CN114900688A - Detection method of camera component, detection device and computer readable storage medium - Google Patents
Detection method of camera component, detection device and computer readable storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of automatic control principles, in particular to a detection method, detection equipment and a computer readable storage medium of a camera assembly, wherein the method comprises the following steps: acquiring a picture card image obtained by shooting a calibration picture card at different positions by a camera assembly to be detected; determining external reference information between the camera component and the calibration chart according to the chart image; determining the optical center position and the optical axis direction of the camera assembly according to the external reference information; determining a position deviation between the optical center position and a preset reference position, and/or determining an angle deviation between the optical axis direction and a preset reference direction; determining a detection result of the camera assembly according to at least one of the position deviation and the angle deviation. The position and the direction of the camera are calculated through camera calibration and compared with a standard design drawing, whether the camera assembly has assembly deviation or not is judged, and the problem of how to ensure the assembly precision of the camera assembly is solved.
Description
Technical Field
The present invention relates to the technical field of automatic control principles, and in particular, to a method and an apparatus for detecting a camera module, and a computer-readable storage medium.
Background
Related products such as vr (visual reality), ar (augmented reality) and the like are generally provided with a camera assembly, and the camera assembly acquires data such as facial images of users to realize functions such as positioning tracking, eyeball tracking and the like.
Because devices such as VR and AR are highly integrated electronic products, the requirement for the assembly precision of the mounting position of the camera assembly is high, and if the mounting position of the camera assembly is inaccurate in the assembly process, a user may have a large deviation between the user face data acquired by the device and the user actual face data (such as the eye gaze position and facial expression) when using the devices such as VR and AR.
Therefore, how to ensure the assembly accuracy of the camera assembly is a problem to be solved.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a detection method of a camera assembly, aiming at solving the problem of how to ensure the assembly precision of the camera assembly.
In order to achieve the above object, the present invention provides a method for detecting a camera module, the method comprising:
acquiring a picture card image obtained by shooting a calibration picture card at different positions by a camera assembly to be detected;
determining external reference information between the camera component and the calibration chart according to the chart image;
determining the optical center position and the optical axis direction of the camera assembly according to the external reference information;
determining a position deviation between the optical center position and a preset reference position, and/or determining an angle deviation between the optical axis direction and a preset reference direction;
determining a detection result of the camera assembly according to at least one of the position deviation and the angle deviation.
Optionally, the external reference information includes a rotation vector and a translation vector, and the step of determining the optical center position and the optical axis direction of the camera assembly according to the external reference information includes:
determining the optical center position according to the translation vector;
and determining the optical axis direction according to the rotation vector and the optical center position.
Optionally, the step of determining the optical axis direction according to the rotation vector and the optical center position includes:
determining a rotation matrix corresponding to the rotation vector based on a preset function;
calculating a unit vector of the optical center position relative to the calibration chart;
and determining the optical axis direction according to the unit vector and the rotation matrix.
Optionally, before the step of determining the position deviation between the optical center position and the preset reference position, and/or determining the angle deviation between the optical axis direction and the preset reference direction, the method further includes:
acquiring reference image card images obtained by shooting the calibration image card at different positions by a reference camera component;
and calibrating the reference camera component according to the reference image card image to obtain the reference position and the reference direction.
Optionally, the determining a position deviation between the optical center position and a preset reference position comprises:
acquiring coordinates of the optical center position and coordinates of the reference position;
determining the relative position relation between the optical center position and the reference position according to the coordinates of the optical center position and the coordinates of the reference position;
and determining the position deviation according to the relative position relation.
Optionally, the determining the angular deviation between the optical axis direction and a preset reference direction includes:
determining a cosine value between the optical axis direction and the reference direction based on an operational relation of a vector included angle in a three-dimensional space;
performing inverse trigonometric function transformation on the cosine value to obtain an included angle between the optical axis direction and the reference direction;
and determining the angle deviation according to the included angle.
Optionally, after the step of determining the detection result of the camera assembly according to at least one of the position deviation and the angle deviation, the method further includes:
when the position deviation exists and/or the direction deviation exists, judging that the detection result of the camera assembly is unqualified; or
And when the position deviation is greater than a position deviation threshold value and/or the direction deviation is greater than a direction deviation threshold value, judging that the detection result of the camera assembly is unqualified.
