CN109990698A - Fast calibration device and quick calibrating method - Google Patents
Fast calibration device and quick calibrating method Download PDFInfo
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- CN109990698A CN109990698A CN201711488805.5A CN201711488805A CN109990698A CN 109990698 A CN109990698 A CN 109990698A CN 201711488805 A CN201711488805 A CN 201711488805A CN 109990698 A CN109990698 A CN 109990698A
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- zigzag
- calibrating block
- calibrating
- industrial camera
- laser
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of fast calibration devices, it include: zigzag calibrating block, for placing the conveyer belt of the zigzag calibrating block, for obtaining the industrial camera of zigzag calibrating block image, the industrial personal computer that is connect with the industrial camera and for emitting laser rays in the laser line generator of zigzag calibrating block；The zigzag calibrating block, industrial camera and laser line generator are not arranged on the same straight line, and the laser line generator is set to right above the zigzag calibrating block, and the laser rays plane of the laser line generator is vertical with the zigzag calibrating block.The present invention is not necessarily to acquire the distance values between laser line generator and industrial camera, and the angle of industrial camera optical center and laser line generator, corresponding transformed matrix R can be acquired only by means of zigzag calibrating block, the relationship of optical plane and industrial camera imaging plane is mapped using the relationship of the intrinsic size of the zigzag calibrating block of customization, the transformed matrix R precision acquired is high, helps to establish accurate optic plane equations.
Description
Technical field
The present invention relates to calibration fields, more particularly, to a kind of fast calibration device and quick calibrating method.
Background technique
The scaling method of the existing principle of triangulation based on structure light, it is more complicated, it usually needs know laser and
The angle of distance values between camera, camera photocentre and laser.But in actual application, the two values are all to be difficult standard
Really measurement, it is not high so as to cause stated accuracy, difficulty is brought to accurate optic plane equations are established.
Summary of the invention
Based on this, the invention reside in overcome the prior art to be difficult to measure spacing and camera light between laser and camera
The heart and laser angle be not high so as to cause stated accuracy, it is difficult to which that the defect for accurately establishing optic plane equations provides a kind of quick
Caliberating device and quick calibrating method.
Its technical solution is as follows:
A kind of fast calibration device, comprising: zigzag calibrating block is used for for placing the conveyer belt of the zigzag calibrating block
Obtain zigzag calibrating block image industrial camera, the industrial personal computer being connect with the industrial camera and for emit laser rays in
The laser line generator of zigzag calibrating block；The zigzag calibrating block, industrial camera and laser line generator are not arranged on the same straight line,
The laser line generator is set to right above the zigzag calibrating block, and the laser rays plane of the laser line generator and the zigzag
Calibrating block is vertical.
The technical program is using one end endpoint of zigzag calibrating block as benchmark zero point, according to the reality of zigzag calibrating block
Size obtains the actual coordinate (x, y) of each angle point in zigzag calibrating block；The angle point is each sawtooth of zigzag calibrating block
It is formed by angle or sharp corner；Zigzag calibrating block is placed on conveyer belt, and will be placed upward with serrate one side, is made
The laser rays plane of laser line generator is perpendicular to the zigzag calibrating block, that is, make the projection of laser rays just with the zigzag
Calibrating block is overlapped.The whole zigzag folding of image and zigzag calibrating block surface of zigzag calibrating block is obtained by industrial camera
The coordinate point data of line；Applicable line detection algorithm finds the straight line on zigzag calibrating block image；Calculate adjacent two straight lines
Be formed by angle point pixel coordinate (u, v)；By actual coordinate (x, y) and pixel coordinate, (u v) calculates transformed matrix R such as
Under: R=(u, v, 1) -1(x, y, 1).The technical program is not necessarily to acquire the distance values between laser line generator and industrial camera, and
The angle of industrial camera optical center and laser line generator can acquire corresponding transformed matrix R only by means of zigzag calibrating block, utilize
The relationship of the intrinsic size of the zigzag calibrating block of customization maps the relationship of optical plane and industrial camera imaging plane, acquires
Transformed matrix R precision is high, helps to establish accurate optic plane equations.
The zigzag calibrating block includes at least two sawtooth, at least two sawtooth in one of the embodiments,
It is arranged in a row, and adjacent saw-tooth is seamlessly connected.
The quantity of the sawtooth is 2-5 in one of the embodiments,.
At least two teeth sizes are equal in one of the embodiments, and at least two sawtooth are
Isosceles triangle.
The angle for being at at least two sawtooth wedge angles in one of the embodiments, is 90 degree.
It in one of the embodiments, further include optical filtering, the optical filtering is set in front of the camera lens of the industrial camera.
