CN111223151B - Calibrating device and calibrating method for structured light three-dimensional scanning camera - Google Patents
Calibrating device and calibrating method for structured light three-dimensional scanning camera Download PDFInfo
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- CN111223151B CN111223151B CN202010150684.9A CN202010150684A CN111223151B CN 111223151 B CN111223151 B CN 111223151B CN 202010150684 A CN202010150684 A CN 202010150684A CN 111223151 B CN111223151 B CN 111223151B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
- G06T7/85—Stereo camera calibration
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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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Abstract
The invention discloses a calibration device and a calibration method of a structured light three-dimensional scanning camera, wherein the calibration device comprises a bottom plate, a driving device, a linear module, a lifting mechanism, a calibration block, a light source and a three-axis fine adjustment device, the linear module comprises a linear module body, a sliding block and a screw rod, the screw rod is rotatably arranged on the linear module body, the sliding block is arranged on the linear module in a sliding manner, a screw rod nut seat is arranged at the bottom of the sliding block, the driving device is axially connected with the screw rod, the lifting mechanism is fixedly arranged on the sliding block, the calibration block is arranged on the lifting mechanism, and the light source is arranged on the three-axis fine adjustment device. The calibration device greatly improves the calibration efficiency of the camera, does not need to be powered on, does not need to be reinstalled and calibrated during transition, and can be used only by a workbench or an empty space; the calibration method can quickly and accurately acquire the data information of the calibration block, so that the data information is transmitted to a computer for reading conversion, and the method has the remarkable effect of improving the efficiency and the accuracy of the batched camera calibration.
Description
Technical Field
The invention relates to the technical field of camera calibration, in particular to a calibration device and a calibration method of a structured light three-dimensional scanning camera.
Background
The structured light three-dimensional scanning technology has the advantages of low cost, non-contact, high precision, high efficiency and the like, and is widely applied to industries such as product design and manufacture, industrial measurement, quality detection, medicine, film and television entertainment and the like, and is known as the most promising three-dimensional measurement method. The structured light three-dimensional scanning technology realizes three-dimensional scanning by actively controlling the light source, and has higher reliability than other three-dimensional scanning technology effects. Before the three-dimensional reconstruction of the structured light is carried out, the structured light system is required to be calibrated, namely, the internal parameters of a camera and a projection device in the structured light system and the conversion relation between the two parameters are acquired, and the internal parameters become external parameters, so that the quality of the three-dimensional reconstruction is directly influenced by the calibration precision.
At present, the calibration technology for the camera is mature, calibration can be performed by aligning checkerboard calibration plates, the camera and the light source are arranged in front of the calibration plates, and the camera collects a plurality of images of the calibration plates so as to perform calibration. Because the general volume of calibration board is great makes the illumination inhomogeneous, also need remove the light source simultaneously to the calibration scheme that needs remove the calibration board in addition, and the mobile light source needs extra electric mobile device that connects, and the apron has promoted the complexity of demarcation greatly, finally leads to the calibration precision poor, and the calibration time is long to get the some and can not realize a large amount of readable data conversion, under the circumstances of batched demarcation, efficiency and accuracy can not obtain double assurance.
Disclosure of Invention
The invention aims to provide the calibration device of the structured light three-dimensional scanning camera, which does not need to be powered on, has high calibration precision and high calibration efficiency and is convenient to use.
In order to achieve the above object, the solution of the present invention is:
the utility model provides a calibration device of three-dimensional scanning camera of structured light, includes bottom plate, sharp module, drive arrangement, elevating system, calibration piece, is used for transmitting light beam's light source and is used for the adjustment the triaxial micromatic setting of light source irradiation direction, sharp module with triaxial micromatic setting is in respectively the both ends of bottom plate, sharp module is followed the length direction of bottom plate sets up, elevating system sets up on the sharp module, sharp module includes sharp module body, slider and lead screw, the lead screw rotationally sets up on the sharp module body, the lead screw sets up along the horizontal direction, the slider slidable sets up on the sharp module body, the bottom of slider is provided with the confession the lead screw nut seat that the lead screw was worn to put, drive arrangement sets up the sharp module is kept away from triaxial micromatic setting's one end, drive arrangement with lead screw axial connection, elevating system is fixed to be set up on the slider, the calibration piece sets up on the elevating system, the light source sets up on the triaxial micromatic setting.
As a preferred mode of the invention, the driving device comprises a servo motor, a rotating shaft of the servo motor is arranged along the horizontal direction, and the rotating shaft of the servo motor is axially connected with the screw rod.
As a preferred mode of the invention, the driving device comprises a guide shaft seat, a coupler, a pointer, a scale hand wheel and a clamping handle, wherein the guide shaft seat is arranged on the bottom plate, the guide shaft seat is an open-type guide shaft seat, the coupler is provided with a coupler first end connected with the scale hand wheel and a coupler second end connected with the screw rod, the coupler first end and the coupler second end are both arranged along the horizontal direction, and the pointer is arranged on the guide shaft seat;
the guide shaft seat comprises a guide shaft seat upper part, a guide shaft seat lower part, a guide shaft seat opening and a guide shaft seat through hole arranged between the guide shaft seat upper part and the guide shaft seat lower part, and the guide shaft seat opening is arranged on one side between the guide shaft seat upper part and the guide shaft seat lower part;
the clamping handle is arranged on the upper portion of the guide shaft seat and comprises a handheld portion and a connecting portion arranged at the bottom of the handheld portion, a screw hole matched with the connecting portion is formed in the position, opposite to the connecting portion, of the lower portion of the guide shaft seat, a first end of the coupler penetrates through the through hole of the guide shaft seat and is axially connected with the scale hand wheel, and a second end of the coupler is axially connected with the screw rod.
