CN109343578A - A kind of TDI-CCD camera binocular vision system visual field alignment schemes of view-based access control model feedback - Google Patents
A kind of TDI-CCD camera binocular vision system visual field alignment schemes of view-based access control model feedback Download PDFInfo
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- G05D3/12—Control of position or direction using feedback
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Abstract
The invention proposes a kind of TDI-CCD camera binocular vision system visual field alignment schemes of view-based access control model feedback, can conveniently, efficiently, accurately realize the alignment of binocular vision system visual field.The present invention is based on the coplanar quick adjustings of TDI-CCD camera test surface of visual feedback fuzzy control, imaging position identification to opposite side scaling board in camera image, automatically confirm that optical center imaging position and the test surface projection imaging slope of opposite camera, and then the pitch angle of electronic adjustment camera is controlled using FUZZY ALGORITHMS FOR CONTROL, so that two cameras are in optical axis coincidence, polar curve is identical, be conducive to building for big test surface, and the positioning accuracy of the binocular vision system can be improved, it solves TDI-CCD binocular vision system target surface and builds the coplanar adjusting low efficiency of middle test surface, the problem of low precision.
Description
Technical field
The invention belongs to Camera extrinsic number control technology field in computer binocular vision more particularly to a kind of view-based access control models
The TDI-CCD camera binocular vision system visual field alignment schemes of feedback.
Background technique
TDI-CCD camera binocular vision system has high sensitivity when detecting and positioning small, the fast target for getting over target, fixed
The advantages such as position precision height, are usually used in automatic scoring round target system, bullet closeness automatic test field.And not with testing requirement
Disconnected to expand, test request is continuously improved, and tests big target surface to meet, high-precision requirement needs to improve TDI-CCD camera system
The relative positional accuracy built realizes that the test surface of two cameras under big target surface is coplanar.Existing TDI-CCD camera target surface is coplanar
Adjusting method mainly has gun sight manual aiming or conventional laser mutually to take aim at two kinds.Wherein, gun sight manual aiming is to pass through aiming
Mirror carries out alignment aiming, manually adjusts Camera extrinsic number further according to error.This method is due to being to manually adjust, and adjust every time
After need to repeat to aim at measurement, adjustment speed is slow, and poor in the long big target surface degree of regulation of parallax range.Laser is aligned rule
It is to improve adjusting efficiency by the laser emitter auxiliary adjustment in camera pedestal relatively, but still be to manually adjust, face
The low problem of degree of regulation.
Summary of the invention
In view of this, the invention proposes a kind of TDI-CCD camera binocular vision system visual fields pair of view-based access control model feedback
Neat method can conveniently, efficiently, accurately realize the alignment of binocular vision system visual field.
To achieve the above object, the invention proposes a kind of TDI-CCD camera binocular vision systems of view-based access control model feedback
Visual field alignment schemes, include the following steps:
Step 1, two TDI-CCD cameras in binocular vision system are staggered relatively, by the calibration gridiron pattern of this camera
On fixed camera over there；
Step 2, the holder of two TDI-CCD cameras is adjusted, this camera acquires the calibration chessboard table images on the camera of opposite,
Judge to demarcate whether chessboard table images meet the requirements, if satisfied, then identifying X-comers, otherwise returns to two TDI- of adjustment
The holder of CCD camera, until calibration chessboard table images are met the requirements；
Step 3, the chessboard angular coordinate identified according to step 2 calculates the optical center imaging position O ' of opposite camera and visits
Survey face projection imaging direction vectorPass through the optical center imaging position O ' of opposite camera and O pairs of the optical imagery position of this camera
Than obtaining optical center location error；Pass through the test surface projection imaging direction vector of opposite cameraIt is thrown with the test surface of this camera
Shadow imaging direction vectorAngle calcu-lation, obtain test surface projection imaging slope error；
Based on the optical center location error and test surface projection imaging slope error, adjusted by Fuzzy PID
The pitch angle of this camera and opposite camera head, azimuth and roll angle, eliminate the optical center location error and test surface is thrown
Shadow imaging slopes error completes visual field alignment.
