CN103290535A - Positioning device and method of overall puncture module equidistance densely-arrayed micro holes - Google Patents

Abstract

The invention discloses a positioning method of overall puncture module equidistance densely-arrayed micro holes. The method comprises the steps that a mini-sized CCD camera is demarcated to eliminate image distortion; a steel needle array of overall puncture is determined; binaryzation is conducted on an image and the image is signed, point-by-point traversal is conducted, then the distances between the center point of a cross cursor and four end points are controlled to be equal, and the fact that poisoning holes and needle distribution basic holes are coaxial; the relative position relationship between the needle falling holes and the needle distribution basic holes is calculated and obtained according to the relative position relationship between the needle falling holes and the positioning holes; a base plate is controlled to move transversely and longitudinally according to the steel needle array of the overall puncture, and therefore the positioning of the overall puncture module equidistance densely-arrayed micro holes is achieved. The positioning method of the overall puncture module equidistance densely-arrayed micro holes is used in the carbon fiber three dimensional fabric overall puncture technology, and the needle distribution basic holes are defined to the mini-sized holes on the upper left corner of a puncture template. The positioning method of the overall puncture module equidistance densely-arrayed micro holes provides necessary center position information of the needle distribution basic hole for a steel needle array distributing mechanism on the basis of the image and a cross-shaped laser, and puncture steel needles can be distributed conveniently.

Description

Whole puncture template equidistant solid matter micro hole positioner and method

Technical field

The present invention relates to the auxiliary equipment in a kind of carbon fiber three dimensional fabric puncture moulding process, relate in particular to a kind of calibration system that lays puncture template micro hole in the device for the whole puncture of carbon fiber three dimensional fabric technology puncture draw point array.

Background technology

Three dimensional fabric is the fiber reinforcing texture of the best performance that grows up over nearly 40 years, is mainly used in Aeronautics and Astronautics, automobile, medical treatment and new technical field.Whole puncture technique is a kind of forming technique of three dimensional fabric, and the draw point array of whole puncture refers to draw point is put into the thousands of puncture arrays that form to tens thousand of equidistant solid matter micro hole of puncture template.

Along with progress of science and technology, people progressively will be in the past technology such as manual flow process, technology and information, microelectronics, automation, precision manufacturing combine, to enhance productivity, to reduce labour intensity.

Compare with traditional manual operations, automated production equipment has operation accurately, and the production efficiency height reduces labour intensity, saves the advantage of production cost.For this reason, people have developed various automation equipments weaving for the carbon fiber three dimensional fabric.

The patent No. is that 200810064847.0 patent of invention discloses a kind of robot puncturing hole in endoscope operation localization method based on image and geometrical model, be used for scope (endoscope) operation robot and demarcate the position of endoscopic surgery puncturing hole, for robot provides necessary scope attitude information, be convenient to the operation to scope.The red spot shaped laser spot laser instrument of two different angle is installed below robot end's mechanical arm, simultaneously, the extension type connecting rod of mechanical arm tip is installed a miniature CCD camera endways, the below that makes the intersection point of two light drop on the miniature CCD camera camera lens is picture centre, measures puncturing hole indirectly with respect to the position coordinates of robot base's coordinate system by the intersection point of two light.This invention has improved the positioning accuracy of puncturing hole, save demarcation devices such as ccd video camera, avoid only utilizing video camera to carry out binocular and multiple target and regularly in the three-dimensional reconstruction process, take a large amount of resources for computer system, cause system works slow, make the puncturing hole calibration process rapidly, accurately, be conducive to reduce cost, be convenient to product development and production.Its weak point is: the restriction of Stimulated Light device facula area, only can be used for location is fast carried out accurately in the patient abdomen wall puncture hole of diameter about 10mm, be not suitable for and have diameter smaller or equal to 2mm, pitch of holes is the location of aperture plate less than the equidistant solid matter of 2.3mm.

Technical paper " based on the part vision location of preprocessing ccd image " (building-block machine and automation process technology 2010, be purpose with stamping-out array micropore on sheet brass 9:79-82), measuring precision with the raising preprocessing hole is approach, has introduced a kind of method of locating the location of workpiece based on the preprocessing hole ccd image.This localization method adopts the thought of locating behind the workpiece elder generation clamping: the one, and the clamping of workpiece on travelling carriage adopts one side three block modes to locate, and spring leaf steps up; The 2nd, the location (mould is fixed on the lathe) of the relative lathe of travelling carriage location benchmark.Finally finish workpiece earlier to the location of mould." vision location " be exactly with preprocessing hole as location feature, just locate the back at travelling carriage and determine the error between this hole and location benchmark by the hole ccd image and feed back the process that travelling carriage is relocated.Following process is benchmark with this hole circle heart, and strict size and positional precision relation is arranged with it.This method can effectively reduce position error, improves location efficiency.Positioning accuracy is by the accuracy guarantee of error measure, and then depends on the accuracy of detection of center, hole.Its weak point is, is used for microwell array stamping-out location, can not be used for the microwell array location that machined, and especially can not be used for orifice plate has frock can't adopt the location of the equidistant solid matter micro hole of puncture template that one side three block modes locate.

Summary of the invention

At above-mentioned prior art, the invention provides a kind of whole puncture template equidistant solid matter micro hole positioner and method, be used for the accurate location that the whole puncture of carbon fiber three dimensional fabric technology puncture draw point array lays puncture template micro hole position in the device, be based on image and cross laser device and lay the home position information that device provides necessary puncture template upper left corner micro hole for the draw point array, so that the laying of puncture draw point.

