CN112954227B

CN112954227B - Image acquisition method and device

Info

Publication number: CN112954227B
Application number: CN202110519528.XA
Authority: CN
Inventors: 高春乐; 夏华夏; 申浩; 聂琼; 韩天思; 李一鸣; 马际洲; 田飞鹏; 胡彬杨; 田咪
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2021-05-13
Filing date: 2021-05-13
Publication date: 2021-09-07
Anticipated expiration: 2041-05-13
Also published as: CN112954227A

Abstract

The present specification discloses an image acquisition method and apparatus, wherein at least one of an image acquisition device and a photographed target object is moved under the drive of a motion device by controlling the motion device, so that a sample image including the target object can be acquired at a preset designated acquisition pose after the motion, the accuracy of a relative pose between the image acquisition device and the target object during acquisition is improved, the degree of manual participation in the acquisition process is reduced, the degree of automation is improved, and the possibility is provided for subsequent services which need to be executed according to the sample image photographed at a higher accuracy of the photographing pose.

Description

Image acquisition method and device

Technical Field

The present disclosure relates to the field of automatic control, and in particular, to a method and an apparatus for acquiring an image.

Background

With the rapid development of imaging technology and the reduction of camera cost, the camera also serves as a common sensor to assist people in working and living in a mode of collecting images.

In most cases, it is possible to take a photograph by manually holding the camera and controlling the shutter, but when it is necessary to take a target object at some specific angle and distance, it is common to cause the camera to capture at a specified relative pose with respect to the target object, thereby ensuring that a transaction can be performed from the captured image containing the target object.

For example, after machining a workpiece, it is necessary to measure an actual geometric parameter of the workpiece and calculate a machining error between the actual geometric parameter and a design geometric parameter. In this case, instead of performing direct measurement on the actual set of parameters of the workpiece, image acquisition may be performed on the workpiece to be measured as a target object, and the mapping of the actual geometric parameters to be measured in the image may be measured.

It can be seen that when acquisition is required at a specified relative pose, it is limited by the accuracy limitations inherent to manual operations, and it is difficult to implement the above-described business requiring higher shooting pose accuracy from the acquired images.

Disclosure of Invention

The present specification provides an image acquisition method and apparatus, which partially solve the above problems in the prior art.

The technical scheme adopted by the specification is as follows:

the present specification provides an image acquisition method, including:

acquiring a predetermined appointed acquisition pose;

determining a motion control signal according to the designated acquisition pose, and sending the determined motion control signal to motion equipment for driving at least one of a target object and image acquisition equipment to move, so that the motion equipment responds to the motion control signal to drive at least one of the image acquisition equipment and the target object to move, and reaches the designated acquisition pose indicated by the motion control signal after moving;

and sending an acquisition control signal to the image acquisition equipment so as to enable the image acquisition equipment to respond to the acquisition control signal to acquire an image containing a target object as a sample image corresponding to the current specified acquisition pose.

Optionally, the motion device includes a first motion portion for driving the target object to move, and a second motion portion for driving the image capturing device to move;

sending the determined motion control signal to a motion device for driving at least one of a target object and an image acquisition device to move, so that the motion device drives at least one of the image acquisition device and the target object to move in response to the motion control signal and reaches a specified acquisition pose indicated by the motion control signal after moving, specifically comprising:

sending the determined first motion control signal to a first motion part; sending the determined second motion control signal to a second motion part; and the first motion part and the second motion part respectively respond to the received first motion control signal and the second motion control signal to drive the target object and the image acquisition equipment to move, and reach the appointed acquisition pose indicated by the first motion control signal and the second motion control signal after the target object and the image acquisition equipment move.

Optionally, the motion device includes a first motion portion for moving the target object;

sending the determined first motion control signal to a first motion part; so that the first motion part responds to the received motion control signal to drive the target object to move and reaches the specified acquisition pose indicated by the first motion control signal after moving.

Optionally, after sending an acquisition control signal to the image acquisition device to cause the image acquisition device to acquire an image containing a target object in response to the acquisition control signal as a sample image corresponding to a current designated acquisition pose, the method further includes:

adding the sample image corresponding to the current appointed acquisition pose into the image set to obtain the image set meeting the pre-appointed business condition, and taking each sample image in the image set meeting the business condition as a business image.

Optionally, before adding the sample image corresponding to the current designated acquisition pose to the image set, the method further includes:

determining the difference degree between a sample image corresponding to the current appointed acquisition pose and the sample image aiming at each sample image in the image set;

determining the difference degree between the sample image corresponding to the current appointed acquisition pose and the image set according to the difference degree between the sample image corresponding to the current appointed acquisition pose and each sample image contained in the image set;

judging whether the sample image corresponding to the current appointed acquisition pose is added into the image set or not according to the difference between the sample image corresponding to the current appointed acquisition pose and the image set;

and if so, adding the sample image corresponding to the current appointed acquisition pose into the image set.