Wherein, it in the step 2, is identified, is obtained using image coordinate of the sub-pix recognition methods to X-comers
Obtain X-comers coordinate.
Wherein, in the step 2, after acquisition image is carried out binaryzation, according to the topological relation in connection region, judge to mark
Determine whether chessboard table images meet the requirements.
Wherein, in the step 3, the optical center location error and test surface projection imaging slope error form error vectorWherein, eyIt is the direction the y distance of optical center location error, indicates azimuth angle error；exIt is optical center location error
The direction x distance, indicate pitching angle error；eθIt is test surface projection imaging slope error, indicates rolling angle error；Based on error
VectorObtain the conditional parameter K of Fuzzy PIDP, KI, KD；By error vectorWith conditional parameter KP, KI, KDInput
Pid control algorithm determines the pitch angle of this camera and opposite camera head, the adjustment amount at azimuth and roll angle and adjustment side
To.
Wherein, in the step 2, the roll angle of this camera is fixed on set angle；
During the adjustment of the pitch angle of this camera and opposite camera head, azimuth and roll angle, this camera is only adjusted
Whole pitch angle and azimuth, opposite camera adjust pitch angle, azimuth and roll angle；It is detected when in opposite camera acquisition image
Face projection imaging slope is zero, then camera roll angle in opposite is adjusted in place, then according to gridiron pattern center pixel and camera lens circle
The azimuth of imago element Coordinate Adjusting both sides and pitch angle make other side's lens imaging to the center pixel of face system of battle formations picture, then and two
The visual field of camera is aligned.
Wherein, during to the adjustment of the pitch angle of this camera and opposite camera head, azimuth and roll angle, work as error
Vector1 normIt is adjusted less than holder is stopped after given threshold；After two camera heads stop adjustment, according to test
Demand adjusts holder pitch angle, so that camera optical axis intersects, forms binocular vision system.
Wherein, in the Fuzzy PID, the output quantity of PID controller is u (t), input quantity is deviation e (t),
Meet:
Wherein, KP, KI, KDFor the conditional parameter of PID；
KP, KI, KDThe fuzzy rule of parameter regulation is as shown in table 1- table 3:
Table 1 adjusts KPFuzzy control rule
Table 2 adjusts KIFuzzy control rule
Table 3 adjusts KDFuzzy control rule
In table L, M, S, ZO respectively indicate cover all variables fuzzy subset it is large, medium and small, zero.
The utility model has the advantages that
The present invention is based on the coplanar quick adjustings of TDI-CCD camera test surface of visual feedback fuzzy control, to camera image
The imaging position of middle opposite side scaling board identifies, automatically confirms that the optical center imaging position of opposite camera and test surface projection imaging are oblique
Rate, and then the pitch angle of electronic adjustment camera is controlled using FUZZY ALGORITHMS FOR CONTROL, so that two cameras are in optical axis coincidence, polar curve phase
Together, be conducive to building for big test surface, and the positioning accuracy of the binocular vision system can be improved, it is bis- to solve TDI-CCD
Mesh vision system target surface builds the problem of coplanar adjusting low efficiency of middle test surface, low precision, avoids manual operations due to artificial
Precision caused by difference is unstable, when testing especially for big target surface, keeps TDI-CCD camera binocular vision system high-precision
Degree, high efficiency completion are built.Use the present invention that can make TDI-CCD camera binocular vision using visual feedback fuzzy control technology
Two viewing field of camera alignment in feel system, so that TDI-CCD camera binocular vision system builds more quick, positioning accuracy more
It is high.
Detailed description of the invention
Fig. 1 is the hardware composition of TDI-CCD camera test surface of the invention.
Fig. 2 is the coplanar quickly regulating method stream of TDI-CCD camera test surface the present invention is based on visual feedback fuzzy control
Cheng Tu.
