WO2020082379A1 - 靶标获取设备及靶标获取控制方法 - Google Patents

靶标获取设备及靶标获取控制方法 Download PDF

Info

Publication number
WO2020082379A1
WO2020082379A1 PCT/CN2018/112226 CN2018112226W WO2020082379A1 WO 2020082379 A1 WO2020082379 A1 WO 2020082379A1 CN 2018112226 W CN2018112226 W CN 2018112226W WO 2020082379 A1 WO2020082379 A1 WO 2020082379A1
Authority
WO
WIPO (PCT)
Prior art keywords
target
size
window size
image sensor
target acquisition
Prior art date
Application number
PCT/CN2018/112226
Other languages
English (en)
French (fr)
Inventor
胡冰强
Original Assignee
深圳柔显系统技术有限公司
深圳市柔宇科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳柔显系统技术有限公司, 深圳市柔宇科技有限公司 filed Critical 深圳柔显系统技术有限公司
Priority to PCT/CN2018/112226 priority Critical patent/WO2020082379A1/zh
Priority to CN201880003056.9A priority patent/CN109564093B/zh
Priority to CN201920181100.7U priority patent/CN209982563U/zh
Publication of WO2020082379A1 publication Critical patent/WO2020082379A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means

Definitions

  • the invention relates to the technical field of positioning, in particular to a target acquisition device and a target acquisition control method.
  • target acquisition equipment In laser processing production, target acquisition equipment is usually used to acquire the target on the workpiece to position the workpiece, so as to improve the working efficiency and processing accuracy in laser processing.
  • the window size of the existing image sensor is fixed. However, in some application scenarios, for example, when performing maintenance and correction on the target acquisition device, due to the small target size and the too small distance between adjacent targets, sometimes two or two may appear in the window More than one target results in abnormal target positioning of the target acquisition device, and the target acquisition device needs to be shifted and the like, so that only one target appears in the window. In this way, it is easy to affect the positioning efficiency of the target acquisition device.
  • embodiments of the present invention disclose a target acquisition device and target acquisition control method that can improve positioning efficiency.
  • a target acquisition device includes a camera device, the camera device includes a lens and an image sensor, the image sensor has a window with an adjustable size, and the image sensor is used to perform light transmitted to the window through the lens Induction and imaging processing to obtain target images for target acquisition.
  • a target acquisition control method for target acquisition equipment includes the following steps:
  • the image sensor performs sensing and imaging processing on the light transmitted to the size-adjusted window, thereby obtaining a target image for target acquisition.
  • the window size of the image sensor can be adjusted, which is convenient for the target acquisition device to acquire the target for positioning.
  • the target acquisition device since the target acquisition device only adjusts the size of the window without changing the mechanical position and other parameters of the target acquisition device, in other words, there is no need to adjust and / or correct the target positioning accuracy of the target acquisition device to further improve the target Get the convenience of using the device.
  • FIG. 1 is a working schematic diagram of a target acquisition device provided by a first embodiment of the present invention.
  • FIG. 2 is a structural block diagram of an imaging device.
  • FIG. 3 is a schematic diagram of the window of the image sensor when the target acquisition device is positioned normally.
  • FIG. 4 is a schematic diagram of the window of the image sensor in the case where the target acquisition device is located abnormally.
  • 5 is a schematic diagram of the window size of the image sensor of the target acquisition device before and after adjustment.
  • FIG. 6 is a schematic diagram of a target acquisition device according to a second embodiment of the present invention.
  • Fig. 7a is a schematic plan view of a variable aperture mechanism.
  • variable aperture mechanism 7b is a side view of the variable aperture mechanism.
  • FIG. 8a is a schematic diagram of the window of the image sensor when the variable aperture mechanism is at the first aperture size.
  • 8b is a schematic diagram of the window of the image sensor when the variable aperture mechanism is at the second aperture size.
  • 8c is a schematic diagram of the image sensor before and after adjusting the window size.
  • FIG. 9 is a flowchart of a target acquisition control method of a target acquisition device according to an embodiment of the present invention.
  • FIG. 10 is a flowchart of a target acquisition control method of a target acquisition device according to an embodiment of the present invention.
  • FIG. 1 is a schematic diagram of the operation of the target acquisition device 10 according to the first embodiment of the present invention.
  • the target acquisition device 10 may be an etching device, a laser cutting machine, or the like.
  • the target acquisition device 10 is used to capture the target 21 on the workpiece 20 so as to position the workpiece 20 to facilitate processing of the workpiece 10.
  • the target 21 on the workpiece 20 is circular.
  • the shape of the target 21 may be a cross shape or any other geometric figure that can play a role of marking.
  • the target acquisition device 10 includes an imaging device 11.
  • the imaging device 11 includes a lens 111 and an image sensor 112.
  • the image sensor 112 has an adjustable window 1121 (shown in FIG. 3).
  • the image sensor 112 is used to sense and image the light transmitted to the window 1121 through the lens 111 to obtain a target image 1123 for target acquisition.
  • the image sensor 112 is a charge coupled device (Charge Coupled Device, CCD). In other embodiments, the image sensor 112 may also be a complementary metal-oxide semiconductor (CMOS) sensor.
  • the imaging device 11 further includes a lens light source 114 and a steering prism 115. The output end of the steering prism 115 is connected to the lens 111, and the steering prism 115 faces the workpiece 20.
  • the lens light source 114 is used to irradiate the workpiece 20 and transmit the image to the lens 111 through the steering prism 115.
  • FIG. 2 is a structural block diagram of the camera device 11.
  • the camera 11 further includes a memory 116 and a processor 118. Both the image sensor 112 and the memory 116 are electrically connected to the processor 118.
  • the memory 116 is used to pre-store the target template.
  • the target templates are generated and stored in the memory 116 in advance.
  • the number of the target templates is multiple, and different workpiece types correspond to different target templates.
  • the processor 118 is used to display the target image 1123 captured by the image sensor 112 on the display unit 101 (as shown in FIG. 1).
  • the processor 118 is also used to determine the target window size to which the image sensor 112 needs to be adjusted according to the adjustment instruction input through the operation part 103 (as shown in FIG. 1), and to set the window size of the image sensor 112 through a preset algorithm to set The window size of the image sensor 112 is adjusted to the target window size.
  • the preset algorithm includes an image recognition algorithm, and the processor 118 recognizes the target 1125 from the target image 1123 through the image recognition algorithm.
  • the input adjustment instruction may include the value of the target window size, or include information on the adjustment range and direction of the window size.
  • the processor 118 may directly adjust the size of the window 1121 to the target window size.
  • the processor 118 may also respond to the adjustment command by gradually increasing or decreasing the adjustment range to gradually adjust the size of the window 1121 to the target window size.
  • the display unit 101 is a display screen
  • the operation unit 103 is a touch screen.
  • the operation unit 103 and the display unit 101 are stacked and arranged, and the user inputs an adjustment command and the size of the setting window 1121 through touch input. Let the size of the new window 1121 set by the user through the operation unit 103 be the target window size.
  • the operation unit 103 may also be an operation structure such as a key.
  • the display unit 101, the operation unit 103 and the imaging device 11 can be independently provided, and the display unit 101 and the operation unit 103 can also be integrated on the imaging device 11.
  • the processor 118 is also used to determine whether the target acquisition device 10 is positioned normally based on the target image 1123. If the processor 118 determines that the target acquisition device 10 is positioned abnormally, the processor 118 controls an output device to output a first reminder message to remind the user The target acquisition device 10 is located abnormally.
  • the output device includes a display unit 101. It can be understood that the output device may further include a sounding device, such as a horn, a voice device, a buzzer, and the like.
  • FIG. 3 is a schematic view of the window 1121 of the image sensor 112 when the target acquisition device 10 is positioned normally.
  • the processor 118 analyzes and processes the target image 1123 captured by the image sensor 112 according to the target template to identify the target 1125 in the target image 1123 and obtain positioning information according to the identified target 1125.
  • the positioning information is the position of the workpiece 20, or the position of the target 21 on the workpiece 20, and the position of the target 21 on the workpiece 20 is the position of the workpiece 20 to be processed.
