CN106017312A - Structured light triangulation automatic calibrating system and calibrating method - Google Patents
Structured light triangulation automatic calibrating system and calibrating method Download PDFInfo
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- CN106017312A CN106017312A CN201610164443.3A CN201610164443A CN106017312A CN 106017312 A CN106017312 A CN 106017312A CN 201610164443 A CN201610164443 A CN 201610164443A CN 106017312 A CN106017312 A CN 106017312A
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- camera
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- demarcation
- structured light
- triangulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The invention discloses a structured light triangulation automatic calibrating system and calibrating method. The system comprises a processor unit, a control system, a measuring system, a motion system and a power supply system. The calibrating method comprises the steps of: setting a calibration profile long enough to cover a camera horizontal range as an object to be measured, line structured light irradiating on the surface of the calibration profile; an electric hoisting appliance allowing the calibration profile to move vertically; a camera shooting the surface of the calibration profile with certain frequency to obtain the image space coordinates of certain light dot on the line structured light, and measuring the object space of the light dot on the calibration profile through a plurality of range finders; building a mapping relation between an image space coordinate and an image space coordinate; and successively calibrating all pixels on a camera target surface. The calibration precision of the system is a resolution ratio of 0.02 mm, and precision influence caused by artificial errors can be effectively avoided. The system employs the electric hoisting appliance and the range finders for measurement, automatically completes motion and measurement processes, and substantially improves calibration efficiency.
Description
Technical field
The present invention relates to laser measuring technique field, refer more particularly to the demarcation system of structure light triangulation
System and scaling method.
Background technology
Obtain space three-dimensional information the most quickly, accurately and efficiently, before Chinese scholars further investigation
Along problem.Along with going deep into and the appearance of the concept such as smart city, virtual reality, especially of information technology research
It is the information age relied on now with computer technology, and people are to the demand of space three-dimensional information more
Urgently.Along with the development of the technology such as sensor, electronics, optics, computer, manage based on computer vision
Opinion obtains the photogrammetry and remote-sensing technique of body surface three-dimensional information becomes main flow, but it is by three-dimensional generation
During boundary is converted to bidimensional image, inevitably lose partial geometry information, so from two dimension
Image sets out and understands three-dimensional objective world, there is the limitation of self.Therefore, above-mentioned acquisition space three-dimensional
The means of information are difficult to meet the demand of application in future, real world three-dimensional are believed the most quickly and efficiently
The acquisition of severe dyspnea precision, modeling analysis and storage become the bottleneck solving this problem.
Three-dimensional laser is measured the appearance of technology and develops into the acquisition of space three-dimensional information and provide brand-new skill
Art means, provide the conditions of existence of necessity for information digitalization development.Due to laser have monochromaticity,
The characteristics such as directivity, coherence and high brightness, are introduced in measurement apparatus, in precision, speed, easily
The aspects such as operability all show big advantage, and its appearance has caused a leather of modern measure technology
Life, research direction and emphasis are transferred to laser measuring device for measuring research by many High-tech company, research institutions
In.Along with technology such as laser technology, semiconductor technology, microelectric technique, computer technology and sensors
Development and application demand promote, and laser measuring technique, also by point-to-point laser ranging, develops into use non-
Contact is actively measured, the 3 D laser scanning of quick obtaining body surface a large amount of sampled point three dimensional space coordinate
Measurement technology.Along with three dimension laser scanning surreying device is in precision, speed, ease for operation, light and anti-
The lifting of the aspect of performances such as interference performance and progressively decline in price, it becomes research at survey field
Focus, sweep object constantly expands, and application constantly extends, and progressively becomes quick obtaining space real
One of major way of body three-dimensional models.Measurement Technology of 3 D Laser Scanning overcomes conventional measurement techniques
Limitation, uses noncontact actively metering system directly to obtain high-precision three-dimensional data, it is possible to any thing
Body is scanned, and does not has the restriction at daytime and night, is quickly converted into permissible by the information of real world
The data processed.It has, and scanning speed is fast, real-time, precision is high, initiative is strong, digital spy
The feature such as levy, cost can be greatly reduced, save time and easy to use.