As a preferable mode of the invention, the lifting mechanism comprises a lifting bottom plate, a lifting top plate, a first connecting rod, a second connecting rod, a first moving assembly and a second moving assembly, wherein the lifting bottom plate is arranged on the sliding block;
the first moving assembly comprises a first moving assembly body, a rotating hand wheel, a first polish rod and a first moving nut seat, wherein the first moving assembly body is arranged at one end of the bottom of the lifting top plate, the first polish rod is arranged on the first moving assembly body, the rotating hand wheel is arranged at one end of the first moving assembly body and is positioned at one side of the lifting top plate, the first polish rod is axially connected with the rotating hand wheel, and the first moving nut seat is slidably arranged on the first polish rod;
the second moving assembly is arranged at one end of the lifting bottom plate and comprises a second moving assembly body, a second polished rod and a second moving nut seat, wherein the second polished rod is arranged on the second moving assembly body, the second polished rod is arranged in the horizontal direction, and the second moving nut seat is arranged on the second polished rod in a sliding manner;
The lifting base plate is provided with a base plate fixing nut seat on one side far away from the second moving assembly, the lower end of the first connecting rod is hinged with the base plate fixing nut seat, the upper end of the first connecting rod is hinged with the first moving nut seat, a top plate fixing nut seat is provided on one side far away from the first moving assembly, the upper end of the second connecting rod is hinged with the top plate fixing nut seat, and the lower end of the second connecting rod is hinged with the second moving nut seat;
the top of the lifting top plate is provided with a locating pin, and the horizontal cross section of the locating pin is an opposite cross section.
As a preferable mode of the invention, the calibration block comprises a tooth-shaped calibration plate and a cover plate, wherein the tooth-shaped calibration plate is used for calibrating a camera, the tooth-shaped calibration plate is arranged on the lifting top plate through the positioning pin, the cover plate is arranged above the tooth-shaped calibration plate through the positioning pin, and a gasket is further arranged between the tooth-shaped calibration plate and the cover plate;
the tooth-shaped calibration plate comprises a tooth-shaped calibration plate, wherein two sides of the tooth-shaped calibration plate are respectively provided with a first saw tooth and a second saw tooth, the cross sections of the first saw tooth and the second saw tooth along the horizontal direction are isosceles triangles, the first saw tooth and the second saw tooth are composed of a plurality of saw tooth units, and each saw tooth unit is provided with a tooth root and a tooth tip;
The distance between two adjacent tooth tips of the first saw tooth and the distance between two adjacent tooth tips of the second saw tooth are inconsistent.
As a preferable mode of the present invention, a length direction of the base plate is defined as an X-axis, a width direction of the base plate is defined as a Y-axis, and a direction perpendicular to the base plate is defined as a Z-axis;
the three-axis fine adjustment device is arranged on the bottom plate and comprises a fine adjustment bottom plate, a Y-axis rotating plate, a Z-axis linkage plate, an X-axis rotating plate, a first rotating shaft, a second rotating shaft, a third rotating shaft, a first compression spring, a second compression spring, a third compression spring, a first pressing plate, a second pressing plate, a third pressing plate, a first spherical differential switch for adjusting a gap between the Y-axis rotating plate and the fine adjustment bottom plate, a second spherical differential switch for adjusting a gap between the Y-axis rotating plate and the X-axis rotating plate, and a third spherical differential switch for adjusting a gap between the X-axis rotating plate and the Z-axis rotating plate;
the fine adjustment bottom plate is provided with the Y-axis rotating plate along the X-axis direction, one side of the fine adjustment bottom plate opposite to the Y-axis rotating plate is hinged through the first rotating shaft, the first rotating shaft is arranged along the Y-axis direction, the first pressing plate is arranged on one side of the fine adjustment bottom plate far away from the first rotating shaft, one end of the first pressing plate is fixedly arranged on the fine adjustment bottom plate, the first pressing plate extends to the upper part of the Y-axis rotating plate, the first spherical differential switch is arranged above the first pressing plate, a telescopic rod of the first spherical differential switch passes through the first pressing plate to be propped against the Y-axis rotating plate, one end of the first compression spring is propped against the fine adjustment bottom plate, and the other end of the first compression spring is propped against the shaft rotating plate;
The X-axis rotating plate is arranged in the direction of the Z axis, one side of the Y-axis rotating plate opposite to the X-axis rotating plate is hinged to the second rotating shaft, the second rotating shaft is arranged in the X axis direction, the second pressing plate is arranged on one side, far away from the second rotating shaft, of the Y-axis rotating plate, one end of the second pressing plate is fixedly arranged on the Y-axis rotating plate, the second pressing plate extends to the upper side of the X-axis rotating plate, the second spherical differential switch is arranged above the second pressing plate, a telescopic rod of the second spherical differential switch passes through the second pressing plate to be abutted to the X-axis rotating plate, one end of the second compression spring is abutted to the Y-axis rotating plate, and the other end of the second compression spring is abutted to the X-axis rotating plate;
the Z-axis linkage plate is vertically arranged on the X-axis rotating plate, one side of the Z-axis linkage plate is provided with the Z-axis rotating plate, the vertical direction of the Z-axis linkage plate is set, one side of the Z-axis linkage plate is hinged to the opposite side of the Z-axis rotating plate through the third rotating shaft, the third rotating shaft is arranged along the Z-axis direction, the third pressing plate is arranged on one side, far away from the third rotating shaft, of the Z-axis linkage plate, one end of the third pressing plate is fixedly arranged on the Z-axis linkage plate, the third pressing plate extends to the upper side of the Z-axis rotating plate, the third spherical differential switch is arranged above the third pressing plate, the telescopic rod of the third spherical differential switch penetrates through the third pressing plate to be abutted to the Z-axis rotating plate, one end of the third compression spring is abutted to the X-axis rotating plate, and the other end of the third compression spring is abutted to the Z-axis plate.
As a preferable mode of the invention, the triaxial fine tuning device is provided with a shell for placing the light source and the camera, the shell is a hollow shell, an inner cavity of the shell is provided with a containing space for placing the light source and the camera, and the light source is arranged above the camera.
As a preferable mode of the invention, the linear module body is provided with a scale carved with distance scales.
As a preferred embodiment of the present invention, the light source includes at least one of a light emitting diode and a laser light source.
The invention also provides another object, and aims to provide a calibration method of the structured light three-dimensional scanning camera, which can quickly and accurately acquire calibrated data information so as to perform reading conversion.