  • the target acquisition device 10 performs processing operations on the workpiece 20 according to the positioning information, thereby improving processing accuracy and processing efficiency.
  • the processor 118 determines that the acquisition of positioning information fails according to the identified target 1125, it determines that the target acquisition device 10 is positioned abnormally.
  • FIG. 4 is a schematic diagram of the window of the image sensor when the target acquisition device is positioned abnormally.
  • the processor 118 recognizes the target 1125 but cannot determine which target 21 on the workpiece 20 to locate based on the recognized target 1125, and then cannot identify the target through the image and obtain positioning information based on the target, resulting in target acquisition The device 10 failed to obtain positioning information.
  • the processor 118 determines that the target acquisition device 10 is located abnormally, the processor 118 is also used to control the display section 101 to output a first reminder message.
  • the first reminder message is used to remind the user that the target acquisition device 10 is located abnormally.
  • the processor 118 determines that the target acquisition device 10 is located abnormally, the processor 118 is also used to control the display section 101 to output a second reminder message.
  • the second reminder message is used to remind the user whether to set the window size.
  • the processor 118 controls the display unit 101 to pop up the second reminder message after a preset time threshold. It can be understood that the processor 118 may also control the display unit 101 to output the first reminder message and the second reminder message at the same time.
  • the processor 118 is further configured to adjust the size of the window according to the adjustment instruction input by the user through the operation unit 103 when the user operates the second reminder message detected by the operation unit 103.
  • the output device includes a display unit 101, the operation unit 103 is a touch screen, the display unit 101 and the operation unit 103 are combined to form a touch display screen, and the processor 118 detects at the operation unit 103
  • the display unit 101 is controlled to switch to the size input operation interface to facilitate the user to input the target window size.
  • the operation unit 103 detects the operation action of the user on the size input operation interface, and then obtains the target window size set by the user input and sends the target window size to the processor 118.
  • the processor 118 is also used to compare the target window size with a preset size range. If the target window size is within the preset size range, the processor 118 controls the image sensor 112 to adjust the size of the window 1121 according to the target window size. If the target window size is not within the preset size range, the processor 118 controls the display section 101 to output an alarm signal.
  • the output alarm signal may be a second reminder message output by the processor 118 controlling the display unit 101. It can be understood that the alarm signal may also be other information, for example, the alarm signal may be a first reminder message.
  • the window 1121 is square, the size of the first side of the window 1121 is set to d1, and the size of the second side of the window 1121 adjacent to the first side is set to d2 ,
  • the window size is characterized as d1 ⁇ d2.
  • the preset size range includes a maximum window size and a minimum window size, and the size of the window 1121 can be adjusted between the preset size ranges.
  • the processor 118 uses the center position of the window 1121 as a reference point, and the center position is the intersection position of the perpendicular line of the first side and the perpendicular line of the second side. Or expand. When the target acquisition device 10 is positioned for normal operation, the target 1125 is located at the center of the window 1121. It can be understood that the window 1121 is not limited to be square, and the window 1121 may be other shapes, such as a circle.
  • FIG. 5 is a schematic diagram of the window size of the image sensor of the target acquisition device before and after adjustment.
  • the maximum size of the window is 10 mm ⁇ 10 mm
  • the minimum size of the window is 3 mm ⁇ 3 mm
  • the size of the window 1121 of the image sensor 112 before adjustment is the first window size.
  • the operation unit 103 detects that the input value of d1 is 4 and the input value of d2 is 4, the target window size is 4 ⁇ 4. Since 4 ⁇ 4 is located in the preset size range, the processor 118 determines that the target window size is within the preset size range, and the processor 118 adjusts the size of the window 1121 according to the target window size. It can be seen that the target image displayed in the window before adjustment includes images of two targets, while the target image 1123 displayed in the window 1121 after size adjustment includes only one target 1125.
  • the operation unit 103 When the operation unit 103 detects an instruction operation input by the user for the second reminder message indicating that the setting window size does not need to be adjusted, the operation unit 103 generates a user-less adjustment instruction to the processor 118 without adjusting the setting window size .
  • the processor 118 controls the target acquisition device 10 to stop the operation according to the instruction without adjustment.
  • the target acquisition device 10 When the target acquisition device 10 is used, the target acquisition device 10 performs preliminary positioning with the workpiece 20, the lens light source 114 illuminates the workpiece 20, and the image is transmitted to the lens 111 through the steering prism 115.
  • the image sensor 112 captures the initial target image, and one of the targets 1125 is located at the center of the window 1121.
  • the processor 118 displays the initial target image on the display unit 101.
  • the processor 118 determines whether the target acquisition device 10 is positioned normally based on the initial target image.
  • the processor 118 controls the display section 101 to output the first reminder message and the second reminder message.
  • the user inputs an adjustment instruction through the operation unit 103, and the processor 118 controls the display unit 101 to switch to the size input operation interface according to the adjustment instruction.
  • the operation unit 103 detects the user's operation on the size input operation interface and obtains the target window size set by the user input, so that the number of the target 1125 in the target image 1123 is only one.
  • the processor 118 compares the target window size with a preset size range. If the target window size is within the preset size range, the processor 118 controls the image sensor 112 to adjust the size of the window 1121 according to the target window size.
  • the image sensor 112 performs sensing and imaging processing on the light transmitted to the adjusted window 1121 through the lens 111 to obtain a target image for target acquisition.
  • the window 1121 of the image sensor 112 can be adjusted so that the number of targets in the window 1121 does not exceed one, which facilitates the positioning of the target acquisition device 10.
  • the target acquisition device 10 only needs to adjust the size of the window 1121 without changing the mechanical position and other parameters of the target acquisition device 10, in other words, there is no need to adjust and / or correct the positioning accuracy of the target acquisition device 10 To further improve the convenience of use of the target acquisition device 10.
  • the window 1121 of the image sensor 112 becomes smaller, the requirement for the distance between the targets 21 is reduced, that is, the distance between the two targets 21 can be appropriately reduced.
  • the target acquisition device 10 performs correction, more targets can be processed within the processing range to perform target correction, thereby improving the accuracy of the processing device.
  • FIG. 6 is a schematic diagram of an imaging device 31 according to a second embodiment of the present invention.
  • the imaging device 31 is substantially the same as the imaging device 11 provided in the first embodiment.
  • FIG. 7a is a schematic plan view of a variable aperture mechanism.
  • the camera device 31 further includes a variable aperture mechanism 317 detachably mounted on the lens 311.
  • the variable aperture mechanism 317 is disposed in front of the lens 311. .
  • the processor determines the target window size to which the image sensor needs to be adjusted according to the adjustment instruction, and controls the variable aperture mechanism 317 to adjust the aperture size to the size corresponding to the target window size, so that the window of the image sensor is adjusted to the Target window size.
  • variable aperture mechanism 317 has adjustable multiple aperture sizes for adjusting the amount of light entering the lens 311, thereby adjusting the window size of the image sensor.
  • the window of the image sensor is the first window size; when the variable aperture mechanism 317 is the second aperture size, the window of the image sensor is the second window size.
  • the variable aperture mechanism 317 includes an aperture frame 3171, a plurality of aperture blades 3173, and an adjusting member 3175.
  • the aperture frame 3171 is fixed to the front end of the lens 311, and a plurality of aperture blades 3173 are adjustably mounted on the aperture frame 3171, and the size of the gap formed between the plurality of aperture blades 3173 is the aperture size of the variable aperture mechanism 317, the adjusting member
