CN111351461A - Calibration device and calibration method for line laser camera - Google Patents
Calibration device and calibration method for line laser camera Download PDFInfo
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- CN111351461A CN111351461A CN202010150935.3A CN202010150935A CN111351461A CN 111351461 A CN111351461 A CN 111351461A CN 202010150935 A CN202010150935 A CN 202010150935A CN 111351461 A CN111351461 A CN 111351461A
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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
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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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
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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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
Abstract
The invention discloses a calibration device and a calibration method of a line laser camera, which comprise a workbench, a calibration plate, a light source and a triaxial fine adjustment device, wherein the light source is arranged on the triaxial fine adjustment device, a plurality of calibration groups are uniformly distributed on the calibration plate, two adjacent calibration groups are arranged in parallel and at equal intervals, each calibration group comprises a plurality of calibration units which are arranged at equal intervals, each calibration unit is provided with calibration sharp points, the calibration sharp points of the calibration units of each calibration group are arranged in a staggered manner, a step is arranged at the edge of the calibration plate, a groove is arranged on the step, the groove is arranged along the horizontal direction, and the groove is equal to the calibration sharp points of each calibration unit in height. According to the invention, a series of calibration units which are arranged in a staggered manner are arranged according to the visual field range of the camera, so that data of all pixel points can be acquired only by one image without other auxiliary mobile platforms, matrix transformation calculation is carried out, relevant parameters in the camera are obtained, and calibration is completed.
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 line laser camera.
Background
The structured light three-dimensional scanning technology has the advantages of low cost, non-contact, high precision, high efficiency and the like, is widely applied to industries such as product design and manufacture, industrial measurement, quality detection, medicine, video entertainment and the like, and is praised 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 compared with other three-dimensional scanning technologies. Before the structured light three-dimensional reconstruction is carried out, the structured light system needs to be calibrated, namely, the internal parameters of a camera and projection equipment in the structured light system and the conversion relation between the camera and the projection equipment are obtained and become external parameters, and the quality of the three-dimensional reconstruction is directly influenced by the calibration precision.
At present, the calibration technology for cameras is mature, the line laser camera calibration generally mainly adopts calibration plates with characteristics of black and white checkerboards, dots and the like, all of which need to acquire pixel points by means of a mobile platform and need to continuously move the platform to calibrate and acquire data, but errors in repeated positioning precision exist in the moving process and errors in manual point selection when the pixel points are acquired, so that the calibration result cannot reach high precision, and the calibration efficiency is low.
Accordingly, the present inventors have made extensive studies to solve the above problems, and as a result, the present invention has been made.
Disclosure of Invention
The invention aims to provide the calibration device of the line laser camera, which has high calibration precision, high calibration efficiency and convenient use.
In order to achieve the above purpose, the solution of the invention is:
a calibration device of a line laser camera comprises a workbench, a calibration plate, a light source for emitting light beams and a triaxial fine adjustment device for adjusting the irradiation direction of the light source, wherein the calibration plate is arranged on the workbench, the workbench is arranged on one side of the triaxial fine adjustment device, the light source is arranged on the triaxial fine adjustment device, a plurality of calibration groups are uniformly distributed on the calibration plate, two adjacent calibration groups are arranged in parallel and at equal intervals, each calibration group comprises a plurality of calibration units which are arranged at equal intervals, each calibration unit is provided with calibration sharp points, the calibration sharp points of the plurality of calibration units of each calibration group are arranged in a staggered mode, each calibration unit extends upwards, a step is arranged at the edge of the calibration plate, a linear groove is formed in the step along the horizontal direction, and the groove penetrates from one side of the step to the other side of the step, the groove is arranged along the horizontal direction, and the groove is as high as the calibration sharp points of each calibration unit.
