CN115225820A - Automatic shooting parameter adjusting method and device, storage medium and industrial camera - Google Patents
Automatic shooting parameter adjusting method and device, storage medium and industrial camera Download PDFInfo
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Abstract
The application provides a shooting parameter automatic adjustment method and device, a storage medium and an industrial camera. The automatic shooting parameter adjusting method is applied to an industrial camera provided with double laser assemblies, and comprises the following steps: shooting a shot object to obtain a photometric picture; calculating the average gray value of the photometric picture and generating a gray value record; if the average gray value of the photometric picture does not belong to the target value interval, adjusting the exposure gain according to the ratio of the average gray value to the target gray value; if the gray value record generated at this time is not equal to the gray value record generated during the last parameter adjustment, controlling the double-laser component to emit double lasers to the object to be shot to form a first light spot and a second light spot; shooting a shot object to obtain a ranging picture; acquiring center coordinates of a first light spot and a second light spot in a ranging picture; calculating a target focal length according to the central coordinates of the first light spot and the second light spot; and adjusting the focal length value according to the target focal length. The method and the device can efficiently, conveniently and automatically adjust the shooting parameters.
Description
Technical Field
The application relates to the technical field of internet of things, in particular to a shooting parameter automatic adjustment method and device, a storage medium and an industrial camera.
Background
With the rapid development of the internet of things technology, the application of image acquisition and processing in the industry is more and more extensive. With the widespread application of image data acquired by using technologies such as scanning, OCR, AI and the like in various industries, industrial cameras are increasingly required in the technology of internet of things.
When the distance between the fixed industrial camera adopting the zoom lens and a shot object changes, parameter adjustment is needed to ensure that a clear image can be acquired. However, the parameter adjustment of the current industrial camera needs manual adjustment or manual refocusing by using a special focusing card, and cannot meet the requirement on efficiency in a use scene with a constantly changing distance from a shot object.
Disclosure of Invention
The embodiment of the application provides a shooting parameter automatic adjustment method and device, a storage medium and an industrial camera, which can realize automatic adjustment of parameters under the scene that the distance between the industrial camera and a shot object changes frequently.
In a first aspect, the present application provides a method for automatically adjusting shooting parameters, which is applied to an industrial camera, where the industrial camera is configured with a dual laser component, and the method includes:
when a trigger condition is met, shooting a shot object to acquire a photometric picture;
calculating the average gray value of the photometric picture and generating a gray value record;
if the average gray value of the photometric picture does not belong to a preset target value interval, adjusting exposure gain according to the ratio of the average gray value to a preset target gray value; wherein, the target gray value is a median of the target value interval;
if the gray value record generated at this time is not equal to the gray value record generated during the last parameter adjustment, controlling the double-laser component to emit double lasers to a shot object to form a first light spot and a second light spot;
shooting the shot object to obtain a ranging picture;
acquiring the central coordinates of the first light spot and the second light spot in the ranging picture;
calculating a target focal length according to the central coordinates of the first light spot and the central coordinates of the second light spot;
and if the target focal length is different from the real-time focal length of the industrial camera, adjusting the focal length value of the industrial camera according to the target focal length.
In one embodiment, after adjusting the working exposure gain of the industrial camera, the method further comprises:
and if the gray value record generated this time is equal to the gray value record generated in the last parameter adjustment, ending the parameter adjustment.
In one embodiment, the trigger condition is:
the time interval from the last parameter adjustment reaches the preset time length;
or the like, or, alternatively,
and receiving a parameter adjusting instruction input by a user.
In one embodiment, the adjusting the exposure gain according to the ratio of the average gray-scale value to a preset target gray-scale value includes:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
and if the target exposure value is within the adjustable range of the exposure value of the industrial camera, adjusting the exposure value of the industrial camera to the target exposure value.
In one embodiment, the adjusting the exposure gain according to the ratio of the average gray-scale value to a preset target gray-scale value includes:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
if the target exposure value exceeds the adjustable range of the exposure value of the industrial camera, calculating target gain according to the ratio of the average gray value to the target gray value;
and if the target gain is within the gain adjustable range of the industrial camera, adjusting the gain of the industrial camera to the target gain.
In one embodiment, the adjusting the exposure gain according to the ratio of the average gray-scale value to a preset target gray-scale value includes:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
if the target exposure value exceeds the adjustable range of the exposure value of the industrial camera, calculating target gain according to the ratio of the average gray value to the target gray value;
and if the target gain exceeds the gain adjustable range of the industrial camera, setting the gain value with the minimum absolute value of the difference value between the target gain and the gain adjustable range as the gain of the industrial camera.
