CN112697112B - Method and device for measuring horizontal plane inclination angle of camera - Google Patents
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Abstract
一种相机水平面倾斜角的测量方法及装置,属于精密测量及图像处理领域。本发明通过电机控制工作平台运动,使得标定板图形进入相机视野,同时调整标定板图形在相机视野中的合适位置,并拍摄一张标定板图形的图像,然后保持电机Y轴不动,沿电机X轴移动一定步长,拍摄另一张标定板图形的图像,由于相机在水平面的安装存在倾斜角,因此两张标定板图形图像中公共区域点的坐标值不同,对于所拍摄两张图像进行处理,可以得到相机在水平面的倾斜角。该方法的标定板图案制作精度高且工作平台运动的控制精度也高,因此相机水平面倾斜角的标定精度高,并针对不同相机视野、不同运动范围的标定,可以改变步长大小,方法的适应性强。
A method and device for measuring the tilt angle of a horizontal plane of a camera belong to the fields of precision measurement and image processing. The invention controls the movement of the working platform through the motor, so that the calibration plate graphic enters the camera's field of view, adjusts the appropriate position of the calibration plate graphic in the camera's field of view, and shoots an image of the calibration plate graphic, and then keeps the Y axis of the motor still, along the motor Move the X-axis by a certain step, and take another image of the calibration board graphic. Since the installation of the camera on the horizontal plane has an inclination angle, the coordinate values of the common area points in the two calibration board graphic images are different. After processing, the tilt angle of the camera in the horizontal plane can be obtained. The method has high precision in making the pattern of the calibration plate and high control precision in the movement of the working platform, so the calibration accuracy of the tilt angle of the horizontal plane of the camera is high, and for the calibration of different camera fields of view and different motion ranges, the step size can be changed, and the method can be adapted. Strong sex.
Description
技术领域technical field
本发明属于精密测量及图像处理领域,涉及一种相机水平面倾斜角的测量方法及装置。The invention belongs to the field of precise measurement and image processing, and relates to a method and a device for measuring the inclination angle of a horizontal plane of a camera.
背景技术Background technique
在工业生产应用中,装配精度是衡量自动化装配技术的一项重要指标,而自动装配系统中视觉单元的标定对装配精度具有十分重要的意义,对产品的精确定位和降低装配误差至关重要。In industrial production applications, assembly accuracy is an important indicator to measure automated assembly technology, and the calibration of visual units in automated assembly systems is of great significance to assembly accuracy, and is critical to precise product positioning and reducing assembly errors.
目前,对于自动装配系统中视觉单元的标定主要包括相机的单目与多目标定、相机与机械手的位姿标定。相机的单目与多目标定主要为了获取相机的内外参数,以用于物体的尺寸测量和三维重构等,相机与机械手的位姿标定主要是建立相机运动机构末端坐标系和机械手末端坐标系之间的关系,以用于物体的识别与定位等。At present, the calibration of the vision unit in the automatic assembly system mainly includes the monocular and multi-objective calibration of the camera, and the pose calibration of the camera and the manipulator. The camera's monocular and multi-objective calibration is mainly to obtain the internal and external parameters of the camera for object size measurement and 3D reconstruction. The relationship between them can be used for object recognition and localization, etc.
但是相机在安装后,其安装过程会导致相机在垂直面及水平面均产生一定的倾斜,当相机在垂直面存在倾斜角时,由于相机的景深有限,可能会使获取的图像存在部分清晰部分模糊的情况,这样会大大影响结果准确性。通过制作高精度的相机标定板,移动相机驱动机构,使得标定板上的标定图形进入相机视野,沿相机运动的轴线以一定步长移动相机,并拍摄标定板上的标定图形,由于相机的垂直面安装存在倾斜角,因此相机视野内左上角,右上角,右下角和左下角图形的清晰度不同,对于所拍摄图像进行处理,可得到相机的垂直面倾斜角【一种相机倾斜角的测量方法,2019,申请号201910004492.4】。However, after the camera is installed, the installation process will cause the camera to tilt to a certain extent in both the vertical plane and the horizontal plane. When the camera has a tilt angle in the vertical plane, due to the limited depth of field of the camera, the acquired image may be partially clear and partially blurred. This will greatly affect the accuracy of the results. By making a high-precision camera calibration plate, moving the camera driving mechanism, the calibration graphics on the calibration plate enters the camera's field of view, moving the camera along the axis of camera movement with a certain step length, and shooting the calibration graphics on the calibration plate, due to the vertical direction of the camera. There is an inclination angle in the surface installation, so the definition of the upper left corner, upper right corner, lower right corner and lower left corner of the camera's field of view is different. After processing the captured image, the camera's vertical plane inclination angle can be obtained [a measurement of the camera's inclination angle] Methods, 2019, Application No. 201910004492.4].
