CN111780724A - Vision tool alignment device and method - Google Patents

Abstract

The invention discloses a visual tool alignment device and a visual tool alignment method, wherein the visual tool alignment device comprises the following steps: a first light source and a second light source disposed inside the housing; the first reflector group and the second reflector group are respectively arranged on two adjacent sides of the shell which are vertical to each other; the first light source, the first reflector group, the semi-transparent/semi-reflective mirror and the camera sequentially form a first light path, and light rays emitted by the first light source leave a first projection image on the camera through the first light path; the second light source, the second reflector group, the semi-transparent/semi-reflective mirror and the camera sequentially form a second light path, and a second projection image is left on the camera through the second light path by light rays emitted by the second light source; and the processing module is used for respectively calculating and obtaining the coordinate of the alignment of the visual tool according to the first projection image and the second projection image. According to the embodiment of the invention, the position of the tool to be aligned can be quickly obtained, quick automatic alignment is realized, the alignment precision and reliability are improved, the positioning precision and the working efficiency of tool alignment are improved, and the operation is simple, convenient and quick.

Description

A visual tool alignment device and method

technical field

The invention relates to the field of automatic alignment, in particular to a visual tool alignment device and method.

Background technique

With the increasing development of science and technology, the demand for tool alignment in various industries is increasing, and the requirements are getting higher and higher. In the production process of product manufacturing, processing, testing, etc., the application of alignment is more and more extensive, especially the needle alignment in the field of precision dispensing. Due to the increasing requirements for accuracy and speed, the existing methods have been difficult to meet. need.

The existing automatic tool alignment methods are mainly divided into contact tool alignment methods and non-contact tool alignment methods, which have the following disadvantages: contact alignment methods, such as configuring pressure on the required alignment tools (such as dispensing needles) The sensor, the tool needs to be aligned during the contact process, and the tool deformation error and wear or damage will occur, and the application in the actual production line has gradually decreased; the non-contact tool alignment mainly uses the fiber laser tool alignment method, the camera CCD camera tool Alignment method, and the use of fiber laser tool alignment method is difficult to obtain the correct position through one or several adjustments, which is inconvenient to operate, low in alignment accuracy, unable to achieve rapid alignment, high cost, long time consuming, and low efficiency. And other issues.

SUMMARY OF THE INVENTION

In view of this, a visual tool alignment device and method provided by the embodiment of the present invention can quickly obtain the position of the tool to be aligned, realize fast automatic alignment, greatly improve the accuracy and reliability of alignment, and improve the accuracy and reliability of alignment. The positioning accuracy and work efficiency of tool alignment are improved, and the operation is simple and quick.

The technical scheme adopted by the present invention to solve the above-mentioned technical problems is as follows:

According to an aspect of the embodiments of the present invention, a visual tool alignment device is provided, comprising a casing, a first light source, a second light source, a first reflector group, a second reflector group, a semi-transparent/half-reflector, and camera, processing module; of which:

The first light source and the second light source are arranged inside the casing, and the light emitted by the first light source and the second light source are perpendicular to each other;

The first reflector group and the second reflector group are respectively installed on two adjacent sides of the casing that are perpendicular to each other;

The first light source, the first reflecting mirror group, the semi-transparent/half-reflecting mirror and the camera sequentially form a first optical path, and the light emitted by the first light source enters the camera through the first optical path, leaving a first light path on the camera. a projected image;

The second light source, the second reflecting mirror group, the semi-transparent/half-reflecting mirror and the camera sequentially form a second optical path. The light emitted by the second light source enters the camera through the second optical path and leaves a second optical path on the camera. Two projected images;

The processing module calculates the first image coordinate u and the second image coordinate v according to the first projection image and the second projection image respectively, and obtains the first image coordinate u and the second image coordinate according to the first image coordinate u and the second image coordinate. v, calculate the xy coordinates of the visual tool alignment.

In a possible design, when the first light source is turned on, the second light source is turned off, and at this time, the first projection image is generated by the first light path; when the second light source is turned on, the first light source Off, at this time, the second projection image is generated by the second optical path.

