CN106908081A - Laser level detecting system and method based on ccd video camera - Google Patents
Laser level detecting system and method based on ccd video camera Download PDFInfo
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- CN106908081A CN106908081A CN201710100512.9A CN201710100512A CN106908081A CN 106908081 A CN106908081 A CN 106908081A CN 201710100512 A CN201710100512 A CN 201710100512A CN 106908081 A CN106908081 A CN 106908081A
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- parallel light
- laser level
- video camera
- ccd video
- light tube
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
The invention discloses a kind of laser level detecting system based on ccd video camera, including frame, the product tool for placing fixed laser level and the parallel light tube frame for installing fixed ccd video camera parallel light tube；Wherein, product tool and parallel light tube frame are respectively fixed on the machine frame；Also, eight ccd video camera parallel light tubes are installed in parallel light tube frame, wherein, including two the first ccd video camera parallel light tubes for being used to detect laser level left side plumb line；Two the second ccd video camera parallel light tubes for being used to detect laser level front plumb line；Three are used to detect the horizontal 3rd ccd video camera parallel light tube in laser level front；And one be used for detect fourth ccd video camera parallel light tube of the laser level to place axiality.The present invention is adapted to the detection of various model laser levels, and efficiency is substantially improved, and reduces the human factor of measurement.
Description
Technical field
It is the present invention relates to laser level testing equipment technical field more particularly to a kind of based on ccd video camera
Laser level detecting system and method.
Background technology
Laser level is a kind of new optical, mechanical and electronic integration instrument, most of to use 635nm laser diodes, can be
Metope etc. is penetrated body surface and is projected visible red horizontal line and vertical straight line, plays a part of reference-calibrating.In recent years
The green glow level that wavelength is 532nm is occurred in that again, and visual effect more preferably, is suitable for outdoor application.
Laser level mainly needs the index of calibration to include one or more of horizontal line precision, 1-4 bar plumb lines
Orthogonal precision and coplanar precision, the linearity of laser rays, the lower precision to point etc..Laser level is widely used in indoor dress
Repair, erection of doors and windows, pipe installation, tunnel piercing, hang the construction such as vertical line and quality inspection and project supervision.It is different from traditional school
Quasi- instrument, its precision is far above traditional level device, examines and determine it required standard and automates also more and more urgent.
Therefore, the prior art is defective, it is necessary to improve.
The content of the invention
The technical problems to be solved by the invention are：A kind of detection for being adapted to various model laser levels is provided, and
Efficiency is substantially improved, the laser level detecting system based on ccd video camera of the human factor of measurement is reduced.
Technical scheme is as follows：A kind of laser level detecting system based on ccd video camera, including frame,
Product tool and parallel light tube for installing fixed ccd video camera parallel light tube for placing fixed laser level
Frame；Wherein, product tool and parallel light tube frame are respectively fixed on the machine frame；Also, it is provided with eight in parallel light tube frame
Branch ccd video camera parallel light tube, wherein, including two the first ccd video cameras for being used to detect laser level left side plumb line
Parallel light tube；Two the second ccd video camera parallel light tubes for being used to detect laser level front plumb line；Three are used to detect
The horizontal 3rd ccd video camera parallel light tube in laser level front；And one be used for detect laser level to place
4th ccd video camera parallel light tube of axiality.
It is applied to above-mentioned technical proposal, a kind of laser level detection method based on ccd video camera, including following step
Suddenly：S1：Using seven CCD camera parallel light tubes obtain respectively plumb line on the left of laser level, positive plumb line and
The horizontal line image in front, and according to each image procossing, obtain graticle dial chart picture；S2：It is suitable respectively to graticle dial chart picture
Sequence carries out average value processing, binary conversion treatment and rectangular configuration element and opens treatment and close treatment；S3：To the image choosing after treatment
Determine specific characteristic region；S4：Holes filling is carried out to specific characteristic region, and generates striation profile；S5：Calculate the profile tropic
Parameter, and extract light stripe centric line；S6：Calculate deflection angle of the light stripe centric line with respect to graticle center groove；S7：Knot
Beam.