As a preferred mode of the present invention, the arrangement direction of each calibration group is defined as a Y axis, the arrangement direction horizontally perpendicular to each calibration group is defined as an X axis, and the arrangement direction vertically perpendicular to each calibration group 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 Y-axis rotating plate is arranged on the fine adjustment bottom plate along the X-axis direction, one side of the fine adjustment bottom plate is hinged to one side, opposite to the Y-axis rotating plate, of the Y-axis rotating plate 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, far away from the first rotating shaft, of the fine adjustment bottom plate, one end of the first pressing plate is fixedly arranged on the fine adjustment bottom plate, the first pressing plate extends to the upper portion of the Y-axis rotating plate, the first spherical differential switch is arranged on the upper portion of the first pressing plate, a telescopic rod of the first spherical differential switch penetrates through the first pressing plate and abuts against the Y-axis rotating plate, one end of the first compression spring abuts against the fine adjustment bottom plate, and the other end of the first compression spring abuts against the shaft rotating plate;
the Y-axis rotating plate is provided with the X-axis rotating plate in the Z-axis direction, one side of the Y-axis rotating plate is hinged to one side, opposite to the X-axis rotating plate, of the X-axis rotating plate through 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 penetrates through the second pressing plate and abuts against the X-axis rotating plate, one end of the second compression spring abuts against the Y-axis rotating plate, and the other end of the second compression spring abuts against 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 Z-axis linkage plate is arranged in the vertical direction, one side of the Z-axis linkage plate is hinged with one 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 of the Z-axis linkage plate far away from the third rotating shaft, one end of the third pressing plate is fixedly arranged on the Z-axis linkage plate, the third pressing plate extends to the upper part of the Z-axis rotating plate, the third spherical micro-switch is arranged above the third pressing plate, and the telescopic rod of the third spherical micro-switch passes through the third pressure plate and abuts against the Z-axis rotating plate, one end of the third compression spring is abutted against the X-axis rotating plate, and the other end of the third compression spring is abutted against the Z-axis linkage plate.
As a preferable mode of the present invention, a housing for placing the light source and the camera is disposed on the triaxial fine adjustment device, the housing is a hollow housing, an inner cavity of the housing is provided with an accommodating space for placing the light source and the camera, and the light source is disposed above the camera.
In 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 purpose, 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 purpose, the solution of the invention is:
a calibration method of a calibration device adopting a line laser camera comprises the following steps:
s1: a camera to be calibrated is arranged on the three-axis fine adjustment device;
s2: adjusting a laser plane of the light source, and by adjusting the three-axis fine adjustment device, enabling the laser beam of the light source to irradiate the groove of the calibration plate, namely enabling the laser beam of the light source to descend and irradiate the calibration sharp points of each calibration unit, so as to determine whether the laser plane of the light source is overlapped with all calibration sharp point planes of the calibration plate;
s3: a visual matching template is created in advance, a camera can acquire data of all pixel points, the cusp of any one calibration unit is set as a reference origin (0,0), and coordinate points (X1, Y1), (X2, Y2) … (Xn, Yn) of other calibration units are calculated;
s4: starting camera software, starting to acquire pixel point positions (A1, B1), (A2, B2) … (An, Bn) of all the sharp points of each calibration unit in the camera visual field range, carrying out matrix conversion algorithm with the actually calibrated sharp point data, and calculating parameters in the camera, namely completing a conversion equation for calibration.
By adopting the technical scheme, the invention has the advantages that: the calibration device is provided with a series of calibration sharp points which are arranged in a staggered mode, only one image is needed, and the data of all pixel points can be acquired without other auxiliary moving platforms; when the light source emits light beams, the three-axis fine adjustment device is adjusted, so that the light beams of the light source are irradiated on the calibration sharp points of all the calibration units of the calibration plate, the relative positions of the camera and the calibration plate are calibrated, the data information of the calibration plate can be rapidly and accurately acquired, the data information is transmitted to a computer to be read and converted, and the marked effect of improving the efficiency and the accuracy of mass camera calibration is achieved. According to the invention, a series of calibration units which are arranged in a staggered manner are arranged according to the visual field range of the camera, and the data of all pixel points can be acquired only by one image without other auxiliary mobile platforms, so that matrix transformation calculation is carried out to obtain related internal parameters, and calibration is completed.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic view of the structure of the calibration plate of the present invention;
FIG. 4 is a schematic structural diagram of a Y-axis direction calibration plate according to the present invention;
FIG. 5 is a top view of a calibration plate according to the present invention;
FIG. 6 is a schematic structural diagram of an X-axis direction calibration plate according to the present invention;
FIG. 7 is a schematic structural diagram of a three-axis fine adjustment apparatus according to the present invention;
fig. 8 is a partial cross-sectional view of a tri-axial vernier device of the present invention.