In order to achieve the above object, the solution of the present invention is:
a calibration method of a structured light three-dimensional scanning camera by adopting a calibration device of the structured light three-dimensional scanning camera comprises the following steps:
s1: installing the camera to be calibrated, installing the camera to be calibrated on the triaxial fine adjustment device, and fastening the camera by a screw;
s2: the position of the tooth-shaped calibration block is adjusted and calibrated, the first saw teeth are arranged back to the triaxial fine adjustment device, and the second saw teeth are arranged back to the triaxial fine adjustment device;
S3: adjusting a laser plane, opening the camera, emitting a laser beam of the light source, and rotating the rotating hand wheel to enable a gap between the tooth-shaped calibration plate and the cover plate of the lifting mechanism to rise/fall to be approximately coincident with the laser plane of the light source;
s4 the method comprises the following steps: the rotation angles of the Y-axis rotating plate, the Z-axis rotating plate and the X-axis rotating plate are adjusted through adjusting the three-axis fine adjustment device, so that the laser plane of the light source penetrates through a gap between the tooth-shaped calibration plate and the cover plate, and the laser plane of the light source and the calibration tooth-shaped plate are in a parallel state;
s5: the lifting mechanism is lifted, so that the laser plane of the light source irradiates the second saw teeth of the calibration tooth-shaped plate, the calibration tooth-shaped plate is moved into the effective distance of the laser plane of the light source through the linear module, and the accuracy is increased by adjusting a tooth-shaped object in the depth of field range of the three-dimensional scanning camera;
s6: fixing the tooth-shaped calibration plate in a certain range of the linear module, setting the tooth tip of the tooth-shaped unit of the most any second saw tooth as a reference origin (0, 0), and calculating coordinate points (X1, Y1), (X2, Y2) … (Xn, yn) of the tooth tip and the tooth root of any tooth-shaped unit of the second saw tooth due to the known tooth-shaped physical quantity of the calibration tooth-shaped plate,
And S7, starting software of the camera, starting to acquire pixel point positions (A1, B1), (A2, B2) … (An, bn) of the tooth tip and the tooth root of any one of the sawtooth units of the second sawtooth in the visual field of the camera, and determining a coordinate conversion mode of An actual physical coordinate value on a basic reference plane and a pixel value of the camera software by adopting a linear algebra mode.
By adopting the technical scheme, the invention has the following beneficial effects:
the calibration device can greatly improve the calibration efficiency of the camera, does not need to be powered on, does not need to be reinstalled and calibrated during transition, and can be used only by a workbench or an empty space; when the light source emits light beams, the height of the lifting mechanism is adjusted, the lifting mechanism moves to slide along the linear module, and the light beams are adjusted through the triaxial fine adjustment device, so that the light beams uniformly irradiate on the calibration plate along the horizontal direction, and the relative positions of the camera and the calibration block are calibrated.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic diagram of a linear module according to the present invention;
FIG. 4 is a schematic view of a lifting mechanism according to the present invention;
FIG. 5 is a schematic diagram of a tri-axial fine tuning device according to the present invention;
FIG. 6 is a partial cross-sectional view of a tri-axial fine tuning device according to the present invention;
fig. 7 is a schematic structural diagram of the hand shaking device in the present invention.
In the figure:
the base plate 1, the linear module 2, the linear module body 21, the slider 22, the screw rod 23, the screw rod nut seat 24, the scale 25, the lifting mechanism 3, the lifting base plate 31, the base plate fixing nut seat 311, the lifting top plate 32, the top plate fixing nut seat 321, the first link 33, the second link 34, the first moving assembly 35, the first moving assembly body 351, the rotating hand wheel 352, the first polished rod 353, the first moving nut seat 354, the second moving assembly 36, the second moving assembly body 361, the second polished rod 362, the second moving nut seat 363, the positioning pin 37, the calibration block 4, the tooth calibration plate 41, the first saw tooth 411, the second saw tooth 412, the cover plate 42, the triaxial fine adjustment device 5, the fine adjustment base 50, the fine adjustment base plate 51, the first card slot 511 the Y-axis rotating plate 52, the second clamping groove 521, the Z-axis rotating plate 53, the Z-axis linkage plate 54, the third clamping groove 541, the X-axis rotating plate 55, the first rotating shaft 561, the third rotating shaft 563, the first pressing plate 581, the second pressing plate 582, the third pressing plate 583, the first spherical differential switch 591, the second spherical differential switch 592, the third spherical differential switch 593, the light source 6, the hand shaking device 7, the guide shaft seat 71, the guide shaft seat through hole 711, the guide shaft seat opening 712, the guide shaft seat upper portion 713, the guide shaft seat lower portion 714, the coupling 72, the coupling first end 721, the coupling second end 722, the pointer 73, the scale hand wheel 74, the clamp handle 75, the hand holding portion 751, the camera 8, the housing 9, the accommodation space 91, the light shielding sleeve 92, the lens 93, and the transparent glass 94.
Detailed Description
In order to further explain the technical scheme of the invention, the invention is explained in detail by specific examples.
The present invention will be used to improve the deficiencies in the prior art, especially when the camera 8 is shipped from the factory or in actual use, the calibration reference is usually a real object in actual use, but is not very standard, and affects the use.
For convenience of description, we define the length direction of the base plate 1 (described in detail below) as the X-axis, the width direction of the base plate 1 as the Y-axis, and the direction perpendicular to the base plate 1 as the Z-axis.
As shown in fig. 1-3:
the invention provides a calibration device of a structured light three-dimensional scanning camera, which comprises a base plate 1, a driving device, a linear module 2, a lifting mechanism 3, a calibration block 4, a light source 6 for emitting light beams, a triaxial fine adjustment device 5 for adjusting the irradiation direction of the light source 6 and a camera 8, wherein the base plate 1 is used as a carrier for fixing each related mechanism and part installation, and the camera 8 can be a conventional CCD camera.
Preferably, the light source 6 in this embodiment includes at least one of a light emitting diode and a laser light source.
The linear module 2 and the triaxial fine tuning device 5 are respectively arranged at two ends of the bottom plate 1 along the length direction (X-axis direction) of the bottom plate, and the lifting mechanism 3 is arranged on the linear module 2.
The linear module 2 comprises a linear module body 21, a slide block 22 and a screw rod 23, wherein the screw rod 23 is rotatably arranged on the linear module body 21, the screw rod 23 is arranged along the horizontal direction, the slide block 22 is slidably arranged on the linear module body 21, and a screw rod nut seat 24 for the screw rod 23 to penetrate is arranged at the bottom of the slide block 22. In this embodiment, the linear module 2 can perform linear motion in the X-axis direction, and is mounted on the linear module body 21 through a screw rod 23, two ends of the screw rod 23 are fixedly supported by bearings, a screw rod nut seat 24 is mounted on the screw rod 23, and can perform linear sliding in the X-axis direction, and a slider 22 is mounted on the screw rod nut seat 24 and can move along with the screw rod nut seat 24.
Further, the linear module 2 is further provided with a scale 25 engraved with a distance scale.
The driving device is arranged at one end of the linear module 2 far away from the triaxial micro-adjusting device 5, and drives the screw rod 23 to rotate, so that the sliding block 22 is driven to slide on the linear module body 21 along the X-axis direction, and the distance between the camera 8 and the calibration block 4 is adjusted.