Optionally, the pre-specified service condition includes at least one of a regional distribution condition, a proportion distribution condition, and an attitude distribution condition.

Optionally, after the image set satisfies the pre-specified service condition, the method further includes:

and updating the predetermined appointed acquisition pose by the appointed acquisition pose corresponding to the sample image aiming at each sample image in the image set.

Optionally, the sample image includes at least one multi-target image, and the multi-target image includes at least two target objects.

This specification provides an image acquisition apparatus, including:

the pose acquisition module is used for acquiring a predetermined appointed acquisition pose;

the motion control module is used for determining a motion control signal according to the designated acquisition pose and sending the determined motion control signal to motion equipment for driving at least one of a target object and image acquisition equipment to move so that the motion equipment responds to the motion control signal to drive the image acquisition equipment and at least one of the target object to move and reaches the designated acquisition pose indicated by the motion control signal after moving;

and the acquisition control module is used for sending an acquisition control signal to the image acquisition equipment so as to enable the image acquisition equipment to respond to the acquisition control signal to acquire an image containing a target object as a sample image corresponding to the current specified acquisition pose.

The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described image acquisition method.

The present specification provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the image capturing method when executing the program.

The technical scheme adopted by the specification can achieve the following beneficial effects:

in the image acquisition method provided by the specification, at least one of the image acquisition device and the shot target object is driven by the motion device to move through controlling the motion device, so that a sample image containing the target object can be acquired at a preset specified acquisition pose after the motion, the accuracy of the relative pose between the image acquisition device and the target object during acquisition is improved, the manual participation degree in the acquisition process is reduced, the automation degree is improved, and the possibility is provided for subsequent services which need to be executed according to the sample image shot at higher shooting pose accuracy.

Drawings

The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:

fig. 1 is a schematic flow chart of an image acquisition method provided in the present specification;

fig. 2 is a schematic diagram of an image capturing device provided herein;

FIG. 3 is a schematic view of an exercise apparatus provided herein;

FIGS. 4A-4E are schematic diagrams of distribution areas provided herein;

fig. 5 is a schematic diagram of an image capturing device provided in the present specification;

fig. 6 is a schematic structural diagram of an electronic device corresponding to fig. 1 provided in this specification.

Detailed Description

Based on the recognition of the above problem, embodiments of the present specification provide an image capturing method, in which at least one of an image capturing device and a target object is driven to move by using a moving device instead of a manual hand, so that the image capturing device captures an image including the target object at a specified capturing pose.

In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.

The specification provides an image acquisition method, which is used for controlling a motion device and an image acquisition device to acquire images. The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of an image acquisition method provided in this specification, specifically including the following steps:

s100: and acquiring a predetermined appointed acquisition pose.

An execution main body of the acquisition method provided by the present specification may be a server or a terminal device, where when the execution main body is the server, the present specification does not limit the server to be specifically a single device or a system (such as a distributed server) composed of a plurality of devices, and when the execution main body is the terminal device, the execution main body may be the image acquisition device or the motion device itself, or may be another terminal device other than the image acquisition device and the motion device. Taking other terminal devices besides the image acquisition device and the motion device as examples, the terminal device may control the motion device and the image acquisition device to acquire images, and thus may be considered as an acquisition control device. In the embodiments of the present specification, the acquisition control device can communicate with the motion device and the image acquisition device in a wired or wireless manner, so as to control the motion device and the image acquisition device.

In the embodiments of the present specification, it is predetermined that there is a designated acquisition pose, and the designated acquisition pose may be a relative pose between the image acquisition apparatus and a target object that is a photographed object, that is, when the position and posture of the image acquisition apparatus relative to the target object satisfy the designated acquisition pose, it may not be limited to which poses the image acquisition apparatus and the target object are respectively. Of course, if only one of the image capturing device and the target object can be driven by the moving device to move, and the other one is fixed in a certain pose, the specified capturing pose may also be an absolute pose of the image capturing device or the target object that can realize the movement, which is not limited in this specification. It should be noted that, in the embodiment of the present specification, within the maximum movement range of the movement device, the image capture device and/or the target object that are driven to move to the designated capture pose can be implemented.

In an embodiment of the present specification, when an image including a target object is acquired at a preset designated acquisition pose, an obtained sample image corresponding to the designated acquisition pose includes image data required for subsequent business execution. In the above example, when the target object is a workpiece obtained by machining, and the geometric parameter of the measured machining error is the parameter to be measured of the workpiece, the acquired sample image includes image data corresponding to the parameter to be measured.

