CN111427383A - Control method for binocular holder variable base line - Google Patents
Control method for binocular holder variable base line Download PDFInfo
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- CN111427383A CN111427383A CN202010189504.8A CN202010189504A CN111427383A CN 111427383 A CN111427383 A CN 111427383A CN 202010189504 A CN202010189504 A CN 202010189504A CN 111427383 A CN111427383 A CN 111427383A
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Abstract
The invention discloses a method for controlling a binocular tripod head variable baseline, which comprises the following steps: step one, calculating the vertical distance between a current target and a camera; establishing an ideal base length formula of the camera at different target distances; calculating the vertical distance from the current target to the camera after the current target moves; step four, calculating the ideal base length of the moved current target according to an ideal base length formula; determining the variation of the length of the base line and the rotation angle of the ball screw; and step six, compensating the return stroke error of the ball screw, generating a driving signal, and driving the ball screw to rotate by a driving motor to adjust the length of the base line. The control method disclosed by the invention can realize automatic adjustment of the length of the base line according to the target distance, and can compensate the return stroke error of the ball screw, thereby improving the accuracy of the length of the base line.
Description
Technical Field
The invention relates to a control method of a binocular tripod head variable baseline.
Background
The binocular head can obtain three-dimensional information from two plane images by using a parallax principle to construct a three-dimensional view.
When the base length of the cameras is short, the common visual range of the two cameras is large, but the parallax of a distant object is small, so that the three-dimensional imaging effect on the distant object is poor; when the base length of the cameras is large, the common visual range of the two cameras is small, three-dimensional imaging of a distant object is facilitated, but the visual field union of the two cameras is small, and searching and tracking of a target are not facilitated. Therefore, a control method of a binocular head with a variable baseline is required.
However, the binocular camera has high requirements on the baseline accuracy, the current binocular camera baseline control does not compensate errors on a mechanical structure, the control accuracy on the baseline distance is not high, and the movement accuracy, rapidity and stability of the holder can be reduced due to frequent change of the baseline.
Disclosure of Invention
In order to solve the technical problems, the invention provides a control method of a binocular tripod head variable baseline, so as to achieve the purposes of automatically adjusting the length of the baseline according to a target distance, compensating the return error of a ball screw and improving the accuracy of the length of the baseline.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a control method of a binocular tripod head variable baseline comprises the following steps:
step one, calculating the vertical distance between a current target and a camera;
establishing an ideal base length formula of the camera at different target distances;
calculating the vertical distance from the current target to the camera after the current target moves;
step four, calculating the ideal base length of the moved current target according to an ideal base length formula;
determining the variation of the length of the base line and the rotation angle of the ball screw;
and step six, compensating the return stroke error of the ball screw, generating a driving signal, and driving the ball screw to rotate by a driving motor to adjust the length of the base line.
In the above scheme, the specific method of the first step is as follows:
two camera lenses of the binocular camera are respectively fixed on a left ball screw and a right ball screw which are the same, the rotating directions of the two ball screws are opposite, the motors are respectively controlled by the control system to drive the ball screws to rotate, the two camera lenses are close to or far away from each other, the focal distance of the two camera lenses is a fixed value f, and the two camera lenses O of the binocular camera arel，OrThe distance T between the two cameras is the length of the base line of the camera;
shooting the same target A through a left camera and a right camera to obtain two images, eliminating distortion and binocular correction, enabling the target A to have only difference in the horizontal direction in the two images, and finding the target position in the two images through a target recognition algorithm to obtain the parallax u of the current targetl-urI.e. the pixel position u of the object in the images taken by the left and right cameraslAnd urObtaining the vertical distance Z from the current sampling target point A to the binocular camera by the similar triangle principle based on the difference value in the horizontal directionc：
In the above scheme, the specific method of the second step is as follows:
(1) selecting the parallax u according to different internal parameters and resolutions of the camera and combining experience in the industryl-urIs within a suitable range Deltau1～Δu2；
(2) At a base length range Tmin～TmaxSelecting a plurality of appropriate base line length values Tmin，T1……TmaxAs the ideal base length, the selection of the base length value is generated by adopting a formula (2);
(3) the obtained base line length value TiAnd the visionUpper and lower limits of difference Deltau1，Δu2Is substituted into the formula (1) to obtain
[Zi1,Zi2]I.e. the base length TiThe corresponding target distance range adopts TiAs the ideal base length, it is obtained in this way
……
Thus, an ideal base length formula under different target distances is obtained:
in the above scheme, the specific method of the third step is as follows:
after the current target moves, acquiring the parallax u 'of the target in the next frame image'l-u′rObtaining the distance Z from the target point A' to the binocular camera after the movementc′：
In the above scheme, the specific method of the fourth step is as follows:
calculating the distance Z from the moved target point to the binocular camerac' substitution into equation (5) yields the ideal base length T ' at that distance 'ideal。
In the above scheme, the concrete method of the fifth step is as follows:
calculating ideal base line length T'idealDifference delta T ═ T 'from current baseline length T'ideal-T；
Obtaining the rotation angle theta of each ball screw according to the difference delta T
Wherein S is the lead of the ball screw.