Specifically, in this embodiment, the driving device may be an electric driving device, where the electric driving device includes a servo motor (not shown in the drawing), a rotating shaft of the servo motor is axially connected to the screw rod 23, and the rotating shaft of the servo motor is disposed along the X-axis direction. When the screw rod 23 rotates relative to the screw rod nut seat 24, axial displacement occurs between the screw rod 23 and the screw rod nut seat 24, and the sliding block 22 is fixedly connected to the screw rod nut seat 24 and is driven by the screw rod nut seat 24 to reciprocate along the X-axis direction.
As shown in fig. 7, in this embodiment, the driving device may also be a manual driving device, where the manual driving device may be a hand driving device 7, where the hand driving device 7 includes a guide shaft seat 71, a shaft coupler 72, a pointer 73, a scale hand wheel 74, and a clamping handle 75, the guide shaft seat 71 is disposed on the base plate 1, the guide shaft seat 71 is an open guide shaft seat, the shaft coupler 72 has a first end 721 of the shaft coupler axially connected with the scale hand wheel 74 and a second end 722 of the shaft coupler axially connected with the screw rod 23, and the first end 721 of the shaft coupler and the second end 722 of the shaft coupler are both disposed along the X-axis direction.
A guide shaft seat through hole 711 for the first end 721 of the coupler to penetrate is arranged in the middle of the guide shaft seat 71, and a guide shaft seat opening 712 is arranged on one side of the guide shaft seat 71. For convenience of description, this side divides the guide shaft seat 71 into a guide shaft seat upper portion 713 and a guide shaft seat lower portion 714, the guide shaft seat through hole 711 is provided between the guide shaft seat upper portion 713 and the guide shaft seat lower portion 714, and the guide shaft seat opening 712 is provided on one side between the guide shaft seat upper portion 713 and the guide shaft seat lower portion 714.
The clamping handle 75 is arranged on the upper part 713 of the guide shaft seat, the clamping handle 75 comprises a holding part 751 and a connecting part (not shown in the figure) arranged at the bottom of the holding part 751, and a screw hole matched with the connecting part is arranged on the lower part 714 of the guide shaft seat at a position opposite to the connecting part of the clamping handle 75; the first end 721 of the coupler is axially coupled to the scale hand wheel 74 through the pilot shaft receptacle throughbore 711 of the pilot shaft receptacle 71. When the selected angle is adjusted, the hand-holding portion of the clamping handle 75 is rotated, so that the connecting portion is screwed with the screw hole, that is, the upper portion 713 of the guide shaft seat moves toward the lower portion 714 of the guide shaft seat to reduce the distance between the openings 712 of the guide shaft seat, thereby clamping the first end 721 of the coupling, that is, the first end 721 of the coupling is fixed on the through hole 711 of the guide shaft seat.
The pointer 73 is arranged on the guide shaft seat 71, and the pointer 73 points to the scales of the scale hand wheel 74, so that data can be conveniently read.
The hand shaking device 7 has the advantages of simple structure and compact design, can realize the fine adjustment operation of the sliding block 22 through the axial connection of the scale hand wheel 74, the coupler 72 and the screw rod 23, and is convenient, flexible and high in adjustment precision.
As shown in fig. 4:
the lifting mechanism 3 includes a lifting base plate 31, a lifting top plate 32, a first link 33, a second link 34, a first moving assembly 35, and a second moving assembly 36, and the lifting base plate 31 is fixedly disposed on the slider 22.
The second moving assembly 36 is disposed at one end of the lifting base plate 31, the second moving assembly 36 includes a second moving assembly body 361, a second polished rod 362 and a second moving nut seat 363, the second polished rod 362 is disposed on the second moving assembly body 361, the second polished rod 362 is disposed along the Y-axis direction, and the second moving nut seat 363 is slidably disposed on the second polished rod 362.
The first moving component 35 comprises a first moving component body 351, a rotating hand wheel 352, a first polish rod 353 and a first moving nut seat 354, wherein the first moving component body 351 is arranged at one end of the bottom of the lifting top plate 32, the first moving component body 351 is arranged at the position corresponding to the second moving component body 361, the first polish rod 353 is arranged on the first moving component body 351, the first polish rod 353 is arranged along the Y-axis direction, the rotating hand wheel 352 is arranged at one end of the first moving component body 351 and is positioned at one end of the lifting top plate 32, the first polish rod 353 is axially connected with the rotating hand wheel 352, and the first moving nut seat 354 is slidably arranged on the first polish rod 353.
The first connecting rod 33 and the second connecting rod 34 are arranged in a crossing way, a bottom plate fixing nut seat 311 is arranged on one side, far away from the second moving assembly 36, of the lifting bottom plate 31, the lower end of the first connecting rod 33 is hinged with the bottom plate fixing nut seat 311, and the upper end of the first connecting rod 33 is hinged with a first moving nut seat 354.
The second link 34 is provided with a top plate fixing nut seat 321 on a side remote from the first moving assembly 35, an upper end of the second link 34 is hinged with the top plate fixing nut seat 321, and a lower end of the second link 34 is hinged with a second moving nut seat 363.
Further, the top of the lifting top plate is further provided with a positioning pin 37, the cross section of the positioning pin 37 is a special-shaped cross section, the design of the positioning pin 37 with the special-shaped cross section is convenient for an operator to adjust the fixing direction of the tooth-shaped calibration plate 4 in the use process, and meanwhile, the switching of the first saw teeth 411 (described in detail below) and the second saw teeth 412 (described in detail below) is realized.
The calibration block 4 is lifted up and down along the Z-axis direction along with the lifting mechanism 3, the first connecting rod 33 and the second connecting rod 34 form a double-fork lifting combination, the rotating hand wheel 352 is axially connected through the first polished rod 353, the rotating hand wheel 352 is rotated, namely the rotating first polished rod 353 rotates, the first movable nut seat 354 makes reciprocating movement on the first polished rod 353, and therefore the upper end of the first connecting rod 33 can move on the first polished rod 353. By the crossing principle, the joint linkage upgrading of the first connecting rod 33 and the second connecting rod 34 can be performed, namely, when the upper end of the first connecting rod 33 moves on the first polished rod 353, the lower end of the second connecting rod 34 correspondingly moves on the second polished rod 362, so that the lifting top plate 32 can be lifted up and down.
