CN115258237A - Full-automatic electronic induction system and CCD (charge coupled device) vertical detection method thereof - Google Patents
Full-automatic electronic induction system and CCD (charge coupled device) vertical detection method thereof Download PDFInfo
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- 238000004806 packaging method and process Methods 0.000 claims abstract description 23
- 238000010191 image analysis Methods 0.000 claims abstract description 16
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B15/00—Attaching articles to cards, sheets, strings, webs, or other carriers
- B65B15/04—Attaching a series of articles, e.g. small electrical components, to a continuous web
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B57/00—Automatic control, checking, warning, or safety devices
- B65B57/02—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages
- B65B57/04—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of binding or wrapping material, containers, or packages and operating to control, or to stop, the feed of such material, containers, or packages
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Abstract
The invention provides a full-automatic electronic induction system and a CCD vertical detection method thereof, wherein the full-automatic electronic induction system comprises: the trigger module is arranged at a preset position on a conveying platform of the carrier tape conveying module and used for generating a trigger signal when the carrier tape is conveyed to the preset position on the conveying platform; the control module is used for receiving the trigger signal generated by the trigger module and then generating an image shooting instruction; the image shooting module is used for shooting a first image from the upper part of the carrier tape after receiving an image shooting instruction sent by the control module; and the image analysis module is used for analyzing the first image shot by the image shooting module and generating the position information of the placing groove for placing the device on the carrier tape. The full-automatic electronic induction system realizes the determination of the action position of the carrier tape packaging machine and ensures the normal operation of the carrier tape packaging machine.
Description
Technical Field
The invention relates to the technical field of carrier tape packaging machines, in particular to a full-automatic electronic induction system and a CCD vertical detection method thereof.
Background
The carrier tape package is a plastic carrier widely applied to the package of SMT electronic components such as ICs, resistors, inductors, capacitors, connectors, fuses, switches, relays, socket connectors, oscillators, secondary transistors, triodes and the like; the carrier tape package can independently package each device to be convenient for taking and using in subsequent procedures, and in addition, the carrier tape package can also ensure the advantage of no damage in the transportation process.
The carrier tape packaging machine is equipment for realizing automatic packaging of carrier tapes, and comprises: the device comprises a carrier tape conveying module, a cover tape conveying module, a device placing module, a carrier tape and cover tape pressing module and a material receiving module; the device placing module clamps and places the devices to be packaged into each device accommodating groove of the carrier belt conveyed by the carrier belt conveying module; pressing the carrier tape with the cover tape on which the device is placed by a carrier tape cover tape pressing module to complete packaging; and finally, collecting the materials by a material receiving module. In the operation process of the carrier tape packaging machine, the automatic induction of the position of the carrier tape is related to the accurate control of the mechanical arm of the device placing module to place the device into the carrier tape, and the normal operation of the carrier tape packaging machine is related to.
Disclosure of Invention
One purpose of the invention is to provide a full-automatic electronic induction system, which realizes the determination of the action position of a carrier tape packaging machine and ensures the normal operation of the carrier tape packaging machine.
The embodiment of the invention provides a full-automatic electronic induction system, which comprises:
the trigger module is arranged at a preset position on a conveying platform of the carrier tape conveying module and used for generating a trigger signal when the carrier tape is conveyed to the preset position on the conveying platform;
the control module is used for receiving the trigger signal generated by the trigger module and then generating an image shooting instruction;
the image shooting module is used for shooting a first image from the upper part of the carrier tape after receiving an image shooting instruction sent by the control module;
and the image analysis module is used for analyzing the first image shot by the image shooting module and generating the position information of the placing groove for placing the device on the carrier tape.
Preferably, the trigger module includes: infrared sensors or touch switches.
Preferably, the image analysis module analyzes the first image captured by the image capture module to generate position information of a placement slot for placing a device on the carrier tape, and performs the following operations:
extracting a region of the first image, and extracting a preset image corresponding to the region of the carrier tape as a second image;
extracting preset first identifications from the second image, and determining the positions of the first identifications in the second image;
overlapping a preset first scale image with a second image, and determining the position information of each first mark;
determining the position information of the placing groove in the length direction of the carrier tape based on the position information of two adjacent first marks;
wherein the first mark is positioned between two adjacent placed grooves.
