CN111028291B - Element alignment method and device - Google Patents
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Abstract
The invention discloses an element alignment method and device, wherein a motor coordinate system of a camera steering motor is mapped into a real-time image, so that a moving track of the steering motor is related to an element to be aligned actually, the coordinate position can be visually checked, real-time observation and adjustment of coordinates are facilitated, when the position information of the element to be aligned in the real-time image changes, compensation, calibration and update are performed on the coordinates of the element to be aligned, manual calibration of the position of each element to be aligned is not required, and the technical problem that the real-time observation and adjustment of coordinates 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 apparatus for aligning components.
Background
The existing coordinate motion track programming alignment mode is mainly to set a starting point in a camera vision center alignment mode, the camera center is positioned to a target position by operating the motor to move, and the camera is moved according to the programmed track, because of the difference between a motor coordinate system and a physical coordinate system, the influence of the motor moving speed is large, the moving speed is high, the camera is difficult to move and position to the target position accurately, and repeated movement is possibly needed; the moving speed is low, the time required for moving to the target position is long, and when hundreds or thousands of coordinate points are to be set, the efficiency is extremely low, and the real-time observation and adjustment of the coordinates are not facilitated.
Disclosure of Invention
The invention provides a component alignment method and device, which are used for solving the problems that the existing coordinate motion track programming alignment mode is mainly used for setting a starting point in a camera vision center alignment mode, a camera center is positioned to a target position by operating motor movement, and the camera center is moved according to the programmed track, and the motor movement speed has large influence and high movement speed because of the difference between a motor coordinate system and a real object coordinate system, and is difficult to accurately move and position to the target position and possibly needs repeated movement; the moving speed is low, the time required for moving to the target position is long, and when hundreds or thousands of coordinate points are to be 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 into a real-time image, wherein 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;
when the position information of the element to be aligned in the real-time image changes, compensating, calibrating and updating 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;
and moving the camera steering motor along the updated alignment track.
Preferably, the generating the corresponding alignment track on the motor coordinate system according to the preset coordinate information of the element specifically includes:
and determining the starting point coordinate information and the 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 intermediate point coordinate information and the end point coordinate information.
Preferably, the element alignment method further includes:
generating coordinate list information corresponding to preset coordinate information of the element, wherein the coordinate list information specifically comprises: and 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.
Preferably, when the position information of the element to be aligned in the real-time image changes, compensating, calibrating and updating 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 further includes:
updating the coordinate list information, wherein the updated coordinate list information specifically comprises: and the reference point coordinates, updated starting point coordinate information, updated intermediate point coordinate information and updated end point coordinate information of the motor coordinate system.
Preferably, the compensating calibration updating of the preset coordinate information of the element to be aligned on the motor coordinate system specifically includes:
and compensating, calibrating and updating the preset coordinate information of the element to be aligned on the motor coordinate system through a precise vision correction algorithm.
The invention provides a component alignment device, which comprises:
the mapping module is used for mapping a motor coordinate system of the camera steering motor into a real-time image, wherein 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 carrying out compensation, calibration and updating on 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, obtaining updated coordinate information and alignment track of the element, and aligning the camera steering motor to the updated starting 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 into a real-time image, where the real-time image includes 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 includes start point coordinate information, intermediate point coordinate information and end point coordinate information, the start point coordinate information and coordinate order information are determined, and a corresponding alignment track is generated on the motor coordinate system according to the coordinate order information, the intermediate point coordinate information and the end point coordinate information by using the start point coordinate information as a start point.
Preferably, the method further comprises:
the generating module is configured to generate coordinate list information corresponding to preset coordinate information of the element, where the coordinate list information specifically includes: and 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.
Preferably, the method further comprises:
the second updating module is configured to update the coordinate list information, where the updated coordinate list information specifically includes: and the reference point coordinates, updated starting point coordinate information, updated intermediate point coordinate information and updated end point coordinate information of the motor coordinate system.
Preferably, the updating module is specifically configured to: when the position information of the element to be aligned in the real-time image changes, compensating, calibrating and updating the preset coordinate information 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 aligning the camera steering motor to the updated starting point coordinate information.