In a possible design, the first reflector group includes a first reflector and a second reflector, and the reflecting surfaces of the first reflector and the second reflector are disposed opposite to each other, so that the light emitted by the first light source , after being reflected by the first mirror, it turns 90 degrees to reach the second mirror, and then turns 90 degrees after being reflected by the second mirror to reach the semi-transparent/semi-reflective mirror.

In a possible design, the first reflector and the second reflector are in the shape of a 45-degree triangular cone, so that the light emitted by the first light source is reflected by the first reflector and then bent by 90 degrees to reach the second reflector. The reflector is then turned 90 degrees by the second reflector to reach the semi-transparent/half-reflector.

In a possible design, the second reflector group includes a third reflector and a fourth reflector, and the reflecting surfaces of the third reflector and the fourth reflector are disposed opposite to each other, so that the light emitted by the second light source , after being reflected by the third mirror, it turns 90 degrees to reach the fourth mirror, and then turns 90 degrees after being reflected by the fourth mirror to reach the semi-transparent/semi-reflective mirror.

In a possible design, the third reflector and the fourth reflector are in the shape of a 45-degree triangular cone, so that the light emitted by the second light source is reflected by the third reflector and then bent by 90 degrees to reach the fourth reflector. The reflector is then turned 90 degrees by the fourth reflector to reach the semi-transparent/half-reflector.

In one possible design, the camera is a linear image sensor.

In a possible design, the linear image sensor is composed of a plurality of image sensors arranged in a linear manner, and two rows of linear image sensors are respectively arranged on the side elevation of the housing bottom plate at a vertical angle.

In a possible design, the light emitted by the first light source and/or the second light source just covers the linear image sensor.

According to another aspect of the embodiments of the present invention, a visual tool alignment method is provided, which is applied to the visual tool alignment device according to any embodiment of the present invention, and the method includes:

The light emitted by the first light source enters the camera through the first light path, and leaves a first projection image on the camera; wherein, the first light path is the first light source, the first reflecting mirror group, the semi-transparent/half-reflecting mirror and the The cameras are composed in sequence;

The light emitted by the second light source enters the camera through the second light path, and leaves a second projection image on the camera; wherein the second light path is the second light source, the second reflector group, the semi-transparent/half-reflector and the The cameras are composed in sequence;

Calculate the first image coordinate u and the second image coordinate v according to the first projection image and the second projection image, respectively;

According to the first image coordinate u and the second image coordinate v, the xy coordinates of the alignment of the visual tool are calculated.

Compared with the related art, an embodiment of the present invention provides a visual tool alignment device and method, including a housing, a first light source, a second light source, a first mirror group, a second mirror group, a semi-transparent/semi-transparent A reflector, a camera, and a processing module; wherein: the first light source and the second light source are arranged inside the casing, and the light emitted by the first light source and the second light source are perpendicular to each other; the first light source and the second light source are perpendicular to each other; The reflector group and the second reflector group are respectively installed on two adjacent sides of the casing that are perpendicular to each other; the first light source, the first reflector group, the semi-transparent/half-reflector and the camera are in sequence A first optical path is formed, the light emitted by the first light source enters the camera through the first optical path, and leaves a first projected image on the camera; the second light source, the second mirror group, semi-transmission/semi-reflection The mirror and the camera sequentially form a second optical path, the light emitted by the second light source enters the camera through the second optical path, and leaves a second projected image on the camera; the processing module, according to the first projected image and the From the second projection image, the first image coordinate u and the second image coordinate v are calculated respectively, and the xy coordinate of the visual tool alignment is calculated according to the first image coordinate u and the second image coordinate v. Through the embodiments of the present invention, by using the optical path design and the optical path structure composed of the semi-transparent/semi-reflecting mirror, combined with the camera visual positioning tool, the position of the required alignment tool (such as the dispensing needle) can be quickly obtained, and the fast automatic alignment can be realized. , which greatly improves the accuracy and reliability of alignment, and also indirectly improves the positioning accuracy and work efficiency of tool alignment, and the operation is simple and quick; Application, saves a camera, greatly reduces the cost of tool alignment, the cost is controllable, reduces the operation of manual confirmation, makes the visual tool alignment device more automatic, indirectly improves the work efficiency of the machine, and the alignment speed is also improved. In order to improve, it will not damage the alignment tools, prevent accidents and avoid unnecessary losses. It can solve the problems of easy wear of the required alignment tool, inconvenient operation, low alignment accuracy, inability to achieve rapid alignment, high cost, long time consumption, low efficiency and the like when using existing tools for alignment during tool alignment.

