CN112819902A - Method and device for calibrating consistency of axis of boresight - Google Patents
Method and device for calibrating consistency of axis of boresight Download PDFInfo
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Abstract
The invention relates to a method and a device for calibrating the axis consistency of a boresight, wherein the method comprises the following steps: acquiring a reticle image with a cross reticle; the reticle image is an image of the calibration lens in the lens barrel after mechanical calibration; sequentially preprocessing the reticle images; extracting edge information of the preprocessed reticle image to obtain an edge image; calibrating the cross reticle in the edge image to obtain an endpoint coordinate value of the cross reticle; calculating the central coordinate value of the cross reticle according to the endpoint coordinate value; calculating the mechanical axis coordinate according to the edge image; calculating a deviation value according to the central coordinate value and the mechanical axis coordinate; and calibrating the consistency of the axis of the boresight according to the deviation value. According to the invention, the image processing is carried out on the image after mechanical calibration, so that the adjustment efficiency and the adjustment precision of the axis consistency calibration process are improved.
Description
Technical Field
The invention relates to the technical field of measurement calibration, in particular to a method and a device for calibrating the axis consistency of a boresight.
Background
The existing calibrating device for calibrating the axis consistency of the target correcting lens is designed for the existing several types of target correcting lenses, and a calibrating space is not reserved for longer target correcting lenses; usually designed in a non-detachable way, and is very inconvenient to use and carry; the adjustable part is few, no leveling calibration mechanism is provided, and only the early machining is excessively depended on, so that the adjustable part is only suitable for experimental use and is not suitable for production and practical application; and the application degree of computer software in the calibration process of the existing borescope is lower, most of work depends on manual operation and judgment, the precision and the efficiency are very low, and the requirement on the technical threshold of an operator is higher.
Disclosure of Invention
The invention aims to provide a method and a device for calibrating the axis consistency of a boresight, which can improve the adjustment efficiency and the adjustment precision of the axis consistency calibration process.
In order to achieve the purpose, the invention provides the following scheme:
a calibration method for the axis consistency of a borescope comprises the following steps:
acquiring a reticle image with a cross reticle; the reticle image is an image of the calibration lens in the lens barrel after mechanical calibration;
sequentially preprocessing the reticle images;
extracting edge information of the preprocessed reticle image to obtain an edge image;
calibrating the cross reticle in the edge image to obtain an endpoint coordinate value of the cross reticle;
calculating the central coordinate value of the cross reticle according to the endpoint coordinate value;
calculating the mechanical axis coordinate according to the edge image;
calculating a deviation value according to the central coordinate value and the mechanical axis coordinate;
and calibrating the consistency of the axis of the boresight according to the deviation value.
Preferably, the sequentially preprocessing the reticle images comprises:
and sequentially carrying out median filtering, picture color reversal and image binarization processing on the reticle image.
Preferably, the extracting edge information of the preprocessed reticle image to obtain the edge image includes:
and carrying out edge detection on the preprocessed reticle image by utilizing a Sobel operator to obtain an edge image of a cross reticle in the reticle image and coordinate values of the edge image.
Preferably, the edge information extraction of the preprocessed reticle image to obtain the edge image further includes:
and carrying out morphological image processing on the edge image.
Preferably, the calibrating the cross-shaped scribe line in the edge image to obtain the linear end point coordinate value of the cross-shaped scribe line includes:
carrying out linear detection on the cross reticle in the edge image by utilizing Hough transformation to obtain a linear detection image;
and calculating the coordinate values of the end points of the four line segments in the cross reticle according to the straight line detection graph.
Preferably, the method for calculating the central coordinate value of the cross reticle according to the endpoint coordinate value specifically comprises:
wherein X is the abscissa of the central coordinate value, Y is the ordinate of the central coordinate value, XaIs the abscissa value, X, of the first line segmentbIs the abscissa value, Y, of the second line segmentcIs the ordinate value, Y, of the third line segmentdIs a fourth lineOrdinate values of the segments.
Preferably, the method for calculating the mechanical axis coordinate according to the edge image specifically includes:
wherein Z is the abscissa of the mechanical axis, K is the ordinate of the mechanical axis, and XminIs the minimum abscissa value, X, of the edge imagemaxIs the maximum abscissa value, Y, of the edge imageminIs the minimum ordinate value, Y, of the edge imagemaxIs the maximum ordinate value of the edge image.
Preferably, the method for calculating the deviation value according to the central coordinate value and the mechanical axis coordinate specifically includes:
P＝X-Z
Q＝Y-K
wherein, P is an abscissa deviation value, Q is an ordinate deviation value, X is an abscissa of a central coordinate value, Y is an ordinate of the central coordinate value, Z is an abscissa of a mechanical axis, and Y is an ordinate of the mechanical axis.
