CN106101695A - Photographic head accuracy of identification detecting system - Google Patents
Photographic head accuracy of identification detecting system Download PDFInfo
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- CN106101695A CN106101695A CN201610417734.9A CN201610417734A CN106101695A CN 106101695 A CN106101695 A CN 106101695A CN 201610417734 A CN201610417734 A CN 201610417734A CN 106101695 A CN106101695 A CN 106101695A
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- Prior art keywords
- photographic head
- detected
- slide block
- guide rail
- host computer
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
Abstract
The present invention provides a kind of photographic head accuracy of identification detecting system, including: identify object, host computer, the photographic head to be detected being connected respectively and electro-motor, substrate with host computer；Substrate includes graduated first guide rail of orthogonal tool and the second guide rail, and the first guide rail is provided with the first slide block, and the second guide rail is provided with the second slide block, and photographic head to be detected is located on the first slide block, and the first slide block and the second slide block are connected with electro-motor respectively；The rotating speed of PC control electro-motor with the horizontal and vertical distance adjusting photographic head to be detected with identify object, and determine adjust every time after the first coordinate of photographic head to be detected；Photographic head to be detected determines the second coordinate of photographic head to be detected according to the identification object images gathered after adjusting every time；Host computer determines the accuracy of identification scope of photographic head to be detected according to corresponding each first coordinate and each second coordinate, and judges whether to meet required precision, thus achieves the detection accurately and reliably of accuracy of identification scope simply and easily.
Description
Technical field
The present embodiments relate to testing for electrical equipment technical field, particularly relating to a kind of photographic head accuracy of identification detection is
System.
Background technology
Intelligent mobile robot is that a class can pass through sensor senses environment and oneself state, it is achieved having barrier
Object-oriented independent navigation motion in environment, thus complete the robot system of preplanned mission.In actual application scenarios, intelligence
Can move by mobile robot independent navigation to be realized, on the one hand want to accurately identify preceding object thing, on the other hand want energy
Enough accurately identify walking border, to carry out rational travelling control.
In certain application scenarios, can with certain mark define each intelligent mobile robot walking border or
Person identifies barrier, and be such as sticked label image in positions such as the walking wall on border, desk, ceilings, works as intelligent mobile
When robot recognizes the label image of corresponding walking boundary, determine and run to boundary, and then carry out inverting, turning left
Or the travelling control such as right-hand rotation.In actual application, the first-class photographic head of such as infrared photography can be used to gather and identify label figure
Picture.Therefore, can the infrared camera being arranged on intelligent mobile robot accurately identify under certain accuracy of identification requires
Go out and characterize walking border or the label image of barrier, non-the normally off for realizing the independent navigation function of intelligent mobile robot
Key.
Therefore, make normally first-class for such as infrared photography photographic head is arranged on such as intelligent mobile robot
With before, need to detect, the accuracy of identification of this photographic head to determine that this photographic head can reach default accuracy of identification
Requirement.To this end, the most simple and convenient, detect the accuracy of identification of photographic head exactly, be problem demanding prompt solution.
Summary of the invention
The embodiment of the present invention provides a kind of photographic head accuracy of identification detecting system, in order to simple and convenient, exactly detection take the photograph
Accuracy of identification as head.
The embodiment of the present invention provides a kind of photographic head accuracy of identification detecting system, including:
Identify object, photographic head to be detected, substrate, electro-motor, host computer；
Described photographic head to be detected and described electro-motor are connected with described host computer respectively；
Described substrate includes that the first mutually orthogonal guide rail and the second guide rail, described first guide rail and described second guide rail are equal
There is scale, described first guide rail is provided with the first slide block, described second guide rail is provided with the second slide block, described to be detected
Photographic head is arranged on described first slide block, and described first slide block and described second slide block are connected with described electro-motor respectively；
Wherein, described first slide block is connected with described first slide, described second slide block and described first guide rail
One end is fixing to be connected, and described second slide block is connected with described second slide；
Described host computer, controls the rotating speed of described electro-motor to adjust described photographic head to be detected and described identification object
Horizontal range and vertical dimension, and according to described horizontal range and described vertical dimension, determine after adjusting described to be checked every time
Survey the first coordinate of photographic head；
Described photographic head to be detected, gathers the figure of described identification object after every time adjusting under the control of described host computer
Picture, and the second coordinate of described photographic head to be detected is determined according to described image, described second coordinate is transferred to described upper
Machine；
Described host computer, according to corresponding each first coordinate and each second coordinate, determines the knowledge of described photographic head to be detected
Other accuracy rating, and determine whether described accuracy of identification scope meets default accuracy of identification requirement.