In the above scheme, the specific method of the sixth step is as follows:
the two cameras start to move from the initial positions accurately positioned on the ball screws, the ball screws do not have return errors in the first movement, and the first base length variation delta T is obtained according to the previous steps0Then, the rotation angle theta of the ball screw is calculated by the formula (7)0When the change quantity delta T of the base length is obtained at a certain timeiThen, in order to eliminate the return error of the ball screw, it is first determined whether the ball screw is rotating in the reverse direction, i.e., the base line variation Δ TiThe rotation angle theta is directly driven by the control system when the sign of the change quantity is the same as that of the change quantity at the last timei(ii) a When different, the rotation angles of the left and right ball screws are respectively increased by delta thetail，Δθir；
θil′＝θi+Δθil(8)
θir′＝θi+Δθir(9)
Then the control system drives the two ball screws to respectively rotate by an angle thetail' and thetair′，Δθil，ΔθirReturn stroke error compensation angles of the left ball screw and the right ball screw are respectively provided.
In a further technical solution, the return error compensation angle is obtained as follows:
the rotation angle of the ball screw is recorded by using an angle sensor, and whether the ball screw starts to transmit is judged by using a laser interferometer, so that the recorded angle from the start of rotation to the occurrence of transmission at a certain point on the ball screw is the return error compensation angle at the point;
after the left and right ball screws are detected according to the method, the length T of each ideal base line in the formula (5) can be obtainediCorresponding return error compensation angle delta thetail，Δθir。
Through the technical scheme, the control method of the binocular tripod head variable base line provided by the invention realizes the automatic adjustment of the base line length according to the target distance by establishing an ideal base line length formula; the return error of the ball screw is compensated, the high-precision ball screw is driven to move, the precision of the baseline length of the two-phase machine is improved, and the target is guaranteed not to be lost.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic view of an imaging principle of a binocular camera disclosed in an embodiment of the present invention;
fig. 2 is an enlarged schematic view of a clearance of the ball screw disclosed in the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a method for controlling a binocular tripod head variable baseline, which comprises the following steps:
step one, calculating the vertical distance between a current target and a camera;
as shown in figure 1, two lenses of the binocular camera are respectively fixed on a left ball screw and a right ball screw which are the same, the rotation directions of the two ball screws are opposite, and the control system controls the motor to drive the ball screws to rotate respectively, so that the two lenses are realizedClose to or far from each other, the focal length of the two lenses is a fixed value f, and the two lenses O of the binocular cameral，OrThe distance T between the two cameras is the length of the base line of the camera;
shooting the same target A through a left camera and a right camera to obtain two images, eliminating distortion and binocular correction, enabling the target A to have only difference in the horizontal direction in the two images, and finding the target position in the two images through a target recognition algorithm to obtain the parallax u of the current targetl-urI.e. the pixel position u of the object in the images taken by the left and right cameraslAnd urObtaining the vertical distance Z from the current sampling target point A to the binocular camera by the similar triangle principle based on the difference value in the horizontal directionc：
Establishing an ideal base length formula of the camera at different target distances;
in order to enable the binocular head to adjust a proper base line length for targets at different distances, and at the same time, the adjustment of the base line does not interfere with the imaging of the binocular camera and the movement precision and stability of the pitching and rotating of the binocular head too frequently, the embodiment adopts a piecewise function mode to segment the target distance Z into [ Z [min，Z1],[Z1，Z2]……[Zn，Zmax]And the like. Each section corresponds to a fixed baseline length. The method comprises the following 3 steps:
(1) selecting the parallax u according to different internal parameters and resolutions of the camera and combining experience in the industryl-urIs within a suitable range Deltau1～Δu2；