Each above-mentioned technical proposal is applied to, in described laser level detection method, in step S1, also using one
Ccd video camera parallel light tube detects laser level to place axiality.
Each above-mentioned technical proposal is applied to, in described laser level detection method, before step S1, is also performed
Demarcating steps, wherein, demarcating steps include：S01：During demarcation, upper warp and woof instrument is set up in the position of laser level, using eight
CCD camera parallel light tube obtains plumb line, the horizontal line image of positive plumb line and front on the left of theodolite respectively, and
According to each image procossing, clearly graticle dial chart picture is obtained on computer screen；S02：During Digital Image Processing is extracted
Heart line coordinates and line are to the pixel value that is spaced, then obtain graticle center line with theodolite, with theodolite cross hairs weight in itself
Close, now reset theodolite angle；S03：Then theodolite is adjusted with adjacent line to overlapping by jog wheels, and record is worked as
Preceding angle value, with reference to the interval pixel values that image procossing draws, so as to obtain the corresponding angle value of pixel, in this, as mark
Settled amount.
Each above-mentioned technical proposal is applied to, in described laser level detection method, two is respectively adopted for the
One ccd video camera parallel light tube detection laser level left side plumb line, two the second ccd video camera parallel light tube detection laser
Level front plumb line；Two the 3rd ccd video camera parallel light tubes detection laser level front horizontal line, one the 4th
Ccd video camera parallel light tube detection laser level to place axiality.
Each above-mentioned technical proposal is applied to, it is flat using the 4th ccd video camera in described laser level detection method
Row light pipe detection laser level to place axiality the step of include：S001：4th ccd video camera parallel light tube obtains the
Some dot image and image procossing is carried out over the ground, find the central coordinate of circle to place fitting circle and record；S002：Rotate to be measured
Laser level, after after image stabilization, obtain second point dot image and carries out image procossing over the ground, finds to place fitting circle
Central coordinate of circle is simultaneously recorded；S003：Equidirectional again to rotate laser level to be measured, after after image stabilization, it is thirdly right to obtain
Ground dot image simultaneously carries out image procossing, finds the central coordinate of circle to place fitting circle and records；Obtain at this moment at 3 points to place
The central coordinate of circle of fitting circle, if the first point coordinates (X1, Y1), the second point coordinates (X2, Y2), thirdly coordinate (X3, Y3)；3 points
A new circle can be confirmed, central coordinate of circle (X, Y) can also calculate new radius of circle r, with reference to acquired demarcation equivalent, can obtain angle
Spend the axiality over the ground of unit；Wherein, its algorithm is as follows：
U=(X1*X1-X2*X2+Y1*Y1-Y2*Y2)/(2* (X1-X2))
V=(X1*X1-X3*X3+Y1*Y1-Y3*Y3)/(2* (X1-X3))
K1=(Y1-Y2)/(X1-X2)
K2=(Y1-Y3)/(X1-X3)
Y=(u-v)/(k1-k2)
X=v- (u-v) * k2/ (k1-k2)
R=SQR ((X1-X) * (X1-X)+(Y1-Y) * (Y1-Y)).
Using such scheme, the present invention has advantages below：
1) present invention is by that in level, 8 parallel light tubes vertical, orthogonal, that direction sets up over the ground, can distinguish detection level
And levelness, the perpendicularity of vertical laser striation, and correlation coplane degree, intercept.Not only versatility and degree of safety are high, survey
The also greatly revolutionary lifting of examination efficiency and precision.
2), the base of frame of the present invention is A3 steel constructions, and support is the logical structure in side, can provide enough rigidity, it is ensured that
The stability for measuring and calibrating, floor space is minimum, and length, width and height are controlled in the range of 2 meters, and equipped with castor, assembling and movement are all very
It is convenient.
3) by the present invention in that being coordinated with machine vision metrology technology and corresponding software, instead of traditional human eye inspection and survey
Amount, uses the parallel light tube with ccd video camera to cause system integral miniaturization, scaling method simple and fast and high precision.
