CN106023234A - Linear array CCD camera alignment adjustment method - Google Patents
Linear array CCD camera alignment adjustment method Download PDFInfo
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- CN106023234A CN106023234A CN201610403680.0A CN201610403680A CN106023234A CN 106023234 A CN106023234 A CN 106023234A CN 201610403680 A CN201610403680 A CN 201610403680A CN 106023234 A CN106023234 A CN 106023234A
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- ccd camera
- linear array
- array ccd
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- scan line
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/003—Alignment of optical elements
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
The invention discloses a linear array CCD camera alignment adjustment method, relating to the visual sense system camera calibration technology field. The linear array CCD camera alignment adjustment method adopts a calibration plate drawn with a vertical line group and an oblique line group to finish calibration adjustment of a linear array CCD camera by adjustment software of the linear array CCD camera. The linear array CCD camera alignment adjustment method not only determines a specific position of a scanning line and determines whether scanning line is horizontal, but also realizes the facts that the focal length adjustment of the linear array camera does not need extra hardware support, the cost is reduced, a mobile standard plate is not needed to realize fast and effective calibration and operation is flexible.
Description
Technical field
The invention discloses a kind of linear array CCD camera alignment control method, relate to the technical field of visual system camera calibration.
Background technology
The detection object of linear array CCD camera generally moves with uniform velocity, its working method be a line of every time only scanning object as a line in image, its precision is high and is highly suitable for the image acquisition to moving target.But once can only scan a line of measurand due to linear array CCD camera, it is impossible to once obtain the complete image of testee, therefore be difficult to effectively position its scan position and be adjusted, thus the picture quality that impact collects.
Application No. 201310425241.6, the patent of invention entitled " a kind of ccd video camera calibration alignment method ", calibration sample is fixed on on bit platform, quantitative skew and rotation is done on para-position platform level, two ccd video camera records move every time after Mark point place coordinate, by calculating the conversion of Mark point, draw the coordinate system of ccd video camera and the transformational relation of para-position platform coordinate system, after two ccd video cameras have been calibrated, transformational relation i.e. can be utilized to carry out para-position towards processed products, whole method needs repeatedly accurately control the translation to bit platform and rotate and coordinates computed transformational relation, need additional hardware support to complete the control of platform motion, operate complicated and computationally intensive.
Summary of the invention
The goal of the invention of the present invention is the deficiency for above-mentioned background technology, provide a kind of linear array CCD camera alignment control method, propose a kind of calibration plate for linear array CCD camera alignment regulation, this calibration plate is utilized to achieve being automatically adjusted of linear array CCD camera, solve alignment precision in existing method to be difficult to ensure that, calibration system complex, the technical problem that operation is complicated.
The present invention adopts the following technical scheme that for achieving the above object
A kind of linear array CCD camera alignment control method, comprises the steps:
A, calibration plate is disposed vertically in the detection platform being positioned at detected object region, described calibration plate includes: for linear array CCD camera from reference object farther out time alignment regulation top half and for linear array CCD camera close to reference object time alignment regulation the latter half, top half and the latter half draw the vertical moulding group that spacing is equal and is parallel to each other respectively, spacing between top half vertical moulding is more than the spacing between the vertical moulding of the latter half, the oblique line bar group that top half and the latter half are drawn respectively with vertical moulding group angle is 45 degree, with the oblique line bar group that vertical moulding group angle is 135 degree, oblique line spacing in each oblique line bar group is equal and is parallel to each other；
The picture rich in detail that B, gathering line array CCD camera continuous scan calibration plate same position obtain；
C, the picture rich in detail obtained by step B determine linear array CCD camera scan line position and judge scan line whether level: when inclining scanning line, and regulation returns step B behind linear array CCD camera position；Alignment regulation is completed when scan line level.
