CN112797894A - Tool support for calibrating vision system and calibration method thereof - Google Patents
Tool support for calibrating vision system and calibration method thereof Download PDFInfo
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- CN112797894A CN112797894A CN202011534846.5A CN202011534846A CN112797894A CN 112797894 A CN112797894 A CN 112797894A CN 202011534846 A CN202011534846 A CN 202011534846A CN 112797894 A CN112797894 A CN 112797894A
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
- F16M11/32—Undercarriages for supports with three or more telescoping legs
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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
-
- 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
Abstract
The invention provides a tool support for calibrating a vision system and a calibration method thereof, the tool support is provided with an open type interface for installing different clamps, so that different standard appliances such as a standard ball, a standard bat, a gauge block and the like can be respectively fixed, and a scale and a locking device are marked on a support rotating mechanism, so that the vertical direction of 90 degrees can be realized, and a carbon fiber bearing cylinder can be freely adjusted in height up and down and rotated in 360 degrees, thereby realizing the different position and pose placement of a standard. The bearing cylinder made of the carbon fiber material, the aluminum alloy tripod and the supporting legs capable of freely moving can enable the tool support to be stably placed in any complex environment and meanwhile have very little stress deformation, so that the influence of the support on the measurement result is reduced to the minimum.
Description
Technical Field
The invention relates to a tool support for calibrating a vision system and a calibration method thereof.
Background
The system based on structured light vision measurement mainly comprises a structured light projection device, an image processing system and a computer, wherein the structured light is adopted to scan the contour surface of a measured object, characteristic information is collected and extracted through a camera, and the computer carries out three-dimensional matching on the characteristic information extracted by the system so as to realize reverse three-dimensional modeling on the measured object.
The tester can obtain the parameter information of the three-dimensional shape, the geometric dimension and the like of the tested object by utilizing the resolving software. The system has the characteristics of simple structure, flexible use, large scanning range, high measurement accuracy, high speed and the like, and is widely applied to the fields of aerospace, automobile manufacturing, machining, on-line detection of the electronic and electrical industry and the like.
At present, the problems of inaccurate calibration and complex operation exist in a tool support for calibrating a vision system and a calibration method thereof.
Disclosure of Invention
The invention aims to provide a tool support for calibrating a vision system and a calibration method thereof.
In order to solve the above problems, the present invention provides a tool holder for calibrating a vision system, comprising:
a standard device clamp, a 90-degree rotating mechanism, a carbon fiber force bearing cylinder, an aluminum alloy bracket, a tripod, an adjustable supporting rod and an adjustable supporting foot, wherein,
the upper end of the 90-degree rotating mechanism is provided with an open interface, and different types of standard device clamps are connected with the open interface through bolts; an angle scale is arranged on the 90-degree rotating mechanism to ensure that the rotating angle of the 90-degree rotating mechanism is correct; the 90-degree rotating mechanism is provided with a bolt type locking mechanism so as to ensure that the 90-degree rotating mechanism is reliably fixed after the rotating angle is correct;
the lower end of the 90-degree rotating mechanism is fixed on the carbon fiber bearing cylinder through a bolt;
the carbon fiber bearing cylinder and the aluminum alloy support are connected in a nested manner to form a supporting mechanism, and the carbon fiber bearing cylinder can be freely adjusted up and down and can rotate by 360 degrees;
the aluminum alloy support is connected with the tripod, and the lower end of the tripod is connected with three adjustable support rods;
the bottom of the tripod is connected with an adjustable supporting leg which can move freely.
Further, in the above tool holder, different types of standard jigs include: a standard ball fixture, a standard bat fixture, or a gauge block fixture.
According to another aspect of the present invention, there is provided a calibration method for a tool holder for calibration of a vision system, including: the method comprises the following steps:
fixing the standard ball on a standard ball clamp;
connecting a standard ball clamp with a standard ball with an open interface of a 90-degree rotating mechanism;
after the 90-degree rotating mechanism rotates by 45 degrees and is placed along the diagonal direction of the space range, the standard balls are uniformly distributed and fixed in the measurement range of the structured light vision measurement system;
and scanning the standard ball by using the structured light vision measuring system to respectively calculate the difference between the roundness and the diameter and the corresponding standard, namely the shape detection error and the size detection error of the structured light vision measuring system.
Further, in the above method, the method further includes:
securing a standard bat to a standard bat holder;
connecting a standard bat fixture with a standard bat to an open interface of a 90 ° rotation mechanism;
adjusting the 90-degree rotating mechanism and the carbon fiber bearing cylinder to enable the standard bat to respectively follow parallel lines 1, 2 and 3 of the measuring range side of the structured light vision measuring system; the positions and postures of the diagonals of the front 4, the back 5 and the side 6 of the measuring range and the body diagonal 7 of the measuring range are placed;
the structured light vision measurement system scans and fits the center distance between two balls on the standard bat based on each pose of the standard bat, and the largest absolute value of the difference between the center distance and the reference value is the center distance measurement indicating value error.