The technical program also provides a kind of quick calibrating method, includes the following steps:
Using one end endpoint of zigzag calibrating block as benchmark zero point, zigzag is obtained according to the actual size of zigzag calibrating block
The actual coordinate (x, y) of each angle point in calibrating block；
Zigzag calibrating block sawtooth is placed on conveyer belt upward, makes the laser rays plane of laser line generator perpendicular to the sawtooth
Shape calibrating block；
The seat of the whole zigzag broken line of image and zigzag calibrating block surface of zigzag calibrating block is obtained by industrial camera
Punctuate data；
Applicable line detection algorithm finds the straight line on zigzag calibrating block image；
Calculate adjacent two straight lines be formed by angle point pixel coordinate (u, v)；
By the actual coordinate (x, y) and pixel coordinate of angle point (it is as follows v) to calculate transformed matrix R by u:
R=(u, v, 1) -1(x, y, 1).
The length of the laser rays plane is greater than the length of the zigzag calibrating block in one of the embodiments,.
The line detection algorithm is that Hough straight line converts algorithm in one of the embodiments,.
In one of the embodiments, in the coordinate point data for obtaining the whole zigzag broken line in zigzag calibrating block surface
Before, malformation correction is carried out to the image of zigzag calibrating block acquired in industrial camera.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of fast calibration device of the invention；
Fig. 2 is the structural schematic diagram of the zigzag calibrating block of Fig. 1.
Description of symbols:
10, zigzag calibrating block；11, sawtooth；20, conveyer belt；30, industrial camera；40, laser line generator；41, laser rays.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention more comprehensible, below in conjunction with attached drawing and specific embodiment party
Formula, the present invention is further described in detail.It should be understood that the specific embodiments described herein are only to solve
The present invention is released, and the scope of protection of the present invention is not limited.
A kind of fast calibration device as shown in Figure 1, comprising: zigzag calibrating block 10, for placing the zigzag mark
The conveyer belt 20 for determining block is connect for obtaining the industrial camera 30 of 10 image of zigzag calibrating block with the industrial camera 30
Industrial personal computer and for emitting laser rays 41 in the laser line generator 40 of zigzag calibrating block 10；The zigzag calibrating block 10, work
Industry camera 30 and laser line generator 40 are not arranged on the same straight line, thus the zigzag calibrating block 10, industrial camera 30 and
40 three of laser line generator surrounds triangle, to can operate with the calibration of principle of triangulation.In order to guarantee the standard of calibration result
True property, the laser line generator 40 is set to right above the zigzag calibrating block 10, and the laser rays 41 of the laser line generator 40 is flat
Face is vertical with the zigzag calibrating block 10.
Present embodiment is using one end terminal A of zigzag calibrating block 10 as benchmark zero point, according to zigzag calibrating block 10
Actual size obtain zigzag calibrating block on each angle point B actual coordinate (x, y)；The angle point B is zigzag calibration
Each sawtooth of block 10 is formed by angle or sharp corner；That is, two sawtooth broken line intersections are angle point in zigzag calibrating block 10
B.Zigzag calibration is placed on conveyer belt 20 for 10 pieces, and will be placed upward with serrate one side, conveyer belt 20 does not open at this time
It is dynamic, make 41 plane of laser rays of laser line generator 40 perpendicular to the zigzag calibrating block 10, that is, to make the projection of laser rays 41 just
It is overlapped with the zigzag calibrating block 10.Image and the zigzag calibration of zigzag calibrating block 10 are obtained by industrial camera 30
The coordinate point data of the whole zigzag broken line in 10 surface of block；Applicable line detection algorithm finds straight on zigzag calibrating block image
Line；Calculate adjacent two straight lines be formed by angle point B pixel coordinate (u, v)；By the actual coordinate (x, y) of each angle point B and
(u it is as follows v) to calculate transformed matrix R: R=(u, v, 1) -1(x, y, 1) to corresponding pixel coordinate.Present embodiment is without acquiring
The angle of distance values and industrial camera 30 optical center and laser line generator 40 between laser line generator 40 and industrial camera 30, is only borrowed
Corresponding transformed matrix R can be acquired by helping zigzag calibrating block 10, utilize the intrinsic size of the zigzag calibrating block 10 of customization
Relationship map the relationship of 30 imaging plane of optical plane and industrial camera, the transformed matrix R precision acquired is high, help to establish
Accurate optic plane equations.
The zigzag calibrating block 10 includes at least two sawtooth 11, and at least two sawtooth 11 are arranged in a row, and
Adjacent saw-tooth 11 is seamlessly connected.That is, forming each wedge angle of sawtooth 11 itself also between angle point B and adjacent saw-tooth 11
One angle point B.