Further prioritization scheme as described a kind of linear array CCD camera alignment control method, in step B gather picture rich in detail: linear array CCD camera leave school quasi-plate farther out time be scan line imaging in calibration plate top half, linear array CCD camera leave school quasi-plate nearer time be scan line imaging in calibration plate the latter half, picture rich in detail includes that many root tables levy the vertical line of scan line and oblique line position of intersecting point information.
Further prioritization scheme as described a kind of linear array CCD camera alignment control method, the picture rich in detail obtained by step B in step C determines that the method for linear array CCD camera scan line position is: read the distance that in picture rich in detail, every vertical line is adjacent between vertical moulding, the distance being adjacent between vertical moulding by every vertical line determines the intersection point of scan line and oblique line, connects each intersection point and i.e. determines linear array CCD camera scan line position.
Further prioritization scheme as described a kind of linear array CCD camera alignment control method, the method judging scan line whether level in step C is: when the intersection point of scan line and same oblique line bar group bend and time each distance between the vertical moulding of the same side is equal, scan line level；Otherwise, inclining scanning line.
Further, the calibration plate described in a kind of linear array CCD camera alignment control method step A is white background, and vertical moulding and oblique line bar are black lines, and the spacing ratio between spacing and the latter half vertical moulding between top half vertical moulding is two-to-one.
Further, in described a kind of linear array CCD camera alignment control method, linear array CCD camera carries for regulation and the real-time DALSA QuickCam software showing scanogram.
The present invention uses technique scheme, has the advantages that
(1) drafting is used to have the calibration plate of vertical moulding group and oblique line bar group to complete the alignment regulation of linear array CCD camera, use camera to carry regulation software DALSA QuickCam during regulation to be adjusted, need not extra hardware supported, reduce cost, need not mobile on-gauge plate can realize calibrating fast and effectively, flexible operation；
(2) method of adjustment that the present invention relates to not only determines the particular location of scan line, judges scan line whether level, moreover it is possible to realizing the focus adjustment of line-scan digital camera, range is wide.
Accompanying drawing explanation
Fig. 1 (a), Fig. 1 (b) are the schematic diagrams of two kinds of calibration plates.
Fig. 2 (a), Fig. 2 (b) be respectively linear array CCD camera scan line be during level, to scan the schematic diagram of calibration plate shown in Fig. 1 (a), Fig. 1 (b).
Fig. 3 is the camera scanning image that scan line obtains when position shown in Fig. 2 (a).
The schematic diagram of calibration plate shown in Fig. 1 (a) is scanned when Fig. 4 is linear array CCD camera scan line for tilting.
Fig. 5 is the camera scanning image that scan line obtains when position shown in Fig. 4.
Detailed description of the invention
Below as a example by myopia field control, in conjunction with accompanying drawing, the present invention is further detailed explanation.
See Fig. 1, be the schematic diagram of alignment plate of the present invention shown in figure.During use, Fig. 1 is directly printed with A4 paper and is attached on one piece of rigidity flat to use.As it is shown in figure 1, calibration plate is divided into top half and lower half in two sub-sections, the spacing between top half vertical moulding is the twice of spacing between the vertical moulding of the latter half.Top half can be used for camera from photographic subjects farther out time alignment regulation (be far visual field regulation), the latter half can be used for camera close to photographic subjects time alignment regulation (be myopia field control), top half, the latter half are all drawn with vertical moulding angle is 45 degree oblique line bar group and with the oblique line bar group that vertical moulding angle is 135 degree, the oblique line spacing in each oblique line bar group is equal.As a example by the latter half, having 9 equidistant parallel vertical lines and four oblique line bars, oblique line bar is thicker than vertical lines and is parallel to each other, in order to follow-up identification in scanogram, Fig. 1 (a) and Fig. 1 (b) give the schematic diagram of two kinds of calibration plates.
See Fig. 2, Fig. 2 (a) for scanning the schematic diagram of calibration plate shown in Fig. 1 (a), Fig. 2 (b) for scanning the schematic diagram of calibration plate shown in Fig. 1 (b) when linear array CCD camera scan line is level when linear array CCD camera scan line is level, in order to make it easy to understand, figure represents the scan line position of camera with black color dots line.