Optionally, described first slide block upper surface is provided with rotating disk, and described photographic head to be detected is arranged on described rotating disk；
Described rotating disk is connected with described host computer；
Described host computer, by controlling described rotating disk to adjust described shooting head-turned angle to be detected.
Optionally, described first coordinate includes the scale the most corresponding with described second slide block according to described first slide block
The primary importance coordinate determined, and according to the first rotational angle that the control of described rotating disk is determined；In described second coordinate
Including the second position coordinate determined according to described image and the second rotational angle；
Whether described host computer, be less than according to the range difference between corresponding each primary importance coordinate and each second position coordinate
Predeterminable range threshold value, determines the range accuracy scope of described photographic head to be detected；According to corresponding each first rotational angle with each
Differential seat angle between the second rotational angle, whether less than predetermined angle threshold value, determines the angle precision model of described photographic head to be detected
Enclose.
Optionally, described substrate includes that gripper shoe, described first guide rail and described second guide rail are fixedly installed on described
On fagging.
By arranging this gripper shoe, it is ensured that the first guide rail and the second guide rail keep good orthogonality relation.
Optionally, described substrate-parallel is placed in ground, and described substrate also includes: adjustable support bar, described scalable
Regulation controller it is provided with on support bar；
One end of described adjustable support bar is fixing with described gripper shoe to be connected, and the other end of described adjustable support bar is put
Put on the ground；
In described host computer, storage has the described identification object height at a distance of ground；
Described host computer is connected with described regulation controller, to control the described regulation controller described adjustable support of adjustment
The length of bar, makes the described photographic head to be detected height at a distance of ground and the described identification object matched at a distance of ground.
Arranged by above-mentioned adjustable support bar etc., it is achieved that detection photographic head and the automatic of height identifying object are adjusted
Whole.
Optionally, described host computer is connected by the first com port with described electro-motor, and described host computer is to be checked with described
Survey photographic head to be connected by USB.
Optionally, described host computer is connected by the second com port with described rotating disk.
Optionally, the quantity of described second guide rail is two, and accordingly, the quantity of described second slide block is two, described
Two second are slided fixing with the two ends of described first guide rail respectively connection.
By arranging two the second guide rails, it is ensured that the first guide rail and the second guide rail keep good orthogonality relation.
The photographic head accuracy of identification detecting system that the embodiment of the present invention provides, leads at mutually orthogonal band graduated first
It is respectively provided with slide block on rail and the second guide rail, photographic head is arranged on the first guide rail on the slide block arranged, and by the two
Slide block is connected with electro-motor respectively, and the rotating speed being controlled electro-motor by host computer adjusts photographic head and object to be identified
Horizontal range and vertical dimension.After adjusting each time, on the one hand host computer is based on current photographic head institute on two guide rails
The scale at place determines the first coordinate of photographic head, and on the other hand photographic head is based on to identifying at image acquisition and the image of object
Reason, determines the second coordinate of photographic head, thus, host computer the first coordinate based on the photographic head oneself determined adjust every time after with
The comparative result of the second coordinate of the photographic head that photographic head determines, determines the accuracy of identification scope of photographic head, should with final judgement
Photographic head disclosure satisfy that default accuracy of identification requirement.By this detecting system, it is not only able to automatically control photographic head and moves, and
And the actual coordinate obtaining photographic head can be accurately positioned, the figure to identifying object by the actual coordinate that will obtain and photographic head
Compare, as analyzing the estimated coordinates that obtains, the accuracy of identification scope that just can accurately draw photographic head, it is achieved simple and convenient and
Result is accurately and reliably.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is this
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to root
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the structural representation of photographic head accuracy of identification detecting system embodiment one of the present invention；
Fig. 2 is the structural representation of photographic head accuracy of identification detecting system embodiment two of the present invention；
Fig. 3 is the structural representation of photographic head accuracy of identification detecting system embodiment three of the present invention.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
The term used in embodiments of the present invention is only merely for describing the purpose of specific embodiment, and is not intended to be limiting
The present invention." a kind of ", " described " and " being somebody's turn to do " of singulative used in the embodiment of the present invention and appended claims
It is also intended to include most form, unless context clearly shows that other implications.