In the figure:
the calibration device comprises a workbench 1, a calibration plate 2, a calibration group 21, a first calibration group 211, a second calibration group 212, a third calibration group 213, a calibration unit 22, a first calibration unit 221, a second calibration unit 222, a third calibration unit 223, a step 23, a groove 231, a light source 3, a camera 4, a three-axis fine adjustment device 5, a fine adjustment base 50, a fine adjustment bottom plate 51, a first clamping groove 511, a Y-axis rotating plate 52, a second clamping groove 521, a Z-axis rotating plate 53, a Z-axis linkage plate 54, a third clamping groove 541, an X-axis rotating plate 55, a first rotating shaft 561, a third rotating shaft 563, 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, a third spherical differential switch 593, a housing 6, an accommodating space 61, a shading sleeve 62, a lens 63 and a transparent glass 64.
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail by the following specific examples.
The invention is used for improving the defects in the prior art, particularly, a calibration reference object is needed to be calibrated when a camera leaves a factory or is actually used, and a real object in actual use is often used as a reference, but the calibration reference object is not very standard and affects the use.
For convenience of description, the present embodiment defines an arrangement direction of each calibration group 21 (described in detail below) as a Y-axis, an arrangement direction horizontally perpendicular to each calibration group 21 as an X-axis, and an arrangement direction vertically perpendicular to each calibration group 21 as a Z-axis.
As shown in fig. 1-6:
the invention provides a calibration device of a line laser camera, which comprises a workbench 1, a calibration plate 2, a light source 3 for emitting a light beam, a three-axis fine adjustment device 5 for adjusting the irradiation direction of the light source 3 and a camera 4, wherein the calibration plate 2 is arranged on the workbench 1, the three-axis fine adjustment device 5 is arranged on one side of the workbench 1, and the light source 3 is arranged on the three-axis fine adjustment device.
Preferably, the light source 3 includes at least one of a light emitting diode and a laser light source, and the camera 4 may be a conventional CCD camera.
As shown in fig. 5: the calibration plate 2 is uniformly distributed with a plurality of calibration groups 21 along the direction of the X axis, two adjacent calibration groups 21 are arranged in parallel and at equal intervals, for convenience of description, the calibration group 21 in the first row is set as a first calibration group 211, the calibration group 21 in the second row is set as a second calibration group 212, and so on. It should be noted that the number of calibration units in each calibration group 21 is the same, and for the sake of simplicity and repeatability, only the first calibration unit 211, the second calibration unit 212, the third calibration unit 213, the first calibration unit 221 (described in detail below), the second calibration unit 222, and the third calibration unit 223 are shown in the drawings and the description.
Each calibration group 21 comprises a plurality of calibration units 22 arranged at equal intervals, each calibration unit 22 extends upwards, each calibration unit 22 is provided with calibration sharp points, and the calibration sharp points of the plurality of calibration units 22 of each calibration group 21 are arranged in a staggered manner.
In short, the first calibration group 211, the second calibration group 212 and the third calibration group 213 are arranged in parallel, and the distance between the first calibration group 211 and the second calibration group 212 is equal to the distance between the second calibration group 212 and the third calibration group 213; taking the first calibration set 221 as an example, the distance between the first calibration unit 221 and the second calibration unit 222 is equal to the distance between the second calibration unit 222 and the third calibration unit 223.