As shown in fig. 1:
the calibration block 4 comprises a tooth-shaped calibration plate 41 and a cover plate 42 which are used for calibrating a special configuration for the camera 8, positioning pin through holes for allowing the positioning pins 37 to pass are formed in the tooth-shaped calibration plate 41 and the cover plate 42, the positioning pin through holes of the tooth-shaped calibration plate 41 pass through the positioning pins 37 and are formed in the lifting top plate 32, the positioning pin through holes for allowing the cover plate 42 to pass through the positioning pins 37 and are formed in the upper portion of the tooth-shaped calibration plate 41, a precise gasket (not shown in the figure) is further arranged between the cover plate 42 and the tooth-shaped calibration plate 41, and a gap of 0.1-0.3mm is formed between the cover plate 42 and the tooth-shaped calibration plate 41.
The tooth-shaped calibration plate 41 is provided with a first sawtooth 411 and a second sawtooth 412 respectively on two sides, the cross sections of the first sawtooth 411 and the second sawtooth 412 along the horizontal direction are isosceles triangles, the first sawtooth 411 and the second sawtooth 412 are composed of a plurality of sawtooth units, and each sawtooth unit is provided with a tooth root and a tooth tip. During use, the operator faces the desired saw tooth face in the direction of illumination of the light source 6. For convenience of description, in this embodiment, the first saw teeth 411 are disposed opposite to the illumination direction of the light source 6, and the second saw teeth 412 are disposed opposite to the illumination direction of the light source 6.
Further, the distance between two adjacent tooth tips of the first saw tooth 411 and the distance between two adjacent tooth tips of the second saw tooth 412 are inconsistent, that is, the degree of density of each saw tooth unit of the first saw tooth 411 and each saw tooth unit of the second saw tooth 412 is inconsistent, and the first saw tooth 411 and the second saw tooth 412 are used for different types of camera calibration.
As shown in fig. 5-6:
the triaxial fine tuning device 5 is arranged on the base plate 1, and the triaxial fine tuning device 5 can adjust the degree of freedom of the XYZ triaxial angles of the camera 8, so as to adjust the positions of the camera 8 and the tooth form calibration plate 41.
The triaxial fine adjustment device 5 includes a fine adjustment base 50, a fine adjustment base plate 51, a Y-axis rotating plate 52, a Z-axis rotating plate 53, a Z-axis linkage plate 54, an X-axis rotating plate 55, a first rotating shaft 561, a second rotating shaft (not shown), a third rotating shaft 563, a first compression spring (not shown), a second compression spring (not shown), a third compression spring (not shown), a first pressing plate 581, a second pressing plate 582, a third pressing plate 583, a first spherical differential switch 591, a second spherical differential switch 592, and a third spherical differential switch 593.
Specifically, in the present embodiment, the first spherical differential switch 591, the second spherical differential switch 592, and the third spherical differential switch 593 are spherical differential switches of the type S65-1Q. The first pressure plate 581, the second pressure plate 582, and the third pressure plate 583 are all elastic pressure plates.
The fine tuning base 50 is arranged at one end of the base plate 1 far away from the hand shaking device 7, the fine tuning base 50 is fixedly provided with a fine tuning base plate 51, a Y-axis rotating plate 52 is arranged on the fine tuning base plate 51 along the X-axis direction, the fine tuning base plate 51 serves as a Y-axis linkage plate at the moment, one side of the fine tuning base plate 51 opposite to the Y-axis rotating plate 52 is hinged through a first rotating shaft 561, the first rotating shaft 561 is arranged along the Y-axis direction, the fine tuning base plate 51 is far away from a first clamping groove 511 on one side of the first rotating shaft 561, one end of a first pressing plate 581 is fixedly arranged on the first clamping groove 511, the other end of the first pressing plate 581 is arranged above the Y-axis rotating plate 52, a first spherical differential switch 591 is arranged above the first pressing plate 581, a telescopic rod of the first spherical differential switch 591 penetrates through the first pressing plate 581 to be abutted against the Y-axis rotating plate 52, one end of the first compression spring is abutted against the fine tuning base plate 51, and the other end of the first compression spring is abutted against the Y-axis rotating plate 52. The first spherical differential switch 591 is used to adjust the gap between the Y-axis rotating plate 52 and the fine tuning floor 51. The irradiation direction of the light source 6 in the Y-axis direction is adjusted by adjusting the first spherical micro switch 591 such that the Y-axis rotating plate 52 is away from/near the fine adjustment base plate 51 around the first rotation axis 561.
The Y-axis rotating plate 52 is provided with an X-axis rotating plate 55 in the Y-axis direction, the Y-axis rotating plate 52 now serves as an X-axis linkage plate, and one side of the Y-axis rotating plate 52 opposite to the X-axis rotating plate 55 is hinged by the second rotating shaft, which is provided in the X-axis direction. One end of a second pressing plate 582 is fixedly arranged on the second clamping groove 521 on one side, far away from the second rotating shaft, of the Y-axis rotating plate 52, the other end of the second pressing plate 582 is arranged above the X-axis rotating plate 55, a second spherical differential switch 592 is arranged above the second pressing plate 582, a telescopic rod of the second spherical differential switch 592 passes through the second pressing plate 582 to be abutted against the X-axis rotating plate 55, one end of a second compression spring is abutted against the Y-axis rotating plate 52, and the other end of the second compression spring is abutted against the X-axis rotating plate 55. The second spherical differential switch 592 is used to adjust the gap between the Y-axis rotor plate 52 and the X-axis rotor plate 55. The irradiation direction of the light source 6 in the X-axis direction is adjusted by adjusting the second spherical differential switch 592 so that the X-axis rotating plate 55 is away from/near the Y-axis rotating plate 52 about the second rotation axis.
The Z-axis linkage plate 54 is vertically disposed on the X-axis rotating plate 55, a Z-axis rotating plate 53 is disposed on one side of the Z-axis linkage plate 54, the Z-axis linkage plate 54 is disposed in a vertical direction, one side of the Z-axis linkage plate 54 opposite to the Z-axis rotating plate 53 is hinged through a third rotating shaft 563, and the third rotating shaft 563 is disposed along the Z-axis direction. The third clamping groove 541 is arranged on one side of the Z-axis linkage plate 54 far away from the third rotating shaft 563, one end of the third pressing plate 583 is fixedly arranged on the third clamping groove 523, the other end of the third pressing plate 583 is arranged on one side of the Z-axis linkage plate 53 far away from the Z-axis linkage plate 54, the third spherical differential switch 593 is arranged on one side of the third pressing plate 583 far away from the Z-axis linkage plate 53, one end of the third compression spring is abutted against the X-axis rotation plate 55, and the other end of the third compression spring is abutted against the Z-axis linkage plate 54. The third spherical differential switch 593 is used to adjust the gap between the Z-axis linkage plate 54 and the Z-axis rotating plate 53. By adjusting the third spherical differential switch 593, the Z-axis rotating plate 53 is moved away from/toward the Z-axis linkage plate 54 about the third rotation shaft 563, thereby adjusting the irradiation direction of the light source 6 in the Z-axis direction.
