CN112581547A - Rapid method for adjusting installation angle of imaging lens - Google Patents
Rapid method for adjusting installation angle of imaging lens Download PDFInfo
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- CN112581547A CN112581547A CN202011627261.8A CN202011627261A CN112581547A CN 112581547 A CN112581547 A CN 112581547A CN 202011627261 A CN202011627261 A CN 202011627261A CN 112581547 A CN112581547 A CN 112581547A
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- 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
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Abstract
The invention relates to a rapid method for adjusting the installation angle of an imaging lens, which adopts two industrial cameras to measure and adjust the angle of the imaging lens, obtains an initial calibration angle of the imaging lens, then calculates the positions of two marks initially put in the imaging system in the industrial cameras, then finely adjusts the imaging lens, and calculates the angle deviation between the current deflection angle and the initial installation angle in real time according to the subsequent imaged mark coordinates; finally, the computer judges whether the current installation angle is within the effective angle range A, if so, the computer prompts an operator that the requirement is met, and the next operation is carried out; if the requirement is not met, angle adjustment in the opposite direction is carried out according to the magnitude of the current installation angle theta. The rapid method for the angle of the imaging lens enables the adjustment and installation processes of the imaging lens to be simple and rapid, and omits the complicated actions of repeated adjustment and calibration.
Description
Technical Field
The invention relates to the technical field of laser direct imaging, in particular to the technical field of adjustment of the installation angle of a laser direct imaging lens, and particularly relates to a quick method for adjusting the installation angle of the imaging lens.
Background
In a tilt-scan direct imaging system, the mounting angle θ' of the imaging lens needs to be maintained within an effective angle range a, i.e., [ θ -e, θ + e ], e >0, where θ is the ideal mounting angle and e is the maximum allowable mounting error. If the assembly error e satisfies | e | > ε, the assembly is rejected, typically ε <0.003 (deg). The higher the assembly accuracy requirement, the more difficult the assembly.
The current more common methods are:
1. a motion system X, Y, Z and an angle calibration camera are prepared. The angle calibration camera and the imaging lens can move in the direction X, Y relatively, and Z is used for changing the distance between the imaging lens and the angle calibration camera, so that the imaging of the imaging lens can better fall on the sensor surface of the angle calibration camera.
2. Preliminarily pre-assembling the imaging lens, then driving an angle calibration camera by using a motion system to calibrate the installation angle theta 'of the imaging lens, and obtaining the calibrated installation angle theta' by the computer;
3. and manually judging the mounting angle theta ', and manually fine-tuning the mounting angle of the imaging lens if the mounting angle theta' is not within the effective angle range A.
4. And then, driving the angle calibration camera by using the motion system to calibrate the mounting angle theta 'of the imaging lens, and manually judging whether the mounting angle theta' belongs to the effective angle range A again.
5. And repeating the steps of 2-3 continuously until the installation angle theta' belongs to the effective angle range A.
The above-described working process is inefficient in working efficiency, and when the imaging lens is fastened to the imaging lens mount, angular deflection may occur and real-time monitoring is impossible.
Disclosure of Invention
The invention provides a quick method for adjusting the installation angle of an imaging lens, which can solve the technical problem.