In order to solve the problems of the technologies described above, the equidistant solid matter micro hole of a kind of whole puncture template of the present invention positioner, comprise Industrial PC Computer, cloth pin mechanism, ruddiness cross laser device and miniature CCD camera, be fitted with video frequency collection card in the slot of described Industrial PC Computer, described cloth pin mechanism comprises base plate, but described base plate X-Y moves, described base plate is provided with locating hole, needle falling hole and a telescopic connecting rod, and the distance of described locating hole and needle falling hole is the integral multiple of puncture pattern hole spacing; Described miniature CCD camera is arranged on the end of telescopic connecting rod, and the tracking cross that described ruddiness cross laser device sends is positioned at the below of described miniature CCD camera, and the central point of this tracking cross is coaxial with described locating hole; A micro hole that belongs on the puncture template is cloth pin datum hole, described miniature CCD camera is connected to described Industrial PC Computer by data wire, described miniature CCD camera passes to video frequency collection card with the vision signal of passing the tracking cross of cloth pin datum hole on described locating hole and the puncture template that ruddiness cross laser device sends, described Industrial PC Computer is handled after this vision signal A/D conversion, thereby obtains relative position relation between needle falling hole and the cloth pin datum hole according to the relative position relation between needle falling hole and the locating hole.

Realize the equidistant solid matter micro hole of a kind of whole puncture template of the present invention localization method, adopt the equidistant solid matter micro hole of above-mentioned whole puncture template positioner, and may further comprise the steps:

Step 1, miniature CCD camera is demarcated, distort with removal of images;

The draw point array of step 2, definite whole puncture;

Step 3, image is carried out binaryzation and mark, and respectively from the traversal of four direction pointwise up and down, find out four end points of tracking cross and the Position Approximate of central point, the control base plate is done laterally, is vertically moved, until capturing a cross connected domain;

Step 4, pointwise traversal is found out the central point of tracking cross, the position of horizontal and vertical four end points, calculates the central point of tracking cross respectively to the distance of horizontal and vertical four end points;

Whether step 5, the central point of judging tracking cross equate to the distance of horizontal two end points, and control described base plate and laterally move, and equate until the central point of the tracking cross distance to horizontal two end points;

Whether the central point of judging tracking cross equate to the distance of vertical two end points, and control described base plate and do and vertically move, and equates until the distance of central point to vertical two end points;

Whether the distance of judging central point to four end points of tracking cross equates, if the distance of central point to four end points of tracking cross equates that the realization locating hole is coaxial with cloth pin datum hole; According to the relative position relation between needle falling hole and the locating hole, calculate the relative position relation between needle falling hole and the cloth pin datum hole;

The draw point array that step 6, the integral body of determining according to step 2 puncture, the control base plate is done laterally, is vertically moved, thereby realizes the location of the equidistant solid matter micro hole of whole puncture template.

Further, in the above-mentioned steps one, comprising:

Step 1-1, definition world coordinate system (X _W, Y _W, Z _W), camera coordinate system (X _c, Y _c, Z _c), the image pixel coordinate system (u, v) with image physical coordinates system (X, Y), wherein:

World coordinate system (X _W, Y _W, Z _W) being used for the position of any object in the describe environment, one of the space M is expressed as (X in the world coordinate system _W, Y _W, Z _W);

Camera coordinate system (X _c, Y _c, Z _c) initial point be defined in the photocentre of camera lens, Z _cAxle is optical axis, Z _cAxle and Y _cAxle is parallel to trunnion axis and the vertical axis of the plane of delineation respectively;

(u v) is unit with the pixel to the image pixel coordinate system, and u, v represent columns and the line number in the digital picture respectively;

(X is initial point with the optical axis of camera and the intersection point of the plane of delineation Y), and X-axis is parallel with the v axle with the u axle of image pixel coordinate system respectively with Y-axis in image physical coordinates system;

Step 1-2, set up the mathematical relationship between space object point and the corresponding picture point, comprising:

The conversion of world coordinate system and camera coordinate system;

The conversion of image coordinate system and camera coordinate system;

The conversion of world coordinate system and image coordinate system;

Obtain the image pixel coordinate of distortion error and undistorted error respectively according to image physical coordinates system and the relation of image coordinate system, utilize the distortion error model of non-linear imaging model to carry out distortion correction.

Further, in the above-mentioned steps two, the needle falling hole on the base plate is during with the horizontal relative motion of puncture template, or the coincidence parallel with the every capable aperture circle center line connecting of draw point array of needle falling hole center of circle movement locus; Needle falling hole is during with the vertical relative motion of puncture template, or the coincidence parallel with the circle center line connecting of the every row aperture of draw point array of needle falling hole deferent.

Further, in the step 6, establishing cloth pin datum hole is the aperture that is positioned at the puncture template upper left corner, and the centre-to-centre spacing of the equidistant solid matter micro hole of puncture template is r, and the distance of locating hole and needle falling hole is l _x=a * r, a are integer, if locating hole is coaxial with cloth pin datum hole, then the line in the first capable aperture center of circle of draw point array overlaps on the line of locating hole and needle falling hole and the template that punctures, thus draw needle falling hole (x, y) and the relative position relation of cloth pin datum hole be:

$\left\{\begin{array}{c}x=a\×r\\ y=0\end{array}\right.$

Among the present invention, because upper left corner micro hole is identical with the micro hole diameter dimension of other positions on the puncture template, the position of the locating hole on the puncture template on upper left corner micro hole and the cloth pin organization soleplate is coaxial, and it is all fixing with the pitch of holes of adjacent micro hole, be first aperture that begins to process in the puncture template micro hole machining process, this aperture is defined as datum hole in the process.After coaxial by upper left corner micro hole on locating hole and the puncture template, the position relation of upper left corner micro hole is the simplest on the needle falling hole of determining and the puncture template.Certainly, micro hole with other specific positions on the puncture template also can as the datum hole in the process, such as the aperture that is positioned at other 3 angles, but be earlier first overlength puncture needle to be put into upper left corner aperture on the puncture template during cloth pin, like this for cloth pin work most convenient, not so carry out draw point and lay also getting back to upper left corner aperture behind other specific position apertures location, therefore, will puncture on the template that to be defined as cloth pin datum hole be position the most easily in the cloth pin process to upper left corner aperture.