From the above 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 into a real-time image, wherein 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; when the position information of the element to be aligned in the real-time image changes, compensating, calibrating and updating 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; and moving the camera steering motor along the updated alignment track.
According to the invention, the motor coordinate system of the camera steering motor is mapped into the real-time image, so that the movement track of the steering motor is related to the actual element to be aligned, the coordinate position can be visually checked, the coordinate is convenient to observe and adjust in real time, when the position information of the element to be aligned in the real-time image changes, the coordinate of the element to be aligned is compensated, calibrated and updated, the manual calibration of the position of each element to be aligned is not needed, the existing coordinate movement track programming alignment mode is mainly realized by setting the starting point in the camera vision 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 motor movement speed is greatly influenced due to the difference between the motor coordinate system and the physical coordinate system, the movement speed is high, the accurate movement positioning to the target position is difficult, and repeated movement is possibly needed; the moving speed is low, the time required for moving to the target position is long, and when hundreds or thousands of coordinate points are to be set, the efficiency is extremely low, and the technical problem of coordinate adjustment is not easy to observe in real time.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flow chart of an embodiment of a method for aligning components according to the present invention;
FIG. 2 is a flow chart of another embodiment of a method for aligning components according to the present invention;
fig. 3 is a schematic structural diagram of an embodiment of a device for aligning components according to the present invention.
Detailed Description
The embodiment of the invention provides a component alignment method, which solves the problems that the existing coordinate motion track programming alignment mode mainly adopts a camera vision center alignment mode to set a starting point, a camera center is positioned to a target position by operating motor movement, and the movement is performed according to a programmed track, and the motor movement speed has large influence and high movement speed because of the difference between a motor coordinate system and a real object coordinate system, and is difficult to accurately move and position to the target position and possibly needs repeated movement; the moving speed is low, the time required for moving to the target position is long, and when hundreds or thousands of coordinate points are to be set, the efficiency is extremely low, and the technical problem of coordinate adjustment is not easy to observe in real time.
In order to make the objects, features and advantages of the present invention more comprehensible, the technical solutions in the embodiments of the present invention are described in detail below with reference to the accompanying drawings, and it is apparent that the embodiments described below are only some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, an embodiment of a method for aligning components is provided in an embodiment of the present invention, including:
s101: 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, 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;
in the embodiment of the invention, when element 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 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 mapping step is as follows: the method comprises the steps that through coordinate transformation, an element to be aligned in things is corresponding to a motor coordinate system, for example, the coordinate information of the element to be aligned is "(1, 1), (1, 2), (2, 1) and (2, 2)", if a steering electrode directly refers to the coordinate system of the element to be aligned to carry out track programming, distortion occurs, and whether alignment is accurate or not cannot be judged in an alignment process;
it should be noted that the preset coordinate information includes start point coordinate information, intermediate point coordinate information and end point coordinate information, where the intermediate point coordinate information may be at least one, and the "preset coordinate information" is manually preset coordinate information, and is standard coordinate information set in advance, where the start point coordinate information, the intermediate point coordinate information and the end point coordinate information are defined in a coordinate track moving order;
s102: when the position information of the element to be aligned in the real-time image changes, compensating, calibrating and updating preset coordinate information of the element to be aligned on a motor coordinate system to obtain updated coordinate information and alignment track of the element, and aligning a camera steering motor to updated starting point coordinate information;
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, 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, after a corresponding alignment track is generated 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, compensating, calibrating and updating 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 element to be aligned in the real-time image changes, the element to be aligned in the real-time image can be replaced, and the position of the element to be aligned in the real-time image cannot be guaranteed to be unchanged, so that the position information of the element to be aligned in the real-time image changes, but the types of the elements before and after the replacement are consistent, therefore, only the updating of the coordinate information is needed, and the reprogramming is not needed;
s103: moving the camera steering motor along the updated alignment track;
when the position information of the element to be aligned in the real-time image changes, compensating, calibrating and updating preset coordinate information of the element to be aligned on a motor coordinate system to obtain updated coordinate information and alignment track of the element, and after aligning the camera steering motor to the updated starting 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, and the movement track is in equal proportion because of coordinate mapping, if the position of the element to be aligned is accurate, the position of the element to be aligned can be judged to be consistent with the movement track of the camera from the camera, and then the element to be aligned is judged to be qualified, otherwise, the element to be aligned is judged to be unqualified;