  • the 3175 is used to drive the aperture blade 3173 to expand or accommodate the aperture frame 3171 and adjust the size of the gap formed between the plurality of aperture blades 3173 to adjust the aperture size of the variable aperture mechanism 317.
  • the outer diameter of the iris diaphragm mechanism 317 is A
  • the maximum inner diameter of the iris diaphragm mechanism 317 is B
  • the minimum inner diameter of the iris diaphragm mechanism 317 is C
  • the outer diameter of the lens 311 is D.
  • the variable aperture mechanism 317 is the first aperture size
  • the window of the image sensor is the first window size
  • the first window size is the default window size of the image sensor.
  • A is greater than D to reserve a certain space to add a fixing device and a buffer foam
  • the fixing device is used to fix the iris diaphragm mechanism 317 to the lens 311.
  • the buffer foam is used for buffering when the target acquisition device 30 is impacted; B is less than D, to avoid the normal window from being blocked without the need for blocking.
  • FIG. 8a is a schematic diagram of the window of the image sensor when the variable aperture mechanism is at the first aperture size.
  • the line 301 represents that the aperture size of the variable aperture mechanism 317 is the first aperture size.
  • the area shown by line 302 is the area of the window of the image sensor when it is in the first window size.
  • the diameter of the target is d.
  • the target 3125 is located at the center of the window.
  • FIG. 8b is a schematic diagram of the window of the image sensor when the variable aperture mechanism is at the second aperture size.
  • the line 303 represents that the aperture size of the variable aperture mechanism 317 is the second aperture size.
  • the area shown by line 305 is the area of the window at the second window size.
  • the minimum inner diameter C of the variable aperture mechanism 317 is equal to the sum of the diameter d of the target and the target acquisition error (grabbing error) ⁇ d of the target acquisition device.
  • the target acquisition error depends on the accuracy of the target acquisition device itself. For example, when the target acquisition device is normally used, when the processing platform moves to the window of the image sensor, the error ⁇ d between the acquired target position and the set position is usually small (commonly within 30 ⁇ m). However, during the calibration process of the camera device 31 of the target acquisition device, the distance between the two will be far apart. Therefore, you should refer to this value when selecting the minimum inner diameter of the variable aperture.
  • FIG. 8c is a schematic view of the window before and after adjusting the window size of the image sensor.
  • the iris diaphragm mechanism 317 is adjusted so that the diaphragm blade 3173 blocks part of the lens, and the size of the window is adjusted so that the number of targets 3125 in the window is one.
  • Let the initial size of the window be the size of the first window.
  • the area shown by line 302 is the area of the window at the first window size.
  • the area shown by line 305 is the area of the window after the size is adjusted.
  • FIG. 9 is a flowchart of a target acquisition control method of a target acquisition device according to an embodiment of the present invention.
  • the target acquisition control method includes the following steps:
  • Step 101 Adjust the window size of the image sensor.
  • adjusting the window size of the image sensor through the adjustment command input by the operation unit includes: determining the target window size to which the image sensor needs to be adjusted according to the adjustment command, and controlling the variable aperture mechanism to adjust the aperture size It is adjusted to a size corresponding to the target window size, so that the window of the image sensor is adjusted to the target window size.
  • step 102 the size-adjusted window of the image sensor is used for photosensitive and imaging processing, thereby obtaining a target image for target acquisition.
  • FIG. 10 is a flowchart of a target acquisition control method of a target acquisition device according to an embodiment of the present invention.
  • Target acquisition equipment is used in processing equipment to locate by acquiring targets on the workpiece.
  • the target control method includes the following steps:
  • Step 201 Control the image sensor to acquire the initial target image transmitted to the window through the lens.
  • the initial target image is displayed on the display unit.
  • the positioning operation is started.
  • the target acquisition device may be in a process of processing or a process of calibrating the target.
  • the target acquisition device may acquire the target for positioning.
  • Step 202 Determine whether the target acquisition device is positioned normally according to the initial target image. If the determination is negative, that is, the target acquisition device is abnormally positioned, perform step 203; , Then step 211 is executed.
  • the judging whether the target acquisition device is positioned properly based on the initial target image includes analyzing and processing the initial target image according to a target template to identify the target in the initial target image and Acquiring positioning information based on the identified target, and when acquiring positioning information based on the identified target fails, it is determined that the positioning of the target acquiring device is abnormal.
  • the positioning information is the position of the workpiece or the position of the target on the workpiece.
  • the target acquisition device performs processing according to the positioning information. When the target acquisition device is positioned normally, the number of targets in the window is one.
  • the target acquisition device processes the workpiece according to the positioning information.
  • the processor cannot determine which target on the workpiece to locate, and thus cannot perform image recognition on the target image to obtain the target and positioning information, As a result, the positioning of the target acquisition device is abnormal.
  • Step 203 Control an output device to output a first reminder message for reminding the user that the target acquisition device is located abnormally.
  • the output device includes a display unit.
  • Step 204 Control the output device to output a second reminder message for reminding the user whether to adjust the window size.
  • step 205 the operation part detects the user's operation action with respect to the second reminder message, and determines the user's intention to determine whether the window of the image sensor needs to be adjusted to the target window size.
  • the operation part detects an instruction operation input by the user for the second reminder message to indicate that the setting window size needs to be adjusted, an adjustment instruction is generated, step 206 is executed, and when the input for the second reminder message is detected Step 210 is executed when an instruction operation indicating that it is not necessary to adjust the setting window size is performed.
  • the operation unit detects a user's operation action on the second reminder message.
  • the operation part may be an input device such as a touch screen or a keyboard.
  • Step 206 Control the display unit to switch to the size input operation interface according to the adjustment instruction, so that the user can conveniently input the target window size.
  • Step 207 Obtain the target window size set by the user through the operation part.
  • the user inputs the set target window size through the operation unit, and the operation unit can detect the user's operation action on the size input operation interface and obtain the target window size set by the user.
  • Step 208 Compare the target window size with a preset size range to determine whether the target window size is within the preset size range. If the target window size is within the preset size range, step 209 is executed, and if the target window size is not within the preset size range, step 204 is returned.
  • step 203 can also be returned to.
  • Step 209 Adjust the window size of the image sensor according to the target window size.
  • the window size of the image sensor is controlled and adjusted according to the target window size.
  • the image sensor After performing step 209, returning to step 201, the image sensor performs sensing and imaging processing on the light transmitted to the resized window through the lens, thereby obtaining a target image for target acquisition.
  • Step 210 Control the target acquisition device to stop the target acquisition operation.
  • step 211 the target acquisition device performs processing operations.
  • a target acquisition control method for a target acquisition device includes the following steps: adjusting the window size of an image sensor; The light transmitted to the size-adjusted window is subjected to sensing and imaging processing, thereby obtaining a target image for target acquisition.
  • the operation part may be a knob, that is, the window size of the image sensor is directly adjusted by rotating the knob.
  • the window of the image sensor is adjustable, which is convenient for the target acquisition device to acquire the target image for target acquisition.
  • the target acquisition device since the target acquisition device only adjusts the size of the window without changing the mechanical position and other parameters of the target acquisition device, in other words, there is no need to adjust and / or correct the target positioning accuracy of the target acquisition device to further improve the target Get the convenience of using the device.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Studio Devices (AREA)