For example, the inner diameter of the nut is taken as an example of the parameter to be measured, and a two-dimensional coordinate of a pixel occupied by the inner diameter of the nut in a sample image can be measured, so that the inner diameter of the nut in the real world is determined according to the internal parameter and the external parameter of the image acquisition equipment, and the processing error of the inner diameter of the nut is obtained. For another example, the image capturing apparatus may also capture a comparison image including a comparison workpiece in advance at a designated capturing pose, and compare the two-dimensional coordinates of the pixels occupied by the inner diameter of the nut in the comparison image with the two-dimensional coordinates of the pixels occupied by the inner diameter of the nut in the sample image captured for the nut whose machining error needs to be measured, so as to calculate the machining error of the inner diameter of the nut.

S102: and determining a motion control signal according to the appointed acquisition pose, and sending the determined motion control signal to motion equipment for driving at least one of a target object and image acquisition equipment to move, so that the motion equipment responds to the motion control signal to drive the image acquisition equipment and at least one of the target object to move, and reaches the appointed acquisition pose indicated by the motion control signal after moving.

In an embodiment of the present specification, a motion control signal to be sent to a device may be determined according to a specified acquisition pose, where the motion control signal indicates how the motion device moves. When the motion device completes the motion according to the received motion control signal, the actual relative pose (hereinafter referred to as actual pose) between the image capture device and the target object in the three-dimensional world coordinate system at this time can be considered as the designated capture pose corresponding to the motion control signal.

Specifically, the motion device may control its entire motion according to the received motion control signal, or control at least some of its components to actively move, and drive the image capturing device and/or the target object connected thereto to move, where the movement may include moving and rotating. The motion device may only include a device for performing active motion, or may be a kit device, for example, the motion device may include auxiliary components such as a guide rail and a conveyor belt, and a motion component for performing active or passive motion according to the auxiliary components, which is not limited in this specification.

The motion device can only drive one of the image acquisition device or the target object to move, and the other one is fixed at a predetermined pose, or can drive the image acquisition device and the target object to move, wherein when the motion device drives the image acquisition device and the target object to move, the motion device can simultaneously drive the image acquisition device and the target object to move, or can sequentially drive the image acquisition device and the target object to move respectively.

It should be noted that, when the motion device drives only one of the image capturing device and the target object to move and the other is fixed, the motion control signal may only indicate how the motion device moves and make the image capturing device or the target object driven by the motion device reach a certain absolute pose after moving, and when the motion device moves to the absolute pose, the relative pose between the image capturing device and the target object reaches the designated capturing pose. When the moving device drives the image capturing device and the target object to move simultaneously, in an embodiment of the present specification, a portion that drives the target object to move may be used as the first moving portion, and a portion that drives the image capturing device to move may be used as the second moving portion.

The first motion part and the second motion part can respectively and independently move under the control of the acquisition control equipment, namely, the target object and the image acquisition equipment are respectively driven to move to a certain absolute pose, or the first motion part and the second motion part can be two parts of the same motion system and move under the constraint of mutual inherent motion, namely, motion control signals received by the first motion part and the second motion part can indicate how to move so as to drive the relative pose of the target object and the image acquisition equipment after the motion to be a specified acquisition pose, and the absolute pose of the target object and the image acquisition equipment is not limited. Of course, the motion device may also be a kit device, for example, the kit device may include auxiliary components such as a guide rail and a conveyor belt, and a motion component that performs active or passive motion according to the auxiliary components, which is not limited in this specification.

It should be noted that, within the maximum movement range of the movement device, the image acquisition device and/or the target object driven by the movement device can reach the designated acquisition pose after moving.

S104: and sending an acquisition control signal to the image acquisition equipment so as to enable the image acquisition equipment to respond to the acquisition control signal to acquire an image containing a target object as a sample image corresponding to the current specified acquisition pose.

When the image acquisition equipment moves to the appointed acquisition pose, the actual relative pose between the image acquisition equipment and the target object in the real world can be used as the current appointed acquisition pose, at the moment, the image acquisition equipment acquires images according to the received acquisition control signal, and the images which are acquired by the image acquisition equipment and contain the target object are obtained and used as sample images corresponding to the current appointed acquisition pose. It should be noted that, according to the specified acquisition position determined in advance, the image acquired by the image acquisition apparatus at the time of acquisition in each specified acquisition pose necessarily includes the target object.

Based on the image acquisition method shown in the figure 1, at least one of the image acquisition device and the shot target object is driven by the motion device to move through controlling the motion device, so that the sample image containing the target object can be acquired at a preset appointed acquisition pose after the motion, the accuracy of the relative pose between the image acquisition device and the target object during acquisition is improved, the manual participation degree in the acquisition process is reduced, the automation degree is improved, and the possibility is provided for subsequent business which needs to be executed according to the sample image shot at higher shooting pose accuracy.