The triaxial fine tuning device 5 is simple in structure and compact in design, fine tuning operation of the three-dimensional position of the light source 6 can be achieved by adjusting the Y-axis rotating plate 52, the Z-axis rotating plate 53 and the X-axis rotating plate 55, convenience and flexibility are achieved, adjusting accuracy is high, meanwhile, distance errors between the camera 8 and the calibration block 4 can be effectively reduced by fine tuning the position of the light source 6, and the calibration accuracy of the camera 8 is improved.
Further, a housing 9 for placing the light source 6 and the camera 8 is arranged on the triaxial fine tuning device 5, the housing 9 is a hollow housing, a containing space 91 for placing the light source 6 and the camera 8 is arranged in an inner cavity of the housing 9, and the light source 6 is arranged above the camera 8.
The camera 8 used in the invention is a laser scanning camera, the camera 8 is arranged on the accommodating space 91, the inner cavity of the shell 9 is also provided with the shading sleeve 92, light leakage is prevented, the front end of the shading sleeve 92 is provided with the lens 93, the front end of the lens 93 is provided with the filter (not shown in the figure) which can filter light beams with different wavelengths except laser, and the camera 8 and the light source light beams emitted by the light source 6 form a certain angle relation. The transparent glass 94 is arranged on the shell of the shell 9, the sealing rings (not shown in the figure) are arranged on the transparent glass 94 and the shell of the camera 8, so that dust can be prevented from entering the camera 8, an O-shaped ring adhesive tape groove (not shown in the figure) is also arranged between the shell of the camera 8 and the accommodating space 91, and the whole machine achieves the sealing performance of IP 67.
The invention also provides a calibration method of the structured light three-dimensional scanning camera, which comprises the following specific operation steps:
s1: installing a camera 8 to be calibrated, wherein the three-dimensional scanning camera 8 to be calibrated is installed on an accommodating space 91 of a shell 9 on the three-axis fine adjustment device 5 and is fastened by screws;
s2: adjusting the position of the calibration tooth form calibration block 41; since the tooth surface of the tooth-shaped calibration plate 41 has a perpendicularity relation with the side surface during processing, the plane runout amount during the side surface movement can be calibrated by using a dial indicator. So that a number of said saw tooth units of the second saw tooth 412 are facing the tri-axial fine tuning device 5. (after calibration is performed once, the tooth calibration plate 41 is locked and fixed, and then the tooth calibration plate is used without being recalibrated unless the tooth surface is replaced
S3: adjusting a laser plane; the camera 8 is turned on, the laser beam of the light source 6 is emitted, and the gap between the tooth-shaped calibration plate 41 and the cover plate 42 on the lifting mechanism 3 is lifted/lowered to a height approximately coincident with the laser plane of the light source 6;
s4: the three-axis fine adjustment device 5 is adjusted to adjust the rotation angles of the Y-axis rotating plate 52, the Z-axis rotating plate 53 and the X-axis rotating plate 55, so that the laser plane of the light source 6 can be attached to a gap between the tooth-shaped calibration plate 41 and the cover plate 42, and the laser plane of the light source 6 and the calibration tooth-shaped plate 41 are in a parallel state;
S5: lifting the lifting mechanism 3 to enable the laser plane of the light source 6 to irradiate on the second saw teeth 412 of the calibration tooth-shaped plate 41, and moving the calibration tooth-shaped plate 41 into the effective distance of the laser plane of the light source 6 through the linear module 2, and enabling the tooth-shaped object to be in the depth of field range of the three-dimensional scanning camera through adjustment, so that the precision is increased;
s6: the fixed tooth profile calibration plate 41 sets the tooth tip of the tooth unit of any one second tooth 412 as a reference origin (0, 0) in a certain range of the linear module 2, and since the tooth profile physical quantity of the calibration tooth profile plate 41 is known, the coordinate point of any tooth tip of the tooth unit of the second tooth 412 and any tooth root of the tooth unit of the second tooth 412 can be deduced, for convenience of description, we assume that the coordinate point of the tooth tip and the tooth root of any tooth unit of the second tooth 412 is (X1, Y1), (X2, Y2) … (Xn, yn);
s7, starting camera 8 software, and acquiring pixel point positions (A1, B1), (A2, B2) … (An, bn) of the tooth tip and the tooth root of any one of the sawtooth units of the second sawtooth 412 in a camera view range, wherein a broken line is generated by reflecting the view of the camera software, the broken line is a line segment connected with coordinate points of the tooth tip and the tooth root of any one of the sawtooth units of the second sawtooth 412, and a plane of a line connected with the coordinate points of the tooth tip and the tooth root of any one of the sawtooth units of the second sawtooth 412 is taken as a datum reference plane, and a coordinate conversion mode of actual physical coordinate values on the datum reference plane and pixel values of the camera software is determined by adopting a linear algebra mode according to the datum reference plane.
Conversion equation: (this side we take 4 points as an example)
Physical point coordinates of the tooth tip and the tooth root of the 4 of the tooth units of the actual second tooth 412: (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4)
The tip and root corresponding pixel point coordinates of 4 of the saw tooth units of the second saw tooth 412 within the camera software: (A1, B1), (A2, B2), (A3, B3), (A4, B4)
Establishing a system of equations according to the above
X1＝HA1+IB1+J-KX1A1-LA1Y1
Y1＝MA1+NB1+O-KY1A1-LB1Y1
X2＝HA2+IB2+J-KX2A2-LA2Y2
Y2＝MA2+NB2+O-KY2A2-LB2Y2
X3＝HA3+IB3+J-KX3A3-LA3Y3
Y3＝MA3+NB3+O-KY3A3-LB3Y3
X4＝HA4+IB4+J-KX4A4-LA4Y4
Y4＝MA4+NB4+O-KY4A4-LB4Y4
Finally, solving: h, I, J, K, L, M, N, O values
Solving to obtain values of H, I, J, K, L, M, N, O
Coordinate conversion of the actual physical coordinate values on the base reference surface and the pixel values of the camera software is determined through conversion.