Brief description of the drawings
Fig. 1 is structural representation of the invention；
Fig. 2 is the structural representation of ccd video camera parallel light tube in the present invention；
Fig. 3 is demarcation equivalent flow chart of the invention；
Fig. 4 is laser level overhaul flow chart of the invention；
Fig. 5 is to the overhaul flow chart of place axiality in plate invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
A kind of laser level detecting system based on ccd video camera is present embodiments provided, as shown in figure 1, laser is thrown
Line instrument detecting system includes frame 103, the product tool 109 for placing fixed laser level, fixed on product tool 109
Laser level 110 is placed with, and for installing the parallel light tube frame 102, Mei Yiping of fixed ccd video camera parallel light tube
The ccd video camera parallel light tube of 1 is mounted with row light pipe frame 102, each ccd video camera parallel light tube is separately fixed at
Around product tool 109, that is, it is separately fixed at around laser level 110, and the laser for being aligned on product tool
Level 110, the light of launching to laser level 110 is detected.
Wherein, product tool 109 and parallel light tube frame 102 are all respectively fixed on the machine frame, and each ccd video camera is parallel
Light pipe is fixed in parallel light tube frame 102 by a parallel light tube bearing 111；Also, startup is also respectively provided with frame
Button 108, operation keyboard 107 and mouse 106 and the display 101 being connected with operation keyboard 107 and mouse 106 respectively, machine
Industrial computer 104 is additionally provided with frame 103, and for adjusting the adjustable foot pad 105 of frame 103.
As shown in Fig. 2 each ccd video camera parallel light tube is disposed with camera lens 5, camera 6, light source 4, graticle 3, flat
Row light pipe 2 and dim light cover 1, each ccd video camera parallel light tube are connected with display respectively, its behaviour for passing through keyboard and mouse
Make, laser level is directed at by directional light pipe end, in detection, the light for first being sent by laser level is put down through dim light cover
Row light pipe receives imaging, is transmitted by being shot by camera again after camera lens, by being shown in the display after software processing,
In this way, adding parallel light tube in the ccd camera, the angle of the light that laser level sends can be photographed, so as to provide
Accuracy of detection.
In this laser level detecting system, eight ccd video camera parallel light tubes are installed in parallel light tube frame, its
In, including two the first ccd video camera parallel light tubes for being used to detect laser level left side plumb line, wherein, including first
The ccd video camera parallel light tube 113 of ccd video camera parallel light tube 112 and first；Two are used to detect laser level front vertical
Second ccd video camera parallel light tube of line, wherein, including the second ccd video camera parallel light tube 115 and the second ccd video camera be flat
Row light pipe 116；Three are used to detect the horizontal 3rd ccd video camera parallel light tube in laser level front, wherein, including the
Three ccd video camera parallel light tubes 117, the 3rd ccd video camera parallel light tube 118 and the 3rd ccd video camera parallel light tube 119；With
And one be used to detect fourth ccd video camera parallel light tube of the laser level to place axiality, wherein, including the 4th CCD
Video camera parallel light tube 114.
Laser level detection method based on ccd video camera to implement process as follows：
1：Unlatching aims at the upper computer software of this system development, and live work is entered after same 8 kilomega network camera normal communications
Operation mode；
2：If demarcating flow as shown in figure 3, needing to use laser transit using needing to be demarcated for the first time, will be every
The graticle center line coordinates of individual parallel light tube is demarcated to spacing value with line with angle value.During demarcation, in the position of laser level
Erection upper warp and woof instrument is put, clearly graticle dial chart picture is obtained on computer screen, in being extracted using Digital Image Processing
Heart line coordinates and line are to the pixel value that is spaced, then obtain graticle center line with theodolite, with theodolite cross hairs weight in itself
Close, now reset theodolite angle.Then theodolite is adjusted with adjacent line to overlapping by jog wheels, and record works as anterior angle
(general unit is the second to angle value, and symbol is "), so as to obtain the corresponding angle value of pixel, in this, as demarcating equivalent.
