CN106441099B - The scaling method of multiple line structure optical sensor - Google Patents
The scaling method of multiple line structure optical sensor Download PDFInfo
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- CN106441099B CN106441099B CN201610894482.9A CN201610894482A CN106441099B CN 106441099 B CN106441099 B CN 106441099B CN 201610894482 A CN201610894482 A CN 201610894482A CN 106441099 B CN106441099 B CN 106441099B
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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
Abstract
The present invention provides a kind of scaling methods of multiple line structure optical sensor.It include: that scaling board is fixed on a mobile platform, multi-line structured light is projected on the scaling board, obtain coordinate of each striation under the image coordinate system of scaling board, the coordinate under described image coordinate system is converted into the coordinate under target plane coordinate system using the Formula of Coordinate System Transformation being fitted in advance, the coordinate under the target plane coordinate system is converted to the coordinate under world coordinate system according to the spatial position coordinate of current scaling board.The conversion formula between the coordinate under the coordinate and world coordinate system under the image coordinate system of each optical plane of multiple line structure optical sensor is obtained by fitting operation, completes the calibration process of multiple line structure optical sensor.The present invention does not need to determine positional relationship of the optical plane between the equation and each optical plane under camera coordinate system, is simplified algorithm, provides a kind of scaling method of effective multi-linear structured light vision sensors.
Description
Technical field
The present invention relates to technical field of visual measurement more particularly to a kind of scaling methods of multiple line structure optical sensor.
Background technique
Line-structured light vision measurement technology is a kind of noncontact measurement, have structure is simple, speed is fast, it is flexible,
It the advantages that precision height, strong interference immunity, is widely used in application fields such as high speed on-line measurement, quality control, reverse engineerings.
The purpose of line structure optical sensor calibration is to reconstruct three-dimensional world coordinate by two dimensional image coordinate, realizes three-dimensional measurement.Currently, single
The scaling method of line structured light vision sensor is more, and more mature, including machinery adjustment method, filament scattering method,
Tooth form scaling method etc..
Machinery adjustment method is first optical plane to be adjusted to by rule of thumb a certain bits of relative camera with adjustment mechanism
It sets, perfect lens model is recycled to acquire the position of optical plane relative camera.Filament scattering method also known as fiber elongation method, cardinal principle
It is that laser plane is allowed to be projected on several non-coplanar filaments of spatial distribution, since filament scatters, thus the shape on filament
At multiple bright spots that can be imaged in image planes, while the coordinate value of bright spot in space is measured using other coordinate instruments.Utilize picture
The coordinate value that face bright spot imager coordinate and bright spot measure in space solves the parameter of visual sensor.Tooth form Bar Method be with
Line-structured light scaling method of the zigzag stereochemical structure of special designing as target, this method need external equipment adjustment light flat
Face is vertical with a certain datum level, and acquisition calibration point number is less, and sawtooth rib is easily reflective, causes picture point extraction accuracy lower, no
It is suitble to field calibration.
Although the scaling method of the above single line structured light vision sensor is more mature, single line structure light can only be passed
Sensor is demarcated.Single line structured light vision sensor can only obtain a profile of object to be measured every time, needing while surveying
In the case where measuring more profiles, it cannot meet the requirements, it is therefore desirable to a kind of measuring system of multiple line structure optical sensor is constructed, so as to
Realization becomes a urgent problem to be solved to the calibration of multiple line structure optical sensor.
Summary of the invention
The embodiment provides a kind of scaling methods of multiple line structure optical sensor, and to realize, effectively calibration is more
Line structure optical sensor.
To achieve the goals above, this invention takes following technical solutions.
A kind of scaling method of multiple line structure optical sensor, comprising:
Step a, using the good scaling board of flatness as target plane, the scaling board is fixed on a mobile platform；
Step b, multiple optical planes are constituted into multi-line structured light according to certain relationship, each optical plane projects will on object
A striation is formed, multi-line structured light is projected on the scaling board, the image for obtaining each striation in the scaling board is sat
Coordinate under mark system, is converted to target plane for the coordinate under described image coordinate system using the Formula of Coordinate System Transformation being fitted in advance
Coordinate under coordinate system is converted to the coordinate under the target plane coordinate system according to the spatial position coordinate of current scaling board
Coordinate under world coordinate system；
Step c, the scaling board is moved along the direction perpendicular to target plane by a distance by the mobile platform,
Multi-line structured light is projected on the scaling board again, and obtains coordinate and generation under the image coordinate system of each striation again
Coordinate under boundary's coordinate system；
Above-mentioned steps b and step c are repeated, the coordinate and the world under the image coordinate system of multiple groups multi-line structured light are obtained
Coordinate under coordinate system is distinguished according to the coordinate under the coordinate and world coordinate system under the multiple series of images coordinate system of each striation
It is fitted operation, obtains the coordinate and world coordinates under the image coordinate system of each optical plane of multiple line structure optical sensor
The conversion formula between coordinate under system, completes the calibration process of multiple line structure optical sensor.