Compared with prior art, the invention has the beneficial effects as follows:

The present invention adopts miniature CCD camera and cross laser device to cooperate, whether the distance of center to four end points by judging tracking cross equates to determine the position coordinates of associated aperture on needle falling hole and the puncture template, not only improved the positioning accuracy of puncture template aperture, and avoided only utilizing in the prior art video camera to carry out binocular and multiple target regularly in the three-dimensional reconstruction process, taking a large amount of resources for computer system, cause system works problem slowly, make puncture template aperture calibration process rapid, accurately, be conducive to reduce cost, be convenient to product development and production.The present invention's can guarantee to puncture positional precision of array of orifices of template, the requirement when laying to satisfy draw point is applicable to the application scenario of locating behind the first clamping.In addition, the present invention saves the video acquisition element, and its structure and work control principle are simple, and compare under the prerequisite that can effectively use cost with the location of the traditional equidistant solid matter micro hole of puncture template relatively low.

Description of drawings

Fig. 1 is the formation simplified schematic diagram of the equidistant solid matter micro hole of the present invention's whole puncture template positioner;

Fig. 2 is the structural representation of the pin of cloth shown in Fig. 1 organization soleplate;

Fig. 3 is neutral line model of the present invention and each coordinate system graph of a relation;

Fig. 4 is the plane target drone image of vision measurement system;

Fig. 5 controls block diagram among the present invention;

Fig. 6 is the standard grid image field figure in the shooting process;

Fig. 7 is image tagged flow chart among the present invention;

Fig. 8 is the equidistant solid matter micro hole of the present invention's whole puncture template localization method flow chart.

The specific embodiment

Below in conjunction with the specific embodiment the present invention is done to describe in further detail.

As shown in Figure 1, the equidistant solid matter micro hole of a kind of whole puncture template of the present invention positioner, comprise Industrial PC Computer 0, cloth pin mechanism, ruddiness cross laser device 1 and miniature CCD camera 2, as shown in Figure 5, be fitted with video frequency collection card 01 in the slot of described Industrial PC Computer 0, described cloth pin mechanism comprises base plate 3, but described base plate 3 X-Y move, as shown in Figure 2, described base plate 3 is provided with locating hole, needle falling hole and a telescopic connecting rod, described locating hole is used for determining the position of described ruddiness cross laser device 1, the distance of described locating hole and needle falling hole is the integral multiple of puncture pattern hole spacing; Described miniature CCD camera 2 is arranged on the end of telescopic connecting rod 4, described ruddiness cross laser device 1 is installed in the top of base plate 3 and coaxial with locating hole, described miniature CCD camera 2 is installed in the below of base plate 3, the tracking cross that described ruddiness cross laser device 1 sends is positioned at the below of described miniature CCD camera 2, and the central point of this tracking cross is coaxial with described locating hole; A micro hole that belongs on the puncture template is cloth pin datum hole, as shown in Figure 5, described miniature CCD camera 2 is connected to described Industrial PC Computer 0 by data wire, described miniature CCD camera 2 passes to video frequency collection card 01 with the vision signal of passing the tracking cross of cloth pin datum hole on described locating hole and the puncture template that ruddiness cross laser device 1 sends, handle after 0 pair of this vision signal of the described Industrial PC Computer A/D conversion, thereby obtain relative position relation between needle falling hole and the cloth pin datum hole according to the relative position relation between needle falling hole and the locating hole.

The model of the ruddiness cross laser device 1 among the present invention is the LD-G650A23 of Kunshan rich industry electronics technology Co., Ltd, is of a size of Ф 12 * 35mm, or adopts the cross red laser of other producer's same sizes; The model of CCD camera 2 is SONY PH-TV1301, and the video frequency collection card model is a day quick VC4000, perhaps adopts the USB minisize pick-up head.

In the embodiment of the invention, upper left corner micro hole is identical with the micro hole diameter dimension of other positions on the puncture template, the position of the locating hole on the puncture template on upper left corner micro hole and the cloth pin organization soleplate is coaxial, and it is all fixing with the pitch of holes of adjacent micro hole, be first aperture that begins to process in the puncture template micro hole machining process, therefore this aperture be defined as the datum hole in the process.After coaxial by upper left corner micro hole on locating hole and the puncture template, the position relation of upper left corner micro hole is the simplest on the needle falling hole of determining and the puncture template.

Certainly, micro hole with other specific positions on the puncture template also can as the datum hole in the process, such as the aperture that is positioned at other 3 angles, but be earlier first overlength puncture needle to be put into upper left corner aperture on the puncture template during cloth pin, like this for cloth pin work most convenient, not so carry out draw point and lay also getting back to upper left corner aperture behind other specific position apertures location, therefore, will puncture on the template that to be defined as cloth pin datum hole be position the most easily in the cloth pin process to upper left corner aperture.

During the equidistant solid matter micro hole of puncture template location, the template that will puncture is packed in the draw point array and lays on the frock, guarantee that simultaneously the equidistant solid matter aperture line of centres of puncture template first row is parallel with the direction of motion of cloth pin organization soleplate, then the draw point array is laid tool locating, and then the location of the template upper left corner micro hole that punctures.