In one embodiment, after performing the adjusting of the exposure gain according to the ratio of the average gray-scale value to the preset target gray-scale value, the method further includes:
and shooting the shot object again to obtain a new photometric picture, calculating the average gray value, comparing the average gray value with the target value interval, and adjusting the exposure gain based on the average gray value of the new photometric picture until the current exposure gain is determined as the working exposure gain of the industrial camera when the average gray value of the new photometric picture is obtained at the time and belongs to the target value interval.
In a second aspect, the present application provides an automatic adjusting apparatus for shooting parameters, which is applied to an industrial camera, the industrial camera is configured with two laser assemblies, the apparatus includes:
the first acquisition module is used for shooting a shot object to acquire a photometric picture when a trigger condition is met;
the first calculation module is used for calculating the average gray value of the photometric picture and generating a gray value record;
the first adjusting module is used for adjusting exposure gain according to the ratio of the average gray value to a preset target gray value when the average gray value of the photometric picture does not belong to a preset target value interval; wherein the target gray value is a median of the target value interval;
the laser control module is used for controlling the double-laser assembly to emit double lasers to a shot object to form a first light spot and a second light spot when the gray value record generated at the time is not equal to the gray value record generated during the last parameter adjustment;
the second acquisition module is used for shooting the shot object to acquire a distance measurement picture;
the third acquisition module is used for acquiring the central coordinates of the first light spot and the central coordinates of the second light spot in the ranging picture;
the second calculation module is used for calculating a target focal length according to the central coordinates of the first light spot and the central coordinates of the second light spot;
and the second adjusting module is used for adjusting the focal length value of the industrial camera according to the target focal length when the target focal length is different from the real-time focal length of the industrial camera.
In a third aspect, the present application provides a storage medium having computer readable instructions stored therein, which when executed by one or more processors, cause the one or more processors to execute the steps of the automatic shooting parameter adjustment method according to any one of the above embodiments.
In a fourth aspect, the present application provides an industrial camera comprising: a dual laser assembly, one or more processors, and a memory;
the memory stores computer readable instructions, and when the one or more processors execute the computer readable instructions, the steps of the automatic shooting parameter adjusting method according to any one of the embodiments are performed.
According to the technical scheme, the embodiment of the application has the following advantages:
the method, the device, the storage medium and the industrial camera for automatically adjusting shooting parameters are characterized in that when the parameters are automatically adjusted, a shot object is shot to obtain a photometric picture, an average gray value of the photometric picture is calculated and a gray value record is generated, the average gray value of the photometric picture is compared according to a preset target value interval, whether exposure gain of the industrial camera needs to be adjusted is judged, if the exposure gain needs to be adjusted, adjustment is performed according to the ratio of the average gray value to the target gray value, the gray value record generated by the current parameter adjustment is compared with the gray value record generated by the previous parameter adjustment, if the distance between the focus value and the shot object is unequal, focusing is possibly required, under the current working exposure gain, a double laser assembly is controlled to emit double lasers to the shot object to form a first light spot and a second light spot, the shot object is shot to obtain a ranging picture, geometric operation is performed according to center coordinates of the two light spots in the ranging picture, the target focal distance is calculated, and if the target focal distance is different from the current real-time focal distance of the industrial camera, the focal distance of the industrial camera is adjusted according to the target focal value of the industrial camera, the focal distance adjustment is completed, and the parameter adjustment is conveniently and the parameter adjustment.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a flow chart of a method for automatically adjusting shooting parameters according to an embodiment;
FIG. 2 is a schematic diagram of dual laser assembly ranging in one embodiment;
FIG. 3 is a flowchart illustrating the step of adjusting the exposure gain according to the ratio of the average gray-level value to the predetermined target gray-level value according to one embodiment;
FIG. 4 is a block diagram of an embodiment of an apparatus for automatically adjusting photographing parameters;
FIG. 5 is an internal block diagram of an industrial camera, in one embodiment.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The embodiment of the application provides an automatic shooting parameter adjusting method which can be applied to automatic shooting parameter adjustment of an industrial camera. The industrial camera is used for data acquisition, including but not limited to image acquisition, in-image character information acquisition and the like. Because the industrial camera has certain requirements on the acquisition precision and efficiency when acquiring data, if the parameter configuration of the industrial camera cannot adapt to the current environment and the distance between the industrial camera and a shot object, the acquisition precision and efficiency are affected, and therefore the shooting parameters need to be debugged. The shooting parameters in the embodiment of the application comprise a focal length value, an exposure value and a gain of the industrial camera.