In order to achieve the purpose, the invention adopts the following technical scheme:
a fast method for adjusting the installation angle of an imaging lens adopts an imaging lens angle measuring device which comprises two industrial cameras, wherein the two industrial cameras are on the same horizontal plane;
the adjustment steps are as follows:
s100, hardware of the whole machine with the imaging lens installation angle to be adjusted is ready;
s200, calibrating the installation angle of the imaging lens for the first time through the angle calibration camera to obtain the current calibration angle theta' of the imaging lens;
s300, horizontally fixing the imaging lens angle measuring device on a motion system, wherein the central connecting line direction of two cameras of the device is vertical to the scanning direction of a direct imaging system;
s400, driving a motion system to move the imaging lens angle measuring device to be right below an imaging lens, namely, imaging the left part and the right part of the imaging system respectively fall on the imaging surfaces of two industrial cameras and are imaged clearly;
s500, putting a single image with two bilaterally symmetrical marks in a spatial light modulator, clearly imaging the single image in two cameras respectively, and calculating the positions of the two marks in the two industrial cameras by using an image processing method, wherein the positions are recorded as: a. the1(x11,y11),B'1(x'12,y'12) To B'1(x'12,y'12) Calculating B using an inter-camera positional relationship calculation algorithm1(x12,y12) (ii) a The initial installation angle is theta';
s600, acquiring a calibration angle theta' of the current imaging lens through a computer module;
s700, putting a single image with two marks which are bilaterally symmetrical in a spatial light modulator, wherein the image can be clearly imaged in two cameras respectively, and calculating the positions of the two marks in the two industrial cameras by using an image processing method, wherein the positions are recorded as: a. the1(x11,y11),B'1(x'12,y'12) To B'1(x'12,y'12) Calculating B using an inter-camera positional relationship calculation algorithm1(x12,y12)；
S800, fine-tuning the imaging lens, and calculating the mark of the industrial camera in real time through the computer moduleThe two marker coordinates of the image are respectively noted as: a. the2(x21,y21),B'2(x'22,y'22) To B'2(x'22,y'22) B is calculated by using a preset inter-camera position relation calculation algorithm2(x22,y22) (ii) a Calculating the angle deviation delta between the current deflection angle and the primary installation angle theta' in real time;
the current mounting angles are: θ' + δ;
and S900, judging whether the current installation angle theta is within an effective angle range A or not through the computer module, if so, prompting an operator to perform the next operation, and if not, performing angle adjustment in the opposite direction according to the size of the current installation angle theta, namely, adjusting the angle to be larger, to be smaller, and to be larger.
Further, the preset calculation algorithm of the position relationship between the cameras is as follows:
setting two cameras as a first camera and a second camera respectively;
taking the center point of the first camera as the origin, constructing a world coordinate system according to the direction of the coordinate system of the first camera, and determining the position B (T) of the center of the second camera in the world coordinate system under the world coordinate systemx,Ty) And the rotation angle alpha of the two-camera coordinate system in the world coordinate system, the arbitrary pixel coordinate P in the two-camera coordinate systemc(x0,y0) The coordinate in the world coordinate system is Pw(x1,y1) The coordinates are all in pixel units, and the matrix form of the relationship between the two is as follows:
order rotation matrix
Wherein the camera coordinate system is in the world coordinate systemThe rotation angle alpha;
the translation matrix of the world coordinate system is:
wherein, the position B (T) of the camera center of the second camera in the world coordinate system is determined under the world coordinate systemx,Ty)；
The translation matrix of the camera center coordinates is:
wherein the position C (C) of the camera center in the camera coordinate systemx,Cy)；
Therefore, the method comprises the following steps:
to obtain:
the formula 1 is an algorithm formula for calculating the position relationship between the cameras.
Further, the calculation step of the angle deviation δ is as follows:
let vector:
to obtain
Further, in S100, the hardware of the whole machine for adjusting the installation angle of the imaging lens is ready, including that the imaging lens has completed the mechanical rough adjustment of the installation angle, and the installation angle is within the limit range of the mechanical error.
Further, S100 hardware of the whole machine whose installation angle of the imaging lens is to be adjusted is ready, and the software system driving the whole machine is provided with a software module for driving the calibration apparatus of the present invention, and the software module controls the motion system, the imaging light source, the spatial light modulator control module, and the imaging lens angle calibration camera through software system interfaces.
Further, the next operation in S800 includes:
fastening an imaging lens, and monitoring the change of the installation angle in real time; if the angle exceeds the effective angle range A, returning to S700 for fine adjustment under the pre-tightening degree until the requirement of the installation angle is met, and continuing to return to the tightening work.
Further, imaging lens angle measuring device still includes the base, and two industrial cameras assemble on the fixing base.
Further, the industrial camera is a board level industrial camera.
Furthermore, the base is made of a material with low expansion coefficient and high strength.
Further, the base is made of marble or indium steel.
According to the technical scheme, the method for adjusting the angle of the imaging lens comprises the steps of measuring and adjusting the angle of the imaging lens by adopting two industrial cameras, obtaining an initial calibration angle of the imaging lens, calculating the positions of two initially put marks in the industrial cameras, finely adjusting the imaging lens, and calculating the angle deviation between the current deflection angle and the initial installation angle in real time according to the subsequent imaged mark coordinates; finally, the computer judges whether the current installation angle is within the effective angle range A, if so, the computer prompts an operator that the requirement is met, and the next operation is carried out; if the requirement is not met, angle adjustment in the opposite direction is carried out according to the magnitude of the current installation angle theta.