Abstract

一种靶标获取设备(10)，包括摄像装置镜头(111)及图像传感器(112)，图像传感器(112)具有尺寸可调的视窗（1121），图像传感器(112)用于对经镜头(111)传送至视窗(1121)的光进行感应及成像处理，从而得到用于进行靶标获取的目标影像。还公开一种靶标获取设备的靶标获取控制方法。

Description

靶标获取设备及靶标获取控制方法 技术领域
本发明涉及定位技术领域，尤其涉及一种靶标获取设备及靶标获取控制方法。
背景技术
激光加工生产中，通常利用靶标获取设备获取工件上的靶标对工件进行定位，以提高激光加工中的工作效率和加工精度。现有的图像传感器的视窗大小是固定不变的。然而，在某些应用场景中，例如，对靶标获取设备进行维护校正时，由于靶标尺寸较小且相邻靶标之间间距过小等原因，有时在所述视窗中可能会出现两个或两个以上的靶标，导致靶标获取设备抓靶定位异常，需对靶标获取设备进行移位等操作，使得所述视窗仅出现一个靶标。如此，容易影响靶标获取设备的定位效率。
发明内容
为解决上述问题，本发明实施例公开一种能够提高定位效率的靶标获取设备及靶标获取控制方法。
一种靶标获取设备，包括摄像装置，所述摄像装置包括镜头及图像传感器，所述图像传感器具有尺寸可调的视窗，所述图像传感器用于对经所述镜头传送至所述视窗的光进行感应及成像处理，从而得到用于进行靶标获取的目标影像。
一种靶标获取设备的靶标获取控制方法，其包括以下步骤：
调节图像传感器的视窗尺寸；
所述图像传感器对传送至调节尺寸后的视窗的光进行感应及成像处理，从而得到用于进行靶标获取的目标影像。
本发明提供的靶标获取设备及其靶标获取控制方法，所述图像传感器的视窗尺寸可调整，方便所述靶标获取设备获取靶标进行定位。此外，由于靶标获取设备仅调节视窗的尺寸，而无需改变靶标获取设备的机械位置及其他参数，换而言之，无需对靶标获取设备的抓靶定位精度进行调整及/或校正，进一步 提高靶标获取设备的使用便利性。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明第一实施方式提供的靶标获取设备的工作示意图。
图2为摄像装置的结构框图。
图3为靶标获取设备定位正常的情况下图像传感器的视窗的示意图。
图4为靶标获取设备定位异常的情况下图像传感器的视窗的一示意图。
图5为靶标获取设备的图像传感器的视窗尺寸调整前及调整后的示意图。
图6为本发明第二实施方式提供的一种靶标获取设备的示意图。
图7a为可变光圈机构的平面示意图。
图7b为可变光圈机构的侧视图。
图8a为可变光圈机构在第一光圈尺寸时图像传感器的视窗为第一视窗尺寸的示意图。
图8b为可变光圈机构在第二光圈尺寸时图像传感器的视窗为第二视窗尺寸的示意图。
图8c为所述图像传感器的视窗尺寸调整前及调整后的示意图。
图9为本发明实施方式提供的靶标获取设备的靶标获取控制方法的流程图。
图10为本发明一实施方式提供的靶标获取设备的靶标获取控制方法的流程图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
请参阅图1，图1为本发明第一实施方式提供的靶标获取设备10的工作示意图。靶标获取设备10可以为蚀刻设备、激光切割机等等。靶标获取设备10用于捕获工件20上的靶标21从而对工件20进行定位，以方便对工件10进行加工。本实施方式中，工件20上的靶标21为圆形。在其他实施例中，靶标21的形状可以为十字形等其他任何可以起到标记作用的几何图形。
靶标获取设备10包括摄像装置11。摄像装置11包括镜头111及图像传感器112。图像传感器112具有尺寸可调的视窗1121(图3所示)，图像传感器112用于对经镜头111传送至视窗1121的光进行感应及成像处理，从而得到用于进行靶标获取的目标影像1123。
本实施方式中，图像传感器112为电荷耦合元件(Charge Coupled Device,CCD)。在其他实施方式中，图像传感器112还可以为互补金属氧化物半导体(Complementary Meta-oxide Semiconductor，CMOS)传感器。摄像装置11还包括镜头光源114与转向棱镜115。转向棱镜115的输出端与镜头111连接，转向棱镜115朝向工件20。镜头光源114用于照射工件20，使影像通过转向棱镜115传到镜头111。
请参阅图2，图2为摄像装置11的结构框图。摄像装置11还包括存储器116及处理器118。图像传感器112与存储器116均与处理器118电性连接。
存储器116用于预存储靶标模板。本实施方式中，所述靶标模板预先生成并存储于存储器116内，所述靶标模板的数量为多个，不同的工件类型对应不同的靶标模板。
处理器118用于将图像传感器112捕获的目标影像1123显示于显示部101(如图1所示)。处理器118还用于根据通过操作部103(如图1所示)输入的调整指令确定图像传感器112需要调节到的目标视窗尺寸，并通过预设算法对图像传感器112的视窗尺寸进行设置而将图像传感器112的视窗尺寸调节为目标视窗尺寸。本实施方式中，所述预设算法包括图像识别算法，处理器118 通过所述图像识别算法从所述目标影像1123识别出靶标1125。
其中，所述输入的调整指令可包括目标视窗尺寸的值，或包括视窗尺寸的调节幅度和方向的信息。当输入的调整指令包括目标视窗尺寸的值时，根据所述调整指令，处理器118可以将视窗1121的尺寸直接调节到目标视窗尺寸。当输入的调整指令包括视窗尺寸的调节幅度和方向的信息时，处理器118也可以响应所述调整指令，通过调节幅度增大或缩小使视窗1121的尺寸逐步调节至目标视窗尺寸。
本实施方式中，显示部101为一显示屏，操作部103为触摸屏。操作部103与显示部101层叠设置，用户通过触控输入的方式输入调整指令及输入设置视窗1121的尺寸。设用户通过操作部103设置的新的视窗1121尺寸为目标视窗尺寸。在其他实施方式中，操作部103还可以为按键等操作结构。显示部101、操作部103与摄像装置11可以独立设置，显示部101、操作部103亦可以整合于摄像装置11上。
处理器118还用于根据所述目标影像1123判断靶标获取设备10是否定位正常，若处理器118判定靶标获取设备10定位异常，处理器118控制一输出装置输出第一提醒消息，用于提醒用户靶标获取设备10定位异常。本实施方式中，所述输出装置包括显示部101。可以理解，所述输出装置还可包括发声装置，例如喇叭、语音装置、蜂鸣器等。
具体的，请参阅图3，图3为靶标获取设备10定位正常的情况时图像传感器112的视窗1121示意图。在靶标获取设备10定位正常的情况时，视窗1121中的靶标1125的数量为1个。处理器118根据所述靶标模板对图像传感器112所捕获的目标影像1123进行分析处理，以识别出所述目标影像1123中的靶标1125并根据所述识别出的靶标1125获取定位信息。所述定位信息为工件20的位置，或靶标21位于工件20上的位置，所述靶标21位于工件20上的位置为工件20待加工的位置。所述靶标获取设备10根据所述定位信息对工件20进行加工作业，从而提高加工的精度及加工效率。