Description of drawings

1 is a schematic structural diagram of a visual tool alignment device according to an embodiment of the present invention;

2 is a schematic diagram of a visual tool alignment device in determining coordinates <U, V> provided by an embodiment of the present invention;

FIG. 3 is a schematic flowchart of a visual tool alignment device and method according to an embodiment of the present invention.

The realization, functional characteristics and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more comprehensible, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention, but not for limiting the present invention.

In the following description, suffixes such as 'module', 'component' or 'unit' used to represent elements are used only to facilitate the description of the present invention and have no specific meaning per se. Thus, "module", "component" or "unit" may be used interchangeably.

It should be noted that the terms "first", "second" and the like in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence.

In one embodiment, as shown in FIG. 1 and FIG. 2 , the present invention provides a visual tool alignment device, the device includes a housing 80 , a first light source 10 , a second light source 20 , and a first mirror group 30 , the second mirror group 40, the semi-transparent/half-mirror 50, the camera 60, and the processing module 70; wherein:

The first light source 10 and the second light source 20 are arranged inside the housing 80, and the light emitted by the first light source 10 and the second light source 20 are perpendicular to each other;

The first mirror group 30 and the second mirror group 40 are respectively installed on two adjacent sides of the casing 80 that are perpendicular to each other;

The first light source 10 , the first mirror group 30 , the semi-transparent/half-mirror 50 and the camera 60 form a first optical path 1 in sequence. The light emitted by the first light source 10 enters the camera through the first optical path 1 . 60, leaving a first projected image on the camera 60;

The second light source 20 , the second mirror group 40 , the semi-transparent/half-mirror 50 and the camera 60 form a second optical path 2 in sequence. The light emitted by the second light source 20 enters the camera through the second optical path 2 . 60, leaving a second projection image on the camera 60;

The processing module 70 calculates the first image coordinate u and the second image coordinate v according to the first projection image and the second projection image, respectively, and obtains the first image coordinate u and the second image coordinate according to the first image coordinate u and the second image. Coordinate v, calculate the xy coordinate of the visual tool alignment.

In this embodiment, by using the optical path design and the optical path structure composed of the semi-transparent/semi-reflecting mirror, combined with the camera visual positioning tool, the position of the required alignment tool (such as the dispensing needle) can be quickly obtained, and the fast automatic alignment can be realized , which greatly improves the accuracy and reliability of alignment, and also indirectly improves the positioning accuracy and work efficiency of tool alignment, and the operation is simple and quick; Application, saves a camera, greatly reduces the cost of tool alignment, the cost is controllable, reduces the operation of manual confirmation, makes the visual tool alignment device more automatic, indirectly improves the work efficiency of the machine, and the alignment speed is also improved. In order to improve, it will not damage the alignment tools, prevent accidents and avoid unnecessary losses. It can solve the problems of easy wear of the required alignment tool, inconvenient operation, low alignment accuracy, inability to achieve rapid alignment, high cost, long time consumption, low efficiency and the like when using existing tools for alignment during tool alignment.

In one embodiment, the first reflecting mirror group 30 includes a first reflecting mirror 33 and a second reflecting mirror 34, and the reflecting surfaces of the first reflecting mirror 33 and the second reflecting mirror 34 are disposed opposite to each other, and the first reflecting mirror 33 and the second reflecting mirror 34 are opposite to each other. The light source 10, the first reflecting mirror 33, the second reflecting mirror 34, the semi-transparent/half-reflecting mirror 50 and the camera 60 form the first optical path 1 in sequence, so that the light emitted by the first light source 10 can pass through the first optical path 1. An optical path 1 enters the camera 60 and leaves a first projection image on the camera 60, that is, the light emitted by the first light source 10 can be reflected by the first mirror 33 and then bent by 90 degrees to reach the second mirror 34, After being reflected by the second reflecting mirror 34 after being bent by 90 degrees, it reaches the semi-transparent/half-reflecting mirror 50 , and then enters the camera 60 after being reflected by the semi-transparent/semi-reflecting mirror 50 , leaving a first projection image on the camera 60 .