(2) At a base length range Tmin～TmaxSelecting a plurality of appropriate base line length values Tmin，T1……TmaxAs the ideal base length, the selection of the base length value is generated by adopting a formula (2);
(3) the obtained base line length value TiUpper and lower limits Deltu to parallax1，Δu2Is substituted into the formula (1) to obtain
[Zi1,Zi2]I.e. the base length TiThe corresponding target distance range adopts TiAs the ideal base length, it is obtained in this way
……
Thus, an ideal base length formula under different target distances is obtained:
calculating the vertical distance from the current target to the camera after the current target moves;
after the current target moves, acquiring the parallax u 'of the target in the next frame image'l-u′rObtaining the distance Z from the target point A' to the binocular camera after the movementc′：
Step four, calculating the ideal base length of the moved current target according to an ideal base length formula;
calculating the distance Z from the moved target point to the binocular camerac' substitution into equation (5) yields the ideal base length T ' at that distance 'ideal。
Determining the variation of the length of the base line and the rotation angle of the ball screw;
calculating ideal base line length T'idealDifference delta T ═ T 'from current baseline length T'ideal-T；
Obtaining the rotation angle theta of each ball screw according to the difference delta T
Wherein S is the lead of the ball screw.
And step six, compensating the return stroke error of the ball screw, generating a driving signal, and driving the ball screw to rotate by a driving motor to adjust the length of the base line.
As shown in fig. 2, since the gap Δ ═ b-2R exists between the ball and the ball screw, when the rotation direction of the ball screw changes, there is a certain idle stroke that only rotates without transmission, and the base line distance does not change, resulting in that the actually required rotation angle of the ball screw is larger than the theoretical rotation angle θ, therefore, the return stroke error of the ball screw needs to be compensated, specifically as follows:
the two cameras start to move from the initial positions accurately positioned on the ball screws, the ball screws do not have return errors in the first movement, and the first base length variation delta T is obtained according to the previous steps0Then, the rotation angle theta of the ball screw is calculated by the formula (7)0When the change quantity delta T of the base length is obtained at a certain timeiThen, in order to eliminate the return error of the ball screw, it is first determined whether the ball screw is rotating in the reverse direction, i.e., the base line variation Δ TiWhether the last change is the same sign or not,driven by the control system directly at the same time, and rotated by an angle thetai(ii) a When different, the rotation angles of the left and right ball screws are respectively increased by delta thetail，Δθir；
θil′＝θi+Δθil(8)
θir′＝θi+Δθir(9)
Then the control system drives the two ball screws to respectively rotate by an angle thetail' and thetair′，Δθil，ΔθirReturn stroke error compensation angles of the left ball screw and the right ball screw are respectively provided.
The return error compensation angle is obtained as follows:
the rotation angle of the ball screw is recorded by using an angle sensor, and whether the ball screw starts to transmit is judged by using a laser interferometer, so that the recorded angle from the start of rotation to the occurrence of transmission at a certain point on the ball screw is the return error compensation angle at the point;
after the left and right ball screws are detected according to the method, the length T of each ideal base line in the formula (5) can be obtainediCorresponding return error compensation angle delta thetail，Δθir。
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A control method of a binocular tripod head variable baseline is characterized by comprising the following steps:
step one, calculating the vertical distance between a current target and a camera;
establishing an ideal base length formula of the camera at different target distances;
calculating the vertical distance from the current target to the camera after the current target moves;
step four, calculating the ideal base length of the moved current target according to an ideal base length formula;
determining the variation of the length of the base line and the rotation angle of the ball screw;
and step six, compensating the return stroke error of the ball screw, generating a driving signal, and driving the ball screw to rotate by a driving motor to adjust the length of the base line.
