CN109788279B - Method and device for calibrating linear light source and linear array camera - Google Patents
Method and device for calibrating linear light source and linear array camera Download PDFInfo
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- CN109788279B CN109788279B CN201910068693.0A CN201910068693A CN109788279B CN 109788279 B CN109788279 B CN 109788279B CN 201910068693 A CN201910068693 A CN 201910068693A CN 109788279 B CN109788279 B CN 109788279B
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Abstract
The application discloses a method and a device for calibrating a linear light source and a linear array camera, the device provided by the disclosure comprises a laser level meter, an adjusting seat, a fixed panel, a movable panel and calibration paper, wherein the linear laser light source and the linear array camera are arranged on the adjusting seat; the method provided by the disclosure adjusts the projection plane of the linear laser light source to coincide with the projection plane of the laser level meter through the fixed panel and the movable panel, and determines the projection plane of the laser light source to be a horizontal plane; the position, the adjusting mode and the adjusting state of an imaging plane of the linear array camera are determined by imaging the identification line in real time, and the imaging plane of the linear array camera and a projection plane of a linear laser light source are superposed in a three-dimensional space by adjusting the adjusting seat, so that the calibration is completed, the structure is simple, and the operation is simple and convenient; the adjusted position can be fixed after the adjustment, so that the relative position of the linear laser light source and the linear array camera is kept unchanged, the linear laser light source can be moved to any place needing application along with the adjustment seat, and the linear laser light source can be put into use immediately without being adjusted on the use site.
Description
Technical Field
The disclosure relates to the technical field of machine vision line scanning imaging, in particular to a method and a device for calibrating a line light source and a line-scan camera.
Background
The line camera is a camera using a line image sensor. A typical field of application of line cameras is the continuous imaging of objects in motion. In general, a camera and a subject move relative to each other in a direction perpendicular to a scan line of the camera, and the camera continuously scans and captures images, thereby forming a complete and continuous image of the subject.
In a line scan imaging system, it is generally necessary to add a light source to a subject to be photographed. In the case of insufficient light sources or ambient light that does not meet the imaging requirements of a particular application, an external light source becomes a necessary condition for a high quality imaging system. In the current application of line camera imaging, the external light source is mostly a surface light source, that is, the light source irradiates the imaging of the object to be shot and an adjacent area, and for line scanning, because the line camera images a linear area at a time, the projection area of the light source is much larger than the imaging area of the camera.
The area of the area light source is far larger than the imaging area of the linear array camera, so that the energy projected by the light source only plays a real role in the imaging area of the camera, the energy of other parts is not utilized actually and is wasted, and the power requirement of the system light source is increased. In some applications even rendering the surface light source unusable; meanwhile, the area light source has large projection area and large energy consumption, which leads to the increase of the volume of the light source, so that the area light source cannot be used in certain application occasions.
The line laser light source used as the external light source of the line camera has the advantages of energy conservation, environmental protection, small light source volume and the like, however, the projection area of the line laser light source is difficult to be adjusted to coincide with the imaging area of the line camera, the prior calibration process is mostly adjusted by technicians according to experience, and the adjustment method has no fixed basis, so that an effective and easy-to-use line light source and line camera calibration method and device are needed in the machine vision application, particularly the optical detection field.
Disclosure of Invention
The technical problem that this disclosure will solve is: the calibration method and the calibration device can realize the superposition of the imaging plane of the linear array camera and the linear light source projection plane in a three-dimensional space.
The solution of the technical problem that this disclosure solves is:
the utility model provides a line light source and linear array camera calibrating device, includes line laser light source, linear array camera, laser level appearance, adjustment seat, sets up in the ascending fixed panel of the direction of making a video recording of linear array camera, sets up in the removal panel between fixed panel and linear array camera, sets up a plurality of calibration paper in the field of view of linear array camera, and the projection direction of line laser light source is unanimous with the direction of making a video recording of linear array camera, line laser light source all locates on the adjustment seat, and the laser level appearance is located line laser light source side, is equipped with calibration paper on fixed panel and the removal panel, has a plurality of identification lines on the calibration paper.