As can be seen from the above description, the sample image acquired by the image acquisition method provided in the embodiment of the present specification may be applied to a subsequent service, and the present specification does not limit what kind of service the subsequent sample image is used for, and may be used for measuring the machining error of the workpiece as described above.

Specifically, when calibrating the parameters of the camera, the parameters of the camera need to be solved according to the image including the calibration object acquired by the camera and the relative pose between the camera and the calibration object when acquiring the image including the calibration object. In this case, the image capturing device may be a camera to be calibrated, and the target object is a calibration object. The calibration object may be an object for image acquisition, and may include a calibration pattern for providing calibration data for an acquired sample image, where the calibration data is description data of the sample image to characteristic information of the calibration object, and specifically, the calibration data may be pixels occupied by the calibration object in a coordinate system (a pixel coordinate system or a picture coordinate system) established on a two-dimensional imaging plane.

It is understood that after a camera to be calibrated acquires a sample image containing a calibration object at a designated acquisition pose, parameters can be calibrated according to the sample image and the designated acquisition pose corresponding to the sample image, and compared with manual handheld shooting, the actual pose between the camera and the calibration object when the sample image is acquired can be regarded as the designated acquisition pose, so that the accuracy of camera parameters calibrated by the consistency of pose data adopted by the actual pose camera calibration can be ensured.

The present specification provides an image acquisition device, where the image acquisition device applies the image acquisition method provided in the present specification, the image acquisition device may acquire a sample image under the control of an acquisition control device, and the image acquisition device specifically includes an image acquisition device, a target object, and a motion device, and further, the image acquisition device may further include a memory for storing the sample image acquired by the image acquisition device.

On this basis, motion control signal and collection control signal that collection control equipment sent can directly be received respectively to motion equipment and image acquisition equipment, collection equipment itself also can have control module, and collection control equipment can send the comprehensive control signal that contains motion control signal and collection control signal to collection equipment this moment, and control module is after receiving the comprehensive control signal that collection control equipment sent, sends motion control signal and collection control signal to motion equipment and image acquisition equipment respectively according to this comprehensive control signal, and this specification does not limit this.

In an embodiment of the present specification, the motion device may include a motion portion and a motion limiting portion, wherein the motion limiting portion may be fixedly disposed at a predetermined position, and the motion portion may be connected to a target object and/or an image capturing device, which is a load of the motion portion, and the motion portion may move along the motion limiting portion and/or control at least a part of components of the motion portion to move to drive the load to move according to a received motion control signal without departing from the motion limiting portion. In the following part of the present description, the moving part and the load carried by the moving part are fixed at a predetermined relative position, for example, the moving part may be connected to the load by clamping the load, and the relative position between the moving part and the load is not changed before and after the moving part carries the load.

For example, as shown in fig. 2, when the motion limiting part is a guide rail and the motion part is a mechanical arm, the mechanical arm can move along the guide rail as a whole, and can also move and rotate through a connecting rod and a joint part, and drive the image capturing device and/or the target object. For another example, as shown in fig. 3, when the moving portion is a rotating rod and the movement limiting portion is a shaft of the rotating rod, the rotating rod may include a rod and a hand grip connected to the rod and capable of rotating, and the moving portion may rotate integrally along the shaft, or may rotate the image capturing device and/or the target object only by the hand grip.

Further, the moving part may include a control part, a support part, and a movable part. Wherein the control part is used for sending a whole motion control signal to the supporting part and/or sending a local motion control signal to the movable part according to the received motion control signal. The supporting part and the movable part both comprise a signal receiving module and a driving module for providing power for movement. The supporting part is matched with the motion limiting part and used for supporting the movable part and driving the movable part to move along the motion limiting part according to the received overall motion control signal, and the movable part is connected with the load and used for driving the load connected with the movable part to move to an appointed acquisition pose according to the received local motion control signal.

It should be noted that, according to each received motion control signal, the control portion may send the motion control signal to only one of the support portion or the movable portion, or may send the overall motion control signal and the local motion control signal to the support portion and the movable portion, respectively, that is, according to each motion control signal, only one of the support portion or the movable portion may perform the above motion, and the support portion and the movable portion may perform the above motions simultaneously or sequentially, which is not limited in this specification. For example, according to the designated collection pose included in the received motion control signal, the control portion may first send a global motion control signal to the support portion to instruct the support portion to move to the pose corresponding to the global motion control signal, and then send a local motion control signal to the movable portion to instruct the movable portion to drive the load to move to the pose corresponding to the local motion control signal, at this time, the moved load reaches the designated collection pose included in the motion control signal.