As shown in fig. 1, an embodiment of the present application provides a method for automatically adjusting shooting parameters, which is applied to an industrial camera, where the industrial camera is configured with a dual laser component, and the method includes:
in step S101, when a trigger condition is satisfied, a subject is photographed to acquire a photometric picture.
The photometric picture is used for judging whether the industrial camera needs to adjust the exposure gain or not.
In one embodiment, the trigger condition is: the time interval from the last parameter adjustment reaches the preset time length; or receiving a parameter adjusting instruction input by a user. The method can be used for periodically triggering the automatic adjustment of the shooting parameters of the industrial camera, and can also be actively triggered by inputting a parameter adjustment instruction by a user.
Step S102, calculating an average gradation value of the photometric picture and generating a gradation value record.
Step S103, determining whether the average gray-scale value of the photometric picture belongs to a preset target value interval.
The target value interval is a preset gray value interval, and when the average gray value of the photometric picture belongs to the target value interval, the current exposure gain of the industrial camera is indicated to reach the standard without adjustment; when the average gray value of the photometric picture does not belong to the target value interval, it indicates that the current exposure gain of the industrial camera does not reach the standard, and adjustment is needed.
Step S104, if the average gray-scale value of the photometric picture belongs to a preset target value interval, ending the parameter adjustment.
When the distance between the subject and the average gray value changes, and the exposure gain must be adjusted, and then the focal length value is adjusted.
Step S105, if the average gray-scale value of the photometric picture does not belong to a preset target value interval, adjusting an exposure gain according to a ratio of the average gray-scale value to a preset target gray-scale value.
Wherein the target gray value is a median of the target value interval. Illustratively, the target gray-scale value is 150, and the target value interval is [140,160].
When exposure gain adjustment is carried out, only the exposure value and only the gain can be adjusted, or both the exposure value and the gain are adjusted, and the average gray value of pictures shot by the industrial camera is close to the target gray value by adjusting the exposure gain. Exposure is a process by which the image sensor is sensitive to light. In the camera exposure process, the CCD/CMOS is used for sensitization, collecting photons and converting the photons into electric charges, and after the camera exposure is finished, the CCD/CMOS shifts out the electric charges in a certain mode and forms images through other peripheral circuits. Controlling the exposure time is controlling the total light flux of the camera, i.e. the sum of the photons reaching the surface of the CCD/CMOS chip during the exposure. Increasing the exposure time increases the signal-to-noise ratio and sharpens the image. The exposure cannot be increased indefinitely either because noise accumulates as the exposure time increases. The exposure adjustment value is substantially the exposure adjustment time. Gain is the sensitivity of the controlling photosensitive device to light. The greater the gain, the more sensitive the light. The high sensitivity is sensitive to low light, noise signals and small signal-to-noise ratio, so that the high sensitivity and the noise are more.
And step S106, comparing whether the gray value record generated this time is equal to the gray value record generated in the last parameter adjustment.
In step S107, if the generated tone value record is equal to the tone value record generated in the previous parameter adjustment, the parameter adjustment is ended.
If the gray value record generated at this time is equal to the gray value record generated at the last time of parameter adjustment, it indicates that the distance between the industrial camera and the object is not changed, or the change requiring the adjustment of the focal length value is not generated, and at this time, the adjustment of the parameter can be finished without adjusting the focal length value of the industrial camera.
And step S108, if the gray value record generated at this time is not equal to the gray value record generated during the last parameter adjustment, controlling the double-laser component to emit double lasers to the object to be shot to form a first light spot and a second light spot.
The double laser component emits double lasers, namely two beams of lasers, to a shot object, and the double lasers irradiate the surface of the shot object to form a first light spot and a second light spot.
If the gray value record generated at this time is not equal to the gray value record generated during the last parameter adjustment, the gray value record may be caused by the change of the ambient light; it may also be caused by a change in the distance between the industrial camera and the subject, requiring an adjustment of the focal length value. At this time, the dual laser assembly is controlled to emit dual lasers for ranging so as to determine whether the focal length value and the adjustment amount need to be adjusted.
In step S109, a subject is photographed to acquire a ranging picture.
The distance measurement picture is used for judging whether the industrial camera needs to adjust the focal length value. After the exposure gain adjustment of the preorder step, the industrial camera can capture clear and bright pictures, and the coordinates of the first light spot and the second light spot can be conveniently measured and calculated.
Step S110, obtaining the center coordinates of the first light spot and the second light spot in the ranging picture.
