image, the real-time image comprises at least one component to be aligned, coordinate information of the component to be aligned in the real-time image is determined on the motor coordinate system, the coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, the starting point coordinate information and coordinate sequence information are determined, and the starting point coordinate information is used as a starting point to generate a corresponding alignment track on the motor coordinate system according to the coordinate sequence information, the middle point coordinate information and the end point coordinate information;
the mapping step is as follows: through coordinate transformation, the element to be aligned in the object is corresponded to the motor coordinate system, for example, the coordinate information of the element to be aligned is "(1, 1), (1,2), (2,1), (2, 2)", if the steering electrode directly refers to the coordinate system of the element to be aligned to perform track programming, distortion occurs and whether the alignment is accurate or not cannot be judged in the alignment process;
it should be noted that the preset coordinate information includes at least one of start point coordinate information, intermediate point coordinate information, and end point coordinate information, where the "preset coordinate information" is coordinate information preset manually, and is standard coordinate information set in advance, and the start point coordinate information, the intermediate point coordinate information, and the end point coordinate information are limitations of a coordinate trajectory moving sequence;
s202: generating coordinate list information corresponding to the preset coordinate information of the element, wherein the coordinate list information specifically comprises: the coordinate system comprises reference point coordinates, starting point coordinate information, middle point coordinate information and end point coordinate information of a motor coordinate system;
the method comprises the steps of mapping a motor coordinate system of a camera steering motor to a real-time image, wherein the real-time image comprises at least one element to be aligned, determining coordinate information of the element to be aligned in the real-time image on the motor coordinate system, the coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, determining the starting point coordinate information and coordinate sequence information, generating a corresponding alignment track on the motor coordinate system by taking the starting point coordinate information as a starting point according to the coordinate sequence information, the middle point coordinate information and the end point coordinate information, and then generating coordinate list information corresponding to preset coordinate information of the element, wherein the coordinate list information specifically comprises the following steps: the coordinate system comprises reference point coordinates, starting point coordinate information, middle point coordinate information and end point coordinate information of a motor coordinate system;
s203: when the position information of the element to be aligned in the real-time image changes, performing compensation calibration updating on preset coordinate information of the element to be aligned on a motor coordinate system through a precise vision correction algorithm to obtain updated coordinate information and alignment tracks of the element, and aligning the camera steering motor to the updated start point coordinate information;
generating coordinate list information corresponding to the preset coordinate information of the element, wherein the coordinate list information specifically comprises: after the reference point coordinate, the starting point coordinate information, the middle point coordinate information and the end point coordinate information of the motor coordinate system are obtained, when the position information of the element to be aligned in the real-time image changes, the preset coordinate information of the element to be aligned is compensated, calibrated and updated on the motor coordinate system through a precise vision correction algorithm to obtain the updated coordinate information and alignment track of the element, and the camera steering motor is aligned to the updated starting point coordinate information;
the compensation calibration updating of the preset coordinate information of the element to be aligned on the motor coordinate system by the precise vision correction algorithm is a technique known by those skilled in the art, and is not described herein again;
s204: updating the coordinate list information, wherein the updated coordinate list information specifically comprises: the coordinate of the reference point of the motor coordinate system, the updated coordinate information of the starting point, the updated coordinate information of the middle point and the updated coordinate information of the end point;
when the position information of the element to be aligned in the real-time image changes, the compensation calibration updating is performed on the coordinate of the element to be aligned on the motor coordinate system through a precise vision correction algorithm to obtain updated coordinate information and alignment track of the element, and after the camera steering motor is aligned to the updated start point coordinate information, the coordinate list information needs to be updated, wherein the updated coordinate list information specifically comprises: the coordinate of the reference point of the motor coordinate system, the updated coordinate information of the starting point, the updated coordinate information of the middle point and the updated coordinate information of the end point;
s205: moving a camera steering motor along the updated alignment track;
after updating the coordinate list information, the updated coordinate list information specifically includes: after the reference point coordinate of the motor coordinate system, the updated start point coordinate information, the updated middle point coordinate information and the updated end point coordinate information are obtained, the camera steering motor needs to move along the updated alignment track;
in the alignment process, the steering electrode drives the camera to move along the set track information, the movement tracks are in equal proportion due to coordinate mapping, if the position of the element to be aligned is accurate, the position of the element to be aligned and the movement track of the camera can be judged to be consistent from the camera, the element to be aligned is further judged to be qualified, and otherwise, the element to be aligned is not qualified;