Optionally, after the step of determining that the detection result of the camera assembly is unqualified, the method further includes:
and outputting the detection result to send out an early warning prompt that the camera assembly has deviation.
Further, to achieve the above object, the present invention also provides a detection apparatus comprising: the camera component deviation detection method comprises a calibration chart, a tool clamp, a mechanical arm, a memory, a processor and a component deviation detection program which is stored on the memory and can run on the processor, wherein the calibration chart is used for camera calibration, the tool clamp is used for clamping the camera component, the mechanical arm is connected with the tool clamp and moves the camera component through the tool clamp, and the component deviation detection program is executed by the processor to realize the steps of the component deviation detection method.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium storing a camera component detection program which, when executed by a processor, implements the steps of the camera component detection method according to the above embodiment.
The embodiment of the invention provides a detection method, detection equipment and a computer-readable storage medium of a camera assembly, wherein the method comprises the following steps: acquiring a picture card image obtained by shooting a calibration picture card at different positions by a camera assembly to be detected; determining external reference information between the camera component and the calibration chart according to the chart image; determining the optical center position and the optical axis direction of the camera assembly according to the external reference information; determining a position deviation between the optical center position and a preset reference position, and/or determining an angle deviation between the optical axis direction and a preset reference direction; determining a detection result of the camera assembly according to at least one of the position deviation and the angle deviation. The optical center position and the optical axis direction of the camera component to be detected are compared with the reference position and the reference direction of the standard camera component, and the position deviation and the angle deviation between the optical center position and the optical axis direction are determined, so that whether the camera component has assembly deviation or not is detected, and the assembly precision of the camera component is ensured.
Drawings
Fig. 1 is a schematic diagram of a hardware architecture of a detection device according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for detecting a camera module according to a first embodiment of the present invention;
fig. 3 is a flowchart illustrating a detection method of a camera module according to a second embodiment of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In the design of VR, AR and other products, the camera is required to perform positioning tracking, eye tracking and other algorithms, the positioning algorithms are completed, and the installation position of the camera in the product is required to be used, so that the requirement on the assembly precision of the camera is high, and the assembly precision needs to be detected in all assembly processes.
The invention calculates the optical center position and the optical axis direction of the camera through camera calibration so as to calculate the position and the direction of the camera, and then compares the position and the direction with a standard design drawing to calculate whether the assembly of the camera has deviation. The detection scheme comprises a camera calibration chart, a fixture tool and a high-precision mechanical arm. The calibration chart is fixed and used for completing camera calibration; the fixture tool is used for clamping the component to be tested, and the picking, placing and clamping precision of the product is ensured; the high-precision mechanical arm is connected with the clamp tool and used for moving products and completing camera calibration, and the repetition precision is high.
It is to be understood that the appended drawings illustrate exemplary embodiments of the invention, which may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
As an implementation, the hardware architecture of the detection device may be as shown in fig. 1.
The embodiment of the invention relates to a hardware architecture of detection equipment, which comprises the following components: a processor 101, e.g. a CPU, a memory 102, a communication bus 103. Wherein a communication bus 103 is used for enabling the connection communication between these components.
The memory 102 may be a high-speed RAM memory or a non-volatile memory (e.g., a disk memory). As shown in fig. 1, a detection program of a camera component may be included in a memory 102 as a computer-readable storage medium; and the processor 101 may be configured to invoke the detection program for the camera assembly stored in the memory 102 and perform the following operations:
acquiring a graphic card image obtained by shooting a calibration graphic card at different positions by a camera assembly to be detected;
determining external reference information between the camera component and the calibration chart according to the chart image;
determining the optical center position and the optical axis direction of the camera assembly according to the external reference information;
determining a position deviation between the optical center position and a preset reference position, and/or determining an angle deviation between the optical axis direction and a preset reference direction;
determining a detection result of the camera assembly according to at least one of the position deviation and the angle deviation.
In one embodiment, the processor 101 may be configured to invoke a detection program for the camera component stored in the memory 102 and perform the following operations:
determining the optical center position according to the translation vector;
and determining the optical axis direction according to the rotation vector and the optical center position.