Further, the method further include:
Using the upper left corner of the plane of delineation of the scaling board as origin, direction is u axis horizontally to the right, and vertically downward direction is
V axis establishes image coordinate system, and described image coordinate system is the coordinate system as unit of pixel；
It include the fixed characteristic point in multiple positions in the target plane, using a certain characteristic point of target plane as origin,
It is horizontally to the right x-axis, establishes target plane coordinate system straight down for y-axis, the target plane coordinate system is with actual physics
Unit mm is the coordinate system of measurement；
Be horizontally to the right x-axis using a certain characteristic point in mobile platform initial position target plane as origin, straight down for
Y-axis, vertical target in-plane are z-axis, establish world coordinate system, and the world coordinate system is with actual physics unit mm for degree
The coordinate system of amount, the mobile platform moving direction is vertical with target plane, along the direction z.
Further, the position of multiple characteristic points in the target plane is set according to the queueing discipline of setting.
Further, the method also includes:
The position for adjusting sensor, scaling board is placed in the measurement range of sensor；
Obtain in target plane each characteristic point coordinate (u, v) under image coordinate system and in target plane coordinates respectively
Coordinate (x, y) under system；
It is solved according to the coordinate of each characteristic point by under the coordinate (u, v) to target plane coordinate system under image coordinate system
Formula of Coordinate System Transformation between coordinate (x, y):
Wherein, n is that coordinate converts polynomial order, cijAnd dijFor polynomial coefficient, solved according to least square method
Coefficient cijAnd dij:
Wherein m is the number of characteristic point.
Further, the step b, step c are specifically included:
Multi-line structured light is projected on scaling board, extracts coordinate of each striation under image coordinate system, wherein word
The serial number of imperial mother indicates that 1~P of laser rays ordinal number, subscript indicate striation in pixel 1~m of serial number as the point in plane, subscript table
Show target position 1~N of serial number, if current targets plane at position 1, i.e.,
First striation:
Second striation:
……
The P striation:
Coordinate conversion is carried out to each striation using the formula 1, obtains each striation in target plane coordinate system
Under coordinate, i.e.,
First striation:
Second striation:
……
The P striation:
The z coordinate of target position is set as z1, further obtain each corresponding light in the target plane
Coordinate under world coordinate system, i.e.,
First striation:
Second striation:
……
The P striation:
Wherein z1For the spatial position coordinate of target plane；
Scaling board is moved into one section of known distance Δ z, in-position along the z-axis direction of world coordinate system by mobile platform
2, z coordinate z2, multi-line structured light is projected on scaling board again, extracts seat of each striation under image coordinate system
Mark, i.e.,
First striation:
Second striation:
……
The P striation:
The coordinate under target plane coordinate system of each striation at position 2 is obtained, i.e.,
First striation:
Second striation:
……
The P striation:
Coordinate of each the corresponding striation under world coordinate system at the target plan-position is further obtained, i.e.,
First striation:
Second striation:
……
The P striation:
Repeat above-mentioned treatment process, until the measurement range of scaling board removal sensor, obtains multiple line structure
Multiple groups coordinate of the light under image coordinate system
First striation:
Second striation:
……
The P striation:
With its multiple groups coordinate under the world coordinate system in corresponding target plane
First striation:
Second striation:
……
The P striation:
Further, under the coordinate and world coordinate system under the multiple series of images coordinate system according to each striation
Coordinate is fitted operation respectively, obtain coordinate of each optical plane under the coordinate and world coordinate system under image coordinate system it
Between conversion formula, comprising:
By the multiple striations of multiple groups the coordinate under image coordinate system and the coordinate under world coordinate system according to optical plane into
Row grouping, is fitted the image coordinate and world coordinates of each optical plane after grouping, establishes the image of each optical plane
The conversion formula between the coordinate under coordinate and world coordinate system under coordinate system, for one of optical plane, image is sat
The conversion formula between the coordinate under coordinate and world coordinate system under mark system are as follows:
Coefficient c is solved according to least square methodij、dijAnd eij。
As can be seen from the technical scheme provided by the above-mentioned embodiment of the present invention, the embodiment of the present invention is by utilizing scaling board
On characteristic point come the conversion formula between the coordinate under the coordinate and world coordinate system established under image coordinate system, do not need really
Determine positional relationship of the optical plane between the equation and each optical plane under camera coordinate system, be simplified algorithm, has
There is ideal stated accuracy, to provide a kind of scaling method of effective multi-linear structured light vision sensors.