the element alignment method provided by the embodiment of the invention comprises the following steps: mapping a motor coordinate system of a camera steering motor into a real-time image, wherein the real-time image comprises at least one element to be aligned, determining coordinate information of the element to be aligned in the real-time image on the motor coordinate system, the coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, determining the starting point coordinate information and coordinate sequence information, and generating a corresponding alignment track on the motor coordinate system by taking the starting point coordinate information as a starting point according to the coordinate sequence information, the middle point coordinate information and the end point coordinate information; generating coordinate list information corresponding to the preset coordinate information of the element, wherein the coordinate list information specifically comprises: the coordinate system comprises reference point coordinates, starting point coordinate information, middle point coordinate information and end point coordinate information of a motor coordinate system; when the position information of the element to be aligned in the real-time image changes, performing compensation calibration updating on preset coordinate information of the element to be aligned on a motor coordinate system through a precise vision correction algorithm to obtain updated coordinate information and alignment tracks of the element, and aligning the camera steering motor to the updated start point coordinate information; updating the coordinate list information, wherein the updated coordinate list information specifically comprises: the coordinate of the reference point of the motor coordinate system, the updated coordinate information of the starting point, the updated coordinate information of the middle point and the updated coordinate information of the end point; the camera steering motor is moved along the updated alignment track, the motor coordinate system of the camera steering motor is mapped into a real-time image, so that the moving track of the steering motor is associated with an actual element to be aligned, the coordinate position can be visually checked, the coordinate can be observed and adjusted in real time, the compensation calibration updating is carried out on the coordinate of the element to be aligned when the position information of the element to be aligned in the real-time image is changed, the position manual calibration of each element to be measured is not needed, the existing coordinate moving track programming alignment mode is solved, the starting point is mainly set in the camera visual center alignment mode, the camera center is positioned to the target position by operating the motor to move according to the programmed track, and the influence on the moving speed of the motor is large due to the difference between the motor coordinate system and the object coordinate system, the moving speed is high, the target position is difficult to accurately move and position, and repeated movement may be needed; the moving speed is slow, the time for moving to the target position is long, when hundreds of coordinate points are set, the efficiency is extremely low, and the technical problem of coordinate adjustment in real time is not facilitated.
The above is a description of an embodiment of a component alignment method, and a detailed description of an embodiment of a component alignment apparatus is provided below.
Referring to fig. 3, an embodiment of a device alignment apparatus provided in the present invention includes:
a mapping module 301, configured to map a motor coordinate system of a camera steering motor to a real-time image, where the real-time image includes at least one element to be aligned, determine preset coordinate information corresponding to the element to be aligned in the real-time image on the motor coordinate system, where the preset coordinate information includes start point coordinate information, middle point coordinate information, and end point coordinate information, and generate a corresponding alignment trajectory on the motor coordinate system according to the preset coordinate information of the element
The updating module 302 is configured to, when the position information of the to-be-aligned element in the real-time image changes, perform compensation calibration updating on preset coordinate information of the to-be-aligned element on a motor coordinate system to obtain updated coordinate information and an alignment track of the element, and align the camera steering motor to the updated start coordinate information;
and a moving module 303, configured to move the camera steering motor along the updated alignment track.
Optionally, the mapping module 301 is specifically configured to map a motor coordinate system of the camera steering motor to a real-time image, where the real-time image includes at least one element to be aligned, determine preset coordinate information corresponding to the element to be aligned in the real-time image on the motor coordinate system, where the preset coordinate information includes start point coordinate information, middle point coordinate information, and end point coordinate information, and determine start point coordinate information and coordinate order information, and generate a corresponding alignment track on the motor coordinate system according to the coordinate order information, the middle point coordinate information, and the end point coordinate information using the start point coordinate information as a start point.
Optionally, the method further comprises:
a generating module 304, configured to generate coordinate list information corresponding to preset coordinate information of the component, where the coordinate list information specifically includes: reference point coordinates, starting point coordinate information, intermediate point coordinate information and end point coordinate information of the motor coordinate system.
Optionally, the method further comprises:
the second updating module 305 is configured to update the coordinate list information, where the updated coordinate list information specifically includes: the reference point coordinates of the motor coordinate system, the updated start point coordinate information, the updated middle point coordinate information and the updated end point coordinate information.
Optionally, the updating module 302 is specifically configured to: when the position information of the element to be aligned in the real-time image changes, the preset coordinate information of the element to be aligned is compensated, calibrated and updated on a motor coordinate system through a precise vision correction algorithm, the updated coordinate information and alignment track of the element are obtained, and the camera steering motor is aligned to the updated start point coordinate information.