Should be appreciated that term "and/or" used herein is only a kind of incidence relation describing affiliated partner, represent
Three kinds of relations, such as, A and/or B can be there are, can represent: individualism A, there is A and B, individualism B these three simultaneously
Situation.It addition, character "/" herein, typically represent forward-backward correlation to as if the relation of a kind of "or".
Although should be appreciated that possible employing term first, second, third, etc. are to describe XXX in embodiments of the present invention, but
These XXX should not necessarily be limited by these terms.These terms are only used for XXX is distinguished from each other out.Such as, implementing without departing from the present invention
In the case of example scope, an XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be referred to as an XXX.
Depend on linguistic context, word as used in this " if ", " if " can be construed to " ... time " or
" when ... " or " in response to determining " or " in response to detection ".Similarly, depend on linguistic context, phrase " if it is determined that " or " as
Fruit detection (condition of statement or event) " " when determining " or " in response to determining " can be construed to or " when detection (statement
Condition or event) time " or " in response to detection (condition of statement or event) ".
Also, it should be noted term " includes ", " comprising " or its any other variant are intended to nonexcludability
Comprise, so that include that the commodity of a series of key element or system not only include those key elements, but also include the most clearly
Other key elements listed, or also include the key element intrinsic for this commodity or system.In the feelings not having more restriction
Under condition, statement " including ... " key element limited, it is not excluded that in the commodity including described key element or system also
There is other identical element.
Fig. 1 is the structural representation of photographic head accuracy of identification detecting system embodiment one of the present invention, as it is shown in figure 1, shooting
Head accuracy of identification detecting system includes: identify object 1, substrate 2, photographic head to be detected 3, electro-motor 4, host computer 5.To be detected
Photographic head 3 and electro-motor 4 are connected with host computer 5 respectively.
In actual application, identify that object 1 can be the label image being attached to wall, ceiling etc., but be not restricted to that
This implements.Photographic head 3 to be detected can be infrared camera, but be not restricted to that this implements.
Concrete, host computer 5 and electro-motor 4 can pass through the first COM port (cluster
Communication port, is called for short COM) mouth connection, host computer 5 and photographic head 3 to be detected can pass through USB (universal serial bus)
(Universal Serial Bus is called for short USB) connects.
Substrate 2 includes the first mutually orthogonal guide rail 21 and the second guide rail 22, and the first guide rail 21 and the second guide rail 22 all have
There is scale, the first guide rail 21 is provided with the first slide block 23, the second guide rail 22 is provided with the second slide block 24, photographic head to be detected
3 are arranged on the first slide block 23, and the first slide block 23 and the second slide block 24 are connected with electro-motor 4 respectively.Wherein, the first slide block 23
Being slidably connected with the first guide rail 21, the second slide block 24 is fixing with one end of the first guide rail 21 to be connected, and the second slide block 24 is led with second
Rail 22 is slidably connected.
In actual application, the first guide rail 21 and the second guide rail 22 can be all linear guide rails, its length and its on
Scale precision can set according to the actual requirements.First slide block 23 can slide along the first guide rail 21, thus, it is fixed on
Photographic head to be detected 3 on one slide block 23 slides on the first guide rail 21 along with the first slide block 23, thus changes to be detected taking the photograph
Picture 3 and the horizontal range identified between object 1.
In actual application, identify that the object 1 height apart from ground can preset, such that it is able to be arranged on by substrate 2
The place of respective heights so that the photographic head 3 to be detected height at a distance of ground and the height phase identifying object 1 ground apart
Join.