By adopting the technical scheme, the invention has the following beneficial effects: the calibration fine adjustment mechanism of the fixed camera 8 can be adjusted manually, when the light source 6 emits light beams, the height of the lifting mechanism 3 is adjusted, the lifting mechanism 3 is moved to slide along the linear module body 21, and then the light beams are adjusted through the three-axis fine adjustment device 5, so that the light beams uniformly irradiate on a gap between the tooth-shaped calibration plate 41 and the cover plate 42 along the horizontal direction, further data on the scale 25 is read, displacement detection is carried out on the camera 8, displacement errors are reduced, the relative positions of the calibration camera 8 and the calibration block 4 are calibrated, data information of the calibration block 41 can be quickly and accurately obtained, and accordingly the data information is transmitted to a computer for reading conversion.
The present invention has been described in detail with reference to the accompanying drawings, but the embodiments of the present invention are not limited to the above embodiments, and those skilled in the art can make various modifications to the present invention according to the prior art, which are all within the scope of the present invention.
Claims (10)
1. The utility model provides a calibration device of three-dimensional scanning camera of structured light which characterized in that: the three-axis fine adjustment device comprises a bottom plate, a linear module, a driving device, a lifting mechanism, a calibration block, a light source for emitting light beams and a three-axis fine adjustment device for adjusting the irradiation direction of the light source, wherein the linear module and the three-axis fine adjustment device are respectively arranged at two ends of the bottom plate, the linear module is arranged along the length direction of the bottom plate, the lifting mechanism is arranged on the linear module, the linear module comprises a linear module body, a sliding block and a screw rod, the screw rod is rotatably arranged on the linear module body, the screw rod is arranged along the horizontal direction, the sliding block is slidably arranged on the linear module body, the bottom of the sliding block is provided with a screw rod nut seat for the screw rod to penetrate through, the driving device is arranged at one end of the linear module, the driving device is axially connected with the screw rod, the lifting mechanism is fixedly arranged on the sliding block, and the calibration block is arranged on the lifting mechanism, and the light source is arranged on the three-axis fine adjustment device.
2. The calibration device for a structured light three-dimensional scanning camera of claim 1, wherein: the driving device comprises a servo motor, a rotating shaft of the servo motor is arranged in the horizontal direction, and the rotating shaft of the servo motor is axially connected with the screw rod.
3. The calibration device for a structured light three-dimensional scanning camera of claim 1, wherein: the driving device comprises a guide shaft seat, a coupler, a pointer, a scale hand wheel and a clamping handle, wherein the guide shaft seat is arranged on the bottom plate, the guide shaft seat is an open-type guide shaft seat, the coupler is provided with a coupler first end connected with the scale hand wheel and a coupler second end connected with the screw rod, the coupler first end and the coupler second end are both arranged along the horizontal direction, and the pointer is arranged on the guide shaft seat;
the guide shaft seat comprises a guide shaft seat upper part, a guide shaft seat lower part, a guide shaft seat opening and a guide shaft seat through hole arranged between the guide shaft seat upper part and the guide shaft seat lower part, and the guide shaft seat opening is arranged on one side between the guide shaft seat upper part and the guide shaft seat lower part;
The clamping handle is arranged on the upper portion of the guide shaft seat and comprises a handheld portion and a connecting portion arranged at the bottom of the handheld portion, a screw hole matched with the connecting portion is formed in the position, opposite to the connecting portion, of the lower portion of the guide shaft seat, a first end of the coupler penetrates through the through hole of the guide shaft seat and is axially connected with the scale hand wheel, and a second end of the coupler is axially connected with the screw rod.
4. A calibration device for a structured light three-dimensional scanning camera according to any one of claims 2-3, characterized in that: the lifting mechanism comprises a lifting bottom plate, a lifting top plate, a first connecting rod, a second connecting rod, a first moving assembly and a second moving assembly, and the lifting bottom plate is arranged on the sliding block;
the first moving assembly comprises a first moving assembly body, a rotating hand wheel, a first polish rod and a first moving nut seat, wherein the first moving assembly body is arranged at one end of the bottom of the lifting top plate, the first polish rod is arranged on the first moving assembly body, the rotating hand wheel is arranged at one end of the first moving assembly body and is positioned at one side of the lifting top plate, the first polish rod is axially connected with the rotating hand wheel, and the first moving nut seat is slidably arranged on the first polish rod;
The second moving assembly is arranged at one end of the lifting bottom plate and comprises a second moving assembly body, a second polished rod and a second moving nut seat, wherein the second polished rod is arranged on the second moving assembly body, the second polished rod is arranged in the horizontal direction, and the second moving nut seat is arranged on the second polished rod in a sliding manner;
the lifting base plate is provided with a base plate fixing nut seat on one side far away from the second moving assembly, the lower end of the first connecting rod is hinged with the base plate fixing nut seat, the upper end of the first connecting rod is hinged with the first moving nut seat, a top plate fixing nut seat is provided on one side far away from the first moving assembly, the upper end of the second connecting rod is hinged with the top plate fixing nut seat, and the lower end of the second connecting rod is hinged with the second moving nut seat;
the top of the lifting top plate is provided with a locating pin, and the horizontal cross section of the locating pin is an opposite cross section.
5. The calibration device for a structured light three-dimensional scanning camera of claim 4, wherein: the calibration block comprises a tooth-shaped calibration plate and a cover plate, wherein the tooth-shaped calibration plate is used for calibrating a camera, the tooth-shaped calibration plate is arranged on the lifting top plate through the positioning pin, the cover plate is arranged above the tooth-shaped calibration plate through the positioning pin, and a gasket is further arranged between the tooth-shaped calibration plate and the cover plate;
The tooth-shaped calibration plate comprises a tooth-shaped calibration plate, wherein two sides of the tooth-shaped calibration plate are respectively provided with a first saw tooth and a second saw tooth, the cross sections of the first saw tooth and the second saw tooth along the horizontal direction are isosceles triangles, the first saw tooth and the second saw tooth are composed of a plurality of saw tooth units, and each saw tooth unit is provided with a tooth root and a tooth tip;
the distance between two adjacent tooth tips of the first saw tooth and the distance between two adjacent tooth tips of the second saw tooth are inconsistent.