Preferably, the first reflecting mirror 33 and the second reflecting mirror 34 are in the shape of a 45-degree triangular pyramid, so that the light emitted by the first light source 1 can be bent by 90 degrees after being reflected by the first reflecting mirror 33 to reach the third The two reflecting mirrors 34 are then turned 90 degrees by the second reflecting mirror 34 to reach the semi-transparent/semi-reflecting mirror 7 .

The second reflector group 40 includes a third reflector 45 and a fourth reflector 46, and the reflecting surfaces of the third reflector 45 and the fourth reflector 46 are disposed opposite to each other. The three reflecting mirrors 45 , the fourth reflecting mirror 46 , the semi-transparent/half reflecting mirror 50 and the camera 60 form a second optical path 2 in sequence, so that the light emitted by the second light source 20 can enter the camera 60 through the second optical path 2 , leaving a second projection image on the camera 60, that is, the light emitted by the second light source 20 can be reflected by the third mirror 45 and then turned 90 degrees to reach the fourth mirror 46, and then pass through the fourth mirror 46. After 46, it turns 90 degrees after reflection and reaches the transflective/semi-reflecting mirror 50, and then enters the camera 60 after being reflected by the transflective/semi-reflecting mirror 50, leaving a second projection image on the camera 60.

Preferably, the third reflector 45 and the fourth reflector 46 are in the shape of a 45-degree triangular pyramid, so that the light emitted by the second light source 20 can be bent by 90 degrees after being reflected by the third reflector 45 to reach the third reflector 45 . The four reflecting mirrors 46 are then bent by 90 degrees after being reflected by the reflecting mirror 46 to reach the semi-transparent/semi-reflecting mirror 50 .

Further, when the first light source 10 is turned on, the second light source 20 is turned off. At this time, the first projection image is generated by the first light path 1 to form the first image coordinate u of the tool; the second light source 20 When turned on, the first light source 10 is turned off, and at this time, the second projection image is generated by the second optical path 2 to form the second image coordinate v of the tool.

In this embodiment, by using the optical path design of a mirror group composed of multiple mirrors and the optical path structure composed of semi-transparent/half-reflective mirrors, a camera is omitted, the cost of tool alignment is greatly reduced, and manual confirmation is reduced. The operation of the machine makes the visual tool alignment device more automatic, which indirectly improves the working efficiency of the machine, and the alignment speed is also improved. It will not damage the alignment tools, prevent accidents and avoid unnecessary losses.

In one embodiment, the camera 60 is a linear image sensor.

Preferably, the linear image sensor is composed of a plurality of image sensors arranged linearly, and the two rows of linear image sensors are respectively arranged on the side elevation of the base plate at a vertical angle.

Preferably, the first light source 10 and/or the second light source 20 can make the light emitted by the first light source 10 and/or the second light source 20 just right by using a lamp shade, a shading plate or a lifting plate and other functional tools. Covers the linear image sensor and does not affect other orientations.

In one embodiment, as shown in FIG. 2 , the processing module 70 calculates the first image coordinate u and the second image coordinate v according to the first projection image and the second projection image, respectively; including:

As the tool blocks light in the light path, a vertical stripe of shadows in the image is formed. When the abscissa is i and the ordinate is j, the gray value of each pixel in the image, the image width is m, and the height is n, there are:

For the first projection image of the first optical path 1, take Max(x) as the first image coordinate u; for the second projected image of the second optical path 2, take Max(x) as the second image coordinate v.

Any projection picture in the above two projection pictures, according to the ordinate projection, can be obtained:

The action of each measuring tool is defined as, in order, the two projection images (ie the first projection image and the second projection image) of the first optical path 1 and the second optical path 2 are taken respectively, and the first image coordinate u is obtained. and the second image coordinate v, the constructed coordinate system <u, v> is the pixel coordinate system of the measurement.