The calibration cusps of the second calibration unit 222 of the second calibration group 212 are arranged between the first calibration unit 221 of the first calibration group 211 and the second calibration unit 222 of the first calibration group 211, the calibration cusps of the second calibration unit 222 of the third calibration group 212 are arranged between the first calibration unit 221 of the second calibration group 212 and the second calibration unit 222 of the second calibration group 212, and are arranged between the first calibration unit 221 of the first calibration group 211 and the second calibration unit 222 of the first calibration group 211, and so on, the calibration cusps of the second calibration units 222 of the later calibration group 21 all fall between the first calibration unit 221 and the third calibration unit of all the previous calibration groups 21, and are not obstructed from each other, that is, as shown in fig. 4-5, when viewed from a certain reference direction, each calibration unit 22 is obstructed from each other.
The edge of the calibration plate 2 is provided with a step 23, the step 23 is provided with a linear groove 231 along the Y-axis direction, the groove 231 is a gap of 0.1-0.3mm, the groove 231 penetrates from one side of the step 23 to the other side of the step 23, the groove 231 is arranged along the horizontal direction, and the groove is as high as the calibration sharp point of each calibration unit 22.
As shown in fig. 7-8:
the three-axis fine adjustment device 5 is arranged on the bottom plate 1, and the three-axis fine adjustment device 5 can adjust the degree of freedom of the three-axis angles XYZ of the camera 4 so as to adjust the positions of the camera 4 and the tooth-shaped calibration plate 41.
The three-axis fine adjustment device 5 includes a fine adjustment base 50, a fine adjustment bottom 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 all adopt spherical differential switches with a model number S65-1Q on the market. The first pressing plate 581, the second pressing plate 582 and the third pressing plate 583 are all highly elastic pressing plates.
The fine tuning base 50 is arranged at one end of the base plate 1 far away from the hand-operated device 7, a fine tuning base plate 51 is fixedly arranged on the fine tuning base 50, 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 is used 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, a first clamping groove 511 is arranged on one side of the fine tuning base plate 51 far away from 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, and the telescopic rod of the first spherical differential switch 591 passes through the first pressure plate 581 to abut against the Y-axis rotating plate 52, one end of the first compression spring abuts against the fine tuning bottom plate 51, and the other end of the first compression spring abuts against the Y-axis rotating plate 52. First spherical differential switch 591 is used to adjust the gap between Y-axis rotation plate 52 and fine adjustment base plate 51. By adjusting the first spherical micro switch 591, the Y-axis rotating plate 52 moves away from/close to the fine adjustment base plate 51 around the first rotating shaft 561, thereby adjusting the irradiation direction of the light source 3 in the Y-axis direction.
An X-axis rotating plate 55 is arranged on the Y-axis rotating plate 52 along the Y-axis direction, the Y-axis rotating plate 52 serves as an X-axis linkage plate at this time, one side of the Y-axis rotating plate 52 opposite to the X-axis rotating plate 55 is hinged through the second rotating shaft, and the second rotating shaft is arranged along the X-axis direction. A second clamping groove 521 is formed in one side, away from the second rotating shaft, of the Y-axis rotating plate 52, one end of a second pressing plate 582 is fixedly arranged on the second clamping groove 521, 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 penetrates through the second pressing plate 582 and abuts against the X-axis rotating plate 55, one end of a second compression spring abuts against the Y-axis rotating plate 52, and the other end of the second compression spring abuts against the X-axis rotating plate 55. The second spherical differential switch 592 is used to adjust the gap between the Y-axis turret plate 52 and the X-axis turret plate 55. The irradiation direction of the light source 3 in the X-axis direction is adjusted by adjusting the second spherical micro-switch 592 so that the X-axis rotating plate 55 moves away from/close to the Y-axis rotating plate 52 around the second rotating axis.