Preferably, the image analysis module analyzes the first image captured by the image capture module to generate position information of a placement slot for placing a device on the carrier tape, and performs the following operations:
extracting a region of the first image, and extracting a preset region image corresponding to the carrier tape as a second image;
extracting preset second identifications from the second image, and determining the positions of the second identifications in the second image;
overlapping a preset second scale image with a second image to determine the position information of each second mark;
determining the position information of the placing groove in the width direction of the carrier tape based on the position information of the two symmetrical second marks;
wherein the second mark is positioned between the placed slot and the edge of the carrier tape.
Preferably, before extracting the second image, the image analysis module further performs the following operations:
acquiring a preset image verification library;
verifying the first image based on each verification image in the image verification library, and extracting the second image when the verification is passed, or not extracting the second image; verifying that the image is an image of the carrier tape correctly conveyed to a preset position by the carrier tape conveying module;
wherein verifying the first image based on each verification image within the image verification library comprises:
respectively extracting the features of the first image and the verification image to obtain a plurality of feature values;
respectively constructing feature sets corresponding to the first image and the verification image based on the plurality of feature values;
calculating the similarity between the feature set corresponding to the first image and the feature set corresponding to the verification image;
and when a verification image with the similarity of the feature set corresponding to the first image being greater than a preset similarity threshold exists in the image verification library, the verification is passed.
Preferably, the image analysis module further performs the following operations:
identifying the first identifier to obtain first identifier information;
identifying the second identifier to obtain second identifier information;
generating third identification information of the carrier tape based on the first identification information and the second identification information; and sending the third identification information to a controller of the carrier tape packaging machine, and extracting the control parameters of the carrier tape packaging machine by the controller according to the third identification information and controlling the work of the carrier tape packaging machine according to the control parameters.
The invention also provides a CCD vertical detection method applied to any full-automatic electronic induction system, which comprises the following steps:
detecting first position data through a first position detection module fixedly connected with the image shooting module;
analyzing the first image to obtain second position and attitude data;
and determining whether the shooting direction of the image shooting module is vertical to the plane of the imaging object of the first image or not based on the first posture data and the second posture data.
Preferably, the detecting the first posture data by the first posture detecting module fixedly connected to the image capturing module includes:
detecting first level data by a first level detecting sensor;
detecting second level data by a second level detecting sensor;
wherein the horizontal detection direction of the first horizontal detection sensor and the second horizontal detection sensor is vertical.
Preferably, the analyzing the first image to obtain the second pose data includes:
extracting a region of the first image, wherein the preset region corresponding to the first horizontal detector is extracted as a third image, and the preset region corresponding to the second horizontal detector is extracted as a fourth image;
identifying the third image and determining third horizontal data;
identifying the fourth image and determining fourth horizontal data;
the horizontal detection directions of the first horizontal detector and the second horizontal detector are vertical; the horizontal detection directions of the first horizontal detection sensor and the first horizontal detector are the same; the second level detection sensor and the second level detector have the same horizontal detection direction.
Preferably, the determining whether the shooting direction of the image shooting module is perpendicular to the plane of the imaging object of the first image based on the first posture data and the second posture data includes:
matching the first level data with the third level data;
matching the second level data with the fourth level data;
when the first image and the second image are matched and matched, the shooting direction of the image shooting module is determined to be vertical to the plane of the imaging object of the first image.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a fully automatic electronic induction system according to an embodiment of the present invention.
Detailed description of the preferred embodiment
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it should be understood that they are presented herein only to illustrate and explain the present invention and not to limit the present invention.
The embodiment of the invention provides a full-automatic electronic induction system, as shown in fig. 1, comprising:
the trigger module 1 is arranged at a preset position on a conveying platform of the carrier tape conveying module and used for generating a trigger signal when the carrier tape is conveyed to the preset position on the conveying platform;
the control module 2 is used for receiving the trigger signal generated by the trigger module 1 and then generating an image shooting instruction;
the image shooting module 3 is used for shooting a first image from the upper part of the carrier tape after receiving the image shooting instruction sent by the control module 2;
and the image analysis module 4 is used for analyzing the first image shot by the image shooting module 3 and generating the position information of the placing groove for placing the component on the carrier tape.