When the motion device drives the target object and the image capturing device to move simultaneously, a portion that drives the target object to move may be used as the first motion portion, and a portion that drives the image capturing device to move may be used as the second motion portion. When the target objects are not unique, the first moving portion may drive a plurality of target objects to move simultaneously, and of course, each target object is fixed with a predetermined relative pose with respect to the first moving portion, and the relative pose is not changed before and after the movement.

In an embodiment of the present specification, when the moving device includes a first moving portion for driving the target object to move and a second moving portion for driving the image capturing device to move, both the first moving portion and the second moving portion are moving portions, only one of the first moving portion and the second moving portion may move under the restriction of the movement restriction portion, and the other may move away from the movement restriction portion. The first moving part and the second moving part may be both configured to move under the limitation of the movement limiting part, and at this time, the first moving part and the second moving part may move under the limitation of the same or different movement limiting components, which is not limited in this specification.

When the first moving part and the second moving part are respectively composed of the control part, the supporting part and the moving part, the supporting parts of the first moving part and the second moving part can be the same or different.

Based on the control of the above-mentioned motion device, the present specification provides three acquisition modes of the sample image as follows:

first, a first motion control signal is sent to a first motion part; sending a second motion control signal to a second motion portion; the first moving part and the second moving part respectively respond to the received motion control signals to drive the target object and the image acquisition equipment to move, and after the target object and the image acquisition equipment move, the relative pose between the target object and the image acquisition equipment reaches the designated acquisition pose.

Second, a first motion control signal is sent to the first motion part; so that the first moving part responds to the received motion control signal to drive the target object to move, and the relative pose between the target object and the image acquisition equipment reaches the specified acquisition pose after the target object moves.

Thirdly, sending a second motion control signal to the second motion part; so that the first motion part responds to the received motion control signal to drive the image acquisition equipment to move, and the relative pose between the target object and the image acquisition equipment reaches the designated acquisition pose after the first motion part moves.

After the relative pose of the moved target object and/or the image acquisition equipment is indicated to reach the specified acquisition pose by any one of the above manners, an acquisition control signal can be sent to the image acquisition equipment, and the image acquisition equipment is indicated to acquire a sample image containing the target object at the specified control pose.

The acquisition device provided in an embodiment of the present specification is shown in fig. 2, and in this embodiment, for example only, the movement device moves the target object and the image acquisition device at the same time. Wherein, the motion device includes a motion part and a motion limiting part, the motion part includes a first motion part and a second motion part, the target object is driven by the first motion part bearing turntable, the image acquisition device is driven by the second motion part mechanical arm, the motion limiting part is a guide rail including a horizontal guide rail and a vertical guide rail, according to the motion mode of the bearing turntable, the motion limiting part further includes a rotating shaft (not shown in the figure) of the bearing turntable, further, the second motion part further includes a support part and a movable part, wherein, the support part can be a mechanical arm base, the movable part can be a connecting rod and a joint part of the mechanical arm, the movable part of each mechanical arm can be connected with the image acquisition device and/or the target object driven by the mechanical arm in a clamping mode, and realizes movement and rotation by the connecting rod and the joint of the mechanical arm, and can also drive the mechanical arm to move integrally by controlling the base along the guide rail, thereby realizing the purpose of driving the connected image acquisition equipment and/or the target object to move.

Based on the acquisition device shown in fig. 2, the present specification exemplarily proposes a method of acquiring a sample image by controlling the acquisition device. Specifically, according to the predetermined designated collection pose, the collection control device may send a second motion control signal to the second motion portion (the mechanical arm), and send a first motion control signal to the first motion portion (the bearing turntable), so as to instruct the second motion portion to drive the image collection device to the second pose according to the second motion control signal, the first motion portion drives the target object to the first pose according to the first motion control signal, at this time, a relative pose between the image collection device reaching the second pose and the target object reaching the first pose is the current designated collection pose, and the collection control device may send a collection control signal to the image collection device to instruct the image collection device to collect a sample image corresponding to the current designated collection pose. And then, re-determining the current appointed acquisition pose according to the predetermined appointed acquisition pose, keeping the second pose of the image acquisition equipment unchanged, re-determining the first pose according to the second pose and the re-determined current appointed acquisition pose, and re-sending the first motion control signal to the first motion part according to the re-determined first pose so as to instruct the first motion part to drive the target object to the re-determined first pose according to the re-sent first motion control signal, so as to achieve the current appointed acquisition pose, and controlling the image acquisition equipment to acquire the sample image.

In the above situation, of course, after the current designated capturing pose is determined again, the target object may be instructed to keep the first pose unchanged, and the second pose is determined again for the image capturing apparatus according to the determined current designated capturing pose, so as to instruct the image capturing apparatus to move to the determined second pose under the driving of the second moving portion, and capture the sample image according to the capturing control signal, which is not limited in this specification.