The Z-axis linkage plate 54 is vertically arranged on the X-axis rotating plate 55, the Z-axis rotating plate 53 is arranged on one side of the Z-axis linkage plate 54, the Z-axis linkage plate 54 is arranged in the vertical direction, one side of the Z-axis linkage plate 54 is hinged with one side, opposite to the Z-axis rotating plate 53, of the Z-axis linkage plate 53 through a third rotating shaft 563, and the third rotating shaft 563 is arranged in the Z-axis direction. The third clamping groove 541 is formed in one side, away from the third rotating shaft 563, of the Z-axis linkage plate 54, one end of a 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, away from the Z-axis linkage plate 54, of the Z-axis rotating plate 53, the third spherical micro switch 593 is arranged on one side, away from the Z-axis rotating plate 53, of the third pressing plate 583, one end of a third compression spring abuts against the X-axis rotating plate 55, and the other end of the third compression spring abuts 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 rotation plate 53. The irradiation direction of the light source 3 in the Z-axis direction is adjusted by adjusting the third spherical micro switch 593 so that the Z-axis rotating plate 53 moves away from/close to the Z-axis linkage plate 54 around the third rotating shaft 563.
The three-axis fine adjustment device 5 is simple in structure and compact in design, fine adjustment operation of the three-dimensional position of the light source 3 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, adjustment accuracy is high, meanwhile, distance errors between the camera 4 and the calibration block 2 can be effectively reduced by fine adjustment of the position of the light source 3, and calibration accuracy of the camera 4 is improved.
Further, be provided with the casing 6 that supplies light source 3 and camera 4 to place on the triaxial micromatic setting 5, casing 6 is the cavity casing, and the inner chamber of casing 6 is provided with the accommodation space 61 that supplies light source 3 and camera 4 to place, and light source 3 sets up the top at camera 4.
The camera 4 used in the invention is a laser scanning camera, the camera 4 is arranged on the accommodating space 61, the inner cavity of the shell 6 is also provided with a light shielding sleeve 62 for preventing light leakage, the front end of the light shielding sleeve 62 is provided with a lens 63, the front end of the lens 63 is provided with a filter (not shown in the figure) for filtering light beams with different wavelengths outside laser, and the camera 4 and the light source light beam emitted by the light source 3 form a certain angle relationship. Transparent glass 64 is arranged on the shell of the shell 6, a sealing ring (not shown in the figure) is arranged on the transparent glass 64 and the shell of the camera 4, dust can be prevented from entering the interior of the camera 4, an O-shaped rubber strip groove (not shown in the figure) is also arranged between the shell of the camera 4 and the accommodating space 61, and the whole machine achieves the sealing performance of IP 67.
By adopting the technical scheme, the invention has the advantages that: the calibration device is provided with a series of calibration sharp points which are arranged in a staggered mode, only one image is needed, and the data of all pixel points can be acquired without other auxiliary moving platforms; when the light source 3 emits light beams, the three-axis fine adjustment device 5 is adjusted, so that the light beams of the light source 3 irradiate on the calibration sharp points of all the calibration units 22 of the calibration plate 2, the relative positions of the calibration camera 4 and the calibration plate 2 are calibrated, the data information of the calibration plate 2 can be rapidly and accurately acquired, the data information is transmitted to a computer for reading and converting, and the marked effect of improving the efficiency and the accuracy of mass camera calibration is achieved.
The invention also provides a calibration method of the line laser camera, which comprises the following specific operation steps:
s1: installing a camera 4 to be calibrated, installing the three-dimensional scanning camera 4 to be calibrated on the accommodating space 61 of the shell 6 on the triaxial fine adjustment device 5, and fastening through screws;
s2: adjusting the laser plane of the light source 3, and adjusting the rotation angles of the Y-axis rotating plate 52, the Z-axis rotating plate 53 and the X-axis rotating plate 55 by adjusting the three-axis fine adjustment device 5, so that the laser beam of the light source 3 irradiates on the groove 231 of the calibration plate 2 and penetrates through the groove 231, that is, the laser beam of the light source 3 descends to irradiate on the calibration sharp points of each calibration unit 22, to determine whether the laser plane of the light source 3 coincides with all the calibration sharp point planes on the calibration plate 2;
s3: creating a visual matching template in advance, so that the camera 4 can acquire data of all pixel points, setting the cusp of any calibration unit 22 as a reference origin (0,0), and since the physical quantity of the cusp of the calibration plate 2 is known, calculating coordinate points (X1, Y1), (X2, Y2) … (Xn, Yn) of the cusps of other calibration units 22;
s4: starting software of the camera 4, starting to acquire pixel point positions (A1, B1), (A2, B2) … (An, Bn) of all the cusps of each calibration unit 22 in the visual field range of the camera, and performing matrix conversion algorithm with all actually calibrated cusp data to calculate parameters inside the camera, namely a calibration completion conversion equation.