In one embodiment, the processing module 70, according to the first image coordinate u and the second image coordinate v, calculates and obtains the xy coordinates of the visual tool alignment; including:

Let x, y be the motor coordinates to be moved by the alignment tool (such as the dispensing needle). In actual measurement, the coordinates (u, v) need to be converted into coordinates (x, y), that is, <x, y> = f (u,v), where f(u,v) is a function.

In particular, coordinates (u, v) can be transformed into coordinates (x, y) using a mapping transformation according to the geometry of Figures 1 and 2 above. The detailed process is as follows:

given:

Among them, Pa is the parameter matrix, pa, pb are the known quantities for the completion of the calibration action, and w is the scaling parameter. Hab is the transformation matrix.

but:

p' _b = H a _b p _a

in:

In order to obtain h ₁₁ -h ₃₃ in the above formula, the motor-driven tool is moved to the specified 4 positions, that is, the calibration process, as shown in Figure 2, and the corresponding 4 groups of <x, y> and <u are obtained at the same time , v>, that is:

<x ₁ , y ₁ , w> ^T =H<u ₁ , v ₁ , 1>

<x ₂ , y ₂ , w> ^T =H<u ₂ , v ₂ , 1>

<x ₃ , y ₃ , w> ^T =H<u ₃ , v ₁ , 1>

<x ₄ , y ₄ , w> ^T =H<u ₄ , v ₁ , 1>

Among them, xi, yi are the motor coordinates recorded after four calibration actions; ui, vi are the pixel coordinates calculated by calibration, i=1, 2, 3, 4.

In particular, let h33=1, so 8 homogeneous equations can be listed from 4 equations, and 8 parameters can be obtained.

The formula for converting the final coordinates (u, v) to coordinates (x, y) is as follows:

p _b = H a _b p _a

in:

In this embodiment, the first image coordinate u and the second image coordinate v are respectively calculated and obtained by the processing module according to the first projection image and the second projection image, and the first image coordinate u and the second image coordinate v are calculated according to the first image coordinate u and the The second image coordinate v is calculated to obtain the xy coordinate of the alignment of the visual tool. The position of the tool to be aligned can be quickly obtained, and the automatic alignment can be realized quickly, which greatly improves the accuracy and reliability of the alignment, and also indirectly improves the positioning accuracy and work efficiency of the tool alignment, and the operation is simple and fast.

In one embodiment, as shown in FIG. 3 , the present invention provides a visual tool alignment method, the method comprising:

S1. Make the light emitted by the first light source enter the camera through the first optical path, and leave a first projected image on the camera; wherein, the first optical path is the first light source, the first reflecting mirror group, the semi-transmission/semi-reflection The mirror and the camera are composed in turn;

S2. Make the light emitted by the second light source enter the camera through the second light path, and leave a second projection image on the camera; wherein the second light path is the second light source, the second mirror group, the semi-transmission/semi-reflection The mirror and the camera are composed in turn;

S3, calculate the first image coordinate u and the second image coordinate v according to the first projection image and the second projection image respectively;

S4. According to the coordinate u of the first image and the coordinate v of the second image, calculate and obtain the xy coordinate of the alignment of the visual tool.

In this embodiment, by using the optical path design and the optical path structure composed of the semi-transparent/semi-reflecting mirror, combined with the camera visual positioning tool, the position of the required alignment tool (such as the dispensing needle) can be quickly obtained, and the fast automatic alignment can be realized , which greatly improves the accuracy and reliability of alignment, and also indirectly improves the positioning accuracy and work efficiency of tool alignment, and the operation is simple and quick; Application, saves a camera, greatly reduces the cost of tool alignment, the cost is controllable, reduces the operation of manual confirmation, makes the visual tool alignment device more automatic, indirectly improves the work efficiency of the machine, and the alignment speed is also improved. In order to improve, it will not damage the alignment tools, prevent accidents and avoid unnecessary losses. It can solve the problems of easy wear of the required alignment tool, inconvenient operation, low alignment accuracy, inability to achieve rapid alignment, high cost, long time consumption, low efficiency and the like when using existing tools for alignment during tool alignment.