In one embodiment, the processor 101 may be configured to invoke a detection program for the camera component stored in the memory 102 and perform the following operations:
determining a rotation matrix corresponding to the rotation vector based on a preset function;
calculating a unit vector of the optical center position relative to the calibration chart;
and determining the optical axis direction according to the unit vector and the rotation matrix.
In one embodiment, the processor 101 may be configured to invoke a detection program for the camera component stored in the memory 102 and perform the following operations:
acquiring reference image card images obtained by shooting the calibration image card at different positions by a reference camera component;
and calibrating the reference camera component according to the reference image card image to obtain the reference position and the reference direction.
In one embodiment, the processor 101 may be configured to invoke a detection program for the camera component stored in the memory 102 and perform the following operations:
acquiring coordinates of the optical center position and coordinates of the reference position;
determining the relative position relation between the optical center position and the reference position according to the coordinates of the optical center position and the coordinates of the reference position;
and determining the position deviation according to the relative position relation.
In one embodiment, the processor 101 may be configured to invoke a detection program for the camera component stored in the memory 102 and perform the following operations:
determining a cosine value between the optical axis direction and the reference direction based on an operational relation of a vector included angle in a three-dimensional space;
performing inverse trigonometric function transformation on the cosine value to obtain an included angle between the optical axis direction and the reference direction;
and determining the angle deviation according to the included angle.
In one embodiment, the processor 101 may be configured to invoke a detection program for the camera component stored in the memory 102 and perform the following operations:
when the position deviation exists and/or the direction deviation exists, judging that the detection result of the camera assembly is unqualified; or
And when the position deviation is greater than a position deviation threshold value and/or the direction deviation is greater than a direction deviation threshold value, judging that the detection result of the camera assembly is unqualified.
In one embodiment, the processor 101 may be configured to invoke a detection program for the camera component stored in the memory 102 and perform the following operations:
and outputting the detection result to send out an early warning prompt that the camera assembly has deviation.
Based on the hardware architecture of the detection device based on the automatic control principle technology, the embodiment of the detection method of the camera component is provided.
Referring to fig. 2, in a first embodiment, the detection method of the camera assembly includes the steps of:
step S10, acquiring picture card images obtained by shooting calibration picture cards at different positions by a camera assembly to be detected;
in this embodiment, a camera component to be detected is clamped by a clamp tool of a detection device, a mechanical arm of the detection device is controlled to drive the clamp and the camera component to move, the mechanical arm starts from a set initial position, moves in front of a calibration chart according to a track compiled in a preset program and returns to the initial position again, and in the moving process, the camera component is controlled to shoot the calibration chart at different positions in front of the camera component according to a preset frequency to obtain a chart image. Alternatively, it may be set to take 1 calibration chart per second and at least 10 chart images during the movement.
Step S20, determining external reference information associated between the camera assembly and the calibration chart according to the chart image;
after obtaining the image of the graphic card, determining the correlation between the three-dimensional geometric position of a certain point on the surface of the space object and the corresponding point in the image, namely calibrating the camera, according to the calibration graphic card (namely the image of the graphic card) shot by the camera component and the actual calibration graphic card, thereby judging whether the camera component is assembled correctly through machine image identification. By using a calibration object (i.e., a graphic card image) with a known size, by establishing correspondence between a point on the calibration object with a known coordinate and an image point thereof, the internal and external parameters of the camera assembly are obtained by using a certain algorithm, which is relatively existing and mature, and will not be described herein again.
Through camera calibration, camera component internal parameters such as an internal parameter matrix K and a distortion coefficient D, and camera component external parameters such as a rotation vector Rot _ vet and a translation vector tens _ vet can be obtained. In the present embodiment, the distortion correction process of the camera lens is omitted, so the internal parameters are not regarded as the important description content, but the description is focused on the external parameter information, that is, the mapping relationship between the camera component and the calibration chart (that is, the rotation vector and the translation vector in the external parameter information) is established, and whether the camera component is assembled properly is detected according to the mapping relationship.