当相机在水平面存在倾斜角时,特别针对大尺寸物体的定位与测量,一般需要进行图像拼接或坐标变换,而相机水平面的倾斜角会导致拼接或变换错误,无法得到精确的结果。目前暂无有效的有关测量与标定相机水平面倾斜角的方法。When the camera has a tilt angle on the horizontal plane, especially for the positioning and measurement of large-sized objects, image stitching or coordinate transformation is generally required, and the tilt angle of the camera's horizontal plane will cause errors in stitching or transformation, and accurate results cannot be obtained. At present, there is no effective method for measuring and calibrating the tilt angle of the horizontal plane of the camera.
发明内容SUMMARY OF THE INVENTION
为了解决上述存在的问题,本发明提供了一种相机水平面倾斜角的测量方法,实现了不同面两个不同面的系统角度测量,通过计算标定板的公共区域点在两张标定板图像的坐标差,得到相机在水平面的倾斜角。In order to solve the above-mentioned problems, the present invention provides a method for measuring the inclination angle of the horizontal plane of the camera, which realizes the systematic angle measurement of two different planes on different planes. Poor, get the tilt angle of the camera in the horizontal plane.
本发明的技术方案:Technical scheme of the present invention:
一种相机水平面倾斜角的测量装置,包括工作平台、电机Y轴、标定板、电机X轴、标定板载台、光源、镜头、相机、支架底座和相机支架;A device for measuring the tilt angle of a horizontal plane of a camera, comprising a working platform, a Y axis of a motor, a calibration plate, an X axis of the motor, a calibration plate carrier, a light source, a lens, a camera, a bracket base and a camera bracket;
其中,所述光源安装在镜头上,所述镜头安装在相机上,所述相机固定安装在相机支架上,所述相机支架与支架底座固定连接;所述光源下方设有工作平台,所述工作平台的中间固定连接有电机X轴,所述电机X轴与电机Y轴滑动连接,所述标定板载台与电机Y轴滑动连接。Wherein, the light source is installed on the lens, the lens is installed on the camera, the camera is fixedly installed on the camera bracket, and the camera bracket is fixedly connected with the bracket base; The middle of the platform is fixedly connected with the motor X axis, the motor X axis is slidably connected with the motor Y axis, and the calibration plate carrier is slidably connected with the motor Y axis.
一种相机水平面倾斜角的测量方法,包括以下步骤:A method for measuring the inclination angle of a horizontal plane of a camera, comprising the following steps:
步骤1、在标定板载台上放置标定板,在所述标定板上设置一部分为公共区域,通过移动电机控制工作平台的运动,标定板进入相机视野,拍摄一张标定板的图像,该图像包括标定板的公共区域;
步骤2、保持电机Y轴不动,将工作平台沿电机X轴移动步长Δd,拍摄另一张标定板的图像,该图像包括标定板的公共区域;其中,两张标定板的图像存在相同的公共区域;
步骤3、处理拍摄的两张标定板图像,相机水平面倾斜角根据计算得出,其中,ΔV为公共区域点的V坐标值之差,ΔU为公共区域点的U坐标值之差。
优选的,所述标定板上的图案为圆形,标准圆的半径大小为r1,所述标定板上存在两个半径大小为r2的定位圆,所述定位圆处于不同列,定位圆所在列及列之间的区域为标定板的公共区域,所述公共区域点为公共区域内的圆心,其中r2>r1。Preferably, the pattern on the calibration plate is a circle, the radius of the standard circle is r1, there are two positioning circles with a radius of r2 on the calibration plate, the positioning circles are in different columns, and the column where the positioning circles are located The area between the and columns is the common area of the calibration board, and the common area point is the center of the circle in the common area, where r2>r1.