Fig. 3 is electrical turntable fuzzy-adaptation PID control structure of the present invention.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The invention proposes the fuzzy PID control methods of view-based access control model feedback, make photoelectric test system at the scene can be fast
Speed carries out the coplanar adjustment of camera test surface, and solution conventional laser mutually takes aim at or the adjustment time of gun sight manual aiming length, low precision
The problem of.
Fig. 1 is the hardware composition of TDI-CCD camera test surface, the first CCD and the 2nd CCD of two of them TDI-CCD camera
For main sensing device, industry control portable computer is used to carry out the algorithm control of visual feedback, and each camera has a cloud
Platform is controlled and a gridiron pattern is for visual feedback.When first CCD camera is this ground camera, the second CCD camera is opposite
Camera, on the contrary also set up.
Fig. 2 is the coplanar quickly regulating method flow chart of TDI-CCD camera test surface of view-based access control model feedback fuzzy control.Packet
Include following steps:
Step 1, the binocular vision system, including this camera, opposite camera and its corresponding cloud are arranged according to testing requirement
Platform, two TDI-CCD cameras in binocular vision system are staggered relatively, by the fixed phase over there of the calibration gridiron pattern of this camera
On machine；
Wherein, photoelectricity test equipment is laid according to testing requirement as shown in Figure 1, and fixed gridiron pattern scaling board.
Step 2, the holder of two TDI-CCD cameras is adjusted, this camera acquires the calibration chessboard table images of opposite camera, sentences
Whether disconnected calibration chessboard table images meet the requirements, if satisfied, then identifying X-comers, otherwise return to two TDI-CCD of adjustment
The holder of camera, until calibration chessboard table images are met the requirements；
The roll angle of this camera can be fixed on set angle, by adjusting the holder of this camera and opposite camera, made
The calibration gridiron pattern imaging of the other-party camera is at this end in image；
Roll angle to the zero-bit that the first CCD camera is manually adjusted in the present embodiment makes its test surface vertical, guarantees first
Test surface where CCD is in vertical direction.The azimuth for manually adjusting the first CCD and the second CCD camera makes above other side's camera lens
Calibration gridiron pattern be imaged in respective image, reduction mutually search for the tessellated time.
After acquisition image being carried out binaryzation, according to the topological relation in connection region, judge whether there is scheduled
Gridiron pattern.
Wherein, it is identified using image coordinate of the sub-pix recognition methods to X-comers, obtains X-comers
Coordinate.
Step 3, the chessboard angular coordinate identified according to step 2 calculates the optical center imaging position O ' of opposite camera and visits
Survey face projection imaging direction vectorPass through the optical center imaging position O ' of opposite camera and O pairs of the optical imagery position of this camera
Than obtaining optical center location error；Pass through the test surface projection imaging direction vector of opposite cameraIt is thrown with the test surface of this camera
Shadow imaging direction vectorAngle calcu-lation, obtain test surface projection imaging slope error；
Based on the optical center location error and test surface projection imaging slope error, adjusted by Fuzzy PID
The pitch angle of this camera and opposite camera head, azimuth and roll angle, eliminate the optical center location error and test surface is thrown
Shadow imaging slopes error completes visual field alignment.
Wherein, the optical center location error and test surface projection imaging slope error form error vector
Wherein, eyIt is the direction the y distance of optical center location error, indicates azimuth angle error；exIt is the side x of optical center location error
To distance, pitching angle error is indicated；eθIt is test surface projection imaging slope error, indicates rolling angle error；Based on error vector
It must obtain the conditional parameter K of Fuzzy PIDP, KI, KD；By error vectorWith conditional parameter KP, KI, KDInput PID control
Algorithm processed determines the adjustment amount and adjustment direction of the pitch angle of this camera and opposite camera head, azimuth and roll angle, tool
Body process are as follows:
If the output quantity of PID controller is u (t), input quantity is deviation e (t), relationship between them are as follows:
K in formulaP、KI、KDIt is ratio, integral and the differential gain respectively.To obtain Satisfactory Control effect, these three parameters are needed
(fuzzy control) is adjusted in real time according to system mode.However for interfering the system changeable, load is changeable, often do not determine
Mathematical model or rule can be followed, and are difficult on-line identification and go out these parameters, such as the mutual negative-feedback regu- lation three-axle table in system two sides,
Space Coupling relationship between turntable can not indicate calibration with tessellated corner location relationship with mathematical model.Fuzzy control
Device can control inaccurate motion mathematical model, can accommodate uncertain input variable, and can generate smooth control output
Amount, can carry out real time nonlinear adjusting, and system is made to be optimal adjusting and quickly control.