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, 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, compensating, calibrating and updating the coordinates of the element to be aligned on a motor coordinate system to obtain updated coordinate information and alignment track of the element, and aligning the camera steering motor to updated starting 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 movement track of the steering motor is related to an element to be actually aligned, the coordinate position can be visually checked, the real-time observation and adjustment of coordinates are facilitated, when the position information of the element to be aligned in the real-time image changes, the coordinates of the element to be aligned do not need to be compensated, calibrated and updated, the manual calibration of the position of each element to be aligned is not needed, the existing coordinate movement track programming alignment mode is solved, the starting point is mainly set in a camera vision center alignment mode, the camera center is positioned to a target position through the operation of the motor, the movement is performed according to the programmed track, and the motor coordinate system and the physical coordinate system are different, the motor movement speed is high in influence, the movement speed is difficult to be precisely moved and positioned to the target position, and repeated movement may be needed; the moving speed is low, the time required for moving to the target position is long, and when hundreds or thousands of coordinate points are to be set, the efficiency is extremely low, and the technical problem of coordinate adjustment is not easy to observe in real time.
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 a component alignment method provided by 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, wherein the coordinate information comprises starting point coordinate information, intermediate 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 according to the coordinate sequence information, the intermediate point coordinate information and the end point coordinate information by taking the starting point coordinate information as a starting point;
in the embodiment of the invention, when element 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 element to be aligned, coordinate information of the element to be aligned in the real-time image is determined on the motor coordinate system, the coordinate information comprises starting point coordinate information, intermediate point coordinate information and end point coordinate information, the starting point coordinate information and coordinate order information are determined, and a corresponding alignment track is generated on the motor coordinate system according to the coordinate order information, the intermediate point coordinate information and the end point coordinate information by taking the starting point coordinate information as a starting point;
the mapping step is as follows: the method comprises the steps that through coordinate transformation, an element to be aligned in things is corresponding to a motor coordinate system, for example, the coordinate information of the element to be aligned is "(1, 1), (1, 2), (2, 1) and (2, 2)", if a steering electrode directly refers to the coordinate system of the element to be aligned to carry out track programming, distortion occurs, and whether alignment is accurate or not cannot be judged in an alignment process;
it should be noted that the preset coordinate information includes start point coordinate information, intermediate point coordinate information and end point coordinate information, where the intermediate point coordinate information may be at least one, and the "preset coordinate information" is manually preset coordinate information, and is standard coordinate information set in advance, where the start point coordinate information, the intermediate point coordinate information and the end point coordinate information are defined in a coordinate track moving order;
s202: generating coordinate list information corresponding to preset coordinate information of the element, wherein the coordinate list information specifically comprises: reference point coordinates, starting point coordinate information, intermediate point coordinate information and end point coordinate information of a motor coordinate system;
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, the coordinate information of the element to be aligned in the real-time image is determined on the motor coordinate system, the coordinate information comprises starting point coordinate information, intermediate point coordinate information and end point coordinate information, the starting point coordinate information and the coordinate sequence information are determined, the starting point coordinate information is used as a starting point, a corresponding alignment track is generated on the motor coordinate system according to the coordinate sequence information, the intermediate point coordinate information and the end point coordinate information, and then coordinate list information corresponding to preset coordinate information of the element is required to be generated, wherein the coordinate list information specifically comprises: reference point coordinates, starting point coordinate information, intermediate 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, compensating, calibrating and updating 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 track of the element, and aligning a camera steering motor to the updated starting point coordinate information;
generating coordinate list information corresponding to 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 changed, compensating, calibrating and updating preset coordinate information of the element to be aligned on the motor coordinate system through a precision vision correction algorithm when the position information of the element to be aligned in the real-time image changes, obtaining updated coordinate information and alignment track of the element, and aligning the camera steering motor to the updated starting point coordinate information;
the compensation, calibration and updating of the preset coordinate information of the element to be aligned on the motor coordinate system by the precision vision correction algorithm are known technology of the person skilled in the art, and are not repeated here;