The specific implementation in this embodiment has been described in the above embodiments, and is not described here again.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the system and the module described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed modules and methods may be implemented in other ways. For example, the above-described module embodiments are merely illustrative, and for example, the division of the module is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for aligning components, comprising:
mapping a motor coordinate system of a camera steering motor to a real-time image, wherein the real-time image comprises at least one element to be aligned, determining preset coordinate information corresponding to the element to be aligned in the real-time image on the motor coordinate system, wherein the preset coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, and generating a corresponding alignment track on the motor coordinate system according to the preset coordinate information of the element;
when the position information of the element to be aligned in the real-time image changes, performing compensation calibration updating on preset coordinate information of the element to be aligned on the motor coordinate system to obtain updated coordinate information and alignment tracks of the element, and aligning the camera steering motor to the updated start point coordinate information;
and moving the camera steering motor along the updated alignment track.
2. The component alignment method according to claim 1, wherein the generating a corresponding alignment track on the motor coordinate system according to the preset coordinate information of the component specifically comprises:
and determining the coordinate information of the starting point and the coordinate sequence information, and generating a corresponding alignment track on the motor coordinate system by taking the coordinate information of the starting point as the starting point according to the coordinate sequence information, the coordinate information of the middle point and the coordinate information of the end point.
3. The component aligning method according to claim 2, further comprising:
generating coordinate list information corresponding to the preset coordinate information of the element, wherein the coordinate list information specifically includes: the reference point coordinate of the motor coordinate system, the start point coordinate information, the middle point coordinate information and the end point coordinate information.
4. The component alignment method according to claim 3, wherein when the position information of the component to be aligned in the real-time image changes, performing compensation calibration updating on the preset coordinate information of the component to be aligned on the motor coordinate system to obtain updated coordinate information and alignment trajectory of the component, and aligning the camera steering motor to the updated start coordinate information further comprises:
updating the coordinate list information, wherein the updated coordinate list information specifically includes: the motor coordinate system comprises reference point coordinates of the motor coordinate system, updated start point coordinate information, updated middle point coordinate information and updated end point coordinate information.
5. The component aligning method according to claim 4, wherein the performing compensation calibration updating on the preset coordinate information of the component to be aligned on the motor coordinate system specifically comprises:
and performing compensation calibration updating on the preset coordinate information of the element to be aligned on the motor coordinate system through a precise vision correction algorithm.
6. A component aligning apparatus, comprising:
the system comprises a mapping module, a positioning module and a positioning module, wherein the mapping module is used for mapping a motor coordinate system of a camera steering motor to a real-time image, the real-time image comprises at least one element to be aligned, preset coordinate information corresponding to the element to be aligned in the real-time image is determined on the motor coordinate system, the preset coordinate information comprises starting point coordinate information, middle point coordinate information and end point coordinate information, and a corresponding alignment track is generated on the motor coordinate system according to the preset coordinate information of the element;
the updating module is used for compensating, calibrating and updating the preset coordinate information of the element to be aligned on the motor coordinate system when the position information of the element to be aligned in the real-time image changes, so as to obtain the updated coordinate information and alignment track of the element, and aligning the camera steering motor to the updated start point coordinate information;
and the moving module is used for moving the camera steering motor along the updated alignment track.
7. The component alignment apparatus according to claim 6, wherein the mapping module is specifically configured to map a motor coordinate system of a camera steering motor into a real-time image, the real-time image includes at least one component to be aligned, determine preset coordinate information corresponding to the component to be aligned in the real-time image on the motor coordinate system, where the preset coordinate information includes start point coordinate information, middle point coordinate information, and end point coordinate information, determine the start point coordinate information and coordinate order information, and generate a corresponding alignment track on the motor coordinate system using the start point coordinate information as a start point according to the coordinate order information, the middle point coordinate information, and the end point coordinate information.
8. The component aligning apparatus according to claim 7, further comprising:
a generating module, configured to generate coordinate list information corresponding to preset coordinate information of the component, where the coordinate list information specifically includes: the reference point coordinate of the motor coordinate system, the start point coordinate information, the middle point coordinate information and the end point coordinate information.
9. The component aligning apparatus according to claim 8, further comprising:
a second updating module, configured to update the coordinate list information, where the updated coordinate list information specifically includes: the motor coordinate system comprises reference point coordinates of the motor coordinate system, updated start point coordinate information, updated middle point coordinate information and updated end point coordinate information.
10. The component aligning apparatus according to claim 9,
the update module is specifically configured to: when the position information of the element to be aligned in the real-time image changes, the preset coordinate information of the element to be aligned is compensated, calibrated and updated on the motor coordinate system through a precise vision correction algorithm, the updated coordinate information and alignment track of the element are obtained, and the camera steering motor is aligned to the updated start point coordinate information.
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