CN105783711A - Three-dimensional scanner correction system and correction method thereof - Google Patents
Three-dimensional scanner correction system and correction method thereof Download PDFInfo
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Abstract
The invention discloses a three-dimensional scanner correction system and a correction method thereof, wherein the method comprises the following steps: enabling a structural light module of a three-dimensional scanner to be detected to project structural light on a correction plane; changing the relative distance between the three-dimensional scanner and the correction plane, and respectively capturing the images of the structural light when the relative distance between the three-dimensional scanner and the correction plane is a first distance and a second distance; analyzing the two images respectively to calculate the estimation ranges of the structural light in the two images; calculating the estimated line segment equations of the structural light in the two images according to the estimated ranges of the two images and the light spots respectively; and calculating the included angle between the structured light module and the reference surface according to the change of the relative distance between the three-dimensional scanner and the correction plane and the estimated line segment equation of the structured light in the two images.
Description
Technical field
The present invention relates to a kind of spatial digitizer correction system, particularly relate to a kind of spatial digitizer correction system that can be corrected spatial digitizer by the mode of image procossing.The invention still further relates to the bearing calibration of this system.
Background technology
Day by day flourishing owing to manufacturing process technology, the complexity of product own is also more and more higher, and in order to effectively carry out quality inspection, the functional requirement of spatial digitizer is also more and more higher.Additionally, being showing improvement or progress day by day along with Industrial Robot Technology, the intelligent robot based on visual guidance successfully puts into commercial production, and obtains considerable achievement.Therefore, one high accuracy three-dimensional scanning amount survey technology will can be effectively improved flexibility ratio and the wide usage of industrial machinery arm automated system, therefore the accurate location trying to achieve laser coordinate can set up complete part model, make automated system by the position and the attitude that calculate workpiece in the image obtained accurately, and then the three-dimensional values of mechanical arm automated system, workpiece grabbing, carrying and assembling ability are substantially improved.And if when being intended to utilize spatial digitizer that different workpiece is measured, it usually needs adjust the angle of laser structure light of spatial digitizer, now then need to carry out the correction of spatial digitizer.But, the spatial digitizer bearing calibration of prior art typically requires by red tape, or the instrument requiring over costliness carries out, and therefore can expend substantial amounts of time, manpower and cost, additionally, the spatial digitizer bearing calibration of prior art is also unable to reach higher correction accuracy.
And in recent years, in order to significantly accelerate the speed of whole measurement, in 3-D scanning measurement technology, have started to utilize the degree of depth that the spatial digitizer with recombination laser carries out multi-angle to measure, to set up complete some cloud information, therefore reproducible high accuracy display model.Although the spatial digitizer with recombination laser can reach measurement effect more preferably, but timing needs individually its multiple laser structure optical modules to be corrected, therefore its correction program is increasingly complex, therefore more time, manpower and cost can be expended, and correction accuracy is extremely low, low correction accuracy then can badly influence the task performance of the spatial digitizer of recombination laser.
U.S. Patent Publication the 20030202691st discloses a kind of many cameras bearing calibration (CALIBRATIONOFMULTIPLECAMERASFORATURNTABLE-BASED3DSCANNER) for rotary type spatial digitizer, but, its bearing calibration only simple correction by camera is performed, therefore its correction accuracy is relatively low, and correction program is complicated.
U.S. Patent Publication the 20140111812nd discloses a kind of 3 D scanning system and obtains the method (3DSCANNINGSYSTEMANDMETHODOFOBTAINING3DIMAGE) of 3-D view, but, it only proposes the optimized migration angle of rotary laser, there is no and proposes relevant bearing calibration.
Therefore, how a kind of spatial digitizer correction system and bearing calibration thereof are proposed, it is possible to the spatial digitizer bearing calibration program situation complicated, that lack efficiency, cost height and correction accuracy low being effectively improved prior art has become an instant problem.
Summary of the invention
Because above-mentioned problem of the prior art, a wherein purpose of the present invention is exactly providing a kind of spatial digitizer correction system and bearing calibration thereof, and the spatial digitizer method program to solve prior art is complicated, lack efficiency, cost is high and correction accuracy is low problem.