It is connected by the second slide block 24 between first guide rail 21 with the second guide rail 22, concrete, the second slide block 24 and second
Guide rail 22 is slidably connected, and the i.e. second slide block 24 can slide along the second guide rail 22, and, one end of the first guide rail 21 is fixing to be connected
On the second slide block 24, therefore, the slip of the second slide block 24 makes the first guide rail 21 can slide along the second guide rail 22, from
And, the slip of the second slide block 24 can change photographic head 3 to be detected and the vertical dimension identified between object 1.
In the orthogonal straight lines type guide rail structure that only one of which the first guide rail 21 and second guide rail 22 are constituted, due to the
One guide rail 21 only one end is connected by the second slide block 24 with the second guide rail 22, and the other end may be at vacant state, now, at certain
May be easier to cause the first guide rail 21 and the second guide rail 22 can not keep good orthogonality relation in the case of Xie, impact is final
The accuracy of testing result.
Optional for this, it is also possible to arranging two the second guide rails 22, accordingly, the quantity of the second slide block 24 is two, two
Individual second slide block 24 is slidably connected with two the second guide rails 22 respectively, and, two the second slide blocks 24 respectively with the first guide rail 21
Two ends fixing connect, say, that the two ends of the first guide rail 21 are respectively fixedly connected with on the second slide block 24.
Under the hardware structure of the above-mentioned photographic head accuracy of identification detecting system of the present embodiment offer, can use following
Mode carries out the detection of the accuracy of identification of photographic head 3 to be detected and processes.
During actually detected, photographic head 3 to be detected can be set in advance in certain initial position, and then gradually adjust
The position of whole photographic head to be detected 3, carries out follow-up detection and processes.Wherein, this initial position can be such as relative to knowledge
Other object 1 has certain vertical dimension, and horizontal range is the somewhere of 0, or can also be to have certain vertical dimension and
The somewhere such as vertical dimension and horizontal range of determining horizontal range are the position of maximum distance, the most specifically limit.
Preferably, substrate 2 can be fixedly installed in advance with the relative position identifying object 1, so, different in test
The when of photographic head 3 to be detected, only need to change the photographic head on the first slide block 23, first slide block the 23, second slide block 24 and
Identify that the position of object 1 can be changed.And, initial position that is first slide block 23, second slide block of photographic head 3 to be detected
24 are preferably relative to identifying that object 1 has certain vertical dimension relative to the position identifying object 1, and horizontal range is 0
Somewhere.When this position, be equivalent to photographic head 3 to be detected and face identification object 1.Now, photographic head 3 to be detected can be clapped
Must identify the reference picture of object 1, and determine the coordinate of the pixel in certain pixel such as lower left corner in this reference picture
For the zero (0,0) in image coordinate system.This zero and first slide block the 23, second slide block 24 at the first guide rail 21 and
Scale value on second guide rail 22 has corresponding relation.Such as, it is assumed that the scale of current first slide block the 23, second slide block 24 correspondence
Value is respectively a, b, the then zero in image coordinate system (0,0) and zero (a, b) correspondence in guide rail coordinate system.
After above-mentioned initialized process, during actual detection, host computer 5 controls turning of electro-motor 4
Speed with the horizontal range and the vertical dimension that adjust photographic head to be detected 3 with identify object 1, and according to horizontal range and vertically away from
From, determine the first coordinate of photographic head 3 to be detected after every time adjusting.
It practice, host computer 5 can control the rotating speed of electro-motor 4 in step-type mode.
What deserves to be explained is, optionally, when electro-motor 4 only has one, the first slide block 23 and the second slide block 24 are permissible
Being connected with electro-motor 4 by different connection lines respectively, during being controlled, host computer 5 can control electronic
Motor 4 is respectively communicated with different connection lines, can control the first slide block 23 and sliding distance of the second slide block 24 respectively.Ratio
Such as, certain moment, host computer 5 issues control instruction to electro-motor 4, controls electro-motor 4 and connects and line between the first slide block 23
Road and disconnect and circuit between the second slide block 24, thus control the first slide block 23 and move a certain distance along the first guide rail 21.This
Time, keep photographic head 3 to be detected and the vertical dimension identified between object 1 constant, and simply change horizontal range between the two.
Optionally, when electro-motor 4 has two, the first slide block 23 and the second slide block 24 can respectively with an electronic horse
Reaching 4 connections, during being controlled, host computer 5 can be by controlling different electro-motors 4 to realize first respectively
The control of the sliding distance of slide block 23 and the second slide block 24.