Further, in the above method, the method further includes:
fixing the gauge block on the gauge block clamp;
connecting a scalar block clamp with a gauge block with an open interface of a 90-degree rotating mechanism;
the structured light vision measurement system obtains point cloud data of two working surfaces of a gauge block under the same coordinate system through multi-station scanning measurement and data splicing, performs least square fitting on scanning measurement point cloud on one working surface of the gauge block to obtain a fitting plane, selects another working area and a central point, takes the distance from the central point to the fitting plane as an end surface length measurement value, and calculates to obtain the difference between the end surface length measurement value and a reference value of the gauge block as a length measurement indicating value error.
Compared with the prior art, the invention has the following advantages:
1. the open type interface can be provided with a clamp for fixing different standards such as a standard ball, a standard bat, a gauge block and the like;
the 2.90-degree rotating mechanism is marked with a bolt type locking mechanism and an angle scale, so that the rotating angle is accurate and the locking is firm;
3. the carbon fiber bearing cylinder, the aluminum alloy tripod and the supporting legs capable of moving freely can enable the tool support to be stably placed in any complex environment, and meanwhile, the stress deformation is very little.
Drawings
FIG. 1 is a block diagram of a tool holder for vision system calibration according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a tool holder for vision system calibration according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1, the present invention provides a tool holder for calibrating a vision system, comprising: the standard device comprises a standard device clamp 1, a 90-degree rotating mechanism 12, a carbon fiber bearing cylinder 13, an aluminum alloy support 14, a tripod 15, an adjustable support rod 16 and an adjustable support foot 17, wherein,
the upper end of the 90-degree rotating mechanism 12 is an open interface, and different types of standard device clamps 11 are connected with the open interface through bolts; an angle scale is arranged on the 90-degree rotating mechanism to ensure that the rotating angle of the 90-degree rotating mechanism is correct; the 90-degree rotating mechanism is provided with a bolt type locking mechanism so as to ensure that the 90-degree rotating mechanism is reliably fixed after the rotating angle is correct;
the lower end of the 90-degree rotating mechanism is fixed on the carbon fiber bearing cylinder 13 through a bolt;
the carbon fiber bearing cylinder and the aluminum alloy support 14 are connected in a nested manner to form a supporting mechanism, and the carbon fiber bearing cylinder can be freely adjusted up and down and can rotate for 360 degrees;
the aluminum alloy support is connected with the tripod 15, and the lower end of the tripod is connected with three adjustable support rods 16;
the bottom of the tripod 15 is connected with an adjustable supporting foot 17 which can freely move.
The high-strength carbon fiber bearing cylinder is high in strength, light in weight, capable of being adjusted up and down freely and rotating for 360 degrees, convenient to place in different poses and not prone to stress deformation;
three adjustable support rods, a tripod and adjustable support legs capable of freely moving can enable the tool support to be stably supported in any complex experiment environment.
The structured light based vision measuring system is a non-contact measuring device with all parts mutually open. On one hand, the measurement errors of the equipment caused by insufficient parameters of a photographic camera, an image acquisition system and resolving software for stereo matching are specifically represented as detection errors, ball center distance measurement errors, end face length measurement errors and the like when a standard ball, a standard bat and a gauge block are measured, and a matched tool is required for fixing the standard in order to reduce the error influence of the standard; on the other hand, the measurement space range of the system is far larger than that of the traditional measurement equipment, and the size of the traceable standard instrument is fixed, so the tool can enable the standard instruments to be uniformly distributed in the measurement space range or to be placed in different postures to test various technical indexes of the standard instruments on the premise that the vision system does not move, and accurate and reliable test data of the standard instruments can be obtained.
In order to comprehensively know the accuracy and reliability of the vision based structured light vision measurement system in the measurement space range, the invention is used for the tool support based on the calibration of the structured light vision measurement system, and can fix various standard instruments (a standard ball, a standard bat and a gauge block) at different positions or postures to realize the comprehensive detection of a plurality of technical parameters of the system.
The tool support provided by the invention is provided with the open type interfaces for installing different clamps, so that different standard appliances such as a standard ball, a standard bat, a gauge block and the like can be respectively fixed, the scale and the locking device are marked on the support rotating mechanism, the vertical direction of 90 degrees can be realized, the height of the carbon fiber bearing cylinder can be freely adjusted up and down, and the carbon fiber bearing cylinder can rotate by 360 degrees, and thus different poses of the standard device can be placed. The bearing cylinder made of the carbon fiber material, the aluminum alloy tripod and the supporting legs capable of freely moving can enable the tool support to be stably placed in any complex environment and meanwhile have very little stress deformation, so that the influence of the support on the measurement result is reduced to the minimum.