A wherein purpose according to the present invention, it is proposed to a kind of spatial digitizer bearing calibration, the method can comprise the steps of the structured light module projects structure light making spatial digitizer to be measured in correcting plane；Setting datum level, datum level is parallel with correcting plane, has angle between structured light module and datum level；Change the relative distance of this spatial digitizer and this correcting plane, and the first image that when to make relative distance that the image capturing module of spatial digitizer captures spatial digitizer and correcting plane respectively be the first distance and second distance, structure light is projeced on correcting plane and the second image；Perform image processing program and analyze the first image and the second image respectively, estimate line segment equation and structure light in the second estimation line segment equation of the second image with computation structure light respectively in the first of the first image；And the angle according to this first distance, this second distance, the first estimation line segment equation and the second estimation line segment equation computation structure optical module with datum level.
In one embodiment, the method also can comprise the steps of and analyze the first image and the second image respectively and be positioned at the first estimation scope and the second estimation scope of the first image and the second image with computation structure light.
In one embodiment, the method also can comprise the steps of the grey decision-making of the grey decision-making analyzing the first image respectively and the second image and is positioned at the first estimation scope and the second estimation scope of the first image and the second image with computation structure light.
In one embodiment, the method also can comprise the steps of the grey decision-making of the transverse axis corresponding to each coordinate of the longitudinal axis of cumulative first image respectively, and the cumulative grey decision-making of utilization exceedes the region of predetermined threshold and is positioned at the first estimation scope of the first image as structure light.
In one embodiment, the method also can comprise the steps of the grey decision-making of the transverse axis corresponding to each coordinate of the longitudinal axis of cumulative second image respectively, and the cumulative grey decision-making of utilization exceedes the region of predetermined threshold and is positioned at the second estimation scope of the second image as structure light.
In one embodiment, the method also can comprise the steps of all luminous points computation structure light respectively of all luminous points according to the first estimation scope and the first image and the second estimation scope and the second image in the first estimation line segment equation of the first image and structure light in the second estimation line segment equation of the second image.
In one embodiment, the method also can comprise the steps of and be extracted multiple first estimation line segment and multiple second estimation line segment by the first estimation scope and the second estimation scope respectively.
In one embodiment, the method also can comprise the steps of each luminous point weighted value relative to each the first estimation line segment of calculating the first image, and each luminous point of first image that adds up is relative to the weighted value of each the first estimation line segment, then extract the first the highest estimation line segment of weight accumulation value to estimate line segment equation as first.
In one embodiment, the method also can comprise the steps of each luminous point of utilizing the first image inverse relative to the distance of each the first estimation line segment as its weighted value relative to each the first estimation line segment.
In one embodiment, the method also can comprise the steps of each luminous point weighted value relative to each the second estimation line segment of calculating the second image, and each luminous point of second image that adds up is relative to the weighted value of each the second estimation line segment, then extract the second the highest estimation line segment of weight accumulation value to estimate line segment equation as second.
In one embodiment, the method also can comprise the steps of each luminous point of utilizing the second image inverse relative to the distance of each the second estimation line segment as its weighted value relative to each the second estimation line segment.
In one embodiment, the method also can comprise the steps of the angle according to the first distance with the difference of second distance, the first estimation line segment equation and the second estimation line segment equation computation structure optical module with datum level.
A wherein purpose according to the present invention, reintroduce a kind of spatial digitizer correction system, this system can perform above-mentioned spatial digitizer bearing calibration, this system can comprise spatial digitizer, hoistable platform, support and processing module, spatial digitizer can comprise structured light module and image capturing module, support can be used for setting up spatial digitizer to be measured, hoistable platform can be used for the relative distance changing spatial digitizer with correcting plane, between structured light module and the datum level being parallel to correcting plane of spatial digitizer, there is angle, processing module can perform image processing program, and the structured light module of spatial digitizer and the angle of datum level can be calculated..
From the above, spatial digitizer under this invention corrects system and bearing calibration thereof, and it can have one or more following advantage:
(1) spatial digitizer only can be done by hoistable platform and image processing program and correct accurately by the present invention, it is not necessary to the instrument using any costliness carries out, therefore less costly.