Step S30, determining the optical center position and the optical axis direction of the camera assembly according to the external reference information;
after the external reference information is determined through camera calibration, the optical center position and the optical axis direction of the camera assembly are determined according to the external reference information. The optical center position is a special point on the main shaft of the lens of the camera component, and the propagation direction of light passing through the point is unchanged, so the point is called the optical center position; the optical axis direction is the direction of propagation of light through the optical center. In this embodiment, the optical center position is characterized as the position of the camera component, and the optical axis direction is characterized as the direction of the camera component.
Alternatively, the optical center position of the camera may be determined according to the translation vector in the external reference information, and then the optical axis direction of the camera may be determined according to the rotation vector and the optical center position in the external reference information.
Illustratively, the optical center position P 0 ＝-Tans_vet 0 And calculating the rotation vector by using a Rodriguez formula (Rodriguez format) to obtain a corresponding rotation matrix Rot _ mat. The rodregs formula is a calculation formula of a new vector obtained after a vector rotates a certain angle around a rotating shaft in a three-dimensional space, firstly, a three-dimensional unit vector K serving as the rotating shaft is determined, then, a rotating angle theta is defined, the vector needing to rotate is rotated by theta degrees by taking the rotating shaft as a reference, the rotated vector is a rotating matrix Rot _ mat, and the standard formula is as follows:
Rot_mat＝I+(1-cos(θ))K 2 +sin(θ)K)
wherein, I is a 3 × 3 unit matrix.
Then, the optical center position P of the camera assembly is calculated according to the rotation matrix Rot _ mat 0 Unit vector Vet relative to calibration chart 0 ：
Vet 0 ＝Rot_mat 0 -1 *[0，0，1]
Vet 0 I.e. characterized by the optical axis direction of the camera.
Step S40, determining a position deviation between the optical center position and a preset reference position, and/or determining an angle deviation between the optical axis direction and a preset reference direction;
in this step, the optical center position and the optical axis direction are compared with respective reference positions and reference directions, which are data obtained as a comparison standard after the standard camera assembly is clamped by a detection device to execute the camera calibration process, and the standard camera assembly is obtained and meets the corresponding specification in the product design drawing.
Alternatively, whether there is a positional deviation of the camera component to be detected may be determined from coordinates between the optical center position of the camera component to be detected and the reference position of the standard camera component. Illustratively, assume the reference position is P ref ＝(x ref ，y ref ，z ref ) Optical centerPosition P 0 ＝(x 0 ，y 0 ，z 0 ) Then the position deviation P of the camera component error ＝|P ref -P 0 |＝|x ref -x 0 ，y ref -y 0 ，z ref -z 0 |。
Optionally, whether the camera component to be detected has an angle deviation may be determined according to an included angle between the optical axis direction of the camera component to be detected and the reference direction of the camera component to be detected.
Exemplarily, the reference direction is denoted Vet ref ＝[x ref ，y ref ，z ref ]The optical axis direction is represented as Vet 0 ＝[x 0 ，y 0 ，z 0 ]. Because the direction is a vector in the three-dimensional space, the included angle between the optical axis direction and the reference direction can be determined based on the operational relation of the vector included angle in the three-dimensional space, and the cosine value between the optical axis direction and the reference direction is determined:
and performing inverse trigonometric function transformation on the cosine value to obtain an included angle theta:
the larger the included angle, the larger the angle deviation.
Step S50, determining a detection result of the camera assembly according to at least one of the position deviation and the angle deviation.
After the position deviation and the angle deviation are determined, a detection result of the camera assembly is determined according to at least one of the position deviation and the angle deviation, and therefore whether the camera assembly has the deviation or not is judged according to the detection result. Since the camera may have the position deviation, the angle deviation, or both of the position deviation and the angle deviation during the assembly process, there are at least three embodiments of determining the detection result in this embodiment: firstly, when detecting that the installation position of the camera component has deviation, outputting a detection result; secondly, when detecting that the installation angle of the camera assembly has deviation, outputting a detection result; and thirdly, outputting a detection result when detecting that the installation angle and the installation position of the camera assembly have deviation.