Due at least needing three angle point B for calculating transformed matrix R, so that the quantity of the sawtooth 11 is 2-5.When
When the quantity of sawtooth 11 is two, the quantity of the angle point B just three, per more sawtooth 11 just more two angle point B, work as saw
When the quantity of tooth 11 is 5, the quantity of angle point B is 9, and 9 angle points improve the precision of transformed matrix R, and more than 9 angles
The transformed matrix R calculating of the case where point is abnormal difficult, and precision improves seldom, so that 11 quantity of sawtooth of present embodiment is 5,
The quantity of angle point B is 9.
At least two 11 sizes of sawtooth are equal, and at least two sawtooth 11 are isosceles triangle.Isosceles
The coordinate data that the sawtooth 11 of triangle obtains is simple, reduces the difficulty in computation of transformed matrix R.
Similarly, in order to further decrease the difficulty in computation of transformed matrix R, it is at least two 10 wedge angles of sawtooth
Angle is 90 degree, i.e. it is 90 degree that the straight line of left and right two of angle point B, which is formed by angle,.
In addition, avoiding other light to allow industrial camera 30 more preferably to identify the laser rays 41 in zigzag calibrating block 10
Interference, the fast calibration device of present embodiment further includes optical filtering, the optical filtering be set to the industrial camera 30 mirror
Head front.
Present embodiment also provides a kind of quick calibrating method, includes the following steps:
According to practical application request, the field range of industrial camera 10, the difference in height and measurement accuracy of product to be measured are required, really
Determine the design processing dimension and precision of zigzag calibrating block 10；
Using one end terminal A of zigzag calibrating block 10 as benchmark zero point, obtained according to the actual size of zigzag calibrating block 10
The actual coordinate (x, y) of each angle point B in zigzag calibrating block 10；
10 sawtooth 11 of zigzag calibrating block is placed in upward on conveyer belt 20, keeps 40 plane of laser rays of laser line generator 40 vertical
In the zigzag calibrating block 10；
The whole zigzag folding of image and 10 surface of zigzag calibrating block of zigzag calibrating block 10 is obtained by industrial camera 30
The coordinate point data of line；
Applicable line detection algorithm finds the straight line on 10 image of zigzag calibrating block；
Calculate adjacent two straight lines be formed by angle point B pixel coordinate (u, v)；
By the actual coordinate (x, y) and pixel coordinate of angle point B (it is as follows v) to calculate transformed matrix R by u:
R=(u, v, 1) -1(x, y, 1).
After obtaining transformed matrix R, optic plane equations can be established, optic plane equations foundation finishes, product to be measured is put
It is placed on conveyer belt 20, starts conveyer belt 20 at this time, product to be measured is slowly mobile with conveyer belt 20, thus each of product to be measured
Corner is orderly covered by laser rays 41, after so that industrial camera 30 is obtained the image of entire product to be measured, using optic plane equations into
The conversion of row coordinate, obtains the image coordinate data of product to be measured.
In addition, in order to smoothly get the coordinate data of all angle point B, the length of 41 plane of laser rays is greater than
The length of the zigzag calibrating block 10.Specifically, 41 plane of laser rays described in present embodiment is triangle, i.e. triangle
The length on bottom edge need to be greater than the length of the zigzag calibrating block 10.
Line detection algorithm described in present embodiment is that Hough straight line converts algorithm.
In addition, before the coordinate point data for obtaining the whole zigzag broken line in 10 surface of zigzag calibrating block, to industrial camera
The image of zigzag calibrating block 10 acquired in 30 carries out malformation correction, guarantees the precision of images.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of fast calibration device characterized by comprising zigzag calibrating block, for placing the zigzag calibrating block
Conveyer belt, for obtaining the industrial camera of zigzag calibrating block image, the industrial personal computer and use that are connect with the industrial camera
In transmitting laser rays in the laser line generator of zigzag calibrating block；The zigzag calibrating block, industrial camera and laser line generator are not
On same straight line, the laser line generator is set to right above the zigzag calibrating block, and the laser rays of the laser line generator
Plane is vertical with the zigzag calibrating block.
2. fast calibration device according to claim 1, which is characterized in that the zigzag calibrating block includes at least two
Sawtooth, at least two sawtooth are arranged in a row, and adjacent saw-tooth is seamlessly connected.
3. fast calibration device according to claim 2, which is characterized in that the quantity of the sawtooth is 2-5.
4. fast calibration device according to claim 2, which is characterized in that at least two teeth sizes are equal,
And at least two the sawtooth be isosceles triangle.
5. fast calibration device according to claim 4, which is characterized in that be at at least two sawtooth wedge angles
Angle is 90 degree.
6. fast calibration device according to claim 1-5, which is characterized in that it further include optical filtering, the filter
Light microscopic is set in front of the camera lens of the industrial camera.