(2) present invention can complete the correction of spatial digitizer accurately by the image processing program of particular design, it is not necessary to artificial setting and other loaded down with trivial details step, therefore correction program is simple and quick, ultrahigh in efficiency.
(3) present invention not only goes for the spatial digitizer with single laser, can be applicable to the spatial digitizer with recombination laser, and need not individually its multiple laser structure optical modules be corrected, therefore the spatial digitizer that can effectively solve recombination laser corrects problem not easily, and purposes is more extensive.
(4) algorithm of the image processing program of particular design of the present invention has high anti-noise function, even if therefore remain able to when noise is a lot of maintain high correction accuracy, therefore possess high usefulness.
(5) present invention can complete the correction of spatial digitizer by the image processing program of particular design, even if therefore also being able to successfully be corrected when laser out of focus, therefore uses upper more convenient.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the spatial digitizer correction system of the present invention.
Fig. 2 is the first schematic diagram of the first embodiment of the spatial digitizer correction system of the present invention.
Fig. 3 is the second schematic diagram of the first embodiment of the spatial digitizer correction system of the present invention.
Fig. 4 is the 3rd schematic diagram of the first embodiment of the spatial digitizer correction system of the present invention.
Fig. 5 is the 4th schematic diagram of the first embodiment of the spatial digitizer correction system of the present invention.
Fig. 6 is the 5th schematic diagram of the first embodiment of the spatial digitizer correction system of the present invention.
Fig. 7 is the 6th schematic diagram of the first embodiment of the spatial digitizer correction system of the present invention.
Fig. 8 is the 7th schematic diagram of the first embodiment of the spatial digitizer correction system of the present invention.
Fig. 9 is the flow chart of the first embodiment of the spatial digitizer bearing calibration of the present invention.
Figure 10 is the flow chart of the spatial digitizer bearing calibration of the present invention.
Description of reference numerals:
1 spatial digitizer correction system
11 hoistable platforms
111 correcting planes
12 supports
13 processing modules
14 spatial digitizers
141 image capturing modules
142 structured light modules
SL structure light
BS datum level
EL first estimates line segment, the second estimation line segment
α, β angle
D1 the first distance
D2 second distance
A the first image
B the second image
R-curve
S91～S99, S101-S105 step
Detailed description of the invention
Hereinafter with reference to relevant drawings, the embodiment of spatial digitizer under this invention correction system and bearing calibration thereof being described, for making to readily appreciate, the same components in following embodiment illustrates with identical symbology.
Refer to Fig. 1, its be the present invention spatial digitizer correction system schematic diagram.As it can be seen, spatial digitizer correction system 1 can comprise hoistable platform 11, support 12 and processing module 13, and the spatial digitizer 14 that is to be measured can be set up in wherein.
Support 12 can set up spatial digitizer 14 to be measured.Spatial digitizer 14 can comprise image capturing module 141 and structured light module 142.Processing module 13 links with hoistable platform 11 and spatial digitizer 14, and to control hoistable platform 11 and spatial digitizer 14, and the uper side surface of hoistable platform 11 can as correcting plane 111.Wherein, when the structured light module 142 projective structure light SL of spatial digitizer 14 is in correcting plane 111, the lifting of processing module 13 lifting controllable platform 11 is to change the relative distance between correcting plane 111 and spatial digitizer 14, and the relative distance between correcting plane 111 and spatial digitizer 14 is when being the first distance, capture structure light SL by image capturing module 141 and be projeced into the image of hoistable platform 11, with as the first image, and when hoistable platform 11 rises that to make the relative distance between correcting plane 111 and spatial digitizer 14 be second distance, capture structure light SL by image capturing module 141 and be projeced into the image of hoistable platform 11, with as the second image.Certainly, above are only citing, relative distance between correcting plane 111 and spatial digitizer 14 can also be reached by the height changing spatial digitizer 14 own, is not limited to adjust the height of hoistable platform 11 itself, does not also limit use hoistable platform 11 itself as correcting plane.