As a further improvement of the technical scheme, a vertical left stripe is arranged on the left edge of the calibration paper, a vertical right stripe is arranged on the right edge of the calibration paper, a plurality of identification lines are arranged on the calibration paper, all the identification lines are arranged between the left stripe and the right stripe and are transversely arranged, and all the identification lines are arranged in a step shape from left to right; the intersection point of the horizontal center line and the vertical center line of the calibration paper is called a first point, the left stripe and the right stripe are arranged in a centrosymmetric mode by taking the first point as a midpoint, identification lines are arranged on the midpoint, and all the identification lines are arranged in a centrosymmetric mode by taking the first point as the midpoint; the number of the calibration paper is at least three, two pieces of calibration paper are arranged on the left and right of the fixed panel, and the calibration paper is arranged on the movable panel.
As a further improvement of the above technical solution, both the left edge and the right edge of the fixed panel exceed the field of view of the line camera.
As a further improvement of the above technical solution, the adjusting base includes two adjusting tables, the two adjusting tables are arranged at intervals from left to right, the fixing panel is arranged behind the line camera, and the line camera and the line laser light source are respectively arranged on the two adjusting tables.
As a further improvement of the technical scheme, the adjusting seat further comprises a bottom plate, the adjusting table comprises a lower layer plate and an upper layer plate, the lower layer plate is rotatably connected with the bottom plate through a vertically arranged rotating shaft, the lower layer plate and the upper layer plate are arranged at intervals up and down, the lower layer plate is provided with studs, the studs are arranged perpendicular to the lower layer plate, the upper layer plate is provided with through holes, the studs are arranged in the through holes, the studs are provided with two locking nuts, and the through holes are arranged between the two locking nuts; the adjusting mechanism comprises at least three studs, a through hole and two locking nuts, and all the adjusting mechanisms are uniformly distributed on the outer edge of the lower plate; the linear array camera or the linear laser light source is arranged on the upper plate.
As a further improvement of the above technical solution, an elastic member is disposed on the adjusting mechanism, the elastic member is disposed between one of the lock nuts and the upper plate, and one of the lock nuts abuts against the upper plate through the elastic member.
As a further improvement of the above technical solution, the elastic member is a spring, and the spring is sleeved outside the stud.
As a further improvement of the technical scheme, the lower layer plate and the upper layer plate are rectangular, and the number of the adjusting mechanisms is four, and the four adjusting mechanisms are respectively arranged at four corners of the lower layer plate.
The present disclosure also provides a method for calibrating a line light source and a line camera, which uses a line light source and a line camera calibration device for calibration, wherein the line light source and line camera calibration device comprises a line laser light source, a line camera, a laser level, an adjustment seat, a fixed panel arranged in the shooting direction of the line camera, a mobile panel arranged between the fixed panel and the line camera, and a plurality of calibration papers arranged in the field of view of the line camera, the projection direction of the line laser light source is consistent with the shooting direction of the line camera, the line camera and the line laser light source are both arranged on the adjustment seat, the laser level is arranged beside the line laser light source, and the fixed panel and the mobile panel are provided with the calibration papers; the left edge of the calibration paper is provided with a vertical left stripe, the right edge of the calibration paper is provided with a vertical right stripe, the calibration paper is provided with a plurality of identification lines, all the identification lines are arranged between the left stripe and the right stripe and are transversely arranged, and all the identification lines are arranged in a step shape from left to right; the intersection point of the horizontal center line and the vertical center line of the calibration paper is called a first point, the left stripe and the right stripe are arranged in a centrosymmetric mode by taking the first point as a midpoint, identification lines are arranged on the midpoint, and all the identification lines are arranged in a centrosymmetric mode by taking the first point as the midpoint;
the method is specifically realized by the following steps:
step 1, placing an adjusting seat on a horizontal working surface, placing the adjusting seat in front of a fixed panel, wherein the distance between the adjusting seat and the fixed panel is not less than the working distance of a linear array camera;