And performing image processing on the ranging picture to obtain the central coordinates of the first light spot and the central coordinates of the second light spot. In some embodiments, the image processing may include binarization processing, blob analysis processing. In one embodiment, a local area including both the first light spot and the second light spot may be first selected from the frame of the range picture, and the local area may be subjected to image processing.
And step S111, calculating the target focal length according to the central coordinates of the first light spot and the central coordinates of the second light spot.
Referring to fig. 2, the image distance v of the industrial camera is fixed, and at different working distances u (i.e. the distance between the lens surface of the industrial camera and the subject), the clear focusing is realized by adjusting the focal length of the zoom lens. When the working distance u changes, the spot pixel distance H changes accordingly, the center coordinates of the first spot and the second spot are located in the image through image processing, the spot pixel distance H is calculated, the working distance u can be obtained, namely ranging is achieved, and the working distance u is determined to be the target focal length. The image distance v and the distance e from the optical center to the lens surface need to be calibrated in advance.
Specifically, the calibration process is as follows:
taking the ranging pictures at two different working distances as data samples, wherein the working distances are u1 and u2 respectively, the real distances of the light spots are a1 and a2 respectively, the central coordinates of the light spots in the first sample image are (x 1, y 1) and (x 2, y 2) respectively, and the central coordinates of the light spots in the second sample image are (x 3, y 3) and (x 4, y 4) respectively.
Because optical axis and two bunches of laser three probably do not coplane, this application changes the cubical space problem through the projection and turns into the plane problem, and the equivalence becomes optical axis and two laser ray three coplane. The subsequent spot pixel distance and spot equivalent distance refer to the result after projection, and the specific method comprises the following steps:
for the first sample image:
equivalent distance of light spot
Light spot pixel distance H1= | x2-x 1! non-calculation
For the second sample image:
equivalent distance of light spot
Light spot pixel distance H2= | x4-x 3! non-calculation
From similar triangle laws:
namely:
A1*v/s＝H1*(u1+e)
A2*v/s＝H2*(u2+e)
thus:
where s is the pixel size of the industrial camera.
Calculating the center coordinates (x 5, y 5) of the first light spot and the center coordinates (x 6, y 6) of the second light spot obtained in step S110 by using the calibration parameters, so as to obtain the current working distance (i.e. the target focal length) of the industrial camera, wherein the specific calculation process is as follows:
light spot pixel distance H3= | x6-x 5-
Calculating a working distance u3 by combining the calibrated parameters through the light spot pixel distance H3, wherein the calculation process has differences according to the size relationship between the light spot equivalent distance A1 of the first sample image and the light spot equivalent distance A2 of the second sample image in the calibrated parameters, and the calculation process is specifically divided into the following three conditions:
(1) Two bundles of laser from the launch point to the distance of distal end grow far away gradually (being more far away from the launch point promptly, the distance between the laser beam is more far away), establish the distance that the crossing point of two bundles of laser (because laser grows far away gradually, crossing point is located the crossing department of the reverse extension line of two launch points) reaches the camera lid and be t1, then:
namely, it is
Calculating according to the parameters obtained by calibration to obtain:
(2) The distance between the two laser beams from the emitting point to the far end is gradually close (namely, the farther away from the emitting point, the closer the distance between the laser beams is), the distance from the intersection point of the two laser beams to the camera cover is set as t2, and then:
namely, it is
Calculating according to the parameters obtained by calibration to obtain:
(3) The two laser beams are parallel, then:
H3(u3+e)＝A3v/s＝A1v/s＝H1*(u1+e)
thus:
And step S112, comparing whether the target focal length is the same as the real-time focal length of the industrial camera.
The real-time focal length refers to a focal length value of the industrial camera at the current moment.
And S113, if the target focal length is different from the real-time focal length of the industrial camera, adjusting the focal length value of the industrial camera according to the target focal length.
And step S114, if the target focal length is the same as the real-time focal length of the industrial camera, not adjusting the focal length value of the industrial camera and finishing the adjustment.
The method for automatically adjusting shooting parameters includes the steps of shooting a shot object to obtain a photometric picture when automatic parameter adjustment is triggered, calculating an average gray value of the photometric picture, generating a gray value record, comparing the average gray value of the photometric picture according to a preset target value interval, judging whether exposure gain of an industrial camera needs to be adjusted, adjusting according to the ratio of the average gray value to the target gray value if adjustment is needed, comparing the gray value record generated by the current parameter adjustment with the gray value record generated by the previous parameter adjustment, if the gray value record is not equal to the gray value record generated by the previous parameter adjustment, the distance between the double laser assembly and the shot object possibly changes, and focusing is needed.