s204: updating the coordinate list information, wherein the updated coordinate list information specifically comprises: reference point coordinates, updated starting point coordinate information, updated intermediate point coordinate information and updated 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, compensating, calibrating and updating the coordinates of the element to be aligned on a motor coordinate system through a precision vision correction algorithm to obtain updated coordinate information and alignment track of the element, and aligning the camera steering motor to the updated starting point coordinate information, wherein the updated coordinate list information comprises the following specific steps: reference point coordinates, updated starting point coordinate information, updated intermediate point coordinate information and updated end point coordinate information of a motor coordinate system;
s205: moving the camera steering motor along the updated alignment track;
in updating the coordinate list information, the updated coordinate list information specifically includes: after the reference point coordinates, updated starting point coordinate information, updated intermediate point coordinate information and updated end point coordinate information of the motor coordinate system, the camera steering motor needs to be moved along the updated alignment track;
in the alignment process, the steering electrode drives the camera to move along the set track information, and the movement track is in equal proportion because of coordinate mapping, if the position of the element to be aligned is accurate, the position of the element to be aligned can be judged to be consistent with the movement track of the camera from the camera, and then the element to be aligned is judged to be qualified, otherwise, the element to be aligned is judged to be unqualified;
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, wherein the coordinate information comprises starting point coordinate information, intermediate 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 according to the coordinate sequence information, the intermediate point coordinate information and the end point coordinate information by taking the starting point coordinate information as a starting point; generating coordinate list information corresponding to preset coordinate information of the element, wherein the coordinate list information specifically comprises: reference point coordinates, starting point coordinate information, intermediate 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, compensating, calibrating and updating 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 track of the element, and aligning a camera steering motor to the updated starting point coordinate information; updating the coordinate list information, wherein the updated coordinate list information specifically comprises: reference point coordinates, updated starting point coordinate information, updated intermediate point coordinate information and updated end point coordinate information of a motor coordinate system; 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 movement track of the steering motor is related to an element to be actually aligned, the coordinate position can be visually checked, the real-time observation and adjustment of coordinates are facilitated, when the position information of the element to be aligned in the real-time image changes, the coordinates of the element to be aligned do not need to be compensated, calibrated and updated, the manual calibration of the position of each element to be aligned is not needed, the existing coordinate movement track programming alignment mode is solved, the starting point is mainly set in a camera vision center alignment mode, the camera center is positioned to a target position through the operation of the motor, the movement is performed according to the programmed track, and the motor coordinate system and the physical coordinate system are different, the motor movement speed is high in influence, the movement speed is difficult to be precisely moved and positioned to the target position, and repeated movement may be needed; the moving speed is low, the time required for moving to the target position is long, and when hundreds or thousands of coordinate points are to be set, the efficiency is extremely low, and the technical problem of coordinate adjustment is not easy to observe in real time.
The above is a description of one embodiment of a component placement method, and one embodiment of a component placement device will be described in detail below.
Referring to fig. 3, an embodiment of a component alignment apparatus provided by the present invention includes:
the mapping module 301 is configured to map a motor coordinate system of the camera steering motor into 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, intermediate point coordinate information, and end point coordinate information, and generate a corresponding alignment track on the motor coordinate system according to the preset coordinate information of the element
The updating module 302 is configured to compensate, calibrate and update preset coordinate information of the element to be aligned on a motor coordinate system when the position information of the element to be aligned in the real-time image changes, obtain updated coordinate information and alignment track of the element, and align the camera steering motor to the updated starting point coordinate information;
and the moving module 303 is 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, intermediate 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 according to the coordinate order information, the intermediate point coordinate information, and the end point coordinate information with the start point coordinate information as a start point.
Optionally, the method further comprises:
the generating module 304 is configured to generate coordinate list information corresponding to preset coordinate information of the element, where the coordinate list information specifically includes: reference point coordinates, starting point coordinate information, intermediate point coordinate information and end point coordinate information of a 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: reference point coordinates of a motor coordinate system, updated starting point coordinate information, updated intermediate point coordinate information and 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, compensating, calibrating and updating 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 track of the element, and aligning the camera steering motor to the updated starting point coordinate information.