Utilize the equidistant solid matter micro hole of above-mentioned whole puncture template positioner to realize the method for the equidistant solid matter micro hole of whole puncture template location, as shown in Figure 8, may further comprise the steps:

Determine the position of ruddiness cross laser device 1 locating hole and needle falling hole:

As shown in Figure 2, the distance of the locating hole of ruddiness cross laser device 1 correspondence and needle falling hole is the integral multiple of puncture template aperture pitch of holes.If the centre-to-centre spacing of the equidistant solid matter micro hole of puncture template is r, the distance of locating hole and needle falling hole is l _x, then:

l _x=a×r （1）

If locating hole is coaxial with puncture template upper left corner aperture, locating hole and needle falling hole line and puncture template first are gone the aperture circle center line connecting and are overlapped, then needle falling hole (x, y) and the relative position relation of the template upper left corner aperture that punctures be:

$\left\{\begin{array}{c}x=a\×r\\ y=0\end{array}\right.$

Miniature CCD camera is demarcated, with the removal of images distortion, guarantee the miniature CCD camera accurate positioning and have higher positioning accuracy.

Commonly used to the following coordinate system in the vision measurement, its definition is as follows respectively, referring to Fig. 3:

(1) world coordinate system (X _W, Y _W, Z _W): be also referred to as absolute coordinate system, be used for the position of any object in the describe environment, one of the space M is expressed as (X in the world coordinate system _W, Y _W, Z _W).

(2) camera coordinate system (X _c, Y _c, Z _c): the initial point of this coordinate system is defined in the photocentre of camera lens.Z _cAxle is optical axis, Z _cAxle and Y _cAxle is parallel to trunnion axis and the vertical axis of the plane of delineation respectively.

(3) the image pixel coordinate system (u, v): be also referred to as frame and deposit coordinate, it is unit with the pixel, is initial point with the image upper left corner generally, uv represents columns and the line number in the digital picture respectively.

(4) image physical coordinates system (X, Y): its center is that the intersection point of optical axis and the plane of delineation is initial point, X-axis is parallel with the uv axle of image pixel coordinate system respectively with Y-axis.

After having defined above-mentioned various rectangular coordinate system in space, just can obtain the imaging of camera under linear model and describe, namely set up the mathematical relationship between space object point and the corresponding picture point.

1, the transformation relation of world coordinate system and camera coordinate system

Point in the world coordinate system can be described by a rotation transformation matrix R and a translation transformation vector t to the conversion process of camera coordinates system.If the homogeneous coordinates of certain M point under world coordinate system and camera coordinates system are respectively [X in the space _w, Y _w, Z _w] ^T[X _c, Y _c, Z _c] ^TSo, there is following relation:

$\left[\begin{array}{c}{x}_c\\ y_c\\ z_c\\ 1\end{array}\right]=\left[\begin{array}{cc}R& t\\ 0^r& 1\end{array}\right]\left[\begin{array}{c}{x}_w\\ y_w\\ z_w\\ 1\end{array}\right]---\left(2\right)$

Wherein, R is 3 * 3 quadrature unit matrixs, and t is the D translation vector, t=[t _x, t _y, t _z] ^T,

$R=\left[\begin{array}{ccc}{r}_1& r_2& r_3\\ r_4& r_5& r_6\\ r_7& r_8& r_9\end{array}\right].$

2, the transformation relation of image coordinate system and camera coordinate system

The picture point m coordinate of some M in the camera coordinate system in image physical coordinates system is:

$\left\{\begin{array}{c}x={\mathrm{fx}}_c/Z_c\\ y={\mathrm{fy}}_c/Z_c\end{array}\right.---\left(3\right)$

The image physical coordinates of following formula system is further changed into the image pixel coordinate is:

$\left\{\begin{array}{c}u=x/d_x+u_0\\ v=y/d_y+v_0\end{array}\right.---\left(4\right)$

Wherein, u ₀, v ₀Be the coordinate of picture centre (intersection point of optical axis and the plane of delineation), d _xAnd d _yBe respectively a pixel at the physical size of X and Y-direction.Can be obtained the transformation relation between the pixel coordinate of spatial point M and picture point m by formula (3) and formula (4), represent with homogeneous coordinates:

$z_c\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=\left[\begin{array}{ccc}1/d_x& 0& {\mathrm{<figure-callout\; id="0"\; label="u"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">u</figure-callout>}}_0\\ 0& 1/{\mathrm{<figure-callout\; id="0"\; label="d\; y\; v"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}_y& v_{}{}_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cccc}\mathrm{<figure-callout\; id="0"\; label="f"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">f</figure-callout>}& 0& 0& 0\\ 0& \mathrm{<figure-callout\; id="0"\; label="f"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">f</figure-callout>}& 0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{c}{x}_c\\ y_c\\ z_c\\ 1\end{array}\right]=\left[\begin{array}{cccc}f/d_x& 0& {\mathrm{<figure-callout\; id="0"\; label="u"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">u</figure-callout>}}_0& 0\\ 0& f/{\mathrm{<figure-callout\; id="0"\; label="d\; y\; v"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}_y& v_{}{}_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{c}{x}_c\\ y_c\\ z_c\\ 1\end{array}\right]---\left(5\right)$

Make α=f/d _y, β=f/d _yThen formula (5) is rewritten as:

$z_c\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=\left[\begin{array}{cccc}\mathrm{\&alpha;}& 0& {\mathrm{<figure-callout\; id="0"\; label="u"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">u</figure-callout>}}_0& 0\\ 0& \mathrm{\&beta;}& {\mathrm{<figure-callout\; id="0"\; label="v"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">v</figure-callout>}}_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{c}{x}_c\\ y_c\\ z_c\\ 1\end{array}\right]---\left(6\right)$

3. the transformation relation of world coordinate system and image coordinate system

With formula (2) bring into formula (6) just can obtain with regard to spatial point M in world coordinate system coordinate and the transformation relation between the coordinate of its picture point m in the image pixel coordinate system:

$z_c\left[\begin{array}{c}u\\ v\\ 1\end{array}\right]=\left[\begin{array}{cccc}\mathrm{\&alpha;}& \mathrm{\&gamma;}& {\mathrm{<figure-callout\; id="0"\; label="u"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">u</figure-callout>}}_0& 0\\ 0& \mathrm{\&beta;}& {\mathrm{<figure-callout\; id="0"\; label="v"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">v</figure-callout>}}_0& 0\\ 0& 0& 1& 0\end{array}\right]\left[\begin{array}{cc}R& t\\ 0^r& 1\end{array}\right]\left[\begin{array}{c}{x}_w\\ y_w\\ z_w\\ 1\end{array}\right]=\begin{array}{}\end{array}\left[\begin{array}{ccc}\mathrm{\&alpha;}& \mathrm{\&gamma;}& {\mathrm{<figure-callout\; id="0"\; label="u"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">u</figure-callout>}}_0\\ 0& \mathrm{\&beta;}& {\mathrm{<figure-callout\; id="0"\; label="v"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">v</figure-callout>}}_0\\ 0& 0& 1\end{array}\right]\left[\begin{array}{cc}R& t\end{array}\right]\left[\begin{array}{c}{x}_w\\ y_w\\ z_w\\ 1\end{array}\right]---\left(7\right)$

Following formula can be write a Chinese character in simplified form into: z _cU _Uv=AX _w(8)

Wherein, U _Uv=[u, v, 1] ^TAnd X _w=[x _w, y _w, z _w, 1] ^TBe respectively spatial point M=[x _w, y _w, z _w] ^rWith its picture point m=[u, v] ^THomogeneous coordinates, matrix A is 3 * 4 singular matrixs, is also referred to as projection matrix.

$A=\left[\begin{array}{cccc}{\mathrm{\&alpha;r}}_1+u_0{r}_7& {\mathrm{\&alpha;<figure-callout\; id="2"\; label="r"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">r</figure-callout>}}_2+u_0{r}_8& {\mathrm{\&alpha;<figure-callout\; id="3"\; label="r"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">r</figure-callout>}}_3+u_0{r}_9& {\mathrm{\&alpha;t}}_x+u_0{t}_z\\ {\mathrm{\&beta;r}}_4+v_0{r}_7& {\mathrm{\&beta;r}}_5+v_0{r}_8& {\mathrm{\&beta;r}}_6+v_0{r}_9& {\mathrm{\&beta;t}}_y+v_0{t}_z\\ r_7& r_8& r_9& t_z\end{array}\right]---\left(9\right)$

Because exist various error components in the actual imaging system, the actual imaging model does not satisfy linear relationship, but a kind of non-linear relation.For the camera lens of mid-focal length normal quality, the distortion error of 1-3 pixel sizes is arranged probably on the border of image.In order to obtain higher certainty of measurement, must adopt nonlinear model to come camera system is demarcated.The nonlinear distortion of describing picture point can be with following formula:

$\left\{\begin{array}{c}x=x_d+{\mathrm{\&delta;}}_x\\ y=y_d+{\mathrm{\&delta;}}_y\end{array}\right.---\left(10\right)$

Wherein, (x y) is the ideal coordinates of the picture point under the pin-hole model image-forming condition, (x _d, y _d) be the coordinate of picture point reality, δ _xWith δ _yBe respectively the distortion value on the sharp Y-direction of X, the position of it and picture point is relevant.

Camera calibration adopts the distortion error model of non-linear imaging model---Weng ' s peg model, and total distortion is expressed as:

$\left\{\begin{array}{c}{\mathrm{\&delta;}}_x=k_1{x}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)+{\mathrm{\&rho;}}_1({3\mathrm{<figure-callout\; id="3"\; label="x\; d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">x</figure-callout>}}_d^{}+y_d^2)+{2\mathrm{\&rho;}}_2{x}_d{y}_d+s_1({\mathrm{<figure-callout\; id="2"\; label="x\; d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">x</figure-callout>}}_d^{}+y_d^2)\\ {\mathrm{\&delta;}}_y=k_1{x}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)+{\mathrm{\&rho;}}_2({\mathrm{<figure-callout\; id="3"\; label="x\; d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">x</figure-callout>}}_d^{}+{3y}_d^2)+{2\mathrm{\&rho;}}_1{x}_d{y}_d+s_2({\mathrm{<figure-callout\; id="2"\; label="x\; d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">x</figure-callout>}}_d^{}+y_d^2)\end{array}\right.---\left(11\right)$

Make g ₁=s ₁+ ρ ₁, g ₂=s ₂+ ρ ₂, g ₃=2 ρ ₁, g ₄=2 ρ ₂, g ₅=k ₁Then have:

$\left\{\begin{array}{c}{\mathrm{\&delta;}}_x=(g_1+g_2)x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+g_4{x}_d{y}_d+g_1{\mathrm{<figure-callout\; id="2"\; label="y\; d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">y</figure-callout>}}_d^{}+g_5{x}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)\\ {\mathrm{\&delta;}}_y=g_2{x}_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+g_3{x}_d{y}_d+({\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">g</figure-callout>}}_2+g_4){\mathrm{<figure-callout\; id="2"\; label="y\; d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">y</figure-callout>}}_d^{}+g_5{y}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)\end{array}\right.---\left(12\right)$

(12) are brought into (10) to get:

$\left\{\begin{array}{c}x=x_d+(g_1+g_3)x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+g_4{x}_d{y}_d+g_1{\mathrm{<figure-callout\; id="2"\; label="y\; d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">y</figure-callout>}}_d^{}+g_5{x}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)\\ y=y_d+g_2{x}_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+g_3{x}_d{y}_d+({\mathrm{<figure-callout\; id="2"\; label="g"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">g</figure-callout>}}_2+g_4){\mathrm{<figure-callout\; id="2"\; label="y\; d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">y</figure-callout>}}_d^{}+g_5{y}_d(x_{\mathrm{<figure-callout\; id="2"\; label="d"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">d</figure-callout>}}^2+y_d^2)\end{array}---\left(13\right)\right.$

Following formula is the distortion error model of non-linear imaging model, and camera calibration utilizes above-mentioned model to carry out distortion correction.