A borescope axis conformance calibration apparatus, comprising: the device comprises an electronic level meter, a plurality of adjustable bases, an optical flat plate, a shear type lifting table, a two-dimensional CCD (charge coupled device) autocollimator module, a light source module, a supporting table, a digital goniometer, a connecting piece and a computer;
the electronic level gauge and the light source module are placed on the upper bottom surface of the optical flat plate; the adjustable bases are connected with the lower bottom surface of the optical flat plate and used for adjusting the levelness of the optical flat plate according to the indication number of the electronic level meter; the shearing type lifting table and the supporting table are arranged on the upper bottom surface of the optical flat plate, and the two-dimensional CCD autocollimator module is arranged above the shearing type lifting table; the digital angle measuring instrument is further arranged above the supporting table during mechanical axis calibration, the two-dimensional CCD autocollimator module and the digital angle measuring instrument are respectively connected with the computer, the two-dimensional CCD autocollimator module is used for emitting a cross line signal along the mechanical axis of the two-dimensional CCD autocollimator module, and the digital angle measuring instrument is used for receiving the cross line signal, collecting an image of the cross line signal and sending the image to the computer; the computer is used for judging whether the cross line signal is on the axis of the digital goniometer according to the image of the cross line signal, and the computer is also used for displaying the coordinate number of the mechanical shaft; the shearing type lifting platform is used for adjusting the height of the two-dimensional CCD autocollimator module in the vertical direction, the supporting platform is used for adjusting the horizontal distance of the digital goniometer based on the axis of the mechanical shaft, and the two-dimensional CCD autocollimator module is used for adjusting the pitching angle and the horizontal rotation angle of the cross line signal;
the connecting piece is connected with the rear end of the target correcting lens, the mechanical axis of the connecting piece and the mechanical axis of the target correcting lens are on the same straight line, the connecting piece is used for extending into the gun barrel, and the mechanical axis of the connecting piece and the mechanical axis of the gun barrel are on the same straight line; the calibration mirror is used for replacing the digital goniometer after the calibration of the mechanical shaft is completed, the light source module is used for emitting a light source into the calibration mirror, the two-dimensional CCD auto-collimator module receives a reticle image with a cross reticle in the calibration mirror lens barrel and sends the reticle image to the computer, and the computer is used for calculating the deviation value of the mechanical shaft and the actual optical shaft of the calibration mirror by adopting a calibration method for calibrating the consistency of the axis of the calibration mirror so as to calibrate the consistency of the axis of the calibration mirror according to the deviation value.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention relates to a calibrating device and a calibrating method for the consistency of the axis of a boresight, wherein the method comprises the following steps: acquiring a reticle image with a cross reticle; the reticle image is an image of the calibration lens in the lens barrel after mechanical calibration; sequentially preprocessing the reticle images; extracting edge information of the preprocessed reticle image to obtain an edge image; calibrating the cross reticle in the edge image to obtain an endpoint coordinate value of the cross reticle; calculating the central coordinate value of the cross reticle according to the endpoint coordinate value; calculating the mechanical axis coordinate according to the edge image; calculating a deviation value according to the central coordinate value and the mechanical axis coordinate; and calibrating the consistency of the axis of the boresight according to the deviation value. According to the invention, the image processing is carried out on the image after mechanical calibration, so that the adjustment efficiency and the adjustment precision of the axis consistency calibration process are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a flow chart of a calibration method for calibrating the axis consistency of a borescope according to the present invention;
FIG. 2 is a schematic view of a cross hair intersection in an embodiment of the present invention;
FIG. 3 is a block diagram of the alignment device for calibrating the alignment of the axis of the borescope according to the present invention;
FIG. 4 is a schematic diagram of an actual use of a borescope in an embodiment of the present invention;
fig. 5 is a schematic structural view of a connector according to an embodiment of the present invention, wherein (a) in fig. 5 is a left side view of the connector, and (b) in fig. 5 is a front view of the connector;
FIG. 6 is a schematic illustration of mechanical calibration adjustment in an embodiment provided by the present invention.
Description of the symbols:
the device comprises a 1-electronic level meter, a 2-adjustable base, a 3-optical flat plate, a 4-shear type lifting table, a 5-two-dimensional CCD autocollimator clamp, a 6-CCD autocollimator, a 7-light source power supply, an 8-point light source, a 9-screw, a 10-pallet, a 11-digital goniometer, a 12-target correcting mirror, a 13-connecting piece, a 14-computer, a 15-USB communication line, 16-calibration software, a 17-limiting clamping groove, a 18-threaded port, a 19-external thread, a 20-limiting clamping port, a 21-axis, a 22-gun barrel, an a-first line segment, a b-second line segment, a c-third line segment and a d-fourth line segment.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a method and a device for calibrating the axis consistency of a boresight, which can improve the adjustment efficiency and the adjustment precision of the axis consistency calibration process.