Now processing module 13 can perform an image processing program to analyze the first image and the second image respectively, estimates line segment equation with the computation structure light SL the first estimation line segment equation in the first image and structure light SL in the second of the second image.Finally, processing module 13 can according to the angle α of the first distance, second distance, the first estimation line segment equation and the second estimation line segment equation computation structure optical module 142 with the datum level BS of spatial digitizer 14, to complete the correction program of spatial digitizer 14.Wherein, above-mentioned datum level BS is the parallel plane of plane measured with spatial digitizer 14, and in the present embodiment, and the plane that datum level BS is the plane at spatial digitizer 14 place and spatial digitizer 14 measures is hoistable platform 11 itself.
From the above, namely the spatial digitizer correction system 1 of the present invention only can complete the correction of spatial digitizer 14 by hoistable platform 11 and simple image processing program, the instrument of any costliness need not be used, set and other loaded down with trivial details step, the with low cost and ultrahigh in efficiency therefore corrected also without artificial.
Referring to Fig. 2, Fig. 3 and Fig. 4, it is spatial digitizer correction first schematic diagram of first embodiment of system of the present invention, the second schematic diagram and the 3rd schematic diagram.Example illustrates that the spatial digitizer of present invention correction system and bearing calibration are applied to correct an example of the spatial digitizer with recombination laser.As it can be seen, spatial digitizer correction system 1 can comprise hoistable platform 11, support 12 and processing module 13, and the spatial digitizer 14 that is to be measured can be set up in wherein.
Support 12 can set up spatial digitizer 14 to be measured.Spatial digitizer 14 can comprise image capturing module 141 and two structured light modules 142.Processing module 13 links with hoistable platform 11 and spatial digitizer 14, and to control hoistable platform 11 and spatial digitizer 14, and the upper survey surface of hoistable platform 11 can as correcting plane 111.As shown in Figure 2, when two structured light module 142 projective structure light SL of spatial digitizer 14 are in hoistable platform 11, the lifting of processing module 13 lifting controllable platform 11 is to change the relative distance between correcting plane 111 and spatial digitizer 14, and the relative distance between correcting plane 111 and spatial digitizer 14 is when being the first distance D1, capture structure light SL by image capturing module 141 and be projeced into the image of hoistable platform 11, with as the first image A.As shown in Figure 3, processing module 13 can when hoistable platform 11 rises that to make the relative distance between correcting plane 111 and spatial digitizer 14 be second distance D2, capture structure light SL by image capturing module 141 and be projeced into the image of hoistable platform 11, with as the second image B.Processing module 13 can perform image processing program to analyze the first image A and the second image B respectively.Same, above are only citing, relative distance between correcting plane 111 and spatial digitizer 14 can also be realized by the height or other various ways changing spatial digitizer 14 itself, it is not limited to adjust the height of hoistable platform 11 itself, does not also limit use hoistable platform 11 itself as correcting plane；It is to say, spatial digitizer 14 itself also can be set up on a hoistable platform, and utilize another test platform as correcting plane, the height of spatial digitizer 14 can be changed to adjust the relative distance of itself and correcting plane by controlling hoistable platform.
As shown in Figure 4, first image A is the relative distance between correcting plane 111 and spatial digitizer 14 when being the first distance D1, structure light SL is projeced into image during hoistable platform 11, second image B is the relative distance between correcting plane 111 and spatial digitizer 14 when being second distance D2, and structure light SL is projeced into image during hoistable platform 11.
Owing to structured light module 142 itself is likely to be of error or is subject to the reason of noise jamming, structure light SL in first image A and the second image B is likely to not only single pixel, and it is probably the irregular shape with many pixels, therefore, it is difficult to the actual line segment of the structure light SL judged in the first image A and the second image B is why, so time require over further image processing program and calculate the actual line segment of the structure light SL in the first image A and the second image B.