As will be understood by those skilled in the art, in order to improve the accuracy of the service to be executed, several images are usually taken at each designated acquisition pose for the same target object, for example, when measuring the machining error of the inner diameter of the nut, the inner diameter of the nut may be taken from a plurality of distance angles, and the machining error of the inner diameter of the nut may be calculated from the obtained plurality of sample images, for example, the inner diameter of the nut may be calculated from each sample image, and the inner diameter of the nut may be determined from the inner diameter of the nut calculated from each sample image, for example, the average value of the inner diameters of the nut calculated from each sample image may be used as the inner diameter of the nut. Therefore, the image acquisition method provided by the present specification can add the sample image to the image set after acquiring the sample image corresponding to the designated acquisition pose each time, thereby obtaining an image set including a plurality of sample images.

On the basis, when the subsequent business has diversity requirements on each sample image in the image set, for example, the accuracy of the determined inner diameter value can be improved by determining the inner diameter of the nut according to the sample images containing the inner diameter of the nut shot at different distances and angles. In an embodiment of the present specification, it may be determined whether the image set meets a predetermined service condition, and only when the image set meets the predetermined service condition, it may be considered that the target objects are uniformly distributed in each sample image of the image set, so that a subsequent service may be performed according to the sample images included in the image set.

It should be noted that, for an image set, whether the target object is uniformly distributed in each sample image of the image set may be determined through different aspects, that is, the business condition in this embodiment may include at least one of a region distribution condition, a proportion distribution condition, and an attitude distribution condition. The area distribution condition is used for judging whether the target objects are uniformly distributed in each area of the sample image, the proportion distribution condition is used for judging whether the area of each sample image occupied by the target objects is uniformly distributed in each area interval, and the posture distribution condition is used for judging whether each sample image uniformly describes each angle of the target objects. Further, it may specifically be determined whether the image set satisfies the business condition in the following manner:

the area distribution condition may be determined whether the image set satisfies the area distribution condition according to whether the target object is uniformly distributed in each preset area of the sample image, for example, the number of sample images in which the included target object is distributed in each preset area may be counted, and when the variance of the number of sample images of the target object in each preset area does not exceed a preset variance threshold, the sample distribution condition is considered to be uniform, that is, the area distribution condition is satisfied, and whether the number of sample images distributed in each area reaches a preset lower limit of the number may be determined, where the present specification does not limit specific values of the variance threshold and the lower limit of the number. For example, in which each of the preset regions may be as shown in fig. 4A to 4E, the imaging image screen of the image capturing apparatus is divided into five distribution regions at least half-surrounded by dotted lines, it may be determined whether the number of sample images in each distribution region in which the target object is distributed in the sample image is uniform.

The occupation ratio distribution condition may be preset to determine a plurality of sample image area occupation ratio intervals when determining whether the target object is uniformly distributed in various image area occupation ratios of the sample images, and determine whether the image set satisfies the occupation ratio distribution condition according to which of the preset occupation ratio intervals the area occupation ratio value of the target object in each sample image falls in, for example, the number of sample images in which the occupation ratio value of the target object in each sample image falls in the intervals of 0% -40%, 40% -70% and 70% -100% may be counted, and whether the number of corresponding sample images in each interval is uniformly distributed may be determined in any way, and the occupation ratio distribution condition is considered to be satisfied when the variance of the number of sample images of the target object in each interval does not exceed the preset variance threshold, and of course, may not be necessarily expressed by the occupation ratio, the number of pixels of the target object in each sample image is counted, and the judgment is performed according to whether the number of pixels meets each preset pixel number interval, and when the number of pixels in the sample image occupied by the target object exceeds the corresponding pixel number threshold value in each preset pixel number interval, the image set is considered to meet the proportion distribution condition, and the like.

The posture distribution condition may be determined according to a relative posture between the image acquisition device and the sample image when acquiring the sample image, for example, it may be determined whether the number of sample images falling into each preset posture interval satisfies a preset number threshold, when the number of sample images falling into each preset posture interval exceeds the preset number threshold, the image set is determined to satisfy the posture distribution condition, or whether the number of sample images falling into each preset posture interval satisfies a preset variance threshold, when the number of sample images falling into each preset posture interval is smaller than the preset variance threshold, the image set is determined to satisfy the posture distribution condition, and so on.

It should be noted that the above three determination conditions can be directly counted according to the sample image itself, and can also be determined according to the designated collection pose when the image collection device collects the sample image, for example, the farther the distance between the image collection device and the target object is, the smaller the area occupied by the target object in the sample image collected by the image collection device is.

When the image set simultaneously satisfies the three conditions, subsequent services are executed according to each sample image in the image set and the designated acquisition pose corresponding to each sample image, or a corresponding weight is set for each condition, and whether the image set satisfies the service conditions is judged according to the weighted result, which is not limited in the specification.