By the rapid method for adjusting the angle of the imaging lens, whether the adjusted installation angle meets the requirement or not can be monitored in real time while the installation angle of the imaging lens is adjusted, and whether the installation angle of the imaging lens deviates out of the effective angle range or not is monitored in the process of fastening the imaging lens. The rapid method for the angle of the imaging lens enables the adjustment and installation processes of the imaging lens to be simple and rapid, and omits the complicated actions of repeated adjustment and calibration.
Drawings
Fig. 1 is an imaging lens angle measuring apparatus of the present invention;
fig. 2 and 3 are schematic diagrams of the overall structure of the installation angle of the imaging lens of the invention;
FIG. 4 is a schematic diagram of an algorithm for calculating the inter-camera position relationship according to the present invention;
FIG. 5 is a schematic diagram of the angular deviation calculation of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1, the fast method for adjusting the angle of the imaging lens according to the embodiment employs an imaging lens angle measuring apparatus 400, which includes two industrial cameras 431A and 431B and a base 432. Wherein, two industrial cameras 431A,431B are assembled on the fixing base 432, preferably, the industrial cameras 431A/431B are board-card grade industrial cameras. The base 432 is a low expansion coefficient material such as marble, indium steel, etc.
The imaging lens angle measuring device adopted by the embodiment of the invention comprises two industrial cameras, wherein the two industrial cameras are on the same horizontal plane;
the adjustment steps are as follows:
s100, hardware of the whole machine with the imaging lens installation angle to be adjusted is ready;
s200, calibrating the installation angle of the imaging lens for the first time through the angle calibration camera to obtain the current calibration angle theta' of the imaging lens;
s300, horizontally fixing the imaging lens angle measuring device on a motion system, wherein the central connecting line direction of two cameras of the device is vertical to the scanning direction of a direct imaging system;
s400, driving a motion system to move the imaging lens angle measuring device to be right below an imaging lens, namely, imaging the left part and the right part of the imaging system respectively fall on the imaging surfaces of two industrial cameras and are imaged clearly;
s500, acquiring a calibration angle theta' of the current imaging lens through a computer module;
s600, putting a single image with two marks which are bilaterally symmetrical in a spatial light modulator, clearly imaging the image in two cameras respectively, and calculating the positions of the two marks in the two industrial cameras by using an image processing method, wherein the positions are recorded as: a. the1(x11,y11),B'1(x'12,y'12) To B'1(x'12,y'12) B is calculated and calculated by using a position relation calculation algorithm between cameras1(x12,y12)；
S700, fine-tuning the imaging lens, and calculating two mark coordinates of the marked image P imaged in the industrial camera in real time through a computer module as: a. the2(x21,y21),B'2(x'22,y'22) To B'2(x'22,y'22) B is calculated and calculated by using a position relation calculation algorithm between cameras2(x22,y22) (ii) a Calculating the angle deviation delta between the current deflection angle and the primary installation angle theta' in real time;
the current mounting angles are: θ' + δ;
s800, judging whether the current installation angle theta is within an effective angle range A or not through a computer module, if so, prompting an operator to perform the next operation, and if not, performing angle adjustment in the opposite direction according to the size of the current installation angle theta, namely, adjusting the angle to be larger, to be smaller, and adjusting the angle to be smaller, to be larger.
The following is a detailed description:
precondition: as shown in fig. 2 and 2;
firstly, hardware of a whole machine with an imaging lens installation angle to be adjusted is ready, the imaging lens comprises a collimator, a DMD and a lens, and the hardware of the whole machine comprises a motion system 100, an imaging system 200 and an imaging lens angle calibration camera 304.
Two, wherein, the motion system includes X, Y and Z-axis and suction cup 105.
And thirdly, the imaging system comprises an imaging light source, an imaging lens, a spatial light modulator control module 202 and a spatial light modulator 203 (SLM).
And fourthly, the imaging lens completes the mechanical coarse adjustment of the installation angle, and the installation angle is within the limit range of mechanical errors.
And fifthly, a software module for driving the calibration device is installed in a software system for driving the whole machine, and the software module controls hardware such as a motion system (X, Y, Z), an imaging light source, the spatial light modulator control module 202, the imaging lens angle calibration camera 304 and the like through software system interfaces.