Simultaneously it is understood that the sliding distance of the rotating speed of electro-motor 4 and the first slide block 23 and the second slide block 24 it
Between there is certain corresponding relation, such that it is able to according to the first slide block 23 set in advance and the second slide block 24 move every time away from
From step-length, determine the rotating speed of required electro-motor 4.
After carrying out above-mentioned adjustment, host computer 5 one aspect is according to the photographic head to be detected 3 after adjusting and knowledge every time every time
1 horizontal range of other object and vertical dimension, determine the first coordinate of photographic head 3 to be detected；On the other hand, to be detected taking the photograph is controlled
As 3 gather adjust every time after identify object 1 and image, and analyze, be calculated the second coordinate of photographic head 3 to be detected.
Concrete, host computer 5 can store the first slide block 23 and initial position of the second slide block 24, the most above-mentioned (a,
b).Thus, after require for the first time to control the rotating speed of electro-motor 4 according to a certain distance step-length, according to this distance step-length with
And mobile control strategy set in advance, host computer 5 may determine that this time adjust after the first slide block 23 and the second slide block 24 corresponding
Scale value, it is thus possible to the first slide block 23 after adjusting according to the initial position of the first slide block 23 and the second slide block 24 and this time
Level between the photographic head to be detected 3 after this adjustment and identification object 1 is determined with the scale value of the second slide block 24 correspondence respectively
Distance and vertical dimension, thus obtain the first coordinate of photographic head 3 to be detected.
Wherein, mobile control strategy in simple terms, refers to, on the direction of the first guide rail 21 and the second guide rail 22, press respectively
What kind of distance step-length to move control according to, first keep the invariant position of the second slide block 24, walk according to predeterminable range
Long control mobile first slide block 23 respectively and move along the first guide rail 21, when along the first guide rail 21 move from one end to the other end it
After, according to the position of default step-size change the second slide block 24.
Photographic head 3 to be detected, gathers the image identifying object 1 after every time adjusting under the control of host computer 5, and according to figure
As determining the second coordinate of photographic head 3 to be detected, the second coordinate is transferred to host computer 5.
Wherein, photographic head 3 to be detected determines the second coordinate of current photographic head to be detected 3 according to its image gathered,
Can be based on photographic head 3 to be detected, the analysis of image, the calculating of collection to be processed and obtains.In simple terms, owing to initializing
Time, the initial position of photographic head 3 to be detected faces identification object 1, and the image identifying object 1 now gathered is for reference to figure
Picture, the coordinate of certain reference image vegetarian refreshments therein is as the zero in image coordinate system.During actually detected, to be detected
Photographic head 3 is by after movement, and this photographic head 3 to be detected changes relative to the shooting orientation identifying object 1, now gathers
Identify that in the image of object 1, the coordinate of this reference image vegetarian refreshments changes, and may determine that this reference pixel based on image coordinate system
Point coordinate position in this image coordinate system, and corresponding relation based on image coordinate system Yu guide rail coordinate system, can be true
Second coordinate of fixed photographic head 3 to be detected.
Host computer 5, according to corresponding each first coordinate and each second coordinate, determines the accuracy of identification of photographic head 3 to be detected
Scope, and determine whether accuracy of identification scope meets default accuracy of identification requirement.
Specifically, for adjusting each time, it is to be checked with receive that self is calculated the first coordinate obtained by host computer 5
The second coordinate surveying photographic head 3 transmission compares, if both differences are less than or equal to presetting error threshold, then illustrates such as
Photographic head 3 the most to be detected moves in the range of horizontal range corresponding to the first coordinate, vertical dimension, still can accurately identify
Go out to identify object 1.
Through repeated multiple times detection, be finally capable of determining that photographic head 3 to be detected relative to identify object 1 certain away from
Can be recognized accurately in the range of from identification object 1, wherein, photographic head 3 to be detected can be recognized accurately identify object 1 away from
Determine by the distance reflected less than each first coordinate of above-mentioned default error threshold from scope, and, this distance range is
The distance range of the accuracy of identification of photographic head 3 to be detected.It is right this scope determined and accuracy of identification set in advance to be required
Ratio, if reaching this required precision, illustrates that photographic head 3 to be detected is the photographic head that can be normally used, otherwise, it determines it is
The photographic head that cannot be normally used.