step 2, calibrating the adjusting seat to enable the linear array camera and the linear laser light source which are placed on the adjusting seat to be in a horizontal state as much as possible;
step 3, opening the laser level meter, wherein the laser level meter forms a first light ray on the fixed panel;
step 4, keeping the working state of the laser level meter, and sticking two pieces of calibration paper on the fixed panel to ensure that the horizontal center line of each piece of calibration paper is superposed with the first light;
step 5, moving the movable panel to a position between the fixed panel and the adjusting seat, recording the position of the movable panel at the moment by a mark, and calling the position as a first position, forming a second light ray on the movable panel by the laser level instrument at the moment, and sticking a piece of calibration paper on the movable panel to ensure that the horizontal center line of the calibration paper is superposed with the second light ray;
step 6, opening a line laser light source, wherein the line laser light source forms a third light ray and a fourth light ray on the fixed panel and the movable panel respectively;
step 7, adjusting the position and the projection direction of the linear laser light source until the first light is superposed with the third light and the second light is superposed with the fourth light;
step 8, opening the linear array camera to collect images in real time, and moving the mobile panel out of the irradiation range of the line laser light source;
step 9, adjusting the position and the angle of the linear array camera until the brightness of the acquired image is the maximum value, and stopping the linear array camera at the position and the angle;
and step 13, repeating the step 11 and the step 12 until the step 11 and the step 12 reach the requirements.
The beneficial effects of this disclosure are: the projection plane of the linear laser light source is adjusted to be superposed with the projection plane of the laser level meter through the fixed panel and the movable panel which are arranged in front and at the back, and the projection plane of the laser light source is determined to be a horizontal plane; the position of an imaging plane of the linear array camera is determined by imaging the identification line in real time, and then the imaging plane of the linear array camera and a projection plane of a linear laser light source are superposed in a three-dimensional space by adjusting the adjusting seat, so that the calibration is completed, the structure is simple, and the operation is simple and convenient; the adjusted position can be fixed after the adjustment, so that the relative position of the linear laser light source and the linear array camera is kept unchanged, the linear laser light source can be moved to any place needing application along with the adjustment seat, and the linear laser light source can be put into use immediately without being adjusted on the use site. The linear light source adding device is used for the linear array camera.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments will be briefly described below. It is understood that the drawings described are for illustrative purposes only of a portion of the embodiments of the disclosure and not all embodiments, and that other arrangements and drawings may be devised by those skilled in the art without the exercise of inventive faculty.
FIG. 1 is a front view of the structure of an embodiment of the present disclosure;
FIG. 2 is a structural left side view of an embodiment of the present disclosure;
FIG. 3 is a schematic illustration of a calibration sheet in an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of an adjusting table according to an embodiment of the disclosure;
FIG. 5 is a schematic view of the projection plane of the laser level being coplanar with the projection plane of the line laser light source in an embodiment of the present disclosure;
FIG. 6 is a schematic diagram of imaging of step 10 in an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of step 11 of the disclosed embodiment when the second shade is exactly midway between the first shade and the third shade, and the fifth shade is exactly midway between the fourth shade and the sixth shade;
FIG. 8 is a schematic illustration of imaging of step 12 in an embodiment of the present disclosure;
fig. 9 is a schematic diagram of step 13 when the eighth shading is right in the middle of the seventh shading and the ninth shading in the embodiment of the present disclosure.
Detailed Description
The conception, specific structure, and technical effects of the present disclosure will be described clearly and completely with reference to the accompanying drawings and embodiments, so that the purpose, features, and effects of the present disclosure can be fully understood. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, and not all embodiments, and other embodiments obtained by those skilled in the art without inventive efforts based on the embodiments of the present disclosure belong to the protection scope of the present disclosure. In addition, all the connection relations mentioned herein do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. The technical features in the disclosure can be interactively combined on the premise of not conflicting with each other.