处理器118在根据所述识别出的靶标1125确定获取定位信息失败时，则判定所述靶标获取设备10定位异常。本实施方式中，请参阅图4，图4所示为靶标获取设备定位异常时图像传感器的视窗的一示意图，视窗1121内有靶 标1125，但靶标1125的数量超过1个，由于靶标1125的数量超过1个，处理器118识别出靶标1125但无法根据识别出的靶标1125确定对工件20上的哪个靶标21进行定位，进而无法通过图像识别靶标及根据所述靶标获取定位信息，从而导致靶标获取设备10获取定位信息失败。
在处理器118判定靶标获取设备10定位异常的情况下，处理器118还用于控制显示部101输出第一提醒消息。所述第一提醒消息用于提醒用户所述靶标获取设备10定位异常。
在处理器118判定靶标获取设备10定位异常的情况下，处理器118还用于控制显示部101输出第二提醒消息。所述第二提醒消息用于提醒用户是否需设置视窗尺寸。本实施方式中，在显示部101弹出所述第一提醒消息后，处理器118在预设时间阀值后控制显示部101弹出所述第二提醒消息。可以理解，处理器118也可控制显示部101同时输出所述第一提醒消息与所述第二提醒消息。
处理器118还用于在根据操作部103检测到的用户针对所述第二提醒消息的操作动作时，根据用户通过操作部103输入的所述调整指令调整视窗的尺寸。具体的，所述输出装置包括显示部101，操作部103为触摸屏，显示部101和操作部103组合成触摸显示屏，处理器118在操作部103检测到用户针对所述第二提醒消息输入的用于指示需调整设置视窗尺寸的指示操作时，控制显示部101切换至尺寸输入操作界面，方便用户进行目标视窗尺寸的输入操作。
操作部103检测用户在所述尺寸输入操作界面的操作动作，进而获取用户输入设置的目标视窗尺寸并将所述目标视窗尺寸发送至处理器118。处理器118还用于比较所述目标视窗尺寸与预设尺寸范围。若所述目标视窗尺寸在所述预设尺寸范围内，处理器118控制图像传感器112根据所述目标视窗尺寸调整视窗1121的尺寸。若所述目标视窗尺寸不在所述预设尺寸范围内，处理器118控制显示部101输出报警信号。所述输出报警信号可以为，处理器118控制显示部101输出的第二提醒消息。可以理解，所述报警信号也可以为其他信息，例如所述报警信号可以为第一提醒消息。
本实施方式中，请再次参阅图3，视窗1121为方形，视窗1121的第一方 边的尺寸设为d1，视窗1121与所述第一方边相邻的第二方边的尺寸设为d2，所述视窗尺寸表征为d1×d2。所述预设尺寸范围包括视窗最大尺寸及视窗最小尺寸，视窗1121的尺寸能够在所述预设尺寸范围之间进行调整。处理器118以视窗1121的中心位置作为基准点，所述中心位置为第一方边的中垂线与所述第二方边的中垂线的交叉位置，处理器118控制对视窗1121进行缩小或扩大。靶标获取设备10定位正常工作时，靶标1125位于视窗1121的中心位置。可以理解，不限定视窗1121为方形，视窗1121可以为其他形状，例如圆形。
以下举一例进行简单说明。请参阅图5，图5为靶标获取设备的图像传感器的视窗尺寸调整前及调整后的示意图。设视窗最大尺寸为10mm×10mm，视窗最小尺寸为3mm×3mm，设图像传感器112的视窗1121未调整前尺寸为所述第一视窗尺寸。当操作部103检测到d1的输入值为4及d2的输入值为4，所述目标视窗尺寸为4×4。由于4×4位于所述预设尺寸范围，处理器118判定所述目标视窗尺寸在所述预设尺寸范围，处理器118根据所述目标视窗尺寸调整所述视窗1121的尺寸。可见，调整前的视窗显示的目标影像包括两个靶标的影像，而经尺寸调整后的视窗1121显示的目标影像1123仅包括1个靶标1125。
当操作部103检测到用户针对所述第二提醒消息输入的用于指示不需调整设置视窗尺寸的指示操作时，操作部103生成用户不需调整设置视窗尺寸的不需调整指令至处理器118。处理器118根据所述不需调整指令控制靶标获取设备10停止作业。
使用靶标获取设备10时，靶标获取设备10与工件20进行初步定位，镜头光源114照射工件20，影像通过转向棱镜115传到镜头111。图像传感器112捕获初始目标影像，其中一靶标1125位于视窗1121的中心位置。
处理器118将所述初始目标影像显示于显示部101。处理器118根据所述初始目标影像判断靶标获取设备10是否定位正常。在处理器118判定靶标获取设备10定位异常的情况下，处理器118控制显示部101输出第一提醒消息及第二提醒消息。
靶标获取设备10定位异常时。用户通过操作部103输入调整指令，处理器118根据所述调整指令控制显示部101切换至尺寸输入操作界面。操作部103检测用户在所述尺寸输入操作界面的操作动作进而获取用户输入设置的目标视窗尺寸，以使目标影像1123中的靶标1125的数量仅1个。处理器118比较所述目标视窗尺寸与预设尺寸范围。若所述目标视窗尺寸在所述预设尺寸范围内，处理器118控制图像传感器112根据所述目标视窗尺寸调整视窗1121的尺寸。图像传感器112对经镜头111传送至调节尺寸后的视窗1121的光进行感应及成像处理，从而得到用于进行靶标获取的目标影像。
本实施方式提供的靶标获取设备10，图像传感器112的视窗1121可调整，使得所述视窗1121内的靶标的数量不超过1个，方便靶标获取设备10的抓靶定位。此外，靶标获取设备10仅通过调节视窗1121的尺寸，而无需改变靶标获取设备10的机械位置及其他参数，换而言之，无需对靶标获取设备10的抓靶定位精度进行调整及/或校正，进一步提高靶标获取设备10的使用便利性。当图像传感器112的视窗1121变小时，对于靶标21的间距的要求也就减小，即两个靶标21之间的距离可以适当变小。在所述靶标获取设备10进行校正时，在加工范围内可以加工更多的靶标来进行抓靶校正，提高加工设备精度。
请参阅图6，图6为本发明第二实施方式提供的一种摄像装置31的示意图。摄像装置31与第一实施方式提供的摄像装置11大致相同。请参阅图7a，图7a为可变光圈机构的平面示意图，不同在于，摄像装置31还包括可拆卸地装设于镜头311上的可变光圈机构317，可变光圈机构317设置于镜头311前面。处理器根据调整指令确定所述图像传感器需要调节到的目标视窗尺寸，并控制可变光圈机构317将光圈尺寸调节为与目标视窗尺寸相应的尺寸，而使得所述图像传感器的视窗调节为所述目标视窗尺寸。
请参阅图7b，图7b为可变光圈机构的侧视图。可变光圈机构317具可调节的多个光圈尺寸，用于调节进入镜头311的进光量，从而调整所述图像传感器的视窗尺寸。当可变光圈机构317为第一光圈尺寸时，所述图像传感器的视窗为第一视窗尺寸；当可变光圈机构317为第二光圈尺寸时，所述图像传感器的视窗为第二视窗尺寸。
请继续参阅图7a及7b，本实施方式中，可变光圈机构317包括光圈框3171、 多个光圈叶片3173及调节件3175。光圈框3171固定于镜头311的前端，多个光圈叶片3173能够调节地装设于光圈框3171上，多个光圈叶片3173之间形成的间隙的尺寸为可变光圈机构317的光圈尺寸，调节件3175用于驱动光圈叶片3173运动以使光圈框3171展开或收容于光圈框3171而调整多个光圈叶片3173之间形成的间隙的尺寸，从而调整可变光圈机构317的光圈大小。