Measurement Technology of 3 D Laser Scanning can be divided into based on pulsed, based on phase contrast, base according to metering system
In principle of triangulation three types.Impulse method (including time-of-flight method) is launched one by laser occurring source
Individual laser pulse, reflexes to occurring source when laser pulse runs into object, and Laser Measurement x time is to connecing
Time interval between quarter in time receiving, then by the known light velocity, starting point i.e. can be calculated to target range.
Impulse method is generally used for remote large range measuring, measures distance from hundreds of rice to several kilometers, certainty of measurement
Generally at centimetre-decimeter, measure the time short.Phase method is launched continuous impulse ripple by emission source, by calculating
Phase contrast between transmitted wave and reception ripple, thus computed range.Phase method is generally used for middle range measurement, surveys
Span is from from tens centimetres to tens meters, and certainty of measurement, generally up to millimeter, measures the time long.
The ultimate principle of laser triangulation is as it is shown in figure 1, laser beam projecting direction and camera shooting side
To the α that forms an angle, the light beam that laser instrument produces projects and forms a luminous point on the surface of testee,
A part of scattered light (containing reflection light) of luminous point is by lens imaging to camera CCD.If measured object
Body occurs position to move A along beam direction, then the picture point on camera CCD also can move B, logical
Displacement B crossing picture point can detect displacement A on testee surface.Trigonometry is generally used for
Close-in measurement, measures apart from generally at tens millimeters to several meters, and certainty of measurement can reach micron order,
The measurement time is the shortest.
Laser Triangulation Measurement System Based is utilized to carry out three-dimensional measurement, it must be understood that how by the shifting of known picture point
Dynamic distance B, draws displacement A on testee surface, i.e. it is to be appreciated that measured point coordinate and corresponding picture
The relation of vegetarian refreshments coordinate, and the process solving this corresponding relation is exactly Laser Triangulation Measurement System Based demarcation
Process.
Laser belongs to the one of structure light.The method that structure light triangulation system is demarcated is divided into standard form method
With direct image vegetarian refreshments standardizition, standard form method is known by three-dimensional coordinate on camera shooting standard form
Measured point, camera pixel point coordinates system and the measured point frame of reference are connected, then by meter
Calculate and try to achieve the transformation equation between two coordinate systems, just can be calculated by pixel coordinate by transformation equation real
Border measured object coordinate.Because transformation equation is to be calculated by measured point known to three-dimensional coordinate, so
Measured point known to three-dimensional coordinate is the most, measured point actual coordinate is the most accurate, the transformation equation finally given
The most accurate, i.e. stated accuracy is the highest.But actual application improves measured point coordinate precision be relatively difficult to realize,
Increase measured point quantity simultaneously and can bring the biggest amount of calculation, so in limited measured point in actual application
Several lower standard form method stated accuracies are the highest.
Direct image vegetarian refreshments standardizition is the section bar that camera shoots a root length degree covering horizontal range of camera, by increasing
Subtract the gauge block of known thickness to realize measured object height change (the most known measured object coordinate), then shoot
The measured object of the differing heights of a series of known coordinates, and by corresponding for these a series of measured object coordinates
Pixel coordinate one_to_one corresponding, other pixels not corresponded to obtain coordinate by linear interpolation.?
The relation table between pixel coordinate and measured object space coordinates can be obtained eventually, straight during practical engineering application
Connect and look into relation table and obtain the actual object coordinates that pixel is corresponding, and then can be drawn by pixel coordinate
Measured object surface profile information.
So direct image vegetarian refreshments standardizition stated accuracy is by directly demarcating pixel quantity and measured object coordinate
Precision affects.Because self machining accuracy of the gauge block of the known thickness of calibration and usage is limited, cause actual quilt
Survey article coordinate limited accuracy；On the other hand because using and manually demarcating mode, it is considered to cost of labor, real
The pixel limited amount directly corresponded in the application of border, other pixels not corresponded to can only pass through
Linear interpolation obtains, so direct image vegetarian refreshments standardizition stated accuracy is the highest in the past, human error is easily made
Become impact.