Referring to fig. 1 to 9, this is one embodiment of the present disclosure, specifically:
the utility model provides a line source and linear array camera calibrating device, includes line laser light source 12, linear array camera 11, laser level 04, adjustment seat 10, sets up fixed panel 01 in the direction of making a video recording of linear array camera 11, sets up removal panel 02 between fixed panel 01 and linear array camera 11, sets up a plurality of calibration paper 20 in the visual field of linear array camera 11, and the projection direction of line laser light source 12 is unanimous with the direction of making a video recording of linear array camera 11, line laser light source 12 all locate on adjustment seat 10, and laser level 04 locates line laser light source 12 side, is equipped with calibration paper 20 on fixed panel 01 and the removal panel 02, has a plurality of identification lines 23 on the calibration paper 20. The distance between the fixed panel 01 and the adjusting seat 10 is not less than the working distance of the camera, and the projection plane of the laser light source, the imaging plane of the linear array camera 11 and the projection plane of the laser level 04 can be projected on the fixed panel 01 and the movable panel 02 at the same time; the adjusted position can be fixed after the adjustment, the linear laser light source 12 and the linear array camera 11 can be moved to the place needing to be applied along with the adjusting seat 10 at the same time, and the linear laser light source and the linear array camera are immediately put into use without being adjusted on the use site.
Further as a preferred embodiment, a vertical left stripe 21 is arranged on the left edge of the calibration paper 20, a vertical right stripe 22 is arranged on the right edge of the calibration paper 20, a plurality of identification lines 23 are arranged on the calibration paper 20, all the identification lines 23 are arranged between the left stripe 21 and the right stripe 22, the identification lines 23 are transversely arranged, and all the identification lines 23 are arranged in a step shape from left to right; the intersection point of the horizontal center line and the vertical center line of the calibration paper 20 is called as a first point, the left stripe 21 and the right stripe 22 are arranged in a centrosymmetric manner by taking the first point as a midpoint, the midpoint is provided with an identification line 23, and all the identification lines 23 are arranged in a centrosymmetric manner by taking the first point as the midpoint; at least three pieces of calibration paper 20 are arranged, two pieces of calibration paper 20 are arranged on the left and right of the fixed panel 01, and the calibration paper 20 is arranged on the movable panel 02. The height at which the imaging plane is located can thus be characterized by the shadow made by the marking line 23 on the real-time image, the height of the imaging plane being determined by determining the horizontal position of the shadow, which can be determined by the distance between the shadow and the left and right stripes 21, 22.
Further as a preferred embodiment, both the left edge and the right edge of the fixed panel 01 exceed the field of view of the line camera 11. Therefore, the calibration paper 20 can be arranged at the edge of the field of view of the line camera 11 as much as possible, the distance between the calibration paper 20 is large, and whether the imaging plane of the line camera 11 is horizontal or not can be clearly displayed.
Further, as a preferred embodiment, the adjusting base 10 includes two adjusting tables, the two adjusting tables are arranged at intervals from left to right, the fixing panel 01 is arranged behind the line camera 11, and the line camera 11 and the line laser light source 12 are respectively arranged on the two adjusting tables. This facilitates the adjustment of the position and angle of the line laser light source 12 or the line camera 11.