Wherein, trigger module 1 includes: infrared sensors or touch switches.
The working principle and the beneficial effects of the technical scheme are as follows:
firstly, explaining the operation of a loading belt packaging machine, wherein a carrier belt conveying module is responsible for unfolding a carrier belt from a coiled material and conveying the carrier belt to the position of a material placing mechanical arm of a device placing module, the device is placed in a placing groove of the carrier belt through the material placing mechanical arm and then conveyed to a prepressing roller, the prepressing roller is used for overlapping and prepressing the carrier belt conveyed by the carrier belt conveying module and a cover belt conveyed by a cover belt conveying module, then the carrier belt and the cover belt are pressed through a carrier belt and cover belt pressing module, and the pressed product is rolled through a material receiving module to form a product coiled material after carrier belt packaging; before a carrier tape conveying module conveys a carrier tape to the position of a discharging manipulator of a device placing module, the position of a placing groove on the carrier tape and whether the carrier tape is conveyed to the position are determined, a preset position is determined from the front of the position, corresponding to the discharging manipulator, of a conveying platform (located between a prepressing roller and a discharging roller of a carrier tape coiled material), a trigger module 1 is arranged at the preset position, the carrier tape is triggered when passing through the trigger module 1 during conveying, and an image shooting module 3 located right above the trigger module 1 shoots a first image from the upper side of the carrier tape; determining the position information of the placing groove by analyzing the first image, and further providing an accurate placing position for a device placing module of the carrier tape packaging machine; in addition, the triggering module 1 triggers and then shoots the image shooting module 3, so that the waste of energy sources during shooting analysis when the carrier tape is not carried on the conveying platform for conveying is avoided; the infrared sensor performs sensing judgment by emitting infrared rays and receiving reflected infrared rays; the contact switch is triggered by the contact part of the bottom surface of the carrier tape touching the contact switch.
In one embodiment, the image analysis module 4 analyzes the first image captured by the image capture module 3 to generate the position information of the placement slot for placing the device on the carrier tape, and performs the following operations:
extracting a region of the first image, and extracting a preset region image corresponding to the carrier tape as a second image;
extracting preset first identifications from the second image, and determining the positions of the first identifications in the second image;
overlapping a preset first scale image with a second image, and determining the position information of each first mark;
determining the position information of the placing groove in the length direction of the carrier tape based on the position information of two adjacent first marks;
wherein the first mark is positioned between two adjacent placed grooves.
The working principle and the beneficial effects of the technical scheme are as follows:
the first image shot by the image shooting module 3 comprises the upper end face of the conveying platform and the image of the carrier tape, so that the extraction of a preset region is required, and the image of the region corresponding to the carrier tape is extracted to be used as a second image; the second image to be analyzed is obtained through region extraction, so that the influence of images in other regions on the first image on the analysis result is avoided, and the accuracy of the analysis of the first identifier is improved; then, extracting the first identification, wherein the standard template mainly passing through the first identification is extracted, and sliding matching is carried out in the second image; determining each first identifier in the second image and the position of the first identifier in the second image; measuring the distance through a first scale image, wherein the first scale image is provided with mark lines in the length direction, and the interval between every two mark lines is 1mm; the position information of the first marker in the length direction may be measured, for example: the first mark is on a scale line of 1cm, the second first mark is on a scale line of 3cm, and the position information of the placement groove in the length direction is 2cm; the position information of the placement groove is represented by a point at the center of the placement groove.
In one embodiment, the image analysis module 4 analyzes the first image captured by the image capture module 3 to generate position information of a placement slot for placing a component on the carrier tape, and performs the following operations:
extracting a region of the first image, and extracting a preset image corresponding to the region of the carrier tape as a second image;
extracting preset second identifiers from the second image, and determining the positions of the second identifiers in the second image;
overlapping a preset second scale image with a second image to determine the position information of each second mark;
determining the position information of the placing groove in the width direction of the carrier tape based on the position information of the two symmetrical second marks;
wherein the second mark is positioned between the placed slot and the edge of the carrier tape.