Referring to Fig. 5 and Fig. 6, it is the 4th schematic diagram of first embodiment of spatial digitizer correction system and the 5th schematic diagram of the present invention.In order to estimate the structure light SL scope that may be present in the first image A and the second image B, the present embodiment utilizes Y-axis mode projection algorithm to analyze the grey decision-making of the first image A and the grey decision-making of the second image B respectively to be positioned at the first estimation scope and the second estimation scope of the first image A and the second image B with computation structure light SL, as shown in formula (1):
Wherein, A (y) represents each coordinate of the longitudinal axis in the first image A or the second image B and adds up the accumulated value of grey decision-making of its corresponding transverse axis；Fy (x) represents each coordinate of the first image A or the second image B, and (region that cumulative grey decision-making is bigger then represents its position being likely to occur for structure light SL for x, grey decision-making y).Through type (1), processing module 13 can add up the grey decision-making of the transverse axis corresponding to each coordinate of the longitudinal axis of the first image A respectively, and available cumulative grey decision-making is positioned at the first estimation scope of the first image A more than the region of a predetermined threshold as structure light SL；Same, processing module 13 can add up the grey decision-making of the transverse axis corresponding to each coordinate of the longitudinal axis of the second image B respectively, and the available grey decision-making region more than a predetermined threshold of adding up is positioned at the second estimation scope of the second image B as structure light SL.
As it is shown in figure 5, the region shown in curve R is the first estimation scope of the structure light SL after the amplification of the first image A in figure.As shown in Figure 6, the present embodiment utilizes Y-axis mode projection algorithm can estimate the estimation scope of structure light SL of two structured light modules 142 projection of spatial digitizer 14 in image simultaneously, and in figure, the region shown in curve R is the first estimation scope of the structure light SL of two structured light modules 142 projections of the first image A.
After obtaining structure light SL estimation scope in two images, need to further estimate structure light SL line segment equation in two images.In the present embodiment, processing module 13 can estimate line segment equation in the first estimation line segment equation and the structure light SL of the first image A in the second of the second image B according to all luminous points computation structure light SL respectively of the first all luminous points estimating scope and the first image A and the second estimation scope and the second image B according to Line Segment Detection Algorithm.
First, processing module 13 can be estimated scope by first and extract multiple first estimation line segment, and those the first estimation line segments are structure light SL line segment equation possible in the first image A；Same, processing module 13 can be estimated scope by second and extract multiple second estimation line segment, and those the second estimation line segments are structure light SL line segment equation possible in the second image B.
Next, processing module 13 can calculate each luminous point weighted value relative to each the first estimation line segment of the first image A, and each luminous point of the first image A that adds up is relative to the weighted value of each the first estimation line segment, extract the first the highest estimation line segment of weight accumulation value again to estimate line segment equation as first, in the present embodiment, each luminous point of the available first image A of processing module 13 relative to the inverse of the distance of each the first estimation line segment as its weighted value relative to each the first estimation line segment；Same, processing module 13 can calculate each luminous point weighted value relative to each the second estimation line segment of the second image B, and each luminous point of the second image B that adds up is relative to the weighted value of each the second estimation line segment, extract the second the highest estimation line segment of weight accumulation value again to estimate line segment equation as second, each luminous point of the available second image B of processing module 13 relative to the inverse of the distance of each the second estimation line segment as its weighted value relative to each the second estimation line segment.
Each first and second estimation line segment can be represented by the Line Segment Detection Algorithm of the present embodiment with polar coordinate (ρ, θ), therefore, and the formula (2) that each line segment can be expressed as follows:
ρ=x cos θ+y sin θ ... ... (2)；
In order to calculate each luminous point distance to each first estimation line segment or each the second estimation line segment, it is possible to each first and second line segment is expressed as point slope form fx=mx+b by polar coordinate, namely following formula (3):
Wherein ,-cos θ/sin θ represents slope m, ρ/sin θ and then represents intercept b, therefore each luminous point is represented by following formula (4) to each first or second distance estimating line segment (ρ, θ):
Representing in the distance of a point to line segment (ρ, θ), distance is more remote, and the importance representing luminous point is more low, therefore may utilize the inverse of distance or inverse square as the index of weighted value, following formula (5):
The scope of weighted value is between 0～1, when luminous point is at line segment (ρ, time θ) above, distance=0, therefore weighted value is equal to 1, represents this luminous point closest with this line segment, therefore importance is the highest, when weighted value is equal to 0, represent this luminous point farthest with this line segment distance, it is not necessary to calculate the importance of this luminous point.