The video camera process is: take the space lattice image of the known world coordinate, obtain the image coordinate of corresponding picture point, calculate inside and outside parameter then.Use the method for fractional steps to find the solution.At first with approximate free from error grid image field of the mesh node match of extracting; Then according to the grid image field that simulates and the relation of space actual grid, find the solution with (8) formula, can solve the projection matrix of video camera thus.According to match the grid field of coming out and the nodal value that extracts the aberration correction factor is found the solution at last.

In vision measurement system, adopt plane target drone as demarcating thing (referring to Fig. 4), this target has a series of even distribution, the straight line of square crossing, the relative position of the intersection point between the line is known.And the X-axis of world coordinate system is the horizontal direction of this target, and Y-axis is the vertical direction of this target, and its initial point is positioned at plane target drone.Obviously for any point on the plane target drone Z is arranged _w=0.

Before demarcation, to do following adjustment to system:

A. adjust plane target drone, make the line of the mutual disposal on the target be parallel to X respectively _wAxle and Y _wAxle.

B. adjust camera, make its primary optical axis direction as far as possible perpendicular to demarcating the plane.

C. adjust miniature CCD camera and become level.

Match standard grid (referring to Fig. 6) can be expressed as follows respectively the straight line of horizontal direction and vertical direction in the grid image field shown in Figure 6:

y=ia+b ₀ （14）

x=ia+b ₁ （15）

Wherein a is the interval between line and the line, b ₀, b ₁Be side-play amount, i is the label of grid lines.

Adopt least square method to calculate a, b ₀, b ₁Etc. parameter, specific practice is as follows:

Get k horizontal line and the l bar vertical line of image central region, note:

$f(a,{\mathrm{<figure-callout\; id="0"\; label="b"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">b</figure-callout>}}_0,b_1)=\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}{(\mathrm{ia}+b_0-y_{\mathrm{ij}})}^2+\underset{i=1}{\overset{l}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{k}{\mathrm{\&Sigma;}}}{(\mathrm{ia}+b_1-x_{\mathrm{ij}})}^2=\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}[{(\mathrm{ia}+b_0-y_{\mathrm{ij}})}^2+{(\mathrm{ja}+b_1-x_{\mathrm{ij}})}^2]$

（16）

Ask partial derivative respectively, get 3 equations:

$\frac{\mathrm{df}}{\mathrm{da}}=2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}[(\mathrm{ia}+b_0-y_{\mathrm{ij}})+(\mathrm{ja}+b_1-x_{\mathrm{ij}})j]$

$=\frac{1}{3}\mathrm{kl}[(k+1)(2k+1)+(l+1)(2l+1)]a+\mathrm{kl}(k+1){\mathrm{<figure-callout\; id="0"\; label="b"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">b</figure-callout>}}_0+\mathrm{kl}(l+1)b_1-2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}({\mathrm{iy}}_{\mathrm{ij}}+{\mathrm{jx}}_{\mathrm{ij}})=0$

$\frac{\mathrm{<figure-callout\; id="0"\; label="df\; db"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">df</figure-callout>}}{{\mathrm{db}}_{}}=2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}(\mathrm{ia}+b_0-y_{\mathrm{ij}})=\mathrm{kl}(k+l)-2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}{y}_{\mathrm{ij}}=0$

$\frac{\mathrm{df}}{{\mathrm{db}}_1}=2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}(\mathrm{ja}+b_1-y_{\mathrm{ij}})=\mathrm{kl}(k+l)-2\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}{y}_{\mathrm{ij}}=0$

Solve an equation

WF=B （17）

Wherein:

$W=\left[\begin{array}{ccc}\frac{1}{3}[(k+1)(2k+1)+(l+1)(2l+1)]& k+1& l+1\\ k+1& 2& 0\\ l+1& 0& 2\end{array}\right],$ $F=\left[\begin{array}{c}a\\ b_0\\ b_1\end{array}\right],$ $B=\frac{2}{\mathrm{kl}}\left[\begin{array}{c}\underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}({\mathrm{iy}}_{\mathrm{ij}}+{\mathrm{jx}}_{\mathrm{ij}})\\ \underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}{y}_{\mathrm{ij}}\\ \underset{i=1}{\overset{k}{\mathrm{\&Sigma;}}}\underset{j=1}{\overset{l}{\mathrm{\&Sigma;}}}{x}_{\mathrm{ij}}\end{array}\right]$

Can obtain the intersection point of whole grid thus.

Find the solution the camera position parameter.