As shown in fig. 3, in one embodiment, the adjusting the exposure gain according to the ratio of the average gray-level value to the preset target gray-level value includes:
in step S301, a target exposure value is calculated based on the ratio of the average gray-scale value to the target gray-scale value.
Wherein the target exposure value is the current optimal exposure value. The target exposure value is equal to the product of the ratio of the average gray value to the target gray value and the current exposure value of the industrial camera.
Step S302, judging whether the target exposure value is within the adjustable range of the exposure value of the industrial camera.
Wherein, the adjustable range of the exposure value depends on the property of the industrial camera and is not changeable, and the adjustable range of the exposure value of different industrial cameras can have difference.
Step S303, if the target exposure value is within the adjustable range of the exposure value of the industrial camera, adjusting the exposure value of the industrial camera to the target exposure value.
Step S304, if the target exposure value exceeds the adjustable range of the exposure value of the industrial camera, calculating the target gain according to the ratio of the average gray value to the target gray value.
Step S305, judging whether the target gain is in the gain adjustable range of the industrial camera.
Wherein the target gain is the current optimal gain. The target gain is equal to the product of the ratio of the average gray value to the target gray value and the current gain of the industrial camera.
And S306, if the target gain is within the gain adjustable range of the industrial camera, adjusting the gain of the industrial camera to the target gain.
In step S307, if the target gain exceeds the gain adjustable range of the industrial camera, the gain value with the minimum absolute value of the difference between the target gain and the gain adjustable range is set as the gain of the industrial camera.
Because the exposure value adjustable range and the gain adjustable range of the industrial camera have certain limits on the adjustment of the exposure gain, when the exposure gain is required to be adjusted, whether the exposure value can be adjusted to a target exposure value is determined, if so, the adjustment is carried out, the adjustment of the exposure gain at this time is completed, and the subsequent steps are executed; if the exposure value cannot be adjusted to the target exposure value, determining whether the target gain can be adjusted, if so, adjusting to complete the adjustment of the current exposure gain, and executing the subsequent steps; if the exposure value cannot be adjusted to the target exposure value and the gain cannot be adjusted to the target gain, selecting the closest gain value in the gain adjustable range to be set as the gain of the industrial camera, for example, if the target gain is larger than the upper limit value of the gain adjustable range, setting the upper limit value of the gain adjustable range as the gain of the industrial camera; and if the target gain is smaller than the lower limit value of the gain adjustable range, setting the lower limit value of the gain adjustable range as the gain of the industrial camera.
In some embodiments, after the exposure gain adjustment process is completed once, no matter whether the average gray value of the picture of the subject shot by the industrial camera is the same or not, the exposure gain is not adjusted in the parameter adjustment, that is, only once adjustment is performed on the exposure gain every time the shooting parameter adjustment is triggered, so that the influence of the overlong adjustment time on the normal use of the industrial camera is prevented.
In one embodiment, after the adjusting the exposure gain according to the ratio of the average gray-scale value to the preset target gray-scale value is performed, the method further includes:
and re-shooting the shot object to obtain a new photometric picture, comparing the calculated average gray value with the target value interval, and adjusting the exposure gain based on the average gray value of the new photometric picture until the current exposure gain is determined as the working exposure gain of the industrial camera when the average gray value of the new photometric picture is obtained and belongs to the target value interval.
In one embodiment, the industrial camera is configured with a fill-in light, and when the trigger condition is met, before the shooting of the subject to obtain the photometric picture is executed, the method further comprises: and controlling the light supplement lamp to be turned off.
The shooting parameter adjustment is carried out under the on-state of the light supplement lamp, so that certain influence can be generated on the reliability of the adjustment, and in order to adjust more accurately, the light supplement lamp can be controlled to be turned off firstly and then a subsequent adjustment process is carried out.
In one embodiment, the double laser assemblies can be replaced by laser ranging sensors, and the laser ranging sensors are used for detecting the working distance, so that the parameter adjusting efficiency is improved.
In this embodiment, after completing the exposure gain adjustment once, because the limitation of the gain adjustable range and the exposure adjustable range may be received, the optimal parameter cannot be adjusted once, at this time, light metering is performed again, it is determined whether the average gray level of the shot object shot by the industrial camera after the exposure gain adjustment belongs to the target value interval, if not, exposure gain adjustment is performed again, the process is determined again after adjustment, and the process is repeated until the average gray level of the shot object shot by the industrial camera belongs to the target value interval, at this time, the exposure gain of the industrial camera is the final exposure gain of the shooting parameter adjustment this time, and before adjusting the shooting parameter for the next time, the industrial camera takes the current exposure gain as the working exposure gain to perform image shooting.