6. The calibration device for a structured light three-dimensional scanning camera of claim 5, wherein: defining the length direction of the bottom plate as an X axis, the width direction of the bottom plate as a Y axis and the direction vertical to the bottom plate as a Z axis;
the three-axis fine adjustment device is arranged on the bottom plate and comprises a fine adjustment bottom plate, a Y-axis rotating plate, a Z-axis linkage plate, an X-axis rotating plate, a first rotating shaft, a second rotating shaft, a third rotating shaft, a first compression spring, a second compression spring, a third compression spring, a first pressing plate, a second pressing plate, a third pressing plate, a first spherical differential switch for adjusting a gap between the Y-axis rotating plate and the fine adjustment bottom plate, a second spherical differential switch for adjusting a gap between the Y-axis rotating plate and the X-axis rotating plate, and a third spherical differential switch for adjusting a gap between the X-axis rotating plate and the Z-axis rotating plate;
The fine adjustment bottom plate is provided with the Y-axis rotating plate along the X-axis direction, one side of the fine adjustment bottom plate opposite to the Y-axis rotating plate is hinged through the first rotating shaft, the first rotating shaft is arranged along the Y-axis direction, the first pressing plate is arranged on one side of the fine adjustment bottom plate far away from the first rotating shaft, one end of the first pressing plate is fixedly arranged on the fine adjustment bottom plate, the first pressing plate extends to the upper part of the Y-axis rotating plate, the first spherical differential switch is arranged above the first pressing plate, a telescopic rod of the first spherical differential switch passes through the first pressing plate to be propped against the Y-axis rotating plate, one end of the first compression spring is propped against the fine adjustment bottom plate, and the other end of the first compression spring is propped against the shaft rotating plate;
the X-axis rotating plate is arranged in the direction of the Z axis, one side of the Y-axis rotating plate opposite to the X-axis rotating plate is hinged to the second rotating shaft, the second rotating shaft is arranged in the X axis direction, the second pressing plate is arranged on one side, far away from the second rotating shaft, of the Y-axis rotating plate, one end of the second pressing plate is fixedly arranged on the Y-axis rotating plate, the second pressing plate extends to the upper side of the X-axis rotating plate, the second spherical differential switch is arranged above the second pressing plate, a telescopic rod of the second spherical differential switch passes through the second pressing plate to be abutted to the X-axis rotating plate, one end of the second compression spring is abutted to the Y-axis rotating plate, and the other end of the second compression spring is abutted to the X-axis rotating plate;
The Z-axis linkage plate is vertically arranged on the X-axis rotating plate, one side of the Z-axis linkage plate is provided with the Z-axis rotating plate, the vertical direction of the Z-axis linkage plate is set, one side of the Z-axis linkage plate is hinged to the opposite side of the Z-axis rotating plate through the third rotating shaft, the third rotating shaft is arranged along the Z-axis direction, the third pressing plate is arranged on one side, far away from the third rotating shaft, of the Z-axis linkage plate, one end of the third pressing plate is fixedly arranged on the Z-axis linkage plate, the third pressing plate extends to the upper side of the Z-axis rotating plate, the third spherical differential switch is arranged above the third pressing plate, the telescopic rod of the third spherical differential switch penetrates through the third pressing plate to be abutted to the Z-axis rotating plate, one end of the third compression spring is abutted to the X-axis rotating plate, and the other end of the third compression spring is abutted to the Z-axis plate.
7. The calibration device for a structured light three-dimensional scanning camera of claim 1, wherein: the three-axis fine adjustment device is provided with a shell for placing the camera and the light source, the shell is a hollow shell, an inner cavity of the shell is provided with a containing space for placing the light source and the camera, and the light source is arranged above the camera.
8. The calibration device for a structured light three-dimensional scanning camera of claim 1, wherein: the linear module body is provided with a staff gauge carved with distance scales.
9. The calibration device for a structured light three-dimensional scanning camera of claim 1, wherein: the light source comprises at least one of a light emitting diode and a laser light source.
10. A calibration method of a calibration device of a structured light three-dimensional scanning camera according to claim 6, characterized in that: comprising the following steps:
s1: installing the camera to be calibrated, installing the camera to be calibrated on the triaxial fine adjustment device, and fastening the camera by a screw;
s2: the position of the tooth-shaped calibration block is adjusted and calibrated, the first saw teeth are arranged back to the triaxial fine adjustment device, and the second saw teeth are arranged back to the triaxial fine adjustment device;
s3: adjusting a laser plane, opening the camera, emitting a laser beam of the light source, and rotating the rotating hand wheel to enable a gap between the tooth-shaped calibration plate and the cover plate of the lifting mechanism to rise/fall to be approximately coincident with the laser plane of the light source;
S4: the rotation angles of the Y-axis rotating plate, the Z-axis rotating plate and the X-axis rotating plate are adjusted through adjusting the three-axis fine adjustment device, so that the laser plane of the light source penetrates through a gap between the tooth-shaped calibration plate and the cover plate, and the laser plane of the light source and the calibration tooth-shaped plate are in a parallel state;
s5: the lifting mechanism is lifted, so that the laser plane of the light source irradiates the second saw teeth of the calibration tooth-shaped plate, the calibration tooth-shaped plate is moved into the effective distance of the laser plane of the light source through the linear module, and the accuracy is increased by adjusting a tooth-shaped object in the depth of field range of the three-dimensional scanning camera;
s6: fixing the tooth-shaped calibration plate in a certain range of the linear module, setting the tooth tip of the tooth-shaped unit of the most any second saw tooth as a reference origin (0, 0), and calculating coordinate points (X1, Y1), (X2, Y2) … (Xn, yn) of the tooth tip and the tooth root of any tooth-shaped unit of the second saw tooth due to the known tooth-shaped physical quantity of the calibration tooth-shaped plate,
and S7, starting software of the camera, starting to acquire pixel point positions (A1, B1), (A2, B2) … (An, bn) of the tooth tip and the tooth root of any one of the sawtooth units of the second sawtooth in the visual field of the camera, and determining a coordinate conversion mode of An actual physical coordinate value on a basic reference plane and a pixel value of the camera software by adopting a linear algebra mode.
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| PCT/CN2021/075673 WO2021175098A1 (en) | 2020-03-06 | 2021-02-06 | Calibration device and calibration method for structured light three-dimensional scanning camera |
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| CN211479183U (en) * | 2020-03-06 | 2020-09-11 | 泉州华中科技大学智能制造研究院 | Calibration device of structured light three-dimensional scanning camera |
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| CN111223151A (en) | 2020-06-02 |
| WO2021175098A1 (en) | 2021-09-10 |
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