As will be understood by those skilled in the art, how the target objects are distributed in the plurality of sample images when the sample images are collected is only related to the relative pose between the image collecting device and the target object when each sample image is collected, and obviously, if the preset designated collecting pose corresponding to each sample image in the image set satisfying the business condition is updated, the distribution of the target objects in the image set according to all the designated collecting poses is the same as that of the target objects in the image set satisfying the business condition when another sample image containing the target object is collected next time, so that the image set satisfying the business condition can be used as the target image set, and the target image set can be updated according to the designated collecting pose corresponding to each sample image in the target image set, so that the updated set of the designated collecting poses is at least part of the designated collecting poses in the designated collecting poses corresponding to each sample image in the target image set And (4) posture, so that an image set formed by the collected sample images meets the service condition.

In this case, when the image set does not satisfy the service condition, the image set needs to be adjusted, for example, each sample image included in the image set may be added or deleted.

In one embodiment of the present specification, when the image set does not satisfy the business condition, the current designated acquisition pose may be determined again according to the designated acquisition pose, and the image acquisition device may be controlled to acquire the sample image again at the current designated acquisition pose and add the sample image to the image set until the image set satisfies the business condition. Of course, when each time whether the image set meets the business condition is judged, that is, it is known what sample images needed by the image set can meet the condition, the next current specified acquisition pose can be determined again as the specified acquisition pose of the sample images needed by the image acquisition device to acquire the image set, so that the image set meeting the business condition can be obtained more quickly.

Similarly, the sample image corresponding to the current designated acquisition pose may be judged before being added to the image set, specifically, the difference may be a description difference of the target object, and whether to add the sample image to the image set may be determined according to the difference, where the greater the difference, the higher the probability of adding the sample image to the image set is.

The embodiment of the present specification provides a manner for determining a difference between a sample image and an image set corresponding to a current designated acquisition pose, and specifically, for each sample image in the image set, determining a difference between the sample image corresponding to the current designated acquisition pose and the sample image; determining the difference degree between the sample image corresponding to the current appointed acquisition pose and the image set according to the difference degree between the sample image corresponding to the current appointed acquisition pose and each sample image contained in the image set; judging whether the sample image corresponding to the current appointed acquisition pose is added into the image set or not according to the difference between the sample image corresponding to the current appointed acquisition pose and the image set; and if so, adding the sample image corresponding to the current specified acquisition pose into the image set, otherwise, not adding the sample image corresponding to the current specified acquisition pose into the image set.

The difference between the sample image corresponding to the current designated acquisition pose and the sample image in the image set may be determined in any manner, for example, the difference may be determined according to a difference between a preset image area where a target object included in the sample image corresponding to the current designated acquisition pose is located and a preset image area where a target object included in each sample image in the image set is located, and the like, and the determination manner of the difference is not limited in this specification. In addition, when the obtained sample image is not added into the image set, a motion control signal can be sent to the motion equipment, so that the motion equipment drives the image acquisition equipment and/or the target object to move again, and the image is acquired at the next current specified acquisition pose.

Based on the same idea, the present specification further provides a corresponding image capturing apparatus, as shown in fig. 5, for the image capturing method provided in one or more embodiments of the present specification.

Fig. 5 is a schematic diagram of an image capturing device provided in the present specification, where the image capturing device includes: position appearance acquisition module, motion control module and acquisition control module, wherein:

a pose acquisition module 500, configured to acquire a predetermined designated acquisition pose.

The motion control module 502 is configured to determine a motion control signal according to the designated acquisition pose, and send the determined motion control signal to a motion device configured to drive at least one of a target object and an image acquisition device to move, so that the motion device drives at least one of the image acquisition device and the target object to move in response to the motion control signal, and reaches the designated acquisition pose indicated by the motion control signal after moving.

An acquisition control module 504, configured to send an acquisition control signal to the image acquisition device, so that the image acquisition device acquires an image including a target object in response to the acquisition control signal, as a sample image corresponding to a current designated acquisition pose.

Optionally, the motion device includes a first motion portion for driving the target object to move, and a second motion portion for driving the image capturing device to move; the motion control module 502 is specifically configured to send the determined first motion control signal to the first motion portion; sending the determined second motion control signal to a second motion part; and the first motion part and the second motion part respectively respond to the received first motion control signal and the second motion control signal to drive the target object and the image acquisition equipment to move, and reach the appointed acquisition pose indicated by the first motion control signal and the second motion control signal after the target object and the image acquisition equipment move.

Optionally, the motion device includes a first motion portion for moving the target object; the motion control module 502 is specifically configured to send the determined first motion control signal to the first motion portion; so that the first motion part responds to the received motion control signal to drive the target object to move and reaches the specified acquisition pose indicated by the first motion control signal after moving.