In the present embodiment, for the accuracy of identification scope of photographic head 3 to be detected, it is that the angle from its range accuracy scope is entered
Row is introduced, and also can illustrate in conjunction with angle precision in subsequent embodiment.
The photographic head accuracy of identification detecting system that the present embodiment provides, at mutually orthogonal graduated first guide rail of band and
It is respectively provided with slide block on second guide rail, photographic head is arranged on the first guide rail on the slide block arranged, and by the two slide block
It is connected with electro-motor respectively, controls the rotating speed of electro-motor by host computer and adjust the water of photographic head and object to be identified
Flat distance and vertical dimension.After adjusting each time, on the one hand host computer based on current photographic head on two guide rails residing
Scale determines the first coordinate of photographic head, and on the other hand photographic head is based on to identifying image acquisition and the image procossing of object, really
Determine the second coordinate of photographic head, thus, host computer the first coordinate based on the photographic head oneself determined after adjusting every time and shooting
The comparative result of the second coordinate of the photographic head that head determines, determines the accuracy of identification scope of photographic head, finally to judge this shooting
Head disclosure satisfy that default accuracy of identification requirement.By this detecting system, it is not only able to automatically control photographic head and moves, Er Qieneng
Enough it is accurately positioned the actual coordinate obtaining photographic head, by the image identifying object being divided with photographic head by the actual coordinate obtained
The estimated coordinates that analysis obtains compares the accuracy of identification scope that just can accurately draw photographic head, it is achieved simple and convenient and result
Accurately and reliably.
Fig. 2 is the structural representation of photographic head accuracy of identification detecting system embodiment two of the present invention, as in figure 2 it is shown, at Fig. 1
On the basis of illustrated embodiment, the first slide block 23 upper surface is provided with rotating disk 25, and photographic head 3 to be detected is arranged on rotating disk 25, can
To be understood by, rotating disk 25 is rotationally connected with the first slide block 23.Rotating disk 25 is connected with host computer 5, and actual application collects, host computer
5 can be connected by the second com port with rotating disk 25.Optionally, host computer 5 can also be connected by USB port with rotating disk 25.
In actual application, for the detection of the accuracy of identification of photographic head 3 to be detected, identify essence except its distance can be detected
It is outside one's consideration, it is also possible to detect its angle recognition precision.The implication of this angle recognition precision is similar with the implication of distance accuracy of identification, is
Refer to photographic head 3 to be detected still to be able to after turning an angle accurately and the angular range identifying object 1 detected.And this is accurately examined
Can survey be the angular turn control judgement that accurately be performed host computer 5 by photographic head 3 to be detected.It is exactly in simple terms, on
Position machine 5 controls photographic head 3 to be detected and turns an angle, if photographic head to be detected 3 feeds back to the angle of host computer 5 with upper
Machine 5 controls its angle automatching rotated, then illustrate that photographic head 3 to be detected can accurately perform the control of host computer 5.
Concrete detection process is as follows:
Host computer 5, by controlling rotating disk 25 to adjust the rotational angle of photographic head 3 to be detected.Wherein, host computer 5 is to turning
The control of dish 25 can be to be controlled in step-type mode, and i.e. can change rotating disk 25 rotates certain angle every time
Degree.
Now, except including according to the first slide block 23 and the second slide block 24 points during host computer 5 determines the first coordinate obtained
Outside the primary importance coordinate that not corresponding scale determines, also include the first rotational angle that the control of rotating disk 25 is determined by basis.
In actual application, time initial, the rotational angle of rotating disk 25 is θ, it is assumed that it is 10 that host computer 5 controls the step-length of rotating disk 25 rotational angle
Degree, then after adjusting for the first time, rotational angle becomes θ+10 degree, the like.Wherein, the expression-form of the first coordinate can be
(a,b,θ).Wherein, above-mentioned primary importance coordinate and the first rotational angle, host computer 5 can be according to the quarter of the first slide block 23 correspondence
Angle value, the scale value of the second slide block 24 correspondence, the Angle ambiguity of rotating disk 5 is conveniently determined by it.