The working principle and the beneficial effects of the technical scheme are as follows:
the second marks are positioned on two sides of the placing groove and are symmetrical in pairs; determining position information through a second ruler image in the width direction of the carrier tape, wherein the mark value of the middle symmetrical point of the two second marks on the second ruler image is the position information of the center of the placing groove in the width direction; the coordinates of the central point can be determined by integrating the length and the width; and marking the position information of the placing groove by the coordinate of the central point.
In one embodiment, before extracting the second image, the image analysis module 4 further performs the following operations:
acquiring a preset image verification library;
verifying the first image based on each verification image in the image verification library, and extracting the second image when the verification is passed, or not extracting the second image; verifying that the image is an image of the carrier tape correctly conveyed to a preset position by the carrier tape conveying module;
wherein verifying the first image based on each verification image within the image verification library comprises:
respectively extracting the features of the first image and the verification image to obtain a plurality of feature values;
respectively constructing feature sets corresponding to the first image and the verification image based on the plurality of feature values;
calculating the similarity between the feature set corresponding to the first image and the feature set corresponding to the verification image;
and when a verification image with the similarity of the feature set corresponding to the first image being greater than a preset similarity threshold exists in the image verification library, the verification is passed.
The working principle and the beneficial effects of the technical scheme are as follows:
before the extraction and analysis of the image, the image is verified, and whether a carrier tape exists in the image or not and whether the carrier tape is correctly conveyed to a preset position or not are determined; the verification mainly depends on an image verification library established in advance, the shot first image is matched with a verification image in the image verification library, feature extraction is firstly adopted for matching, a feature set is constructed, the feature set similarity is calculated, and a cosine similarity calculation formula can be adopted for specific calculation; when a verification image with the similarity of the feature set corresponding to the first image being greater than a preset similarity threshold (for example: 0.95) exists in the image verification library, the verification is passed. The verification is not passed without extraction, so that the problem that the calculation power is wasted due to the fact that a user mistakenly touches the trigger module 1 by other objects and analyzes is solved.
In one embodiment, the image analysis module 4 further performs the following operations:
identifying the first identifier to obtain first identifier information;
identifying the second identifier to obtain second identifier information;
generating third identification information of the carrier tape based on the first identification information and the second identification information; and sending the third identification information to a controller of the carrier tape packaging machine, and extracting the control parameters of the carrier tape packaging machine by the controller according to the third identification information and controlling the work of the carrier tape packaging machine according to the control parameters.
The working principle and the beneficial effects of the technical scheme are as follows:
distinguishing different types of carrier bands through identification information of a first identification and a second identification which are arranged on the carrier bands; for example: the first mark may be set as a straight mark; the corresponding identification information is the length of a straight line; the second mark may be set as a circular mark; the corresponding identification information is the diameter of the circle; at this time, the first identification information is 0110;01 indicates the length marked as a straight line, 10 is a straight line; the second identification information is 0205;02 denotes the diameter identified as circle, 05 as circle; the third identification information is 01100205, namely the integration of the first identification information and the second identification information; the controller directly calls corresponding control parameters according to the third identification information; the setting of control parameters by a user is not needed, and the intellectualization of the carrier tape packaging machine is improved.