优选的,所述步骤1中先将标定板的公共区域移至相机视野的右侧,拍摄的标定板图像记为Left图像;所述步骤2中保持电机Y轴不动,将工作平台沿电机X轴负方向或向左移动Δd步长,使得标定板的公共区域移至相机视野左侧,拍摄的标定板图像记为Right图像。Preferably, in the
进一步优选的,在Left图像中,公共区域内的圆心A为(Ul,Vl);当工作平台沿电机X轴负方向移动Δd步长,原公共区域内的圆心A在Right图像中为A’(Ur,Vr),换算Right 图像中的圆心A’至Left图像坐标系中,即为:Further preferably, in the Left image, the center A in the public area is (U l , V l ); when the working platform moves Δd steps along the negative direction of the motor X-axis, the center A in the original public area is in the Right image. A'(U r , V r ), convert the center A' in the Right image to the Left image coordinate system, namely:
那么, So,
即相机水平面倾斜角 That is, the tilt angle of the camera's horizontal plane
进一步优选的,所述的步骤3通过处理拍摄的两张标定板图像来计算相机水平面倾斜角的方法如下:Further preferably, the method for calculating the inclination angle of the horizontal plane of the camera by processing the two calibration plate images captured in the
步骤3.1、根据步骤1得到的Left图像和步骤2得到的Right图像,利用圆Hough变换法计算两张图像中所有圆参数C(r,U,V);其中,r表示圆的半径;Step 3.1. According to the Left image obtained in
步骤3.2、将每张图像中的圆参数按半径由小到大排序,前两个半径最大的圆即为定位圆,根据每张图像中的两个定位圆划分公共区域,并计算公共区域内所有圆的圆心坐标,记Left 图像中的圆心为Right图像中的圆心为其中,k为圆心的下标,N表示公共区域内的所有圆心;Step 3.2. Sort the circle parameters in each image according to the radius from small to large. The first two circles with the largest radius are the positioning circles. Divide the common area according to the two positioning circles in each image, and calculate the value within the common area. The coordinates of the center of all circles, remember the center in the Left image as The center of the circle in the Right image is Among them, k is the subscript of the center of the circle, and N represents all the centers of the circles in the public area;
步骤3.3、通过公共区域内圆心在Left图像和Right图像中分别对应的坐标,计算相机水平面倾斜角 Step 3.3. Calculate the tilt angle of the horizontal plane of the camera through the coordinates corresponding to the center of the circle in the public area in the Left image and the Right image respectively.
步骤3.4、根据步骤3.3得到的θk可以计算相机水平面倾斜角的平均值为: Step 3.4. According to the θ k obtained in step 3.3, the average value of the tilt angle of the horizontal plane of the camera can be calculated as:
有益效果beneficial effect
本发明标定板图形制作精度可以达到1微米,工作平台的的移动精度可小于1微米,因此标定精度高;针对不同相机视野、不同运动范围的标定,可以改变步长大小,本发明的适应性强;本发明为非接触测量,对标定板无损伤;标定后得到的水平面倾斜角对于高精度装配系统误差模型建立、大尺寸物体的定位、图像拼接与坐标变换具有十分重要的作用;本发明测量过程简单易操作,标定板设计简洁易用,测量结果精度高可满足图像采集路径规划坐标计算要求。The graphic production accuracy of the calibration plate of the invention can reach 1 micron, and the movement accuracy of the working platform can be less than 1 micron, so the calibration accuracy is high; for the calibration of different camera fields of view and different motion ranges, the step size can be changed, and the adaptability of the invention The invention is non-contact measurement and does not damage the calibration plate; the horizontal plane inclination angle obtained after calibration has a very important role in the establishment of a high-precision assembly system error model, the positioning of large-sized objects, image stitching and coordinate transformation; the invention The measurement process is simple and easy to operate, the design of the calibration board is simple and easy to use, and the measurement result is highly accurate, which can meet the requirements of image acquisition path planning and coordinate calculation.
附图说明Description of drawings
图1为本发明相机水平面倾斜角测量装置示意图;1 is a schematic diagram of a camera horizontal plane inclination angle measuring device according to the present invention;
图2为本发明标定板图形示意图;2 is a schematic diagram of a calibration plate of the present invention;
图3为本发明标定板图形图像获取示意图;3 is a schematic diagram of obtaining a graphic image of a calibration plate of the present invention;
图4为本发明公共区域点计算相机水平面倾斜角示意图。FIG. 4 is a schematic diagram of the tilt angle of the horizontal plane of the camera for calculating the common area point according to the present invention.