Each luminous point cumulative is relative to the weighted value of each estimation line segment, the formula (6) that sum equation formula is following；
Aε(ρ, θ)=Aε(ρ,θ)+Wε(x,fx|ρ,θ)……(6)；
Finally add up all first estimation line segment (ρ, weight accumulation value θ), and find out the first estimation line segment (ρ * that weight accumulation value is maximum, θ *) estimate line segment equation as first, and add up all second weight accumulation value estimating line segment (ρ, θ), and find out the second estimation line segment (ρ * that weight accumulation value is maximum, θ *) estimate line segment equation as second, following formula (7):
Finally, processing module 13 can estimate line segment equation to calculate two structured light modules 142 and the angle α of datum level BS of spatial digitizer 14, the β of spatial digitizer 14 according to the first distance D1 with the difference of second distance D2, the first estimation line segment equation and second, to complete the correction program of spatial digitizer 14.Same, that above-mentioned datum level BS is with spatial digitizer 14 measures plane is parallel plane, in the present embodiment, datum level BS is that the plane that the plane at spatial digitizer 14 place, spatial digitizer 14 measure is hoistable platform 11 itself.
Referring to Fig. 7 and Fig. 8, it is the 6th schematic diagram of first embodiment of spatial digitizer correction system and the 7th schematic diagram of the present invention.Fig. 7 is the estimation result of the Line Segment Detection Algorithm of the present embodiment, and the estimation result after the Line Segment Detection Algorithm addition noise that Fig. 8 is the present embodiment.
As shown in Figure 7, owing to the Line Segment Detection Algorithm of the present embodiment is that each luminous point utilizing structure light SL estimates the distance of line segment EL as its weighted value with each first and second, when the straight line that the deviation of arbitrary luminous point is estimated, then this luminous point will be judged as outlier, there is relatively low weighted value, do the data that can ignore this luminous point so that line segment estimation result, not by the impact of outlier, can make estimation result more accurate.
As shown in Figure 8, owing to the Line Segment Detection Algorithm of the present embodiment is that each luminous point utilizing structure light SL estimates the distance of line segment EL as its weighted value with each first and second, therefore noise will be judged as outlier, there is relatively low weighted value, make line segment estimation result not affected by noise, estimation result therefore can be made more accurate.From the foregoing, by the image processing program comprising Y-axis mode projection algorithm and Line Segment Detection Algorithm of the present embodiment, the first estimation line segment equation and the second estimation line segment equation can be estimated accurately.
It is noted that the spatial digitizer bearing calibration of prior art needs to use expensive instrument or red tape to carry out, therefore its cost is high.Contrary, spatial digitizer only can be done by hoistable platform and simple image processing program and correct accurately by the present invention, it is not necessary to the instrument using any costliness carries out, and correction program is simple and quick, therefore less costly and can reach higher efficiency.
It addition, the spatial digitizer bearing calibration of prior art needs multiple laser structure optical modules of the spatial digitizer with recombination laser are corrected individually, therefore correction program is complicated, uses shortage efficiency.Contrary, the present invention not only goes for the spatial digitizer with single laser, could be applicable to the spatial digitizer with recombination laser, and need not individually its multiple laser structure optical modules be corrected, therefore the spatial digitizer that can effectively solve recombination laser corrects problem not easily, and purposes is more extensive.
Additionally, the spatial digitizer bearing calibration of prior art is unable to reach higher correction accuracy, also without antimierophonic function.Contrary, the present invention can pass through particular design, possesses the image processing program of high noise resisting ability to complete the correction of spatial digitizer, even if therefore remain able to when noise is a lot of maintain high correction accuracy, therefore possess high usefulness, even and if also can successfully be corrected when laser out of focus, therefore using upper more convenient.From the foregoing, the present invention has the patent requirement of progressive in fact.
Referring to Fig. 9, it is the flow chart of first embodiment of spatial digitizer bearing calibration of the present invention.The present embodiment can comprise the steps of
In step S91, with hoistable platform as correcting plane, and make the structured light module projects structure light of spatial digitizer to be measured in correcting plane.
In step S92, setting datum level, datum level is parallel with correcting plane, has angle between structured light module and datum level.
In step S93, change the relative distance between correcting plane and spatial digitizer, and the relative distance captured between hoistable platform and spatial digitizer is the first image and the second image that structure light when the first distance and second distance is projeced into hoistable platform respectively.
