CN109916328B - V-shaped groove calibration plate and method for double-CCD laser measurement - Google Patents

V-shaped groove calibration plate and method for double-CCD laser measurement Download PDF

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Publication number
CN109916328B
CN109916328B CN201711327906.4A CN201711327906A CN109916328B CN 109916328 B CN109916328 B CN 109916328B CN 201711327906 A CN201711327906 A CN 201711327906A CN 109916328 B CN109916328 B CN 109916328B
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calibration plate
shaped groove
ccds
groove
ccd
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CN201711327906.4A
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Chinese (zh)
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CN109916328A (en
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司书春
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山东大学
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Abstract

The invention discloses a V-shaped groove calibration plate for double-CCD laser measurement and a method thereof, wherein the calibration plate comprises a calibration plate body, one end of the calibration plate body is provided with a plurality of continuous V-shaped grooves which are arranged side by side, the other end of the calibration plate body is provided with a U-shaped groove and a transverse V-shaped groove, the extending direction of the U-shaped groove is the same as that of the V-shaped grooves which are arranged side by side, the extending direction of the transverse V-shaped groove is vertical to the U-shaped groove, and the edge of the calibration plate is provided with a groove body which is parallel to the. The CCD camera can be conveniently and symmetrically adjusted according to the image of the V-shaped groove calibration plate.

Description

V-shaped groove calibration plate and method for double-CCD laser measurement

Technical Field

The invention relates to a V-shaped groove calibration plate and method for double-CCD laser measurement.

Background

Three-dimensional topography techniques find application in many fields. The most common optical cutting scanning head at present consists of a laser knife and two digital CCDs, and the optical cutting scanning head has the following problems in practical measurement:

the symmetry adjustment is difficult: if the two digital CCDs are not symmetrical, a complicated adjustment work is performed and a complexity of post-processing data is involved, and adjusting the symmetry of the two CCDs is itself a complicated and difficult work because each CCD has 6-dimensional adjustments. For the problem, the existing literature enlarges the measurement range by adjusting the included angle to perform scanning for multiple times, but after the included angle is adjusted, the symmetrical adjustment is very difficult, so the included angle of the existing product is fixed.

The magnification cannot be adjusted: the magnification of the double-CCD system is also fixed, if the magnification is changed by changing the lens, the angle of the CCD needs to be adjusted, and the problem of symmetrical adjustment cannot be avoided.

In summary, the conventional fixed dual CCD optical cutting scanning head has low adaptability to different measurement objects.

Disclosure of Invention

The invention provides a V-shaped groove calibration plate for double-CCD laser measurement and a method thereof, aiming at solving the problems.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a two CCD laser surveying's V-arrangement groove calibration plate, includes the calibration plate body, one end is provided with a plurality of V-arrangement grooves of laying side by side in succession on the calibration plate body, is provided with U-shaped groove and horizontal V-arrangement groove on the other end, the U-shaped groove is the same with the extending direction in the V-arrangement groove that sets up side by side, and the extending direction in horizontal V-arrangement groove is perpendicular with the U-shaped groove, the border department of calibration plate is provided with the cell body parallel with horizontal V-arrangement groove.

The groove body is a V-shaped groove.

Among the V-shaped grooves which are arranged side by side, the V-shaped groove at the edge is a smooth-cutter symmetrical correction V-shaped groove.

Furthermore, splicing calibration V-shaped grooves are arranged beside the optical knife symmetrical correction V-shaped grooves.

The number of the V-shaped grooves arranged side by side is three.

Based on the adjusting method of the calibration plate, after the edge of the calibration plate is aligned with the reference line of the table top, one end of the laser line is aligned with the reference line on the calibration plate by moving the position of the scanning head, and the laser line is parallel to or coincided with the reference line on the calibration plate by adjusting the adjusting device on the laser; after the optical knife is adjusted in a rotating mode, the control platform is moved to enable the laser lines to stop on the calibration plate, the optical knife symmetrically corrects the positions of the V-shaped grooves, and the adjusting devices of the two CCDs are adjusted to enable the two laser lines collected by the two CCDs to be completely overlapped on the three V-shaped grooves.