In the technical scheme provided by this embodiment, in a camera calibration manner, extrinsic information obtained by calibration is used for determining an optical center position and an optical axis direction of a camera component to be detected, and at least one of a position deviation and an angle deviation between the optical center position and the optical axis direction of the camera component to be detected and a reference position and a reference direction of a standard camera component is determined by comparing the optical center position and the optical axis direction of the camera component to be detected with the reference position and the reference direction of the standard camera component, so that whether an assembly deviation exists in the camera component is detected, the assembly precision of the camera component is ensured, and the situation that when a user uses equipment such as VR, AR and the like, a large deviation occurs between user face data acquired by the equipment and user actual face data (such as a target light gaze position, a facial expression and the like) is avoided.
Referring to fig. 3, in the second embodiment, based on the first embodiment, after the step S50, the method further includes:
step S60, when the position deviation exists and/or the direction deviation exists, judging that the detection result of the camera assembly is unqualified; or when the position deviation is greater than a position deviation threshold value and/or the direction deviation is greater than a direction deviation threshold value, judging that the detection result of the camera assembly is unqualified.
Optionally, the present embodiment provides two ways of determining that the detection result of the camera assembly is not qualified. The first method is to determine that the camera assembly is not qualified when at least one of the position deviation and the direction deviation exists in the detection result, and certainly, it is limited by the accuracy of the calibration algorithm and the detection equipment, and there is an error between the calculated deviation and the actual deviation, which is objectively present and difficult to eliminate, so the position deviation and the direction deviation existing in this way are the calculated deviation values and are not completely equal to the actual deviation between the device to be detected and the standard equipment, but as long as the error between the calculated deviation value and the actual deviation does not affect the actual product detection result, for example, when the subsequent functions of acquiring the user's face data from the camera assembly are realized, when the error between the obtained face data and the actual face data meets the production requirement of the equipment, the camera assembly can be judged to be qualified.
The second method has a low requirement on the camera assembly precision, and when the position deviation is greater than a set position deviation threshold value and/or the direction deviation is greater than a set direction deviation threshold value, the detection result of the camera assembly is judged to be unqualified.
After step S60, the method further includes:
and step S70, outputting the detection result to send out an early warning prompt that the camera assembly has deviation.
Further, in this embodiment, after the detection result of the camera module is determined to be unqualified, the detection result is output to send an early warning prompt that the camera module has a deviation.
Illustratively, when the detection device detects that the detection result of the camera assembly is unqualified, the detection result is sent to a control terminal in communication connection with the detection device, and when the control terminal receives the detection result, the control terminal determines the serial number of the camera assembly corresponding to the detection result, inputs the serial number into an early warning program, and generates an unqualified camera assembly serial number: XX; and (3) detecting problems: assembly offset; detail of the problem: the equipment position has the skew, and the equipment direction has the skew, and the suggestion of position offset coordinate XX, direction skew angle XX "to in the detection personnel can be quick determine the camera subassembly that has the problem and specific problem content.
In the technical scheme provided by this embodiment, two ways of determining that the detection result of the camera assembly is not qualified are provided, one way is that the assembly accuracy requirement is high, namely, the deviation exists, the camera assembly is determined to be not qualified, and the other way is that the assembly accuracy requirement is low, namely, the deviation is greater than a set threshold value, the camera assembly is determined to be not qualified. The detection personnel can set two judgment modes of detection results with different precisions according to actual needs, and the quality control requirements of the product assemblies are flexibly set.
In addition, the present invention also provides a detection apparatus, including: the camera component deviation detection method comprises a calibration chart, a tool clamp, a mechanical arm, a memory, a processor and a component deviation detection program which is stored on the memory and can run on the processor, wherein the calibration chart is used for camera calibration, the tool clamp is used for clamping the camera component, the mechanical arm is connected with the tool clamp and moves the camera component through the tool clamp, and the component deviation detection program is executed by the processor to realize the steps of the component deviation detection method.
Furthermore, the present invention also provides a computer-readable storage medium storing a camera component detection program, which when executed by a processor implements the steps of the camera component detection method according to the above embodiment.