In one embodiment, when the first identifier and the second identifier are identified, the missing position is supplemented by the first identifier or the second identifier according to the rule of the first identifier and the second identifier; because the intervals of the first identifications are equal, when the intervals of the adjacent identified first identifications are integral multiples of the preset intervals in the absence of the first identifications, the corresponding first identifications can be supplemented in the absence of the first identifications, so that when the carrier tape is produced and the first identifications are identified, the positioning of the position of the placement groove is not influenced after label missing occurs; the second identification is based on the symmetry rule, and the omission supplement can be carried out; the specific implementation can be realized in the following way, after the first identifier and the second identifier are identified, whether the first identifier and the second identifier are missing is judged, when the first identifier and the second identifier are missing, a preset supplementary template is adopted for supplementing, and the first identifier and the second identifier are arranged on the supplementary template in a non-missing state; the supplementary template is aligned with the first identification and the second identification which are identified, so that the identification can be supplemented at the missing position; when judging whether the interval is missing or not, the first mark mainly calculates whether the interval between adjacent marks is a preset interval or not; determining the missing when the interval is integral multiple of the preset interval; the second mark is used for determining whether the two carrier tapes are symmetrical or not and whether the adjacent intervals in the length direction of the carrier tapes are equal or not, and performing deletion judgment.
The invention also provides a CCD vertical detection method applied to any full-automatic electronic induction system, which comprises the following steps:
detecting first position data through a first position detection module fixedly connected with the image shooting module 3;
analyzing the first image to obtain second position and orientation data;
based on the first and second posture data, it is determined whether the photographing direction of the image photographing module 3 is perpendicular to the plane of the imaged object of the first image.
Wherein, detect first position appearance data through the first position appearance detection module with 3 fixed connection of image capture module, include:
detecting first level data by a first level detecting sensor;
detecting second level data by a second level detecting sensor;
wherein the horizontal detection direction of the first horizontal detection sensor and the second horizontal detection sensor is vertical.
Wherein, analyze the first image, acquire second position appearance data, include:
extracting a region of the first image, wherein the preset region corresponding to the first horizontal detector is extracted as a third image, and the preset region corresponding to the second horizontal detector is extracted as a fourth image;
identifying the third image and determining third horizontal data;
identifying the fourth image and determining fourth horizontal data;
the horizontal detection directions of the first horizontal detector and the second horizontal detector are vertical; the horizontal detection directions of the first horizontal detection sensor and the first horizontal detector are the same; the horizontal detection direction of the second horizontal detection sensor is the same as that of the second horizontal detector.
Wherein, based on the first position data and the second position data, determining whether the shooting direction of the image shooting module 3 is perpendicular to the plane of the imaging object of the first image, includes:
matching the first level data with the third level data;
matching the second level data with the fourth level data;
when both match, the photographing direction of the image photographing module 3 is determined to be perpendicular to the plane of the imaged object of the first image.
The working principle and the beneficial effects of the technical scheme are as follows:
the first attitude detection module comprises a first horizontal detection sensor and a second horizontal detection sensor; the first posture detection module is fixed with the image shooting module 3, and the levelness of the image shooting module 3 is tested; the first horizontal detector and the second horizontal detector are arranged on the conveying platform; the first image shot by the image shooting module 3 shoots the first horizontal detector and the second horizontal detector, and data detected by the first horizontal detector and the second horizontal detector can be read out through region extraction and image recognition; through data comparison between the first horizontal detector and the second horizontal detector and between the first horizontal detection sensor and the second horizontal detection sensor, whether the shooting direction of the image shooting module 3 is perpendicular to the plane where the carrier tape is located can be determined, and therefore the accuracy of determination of the position of the placement groove is guaranteed.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A fully automatic electronic induction system, comprising:
the trigger module is arranged at a preset position on a conveying platform of the carrier tape conveying module and used for generating a trigger signal when the carrier tape is conveyed to the preset position on the conveying platform;
the control module is used for receiving the trigger signal generated by the trigger module and then generating an image shooting instruction;
the image shooting module is used for shooting a first image from the upper part of the carrier tape after receiving the image shooting instruction sent by the control module;
and the image analysis module is used for analyzing the first image shot by the image shooting module and generating the position information of a placing groove for placing the device on the carrier tape.
2. The fully automatic electronic induction system according to claim 1, wherein said trigger module comprises: infrared sensors or touch switches.