图5为本实施例的标定板Left和Right图像。FIG. 5 is an image of Left and Right of the calibration plate of this embodiment.
图中,1工作平台、2电机Y轴、3标定板、4电机X轴、5标定板载台、6光源、7镜头、8相机、9支架底座和10相机支架。In the figure, 1 working platform, 2 motor Y axis, 3 calibration plate, 4 motor X axis, 5 calibration plate carrier, 6 light source, 7 lens, 8 camera, 9 bracket base and 10 camera bracket.
具体实施方式Detailed ways
下面结合附图对本发明作进一步详细描述:Below in conjunction with accompanying drawing, the present invention is described in further detail:
本发明提供了一种相机水平面倾斜角的测量方法,本发明通过电机控制工作平台运动,使得标定板图形进入相机视野,同时调整标定板图形在相机视野中的合适位置,并拍摄一张标定板图形的图像,然后保持电机Y轴不动,沿电机X轴移动一定步长,拍摄另一张标定板图形的图像,由于相机在水平面的安装存在倾斜角,因此两张标定板图形图像中公共区域点的坐标值不同,对于所拍摄两张图像进行处理,可以得到相机在水平面的倾斜角。The invention provides a method for measuring the inclination angle of the horizontal plane of the camera. The invention controls the movement of the working platform through the motor, so that the calibration plate graphic enters the camera's field of view, adjusts the appropriate position of the calibration plate graphic in the camera's field of view, and shoots a calibration plate. Then, keep the Y axis of the motor still, move a certain step along the X axis of the motor, and take another image of the calibration board. The coordinate values of the area points are different, and by processing the two captured images, the tilt angle of the camera on the horizontal plane can be obtained.
如图1所示,一种相机水平面倾斜角的测量装置,包括工作平台1、电机Y轴2、标定板3、电机X轴4、标定板载台5、光源6、镜头7、相机8、支架底座9和相机支架10;As shown in Figure 1, a device for measuring the tilt angle of a horizontal plane of a camera includes a working
其中,所述光源6安装在镜头7上,所述镜头7安装在相机8上,所述相机8固定安装在相机支架10上,所述相机支架10与支架底座9固定连接;所述光源6下方设有工作平台 1,所述工作平台1的中间固定连接有电机X轴4,所述电机X轴4与电机Y轴2滑动连接,所述标定板载台5与电机Y轴2滑动连接。The
实施例:Example:
一种相机水平面倾斜角的测量方法,包括以下步骤:A method for measuring the inclination angle of a horizontal plane of a camera, comprising the following steps:
步骤1、在标定板载台上5放置标定板,在所述标定板上设置一部分为公共区域,通过移动电机控制工作平台1的运动,标定板进入相机视野,拍摄一张标定板的图像,该图像包括标定板的公共区域;
步骤2、保持电机Y轴2不动,将工作平台1沿电机X轴4移动步长Δd,拍摄另一张标定板的图像,该图像包括标定板的公共区域;其中,两张标定板的图像存在相同的公共区域;
步骤3、处理拍摄的两张标定板图像,相机水平面倾斜角根据计算得出,其中,ΔV为公共区域点的V坐标值之差,ΔU为公共区域点的U坐标值之差。
如图2所示,标定板上的图案是圆形的,标定板材料选取玻璃材料,标定板上的图案采用电子束光刻方法制作,图案尺寸偏差小于±0.5微米,标定板厚度1.6mm,标定板矩形宽度和长度为10mm*20mm,标准圆的半径大小为r1=0.5mm,圆间距为1.5mm,标定板上还存在两个半径大小为r2=1mm的定位圆Location Circle,定位圆所在列及其之间的区域为标定板的公共区域为4x4,用于计算相机水平面的倾斜角。As shown in Figure 2, the pattern on the calibration plate is circular, the material of the calibration plate is glass material, the pattern on the calibration plate is made by electron beam lithography, the pattern size deviation is less than ±0.5 microns, the thickness of the calibration plate is 1.6mm, The rectangular width and length of the calibration plate are 10mm*20mm, the radius of the standard circle is r1=0.5mm, and the circle spacing is 1.5mm. There are also two location circles with a radius of r2=1mm on the calibration plate, Location Circle, where the location circle is located. The column and the area between it is the common area of the calibration board is 4x4, which is used to calculate the tilt angle of the horizontal plane of the camera.