The conversion equation: (take 4 dots as an example)
Physical point coordinates of the calibration unit 22 of the actual calibration board 2: (X1, Y1), (X2, Y2), (X3, Y3), (X4, Y4)
The coordinates of the corresponding pixel points of the sharp points in the camera 4 software are as follows: (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
And finally solving: h, I, J, K, L, M, N, O values
Solving to obtain the values of H, I, J, K, L, M, N and O
And after conversion, the coordinate conversion of the actual physical coordinate value on the reference plane and the pixel value of the camera software is determined.
By adopting the technical scheme, the invention has the advantages that: the calibration device is provided with a series of calibration sharp points which are arranged in a staggered mode, only one image is needed, and the data of all pixel points can be acquired without other auxiliary moving platforms; when the light source 3 emits light beams, the three-axis fine adjustment device 5 is adjusted to enable the light beams of the light source 3 to be uniformly irradiated on all calibration sharp points of the calibration plate 2 along the horizontal direction, the relative positions of the calibration camera 4 and the calibration plate 2 are calibrated, data information of the calibration plate 2 can be rapidly and accurately acquired, and then the data information is transmitted to a computer for reading and converting, and the remarkable effects of improving efficiency and accuracy are achieved for batch camera calibration. The invention provides a calibration method of sharp point type dislocation.A series of calibration units 22 which are arranged in a dislocation way are arranged according to the visual field range of a camera, and the data of all pixel points can be acquired only by one image without other auxiliary mobile platforms, so that the matrix transformation calculation is carried out, the relevant internal parameters of the camera are obtained, and the calibration is completed.
The present invention is described in detail with reference to the attached 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 based on the prior art, which fall within the scope of the present invention.
Claims (5)
1. The utility model provides a calibration device of line laser camera which characterized in that: the calibration device comprises a workbench, a calibration plate, a light source for emitting a light beam and a three-axis fine adjustment device for adjusting the irradiation direction of the light source, wherein the calibration plate is arranged on the workbench, the workbench is arranged on one side of the three-axis fine adjustment device, the light source is arranged on the three-axis fine adjustment device, a plurality of calibration groups are uniformly distributed on the calibration plate, two adjacent calibration groups are arranged in parallel and at equal intervals, each calibration group comprises a plurality of calibration units which are distributed at equal intervals, each calibration unit is provided with calibration sharp points, the calibration sharp points of the calibration units of each calibration group are arranged in a staggered manner, each calibration unit extends upwards, a step is arranged at the edge of the calibration plate, a linear groove is formed in the step along the horizontal direction, and the groove penetrates from one side of the step to the other side of the step, the groove is arranged along the horizontal direction, and the groove is as high as the calibration sharp points of each calibration unit.