It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.
The following describes the automatic shooting parameter adjustment device provided in the embodiment of the present application, and the automatic shooting parameter adjustment device described below and the automatic shooting parameter adjustment method described above may be referred to in correspondence with each other.
As shown in fig. 4, an embodiment of the present application provides an automatic shooting parameter adjustment apparatus 400, which is applied to an industrial camera configured with a dual laser assembly, and the apparatus includes:
a first acquisition module 401, configured to, when a trigger condition is met, capture a subject to acquire a photometric picture;
a first calculating module 402, configured to calculate an average gray value of the photometric picture and generate a gray value record;
a first adjusting module 403, configured to adjust an exposure gain according to a ratio between an average gray-scale value of the photometric picture and a preset target gray-scale value when the average gray-scale value does not belong to a preset target value interval; wherein the target gray value is a median of the target value interval;
the laser control module 404 is configured to control the dual laser component to emit dual laser to a subject to form a first light spot and a second light spot when the gray value record generated this time is not equal to the gray value record generated during the last parameter adjustment;
a second obtaining module 405, configured to capture the subject to obtain a ranging picture;
a third obtaining module 406, configured to obtain a center coordinate of the first light spot and a center coordinate of the second light spot in the ranging picture;
a second calculating module 407, configured to calculate a target focal length according to the center coordinate of the first light spot and the center coordinate of the second light spot;
a second adjusting module 408, configured to adjust a focal length value of the industrial camera according to the target focal length when the target focal length is different from the real-time focal length of the industrial camera.
In one embodiment, the first adjusting module is configured to perform:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
and if the target exposure value is within the adjustable range of the exposure value of the industrial camera, adjusting the exposure value of the industrial camera to the target exposure value.
In one embodiment, the first adjusting module is further configured to perform:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
if the target exposure value exceeds the adjustable range of the exposure value of the industrial camera, calculating target gain according to the ratio of the average gray value to the target gray value;
and if the target gain is within the gain adjustable range of the industrial camera, adjusting the gain of the industrial camera to the target gain.
In one embodiment, the first adjusting module is further configured to perform:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
if the target exposure value exceeds the adjustable range of the exposure value of the industrial camera, calculating target gain according to the ratio of the average gray value to the target gray value;
and if the target gain exceeds the gain adjustable range of the industrial camera, setting the gain value with the minimum absolute value of the difference value between the target gain and the gain adjustable range as the gain of the industrial camera.
In one embodiment, the first adjusting module is further configured to perform:
after adjusting the exposure gain according to the ratio of the average gray value to a preset target gray value, re-shooting the subject to obtain a new photometric picture, calculating the average gray value, comparing the average gray value with the target value interval, and adjusting the exposure gain based on the average gray value of the new photometric picture until the current exposure gain is determined as the working exposure gain of the industrial camera when the average gray value of the new photometric picture is obtained next time and belongs to the target value interval.
The division of each module in the above-mentioned shooting parameter automatic adjustment apparatus is merely for illustration, and in other embodiments, the shooting parameter automatic adjustment apparatus may be divided into different modules as needed to complete all or part of the functions of the above-mentioned shooting parameter automatic adjustment apparatus. All or part of the modules in the automatic shooting parameter adjusting device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, the present application further provides a storage medium having stored therein computer-readable instructions that, when executed by one or more processors, cause the one or more processors to perform the steps of:
when a trigger condition is met, shooting a shot object to acquire a photometric picture;
calculating the average gray value of the photometric picture and generating a gray value record;
if the average gray value of the photometric picture does not belong to a preset target value interval, adjusting exposure gain according to the ratio of the average gray value to a preset target gray value; wherein, the target gray value is a median of the target value interval;
if the gray value record generated at this time is not equal to the gray value record generated during the last parameter adjustment, controlling the double-laser component to emit double lasers to a shot object to form a first light spot and a second light spot;
shooting the shot object to acquire a ranging picture;
acquiring the central coordinates of the first light spot and the second light spot in the ranging picture;
calculating a target focal length according to the central coordinates of the first light spot and the central coordinates of the second light spot;
and if the target focal length is different from the real-time focal length of the industrial camera, adjusting the focal length value of the industrial camera according to the target focal length.
In one embodiment, the computer readable instructions when executed by the processor further implement the steps of:
if the gray value record generated this time is equal to the gray value record generated in the last parameter adjustment, the parameter adjustment is finished.
In one embodiment, the computer readable instructions when executed by the processor further implement the steps of:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
and if the target exposure value is within the adjustable range of the exposure value of the industrial camera, adjusting the exposure value of the industrial camera to the target exposure value.