It should be noted that, in this document, 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.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, and includes several instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of detecting a camera component, the method comprising:
acquiring a picture card image obtained by shooting a calibration picture card at different positions by a camera assembly to be detected;
determining external reference information between the camera component and the calibration chart according to the chart image;
determining the optical center position and the optical axis direction of the camera assembly according to the external reference information;
determining a position deviation between the optical center position and a preset reference position, and/or determining an angle deviation between the optical axis direction and a preset reference direction;
determining a detection result of the camera assembly according to at least one of the position deviation and the angle deviation.
2. The method of inspecting a camera assembly according to claim 1, wherein the external reference information includes a rotation vector and a translation vector, and the step of determining the optical center position and the optical axis direction of the camera assembly based on the external reference information includes:
determining the optical center position according to the translation vector;
and determining the optical axis direction according to the rotation vector and the optical center position.
3. The method for inspecting a camera module according to claim 2, wherein the step of determining the optical axis direction based on the rotation vector and the optical center position comprises:
determining a rotation matrix corresponding to the rotation vector based on a preset function;
calculating a unit vector of the optical center position relative to the calibration chart;
and determining the optical axis direction according to the unit vector and the rotation matrix.
4. The method for inspecting a camera module according to claim 1, wherein the step of determining the position deviation between the optical center position and a preset reference position and/or the step of determining the angle deviation between the optical axis direction and a preset reference direction is preceded by the steps of:
acquiring reference image card images obtained by shooting the calibration image card at different positions by a reference camera component;
and calibrating the reference camera component according to the reference image card image to obtain the reference position and the reference direction.
5. The method for detecting a camera module according to claim 1, wherein said determining a positional deviation between the optical center position and a preset reference position comprises:
acquiring coordinates of the optical center position and coordinates of the reference position;
determining the relative position relation between the optical center position and the reference position according to the coordinates of the optical center position and the coordinates of the reference position;
and determining the position deviation according to the relative position relation.
6. The method for inspecting a camera module according to claim 1, wherein said determining an angular deviation between the optical axis direction and a preset reference direction comprises:
determining a cosine value between the optical axis direction and the reference direction based on an operational relation of a vector included angle in a three-dimensional space;
performing inverse trigonometric function transformation on the cosine value to obtain an included angle between the optical axis direction and the reference direction;
and determining the angle deviation according to the included angle.
7. The method for inspecting a camera module according to claim 1, wherein the step of determining the inspection result of the camera module based on at least one of the position deviation and the angle deviation further comprises:
when the position deviation exists and/or the direction deviation exists, judging that the detection result of the camera assembly is unqualified; or
And when the position deviation is greater than a position deviation threshold value and/or the direction deviation is greater than a direction deviation threshold value, judging that the detection result of the camera assembly is unqualified.
8. The method for inspecting a camera module according to claim 7, wherein after the step of determining that the inspection result of the camera module is not acceptable, the method further comprises:
and outputting the detection result to send out an early warning prompt that the camera assembly has deviation.
9. A detection device, characterized in that the detection device comprises: the method comprises the steps of a calibration chart, a tool clamp, a mechanical arm, a memory, a processor and a detection program of component deviation, wherein the detection program of component deviation is stored on the memory and can run on the processor, the calibration chart is used for camera calibration, the tool clamp is used for clamping the camera component, the mechanical arm is connected with the tool clamp and moves the camera component through the tool clamp, and the detection program of component deviation realizes the steps of the detection method of component deviation according to any one of claims 1-8 when being executed by the processor.
10. A computer-readable storage medium, on which a detection program of a camera component is stored, which when executed by a processor implements the steps of the detection method of a camera component according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210662466.2A CN114900688B (en) | 2022-06-13 | 2022-06-13 | Method and apparatus for detecting camera assembly, and computer-readable storage medium |
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| CN115922732A (en) * | 2023-01-05 | 2023-04-07 | 歌尔股份有限公司 | FPC automatic assembly control method, device and system and electronic equipment |
| CN116852382A (en) * | 2023-09-04 | 2023-10-10 | 青岛理工大学 | System and method for quickly adjusting tail end gesture of shaft hole assembly robot |
| WO2024108847A1 (en) * | 2022-11-23 | 2024-05-30 | 宁德时代新能源科技股份有限公司 | Roller, spot inspection method and apparatus, coiled-material conveying method and apparatus, and device and medium |
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