In step S94, the cumulative grey decision-making of the grey decision-making of the transverse axis corresponding to each coordinate of the longitudinal axis of cumulative first image, and utilization respectively exceedes the region of predetermined threshold and is positioned at the first estimation scope of the first image as structure light.
In step S95, the cumulative grey decision-making of the grey decision-making of the transverse axis corresponding to each coordinate of the longitudinal axis of cumulative second image, and utilization respectively exceedes the region of predetermined threshold and is positioned at the second estimation scope of the second image as structure light.
In step S96, the first estimation scope and the second estimation scope extract multiple first estimation line segment and multiple second estimation line segment respectively.
In the step s 97, calculate each luminous point weighted value relative to each the first estimation line segment of the first image, and each luminous point of first image that adds up is relative to the weighted value of each the first estimation line segment, then extract the first the highest estimation line segment of weight accumulation value to estimate line segment equation as first.
In step S98, calculate each luminous point weighted value relative to each the second estimation line segment of the second image, and each luminous point of second image that adds up is relative to the weighted value of each the second estimation line segment, then extract the second the highest estimation line segment of weight accumulation value to estimate line segment equation as second.
Angle in step S99, according to the first distance with the difference of second distance, the first estimation line segment equation and the second estimation line segment equation computation structure optical module with datum level.
Although aforementioned in the process of spatial digitizer correction system that the present invention is described, the concept of the spatial digitizer bearing calibration of the present invention be also described simultaneously, but for clarification, still list the flow process of the spatial digitizer bearing calibration of the present invention below.
Referring to Figure 10, it is the flow chart of spatial digitizer bearing calibration of the present invention, and the spatial digitizer bearing calibration of the present invention can comprise the steps of
In step S101, make the structured light module projects structure light of spatial digitizer in correcting plane.
In step s 102, setting datum level, datum level is parallel with correcting plane, has angle between structured light module and datum level.
In step s 103, change the relative distance of spatial digitizer and correcting plane, and one first image that when to make relative distance that the image capturing module of spatial digitizer captures spatial digitizer and correcting plane respectively be the first distance and second distance, structure light is projeced on this correcting plane and one second image.
In step S104, perform image processing program and analyze the first image and the second image respectively, estimate line segment equation and structure light in the second estimation line segment equation of the second image with computation structure light respectively in the first of the first image.
Angle in step S105, according to the first distance, second distance, the first estimation line segment equation and the second estimation line segment equation computation structure optical module with datum level.
The detailed description of the spatial digitizer bearing calibration of the present invention and embodiment described in time above describing the spatial digitizer of the present invention of present invention correction system, and in this case schematic illustration is just not repeated narration.
In sum, spatial digitizer only can be done by hoistable platform and image processing program and correct accurately by the present invention, it is not necessary to the instrument using any costliness carries out, therefore less costly.
The present invention can complete the correction of spatial digitizer accurately by the image processing program of particular design, it is not necessary to artificial setting and other loaded down with trivial details step, therefore correction program is simple and quick, up to splendid efficiency.
Additionally, the present invention not only goes for the spatial digitizer with single laser, could be applicable to the spatial digitizer with recombination laser, and need not individually its multiple laser structure optical modules be corrected, therefore the spatial digitizer that can effectively solve recombination laser corrects problem not easily, and the purposes making the present invention is more extensive.
Additionally, the algorithm of the image processing program of particular design of the present invention possesses anti-noise function, even if therefore maintain high correction accuracy when remaining able to when there being noise jamming, therefore high usefulness can be provided.
Furthermore, the present invention can complete the correction of spatial digitizer by the image processing program of particular design, even if therefore also can successfully be corrected when laser out of focus, thus very easy to use.
The foregoing is only illustrative, but not be restricted.Other any spirit without departing from the present invention and category, and to its equivalent modifications carried out or change, all should be contained in the claim of the present invention.