In one embodiment, the computer readable instructions when executed by the processor further implement the steps of:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
if the target exposure value exceeds the adjustable range of the exposure value of the industrial camera, calculating target gain according to the ratio of the average gray value to the target gray value;
and if the target gain is within the gain adjustable range of the industrial camera, adjusting the gain of the industrial camera to the target gain.
In one embodiment, the computer readable instructions when executed by the processor further implement the steps of:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
if the target exposure value exceeds the adjustable range of the exposure value of the industrial camera, calculating target gain according to the ratio of the average gray value to the target gray value;
and if the target gain exceeds the gain adjustable range of the industrial camera, setting the gain value with the minimum absolute value of the difference value between the target gain and the gain within the gain adjustable range as the gain of the industrial camera.
In one embodiment, the computer readable instructions when executed by the processor further implement the steps of:
and shooting the shot object again to obtain a new photometric picture, calculating the average gray value, comparing the average gray value with the target value interval, and adjusting the exposure gain based on the average gray value of the new photometric picture until the current exposure gain is determined as the working exposure gain of the industrial camera when the average gray value of the new photometric picture is obtained at the time and belongs to the target value interval.
In one embodiment, the present application further provides an industrial camera comprising a dual laser assembly, one or more processors, and a memory having computer-readable instructions stored therein, the one or more processors, when executing the computer-readable instructions, performing the steps of:
when a trigger condition is met, shooting a shot object to acquire a photometric picture;
calculating the average gray value of the photometric picture and generating a gray value record;
if the average gray value of the photometric picture does not belong to a preset target value interval, adjusting exposure gain according to the ratio of the average gray value to a preset target gray value; wherein the target gray value is a median of the target value interval;
if the gray value record generated at this time is not equal to the gray value record generated during the last parameter adjustment, controlling the double-laser component to emit double lasers to a shot object to form a first light spot and a second light spot;
shooting the shot object to acquire a ranging picture;
acquiring the central coordinates of the first light spot and the second light spot in the ranging picture;
calculating a target focal length according to the central coordinates of the first light spot and the central coordinates of the second light spot;
and if the target focal length is different from the real-time focal length of the industrial camera, adjusting the focal length value of the industrial camera according to the target focal length.
In one embodiment, the processor, when executing the computer readable instructions, further performs the steps of:
and if the gray value record generated this time is equal to the gray value record generated in the last parameter adjustment, ending the parameter adjustment.
In one embodiment, the processor when executing the computer readable instructions further performs the steps of:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
and if the target exposure value is within the adjustable range of the exposure value of the industrial camera, adjusting the exposure value of the industrial camera to the target exposure value.
In one embodiment, the processor, when executing the computer readable instructions, further performs the steps of:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
if the target exposure value exceeds the adjustable range of the exposure value of the industrial camera, calculating target gain according to the ratio of the average gray value to the target gray value;
and if the target gain is within the gain adjustable range of the industrial camera, adjusting the gain of the industrial camera to the target gain.
In one embodiment, the processor, when executing the computer readable instructions, further performs the steps of:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
if the target exposure value exceeds the adjustable range of the exposure value of the industrial camera, calculating target gain according to the ratio of the average gray value to the target gray value;
and if the target gain exceeds the gain adjustable range of the industrial camera, setting the gain value with the minimum absolute value of the difference value between the target gain and the gain within the gain adjustable range as the gain of the industrial camera.
In one embodiment, the processor, when executing the computer readable instructions, further performs the steps of:
and shooting the shot object again to obtain a new photometric picture, calculating the average gray value, comparing the average gray value with the target value interval, and adjusting the exposure gain based on the average gray value of the new photometric picture until the current exposure gain is determined as the working exposure gain of the industrial camera when the average gray value of the new photometric picture is obtained at the time and belongs to the target value interval.