Further as a preferred embodiment, the adjusting seat 10 further includes a bottom plate 15, the adjusting table includes a lower plate 14 and an upper plate 13, the lower plate 14 is rotatably connected with the bottom plate 15 through a vertically arranged rotating shaft, the lower plate 14 and the upper plate 13 are arranged at intervals up and down, a stud 17 is arranged on the lower plate 14, the stud 17 is arranged perpendicular to the lower plate 14, a through hole is arranged on the upper plate 13, the stud 17 is arranged in the through hole, two locking nuts 16 are arranged on the stud 17, and the through hole is arranged between the two locking nuts 16; the adjusting mechanism comprises at least three studs 17, a through hole and two locking nuts 16, and all the adjusting mechanisms are uniformly distributed on the outer edge of the lower plate 14; the line camera 11 or the line laser light source 12 is arranged on the upper plate 13. And a plane can be determined by three points, so that the upper plate 13 has three rotational degrees of freedom and up-down translational degrees of freedom, the structure is simple, and the position and the angle of the linear laser light source 12 or the linear array camera 11 can be adjusted.
In a further preferred embodiment, the adjusting mechanism is provided with an elastic member, the elastic member is provided between one of the lock nuts 16 and the upper plate 13, and one of the lock nuts 16 abuts against the upper plate 13 through the elastic member. The adjusted linear light source and the linear array camera 11 need to be moved, and the upper plate 13 has certain shock absorption capacity by arranging the elastic component, so that the relative positions of the linear light source and the linear array camera 11 are kept unchanged during moving.
In a further preferred embodiment, the elastic member is a spring 18, and the spring 18 is sleeved on the stud 17. The structure is simple and the use is simple.
In order to more conveniently adjust the projection plane of the linear laser light source 12 to coincide with the imaging plane of the line camera 11, the lower plate 14 and the upper plate 13 are rectangular, and the four adjusting mechanisms are respectively arranged at four corners of the lower plate 14.
The embodiment also provides a method for calibrating a linear light source and a linear array camera, which is implemented by using a device for calibrating a linear light source and a linear array camera, wherein the device for calibrating a linear light source and a linear array camera 11 comprises a linear laser light source 12, a linear array camera 11, a laser level 04, an adjusting seat 10, a fixed panel 01 arranged in the shooting direction of the linear array camera 11, a movable panel 02 arranged between the fixed panel 01 and the linear array camera 11, and a plurality of calibration papers 20 arranged in the field of view of the linear array camera 11, the projection direction of the linear laser light source 12 is consistent with the shooting direction of the linear array camera 11, the linear array camera 11 and the linear laser light source 12 are both arranged on the adjusting seat 10, the laser level 04 is arranged beside the linear laser light source 12, and the fixed panel 01 and the movable panel 02 are provided with the calibration; a vertical left stripe 21 is arranged on the left edge of the calibration paper 20, a vertical right stripe 22 is arranged on the right edge of the calibration paper 20, a plurality of identification lines 23 are arranged on the calibration paper 20, all the identification lines 23 are arranged between the left stripe 21 and the right stripe 22, the identification lines 23 are transversely arranged, and all the identification lines 23 are arranged in a step shape from left to right; the intersection point of the horizontal center line and the vertical center line of the calibration paper 20 is called as a first point, the left stripe 21 and the right stripe 22 are arranged in a centrosymmetric manner by taking the first point as a midpoint, the midpoint is provided with an identification line 23, and all the identification lines 23 are arranged in a centrosymmetric manner by taking the first point as the midpoint;
the method is specifically realized by the following steps:
step 1, placing an adjusting seat 10 on a horizontal working surface, placing the adjusting seat 10 in front of a fixed panel 01, wherein the distance between the adjusting seat 10 and the fixed panel 01 is not less than the working distance of a linear array camera 11; the projection direction of the linear laser light source 12 and the shooting direction of the linear array camera 11 face the fixed panel 01, an angular bisector of the optical axis of the linear array camera 11 and the optical center of the linear laser light source 12 is perpendicular to the fixed panel 01 as much as possible, and the angular bisector and the fixed panel 01 are intersected at the horizontal center of the fixed panel 01, wherein the optical axis of the linear array camera 11 and the optical center of the linear laser light source 12 are straight lines where the connecting line of the optical center of the lens and the focal point is located;
step 2, calibrating the adjusting seat 10 to enable the linear array camera 11 and the linear laser light source 12 which are placed on the adjusting seat 10 to be in a horizontal state as much as possible;
step 3, turning on the laser level 04, wherein the laser level 04 forms a first light on the fixed panel 01;
step 4, keeping the working state of the laser level meter 04, and sticking two pieces of calibration paper 20 on the fixed panel 01 to ensure that the horizontal center line of each piece of calibration paper 20 is superposed with the first light; at the moment, the first light is superposed with the identification line 23 of the first point, the calibration paper 20 is required to be flat as much as possible during pasting, the calibration paper 20 basically covers the whole width of the fixed panel 01, and a gap of 2-4 cm is reserved between the calibration paper 20;
step 5, moving the movable panel 02 between the fixed panel 01 and the adjusting seat 10, marking and recording the position of the movable panel 02 at the moment, and calling the position as a first position, forming a second light ray on the movable panel 02 by the laser level 04 at the moment, and sticking a piece of calibration paper 20 on the movable panel 02 to enable the horizontal center line of the calibration paper 20 to coincide with the second light ray; the calibration paper 20 is required to be flat as much as possible during pasting;
step 6, turning on the line laser light source 12, wherein the line laser light source 12 respectively forms a third light and a fourth light on the fixed panel 01 and the movable panel 02;
step 7, adjusting the position and the projection direction of the linear laser light source 12 until the first light is superposed with the third light and the second light is superposed with the fourth light; so that the projection plane of the line laser light source 12 is horizontal;
step 8, opening the linear array camera 11 to collect images in real time, and moving the movable panel 02 out of the irradiation range of the linear laser light source 12; the external display screen 03 can be used for displaying images so as to observe real-time images more clearly;
step 9, adjusting the position and the angle of the linear array camera 11 until the brightness of the acquired image is the maximum value, and stopping the linear array camera 11 at the position and the angle;
step 10, observing an image formed by the linear array camera, wherein six shadows which are sequentially arranged from left to right at intervals are formed in the image collected in real time and are respectively called a first shadow 51, a second shadow 52, a third shadow 53, a fourth shadow 54, a fifth shadow 55 and a sixth shadow 56, the first shadow 51, the second shadow 52 and the third shadow 53 are respectively images of a left stripe 21, an identification line 23 and a right stripe 22 of the calibration paper 20 positioned on the left side, and the fourth shadow 54, the fifth shadow 55 and the sixth shadow 56 are respectively images of a left stripe 21, an identification line 23 and a right stripe 22 of the calibration paper 20 positioned on the right side; if the left stripe 21 and the right stripe 22 are not arranged on the calibration paper 20 or the left stripe 21 and the right stripe 22 are not clearly imaged, the fine rod can be used for dynamically moving to help determine the position of the calibration paper 20, one fine rod is used for being close to the calibration paper 20 and is perpendicular to a third light ray to move left and right, the positions of two calibration scale marks when the fine rod in the image collected in real time is respectively superposed with the mark lines 23 on the two pieces of calibration paper 20 are respectively recorded, the two positions are the height of the imaging plane of the camera on the fixed panel 01, and the step 11 can be carried out according to the two positions;
While the preferred embodiments of the present disclosure have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure and the appended claims are intended to cover all such changes and modifications as fall within the true spirit and scope of the disclosure.