See Fig. 3, for the camera scanning image obtained when linear array CCD camera scan line is in position shown in Fig. 2 (a) shown in figure.Convenient for statement, figure represents oblique line bar position in scanogram with black double dot dash line.When scan line is level, has between two lines and have four fixing vertical mouldings and this two lines equal apart from the distance of its previous bar vertical moulding, the most i.e. a1=b1.Also the position of scan line can be judged according to Fig. 3.Method particularly includes: Article 1 double dot dash line, between the 2nd, 3 articles of vertical lines, is a1 with the 2nd article of vertical line distance, in corresponding oblique line section a little on calibration plate between the 2nd, 3 articles of vertical lines, and the position of the 2nd article of vertical line a1 of distance；Article 2 double dot dash line, between the 6th, 7 articles of vertical lines, is b1 with the 6th article of vertical line distance, in corresponding oblique line section a little on calibration plate between the 6th, 7 articles of vertical lines, and the position of the 6th article of vertical line b1 of distance；Article 3 double dot dash line is between the 7th, 8 articles of vertical lines, the 7th article of vertical line of distance is c1, in corresponding oblique line section a little on calibration plate between the 7th, 8 articles of vertical lines, the position of the 7th article of vertical line c1 of distance, uniquely can only have one by these 3 straight lines determined, it is the position at Fig. 2 chain lines place, the most just can judge the position of line-scan digital camera scan line.Along with the change of scan line position, scan line changes the most therewith with the intersection point of oblique line.For horizontal scanning line, when linear array CCD camera scans calibration plate shown in Fig. 1 (a), horizontal scanning line and two and oblique line that vertical moulding angle is 45 degree, one and oblique line that vertical moulding angle is 135 degree intersect (as shown in Figure 2 (a) shows)；When linear array CCD camera scans calibration plate shown in Fig. 1 (b), horizontal scanning line and one and oblique line that vertical moulding angle is 45 degree, two and oblique line that vertical moulding angle is 135 degree intersect (as shown in Fig. 2 (b)).
Seeing Fig. 4, for scanning the schematic diagram of calibration plate shown in Fig. 1 (a) when linear array CCD camera scan line is for tilting shown in figure, black color dots line represents the scan line position of camera.
See Fig. 5, for the camera scanning image obtained when linear array CCD camera scan line is in position shown in Fig. 4 shown in figure.In figure, black double dot dash line represents oblique line bar position in scanogram.The position of scan line is may determine that according to Fig. 5, method particularly includes: Article 1 double dot dash line, between the 2nd, 3 articles of vertical lines, is a2 with the 2nd article of vertical line distance, in corresponding oblique line section a little on calibration plate between the 2nd, 3 articles of vertical lines, the position of the 2nd article of vertical line a2 of distance；Article 2 double dot dash line, between the 6th, 7 articles of vertical lines, is b2 with the 6th article of vertical line distance, in corresponding oblique line section a little on calibration plate between the 6th, 7 articles of vertical lines, and the position of the 6th article of vertical line b2 of distance；Article 3 double dot dash line is between the 8th, 9 articles of vertical lines, the 8th article of vertical line of distance is c2, in corresponding oblique line section a little on calibration plate between the 8th, 9 articles of vertical lines, the position of the 8th article of vertical line c2 of distance, uniquely can only have one by these 3 straight lines determined, it is the position at Fig. 4 chain lines place, the most just can judge the position of line-scan digital camera scan line.