In one embodiment, when the first light source is turned on, the second light source is turned off, and at this time, a first projection image is generated by the first light path to form the first image coordinate u of the tool; the second light source points When it is on, the first light source is turned off, and at this time, a second projection image is generated by the second optical path to form the second image coordinate v of the tool.

In one embodiment, in the step S3, the first image coordinate u and the second image coordinate v are obtained by calculating according to the first projection image and the second projection image, respectively; including:

As the tool blocks light in the light path, a vertical stripe of shadows in the image is formed. When the abscissa is i and the ordinate is j, the gray value of each pixel in the image, the image width is m, and the height is n, there are:

For the first projection image of the first optical path 1, take Max(x) as the first image coordinate u; for the second projected image of the second optical path 2, take Max(x) as the second image coordinate v.

Any projection picture in the above two projection pictures, according to the ordinate projection, can be obtained:

The action of each measuring tool is defined as, in order, the two projection images (ie the first projection image and the second projection image) of the first optical path 1 and the second optical path 2 are taken respectively, and the first image coordinate u is obtained. and the second image coordinate v, the constructed coordinate system <u, v> is the pixel coordinate system of the measurement.

In one embodiment, in the step S4, calculating the xy coordinates of the visual tool alignment according to the first image coordinate u and the second image coordinate v; including:

Let x, y be the motor coordinates to be moved by the alignment tool (such as the dispensing needle). In actual measurement, the coordinates (u, v) need to be converted into coordinates (x, y), that is, <x, y> = f (u,v), where f(u,v) is a function.

In particular, coordinates (u, v) can be transformed into coordinates (x, y) using a mapping transformation according to the geometry of Figures 1 and 2 above. The detailed process is as follows:

given:

Among them, Pa is the parameter matrix, pa, pb are the known quantities for the completion of the calibration action, and w is the scaling parameter. Hab is the transformation matrix.

but:

p' _b = H a _b p _a

in:

In order to obtain h ₁₁ -h ₃₃ in the above formula, the motor-driven tool is moved to the specified 4 positions, that is, the calibration process, as shown in Figure 2, and the corresponding 4 groups of <x, y> and <u are obtained at the same time , v>, that is:

<x ₁ , y ₁ , w> ^T =H<u ₁ , v ₁ , 1>

<x ₂ , y ₂ , w> ^T =H<u ₂ , v ₂ , 1>

<x ₃ , y ₃ , w> ^T =H<u ₃ , v ₁ , 1>

<x ₄ , y ₄ , w> ^T =H<u ₄ , v ₁ , 1>

Among them, xi, yi are the motor coordinates recorded after four calibration actions; ui, vi are the pixel coordinates calculated by calibration, i=1, 2, 3, 4.

In particular, let h33=1, so 8 homogeneous equations can be listed from 4 equations, and 8 parameters can be obtained.

The formula for converting the final coordinates (u, v) to coordinates (x, y) is as follows:

p' _b = H a _b p _a

in:

In this embodiment, the first image coordinate u and the second image coordinate v are obtained by calculating respectively according to the first projection image and the second projection image, and the first image coordinate u and the second image coordinate The image coordinate v is calculated to obtain the xy coordinate of the visual tool alignment. The position of the tool to be aligned can be quickly obtained, and the automatic alignment can be realized quickly, which greatly improves the accuracy and reliability of the alignment, and also indirectly improves the positioning accuracy and work efficiency of the tool alignment, and the operation is simple and fast.

It should be noted that the above method embodiments and apparatus embodiments belong to the same concept, and the specific implementation process is detailed in the apparatus embodiments, and the technical features in the apparatus embodiments are correspondingly applicable in the method embodiments, which will not be repeated here.

It should be noted that, herein, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements, It also includes other elements not expressly listed or inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages or disadvantages of the embodiments.

The embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific embodiments, which are merely illustrative rather than restrictive. Under the inspiration of the present invention, without departing from the scope of protection of the present invention and the claims, many forms can be made, which all belong to the protection of the present invention.