Claims (13)
1. a spatial digitizer bearing calibration, comprises the steps of
Make a structured light module projects one structure light of a spatial digitizer in a correcting plane；
Setting a datum level, this datum level is parallel with this correcting plane, has an angle between this structured light module and this datum level；
Change the relative distance of this spatial digitizer and this correcting plane, and one first image that when to make relative distance that an image capturing module of this spatial digitizer captures this spatial digitizer and this correcting plane respectively be one first distance and a second distance, this structure light is projeced on this correcting plane and one second image；
Perform an image processing program and analyze this first image and this second image respectively, with calculate respectively this structure light in this first image one first estimation line segment equation and this structure light in this second image one second estimation line segment equation；And
This angle of this structured light module and this datum level is calculated according to this first distance, this second distance, this first estimation line segment equation and this second estimation line segment equation.
2. spatial digitizer bearing calibration as claimed in claim 1, also comprises the steps of
Analyze this first image and this second image respectively and be positioned at one first estimation scope and the one second estimation scope of this first image and this second image to calculate this structure light.
3. spatial digitizer bearing calibration as claimed in claim 2, also comprises the steps of
Analyze the grey decision-making of this first image and the grey decision-making of this second image respectively and be positioned at this first estimation scope and this second estimation scope of this first image and this second image to calculate this structure light.
4. spatial digitizer bearing calibration as claimed in claim 3, also comprises the steps of
The grey decision-making of the transverse axis corresponding to each coordinate of the longitudinal axis of this first image cumulative respectively, and utilize the cumulative grey decision-making region more than a predetermined threshold to be positioned at this first estimation scope of this first image as this structure light.
5. spatial digitizer bearing calibration as claimed in claim 4, also comprises the steps of
The cumulative grey decision-making of the grey decision-making of the transverse axis corresponding to each coordinate of the longitudinal axis of this second image cumulative, and utilization respectively exceedes the region of this predetermined threshold and is positioned at this second estimation scope of this second image as this structure light.
6. spatial digitizer bearing calibration as claimed in claim 2, also comprises the steps of
All luminous points of all luminous points according to this first estimation scope and this first image and this second estimation scope and this second image calculate this structure light in this first estimation line segment equation of this first image and this structure light respectively in this second estimation line segment equation of this second image.
7. spatial digitizer bearing calibration as claimed in claim 6, also comprises the steps of
Multiple first estimation line segment and multiple second estimation line segment is extracted respectively by this first estimation scope and this second estimation scope.
8. spatial digitizer bearing calibration as claimed in claim 7, also comprises the steps of
Calculate each luminous point of this first image weighted value relative to each this first estimation line segment, and each luminous point of cumulative this first image is relative to the weighted value of each this first estimation line segment, then extract this highest the first estimation line segment of weight accumulation value with as this first estimation line segment equation.
9. spatial digitizer bearing calibration as claimed in claim 8, also comprises the steps of
Utilize each luminous point of this first image inverse relative to the distance of each this first estimation line segment as its weighted value relative to each this first estimation line segment.
10. spatial digitizer bearing calibration as claimed in claim 8, also comprises the steps of
Calculate each luminous point of this second image weighted value relative to each this second estimation line segment, and each luminous point of cumulative this second image is relative to the weighted value of each this second estimation line segment, then extract this highest the second estimation line segment of weight accumulation value with as this second estimation line segment equation.
11. spatial digitizer bearing calibration as claimed in claim 10, also comprise the steps of
Utilize each luminous point of this second image inverse relative to the distance of each this second estimation line segment as its weighted value relative to each this second estimation line segment.
12. spatial digitizer bearing calibration as claimed in claim 1, also comprise the steps of
The angle of this structured light module and this datum level is calculated according to this first distance and the difference of this second distance, this first estimation line segment equation and this second estimation line segment equation.
13. the spatial digitizer correction system of the spatial digitizer bearing calibration performed as described in any one in claim 1 to 12, this spatial digitizer correction system comprises a spatial digitizer, one hoistable platform, one support and a processing module, this spatial digitizer comprises a structured light module and an image capturing module, this support is for setting up this spatial digitizer to be measured, this hoistable platform is for changing this spatial digitizer and the relative distance of a correcting plane, between this structured light module and datum level being parallel to this correcting plane of this spatial digitizer, there is an angle, this processing module performs an image processing program and calculates this structured light module of this spatial digitizer and this angle of this datum level.
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| CN105783711B (en) | 2020-05-05 |
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