(8) formula is launched cancellation Z _cHave:

$\left\{\begin{array}{c}(u-u_0)x_w{r}_7+(u-u_0)y_w{r}_8+(u-u_0)z_w{r}_9+(u-u_0)t_z-x_w{\mathrm{\&alpha;r}}_1-y_w{\mathrm{\&alpha;r}}_2-z_w{\mathrm{\&alpha;r}}_3-{\mathrm{\&alpha;t}}_x=0\\ (v-v_0)x_w{r}_7+(v-v_0)y_w{r}_8+(v-v_0)z_w{r}_9+(v-v_0)t_z-x_w{\mathrm{\&beta;r}}_4-y_w{\mathrm{\&beta;r}}_5-z_w{\mathrm{\&beta;r}}_6-{\mathrm{\&beta;t}}_y=0\end{array}\right.---\left(18\right)$

Suppose as next group intermediate variable:

$\left\{\begin{array}{c}{q}_1={\mathrm{\&alpha;r}}_1+u_0{r}_7\\ {\mathrm{<figure-callout\; id="2"\; label="q"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">q</figure-callout>}}_2={\mathrm{\&alpha;<figure-callout\; id="2"\; label="r"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">r</figure-callout>}}_2+u_0{r}_8\\ {\mathrm{<figure-callout\; id="3"\; label="q"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">q</figure-callout>}}_3={\mathrm{\&alpha;<figure-callout\; id="3"\; label="r"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">r</figure-callout>}}_3+u_{0_{}}r9\\ q_4={\mathrm{\&beta;r}}_4+v_0{r}_7\\ q_5={\mathrm{\&beta;r}}_5+v_0{r}_8\\ q_6={\mathrm{\&beta;r}}_6+v_0{r}_9\\ q_7=r_7\\ q_8=r_8\\ q_9=r_9\\ q_{10}={\mathrm{\&alpha;t}}_x+u_0{t}_z\\ q_{11}={\mathrm{\&beta;t}}_y+v_0{t}_z\\ q_{12}=t_z\end{array}\right.---\left(19\right)$

(19) formula can be expressed as: HQ=0 (20)

Wherein:

$H=\left[\begin{array}{cccccccccccc}-x_w& {-y}_w& -{\mathrm{<figure-callout\; id="0"\; label="z\; w"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">z</figure-callout>}}_w& 0& 0& 0& {\mathrm{ux}}_w& {\mathrm{uy}}_w& {\mathrm{uz}}_w& -1& 0& \mathrm{<figure-callout\; id="0"\; label="u"\; filenames="HDA00003320164900011.png,HDA00003320164900031.png"\; state="\{\{state\}\}">u</figure-callout>}\\ 0& 0& 0& -x_w& -y_w& -z_w& {\mathrm{vx}}_w& {\mathrm{vy}}_w& {\mathrm{vz}}_w& 0& -1& v\end{array}\right],$

$Q={\left[\begin{array}{cccccccccccc}{q}_1& q_2& q_3& q_4& q_5& q_6& q_7& q_8& q_9& q_{10}& q_{11}& q_{12}\end{array}\right]}^r$

Because (20) formula is a homogeneous equation, it has infinite many groups to separate, and required camera parameters satisfies following two conditions:

(1) because r ₇, r ₈, r ₉Be the row vector of last column of orthogonal matrix, it should be a unit vector, so $q_7^2+q_8^2+q_9^2=1.$

(2) q ₁₂Symbol should adapt with the position of video camera in world coordinates, if it is at Z _wThe forward of axle is being then for just, otherwise for bearing, just is taken as in this system.Answer this, after Q determined, actual camera parameters should be:

$N=\frac{Q}{\sqrt{q_7^2+q_8^2+q_9^2}}$

Need just whole solution as can be known of a particular solution for only finding the solution of (20) formula, can suppose the value of a known unknown number earlier, ask all the other unknown numbers, namely get a particular solution, because of world coordinate system initial point General Definition on measuring object, t _xValue be non-vanishing, so can suppose q ₁₂=1, Q is found the solution, by the value on (20) realistic border of formula, under this hypothesis, (20) formula can turn to again:

H′Q′+q=0 （21）

Wherein H ' is preceding 11 row of H, and q is last 1 row of H, and Q ' is 11 variablees in front of Q.Can solve Q ' according to least square method, then can try to achieve the Q value, try to achieve camera parameters according to (19) formula again.

Relation by image physical coordinates and image coordinate has:

x _d=(u _d-u ₀)dx=(u-u ₀)f/α

y _d=(v _d-v ₀)dy=(v-v ₀)f/β

x=(u-u ₀)dx=(u-u ₀)f/α

y=(v-v ₀)dy=(v-v ₀)f/β

X wherein _d, y _dAnd x, y represents to have the image pixel coordinate of distortion error and undistorted error respectively, and substitution formula (13) obtains error coefficient g _iLinear equation, can find the solution and obtain, can demarcate camera according to above parameter.

Carry out puncture template micro hole finder, determine the draw point array of whole puncture.Needle falling hole on the base plate is during with the horizontal relative motion of puncture template, or the coincidence parallel with the every capable aperture circle center line connecting of draw point array of needle falling hole center of circle movement locus; Needle falling hole is during with the vertical relative motion of puncture template, or the coincidence parallel with the circle center line connecting of the every row aperture of draw point array of needle falling hole deferent.

Calculate the relative position relation between needle falling hole and the cloth pin datum hole.

Image is carried out binaryzation, and mark (referring to Fig. 7), then respectively from four direction pointwise up and down traversal, find out four end points of tracking cross and the Position Approximate of central point, namely do laterally, vertically move by the control base plate, till capturing a cross connected domain; Again then, pointwise traversal is found out the central point of tracking cross, the position of horizontal and vertical four end points, calculates the central point of tracking cross respectively to the distance of horizontal and vertical four end points; Whether the central point of judging tracking cross equate to the distance of horizontal two end points, and control described base plate and laterally move, and equates until the central point of the tracking cross distance to horizontal two end points; Whether the central point of judging tracking cross is equal to the distance of vertical two end points, and control described base plate and do and vertically move, equate until the distance of central point to vertical two end points, the distance of central point to four end points equates then to prove that the base plate locating hole is coaxial with puncture template upper left corner aperture, realizes that locating hole is coaxial with cloth pin datum hole; According to the relative position relation between needle falling hole and the locating hole, calculate the relative position relation between needle falling hole and the cloth pin datum hole; The CCD camera is demarcated the removal of images distortion only carry out once after whole system is set up, each location does not need to demarcate again later on.