3. The fully automatic electronic induction system according to claim 1, wherein the image analysis module analyzes the first image captured by the image capture module to generate position information of a placement slot for placing a device on the carrier tape, and performs the following operations:
extracting a region of the first image, and extracting a preset image corresponding to the region of the carrier tape as a second image;
extracting preset first identifications from the second image, and determining the positions of the first identifications in the second image;
overlapping a preset first scale image with the second image, and determining the position information of each first mark;
determining position information of the placing groove in the length direction of the carrier tape based on position information of two adjacent first marks;
wherein the first mark is positioned between two adjacent placed slots.
4. The fully automatic electronic induction system according to claim 1, wherein the image analysis module analyzes the first image captured by the image capture module to generate position information of a placement slot for placing a component on the carrier tape, and performs the following operations:
extracting a region of the first image, and extracting a preset image corresponding to the region of the carrier tape as a second image;
extracting preset second identifiers from the second image, and determining the positions of the second identifiers in the second image;
overlapping a preset second scale image with the second image to determine the position information of each second mark;
determining position information of the placing groove in the width direction of the carrier tape based on the position information of the two symmetrical second marks;
wherein the second mark is located between the placement slot and an edge of the carrier tape.
5. The fully automatic electronic induction system according to claim 1, wherein prior to extracting the second image, said image analysis module further performs the following operations:
acquiring a preset image verification library;
verifying the first image based on each verification image in the image verification library, and extracting the second image when the verification is passed, otherwise, not extracting the second image; the verification image is an image of the carrier tape which is correctly conveyed to a preset position by the carrier tape conveying module;
wherein validating the first image based on each validation image within the image validation library comprises:
respectively extracting the features of the first image and the verification image to obtain a plurality of feature values;
respectively constructing feature sets corresponding to the first image and the verification image based on a plurality of feature values;
calculating the similarity between the feature set corresponding to the first image and the feature set corresponding to the verification image;
and when the verification image with the similarity of the feature set corresponding to the first image being larger than a preset similarity threshold exists in the image verification library, the verification is passed.
6. The fully automatic electronic induction system according to claim 3 or 4, characterised in that said image analysis module also performs the following operations:
identifying the first identifier to obtain first identifier information;
identifying the second identifier to obtain second identifier information;
generating third identification information of the carrier tape based on the first identification information and the second identification information; and sending the third identification information to a controller of the carrier tape packaging machine, and extracting the control parameters of the carrier tape packaging machine by the controller according to the third identification information and controlling the work of the carrier tape packaging machine according to the control parameters.
7. A CCD vertical detection method applied to the full-automatic electronic induction system according to any one of claims 1 to 5, characterized by comprising the following steps:
detecting first position and posture data through a first position and posture detection module fixedly connected with the image shooting module;
analyzing the first image to obtain second position and attitude data;
determining whether the shooting direction of the image shooting module is perpendicular to the plane of the imaging object of the first image based on the first position and orientation data and the second position and orientation data.
8. The CCD vertical detection method of claim 7, wherein said detecting first position and orientation data by a first position and orientation detection module fixedly connected to said image capture module comprises:
detecting first level data by a first level detecting sensor;
detecting second level data by a second level detecting sensor;
wherein horizontal detection directions of the first horizontal detection sensor and the second horizontal detection sensor are vertical.
9. The CCD vertical inspection method of claim 8, wherein said analyzing the first image to obtain second pose data comprises:
extracting a region of the first image, wherein the preset image corresponding to the region of the first horizontal detector is extracted as a third image, and the preset image corresponding to the region of the second horizontal detector is extracted as a fourth image;
identifying the third image and determining third horizontal data;
identifying the fourth image and determining fourth horizontal data;
the horizontal detection directions of the first horizontal detector and the second horizontal detector are vertical; the horizontal detection directions of the first horizontal detection sensor and the first horizontal detector are the same; the horizontal detection direction of the second horizontal detection sensor is the same as that of the second horizontal detector.
10. The CCD vertical detection method of claim 9, wherein said determining whether a photographing direction of the image photographing module is perpendicular to a plane of an imaged object of the first image based on the first and second attitude data comprises:
matching the first level data with the third level data;
matching the second level data with the fourth level data;
and when the first image and the second image are matched and matched, determining that the shooting direction of the image shooting module is vertical to the plane of the imaging object of the first image.
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Citations (21)
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