Furthermore, the laser line stops at the position of the optical knife symmetrically correcting the V-shaped groove on the calibration plate, the distance situation of the groove on the calibration plate collected by the two CCDs is observed, if the distances of the grooves shot by the two CCDs are equal, the distances between the two CCDs and the laser line are equal, deflection adjustment is not needed, if the distances of the grooves shot by the two CCDs are unequal, the amplification factors of the two CCDs are different, and the amplification factors of the two CCDs are approximately the same by adjusting the screw of the laser knife or adjusting the positions of the two CCDs.

Furthermore, if the distance between the two grooves shot by the CCD at one side is short, the shooting distance of the CCD at the side is far or the shooting distance of the CCD at the other side is short, and the laser knife is adjusted to deflect towards the direction far away from the side.

Further, the two CCDs are respectively adjusted, the position of the scanning head on the Z axis is moved or a flat plate is arranged below the calibration plate, the horizontal reference plane of the calibration plate sampled by the CCDs is basically parallel to the cross center line in the rectangular frame drawn in the system display area, one CCD is covered, the symmetrical line of the central groove of the calibration plate sampled by the other CCD is used for weighing the cross straight center line in the rectangular frame drawn in the system display area, then the rotation adjustment is carried out, the horizontal reference line of the calibration plate is enabled to be overlapped with the horizontal line of the cross center line as far as possible, and the same operation is carried out on the other CCD.

Compared with the prior art, the invention has the beneficial effects that:

1. the processing is convenient, and the bakelite plate or the high-density plate can be processed by a common engraving machine.

2. The CCD camera can be symmetrically adjusted according to the image of the V-shaped groove calibration plate.

3. The calibration plate is convenient to carry, small in size, light in weight and convenient to carry;

4. the measurement precision is corrected by using the parameters of the calibration plate and a software algorithm, so that the measurement precision is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic illustration of a calibration plate placement;

FIGS. 2(a) - (c) are schematic diagrams of base ray deflection;

fig. 3(a) and 3(b) are schematic diagrams of distances between grooves on a calibration plate collected by two CCDs;

FIG. 4 is a schematic view of CCD symmetry adjustment;

FIG. 5 is a diagram of a static debug process;

FIGS. 6(a) - (c) are three views of the calibration plate;

wherein: 1. the method comprises the following steps of (1) symmetrically correcting a V-shaped groove by using a smooth cutter, (2) splicing and calibrating the V-shaped groove, and (3) deeply calibrating a U-shaped groove; (i) a knife line, and (ii) a reference line on the calibration plate.

The specific implementation mode is as follows:

the invention is further described with reference to the following figures and examples.

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.

In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.

A calibration plate based on V-shaped grooves is composed of three V-shaped grooves and a U-shaped groove according to the depth of a mirror and the width of a view field measured by laser, and is convenient for algorithm correction of measured data and symmetrical adjustment of a CCD (charge coupled device) as shown in figure 1. The system requires continuous zoom measurement capability, the calibration algorithm designed by the subject group is not applicable in the past, the newly designed calibration algorithm fully considers two characteristics of multi-light knife and continuous zoom, and a V-shaped groove calibration plate is designed, and the calibration plate can adopt the design of calibration versions of a plurality of continuous V-shaped grooves, so that the capability of detecting the number of the V-shaped groove grooves and identifying and matching can be realized in the zoom range, and the proper calibration algorithm can be designed.

Rotation adjustment: after aligning the edge of the calibration plate with the datum line on the table top, one end of the laser line is aligned with the datum line on the calibration plate by moving the position of the scanning head, and the laser line can deflect in two conditions as shown in fig. 2(a) and fig. 2 (b). The laser line can be made parallel or coincident with the reference line on the calibration plate by adjusting the rotary adjustment device on the laser as shown in fig. 2 (c).