The using method of the calibration plate that should be used for line array CCD alignment regulation is: first, being disposed vertically in detection platform by calibration plate, calibration plate is static.Camera connects computer and starts imaging software DALSA QuickCam and show image the most in real time.With the same position of linear array CCD camera continuous scan calibration plate, the scanogram obtained is a series of vertical lines, may determine that the position of scan line according to the particular location of lines, described in detailed process example performed as described above.It addition, this invention can be additionally used in the regulation of linear array CCD camera focal length, particularly as follows: regulation camera focus is it can be seen that the change of image svelteness degree, regulation camera focus can complete the regulation of camera focus until obtaining lines the most clearly.
This embodiment is only the example of myopia field control, and protection scope of the present invention is not limited to this embodiment.According to the record of the application, those skilled in the art can specify the scheme of far visual field regulation, it is also possible to is directed at regulation scheme when the ratio of top half vertical moulding spacing and the latter half vertical moulding spacing is other numerical value in clear and definite calibration plate.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent and improvement etc. made within the spirit and principles in the present invention, should be included within the scope of the present invention.
Claims (6)
1. a linear array CCD camera alignment control method, it is characterised in that comprise the steps:
A, calibration plate is disposed vertically in the detection platform being positioned at detected object region, described calibration plate includes: for linear array CCD camera from reference object farther out time alignment regulation top half and for linear array CCD camera close to reference object time alignment regulation the latter half, top half and the latter half draw the vertical moulding group that spacing is equal and is parallel to each other respectively, spacing between top half vertical moulding is more than the spacing between the vertical moulding of the latter half, the oblique line bar group that top half and the latter half are drawn respectively with vertical moulding group angle is 45 degree, with the oblique line bar group that vertical moulding group angle is 135 degree, oblique line spacing in each oblique line bar group is equal and is parallel to each other；
The picture rich in detail that B, gathering line array CCD camera continuous scan calibration plate same position obtain；
C, the picture rich in detail obtained by step B determine linear array CCD camera scan line position and judge scan line whether level: when inclining scanning line, and regulation returns step B behind linear array CCD camera position；Alignment regulation is completed when scan line level.
A kind of linear array CCD camera alignment control method, it is characterized in that, in step B gather picture rich in detail: linear array CCD camera leave school quasi-plate farther out time be scan line imaging in calibration plate top half, linear array CCD camera leave school quasi-plate nearer time be scan line imaging in calibration plate the latter half, picture rich in detail includes that many root tables levy the vertical line of scan line and oblique line position of intersecting point information.
A kind of linear array CCD camera alignment control method, it is characterized in that, the picture rich in detail obtained by step B in step C determines that the method for linear array CCD camera scan line position is: read the distance that in picture rich in detail, every vertical line is adjacent between vertical moulding, the distance being adjacent between vertical moulding by every vertical line determines the intersection point of scan line and oblique line, connects each intersection point and i.e. determines linear array CCD camera scan line position.
A kind of linear array CCD camera alignment control method, it is characterized in that, the method judging scan line whether level in step C is: when the intersection point of scan line and same oblique line bar group bend and time each distance between the vertical moulding of the same side is equal, scan line level；Otherwise, inclining scanning line.
A kind of linear array CCD camera alignment control method the most as claimed in any of claims 1 to 4, it is characterized in that, calibration plate described in step A is white background, vertical moulding and oblique line bar are black lines, and the spacing ratio between spacing and the latter half vertical moulding between top half vertical moulding is two-to-one.
6. according to linear array CCD camera alignment control method a kind of described in any one in Claims 1-4, it is characterised in that linear array CCD camera carries for regulation and the real-time DALSA QuickCam software showing scanogram.
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| CN108322736A (en) * | 2018-01-30 | 2018-07-24 | 武汉科技大学 | A kind of calibration plate and calibration method that multiple line-scan digital cameras are calibrated around optical axis rotation angle |
| CN109002008A (en) * | 2018-04-23 | 2018-12-14 | 西安工业大学 | A kind of cross slid platform automated calibration system based on monocular vision |
| CN112428264A (en) * | 2020-10-26 | 2021-03-02 | 中国计量大学 | Robot arm correction method and system |
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