Claims (10)

1. A visual tool alignment device, characterized in that the device comprises a housing, a first light source, a second light source, a first reflecting mirror group, a second reflecting mirror group, a semi-transparent/half-reflecting mirror and a camera, processing module; where: The first light source and the second light source are arranged inside the casing, and the light emitted by the first light source and the second light source are perpendicular to each other; The first reflector group and the second reflector group are respectively installed on two adjacent sides of the casing that are perpendicular to each other; The first light source, the first reflecting mirror group, the semi-transparent/half-reflecting mirror and the camera sequentially form a first optical path, and the light emitted by the first light source enters the camera through the first optical path, leaving a first light path on the camera. a projected image; The second light source, the second reflecting mirror group, the semi-transparent/half-reflecting mirror and the camera sequentially form a second optical path. The light emitted by the second light source enters the camera through the second optical path and leaves a second optical path on the camera. Two projected images; The processing module, according to the first projection image and the second projection image, respectively, to obtain first image coordinates and second image coordinates, and according to the first image coordinates and the second image coordinates, calculate and obtain The coordinates of the visual tool alignment. 2 . The device according to claim 1 , wherein when the first light source is turned on, the second light source is turned off, and at this time, a first projection image is generated by the first light path; the second light source points When on, the first light source is turned off, and at this time, a second projection image is generated by the second light path. 3. The device according to claim 1, wherein the first reflecting mirror group comprises a first reflecting mirror and a second reflecting mirror, and the reflecting surfaces of the first reflecting mirror and the second reflecting mirror are disposed opposite to each other, The light emitted by the first light source is reflected by the first reflector and then bends 90 degrees to reach the second reflector, and then bends 90 degrees after being reflected by the second reflector to reach the semi-transparent/half-reflector. 4. The device according to claim 3, wherein the first reflecting mirror and the second reflecting mirror are in the shape of a 45-degree triangular pyramid, so that the light emitted by the first light source is reflected by the first reflecting mirror After turning 90 degrees, it reaches the second mirror, and then it is reflected by the second mirror after turning 90 degrees to reach the semi-transparent/half-reflecting mirror. 5. The device according to claim 1, wherein the second reflecting mirror group comprises a third reflecting mirror and a fourth reflecting mirror, and the reflecting surfaces of the third reflecting mirror and the fourth reflecting mirror are disposed opposite to each other, The light emitted by the second light source is reflected by the third reflector and then bends 90 degrees to reach the fourth reflector, and then bends 90 degrees after being reflected by the fourth reflector to reach the semi-transparent/half-reflector. 6. The device according to claim 5, wherein the third reflector and the fourth reflector are in the shape of a 45-degree triangular pyramid, so that the light emitted by the second light source is reflected by the third reflector After turning 90 degrees, it reaches the fourth reflector, and then after the fourth reflector, it turns 90 degrees after reflection to reach the semi-transparent/half-reflector. 7. The apparatus of claim 1, wherein the camera is a linear image sensor. 8 . The device according to claim 7 , wherein the linear image sensor is composed of a plurality of image sensors arranged linearly, and the two rows of linear image sensors are respectively arranged on the side elevation of the housing bottom plate at a vertical angle. 9 . 9. The apparatus according to claim 7 or 8, wherein the light emitted by the first light source and/or the second light source just covers the linear image sensor. 10. A visual tool alignment method, applied to the visual tool alignment device according to any one of claims 1 to 9, wherein the method comprises: The light emitted by the first light source enters the camera through the first light path, and leaves a first projection image on the camera; wherein, the first light path is the first light source, the first reflecting mirror group, the semi-transparent/half-reflecting mirror and the The cameras are composed in sequence; The light emitted by the second light source enters the camera through the second light path, and leaves a second projection image on the camera; wherein the second light path is the second light source, the second reflector group, the semi-transparent/half-reflector and the The cameras are composed in sequence; According to the first projection image and the second projection image, the first image coordinates and the second image coordinates are obtained by calculating respectively; According to the coordinates of the first image and the coordinates of the second image, the coordinates of the alignment of the visual tool are calculated.

Images