In one embodiment of the present invention, the fixture support for calibrating a vision system comprises different types of standard fixtures: a standard ball fixture, a standard bat fixture, or a gauge block fixture.
Here, as shown in fig. 1, the shape detection error, the size detection error, the center distance measurement error, the end face length measurement error, and other indicators generated by the vision system in the main processes of image acquisition, feature extraction, stereo matching, and the like may be tested using a standard ball, a standard bat 18, a gauge block, and other traceable instruments as a standard.
The invention also provides a calibration method of the tool bracket for calibrating the vision system, which comprises the following steps:
fixing the standard ball on a standard ball clamp;
connecting a standard ball clamp with a standard ball with an open interface of a 90-degree rotating mechanism;
after the 90-degree rotating mechanism rotates by 45 degrees and is placed along the diagonal direction of the space range, the standard balls are uniformly distributed and fixed in the measurement range of the structured light vision measurement system;
and scanning the standard ball by using the structured light vision measuring system to respectively calculate the difference between the roundness and the diameter and the corresponding standard, namely the shape detection error and the size detection error of the structured light vision measuring system.
The detection error describes the error characteristic of the structured light vision measurement system in a small part of measurement range, a standard ball is used as a standard instrument, and the change range of the radial distance between each point of the ball and the center of the ball is subjected to least square fitting by the structured light vision measurement system and is used as a shape detection error; and taking the difference value of the diameter of a fitting sphere of the structured light vision measuring system and the diameter of a standard sphere as a size detection error. Generally, 5 positions uniformly distributed in the measurement space range of the structured light vision measurement system are required to be measured to ensure that the detection error of the system meets the requirement. The standard ball is fixed by a standard device clamp with strong magnetic force and is installed on a 90-degree rotating mechanism by a bolt, the standard balls are uniformly distributed and fixed in the measuring range of the structured light vision measuring system after the 90-degree rotating mechanism rotates by 45 degrees and is placed along the diagonal direction of the space range, and the difference between the roundness and the diameter and the standard is calculated by scanning the standard ball by the structured light vision measuring system, namely the shape detection error and the size detection error of the system.
In an embodiment of the calibration method for a tool holder for calibration of a vision system according to the present invention, the method further includes:
securing a standard bat to a standard bat holder;
connecting a standard bat fixture with a standard bat to an open interface of a 90 ° rotation mechanism;
adjusting the 90-degree rotating mechanism and the carbon fiber bearing cylinder to enable the standard bat to respectively follow parallel lines 1, 2 and 3 of the measuring range side of the structured light vision measuring system; the positions and postures of the diagonals of the front 4, the back 5 and the side 6 of the measuring range and the body diagonal 7 of the measuring range are placed;
the structured light vision measurement system scans and fits the center distance between two balls on the standard bat based on each pose of the standard bat, and the largest absolute value of the difference between the center distance and the reference value is the center distance measurement indicating value error.
The sphere center distance measurement indication error is used for proving the length measurement capability of the structured light vision measurement system and ensuring the traceability of the structured light vision measurement system. The standard bat is used as a standard instrument, and observation needs to be carried out in the whole space range measured by the structured light vision measuring system. As shown in fig. 2, a standard bat is fixed on a standard device clamp and is mounted on a 90-degree rotating mechanism by a bolt, and the 90-degree rotating mechanism and a carbon fiber bearing cylinder are adjusted to enable the standard bat to respectively follow parallel lines 1, 2 and 3 of the measuring range side of the structured light vision measuring system; on the diagonals of the front 4, rear 5 and lateral 6 of the measuring range; and the position and pose of the body diagonal line 7 in the measurement range, the structured light vision measurement system scans and fits the sphere center distance between two balls on the bat based on each position and pose, and the absolute value of the difference between the sphere center distance and the reference value is the maximum sphere center distance measurement indicating value error.
In an embodiment of the calibration method for a tool holder for calibration of a vision system according to the present invention, the method further includes:
fixing the gauge block on the gauge block clamp;
connecting a scalar block clamp with a gauge block with an open interface of a 90-degree rotating mechanism;
the structured light vision measurement system obtains point cloud data of two working surfaces of a gauge block under the same coordinate system through multi-station scanning measurement and data splicing, performs least square fitting on scanning measurement point cloud on one working surface of the gauge block to obtain a fitting plane, selects another working area and a central point, takes the distance from the central point to the fitting plane as an end surface length measurement value, and calculates to obtain the difference between the end surface length measurement value and a reference value of the gauge block as a length measurement indicating value error.