Summary of the invention
The technical problem to be solved is to provide a kind of structure light triangulation automatic calibration system
And scaling method, human error low with the stated accuracy overcoming existing scaling scheme to exist greatly and is marked
Fixed inefficient defect.
For solving above-mentioned technical problem, the structure light triangulation automatic calibration system that the present invention provides, bag
Include processor unit, control system, measurement system, motor system and electric power system, wherein,
Described processor unit, is mainly used in the storage for data, calculating；
Described control system, is used for controlling measurement system and motor system work；
Described measurement system mainly includes camera, structured light light source, range finder, data collecting card and demarcation
Section bar, the length of described demarcation section bar covers the horizontal range of described camera, described camera, structure light light
Source becomes triangulation location relation, and described data collecting card is for reading the value of range finder；
Described motor system is electric lifting mechanism, and described electric lifting mechanism is fixing connects described demarcation type
Material, for driving the beam direction of the described the most described structured light light source of demarcation section bar to lift, described range finding
Machine is for measuring the elevation of described demarcation section bar；
Described electric power system, provides for described processor unit, control system, measurement system, motor system
Power supply.
The quantity of described electric lifting mechanism is two, is separately mounted to the two ends of described demarcation section bar.
Invention also provides the scaling method of structure light triangulation automatic calibration system, including following
Step:
If the demarcation section bar that a root length degree covers the horizontal range of camera sends as measured object, structured light light source
Line-structured light is radiated at described demarcation Surface of profile；Make described demarcation section bar vertical by electric lifting mechanism
The most mobile；Being spaced at regular intervals, camera shoots described demarcation Surface of profile, obtains described line knot
The image space coordinate of certain luminous point on structure light, measures the thing of this luminous point on described demarcation section bar by range finder simultaneously
Side's coordinate；Set up the mapping relations of described image space coordinate and object coordinates, i.e. set up certain on camera target surface
The demarcation of individual pixel；Whole pixels on camera target surface are demarcated by principle according to this.
Preferably, described camera is spaced at regular intervals and refers to, described demarcation section bar hangs down by this time interval
A fixed step size is moved in translation, and the corresponding displacement on camera target surface of this fixed step size is less than or equal to a camera
Pixel height.
Preferably, described camera and range finder using laser are simultaneously connected with controller, and described controller produces and synchronizes to touch
Signaling, synchronous triggering signal is divided into two-way, and wherein a road connects described camera, triggers camera shooting mark
Luminous point on sizing material；An other road connects the data collecting card in industrial computer, and trigger data acquisition card is read
Take that the range finder of current time measures in real time demarcates the elevation of this luminous point, i.e. the thing side of this luminous point on section bar
Coordinate；
Beneficial effect: present configuration light triangulation automatic calibration method, on stated accuracy, on the one hand
Range finder is used to measure measured object elevation in real time, it is ensured that the accuracy of measured object height value；On the other hand adopt
The pattern demarcated with full figure vegetarian refreshments, it is to avoid calculate the impact of error.Simultaneously as employing electric up-down
Mechanism realizes the elevation change of measured object, and change resolution is up to 0.02mm, it is ensured that measured object height value
Accuracy, it helps improve stated accuracy.
In human error, electric lifting mechanism is used to realize the change of measured object elevation, it is not necessary to manual intervention,
Effectively prevent the precision impact that human error causes.
Demarcating in efficiency, using electric lifting mechanism lifting and range finder to measure, be automatically finished motion
And measurement process, demarcate efficiency and significantly improve.
So the present invention is on the premise of saving human resources, improves demarcation efficiency, improve stated accuracy.
Accompanying drawing explanation
With detailed description of the invention, technical scheme is made the most below in conjunction with the accompanying drawings
Bright.
Fig. 1 is laser triangulation schematic diagram.
Fig. 2 is the theory of constitution block diagram of the structure light triangulation device of the present invention.
Fig. 3 is the measurement scheme of installation of a kind of detailed description of the invention of the present invention.