The additional aspect of the present invention and advantage will be set forth in part in the description, these will become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of structural schematic diagram of caliberating device provided in an embodiment of the present invention；
Fig. 2 is a kind of process flow diagram of the scaling method of multiple line structure optical sensor provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of tessellated scaling board provided in an embodiment of the present invention；
Fig. 4 is a kind of calibration pictorial diagram of multiple line structure optical sensor provided in an embodiment of the present invention.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being arranged used in specification of the invention
Diction " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
Other one or more features, integer, step, operation, element, component and/or their group.It should be understood that when we claim member
Part is " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or there may also be
Intermediary element.In addition, " connection " used herein or " coupling " may include being wirelessly connected or coupling.Wording used herein
"and/or" includes one or more associated any cells for listing item and all combinations.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
In order to facilitate understanding of embodiments of the present invention, it is done by taking several specific embodiments as an example below in conjunction with attached drawing further
Explanation, and each embodiment does not constitute the restriction to the embodiment of the present invention.
Embodiment one
The multi-line structured light of the embodiment of the present invention is by multiple optical planes according to certain relationship (parallel, diverging, intersection etc.) structure
At each optical plane, which projects, will form a striation on object.It hereinafter will not strictly distinguish striation and optical plane.
The scaling method of the multi-linear structured light vision sensors of the embodiment of the present invention is exactly to establish characteristic point in CCD
The relationship of (Charge-coupled Device, charge coupled cell) between photo coordinate system and world coordinate system.
To solve the above problems, the embodiment of the invention provides a kind of scaling method of multi-linear structured light vision sensors,
This method needs to establish before calibration three coordinate systems:
1, image coordinate system
Using the upper left corner of the plane of delineation of scaling board as origin, direction is u axis horizontally to the right, and vertically downward direction is v axis
Establish image coordinate system.Image coordinate system is the coordinate system as unit of pixel.
2, target plane coordinate system
It include the fixed characteristic point in multiple positions in the target plane, using a certain characteristic point of target plane as origin,
It is horizontally to the right x-axis, establishes target plane coordinate system straight down for y-axis.Target plane coordinate system is with actual physics unit
Mm is the coordinate system of measurement.In order to guarantee target plane in moving process, coordinate origin will not remove multi-line structured light
Outside the field range of sensor, often chooses and be located at original of a certain characteristic point of immediate vicinity as target plane in target plane
Point.
3, world coordinate system
Target plane is fixed on one-dimensional movement platform, adjustment target plane is vertical with mobile platform moving direction, with
The a certain characteristic point in target plane on mobile platform initial position is origin, and direction is x-axis horizontally to the right, straight down side
To for y-axis, vertical target in-plane is z-axis, establishes world coordinate system, constitutes the structure of caliberating device shown in FIG. 1.The world
It is the coordinate system measured that coordinate system, which is with actual physics unit mm, and the mobile platform moving direction is vertical with target plane, edge
The direction z.
After establishing above three coordinate system, the calibration side of multi-linear structured light vision sensors provided in an embodiment of the present invention
The process flow of method is as described in Figure 2, including following processing step:
Step S210, have using the good scaling board of a flatness as target plane, on scaling board a series of known empty
Between position characteristic point, by scaling board be fixed on one-dimensional movement platform on；
Step S220, the position for adjusting multiple line structure optical sensor, scaling board is placed in the measurement range of sensor；
Step S230, using horizontal direction on scaling board as x-axis, vertical direction is y-axis, is moved one-dimensionally the moving direction of platform
World coordinate system is constructed for z-axis；
Step S240, it is solved according to the coordinate of each characteristic point by the coordinate (u, v) under image coordinate system to target plane
The Formula of Coordinate System Transformation between coordinate (x, y) under coordinate system:
Wherein, n is that coordinate converts polynomial order, cijAnd dijFor polynomial coefficient, solved according to least square method
Coefficient cijAnd dij:
Wherein m is the number of characteristic point.