The length measurement indicating error is used to describe the three-dimensional error characteristic of the measuring system in the whole measuring range. The measuring block is used as a standard instrument and fixed on a standard instrument clamp and is installed on a 90-degree rotating mechanism through a bolt, the structured light vision measuring system obtains cloud data of two working surfaces of the measuring block under the same coordinate system through multi-station scanning measurement and data splicing, least square fitting is carried out on the cloud data of scanning measurement points on a certain working surface of the measuring block to obtain a fitting plane, another working area and a center point are selected, the distance between the center point and the fitting plane is used as an end surface length measuring value, and software calculates to obtain the difference between the end surface length measuring value and a measuring block reference value as a length measurement indicating value error.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (5)
1. The utility model provides a frock support for vision system calibration which characterized in that includes: a standard device clamp, a 90-degree rotating mechanism, a carbon fiber force bearing cylinder, an aluminum alloy bracket, a tripod, an adjustable supporting rod and an adjustable supporting foot, wherein,
the upper end of the 90-degree rotating mechanism is provided with an open interface, and different types of standard device clamps are connected with the open interface through bolts; an angle scale is arranged on the 90-degree rotating mechanism to ensure that the rotating angle of the 90-degree rotating mechanism is correct; the 90-degree rotating mechanism is provided with a bolt type locking mechanism so as to ensure that the 90-degree rotating mechanism is reliably fixed after the rotating angle is correct;
the lower end of the 90-degree rotating mechanism is fixed on the carbon fiber bearing cylinder through a bolt;
the carbon fiber bearing cylinder and the aluminum alloy support are connected in a nested manner to form a supporting mechanism, and the carbon fiber bearing cylinder can be freely adjusted up and down and can rotate by 360 degrees;
the aluminum alloy support is connected with the tripod, and the lower end of the tripod is connected with three adjustable support rods;
the bottom of the tripod is connected with an adjustable supporting leg which can move freely.
2. The tool support for vision system calibration of claim 1, wherein the different types of etalon clamps comprise: a standard ball fixture, a standard bat fixture, or a gauge block fixture.
3. The method for calibrating the tool support for calibrating the vision system according to any one of claims 1 to 2, wherein the method comprises the following steps:
fixing the standard ball on a standard ball clamp;
connecting a standard ball clamp with a standard ball with an open interface of a 90-degree rotating mechanism;
after the 90-degree rotating mechanism rotates by 45 degrees and is placed along the diagonal direction of the space range, the standard balls are uniformly distributed and fixed in the measurement range of the structured light vision measurement system;
and scanning the standard ball by using the structured light vision measuring system to respectively calculate the difference between the roundness and the diameter and the corresponding standard, namely the shape detection error and the size detection error of the structured light vision measuring system.
4. The method of claim 3, further comprising:
securing a standard bat to a standard bat holder;
connecting a standard bat fixture with a standard bat to an open interface of a 90 ° rotation mechanism;
adjusting the 90-degree rotating mechanism and the carbon fiber bearing cylinder to enable the standard bat to respectively follow parallel lines 1, 2 and 3 of the measuring range side of the structured light vision measuring system; the positions and postures of the diagonals of the front 4, the back 5 and the side 6 of the measuring range and the body diagonal 7 of the measuring range are placed;
the structured light vision measurement system scans and fits the center distance between two balls on the standard bat based on each pose of the standard bat, and the largest absolute value of the difference between the center distance and the reference value is the center distance measurement indicating value error.
5. The method of claim 3, further comprising:
fixing the gauge block on the gauge block clamp;
connecting a scalar block clamp with a gauge block with an open interface of a 90-degree rotating mechanism;
the structured light vision measurement system obtains point cloud data of two working surfaces of a gauge block under the same coordinate system through multi-station scanning measurement and data splicing, performs least square fitting on scanning measurement point cloud on one working surface of the gauge block to obtain a fitting plane, selects another working area and a central point, takes the distance from the central point to the fitting plane as an end surface length measurement value, and calculates to obtain the difference between the end surface length measurement value and a reference value of the gauge block as a length measurement indicating value error.
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| CN202011534846.5A CN112797894A (en) | 2020-12-22 | 2020-12-22 | Tool support for calibrating vision system and calibration method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116973885A (en) * | 2023-09-22 | 2023-10-31 | 巨硕精密机械(常熟)有限公司 | Carbon fiber reference system for laser radar |
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| CN116973885B (en) * | 2023-09-22 | 2024-01-16 | 巨硕精密机械(常熟)有限公司 | Carbon fiber reference system for laser radar |
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Application publication date: 20210514 |
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