Fig. 4 is the work-based logic figure of the structure light triangulation demarcation of the present invention.
Fig. 5 is the specific works flow process figure of the structure light triangulation demarcation of the present invention.
Detailed description of the invention
Processor unit of the present invention, control system, measurement system, motor system and electric power system, wherein,
Processor unit, is mainly used in the storage for data, calculating；Control system, is used for controlling measurement system
Work with motor system；Measurement system mainly includes camera, structured light light source, range finder, data acquisition
Card and demarcation section bar, the length demarcating section bar covers the horizontal range of described camera, camera, structure light
Light source becomes triangulation location relation, and data collecting card is for reading the value of range finder；Motor system is electricity
Dynamic elevating mechanism, electric lifting mechanism is fixing connects described demarcation section bar, is used for driving described demarcation section bar
The beam direction lifting of the most described structured light light source, described range finder is for measuring described demarcation section bar
Elevation；
Electric power system is external power supply, carries for processor unit, control system, measurement system, motor system
Power supply source.
Shown in Fig. 2, industrial computer is mainly system and provides operating platform and storage calculating equipment；Control system
System is mainly made up of controller, controls measurement system and motor system work；Measurement system is broadly divided into adopts
Collection software, camera, structured light light source and range finder.
Fig. 3 is the measurement scheme of installation of the specific embodiment of the invention, particularly as follows: 1. industrial computer one；
2. controller one；3. range finder three；4., camera；5. structured light light source one；The most electronic liter
Descending mechanism two；7. demarcate section bar (i.e. measured object).Wherein industrial computer is integrated with processor unit
And data collecting card.
Measured object is the aluminium alloy demarcation section bar 7 that a root length degree covers the horizontal range of camera 4, passes through controller
2 control electric lifting mechanism 6 makes the vertical slowly rising of demarcation section bar 7, demarcates section bar 7 height value by surveying
Measuring in real time away from machine 3, camera 4 is clapped every fixed step size (such as 0.1mm, a corresponding pixel height)
Take the photograph demarcation section bar 7 smooth surface and obtain structured light light source 5 structure light present position object coordinates, industry control
Machine 1 utilizes the synchronizing signal of controller 2 to synchronize camera 4 and range finder 3, is sat the thing side got
The mark pixel corresponded on camera 4 target surface i.e. completes this pixel and demarcates, the most repeatedly until by camera 4
The all pixels of target surface have been demarcated.
Fig. 4 is work-based logic figure of the present invention, and wherein power pack does not shows.Industrial computer 1 gives control by software
2 control commands of device processed, then controller 2 controls elevating mechanism 6 and moves, and related demarcation section bar 7 is also
Move therewith.Controller 2 also produces synchronous triggering signal simultaneously, and synchronous triggering signal is divided into two-way, its
In one tunnel connect camera 4, trigger camera 4 shooting demarcate section bar 7；An other road connects in industrial computer 1
Data collecting card, trigger data acquisition card reads the range finder 3 of current time and is worth.The figure of camera 4 shooting
Sheet returns industrial computer 1, range finder 3 and camera 4 by data line transfer and directly measures on electric lifting mechanism 6
Demarcation section bar 7 surface obtain data.
Present configuration light triangulation automatic calibration method flow process is as shown in Fig. 5 flow chart.
(1) preparation
Two electric lifting mechanisms 6 are laid steadily, and regulates respective level, it is ensured that electric lifting mechanism
6 lift at vertical plane.The demarcation section bar 7 that one root length degree covers the horizontal range of camera is fixed on two electricity
On dynamic elevating mechanism 6, camera 4 is fixed and guarantees that it can photograph demarcation section bar 7 surface, structure
The line-structured light that radiant sends is radiated at described demarcation Surface of profile.
(2) range finder 3 position is determined
Range finder 3 is fixed on demarcation section bar 7 side, makes range finder 3 measure self to demarcating section bar 7
Surface distance.Regulation range finder 3 height, makes demarcation section bar 7 less than surveying in the range of demarcating elevation
Range is measured away from machine 3.