Step S250, multi-line structured light is projected on scaling board, extracts seat of each striation under image coordinate system
It marks, the relational expression in recycle step S240 obtains seat of each striation under the target plane coordinate system that the plane is established
Mark, then by the spatial position z of target, obtain corresponding world coordinates.By taking the P striation as an example, image coordinate is Obtain the target plane coordinate system
Under coordinate And then obtain world coordinate system
Under coordinate beWherein z1For
The spatial position coordinate of current calibration plane.
Step S270, scaling board is moved one section of known distance Δ z along the z-axis direction, and repeated by control one-dimensional movement platform
Above-mentioned steps S240, two step of step S250 carry out multi-pass operation, multiple groups multi-line structured light can be obtained under world coordinate system
Image coordinate under space coordinate image coordinate system corresponding with its.By taking the P striation as an example, obtaining N group image coordinate is Correspondence obtains N group generation
Boundary's coordinate is
Concrete processing procedure includes:
Multi-line structured light is projected on scaling board, extracts coordinate of each striation under image coordinate system, wherein word
The serial number of imperial mother indicates that 1~P of laser rays ordinal number, subscript indicate striation as point pixel 1~m of serial number in plane, and subscript indicates
Target position 1~N of serial number, if current targets plane at position 1, i.e.,
First striation:
Second striation:
……
The P striation:
Coordinate conversion is carried out to each striation using the formula 1, obtains each striation in target plane coordinate system
Under coordinate, i.e.,
First striation:
Second striation:
……
The P striation:
The z coordinate of target position is set as z1, further obtain each corresponding light in the target plane
Coordinate under world coordinate system, i.e.,
First striation:
Second striation:
……
The P striation:
Wherein z1For the spatial position coordinate of target plane；
Scaling board is moved into one section of known distance Δ z, in-position along the z-axis direction of world coordinate system by mobile platform
2, and again project multi-line structured light on scaling board, coordinate of each striation under image coordinate system is extracted, i.e.,
First striation:
Second striation:
……
The P striation:
The coordinate under target plane coordinate system of each striation at position 2 is obtained, i.e.,
First striation:
Second striation:
……
The P striation:
Coordinate of each the corresponding striation under world coordinate system in the target plane is further obtained, i.e.,
First striation:
Second striation:
……
The P striation:
Repeat above-mentioned treatment process, until the measurement range of scaling board removal sensor, obtains multiple line structure
Multiple groups coordinate of the light under image coordinate system
First striation:
Second striation:
……
The P striation:
With its multiple groups coordinate under the world coordinate system in corresponding target plane
First striation:
Second striation:
……
The P striation:
Step S280, by the multiple striations of multiple groups the coordinate under image coordinate system and the coordinate under world coordinate system according to
Optical plane is grouped, and is fitted to the image coordinate and world coordinates of each optical plane after grouping, and it is flat to establish each light
The conversion formula between the coordinate under coordinate and world coordinate system under the image coordinate system in face, to one of optical plane
It says, the conversion formula between the coordinate under coordinate and world coordinate system under image coordinate system are as follows:
Coefficient c in formulaij、dijAnd eijIt solves to obtain by least square method.The conversion formula of other optical planes also utilizes public affairs
Formula 2 obtains.
Embodiment two
Illustrate specific embodiment by taking the calibration process for the sensor that five line-structured lights are constituted as an example below:
Five line-structured light serial number P=1~5, as shown in figure 3, being put down using chequered with black and white gridiron pattern scaling board as target
For face, specific calibration process is introduced.Above-mentioned gridiron pattern scaling board and camera, optical system, multiple line structure optical generator are (by one
A laser line generator and five reflecting mirrors constitute) etc. components constitute the calibration system of multiple line structure optical sensor shown in Fig. 4
Structure chart.