Deflection adjustment: after the optical knife is rotationally adjusted, the control platform can be moved to stop the laser line at the position of the V-shaped groove symmetrically corrected by the optical knife on the calibration plate, and the distance condition of the groove on the calibration plate collected by the two CCDs can be observed by clicking a 'camera parameter setting' menu. If the distance of the grooves photographed by the two CCDs is equal, it means that the two CCDs are at equal distance from the laser line, i.e., as shown in fig. 3(b), no deflection adjustment is needed. If the distance between the two CCDs and the laser line is not equal, as shown in fig. 3(a), the amplification factor of the two CCDs can be made to be substantially the same by adjusting the laser knife screw or adjusting the positions of the two CCDs. If the distance between the two grooves shot by the left CCD is short, the shooting distance of the left CCD is far or the shooting distance of the right CCD is short, and the laser knife can be adjusted to deflect in the direction of the far distance.

Rotation adjustment of CCD of basic calibration plate: after the adjustment of the optical knife is completed, the laser lines collected by the two CCDs may not completely coincide, that is, the two CCDs are not completely symmetrical. At the moment, the CCD can be rotationally adjusted by adjusting the adjusting devices of the two CCDs until the two laser lines are completely overlapped in the three V-shaped grooves.

During adjustment, a static debugging button of a system debugging menu can be selected, and a rectangular frame is drawn in the display area. As shown in fig. 4. Wherein, the green line and the yellow line are respectively laser knife images collected by the two CCDs, the red line is a synthesized image, and the three grooves are completely overlapped by an adjusting device of the system.

The two CCDs can be respectively adjusted, the position of a scanning head on a Z axis is moved or a flat plate is arranged below a calibration plate, so that a horizontal reference plane of the calibration plate sampled by the CCDs is basically parallel to a cross center line in a rectangular frame drawn in a system display area, one CCD is covered, a symmetrical line of a central groove of the calibration plate sampled by the other CCD is used for weighing a straight center line of the cross in the rectangular frame drawn in the system display area, then, the rotation adjustment is carried out, so that the horizontal reference line of the calibration plate sampled by the CCDs is superposed with a horizontal line of the cross center line as much as possible, and the same operation is carried out on the other CCD.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims (7)

1. A method for adjusting a V-shaped groove calibration plate for double CCD laser measurement is characterized by comprising the following steps: after the edge of the calibration plate is aligned with the datum line of the table top, one end of the laser line is aligned with the datum line on the calibration plate by moving the position of the scanning head, and the laser line is parallel to or coincided with the datum line on the calibration plate by adjusting the rotary adjusting device on the laser; after the optical knife is rotationally adjusted, the control platform is moved to stop the laser line on the calibration plate, the optical knife symmetrically corrects the position of the V-shaped groove, and the adjusting devices of the two CCDs are adjusted to ensure that the two laser lines collected by the two CCDs are completely overlapped in the three V-shaped grooves;
the laser line stops at the position of a light knife symmetrically correcting a V-shaped groove on a calibration plate, the distance condition of grooves on the calibration plate collected by two CCDs is observed, if the distances of the grooves shot by the two CCDs are equal, the distances between the two CCDs and the laser line are equal, deflection adjustment is not needed, if the distances of the grooves shot by the two CCDs are unequal, the amplification factors of the two CCDs are different, and the amplification factors of the two CCDs are approximately the same by adjusting a screw of the laser knife or adjusting the positions of the two CCDs;
the V-shaped groove calibration plate comprises a calibration plate body, one end of the calibration plate body is provided with a plurality of continuous V-shaped grooves which are arranged side by side, the other end of the calibration plate body is provided with a U-shaped groove and a transverse V-shaped groove, the U-shaped groove is identical to the V-shaped grooves which are arranged side by side in extending direction, the transverse V-shaped groove is perpendicular to the U-shaped groove in extending direction, and the edge of the calibration plate is provided with a groove body parallel to the transverse V-shaped groove.
2. The method for adjusting the V-groove calibration plate for double CCD laser measurement as claimed in claim 1, wherein: if the distance between the two grooves shot by the CCD at one side is short, the shooting distance of the CCD at the side is far or the shooting distance of the CCD at the other side is short, and the laser knife is adjusted to deflect towards the direction far away from the side.
3. The method for adjusting the V-groove calibration plate for double CCD laser measurement as claimed in claim 1, wherein: the two CCDs are respectively adjusted, the position of a scanning head on a Z axis is moved or a flat plate is arranged under a calibration plate in a cushioning mode, the horizontal reference plane of the calibration plate sampled by the CCDs is basically parallel to the cross center line in a rectangular frame drawn in a system display area, one CCD is covered, the symmetrical line of a central groove of the calibration plate sampled by the other CCD is enabled to be coincident with the straight center line of the cross in the rectangular frame drawn in the system display area, then rotation adjustment is carried out, the horizontal reference line of the calibration plate sampled by the CCDs is enabled to be coincident with the horizontal line of the cross center line in the rectangular frame drawn in the system display area as far as possible, and the same operation is carried out on the other CCD.
4. The method for adjusting the V-groove calibration plate for double CCD laser measurement as claimed in claim 1, wherein: the groove body is a V-shaped groove.
5. The method for adjusting the V-groove calibration plate for double CCD laser measurement as claimed in claim 1, wherein: among the V-shaped grooves which are arranged side by side, the V-shaped groove at the edge is a smooth-cutter symmetrical correction V-shaped groove.
6. The method for adjusting the V-groove calibration plate for double CCD laser measurement as claimed in claim 5, wherein: the spliced calibration V-shaped groove is arranged beside the optical knife symmetric correction V-shaped groove.
7. The method for adjusting the V-groove calibration plate for double CCD laser measurement as claimed in claim 1, wherein: the number of the V-shaped grooves arranged side by side is three.
CN201711327906.4A 2017-12-13 2017-12-13 V-shaped groove calibration plate and method for double-CCD laser measurement CN109916328B (en)