设可变光圈机构317的外径为A，设可变光圈机构317的最大内径为B，可变光圈机构317的最小内径为C，设镜头311的外径为D。本实施方式中，当可变光圈机构317为第一光圈尺寸时，所述图像传感器的视窗为第一视窗尺寸，所述第一视窗尺寸为所述图像传感器的默认视窗尺寸。
其中，A大于D，以预留一定空间以增加固定装置以及缓冲泡棉，所述固定装置用于将可变光圈机构317固定于镜头311上。所述缓冲泡棉用于在靶标获取设备30受到冲击时进行缓冲；B小于D，避免在不需遮挡的情况下，正常视窗被遮蔽。
请参阅图8a，图8a为可变光圈机构在第一光圈尺寸时图像传感器的视窗为第一视窗尺寸的示意图。线301代表可变光圈机构317的光圈尺寸为第一光圈尺寸。线302所示区域为所述图像传感器的视窗在第一视窗尺寸时的区域。所述靶标的直径为d。靶标3125位于所述视窗的中心位置。
请参阅图8b，图8b为可变光圈机构在第二光圈尺寸时图像传感器的视窗为第二视窗尺寸的示意图。线303代表可变光圈机构317的光圈尺寸为第二光圈尺寸。线305所示区域为所述视窗在第二视窗尺寸时的区域。所述可变光圈机构317的最小内径C等于所述靶标的直径d与所述靶标获取设备的靶标获取误差(抓靶误差)Δd之和。靶标获取误差取决于所述靶标获取设备本身精度。例如所述靶标获取设备正常使用时，加工平台移动至所述图像传感器的视窗时，获取的靶标位置与设定位置误差Δd通常很小(常见30μm以内)。但所述靶标获取设备的摄像装置31校正过程中，两者距离会相距较远。所以选取可变光圈最小内径时需参考此值。
请参阅图8c，图8c为所述图像传感器的视窗尺寸调整前及调整后的视窗示意图。调节可变光圈机构317，使光圈叶片3173遮挡部分镜头，调节所述视窗的尺寸大小，使所述视窗中的靶标3125数量为1个。设所述视窗的初始 尺寸为第一视窗尺寸。线302所示区域为所述视窗在第一视窗尺寸时的区域。线305所示区域为所述视窗在调节尺寸后的区域。
请参阅图9，图9为本发明一实施方式提供的一种靶标获取设备的靶标获取控制方法流程图。所述靶标获取控制方法包括以下步骤：
步骤101，调节图像传感器的视窗尺寸。本实施方式中，通过操作部输入的调整指令调整所述图像传感器的视窗尺寸，包括：根据所述调整指令确定所述图像传感器需要调节到的目标视窗尺寸，并控制可变光圈机构将光圈尺寸调节为与目标视窗尺寸相应的尺寸，而使得所述图像传感器的视窗调节为所述目标视窗尺寸。
步骤102，通过所述图像传感器的调节尺寸后的视窗进行感光及成像处理，从而得到用于靶标获取的目标影像。
请参阅图10，图10为本发明一实施方式提供的一种靶标获取设备的靶标获取控制方法流程图。靶标获取设备应用于加工设备中，通过获取工件上的靶标进行定位。所述靶标控制方法包括以下步骤：
步骤201，控制图像传感器获取对经镜头传送至视窗的初始目标影像。
本实施方式中，所述初始目标影像显示于显示部。所述靶标获取设备初始化后进入定位作业。所述靶标获取设备可以处于加工进程或者抓靶校正的进程，所述靶标获取设备能够获取靶标进行定位作业即可。
步骤202，根据所述初始目标影像判断所述靶标获取设备是否定位正常，若判定为否即所述靶标获取设备定位异常时，则执行步骤203；若判定为是即所述靶标获取设备定位正常，则执行步骤211。
本实施方式中，所述根据所述初始目标影像判断所述靶标获取设备是否定位正常，包括：根据靶标模板对所述初始目标影像进行分析处理，以识别出所述初始目标影像中的靶标并根据所述识别出的靶标获取定位信息，根据所述识别出的靶标获取定位信息失败时，则判定所述靶标获取设备定位异常。所述定位信息为工件位置或靶标在工件上的位置。所述靶标获取设备根据所述定位信息进行加工。在所述靶标获取设备定位正常的情况时，所述视窗中的靶标的数量为1个。所述靶标获取设备根据所述定位信息对工件进行加工作业。但当所述图像传感器的视窗中的靶标的数量超过1个时，处理器无法确定对所述工件 上的哪个靶标进行定位，进而无法对所述目标影像进行图像识别获取得到靶标及定位信息，从而导致所述靶标获取设备定位异常。
步骤203，控制一输出装置输出第一提醒消息，用于提醒用户所述靶标获取设备定位异常。
本实施方式中，所述输出装置包括显示部。
步骤204，控制所述输出装置输出第二提醒消息，用于提醒用户是否需调整所述视窗尺寸。
步骤205，操作部检测用户针对所述第二提醒消息的操作动作，判断用户意图以确定所述图像传感器的视窗是否需调节到目标视窗尺寸。在所述操作部检测到用户针对所述第二提醒消息输入的用于指示需调整设置视窗尺寸的指示操作时生成调整指令，执行步骤206，当检测到针对所述第二提醒消息输入的用于指示不需调整设置视窗尺寸的指示操作时执行步骤210。
本实施方式中，所述操作部检测用户针对所述第二提醒消息的操作动作。所述操作部可为触摸屏、键盘等输入装置。
步骤206，根据所述调整指令控制所述显示部切换至尺寸输入操作界面，方便用户进行目标视窗尺寸的输入操作。
步骤207，获取用户通过所述操作部输入设置的目标视窗尺寸。本实施方式中，用户通过操作部输入设置目标视窗尺寸，所述操作部能够检测到用户在所述尺寸输入操作界面的操作动作进而获取用户输入设置的目标视窗尺寸。
步骤208，比较所述目标视窗尺寸与预设尺寸范围，判断所述目标视窗尺寸是否在所述预设尺寸范围。若所述目标视窗尺寸在所述预设尺寸范围内则执行步骤209，若所述目标视窗尺寸不在所述预设尺寸范围内则返回步骤204。
可以理解，若所述目标视窗尺寸不在所述预设尺寸范围内也可返回步骤203。
步骤209，根据所述目标视窗尺寸调节所述图像传感器的视窗尺寸。本实施方式中，根据所述目标视窗尺寸控制调节图像传感器的视窗尺寸。在执行完步骤209后，返回步骤201，所述图像传感器对经所述镜头传送至调节尺寸后的视窗的光进行感应及成像处理，从而得到用于靶标获取的目标影像。
步骤210，控制所述靶标获取设备停止靶标获取作业。
步骤211，靶标获取设备进行加工作业。
在其他实施方式中，步骤202-208、步骤210-211可以省略，一种靶标获取设备的靶标获取控制方法，其包括以下步骤：调节图像传感器的视窗尺寸；所述图像传感器对经所述镜头传送至调节尺寸后的视窗的光进行感应及成像处理，从而得到用于靶标获取的目标影像。
可以理解，所述操作部可以为旋钮，即通过旋转旋钮直接调节所述图像传感器的视窗尺寸。
本发明提供的靶标获取设备及其靶标获取控制方法，所述图像传感器的视窗可调整，方便所述靶标获取设备获取用于靶标获取的目标影像。此外，由于靶标获取设备仅调节视窗的尺寸，而无需改变靶标获取设备的机械位置及其他参数，换而言之，无需对靶标获取设备的抓靶定位精度进行调整及/或校正，进一步提高靶标获取设备的使用便利性。
以上所述是本发明的优选实施例，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。