Slide when host computer 5 controls first slide block the 23, second slide block 24, and control rotating disk 25 rotate after, shooting to be detected
3 are not only affected, also by be detected apart from mobile by photographic head 3 to be detected relative to the shooting angle identifying object 1
The impact of photographic head 3 rotational angle.Photographic head 3 to be detected is by relative to reference image vegetarian refreshments in the identification object 1 now gathered
The analysis of the coordinate position of reference image vegetarian refreshments in reference picture, calculating process, and can obtain the of photographic head 3 the most to be detected
Two coordinates, wherein contain the second position coordinate and the second rotational angle determined according to the image gathered, it is assumed that be expressed as
(a’,b’,θ’)。
For adjusting each time, host computer all obtains the first coordinate and second coordinate of correspondence.Thus, host computer 5, according to
Whether the range difference between corresponding each primary importance coordinate and each second position coordinate, less than predeterminable range threshold value, determines to be detected
The range accuracy scope of photographic head 3；According to the differential seat angle between corresponding each first rotational angle and each second rotational angle whether
Less than predetermined angle threshold value, determine the angle precision scope of detection photographic head 3.
The determination of the range accuracy scope of photographic head 3 to be detected is in the aforementioned embodiment it is stated that angle precision scope
Determination be similar to therewith, repeat no more.
The photographic head accuracy of identification detecting system provided based on the present embodiment, it is possible to automatically control the shifting of photographic head to be detected
Move and rotate, by the first coordinate that will actually obtain based on the control to photographic head to be detected, exist with photographic head to be detected
After controlled, calculated second coordinate compares, to achieve easily and accurately photographic head accuracy of identification to be detected
Detection.
Fig. 3 is the structural representation of photographic head accuracy of identification detecting system embodiment three of the present invention, as it is shown on figure 3, at Fig. 1
On the basis of illustrated embodiment, substrate 2 also includes that gripper shoe 26, the first guide rail 21 and the second guide rail 22 are fixedly installed on gripper shoe 26
On.
In actual application, at the orthogonal straight lines type guide rail knot that only one of which the first guide rail 21 and second guide rail 22 are constituted
In structure, owing to first guide rail 21 only one end is connected by the second slide block 24 with the second guide rail 22, the other end may be at hanging shape
State, now, may be easier to cause the first guide rail 21 can not keep good orthogonal with the second guide rail 22 in some cases
Relation, affects the accuracy of final testing result.
Optional for this, substrate 2 can also include that gripper shoe 26, the first guide rail 21 and the second guide rail 22 are fixedly installed on and prop up
On fagging 26.By providing a gripper shoe 26 for the first guide rail 21 and the second guide rail 22, by the first guide rail 21 and the second guide rail
22 are fixedly installed in gripper shoe 26, can keep having good orthogonality relation between the first guide rail 21 and the second guide rail 22.
If it is, moreover, an optional that in actual application substrate 2 with identify what object 1 also on-fixed pre-set, such as know
Other object 1 is just attached on wall when needing the accuracy of identification detecting certain photographic head 3 to be detected temporarily, now, and substrate 2 phase
Height for ground may not mate relative to the height on ground with identification object 1.To this end, assume substrate 2 in reality application
Being parallel to ground place, substrate 2 can also include: adjustable support bar 27, one end of adjustable support bar 27 and gripper shoe 26
Fixing connection, the other end of adjustable support bar 27 is placed on the ground, adjustable support bar 27 is provided with regulation controller
28。
Can be previously stored with the height identifying object 1 at a distance of ground in host computer 5, this elevation information can be the most defeated
Enter in host computer 5.Host computer 5 is connected with regulation controller 28, adjusts scalable by control and regulation controller 28 and props up
The length of strut 27, makes the photographic head 3 to be detected height at a distance of ground and identifies the object 1 matched at a distance of ground, with reality
Now detection photographic head 3 and the automatic of height identifying object 1 adjust.