7. a kind of quick calibrating method, which comprises the steps of:
Using one end endpoint of zigzag calibrating block as benchmark zero point, zigzag is obtained according to the actual size of zigzag calibrating block
The actual coordinate (x, y) of each angle point in calibrating block；
Zigzag calibrating block sawtooth is placed on conveyer belt upward, makes the laser rays plane of laser line generator perpendicular to the sawtooth
Shape calibrating block；
The seat of the whole zigzag broken line of image and zigzag calibrating block surface of zigzag calibrating block is obtained by industrial camera
Punctuate data；
Applicable line detection algorithm finds the straight line on zigzag calibrating block image；
Calculate adjacent two straight lines be formed by angle point pixel coordinate (u, v)；
By the actual coordinate (x, y) and pixel coordinate of angle point (it is as follows v) to calculate transformed matrix R by u:
R=(u, v, 1) -1(x, y, 1).
8. principle of triangulation quick calibrating method according to claim 7, which is characterized in that the laser rays plane
Length is greater than the length of the zigzag calibrating block.
9. principle of triangulation quick calibrating method according to claim 7, which is characterized in that the line detection algorithm
Algorithm is converted for Hough straight line.
10. according to the described in any item principle of triangulation quick calibrating methods of claim 7-9, which is characterized in that obtaining
Before the coordinate point data of the whole zigzag broken line in zigzag calibrating block surface, to zigzag calibrating block acquired in industrial camera
Image carries out malformation correction.
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| CN201711488805.5A CN109990698A (en) | 2017-12-29 | 2017-12-29 | Fast calibration device and quick calibrating method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823130A (en) * | 2019-10-22 | 2020-02-21 | 北京工业大学 | Structured light 3D vision rapid automatic calibration device and method |
| CN113137934A (en) * | 2021-04-23 | 2021-07-20 | 中国工程物理研究院流体物理研究所 | Calibration system and calibration method of single-probe ray equation |
| WO2021175098A1 (en) * | 2020-03-06 | 2021-09-10 | 泉州华中科技大学智能制造研究院 | Calibration device and calibration method for structured light three-dimensional scanning camera |
| CN113524204A (en) * | 2021-09-15 | 2021-10-22 | 苏州鼎纳自动化技术有限公司 | Coordinate system coincidence calibration method and system |
| CN115393442A (en) * | 2022-03-02 | 2022-11-25 | 深圳市深视智能科技有限公司 | Calibration method, device and system of three-dimensional camera |
| WO2023040685A1 (en) * | 2021-09-16 | 2023-03-23 | 杭州海康机器人股份有限公司 | System calibration method and apparatus for line laser device |
| WO2023097647A1 (en) * | 2021-12-03 | 2023-06-08 | 宁德时代新能源科技股份有限公司 | Ccd camera calibration system, method and apparatus, computing device, and storage medium |
-
2017
- 2017-12-29 CN CN201711488805.5A patent/CN109990698A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110823130A (en) * | 2019-10-22 | 2020-02-21 | 北京工业大学 | Structured light 3D vision rapid automatic calibration device and method |
| CN110823130B (en) * | 2019-10-22 | 2021-09-14 | 北京工业大学 | Structured light 3D vision rapid automatic calibration device and method |
| WO2021175098A1 (en) * | 2020-03-06 | 2021-09-10 | 泉州华中科技大学智能制造研究院 | Calibration device and calibration method for structured light three-dimensional scanning camera |
| CN113137934A (en) * | 2021-04-23 | 2021-07-20 | 中国工程物理研究院流体物理研究所 | Calibration system and calibration method of single-probe ray equation |
| CN113137934B (en) * | 2021-04-23 | 2022-10-28 | 中国工程物理研究院流体物理研究所 | Calibration system and calibration method for single-probe ray equation |
| CN113524204A (en) * | 2021-09-15 | 2021-10-22 | 苏州鼎纳自动化技术有限公司 | Coordinate system coincidence calibration method and system |
| CN113524204B (en) * | 2021-09-15 | 2021-12-17 | 苏州鼎纳自动化技术有限公司 | Coordinate system coincidence calibration method and system |
| WO2023040685A1 (en) * | 2021-09-16 | 2023-03-23 | 杭州海康机器人股份有限公司 | System calibration method and apparatus for line laser device |
| WO2023097647A1 (en) * | 2021-12-03 | 2023-06-08 | 宁德时代新能源科技股份有限公司 | Ccd camera calibration system, method and apparatus, computing device, and storage medium |
| CN115393442A (en) * | 2022-03-02 | 2022-11-25 | 深圳市深视智能科技有限公司 | Calibration method, device and system of three-dimensional camera |
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Application publication date: 20190709 |