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.
Fig. 1 is a flowchart of a calibration method for calibrating the axis consistency of a borescope according to the present invention, and as shown in fig. 1, the calibration method for calibrating the axis consistency of a borescope according to the present invention includes:
step 100: acquiring a reticle image with a cross reticle; the reticle image is an image of the borescope in the lens barrel after mechanical calibration.
Step 200: and sequentially preprocessing the reticle images.
Step 300: and extracting edge information of the preprocessed reticle image to obtain the edge image.
Step 400: and calibrating the cross reticle in the edge image to obtain the endpoint coordinate value of the cross reticle.
Step 500: and calculating the central coordinate value of the cross reticle according to the endpoint coordinate value.
Step 600: and calculating the mechanical axis coordinate according to the edge image.
Step 700: and calculating a deviation value according to the coordinate value of the center and the coordinate of the mechanical axis.
Step 800: and calibrating the consistency of the axis of the boresight according to the deviation value.
Preferably, step 200 comprises:
and sequentially carrying out median filtering, picture color reversal and image binarization processing on the reticle image.
Specifically, the process of image enhancement processing in step 200 is realized through calibration software in a computer, and the median filtering method is used for retaining image details, enhancing edge characteristics and preventing edge blurring; carrying out picture color reversal and exchanging light and dark fields; and (4) carrying out image binarization processing, and taking a self-adaptive algorithm threshold value as the threshold value.
Preferably, step 300 comprises:
and carrying out edge detection on the preprocessed reticle image by utilizing a Sobel operator to obtain an edge image of a cross reticle in the reticle image and coordinate values of the edge image.
Optionally, step 300 detects edge information of the image, and acquires the edge information of the image by using a Sobel operator, and the corresponding image detects the cross and the edge of the scale mark on the cross.
Preferably, after step 300, further comprising:
and carrying out morphological image processing on the edge image.
Specifically, the morphological image processing specifically includes: firstly, carrying out expansion operation on the image, absorbing noise points remained at the edge of the image cross into a main skeleton of the cross, then carrying out image corrosion operation, and refining the image after the expansion in the previous step, so that the image skeleton is thinned, and the linear calibration is convenient.
Preferably, step 400 comprises:
and carrying out linear detection on the cross reticle in the edge image by utilizing Hough transformation to obtain a linear detection image.
And calculating the coordinate values of the end points of the four line segments in the cross reticle according to the straight line detection graph.
Specifically, Hough transformation is carried out on the image, a straight line is detected, and the algorithm can calculate the coordinates of two end points of the line segment.
Fig. 2 is a schematic diagram of a cross intersection according to an embodiment of the present invention, and as shown in fig. 2, the center of a cross (cross reticle) can be calculated according to the coordinate values of the end points of the first line segment a, the second line segment b, the third line segment c, and the fourth line segment d, and the center of the cross is the coordinate value of the optical center.
Preferably, the calculation method in step 500 is specifically:
wherein X is the abscissa of the central coordinate value, Y is the ordinate of the central coordinate value, XaIs the abscissa value, X, of the first line segmentbIs the abscissa value, Y, of the second line segmentcIs the ordinate value, Y, of the third line segmentdIs the ordinate value of the fourth line segment.
Specifically, after the optical center coordinate is calculated, the deviation between the optical center and the mechanical center needs to be calculated, the mechanical axis of the CCD autocollimator is used as a reference mechanical axis, and since the CCD autocollimator is used for image acquisition, the center of the acquired image and the mechanical axis are the same point, so that the mechanical axis coordinate can be obtained only by calculating the center coordinate of the image.
Preferably, the calculation method of step 600 specifically includes:
wherein Z is mechanicalThe abscissa of the axis, K being the ordinate of the mechanical axis, XminIs the minimum abscissa value, X, of the edge imagemaxIs the maximum abscissa value, Y, of the edge imageminIs the minimum ordinate value, Y, of the edge imagemaxIs the maximum ordinate value of the edge image.
Preferably, the calculation method in step 700 is specifically:
P＝X-Z；
Q＝Y-K；
wherein, P is an abscissa deviation value, Q is an ordinate deviation value, X is an abscissa of a central coordinate value, Y is an ordinate of the central coordinate value, Z is an abscissa of a mechanical axis, and Y is an ordinate of the mechanical axis.