Sixthly, taking the center point of the camera 431A as the origin, constructing a world coordinate system by the coordinate system direction of the camera 431A, and determining the position B (T) of the camera center of the camera 431B in the world coordinate system under the world coordinate systemx,Ty) In units of pixels, and the rotation angle α of the camera 431B coordinate system in the world coordinate system, the arbitrary pixel coordinate P in the camera 431Bc(x0,y0) The coordinate in the world coordinate system is Pw(x1,y1) Taking a pixel as a unit, a relationship matrix between the two is as follows:
as shown in FIG. 4, let the rotation matrix
Therein, the camera 431B coordinate system is rotated by an angle α in the world coordinate system.
The translation matrix of the world coordinate system is:
wherein the position B (T) of the camera center of the camera 431B in the world coordinate system is specified under the world coordinate systemx,Ty)。
The translation matrix of the camera center coordinates is:
wherein the position C (C) of the camera center in the camera coordinate systemx,Cy)。
Therefore, the method comprises the following steps:
to obtain:
a preparation stage:
STEP 1: calibrating the installation angle of the imaging lens for the first time by using the angle calibration camera 304 to obtain the current installation angle theta' of the imaging lens;
STEP 2: the apparatus is horizontally fixed on the chuck 105, and the direction of the center line of the two cameras (431A and 431B) of the apparatus is perpendicular to the scanning direction of the direct imaging system.
STEP 3: the driving motion system moves the device to a proper position right below the imaging lens. Namely, the left and right imaging parts of the imaging system respectively fall on the imaging surfaces of the two cameras (431A and 431B) and are imaged clearly;
and (3) adjusting:
STEP 1: under the condition of not changing an imaging lens to be adjusted, providing a mounting angle theta' calibrated in advance for a calculation module;
STEP 2: turning on the imaging light source, a single image with two marks in bilateral symmetry is projected in the spatial light modulator 203(SLM), and the image will be clearly imaged by the two cameras (431A and 431B) respectively according to the description of the precondition. The positions of the two markers in the industrial camera 431A and the industrial camera 431B are calculated using an image processing method, and are respectively recorded as: a. the1(x11,y11),B'1(x'12,y'12) To B'1(x'12,y'12) Calculation of B Using equation 11(x12,y12): at this time: the primary installation angle is θ'.
STEP 3: the imaging lens is finely adjusted, and at this time, because of the change of the angle, the computer can calculate in real time two mark coordinates marked on the image of the industrial camera 441 as: a. the2(x21,y21),B'2(x'22,y'22) To B'2(x'22,y'22) Calculation of B Using equation 12(x22,y22): . And calculates an angle deviation delta of the current deflection angle and the primary installation angle theta' in real time.
As shown in fig. 5;
let vector:
to obtain
The current mounting angles are: theta ═ theta' + delta
STEP 4: the computer judges whether the current installation angle theta is within the effective angle range A or not, and if so, prompts an operator that the requirement is met. Go to step6 to execute. If the requirement is not met, angle adjustment in the opposite direction is carried out according to the size of the current installation angle theta, namely, the angle is larger and is adjusted to the smaller angle direction, and the angle is smaller and is adjusted to the larger angle direction.
STEP 5: step3 is an artificial behavior, step4 is a computer behavior, and both are performed simultaneously.
STEP 6: and fastening the imaging lens and monitoring the change of the installation angle in real time. And if the angle exceeds the effective angle range A, returning to the step3 for fine adjustment under the pre-tightening degree until the requirement of the installation angle is met, and continuing the tightening work of the step 6.