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CN201711327906.4A CN109916328B (en) 2017-12-13 2017-12-13 V-shaped groove calibration plate and method for double-CCD laser measurement

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CN109916328B true CN109916328B (en) 2020-10-02

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Publication number Priority date Publication date Assignee Title
JPH11316113A (en) * 1998-04-30 1999-11-16 Asahi Glass Co Ltd Form measuring device
CN1354355A (en) * 2001-12-10 2002-06-19 西安交通大学 Laser linear scanning three-dimensional measurement double liquid knife virtual grid mapping calibrating method and equipment
CN1511676A (en) * 2002-12-27 2004-07-14 中国科学院自动化研究所 Laser structure light vision sensor
CN101419177A (en) * 2007-10-25 2009-04-29 宝山钢铁股份有限公司 Method for demarcating multi line scan video cameras
CN104021540A (en) * 2013-02-28 2014-09-03 宝山钢铁股份有限公司 Static state calibration device and method for machine visual surface detection equipment
CN106846401A (en) * 2016-12-29 2017-06-13 歌尔股份有限公司 A kind of double detection methods and equipment for taking the photograph module

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11316113A (en) * 1998-04-30 1999-11-16 Asahi Glass Co Ltd Form measuring device
CN1354355A (en) * 2001-12-10 2002-06-19 西安交通大学 Laser linear scanning three-dimensional measurement double liquid knife virtual grid mapping calibrating method and equipment
CN1511676A (en) * 2002-12-27 2004-07-14 中国科学院自动化研究所 Laser structure light vision sensor
CN101419177A (en) * 2007-10-25 2009-04-29 宝山钢铁股份有限公司 Method for demarcating multi line scan video cameras
CN104021540A (en) * 2013-02-28 2014-09-03 宝山钢铁股份有限公司 Static state calibration device and method for machine visual surface detection equipment
CN106846401A (en) * 2016-12-29 2017-06-13 歌尔股份有限公司 A kind of double detection methods and equipment for taking the photograph module

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Title
线结构光三维传感中关键技术研究;吴庆阳;《中国优秀博士学位论文全文数据库(博士) 信息科技辑》;20070315(第3期);正文第19-20页第2.2.2节及图2.6 *

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