As shown in figure 4, gridiron pattern scaling board is placed in the measurement range of sensor first, CCD is first used at position 1
The scaling board image at this is acquired, the image coordinate (u, v) of X-comers and the target co-ordinates system coordinate of corresponding angle point are extracted
(x, y) obtains world coordinate system coordinate (x, y, z1), recycle least square method fitting to solve by image coordinate (u, v) to target
Mark coordinate (x, y) transformational relation of coordinate system:
Wherein coefficient cijAnd dijIt is determined according to least square method: some characteristic point fastened for target plane coordinates
(Xk,Yk) it can all be uniquely corresponding to a bit (u on plane of delineation coordinate systemk,vk), according to the discrete spy on gridiron pattern scaling board
It levies the coordinate put under target plane coordinate system and it corresponds to the more of coordinate building binary n rank under plane of delineation coordinate system
First equation of linear regression.According to principle of least square method, i.e. the quadratic sum minimum principle of actual value and calculating value difference, in addition error
Function Ex and Ey is equal to zero to the partial derivative of its all coefficient, calculates all coefficients.I.e.
N is to return polynomial order in formula, and m is the number of characteristic point.
Solve coefficient cijAnd dijAfterwards, it is just completely established by the corresponding relationship of image coordinate system to target co-ordinates system
Get up.
Holding position 1 is constant, and five laser rays are beaten on scaling board, extracts the image coordinate of every laser rays, utilizes
The relationship of above-mentioned foundation solves space coordinate of five striations at position 1.And so on, control one-dimensional movement platform will
Scaling board moves one section of known distance along the z-axis direction, is moved to position 2, repeats the above steps, continues to move to position 3, repeats
Above-mentioned steps, the measurement range until removing sensor, obtain space coordinate of each laser rays at different z values.
Coordinate data is grouped according to 5 optical planes, then to the image coordinate data of each optical plane and the world
Coordinate data is fitted respectively, and the coordinate under the image coordinate system of each optical plane and the world are established using least square method
N rank multiple linear regression equations between coordinate under coordinate system, obtain conversion formula, as 2,5 optical planes of formula obtain 5 groups
Equation.
Coefficient c in formulaij、dijAnd eijIt is solved according to least square method.
In conclusion the embodiment of the present invention passes through the coordinate established under image coordinate system using the characteristic point on scaling board
With the conversion formula between the coordinate under world coordinate system, do not need to determine equation of the optical plane under camera coordinate system, with
And the positional relationship between each optical plane, it is simplified algorithm.During the calibration process, the calibration to camera is eliminated,
Demarcating steps are simplified, and there is ideal stated accuracy, to provide a kind of effective multi-line structured light vision
The scaling method of sensor.
Those of ordinary skill in the art will appreciate that: attached drawing is the schematic diagram of one embodiment, module in attached drawing or
Process is not necessarily implemented necessary to the present invention.
As seen through the above description of the embodiments, those skilled in the art can be understood that the present invention can
It realizes by means of software and necessary general hardware platform.Based on this understanding, technical solution of the present invention essence
On in other words the part that contributes to existing technology can be embodied in the form of software products, the computer software product
It can store in storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions are used so that a computer equipment
(can be personal computer, server or the network equipment etc.) executes the certain of each embodiment or embodiment of the invention
Method described in part.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device or
For system embodiment, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.Apparatus and system embodiment described above is only schematical, wherein the conduct
The unit of separate part description may or may not be physically separated, component shown as a unit can be or
Person may not be physical unit, it can and it is in one place, or may be distributed over multiple network units.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (4)
1. a kind of scaling method of multiple line structure optical sensor characterized by comprising
Step a, using the good scaling board of flatness as target plane, the scaling board is fixed on a mobile platform；
Step b, multiple optical planes are constituted into multi-line structured light according to certain relationship, each optical plane is projected and will be formed on object
One striation, multi-line structured light is projected on the scaling board, obtains each striation in the image coordinate system of the scaling board
Under coordinate, the coordinate under described image coordinate system is converted into target plane coordinates using the Formula of Coordinate System Transformation being fitted in advance
Coordinate under system, is converted to the world for the coordinate under the target plane coordinate system according to the spatial position coordinate of current scaling board
Coordinate under coordinate system；
Step c, the scaling board is moved along the direction perpendicular to target plane by a distance by the mobile platform, again
Multi-line structured light is projected on the scaling board, and obtains the coordinate under the image coordinate system of each striation and world's seat again
Coordinate under mark system；