2. The calibration device of the line laser camera as claimed in claim 1, wherein: defining the arrangement direction of each calibration group as a Y axis, the arrangement direction horizontally vertical to each calibration group as an X axis, and the arrangement direction vertically vertical to each calibration group 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 Y-axis rotating plate is arranged on the fine adjustment bottom plate along the X-axis direction, one side of the fine adjustment bottom plate is hinged to one side, opposite to the Y-axis rotating plate, of the Y-axis rotating plate 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, far away from the first rotating shaft, of the fine adjustment bottom plate, one end of the first pressing plate is fixedly arranged on the fine adjustment bottom plate, the first pressing plate extends to the upper portion of the Y-axis rotating plate, the first spherical differential switch is arranged on the upper portion of the first pressing plate, a telescopic rod of the first spherical differential switch penetrates through the first pressing plate and abuts against the Y-axis rotating plate, one end of the first compression spring abuts against the fine adjustment bottom plate, and the other end of the first compression spring abuts against the shaft rotating plate;
the Y-axis rotating plate is provided with the X-axis rotating plate in the Z-axis direction, one side of the Y-axis rotating plate is hinged to one side, opposite to the X-axis rotating plate, of the X-axis rotating plate through 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 penetrates through the second pressing plate and abuts against the X-axis rotating plate, one end of the second compression spring abuts against the Y-axis rotating plate, and the other end of the second compression spring abuts against 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 Z-axis linkage plate is arranged in the vertical direction, one side of the Z-axis linkage plate is hinged with one 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 of the Z-axis linkage plate far away from the third rotating shaft, one end of the third pressing plate is fixedly arranged on the Z-axis linkage plate, the third pressing plate extends to the upper part of the Z-axis rotating plate, the third spherical micro-switch is arranged above the third pressing plate, and the telescopic rod of the third spherical micro-switch passes through the third pressure plate and abuts against the Z-axis rotating plate, one end of the third compression spring is abutted against the X-axis rotating plate, and the other end of the third compression spring is abutted against the Z-axis linkage plate.
3. The calibration device of the line laser camera as claimed in claim 1, wherein: the triaxial fine-adjustment device is provided with a shell for accommodating the light source and the camera, the shell is a hollow shell, an inner cavity of the shell is provided with an accommodating space for accommodating the light source and the camera, and the light source is arranged above the camera.
4. The calibration device of the line laser camera as claimed in claim 1, wherein: the light source comprises at least one of a light emitting diode and a laser light source.
5. A calibration method using the calibration apparatus for a line laser camera according to claim 2, wherein: the method comprises the following steps:
s1: a camera to be calibrated is arranged on the three-axis fine adjustment device;
s2: adjusting a laser plane of the light source, and by adjusting the three-axis fine adjustment device, enabling the laser beam of the light source to irradiate the groove of the calibration plate, namely enabling the laser beam of the light source to descend and irradiate the calibration sharp points of each calibration unit, so as to determine whether the laser plane of the light source is overlapped with all calibration sharp point planes of the calibration plate;
s3: a visual matching template is created in advance, a camera can acquire data of all pixel points, the cusp of any one calibration unit is set as a reference origin (0,0), and coordinate points (X1, Y1), (X2, Y2) … (Xn, Yn) of other calibration units are calculated;
s4: starting camera software, starting to acquire pixel point positions (A1, B1), (A2, B2) … (An, Bn) of all the sharp points of each calibration unit in the camera visual field range, carrying out matrix conversion algorithm with the actually calibrated sharp point data, and calculating parameters in the camera, namely completing a conversion equation for calibration.
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| CN202010150935.3A CN111351461A (en) | 2020-03-06 | 2020-03-06 | Calibration device and calibration method for line laser camera |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112396665A (en) * | 2020-12-03 | 2021-02-23 | 江苏泽景汽车电子股份有限公司 | Calibration system of AR HUD imaging calibration plate and use method thereof |
| CN113344990A (en) * | 2021-04-27 | 2021-09-03 | 成都飞机工业（集团）有限责任公司 | Hole site representation projection system and hole site alignment method of self-adaptive fitting |
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2020
- 2020-03-06 CN CN202010150935.3A patent/CN111351461A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112396665A (en) * | 2020-12-03 | 2021-02-23 | 江苏泽景汽车电子股份有限公司 | Calibration system of AR HUD imaging calibration plate and use method thereof |
| CN113344990A (en) * | 2021-04-27 | 2021-09-03 | 成都飞机工业（集团）有限责任公司 | Hole site representation projection system and hole site alignment method of self-adaptive fitting |
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