Through the above description of the embodiments, those skilled in the art it can be understood that to each embodiment can
The mode adding required general hardware platform by software realizes, naturally it is also possible to pass through hardware.Based on such understanding, on
State the part that prior art contributes by technical scheme the most in other words to embody with the form of software product, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD etc., including some fingers
Make with so that a computer installation (can be personal computer, server, or network equipment etc.) performs each and implements
The method described in some part of example or embodiment.
Last it is noted that above example is only in order to illustrate technical scheme, it is not intended to limit；Although
With reference to previous embodiment, the present invention is described in detail, it will be understood by those within the art that: it still may be used
So that the technical scheme described in foregoing embodiments to be modified, or wherein portion of techniques feature is carried out equivalent；
And these amendment or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (8)
1. a photographic head accuracy of identification detecting system, it is characterised in that including:
Identify object, photographic head to be detected, substrate, electro-motor, host computer；
Described photographic head to be detected and described electro-motor are connected with described host computer respectively；
Described substrate includes that the first mutually orthogonal guide rail and the second guide rail, described first guide rail and described second guide rail are respectively provided with
Scale, described first guide rail is provided with the first slide block, and described second guide rail is provided with the second slide block, described shooting to be detected
Head is arranged on described first slide block, and described first slide block and described second slide block are connected with described electro-motor respectively；
Wherein, described first slide block is connected with described first slide, described second slide block and one end of described first guide rail
Fixing connection, described second slide block is connected with described second slide；
Described host computer, controls the rotating speed of described electro-motor to adjust the water of described photographic head to be detected and described identification object
Flat distance and vertical dimension, and according to described horizontal range and described vertical dimension, determine described after every time adjusting to be detected take the photograph
The first coordinate as head；
Described photographic head to be detected, gathers the image of described identification object after every time adjusting under the control of described host computer, and
Determine the second coordinate of described photographic head to be detected according to described image, described second coordinate is transferred to described host computer；
Described host computer, according to corresponding each first coordinate and each second coordinate, determines the identification essence of described photographic head to be detected
Degree scope, and determine whether described accuracy of identification scope meets default accuracy of identification requirement.
System the most according to claim 1, it is characterised in that described first slide block upper surface is provided with rotating disk, described in treat
Detection photographic head is arranged on described rotating disk；Described rotating disk is connected with described host computer；
Described host computer, by controlling described rotating disk to adjust described shooting head-turned angle to be detected.
System the most according to claim 2, it is characterised in that described first coordinate include according to described first slide block and
The primary importance coordinate that the scale that described second slide block is corresponding respectively determines, and according to that the control of described rotating disk is determined
One rotational angle；Described second coordinate includes second position coordinate and the second rotational angle determined according to described image；
Whether described host computer, according to the range difference between corresponding each primary importance coordinate and each second position coordinate less than presetting
Distance threshold, determines the range accuracy scope of described photographic head to be detected；According to corresponding each first rotational angle and each second
Differential seat angle between rotational angle, whether less than predetermined angle threshold value, determines the angle precision scope of described photographic head to be detected.
System the most according to claim 1, it is characterised in that described substrate includes gripper shoe, described first guide rail and institute
State the second guide rail to be fixedly installed in described gripper shoe.
5. the system stated according to claim 4, it is characterised in that described substrate-parallel is placed in ground, and described substrate also includes:
Adjustable support bar, described adjustable support bar is provided with regulation controller；
One end of described adjustable support bar is fixing with described gripper shoe to be connected, and the other end of described adjustable support bar is placed on
On ground；
In described host computer, storage has the described identification object height at a distance of ground；
Described host computer is connected with described regulation controller, to control the described regulation controller described adjustable support bar of adjustment
Length, makes the described photographic head to be detected height at a distance of ground and the described identification object matched at a distance of ground.
System the most according to claim 1, it is characterised in that described host computer and described electro-motor are by a COM
Mouth connects, and described host computer is connected by USB with described photographic head to be detected.
System the most according to claim 2, it is characterised in that described host computer is with described rotating disk by the second com port even
Connect.
System the most according to any one of claim 1 to 7, it is characterised in that the quantity of described second guide rail is two,
Accordingly, the quantity of described second slide block is two, and said two second two ends with described first guide rail respectively of sliding are fixed
Connect.
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| CN106101695B (en) | 2017-12-15 |
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