Optionally, the acquisition control module 504 is specifically configured to add the sample image corresponding to the current designated acquisition pose into the image set to obtain an image set meeting a pre-designated service condition, and use each sample image in the image set meeting the service condition as a service image.

Optionally, before adding the sample image corresponding to the current designated acquisition pose into the image set, the acquisition control module 504 is specifically configured to, for each sample image in the image set, determine a difference between the sample image corresponding to the current designated acquisition pose and the sample image; determining the difference degree between the sample image corresponding to the current appointed acquisition pose and the image set according to the difference degree between the sample image corresponding to the current appointed acquisition pose and each sample image contained in the image set; judging whether the sample image corresponding to the current appointed acquisition pose is added into the image set or not according to the difference between the sample image corresponding to the current appointed acquisition pose and the image set; and if so, adding the sample image corresponding to the current appointed acquisition pose into the image set.

Optionally, after the image set meets the pre-specified service condition, the acquisition control module 504 is specifically configured to, for each sample image in the image set, update the pre-determined specified acquisition pose with the specified acquisition pose corresponding to the sample image.

The present specification also provides a computer readable storage medium storing a computer program operable to execute the image capturing method provided in fig. 1 above.

The present specification also provides a schematic structural diagram of the electronic device shown in fig. 6. As shown in fig. 6, at the hardware level, the electronic device includes a processor, an internal bus, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads a corresponding computer program from the non-volatile memory into the memory and then runs the computer program to implement the image capturing method provided in fig. 1.

Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.

In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.

Claims

1. An image acquisition method, comprising:

acquiring a predetermined appointed acquisition pose;

determining a motion control signal according to the specified acquisition pose, and sending the determined motion control signal to a motion device for driving at least one of a target object and an image acquisition device to move, so that the motion device responds to the motion control signal to drive at least one of the image acquisition device and the target object to move, and reaches the specified acquisition pose indicated by the motion control signal after moving, wherein the image acquisition device is a camera to be calibrated, and the target object is a calibration object;

sending an acquisition control signal to the image acquisition equipment so that the image acquisition equipment acquires an image containing a target object in response to the acquisition control signal as a sample image corresponding to the current specified acquisition pose, wherein the acquired sample image is used for calibrating parameters of a camera;

judging whether a sample image corresponding to the current appointed acquisition pose is added into the image set or not according to the difference degree between the sample image corresponding to the current appointed acquisition pose and the image set, wherein the higher the difference degree is, the higher the probability of adding the sample image into the image set is;

and if so, adding the sample image corresponding to the current appointed acquisition pose into the image set to obtain the image set meeting the pre-appointed business condition, and taking each sample image in the image set meeting the business condition as a business image.

2. The method as claimed in claim 1, wherein the motion device comprises a first motion part for moving the target object and a second motion part for moving the image capture device;

3. The method of claim 1, wherein the motion device comprises a first motion portion for moving a target object;

4. The method of claim 1, wherein the pre-specified traffic conditions include at least one of a regional distribution condition, a proportion distribution condition, and an attitude distribution condition.

5. The method of claim 1, wherein after the set of images meets a pre-specified business condition, the method further comprises:

6. The method of claim 1, wherein the sample image includes at least one multi-target image including at least two target objects.

7. An image acquisition device, characterized in that the device specifically includes:

the motion control module is used for determining a motion control signal according to the specified acquisition pose, sending the determined motion control signal to motion equipment for driving at least one of a target object and image acquisition equipment to move, enabling the motion equipment to respond to the motion control signal to drive the image acquisition equipment and at least one of the target object to move, and reaching the specified acquisition pose indicated by the motion control signal after moving, wherein the image acquisition equipment is a camera to be calibrated, and the target object is a calibration object;

the acquisition control module is used for sending an acquisition control signal to the image acquisition equipment so that the image acquisition equipment acquires an image containing a target object in response to the acquisition control signal as a sample image corresponding to the current specified acquisition pose, and the acquired sample image is used for calibrating the parameters of the camera; determining the difference degree between a sample image corresponding to the current appointed acquisition pose and the sample image aiming at each sample image in the image set; determining the difference degree between the sample image corresponding to the current appointed acquisition pose and the image set according to the difference degree between the sample image corresponding to the current appointed acquisition pose and each sample image contained in the image set; judging whether a sample image corresponding to the current appointed acquisition pose is added into the image set or not according to the difference degree between the sample image corresponding to the current appointed acquisition pose and the image set, wherein the higher the difference degree is, the higher the probability of adding the sample image into the image set is; and if so, adding the sample image corresponding to the current appointed acquisition pose into the image set to obtain the image set meeting the pre-appointed business condition, and taking each sample image in the image set meeting the business condition as a business image.

8. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 6.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 6 when executing the program.