3：During proper testing, laser level being placed first and being opened, laser lines are seen on computer screen
Start test.The detection algorithm of wherein laser striation is as shown in Figure 4.Obtained respectively using seven CCD camera parallel light tubes first
The horizontal line image of plumb line, positive plumb line and front on the left of laser level, and according to each image procossing, obtain
Graticle dial chart picture；Then average value processing, binary conversion treatment and rectangle knot are sequentially carried out respectively to graticle dial chart picture
Constitutive element opens treatment and closes treatment；To the selected specific characteristic region of image after treatment；Hole is carried out to specific characteristic region again
Filling, and generate striation profile；Finally, profile tropic parameter is calculated, and extracts light stripe centric line；And according to demarcation equivalent
Data calculate deflection angle of the light stripe centric line with respect to graticle center groove.
The system can realize the detection examination to the different type laser level such as 1V1H-4V4H, and tabular pipe is realized in test
Reason, can the relevant information such as incoming inspection personnel title, detection date, product serial number and model.
4：It is as shown in Figure 5 to place axiality detection algorithm.Obtain at first point dot image and carries out image procossing over the ground, looks for
To the central coordinate of circle to place fitting circle and record；Laser level to be measured is rotated, after after image stabilization, second point pair is obtained
Ground dot image simultaneously carries out image procossing, finds the central coordinate of circle to place fitting circle and records；It is equidirectional again to rotate to be measured
Laser level, after after image stabilization, obtaining thirdly dot image over the ground and carrying out image procossing, finds to place fitting circle
Central coordinate of circle is simultaneously recorded；
3 points of central coordinate of circle to place fitting circle are obtained at this moment, if the first point coordinates (X1, Y1), the second point coordinates
(X2, Y2), thirdly coordinate (X3, Y3)；3 points can confirm a new circle, and the center of circle is (X, Y), can also calculate new radius of circle r, is tied
Acquired demarcation equivalent is closed, the axiality over the ground of angular unit is can obtain.
Specific algorithm is as follows：
U=(X1*X1-X2*X2+Y1*Y1-Y2*Y2)/(2* (X1-X2))
V=(X1*X1-X3*X3+Y1*Y1-Y3*Y3)/(2* (X1-X3))
K1=(Y1-Y2)/(X1-X2)
K2=(Y1-Y3)/(X1-X3)
Y=(u-v)/(k1-k2)
X=v- (u-v) * k2/ (k1-k2)
R=SQR ((X1-X) * (X1-X)+(Y1-Y) * (Y1-Y))
5：During automatic test, data measured is compared with typical set value, such as data qualifier, then related data is shown as
Green, if a certain defect of data, display is red, and buzzing alarm；
6：Software systems are provided with Print Preview function, if preview is errorless, can directly print out detection form；
7：Detection form saves as Excel document, CSV documents, PDF document also dependent on user's request, facilitates in the future
Quality record is reviewed.
By user test, the present invention reaches required precision to laser level detection, and linearity reaches ± 40 ", it is coplanar
Degree and intercept reach ± 40 ", ± 100 are reached to place axiality ", and the uniformity of measurement data is high.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Any modification, equivalent and improvement for being made within principle etc., should be included within the scope of the present invention.
Claims (6)
1. a kind of laser level detecting system based on ccd video camera, it is characterised in that：
Product tool including frame, for placing fixed laser level and for installing fixed ccd video camera directional light
The parallel light tube frame of pipe；
Wherein, product tool and parallel light tube frame are respectively fixed on the machine frame；
Also, eight ccd video camera parallel light tubes are installed in parallel light tube frame, wherein, including two be used for detect laser
First ccd video camera parallel light tube of level left side plumb line；Two are used to detect the of laser level front plumb line
Two ccd video camera parallel light tubes；Three are used to detect the horizontal 3rd ccd video camera parallel light tube in laser level front；
And one be used for detect fourth ccd video camera parallel light tube of the laser level to place axiality.