Therefore, the rapid method for adjusting the angle of the imaging lens provided by the invention can monitor whether the adjusted installation angle meets the requirements in real time while adjusting the installation angle of the imaging lens, and can monitor whether the installation angle of the imaging lens deviates out of the effective angle range in the process of fastening the imaging lens. The rapid method for the angle of the imaging lens enables the adjustment and installation processes of the imaging lens to be simple and rapid, and omits the complicated actions of repeated adjustment and calibration.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A quick method for adjusting the installation angle of an imaging lens is characterized in that: the adopted imaging lens angle measuring device comprises two industrial cameras, wherein the two industrial cameras are on the same horizontal plane;
the adjustment steps are as follows:
s100, supporting hardware of the imaging lens installation angle to be adjusted is ready;
s200, calibrating the installation angle of the imaging lens for the first time through the angle calibration camera to obtain the current calibration angle theta' of the imaging lens;
s300, horizontally fixing the imaging lens angle measuring device on a motion system, wherein the central connecting line direction of two cameras of the device is vertical to the scanning direction of a direct imaging system;
s400, driving a motion system to move the imaging lens angle measuring device to be right below an imaging lens, namely, enabling a left mark point and a right mark point of the imaging system to respectively fall on imaging surfaces of two industrial cameras and imaging clearly;
s500, putting a single image with two bilaterally symmetrical mark points in the spatial light modulator, clearly imaging the single image in the two cameras respectively, calculating the positions of the two marks in the two industrial cameras by using an image processing method, and recording the positions as follows: a. the1(x11,y11),B'1(x'12,y'12) To B'1(x'12,y'12) Calculating B using an inter-camera positional relationship calculation algorithm1(x12,y12) (ii) a The initial installation angle is theta';
s600, acquiring a calibration angle theta' of the current imaging lens through a computer module;
s700, fine-tuning the imaging lens, and calculating two mark coordinates marked on the imaging of the industrial camera in real time through a computer module as: a. the2(x21,y21),B'2(x'22,y'22) To B'2(x'22,y'22) Calculating B using an inter-camera positional relationship calculation algorithm2(x22,y22) (ii) a Calculating the angle deviation delta between the current deflection angle and the primary installation angle theta' in real time;
the current mounting angles are: θ' + δ;
s800, judging whether the current installation angle theta is within an effective angle range A or not through a computer module, if so, prompting an operator to perform the next operation, and if not, performing angle adjustment in the opposite direction according to the size of the current installation angle theta, namely, adjusting the angle to be larger, to be smaller, and adjusting the angle to be smaller, to be larger.
2. The fast method for adjusting the angle of an imaging lens according to claim 1, wherein: the inter-camera position relation calculation algorithm is as follows:
setting two industrial cameras as an industrial camera I (431A) and an industrial camera II (431B) respectively;
with the center point of the industrial camera 431A as the origin, a world coordinate system is constructed with the camera coordinate system direction of the industrial camera 431A, and the position B (T) of the camera center of the camera 431B in the world coordinate system is specified under the world coordinate systemx,Ty) And the rotation angle alpha of the camera 431B coordinate system in the world coordinate system, the arbitrary pixel coordinate P in the camera 431Bc(x0,y0) The coordinate in the world coordinate system is Pw(x1,y1) The coordinates are all in pixel units, and the relationship between the coordinates and the pixel units is as follows:
order rotation matrix
Therein, phaseRotation angle α of machine 431B coordinate system in world coordinate system;
the translation matrix of the world coordinate system is:
wherein the position B (T) of the camera center of the camera 431B in the world coordinate system is specified under the world coordinate systemx,Ty)；
The translation matrix of the camera center coordinates is:
wherein the position C (C) of the camera center in the camera coordinate systemx,Cy)；
Therefore, the method comprises the following steps:
to obtain:
the formula 1 is an algorithm formula for calculating the position relationship between the cameras.
3. The rapid method for adjusting the installation angle of an imaging lens according to claim 1, wherein: the calculation steps of the angular deviation δ are as follows:
let vector:
to obtain
4. The fast method for adjusting the angle of an imaging lens according to claim 1, wherein: s100, the hardware of the whole machine for adjusting the installation angle of the imaging lens is ready, the hardware comprises the imaging lens which is mechanically and coarsely adjusted, and the installation angle is within the limit range of mechanical errors.
5. The fast method for adjusting the angle of an imaging lens according to claim 4, wherein: s100, the hardware of the whole machine with the imaging lens installation angle to be adjusted is ready, and the software system for driving the whole machine is provided with a software module for driving the calibration device, and the software module controls the motion system, the imaging light source, the spatial light modulator control module and the imaging lens angle calibration camera through software system interfaces.
6. The fast method for adjusting the angle of an imaging lens according to claim 1, wherein: the next operation in S800 includes:
fastening an imaging lens, and monitoring the change of the installation angle in real time; if the angle exceeds the effective angle range A, returning to S700 for fine adjustment under the pre-tightening degree until the requirement of the installation angle is met, and continuing to return to the tightening work.
7. The fast method for adjusting the angle of an imaging lens according to claim 1, wherein: the imaging lens angle measuring apparatus further includes a base (432), and two industrial cameras (431A,431B) are mounted on the base (432).
8. The fast method for adjusting the angle of an imaging lens according to claim 7, wherein: the industrial cameras (431A,431B) are board level industrial cameras.
9. The fast method for adjusting the angle of an imaging lens according to claim 7, wherein: the base (432) is made of a material with a low expansion coefficient.
10. The fast method for adjusting the angle of an imaging lens according to claim 7, wherein: the base (432) is made of marble or indium steel.
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