The advantages of the present embodiment combination PID control and fuzzy control, using three on fuzzy-adaptation PID control or so detection target body
The movement of axis electrical turntable.The basic thought of fuzzy PID regulation control is:
The initial stage is responded in system, deviation | e (t) | it is larger, to accelerate system response time, take biggish KP, make be
The time constant and damped coefficient of system reduce.Simultaneously to avoid integral from being saturated, there is larger overshoot, integral gain KIIt should not mistake
Greatly, it is the over range control for avoiding system from may cause when starting, lesser K should be takenD.With deviation | e (t) | reduce, is
Shorten regulating time and suitably reduces KP, reduce system overshoot.At this time it is the response speed of guarantee system, can suitably increases KI, KD
Value is appropriate.When deviation | e (t) | when smaller, to make system have good steady-state performance, system works in overdamp shape
State can use biggish KPAnd KI.When system steady operation, adjusting target is to inhibit the variation of e (t) and de (t), appropriate to increase
KD, system is avoided to vibrate in equalization point.
Based on the above thought, and previous work experience is combined, considers visual feedback input variable e (t) and deviation variation rate
The influence of de (t), synthesis obtain the fuzzy rule that pid parameter shown in 1~table of table 3 is adjusted, and L, M, S, ZO are respectively indicated in table
The fuzzy subset for covering all variables is large, medium and small, zero.
Table 1 adjusts KPFuzzy control rule
Table 2 adjusts KIFuzzy control rule
Table 3 adjusts KDFuzzy control rule
For electrical turntable fuzzy-adaptation PID control structure as shown in figure 3, by Fuzzy processing, fuzzy controller adjusts the ginseng of PID
It counts, electric pulse number is exported to the three-axle table of holder after PID controller anti fuzzy method, is adjusted in place to three-axle table, after
Continuous acquisition image carries out next successive step, includes the following steps:
This camera only adjusts pitch angle and azimuth, and opposite camera adjusts pitch angle, azimuth and roll angle；Work as opposite
It is zero that camera, which acquires test surface projection imaging slope in image, then camera roll angle in opposite is adjusted in place, then according to gridiron pattern
The azimuth and pitch angle of center pixel and camera lens center pixel Coordinate Adjusting both sides, make other side's lens imaging to face system of battle formations picture
Center pixel, then the visual field alignment of two cameras.
Wherein, during the adjustment, work as error vector1 normIt is adjusted less than holder is stopped after given threshold；When
After two camera heads stop adjustment, according to testing requirement, holder pitch angle is adjusted, so that camera optical axis intersects, forms binocular
Vision system.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (7)
1. a kind of TDI-CCD camera binocular vision system visual field alignment schemes of view-based access control model feedback, which is characterized in that including such as
Lower step:
Step 1, two TDI-CCD cameras in binocular vision system are staggered relatively, the calibration gridiron pattern of this camera is fixed
Over there on camera；
Step 2, the holder of two TDI-CCD cameras is adjusted, this camera acquires the calibration chessboard table images on the camera of opposite, judgement
Whether calibration chessboard table images meet the requirements, if satisfied, then identifying X-comers, otherwise return to two TDI-CCD phases of adjustment
The holder of machine, until calibration chessboard table images are met the requirements；
Step 3, the chessboard angular coordinate identified according to step 2 calculates the optical center imaging position O ' and test surface of opposite camera
Projection imaging direction vectorIt is compared, is obtained by the optical center imaging position O ' of opposite camera and the optical imagery position O of this camera
To optical center location error；Pass through the test surface projection imaging direction vector of opposite cameraWith the test surface projection imaging of this camera
Direction vectorAngle calcu-lation, obtain test surface projection imaging slope error；
Based on the optical center location error and test surface projection imaging slope error, this phase is adjusted by Fuzzy PID
The pitch angle of machine and opposite camera head, azimuth and roll angle, eliminate the optical center location error and test surface projects into
As slope error, visual field alignment is completed.