Claims (21)

  1. 一种靶标获取设备，其特征在于，包括摄像装置，所述摄像装置包括镜头及图像传感器，所述图像传感器具有尺寸可调的视窗，所述图像传感器用于对经所述镜头传送至所述视窗的光进行感应及成像处理，从而得到用于进行靶标获取的目标影像。
  2. 如权利要求1所述的靶标获取设备，其特征在于，所述靶标获取设备还包括与所述图像传感器电性连接的处理器，所述处理器用于根据通过操作部输入的调整指令调整所述视窗的尺寸。
  3. 如权利要求2所述的靶标获取设备，其特征在于，所述处理器根据所述调整指令确定所述图像传感器需要调节到的目标视窗尺寸，并通过预设算法对所述图像传感器的视窗尺寸进行设置而将所述图像传感器的视窗尺寸调节为目标视窗尺寸。
  4. 如权利要求2所述的靶标获取设备，其特征在于，所述摄像装置还包括设于所述镜头前面的可变光圈机构，所述可变光圈机构具有可调节的多个光圈尺寸，所述处理器用于根据所述调整指令确定所述图像传感器需要调节到的目标视窗尺寸，并控制所述可变光圈机构将光圈尺寸调节为与目标视窗尺寸相应的尺寸，而使得所述图像传感器的视窗调节为所述目标视窗尺寸。
  5. 如权利要求4所述的靶标获取设备，其特征在于，所述可变光圈机构的外径大于所述镜头的外径，所述可变光圈机构的最大内径小于所述镜头的外径，所述可变光圈机构的最小内径大于所述靶标的直径。
  6. 如权利要求5所述的靶标获取设备，其特征在于，所述可变光圈机构的最小内径等于所述靶标的直径与所述靶标获取设备的靶标获取误差之和。
  7. 如权利要求4所述的靶标获取设备，其特征在于，所述可变光圈机构包括光圈框、多个光圈叶片及调节件，所述光圈框固定于所述镜头的前端，多个光圈叶片能够调节地装设于所述光圈框上，所述多个光圈叶片之间形成的间隙的尺寸为所述可变光圈机构的光圈尺寸，所述调节件用于驱动所述多个光圈叶片运动以从所述光圈框展开或收容于所述光圈框而调整多个光圈叶片之间形成的间隙的尺寸，从而调整所述可变光圈机构的光圈尺寸。
  8. 如权利要求3所述的靶标获取设备，其特征在于，所述处理器还用于根据所述目标影像判断所述靶标获取设备是否定位正常，若所述处理器判定所述靶标获取设备定位异常，所述处理器控制一输出装置输出第一提醒消息，用于提醒用户所述靶标获取设备定位异常。
  9. 如权利要求8所述的靶标获取设备，其特征在于，所述靶标获取设备还包括存储器，所述存储器用于预存靶标模板，所述处理器用于根据所述靶标模板对所述目标影像进行分析处理，以识别出所述目标影像中的靶标并根据所述识别出的靶标获取定位信息，所述处理器并在根据所述识别出的靶标确定获取定位信息失败时，则判定所述靶标获取设备定位异常。
  10. 如权利要求8所述的靶标获取设备，其特征在于，若所述处理器判定所述靶标获取设备定位异常，所述处理器还用于控制所述输出装置输出第二提醒消息，用于提醒用户是否需设置视窗尺寸，
    所述处理器并在所述操作部检测到用户针对所述第二提醒消息输入的用于指示需调整设置视窗尺寸的指示操作时，根据用户通过所述操作部输入的所述调整指令调整视窗的尺寸。
  11. 如权利要求10所述的靶标获取设备，其特征在于，所述输出装置包括显示部，所述操作部为触摸屏，所述显示部和所述操作部组合成触摸显示屏，所述处理器并在所述操作部检测到用户针对所述第二提醒消息输入的用于指示需调整设置视窗尺寸的指示操作时，控制所述显示部切换至尺寸输入操作界 面，方便用户进行目标视窗尺寸的输入操作。
  12. 如权利要求3所述的靶标获取设备，其特征在于，所述处理器比较所述目标视窗尺寸与预设尺寸范围，若所述目标视窗尺寸在所述预设尺寸范围内，所述处理器通过预设算法控制将所述图像传感器的视窗尺寸调整为所述目标视窗尺寸；若所述目标视窗尺寸不在所述预设尺寸范围内，所述处理器控制输出装置输出报警信息。
  13. 一种靶标获取设备的靶标获取控制方法，其包括以下步骤：
    调节图像传感器的视窗尺寸；
    通过所述图像传感器的调节尺寸后的视窗进行感光及成像处理，从而得到用于进行靶标获取的目标影像。
  14. 如权利要求13所述的靶标获取控制方法，其特征在于，所述调节图像传感器的视窗尺寸包括：通过操作部输入的调整指令调整所述图像传感器的视窗尺寸。
  15. 如权利要求14所述的靶标获取控制方法，其特征在于，所述通过操作部输入的调整指令调整所述图像传感器的视窗尺寸，包括：
    根据所述调整指令确定所述图像传感器需要调节到的目标视窗尺寸；
    通过预设算法对所述图像传感器的视窗尺寸进行设置而将所述图像传感器的视窗尺寸调节为目标视窗尺寸。
  16. 如权利要求15所述的靶标获取控制方法，其特征在于，所述根据所述调整指令确定所述图像传感器需要调节到的目标视窗尺寸后，所述通过预设算法对所述图像传感器的视窗尺寸进行设置而将所述图像传感器的视窗尺寸调节为目标视窗尺寸前，所述靶标获取控制方法还包括步骤：
    比较所述目标视窗尺寸与预设尺寸范围，若所述目标视窗尺寸在所述预设尺寸范围内，则执行所述通过预设算法对所述图像传感器的视窗尺寸进行设置而将 所述图像传感器的视窗尺寸调节为目标视窗尺寸。
  17. 如权利要求14所述的靶标获取控制方法，其特征在于，所述通过操作部输入的调整指令调整所述图像传感器的视窗尺寸，包括：
    根据所述调整指令确定所述图像传感器需要调节到的目标视窗尺寸，并控制位于所述图像传感器前方的可变光圈机构将光圈尺寸调节为与目标视窗尺寸相应的尺寸，而使得所述图像传感器的视窗调节为所述目标视窗尺寸。
  18. 如权利要求13所述的靶标获取控制方法，其特征在于，所述调节图像传感器的视窗尺寸之前，所述靶标获取控制方法还包括：
    所述图像传感器获取对经所述镜头传送至视窗的初始目标影像；
    根据所述初始目标影像判断所述靶标获取设备是否定位正常，若判定所述靶标获取设备为定位异常，则执行所述调节图像传感器的视窗尺寸。
  19. 如权利要求18所述的靶标获取控制方法，其特征在于，所述根据所述初始目标影像判断所述靶标获取设备是否定位正常，包括：
    根据靶标模板对所述初始目标影像进行分析处理，以识别出所述初始目标影像中的靶标并根据所述识别出的靶标获取定位信息，根据所述识别出的靶标获取定位信息失败时，则判定所述靶标获取设备定位异常。
  20. 如权利要求18所述的靶标获取控制方法，其特征在于，所述根据所述初始目标影像判断所述靶标获取设备是否定位正常之后，所述执行调节图像传感器的视窗尺寸之前，所述靶标获取控制方法还包括步骤：
    若判定所述靶标获取设备为定位异常，控制一输出装置输出第一提醒消息，用于提醒用户所述靶标获取设备定位异常。
  21. 如权利要求18所述的靶标获取控制方法，其特征在于，所述根据所述初始目标影像判断所述靶标获取设备是否定位正常之后，所述执行所述调节图像传感器的视窗尺寸之前，所述靶标获取控制方法还包括步骤： 控制输出装置输出第二提醒消息，用于提醒用户是否需调整所述视窗尺寸；操作部检测用户针对所述第二提醒消息的操作动作，当检测到用户针对所述第二提醒消息输入的用于指示需调整设置视窗尺寸的指示操作时生成调整指令，根据所述调整指令控制所述显示部切换至尺寸输入操作界面，方便用户输入目标视窗尺寸；
    获取用户通过所述操作部输入设置的目标视窗尺寸；
    所述调节图像传感器的视窗尺寸包括：根据所述目标视窗尺寸调节所述视窗尺寸。
PCT/CN2018/112226 2018-10-26 2018-10-26 靶标获取设备及靶标获取控制方法 WO2020082379A1 (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/CN2018/112226 WO2020082379A1 (zh) 2018-10-26 2018-10-26 靶标获取设备及靶标获取控制方法
CN201880003056.9A CN109564093B (zh) 2018-10-26 2018-10-26 靶标获取设备及靶标获取控制方法
CN201920181100.7U CN209982563U (zh) 2018-10-26 2019-01-31 靶标获取设备