Above-mentioned steps b and step c are repeated, the coordinate and world coordinates under the image coordinate system of multiple groups multi-line structured light are obtained
Coordinate under system, carries out respectively according to the coordinate under the coordinate and world coordinate system under the multiple series of images coordinate system of each striation
Fitting operation obtains under the coordinate and world coordinate system under the image coordinate system of each optical plane of multiple line structure optical sensor
Coordinate between conversion formula, complete multiple line structure optical sensor calibration process；
Using the upper left corner of the plane of delineation of the scaling board as origin, direction is u axis horizontally to the right, and vertically downward direction is v axis
Image coordinate system is established, described image coordinate system is the coordinate system as unit of pixel；
It include the fixed characteristic point in multiple positions in the target plane, it is horizontal using a certain characteristic point of target plane as origin
It is to the right x-axis, establishes target plane coordinate system straight down for y-axis, the target plane coordinate system is with actual physics unit
Mm is the coordinate system of measurement；
Using a certain characteristic point in mobile platform initial position target plane as origin, it is horizontally to the right x-axis, is straight down y-axis,
Vertical target in-plane is z-axis, establishes world coordinate system, and the world coordinate system is with actual physics unit mm for measurement
Coordinate system, the mobile platform moving direction is vertical with target plane, along the direction z；
The position for adjusting sensor, scaling board is placed in the measurement range of sensor；
Each characteristic point is respectively in the coordinate (u, v) under image coordinate system and under target plane coordinate system in acquisition target plane
Coordinate (x, y)；
It is solved according to the coordinate of each characteristic point by the coordinate under the coordinate (u, v) to target plane coordinate system under image coordinate system
Formula of Coordinate System Transformation between (x, y):
Wherein, n is that coordinate converts polynomial order, cijAnd dijFor polynomial coefficient, coefficient is solved according to least square method
cijAnd dij:
Wherein m is the number of characteristic point.
2. the method according to claim 1, wherein the position of multiple characteristic points in the target plane according to
The queueing discipline of setting and set.
3. the method according to claim 1, wherein the step b, step c are specifically included:
Multi-line structured light is projected on scaling board, coordinate of each striation under image coordinate system is extracted, wherein after letter
Serial number indicate that 1~P of laser rays ordinal number, subscript indicate striation in pixel 1~m of serial number as the point in plane, subscript indicates target
Cursor position 1~N of serial number, if current targets plane at position 1, i.e.,
First striation:
Second striation:
……
The P striation:
Coordinate conversion is carried out to each striation using the formula 1, obtains each striation under target plane coordinate system
Coordinate, i.e.,
First striation:
Second striation:
……
The P striation:
The z coordinate of target position is set as z1, further obtain each corresponding striation world in the target plane
Coordinate under coordinate system, i.e.,
First striation:
Second striation:
……
The P striation:
Wherein z1For the spatial position coordinate of target plane；
Scaling board is moved into one section of known distance Δ z along the z-axis direction of world coordinate system by mobile platform, in-position 2,
Z coordinate is z2, multi-line structured light is projected on scaling board again, extracts coordinate of each striation under image coordinate system,
I.e.
First striation:
Second striation:
……
The P striation:
The coordinate under target plane coordinate system of each striation at position 2 is obtained, i.e.,
First striation:
Second striation:
……
The P striation:
Coordinate of each the corresponding striation under world coordinate system at the target plan-position is further obtained, i.e.,
First striation:
Second striation:
……
The P striation:
Repeat above-mentioned treatment process, until the measurement range of scaling board removal sensor, obtains multi-line structured light and exist
Multiple groups coordinate under image coordinate system
First striation:
Second striation:
……
The P striation:
With its multiple groups coordinate under the world coordinate system in corresponding target plane
First striation:
Second striation:
……
The P striation:
4. according to the method described in claim 3, it is characterized in that, the multiple series of images coordinate system according to each striation
Under coordinate and world coordinate system under coordinate be fitted operation respectively, obtain seat of each optical plane under image coordinate system
The conversion formula between coordinate under mark and world coordinate system, comprising:
The multiple striations of multiple groups are divided in the coordinate under image coordinate system and the coordinate under world coordinate system according to optical plane
Group is fitted the image coordinate and world coordinates of each optical plane after grouping, establishes the image coordinate of each optical plane
The conversion formula between the coordinate under coordinate and world coordinate system under system, for one of optical plane, image coordinate system
Under coordinate and world coordinate system under coordinate between conversion formula are as follows:
Coefficient c is solved according to least square methodij、dijAnd eij。
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| CN112132891A (en) * | 2020-11-26 | 2020-12-25 | 三代光学科技（天津）有限公司 | Method for enlarging calibration space |
| CN112762838B (en) * | 2020-12-28 | 2023-02-03 | 上海骄成超声波技术股份有限公司 | Calibration method and device for multi-laser displacement sensor system |
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