2. a kind of TDI-CCD camera binocular vision system visual field alignment schemes of view-based access control model feedback as described in claim 1,
It is characterized in that, being identified in the step 2 using image coordinate of the sub-pix recognition methods to X-comers, obtain
X-comers coordinate.
3. a kind of TDI-CCD camera binocular vision system visual field alignment schemes of view-based access control model feedback as described in claim 1,
It is characterized in that, after acquisition image is carried out binaryzation, according to the topological relation in connection region, judging to demarcate in the step 2
Whether chessboard table images meet the requirements.
4. a kind of TDI-CCD camera binocular vision system visual field alignment schemes of view-based access control model feedback as described in claim 1,
It is characterized in that, the optical center location error and test surface projection imaging slope error form error vector in the step 3Wherein, eyIt is the direction the y distance of optical center location error, indicates azimuth angle error；exIt is optical center location error
The direction x distance, indicate pitching angle error；eθIt is test surface projection imaging slope error, indicates rolling angle error；Based on error
VectorObtain the conditional parameter K of Fuzzy PIDP, KI, KD；By error vectorWith conditional parameter KP, KI, KDInput
Pid control algorithm determines the pitch angle of this camera and opposite camera head, the adjustment amount at azimuth and roll angle and adjustment side
To.
5. a kind of TDI-CCD camera binocular vision system visual field alignment side of view-based access control model feedback as claimed in claim 1 or 2
Method, which is characterized in that in the step 2, the roll angle of this camera is fixed on set angle；
During the adjustment of the pitch angle of this camera and opposite camera head, azimuth and roll angle, this camera is only adjusted and is bowed
The elevation angle and azimuth, opposite camera adjust pitch angle, azimuth and roll angle；When test surface is thrown in opposite camera acquisition image
Shadow imaging slopes are zero, then camera roll angle in opposite is adjusted in place, then according to gridiron pattern center pixel and camera lens center of circle picture
The azimuth of plain Coordinate Adjusting both sides and pitch angle make other side's lens imaging to the center pixel of face system of battle formations picture, then two cameras
Visual field alignment.
6. a kind of TDI-CCD camera binocular vision system visual field alignment schemes of view-based access control model feedback as claimed in claim 5,
It is characterized in that, during to the adjustment of the pitch angle of this camera and opposite camera head, azimuth and roll angle, work as error
Vector1 normIt is adjusted less than holder is stopped after given threshold；After two camera heads stop adjustment, according to test
Demand adjusts holder pitch angle, so that camera optical axis intersects, forms binocular vision system.
7. a kind of TDI-CCD camera binocular vision system visual field alignment schemes of view-based access control model feedback as claimed in claim 2,
It is characterized in that, the output quantity of PID controller is u (t) in the Fuzzy PID, input quantity is deviation e (t), it is full
Foot:
Wherein, KP, KI, KDFor the conditional parameter of PID；
KP, KI, KDThe fuzzy rule of parameter regulation is as shown in table 1- table 3:
Table 1 adjusts KPFuzzy control rule
Table 2 adjusts KIFuzzy control rule
Table 3 adjusts KDFuzzy control rule
In table L, M, S, ZO respectively indicate cover all variables fuzzy subset it is large, medium and small, zero.
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| WO2022199542A1 (en) * | 2021-03-25 | 2022-09-29 | 维沃移动通信有限公司 | Photography auxiliary device, calibration method for image pair acquisition, and electronic device |
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