(3) object coordinates of range finder 3 is determined
Actual timing signal can directly obtain current demarcation section bar 7 surface institute by range finder 3 value read
Object coordinates a little.
(4) start to gather
Two electric lifting mechanisms 6 synchronize slowly to rise, and range finder 3 altofrequency is measured, and camera 4 is with one
Determine frequency shooting.The triggering signal that camera 4 is sent by controller 2 shoots, and this signal divides simultaneously
Going out the road data collecting card to range finder 3, the range finder 3 making data collecting card extract this moment is worth.
(5) matched data
Being spaced at regular intervals, Surface of profile is demarcated in camera shooting, obtains the picture of certain luminous point on line-structured light
Side's coordinate, is measured by range finder simultaneously and demarcates the object coordinates of this luminous point on section bar；Real-time matching is demarcated
The section information that section bar 7 object coordinates and camera 4 photograph, can be demarcating section bar 7 object coordinates
Assignment is on pixel corresponding to camera 4 pixel table, and the pixel being assigned i.e. completes sampling process.
Interval refers at regular intervals, demarcates section bar and vertically moves a fixed step size by this time interval, and this is certain
The step-length corresponding displacement on camera target surface is less than or equal to a camera pixel point height.Dimension, camera
The corresponding structure luminous point of 4 each pixels gather data at least one or more.
(6) frequency acquisition is changed
Electric lifting mechanism 6 is allowed to decline after rising certain stroke by arranging controller 2 parameter, lower reduction of speed
Spending with the rate of climb consistent, camera 4 and range finder 3 synchronize value simultaneously.After having declined the most reciprocal
Rise and fall, now two electric lifting mechanisms 6 lift with friction speed, its each speed the most unordered
Change, and camera filming frequency changes the most therewith, ensures structure luminous point quilt as much as possible with this
Photograph.
(7) terminate to gather
After certain pixel value completes, this pixel no longer value；Rule is not met when being found to have
During exceptional value, just thinking that this calibration value is unreliable, this pixel needs again value to demarcate；When all
Pixel value complete after system stop gather, electric lifting mechanism 6 the most out of service.
(8) data process
After terminating to gather, as this calibration value after many class values of each pixel are averaged, finally
I.e. can get the object coordinates that each pixel of camera 4 is corresponding, measure system calibrating and complete.
It will be seen that the outstanding feature of the present invention is:
Scaling method: full automatic calibration method.Electric lifting mechanism 6 is utilized to realize measured object elevation even
Continuous uninterrupted change automatically, utilizes range finder 3 to measure the accurate height value in measured object surface, camera in real time
4 with certain frequency shooting measured object and mate range finder height value, utilize range finder 3 height value permissible
Calculating measured object object coordinates, measured object object coordinates is sat with the image space of the camera 4 photographed the most at last
The corresponding assignment of mark, reaches pixel and demarcates.
Calibration mode: both full-pixel is demarcated.Electric lifting mechanism 6 is utilized to realize the change of measured object elevation,
Camera 4 shoots measured object, electric lifting mechanism 6 rising or falling speed and camera 4 shooting frequency with certain frequency
Rate can ensure that camera 4 shoots the height that the elevation resolution of measured object is corresponding less than 4 one pixels of camera
Journey value, and then may insure that the camera 4 all pixels of target surface can directly be assigned demarcation, i.e. reach
Demarcate to both full-pixel, it is to avoid pixel draws calibration value by interpolation calculation thus brings calibrated error.
It should be noted last that, above detailed description of the invention is only in order to illustrate technical scheme
And unrestricted, although the present invention being described in detail with reference to preferred embodiment, this area common
It will be appreciated by the skilled person that technical scheme can be modified or equivalent, and
Without departing from the spirit and scope of technical solution of the present invention, it all should contain the claim model in the present invention
In the middle of enclosing.