Claims (8)
1. The utility model provides a line light source and linear array camera calibrating device which characterized in that: the linear array camera and the linear laser light source are both arranged on the adjusting seat, the laser level is arranged beside the linear laser light source, the fixed panel and the movable panel are provided with the calibration paper, and the calibration paper is provided with a plurality of identification lines;
the left edge of the calibration paper is provided with a vertical left stripe, the right edge of the calibration paper is provided with a vertical right stripe, the calibration paper is provided with a plurality of identification lines, all the identification lines are arranged between the left stripe and the right stripe and are transversely arranged, and all the identification lines are arranged in a step shape from left to right; the intersection point of the horizontal center line and the vertical center line of the calibration paper is called a first point, the left stripe and the right stripe are arranged in a centrosymmetric mode by taking the first point as a midpoint, an identification line is arranged on the midpoint, and the identification lines on the left side and the right side of the midpoint are arranged in a centrosymmetric mode by taking the first point as the midpoint; the number of the calibration paper is at least three, two pieces of calibration paper which are arranged on the left and the right are arranged on the fixed panel, and the calibration paper is arranged on the movable panel;
the laser level meter forms a first light and a second light on the fixed panel and the movable panel respectively, and the line laser light source forms a third light and a fourth light on the fixed panel and the movable panel respectively, so that the horizontal center lines of the first light, the third light and the calibration paper arranged on the fixed panel can be adjusted to be coincident, and the horizontal center lines of the second light, the fourth light and the calibration paper arranged on the movable panel can be adjusted to be coincident;
the linear array camera is used for imaging one piece of calibration paper on the fixed panel and comprises a first shadow, a second shadow and a third shadow, the linear array camera is used for imaging another piece of calibration paper on the fixed panel and comprises a fourth shadow, a fifth shadow and a sixth shadow, the linear array camera is used for imaging the calibration paper on the moving panel and comprises a seventh shadow, an eighth shadow and a ninth shadow, the second shadow is positioned between the first shadow and the third shadow, the fifth shadow is positioned between the fourth shadow and the sixth shadow, the eighth shadow is positioned between the seventh shadow and the ninth shadow, and the position and the camera shooting angle of the linear array camera are adjusted to ensure that the second shadow is positioned between the first shadow and the third shadow, the fifth shadow is positioned between the fourth shadow and the sixth shadow and the eighth shadow is positioned between the seventh shadow and the ninth shadow.
2. The linear light source and line camera calibration device of claim 1, wherein: the left edge and the right edge of the fixed panel both exceed the view field of the linear array camera.
3. The linear light source and line camera calibration device of claim 1, wherein: the adjusting seat comprises two adjusting tables which are arranged at intervals from left to right, the fixed panel is arranged behind the linear array camera, and the linear array camera and the linear laser light source are respectively arranged on the two adjusting tables.
4. The linear light source and line camera calibration device of claim 3, wherein: the adjusting seat further comprises a bottom plate, the adjusting table comprises a lower layer plate and an upper layer plate, the lower layer plate is rotatably connected with the bottom plate through a vertically arranged rotating shaft, the lower layer plate and the upper layer plate are arranged at intervals up and down, the lower layer plate is provided with studs, the studs are arranged perpendicular to the lower layer plate, the upper layer plate is provided with through holes, the studs are arranged in the through holes, the studs are provided with two locking nuts, and the through holes are arranged between the two locking nuts; the adjusting mechanism comprises at least three studs, a through hole and two locking nuts, and all the adjusting mechanisms are uniformly distributed on the outer edge of the lower plate; the linear array camera or the linear laser light source is arranged on the upper plate.
5. The linear light source and line camera calibration device of claim 4, wherein: the adjusting mechanism is provided with an elastic component, the elastic component is arranged between one of the locking nuts and the upper plate, and one of the locking nuts is abutted against the upper plate through the elastic component.
6. The linear light source and line camera calibration device of claim 5, wherein: the elastic component is a spring, and the spring is sleeved outside the stud.
7. A line light source and line camera calibration device according to any one of claims 4 to 6, wherein: the lower layer plate and the upper layer plate are rectangular, the number of the adjusting mechanisms is four, and the four adjusting mechanisms are respectively arranged at four corners of the lower layer plate.