其中,如图3所示,先将标定板的公共区域Public Region移动到相机视野右侧,拍摄的标定板图像记为Left图像,然后保持电机Y轴2不动,沿电机X轴4负方向或向左移动Δd=5mm 步长(等价于标定板不动,相机沿X轴正方向或向右移动Δd=5mm步长),使得标定板的公共区域Public Region移动到相机视野左侧,拍摄的标定板图像记为Right图像。Among them, as shown in Figure 3, first move the public region of the calibration board to the right side of the camera's field of view, and record the image of the calibration board as the Left image, and then keep the motor Y-
其中,如图4所示,假设θ逆时针(θ>0),在Left图像中,公共区域内的圆心A为(Ul,Vl);当工作平台1沿电机X轴4负方向移动Δd=5mm步长,原公共区域内的圆心A在Right图像中为A’(Ur,Vr),换算Right图像中的圆心A’至Left图像坐标系中,即为:Among them, as shown in Figure 4, assuming that θ is counterclockwise (θ>0), in the Left image, the center A in the common area is (U l , V l ); when the working
那么, So,
即相机水平面倾斜角 That is, the tilt angle of the camera's horizontal plane
当θ顺时针(θ<0),在Left图像中,公共区域内的圆心A为(Ul,Vl);当工作平台1沿电机X轴4负方向移动Δd=5mm步长,原公共区域内的圆心A在Right图像中为A’(Ur,Vr),换算Right图像中的圆心A’至Left图像坐标系中,即为:When θ is clockwise (θ<0), in the Left image, the center A in the common area is (U l , V l ); when the working
那么, So,
即相机水平面倾斜角 That is, the tilt angle of the camera's horizontal plane
其中,所述的步骤3通过处理拍摄的两张标定板图像来计算相机水平面倾斜角的方法如下,如图5所示:Wherein, the method of calculating the inclination angle of the horizontal plane of the camera by processing the two captured images of the calibration plate in
步骤3.1、根据步骤1得到的Left图像和步骤2得到的Right图像,利用圆Hough变换法计算两张图像中所有圆参数C(r,U,V);其中,r表示圆的半径;Step 3.1. According to the Left image obtained in
步骤3.2、设Left图像中公共区域点为i,j分别表示公共区域的行和列,将C按半径由大到小排序,取前两个元素即为两定位圆的圆参数和如果则否则,m,n分别为两个定位圆的下标;Step 3.2. Let the public area point in the Left image be i and j represent the rows and columns of the common area respectively, sort C according to the radius from large to small, and take the first two elements as the circle parameters of the two positioning circles and if but otherwise, m, n are the subscripts of the two positioning circles respectively;
步骤3.3、移除Cl中的L21和L34,如果(Tp为圆参数的坐标差阈值),那么如果则得到L11,如果则得到L31和L41,同样地,可以得到L14、L24和L44;Step 3.3, remove L 21 and L 34 in C l , if (T p is the coordinate difference threshold of the circle parameter), then if then get L 11 , if Then L 31 and L 41 are obtained, and similarly, L 14 , L 24 and L 44 can be obtained;
步骤3.4、移除Cl中的L11、L31、L41、L14、L24和L44,如果那么如果再根据的大小可以得到L12和L13,同样地,可以得到L22、L23、L32、L33、L42和L43;Step 3.4, remove L 11 , L 31 , L 41 , L 14 , L 24 and L 44 in C l , if then if Then according to The size of L 12 and L 13 can be obtained, and similarly, L 22 , L 23 , L 32 , L 33 , L 42 and L 43 can be obtained;
步骤3.5、同样地,由步骤3.2、3.3、3.4可以得到与Left图像一一对应的Right图像中公共区域点为Rij(rrij,Urij,Vrij);Step 3.5. Similarly, from steps 3.2, 3.3, and 3.4, it can be obtained that the common area point in the Right image corresponding to the Left image is R ij (r rij , U rij , V rij );
步骤3.6、由所述的步骤3.5可以得到,相机的水平面倾斜角为: Step 3.6. From the above step 3.5, it can be obtained that the tilt angle of the horizontal plane of the camera is:
以上所述,仅是本发明的较佳实施例而已,并非是对本发明作任何其他形式的限制,而依据本发明的技术实质所作的任何修改或等同变化,仍属于本发明所要求保护的范围。The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in any other form, and any modifications or equivalent changes made according to the technical essence of the present invention still fall within the scope of protection of the present invention. .
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