2. The method for controlling the binocular tripod head variable baseline according to claim 1, wherein the specific method of the first step is as follows:
two camera lenses of the binocular camera are respectively fixed on a left ball screw and a right ball screw which are the same, the rotating directions of the two ball screws are opposite, the motors are respectively controlled by the control system to drive the ball screws to rotate, the two camera lenses are close to or far away from each other, the focal distance of the two camera lenses is a fixed value f, and the two camera lenses O of the binocular camera arel，OrThe distance T between the two cameras is the length of the base line of the camera;
shooting the same target A through a left camera and a right camera to obtain two images, eliminating distortion and binocular correction, enabling the target A to have only difference in the horizontal direction in the two images, and finding the target position in the two images through a target recognition algorithm to obtain the parallax u of the current targetl-urI.e. the pixel position u of the object in the images taken by the left and right cameraslAnd urObtaining the vertical distance Z from the current sampling target point A to the binocular camera by the similar triangle principle based on the difference value in the horizontal directionc：
3. The method for controlling the binocular tripod head variable baseline according to claim 2, wherein the specific method of the second step is as follows:
(1) selecting the parallax u according to different internal parameters and resolutions of the camera and combining experience in the industryl-urIs within a suitable range Deltau1～Δu2；
(2) At a base length range Tmin～TmaxSelecting a plurality of appropriate base line length values Tmin，T1……TmaxAs the ideal base length, the selection of the base length value is generated by adopting a formula (2);
(3) the obtained base line length value TiUpper and lower limits Deltu to parallax1，Δu2Is substituted into the formula (1) to obtain
[Zi1,Zi2]I.e. the base length TiThe corresponding target distance range adopts TiAs the ideal base length, it is obtained in this way
……
Thus, an ideal base length formula under different target distances is obtained:
4. the method for controlling the binocular tripod head variable baseline according to claim 3, wherein the specific method of the third step is as follows:
after the current target moves, acquiring the parallax u 'of the target in the next frame image'l-u′rObtaining the distance Z from the target point A' to the binocular camera after the movementc′：
5. The method for controlling the binocular tripod head variable baseline according to claim 4, wherein the specific method of the fourth step is as follows:
calculating the distance Z from the moved target point to the binocular camerac' substitution into equation (5) yields the ideal base length T ' at that distance 'ideal。
6. The method for controlling the binocular tripod head variable baseline according to claim 5, wherein the concrete method of the fifth step is as follows:
calculating ideal base line length T'idealDifference delta T ═ T 'from current baseline length T'ideal-T；
Obtaining the rotation angle theta of each ball screw according to the difference delta T
Wherein S is the lead of the ball screw.
7. The method for controlling the binocular tripod head variable baseline according to claim 6, wherein the specific method of the sixth step is as follows:
the two cameras start to move from the initial positions accurately positioned on the ball screws, the ball screws do not have return errors in the first movement, and the first base length variation delta T is obtained according to the previous steps0Then, the rotation angle theta of the ball screw is calculated by the formula (7)0When the change quantity delta T of the base length is obtained at a certain timeiThen, in order to eliminate the return error of the ball screw, it is first determined whether the ball screw is rotating in the reverse direction, i.e., the base line variation Δ TiThe rotation angle theta is directly driven by the control system when the sign of the change quantity is the same as that of the change quantity at the last timei(ii) a When different, the rotation angles of the left and right ball screws are respectively increased by delta thetail，Δθir；
θil′＝θi+Δθil(8)
θir′＝θi+Δθir(9)
Then the control system drives the two ball screws to respectively rotate by an angle thetail' and thetair′，Δθil，ΔθirReturn stroke error compensation angles of the left ball screw and the right ball screw are respectively provided.
8. The method for controlling the binocular pan/tilt variable baseline of claim 7, wherein the return error compensation angle is obtained as follows:
the rotation angle of the ball screw is recorded by using an angle sensor, and whether the ball screw starts to transmit is judged by using a laser interferometer, so that the recorded angle from the start of rotation to the occurrence of transmission at a certain point on the ball screw is the return error compensation angle at the point;
after the left and right ball screws are detected according to the method, the length T of each ideal base line in the formula (5) can be obtainediCorresponding return error compensation angle delta thetail，Δθir。
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| CN114942009A (en) * | 2022-06-20 | 2022-08-26 | 山东信通电子股份有限公司 | Hidden danger early warning method, device, equipment and medium based on power transmission line |
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