In one embodiment, an industrial camera is provided, the internal structure of which can be as shown in fig. 5. The industrial camera comprises a processor, a memory, a communication interface, a dual laser assembly, a display screen and an input device which are connected through a system bus. Wherein the processor of the industrial camera is configured to provide computing and control capabilities. The memory of the industrial camera comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the industrial camera is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a photographing parameter automatic adjustment method. The display screen of the industrial camera can be a liquid crystal display screen or an electronic ink display screen, and the input device of the industrial camera can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on a shell of the industrial camera, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), for example. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, the embodiments may be combined as needed, and the same and similar parts may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A shooting parameter automatic adjustment method is applied to an industrial camera, and the industrial camera is provided with a double laser component, and the method comprises the following steps:
when a trigger condition is met, shooting a shot object to acquire a photometric picture;
calculating the average gray value of the photometric picture and generating a gray value record;
if the average gray value of the photometric picture does not belong to a preset target value interval, adjusting exposure gain according to the ratio of the average gray value to a preset target gray value; wherein the target gray value is a median of the target value interval;
if the gray value record generated at this time is not equal to the gray value record generated during the last parameter adjustment, controlling the double-laser component to emit double lasers to a shot object to form a first light spot and a second light spot;
shooting the shot object to acquire a ranging picture;
acquiring the central coordinates of the first light spot and the second light spot in the ranging picture;
calculating a target focal length according to the central coordinates of the first light spot and the central coordinates of the second light spot;
and if the target focal length is different from the real-time focal length of the industrial camera, adjusting the focal length value of the industrial camera according to the target focal length.
2. The automatic adjustment method for shooting parameters according to claim 1, wherein after adjusting the working exposure gain of the industrial camera, the method further comprises:
and if the gray value record generated this time is equal to the gray value record generated in the last parameter adjustment, ending the parameter adjustment.
3. The automatic adjustment method for shooting parameters according to claim 1 or 2, characterized in that the trigger conditions are:
the time interval from the last parameter adjustment reaches the preset time length;
or the like, or, alternatively,
and receiving a parameter adjusting instruction input by a user.
4. The method according to claim 1, wherein the adjusting the exposure gain according to the ratio of the average gray-level value to a preset target gray-level value comprises:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
and if the target exposure value is within the adjustable range of the exposure value of the industrial camera, adjusting the exposure value of the industrial camera to the target exposure value.
5. The method according to claim 1, wherein the adjusting the exposure gain according to the ratio of the average gray-level value to a preset target gray-level value comprises:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
if the target exposure value exceeds the adjustable range of the exposure value of the industrial camera, calculating target gain according to the ratio of the average gray value to the target gray value;
and if the target gain is within the gain adjustable range of the industrial camera, adjusting the gain of the industrial camera to the target gain.
6. The method according to claim 1, wherein the adjusting the exposure gain according to the ratio of the average gray-level value to a preset target gray-level value comprises:
calculating a target exposure value according to the ratio of the average gray value to the target gray value;
if the target exposure value exceeds the adjustable range of the exposure value of the industrial camera, calculating target gain according to the ratio of the average gray value to the target gray value;
and if the target gain exceeds the gain adjustable range of the industrial camera, setting the gain value with the minimum absolute value of the difference value between the target gain and the gain adjustable range as the gain of the industrial camera.
7. The method according to claim 6, further comprising, after performing the adjusting of the exposure gain according to the ratio of the average gray-level value to a preset target gray-level value:
and shooting the shot object again to obtain a new photometric picture, calculating the average gray value, comparing the average gray value with the target value interval, and adjusting the exposure gain based on the average gray value of the new photometric picture until the current exposure gain is determined as the working exposure gain of the industrial camera when the average gray value of the new photometric picture is obtained at the time and belongs to the target value interval.
8. An automatic shooting parameter adjusting device is applied to an industrial camera, wherein the industrial camera is provided with a double laser component, and the device comprises:
the first acquisition module is used for shooting a shot object to acquire a photometric picture when a trigger condition is met;
the first calculation module is used for calculating the average gray value of the photometric picture and generating a gray value record;
the first adjusting module is used for adjusting exposure gain according to the ratio of the average gray value to a preset target gray value when the average gray value of the photometric picture does not belong to a preset target value interval; wherein the target gray value is a median of the target value interval;
the laser control module is used for controlling the double-laser assembly to emit double lasers to a shot object to form a first light spot and a second light spot when the gray value record generated at the time is not equal to the gray value record generated during the last parameter adjustment;
the second acquisition module is used for shooting the shot object to acquire a distance measurement picture;
the third acquisition module is used for acquiring the central coordinates of the first light spot and the central coordinates of the second light spot in the ranging picture;
the second calculation module is used for calculating the target focal length according to the central coordinates of the first light spot and the central coordinates of the second light spot;
and the second adjusting module is used for adjusting the focal length value of the industrial camera according to the target focal length when the target focal length is different from the real-time focal length of the industrial camera.
9. A storage medium, characterized by: the storage medium has stored therein computer-readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the photographing parameter automatic adjustment method according to any one of claims 1 to 7.
10. An industrial camera, comprising: a dual laser assembly, one or more processors, and a memory;
the memory has stored therein computer readable instructions which, when executed by the one or more processors, perform the steps of the photographing parameter automatic adjustment method according to any one of claims 1 to 7.
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