2. a kind of laser level detection method based on ccd video camera, it is characterised in that：
Comprise the following steps：
S1：Use seven CCD camera parallel light tubes obtain respectively plumb line on the left of laser level, positive plumb line, with
And the horizontal line image in front, and according to each image procossing, obtain graticle dial chart picture；
S2：Sequentially carry out average value processing, binary conversion treatment and rectangular configuration element respectively to graticle dial chart picture and open treatment
With close treatment；
S3：To the selected specific characteristic region of image after treatment；
S4：Holes filling is carried out to specific characteristic region, and generates striation profile；
S5：Profile tropic parameter is calculated, and extracts light stripe centric line；
S6：Calculate deflection angle of the light stripe centric line with respect to graticle center groove；
S7：Terminate.
3. laser level detection method according to claim 2, it is characterised in that：In step S1, also using a CCD
Video camera parallel light tube detects laser level to place axiality.
4. laser level detection method according to claim 3, it is characterised in that：Before step S1, mark is also performed
Determine step, wherein, demarcating steps include：
S01：During demarcation, upper warp and woof instrument is set up in the position of laser level, obtained respectively using eight CCD camera parallel light tubes
The horizontal line image of plumb line, positive plumb line and front on the left of theodolite, and according to each image procossing, in computer screen
Clearly graticle dial chart picture is obtained on curtain；
S02：Digital Image Processing extracts the pixel value of center line coordinates and line to interval, then with theodolite acquisition graticle
Heart line, overlaps with theodolite cross hairs in itself, now resets theodolite angle；
S03：Then theodolite is adjusted with adjacent line to overlapping by jog wheels, and record current angle value, at image
The interval pixel values that draw of reason, so as to obtain the corresponding angle value of pixel, in this, as demarcating equivalent.
5. the laser level detection method according to claim 3 or 4, it is characterised in that：In step S1, two are respectively adopted
Branch is for the first ccd video camera parallel light tube detection laser level left side plumb line, two the second ccd video camera parallel light tubes
Detection laser level front plumb line；Two the 3rd ccd video camera parallel light tube detection laser level front horizontal lines, one
Branch the 4th ccd video camera parallel light tube detection laser level to place axiality.
6. laser level detection method according to claim 5, it is characterised in that：
The step of using the 4th ccd video camera parallel light tube detection laser level to place axiality, includes：
S001：4th ccd video camera parallel light tube obtains at first point and dot image and carries out image procossing over the ground, finds and place is intended
Close the central coordinate of circle of circle and record；
S002：Laser level to be measured is rotated, dot image and is carried out at image over the ground after second point after image stabilization, is obtained
Reason, finds the central coordinate of circle to place fitting circle and records；
S003：Equidirectional again to rotate laser level to be measured, after after image stabilization, obtaining, thirdly dot image is gone forward side by side over the ground
Row image procossing, finds the central coordinate of circle to place fitting circle and records；
3 points of central coordinate of circle to place fitting circle are obtained at this moment, if the first point coordinates (X1, Y1), the second point coordinates (X2,
), Y2 thirdly coordinate (X3, Y3)；3 points can confirm a new circle, and central coordinate of circle (X, Y) can also calculate new radius of circle r, with reference to
Acquired demarcation equivalent, can obtain the axiality over the ground of angular unit；
Wherein, its algorithm is as follows：
U=(X1*X1-X2*X2+Y1*Y1-Y2*Y2)/(2* (X1-X2))
V=(X1*X1-X3*X3+Y1*Y1-Y3*Y3)/(2* (X1-X3))
K1=(Y1-Y2)/(X1-X2)
K2=(Y1-Y3)/(X1-X3)
Y=(u-v)/(k1-k2)
X=v- (u-v) * k2/ (k1-k2)
R=SQR ((X1-X) * (X1-X)+(Y1-Y) * (Y1-Y)).
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| CN108195568A (en) * | 2017-12-08 | 2018-06-22 | 杭州浙大三色仪器有限公司 | Upper beam illumination testing apparatus centering self-test and calibration method |
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| CN114111593A (en) * | 2021-11-25 | 2022-03-01 | 征图新视(江苏)科技股份有限公司 | Keyboard automatic detection equipment and imaging method thereof |
| CN114111593B (en) * | 2021-11-25 | 2024-02-27 | 征图新视(江苏)科技股份有限公司 | Keyboard automatic detection equipment and imaging method thereof |
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