8. A method for calibrating a linear light source and a linear array camera is characterized by comprising the following steps: the calibration method comprises the steps that a linear light source and linear array camera calibration device is used for calibration, wherein the linear light source and linear array camera calibration device comprises a linear laser light source, a linear array camera, a laser level meter, an adjusting seat, a fixed panel arranged in the shooting direction of the linear array camera, a movable panel arranged between the fixed panel and the linear array camera, and a plurality of pieces of calibration paper arranged in the visual field of the linear array camera, the projection direction of the linear laser light source is consistent with the shooting direction of the linear array camera, the linear array camera and the linear laser light source are both arranged on the adjusting seat, the laser level meter is arranged beside the linear laser light source, and the fixed panel and the movable panel are provided with the calibration paper; the left edge of the calibration paper is provided with a vertical left stripe, the right edge of the calibration paper is provided with a vertical right stripe, the calibration paper is provided with a plurality of identification lines, all the identification lines are arranged between the left stripe and the right stripe and are transversely arranged, and all the identification lines are arranged in a step shape from left to right; the intersection point of the horizontal center line and the vertical center line of the calibration paper is called a first point, the left stripe and the right stripe are arranged in a centrosymmetric mode by taking the first point as a midpoint, an identification line is arranged on the midpoint, and the identification lines on the left side and the right side of the midpoint are arranged in a centrosymmetric mode by taking the first point as the midpoint;
the method is specifically realized by the following steps:
step 1, placing an adjusting seat on a horizontal working surface, placing the adjusting seat in front of a fixed panel, wherein the distance between the adjusting seat and the fixed panel is not less than the working distance of a linear array camera;
step 2, calibrating the adjusting seat to enable the linear array camera and the linear laser light source which are placed on the adjusting seat to be in a horizontal state as much as possible;
step 3, opening the laser level meter, wherein the laser level meter forms a first light ray on the fixed panel;
step 4, keeping the working state of the laser level meter, and sticking two pieces of calibration paper on the fixed panel to ensure that the horizontal center line of each piece of calibration paper is superposed with the first light;
step 5, moving the movable panel to a position between the fixed panel and the adjusting seat, recording the position of the movable panel at the moment by a mark, and calling the position as a first position, forming a second light ray on the movable panel by the laser level instrument at the moment, and sticking a piece of calibration paper on the movable panel to ensure that the horizontal center line of the calibration paper is superposed with the second light ray;
step 6, opening a line laser light source, wherein the line laser light source forms a third light ray and a fourth light ray on the fixed panel and the movable panel respectively;
step 7, adjusting the position and the projection direction of the linear laser light source until the first light is superposed with the third light and the second light is superposed with the fourth light;
step 8, opening the linear array camera to collect images in real time, and moving the mobile panel out of the irradiation range of the line laser light source;
step 9, adjusting the position and the angle of the linear array camera until the brightness of the acquired image is the maximum value, and stopping the linear array camera at the position and the angle;
step 10, observing an image formed by the linear array camera, wherein six shadows which are sequentially arranged at intervals from left to right exist in the image acquired in real time and are respectively called as a first shadow, a second shadow, a third shadow, a fourth shadow, a fifth shadow and a sixth shadow, the first shadow, the second shadow and the third shadow are respectively images of a left stripe, an identification line and a right stripe of the calibration paper positioned on the left side, and the fourth shadow, the fifth shadow and the sixth shadow are respectively images of a left stripe, an identification line and a right stripe of the calibration paper positioned on the right side;
step 11, adjusting the position and the shooting angle of the linear array camera according to the positions of the six shadows until the second shadow is in the middle of the first shadow and the third shadow and the fifth shadow is in the middle of the fourth shadow and the sixth shadow;
step 12, moving the mobile panel to a first position, wherein a seventh shadow, an eighth shadow and a ninth shadow are contained in an image collected in real time, the seventh shadow, the eighth shadow and the ninth shadow are respectively images of a left stripe, an identification line and a right stripe of calibration paper arranged on the mobile panel, and the position and the camera shooting angle of the linear array camera are adjusted to enable the eighth shadow to be in the middle of the seventh shadow and the ninth shadow;
and step 13, repeating the step 11 and the step 12 until the step 11 and the step 12 reach the requirements.
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