According to the draw point array of integral body puncture, the control base plate is done laterally, is vertically moved, thereby realizes the location of the equidistant solid matter micro hole of whole puncture template.

Although top invention has been described in conjunction with figure; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; under the situation that does not break away from aim of the present invention, can also make a lot of distortion, these all belong within the protection of the present invention.

Claims (5)

1. the equidistant solid matter micro hole of a whole puncture template positioner comprises Industrial PC Computer, cloth pin mechanism, and ruddiness cross laser device and miniature CCD camera is characterized in that,

Be fitted with video frequency collection card in the slot of described Industrial PC Computer, described cloth pin mechanism comprises base plate, but described base plate X-Y moves, and described base plate is provided with locating hole, needle falling hole and a telescopic connecting rod, and the distance of described locating hole and needle falling hole is the integral multiple of puncture pattern hole spacing; Described miniature CCD camera is arranged on the end of telescopic connecting rod, and the tracking cross that described ruddiness cross laser device sends is positioned at the below of described miniature CCD camera, and the central point of this tracking cross is coaxial with described locating hole; A micro hole that belongs on the puncture template is cloth pin datum hole, described miniature CCD camera is connected to described Industrial PC Computer by data wire, described miniature CCD camera passes to video frequency collection card with the vision signal of passing the tracking cross of cloth pin datum hole on described locating hole and the puncture template that ruddiness cross laser device sends, described Industrial PC Computer is handled after this vision signal A/D conversion, thereby obtains relative position relation between needle falling hole and the cloth pin datum hole according to the relative position relation between needle falling hole and the locating hole.

2. the equidistant solid matter micro hole of a whole puncture template localization method is characterized in that, adopts the equidistant solid matter micro hole of whole puncture template positioner according to claim 1, and may further comprise the steps:

Step 1, miniature CCD camera is demarcated, distort with removal of images;

The draw point array of step 2, definite whole puncture;

Step 3, image is carried out binaryzation and mark, and respectively from the traversal of four direction pointwise up and down, find out four end points of tracking cross and the Position Approximate of central point, the control base plate is done laterally, is vertically moved, until capturing a cross connected domain;

Step 4, pointwise traversal is found out the central point of tracking cross, the position of horizontal and vertical four end points, calculates the central point of tracking cross respectively to the distance of horizontal and vertical four end points;

Whether step 5, the central point of judging tracking cross equate to the distance of horizontal two end points, and control described base plate and laterally move, and equate until the central point of the tracking cross distance to horizontal two end points;

Whether the central point of judging tracking cross equate to the distance of vertical two end points, and control described base plate and do and vertically move, and equates until the distance of central point to vertical two end points;

Whether the distance of judging central point to four end points of tracking cross equates, if the distance of central point to four end points of tracking cross equates that the realization locating hole is coaxial with cloth pin datum hole; According to the relative position relation between needle falling hole and the locating hole, calculate the relative position relation between needle falling hole and the cloth pin datum hole;

The draw point array that step 6, the integral body of determining according to step 2 puncture, the control base plate is done laterally, is vertically moved, thereby realizes the location of the equidistant solid matter micro hole of whole puncture template.

3. the equidistant solid matter micro hole of whole puncture template according to claim 2 localization method in the step 1, comprising:

Step 1-1, definition world coordinate system (X _W, Y _W, Z _W), camera coordinate system (X _c, Y _c, Z _c), the image pixel coordinate system (u, v) with image physical coordinates system (X, Y), wherein:

World coordinate system (X _W, Y _W, Z _W) being used for the position of any object in the describe environment, one of the space M is expressed as (X in the world coordinate system _W, Y _W, Z _W);

Camera coordinate system (X _c, Y _c, Z _c) initial point be defined in the photocentre of camera lens, Z _cAxle is optical axis, Z _cAxle and Y _cAxle is parallel to trunnion axis and the vertical axis of the plane of delineation respectively;

(u v) is unit with the pixel to the image pixel coordinate system, and u, v represent columns and the line number in the digital picture respectively;

(X is initial point with the optical axis of camera and the intersection point of the plane of delineation Y), and X-axis is parallel with the v axle with the u axle of image pixel coordinate system respectively with Y-axis in image physical coordinates system;

Step 1-2, set up the mathematical relationship between space object point and the corresponding picture point, comprising:

The conversion of world coordinate system and camera coordinate system;

The conversion of image coordinate system and camera coordinate system;

The conversion of world coordinate system and image coordinate system;

Obtain the image pixel coordinate of distortion error and undistorted error respectively according to image physical coordinates system and the relation of image coordinate system, utilize the distortion error model of non-linear imaging model to carry out distortion correction.

4. the equidistant solid matter micro hole of whole puncture template according to claim 2 localization method, in the step 2, needle falling hole on the base plate is during with the horizontal relative motion of puncture template, or the coincidence parallel with the every capable aperture circle center line connecting of draw point array of needle falling hole center of circle movement locus; Needle falling hole is during with the vertical relative motion of puncture template, or the coincidence parallel with the circle center line connecting of the every row aperture of draw point array of needle falling hole deferent.

5. the equidistant solid matter micro hole of whole puncture template according to claim 2 localization method, wherein, establishing cloth pin datum hole is the aperture that is positioned at the puncture template upper left corner, and the centre-to-centre spacing of the equidistant solid matter micro hole of puncture template is r, and the distance of locating hole and needle falling hole is l _x=a * r, a are integer, if locating hole is coaxial with cloth pin datum hole, then the line in the first capable aperture center of circle of draw point array overlaps on the line of locating hole and needle falling hole and the template that punctures, thus draw needle falling hole (x, y) and the relative position relation of cloth pin datum hole be:

$\left\{\begin{array}{c}x=a\&times;r\\ y=0\end{array}\right..$

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