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/112226 WO2020082379A1 (zh) 2018-10-26 2018-10-26 靶标获取设备及靶标获取控制方法

Publications (1)

Publication Number Publication Date
WO2020082379A1 true WO2020082379A1 (zh) 2020-04-30

Family

ID=65872639

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/112226 WO2020082379A1 (zh) 2018-10-26 2018-10-26 靶标获取设备及靶标获取控制方法

Country Status (2)

Country Link
CN (2) CN109564093B (zh)
WO (1) WO2020082379A1 (zh)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112116662A (zh) * 2019-06-20 2020-12-22 上海炬佑智能科技有限公司 摄像头校正用设备
CN115270275B (zh) * 2022-08-17 2023-11-24 佛山市南海区微高软件有限公司 一种窗户尺寸输入提醒方法、装置、电子设备及存储介质

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5629773A (en) * 1992-12-18 1997-05-13 Kabushiki Kaisha Komatsu Seisakusho Three-dimensional image measuring device
CN1261165A (zh) * 1999-01-15 2000-07-26 李亚林 一体化摄录像照相机及其专用胶卷
US6495818B1 (en) * 1998-07-21 2002-12-17 The Institute For Technology Development Microscopic hyperspectral imaging scanner
CN101150077A (zh) * 2007-10-31 2008-03-26 无锡凯尔科技有限公司 影像传感器的免smt封装方法
CN101473641A (zh) * 2006-06-20 2009-07-01 松下电器产业株式会社 相机系统
CN102478743A (zh) * 2010-11-26 2012-05-30 英业达股份有限公司 照相装置及其控制方法
CN102937816A (zh) * 2012-11-22 2013-02-20 四川华雁信息产业股份有限公司 摄像机预置位偏差校准方法及装置
CN103185720A (zh) * 2011-12-29 2013-07-03 宝山钢铁股份有限公司 铸坯下表面图像检测装置及检测方法
CN103464869A (zh) * 2013-08-26 2013-12-25 江苏科技大学 基于视觉传感的旋转电弧窄间隙mag焊焊缝偏差识别装置和方法
CN104070264A (zh) * 2014-06-23 2014-10-01 江苏科技大学 变坡口宽度的旋转电弧窄间隙mag焊自适应摆动装置和方法
CN106791656A (zh) * 2016-12-23 2017-05-31 北京汉邦高科数字技术股份有限公司 一种万向调节的双目全景摄像机及其工作方法
CN107370914A (zh) * 2016-05-12 2017-11-21 安讯士有限公司 摄像机
CN107588722A (zh) * 2017-09-11 2018-01-16 北京奥博泰科技有限公司 一种便携式激光光斑检测装置及系统
CN107731072A (zh) * 2017-11-08 2018-02-23 天津市海河中学 手持式小孔成像演示仪
CN207968660U (zh) * 2018-03-08 2018-10-12 杭州海康威视数字技术股份有限公司 摄像机及具有其的监控系统

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201097064Y (zh) * 2007-10-16 2008-08-06 微太科技股份有限公司 摄影镜头的光圈结构
JP6494016B2 (ja) * 2014-11-18 2019-04-03 セイコープレシジョン株式会社 絞り装置および光学機器
GB2565029A (en) * 2017-01-10 2019-02-06 Jt Networks Ltd Surveying target assembly

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5629773A (en) * 1992-12-18 1997-05-13 Kabushiki Kaisha Komatsu Seisakusho Three-dimensional image measuring device
US6495818B1 (en) * 1998-07-21 2002-12-17 The Institute For Technology Development Microscopic hyperspectral imaging scanner
CN1261165A (zh) * 1999-01-15 2000-07-26 李亚林 一体化摄录像照相机及其专用胶卷
CN101473641A (zh) * 2006-06-20 2009-07-01 松下电器产业株式会社 相机系统
CN101150077A (zh) * 2007-10-31 2008-03-26 无锡凯尔科技有限公司 影像传感器的免smt封装方法
CN102478743A (zh) * 2010-11-26 2012-05-30 英业达股份有限公司 照相装置及其控制方法
CN103185720A (zh) * 2011-12-29 2013-07-03 宝山钢铁股份有限公司 铸坯下表面图像检测装置及检测方法
CN102937816A (zh) * 2012-11-22 2013-02-20 四川华雁信息产业股份有限公司 摄像机预置位偏差校准方法及装置
CN103464869A (zh) * 2013-08-26 2013-12-25 江苏科技大学 基于视觉传感的旋转电弧窄间隙mag焊焊缝偏差识别装置和方法
CN104070264A (zh) * 2014-06-23 2014-10-01 江苏科技大学 变坡口宽度的旋转电弧窄间隙mag焊自适应摆动装置和方法
CN107370914A (zh) * 2016-05-12 2017-11-21 安讯士有限公司 摄像机
CN106791656A (zh) * 2016-12-23 2017-05-31 北京汉邦高科数字技术股份有限公司 一种万向调节的双目全景摄像机及其工作方法
CN107588722A (zh) * 2017-09-11 2018-01-16 北京奥博泰科技有限公司 一种便携式激光光斑检测装置及系统
CN107731072A (zh) * 2017-11-08 2018-02-23 天津市海河中学 手持式小孔成像演示仪
CN207968660U (zh) * 2018-03-08 2018-10-12 杭州海康威视数字技术股份有限公司 摄像机及具有其的监控系统

Also Published As

Publication number Publication date
CN209982563U (zh) 2020-01-21
CN109564093B (zh) 2022-01-28
CN109564093A (zh) 2019-04-02

Similar Documents

Publication Publication Date Title
WO2020082379A1 (zh) 靶标获取设备及靶标获取控制方法
JP5214511B2 (ja) 作業工程管理システム
JP6558064B2 (ja) 認証装置および画像形成装置
US10481472B2 (en) Method and device for projection parameter adjustment and projection apparatus
WO2013005857A1 (en) Projection display device, information processing device, projection display system, and program
JP2016143157A (ja) 画像処理装置、画像処理方法、及び画像処理システム
ITTO20070866A1 (it) Dispositivo di formazione di immagini e metodo di regolazione della messa a fuoco
US20190204914A1 (en) Line of sight measurement device
JP2016100636A (ja) 撮像装置
JP2016208252A (ja) 制御装置、光学機器、撮像装置および制御方法
KR20110029002A (ko) 얼굴 판단 장치 및 방법
JP6971582B2 (ja) 状態検出装置、状態検出方法、及びプログラム
JP6598033B2 (ja) 画像形成装置
JP2007228458A (ja) 撮影条件設定方法およびこれを用いた撮影装置
US20210321034A1 (en) Imaging apparatus
JP2020025170A (ja) 情報処理装置、検出方法、制御プログラム、記録媒体
JP2014056169A (ja) 焦点調節装置及び焦点調節方法
JP2022110229A (ja) 進入車両検出装置、検出方向調整方法およびプログラム
JP2017026770A (ja) レンズ鏡筒のマニュアルフォーカス制御、及び電子表示手段
JP2005039518A (ja) 投写型プロジェクタ
JP3859590B2 (ja) 投射装置及びそのフォーカス調整方法
JP2019179049A (ja) 撮像装置
JP2020067534A (ja) 撮像装置
JP7010004B2 (ja) 監視システムおよび撮像装置
JP5362981B2 (ja) 撮像装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18937811

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18937811

Country of ref document: EP

Kind code of ref document: A1