Claims (5)
1. a structure light triangulation automatic calibration system, it is characterised in that include processor unit,
Control system, measurement system, motor system and electric power system, wherein,
Described processor unit, is mainly used in the storage for data, calculating；
Described control system, is used for controlling measurement system and motor system work；
Described measurement system mainly includes camera, structured light light source, range finder, data collecting card and demarcation
Section bar, the length of described demarcation section bar covers the horizontal range of described camera, described camera, structure light light
Source becomes triangulation location relation, and described data collecting card is for reading the value of range finder；
Described motor system is electric lifting mechanism, and described electric lifting mechanism is fixing connects described demarcation type
Material, for driving the beam direction of the described the most described structured light light source of demarcation section bar to lift, described range finding
Machine is for measuring the elevation of described demarcation section bar；
Described electric power system, provides for described processor unit, control system, measurement system, motor system
Power supply.
Structure light triangulation automatic calibration system the most according to claim 1, it is characterised in that
The quantity of described electric lifting mechanism is two, is separately mounted to the two ends of described demarcation section bar.
3. a scaling method for the structure light triangulation automatic calibration system described in claim 1,
It is characterized in that, comprise the following steps:
If the demarcation section bar that a root length degree covers the horizontal range of camera sends as measured object, structured light light source
Line-structured light is radiated at described demarcation Surface of profile；
Described demarcation section bar is made vertically to move with the speed set by electric lifting mechanism；
Camera shoots described demarcation Surface of profile with certain frequency, obtains the picture of certain luminous point on described line-structured light
Side's coordinate, measures the object coordinates of this luminous point on described demarcation section bar by range finder simultaneously；
Set up the mapping relations of described image space coordinate and object coordinates, i.e. set up certain pixel on camera target surface
The demarcation of point；
Whole pixels on camera target surface are demarcated by principle according to this.
The scaling method of structure light triangulation automatic calibration system the most according to claim 3,
It is characterized in that, described camera is spaced at regular intervals and refers to, described this time interval of demarcation section bar
Vertically moving a fixed step size, the corresponding displacement on camera target surface of this fixed step size is less than or equal to a phase
Machine pixel height.
The scaling method of structure light triangulation automatic calibration system the most according to claim 4,
It is characterized in that,
Described camera and range finder using laser are simultaneously connected with controller, and described controller produces synchronous triggering signal,
Synchronous triggering signal is divided into two-way, and wherein a road connects described camera, triggers camera shooting and demarcates on section bar
Luminous point；An other road connects the data collecting card in industrial computer, when trigger data acquisition card reads current
Between range finder measure in real time demarcate the elevation of this luminous point, the i.e. object coordinates of this luminous point on section bar.
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| CN110986885A (en) * | 2019-12-11 | 2020-04-10 | 长安大学 | Automatic calibration method and system for track detection vehicle camera |
| CN111207685A (en) * | 2020-01-14 | 2020-05-29 | 华中科技大学鄂州工业技术研究院 | Full-automatic calibration system for structured light depth measurement |
| CN111862233A (en) * | 2020-06-28 | 2020-10-30 | 东南大学 | Lens parameter calibration method based on equivalent coaxial spherical optical system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108663681A (en) * | 2018-05-16 | 2018-10-16 | 华南理工大学 | Mobile Robotics Navigation method based on binocular camera Yu two-dimensional laser radar |
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| CN112578366A (en) * | 2019-09-30 | 2021-03-30 | 韩国以事美德有限公司 | Time-of-flight camera error correction device |
| WO2021093111A1 (en) * | 2019-11-15 | 2021-05-20 | 五邑大学 | Fully automatic calibration method and apparatus for structured light 3d visual system |
| CN110986885A (en) * | 2019-12-11 | 2020-04-10 | 长安大学 | Automatic calibration method and system for track detection vehicle camera |
| CN111207685A (en) * | 2020-01-14 | 2020-05-29 | 华中科技大学鄂州工业技术研究院 | Full-automatic calibration system for structured light depth measurement |
| CN111862233A (en) * | 2020-06-28 | 2020-10-30 | 东南大学 | Lens parameter calibration method based on equivalent coaxial spherical optical system |
| CN111862233B (en) * | 2020-06-28 | 2024-04-16 | 东南大学 | Lens parameter calibration method based on equivalent coaxial spherical optical system |
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| CN106017312B (en) | 2020-01-07 |
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