The specific implementation manner in this embodiment has been described in the foregoing embodiments, and will not be described herein again.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, systems and modules may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein.
In several embodiments provided herein, it should be understood that the disclosed modules and methods may be implemented in other manners. For example, the above-described embodiments of modules are merely illustrative, e.g., the division of modules is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over 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 this embodiment.
In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A method of aligning a component, comprising:
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, 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, wherein the mapping steps are as follows: corresponding an element to be aligned in the object to a motor coordinate system through coordinate transformation;
when the position information of the element to be aligned in the real-time image changes, compensating, calibrating and updating 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;
moving the camera steering motor along the updated alignment track;
in the alignment process, if the position of the element to be aligned is accurate, the position of the element to be aligned can be judged to be consistent with the moving track of the camera from the inside of the camera, and then the element to be aligned is judged to be qualified, otherwise, the element to be aligned is judged to be unqualified;
the generating the corresponding alignment track on the motor coordinate system according to the preset coordinate information of the element specifically includes:
and determining the starting point coordinate information and the 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 intermediate point coordinate information and the end point coordinate information.
2. The component alignment method according to claim 1, characterized in that the component alignment method further comprises:
generating coordinate list information corresponding to preset coordinate information of the element, wherein the coordinate list information specifically comprises: and 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.
3. The method for aligning a component according to claim 2, wherein when the position information of the component to be aligned in the real-time image changes, performing compensation calibration update on the preset coordinate information of the component to be aligned on the motor coordinate system to obtain updated coordinate information and an alignment track of the component, and aligning the camera steering motor to the updated starting point coordinate information further comprises:
updating the coordinate list information, wherein the updated coordinate list information specifically comprises: and the reference point coordinates, updated starting point coordinate information, updated intermediate point coordinate information and updated end point coordinate information of the motor coordinate system.
4. The component alignment method according to claim 3, wherein the compensating calibration update for the preset coordinate information of the component to be aligned on the motor coordinate system specifically includes:
and compensating, calibrating and updating the preset coordinate information of the element to be aligned on the motor coordinate system through a precise vision correction algorithm.
5. A component alignment apparatus, comprising:
the mapping module is used for 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, 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, wherein the mapping steps are as follows: corresponding an element to be aligned in the object to a motor coordinate system through coordinate transformation;
the updating module is used for carrying out compensation, calibration and updating on 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, obtaining updated coordinate information and alignment track of the element, and aligning the camera steering motor to the updated starting point coordinate information;
the moving module is used for moving the camera steering motor along the updated alignment track;
the mapping module is specifically configured to map a motor coordinate system of a camera steering motor into a real-time image, where the real-time image includes 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 includes start point coordinate information, intermediate point coordinate information and end point coordinate information, the start point coordinate information and coordinate order information are determined, and a corresponding alignment track is generated on the motor coordinate system according to the coordinate order information, the intermediate point coordinate information and the end point coordinate information by using the start point coordinate information as a start point;
in the alignment process, if the position of the element to be aligned is accurate, the position of the element to be aligned can be judged to be consistent with the moving track of the camera from the inside of the camera, and then the element to be aligned is judged to be qualified, otherwise, the element to be aligned is judged to be unqualified.
6. The component alignment device of claim 5, further comprising:
the generating module is configured to generate coordinate list information corresponding to preset coordinate information of the element, where the coordinate list information specifically includes: and 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.
7. The component alignment device of claim 6, further comprising:
the second updating module is configured to update the coordinate list information, where the updated coordinate list information specifically includes: and the reference point coordinates, updated starting point coordinate information, updated intermediate point coordinate information and updated end point coordinate information of the motor coordinate system.
8. The device of claim 7, wherein,
the updating module is specifically configured to: when the position information of the element to be aligned in the real-time image changes, compensating, calibrating and updating the preset coordinate information 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 aligning the camera steering motor to the updated starting point coordinate information.
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