Specifically, the value calculated P, Q represents the value of the deviation, and the sign of P, Q represents the direction of the deviation.
As an alternative embodiment, step 800 is to calibrate the alignment of the borescope axis according to the deviation value.
Specifically, after calculating the offset pixel distance (offset value), the pixel offset needs to be converted into an actual offset size, the basic measurement unit of the image resolution is dpi, which means the number of pixel points P per inch I, that is, the smallest analyzable point, which is a window for connecting the image information and the vision. Since one inch I is 25400 μ M (2.54cm) and the image is magnified by the microscope system by a factor of β, the conversion equation between pixels N and microns M can be obtained as follows:
the magnification beta is determined by fixed parameters of the borescope, the pixel dpi can be checked through image-viewing software, and when the type selection of key parts of the device is finished, the dpi value is a determined value.
And respectively substituting the P, Q values into N, calculating the actual deviation of the mechanical axis and the optical axis of the target correcting lens by the formula, and adjusting the target correcting lens according to the actual deviation so as to realize the axis consistency calibration of the target correcting lens.
Fig. 3 is a module connection diagram of the alignment device for alignment of axis of a target, as shown in fig. 3, the alignment device for alignment of axis of a target of the present invention comprises: the device comprises an electronic level 1, a plurality of adjustable bases 2, an optical flat plate 3, a shear type lifting table 4, a two-dimensional CCD autocollimator module, a light source module, a supporting table 10, a digital goniometer 11, a connecting piece 13 and a computer 14.
The electronic level 1 and the light source module are placed on the upper bottom surface of the optical flat plate 3; the adjustable bases 2 are connected with the lower bottom surface of the optical flat plate 3, and the adjustable bases 2 are used for adjusting the levelness of the optical flat plate 3 according to the indication number of the electronic level meter 1; the shear type lifting table 4 and the supporting table 10 are arranged on the upper bottom surface of the optical flat plate 3, and the two-dimensional CCD autocollimator module is arranged above the shear type lifting table 4; the digital angle measuring instrument 11 is further arranged above the supporting table 10 during mechanical axis calibration, the two-dimensional CCD autocollimator module and the digital angle measuring instrument 11 are respectively connected with the computer 14, the two-dimensional CCD autocollimator module is used for emitting a cross line signal along a self mechanical axis, and the digital angle measuring instrument 11 is used for receiving the cross line signal, collecting an image of the cross line signal and sending the image to the computer 14; the computer 14 is used for judging whether the reticle signal is on the axis of the digital goniometer 11 according to the image of the reticle signal, and the computer 14 is also used for displaying the coordinate number of the mechanical shaft; the shearing type lifting table 4 is used for adjusting the height of the two-dimensional CCD autocollimator module in the vertical direction, the supporting table 10 is used for adjusting the horizontal distance of the digital goniometer 11 based on the axis of the mechanical shaft, and the two-dimensional CCD autocollimator module is used for adjusting the pitching angle and the horizontal rotation angle of the cross line signal.
The connecting piece 13 is connected with the rear end of the target correcting mirror 12, the mechanical axis of the connecting piece 13 and the mechanical axis of the target correcting mirror 12 are on the same straight line, the connecting piece 13 is used for extending into the gun barrel 22, and the mechanical axis of the connecting piece 13 and the mechanical axis of the gun barrel 22 are on the same straight line; the calibration mirror 12 is used for replacing the digital goniometer 11 after completing the calibration of the mechanical axis, the light source module is used for emitting a light source into the calibration mirror 12, the two-dimensional CCD auto-collimator module receives a reticle image with a cross reticle in the lens barrel of the calibration mirror 12 and sends the reticle image to the computer 14, and the computer 14 is used for calculating a deviation value of the mechanical axis and an actual optical axis of the calibration mirror 12 so as to calibrate the consistency of the axis of the calibration mirror 12 according to the deviation value.
Specifically, in the process of calibrating the axis consistency of the boresight 12, all the adjusting mechanisms, the bearing mechanisms and the optical devices need to be placed on the optical flat plate 3, so that the optical flat plate 3 is ensured to be horizontal firstly. According to the invention, the electronic level 1 is arranged on the optical flat plate 3, the levelness of the optical flat plate 3 can be displayed in real time, the optical flat plate 3 is adjusted through the four adjustable bases 2 below the optical flat plate 3, and when the reading of the electronic level 1 displays the level, the heights of the four adjustable bases 2 are fixed, so that the horizontal calibration of the optical flat plate 3 is completed (wherein the precision requirement of the electronic level 1 is 0.01 mm/m).
Preferably, the computer 14 is provided with calibration software 16 inside, and the calibration software 16 is configured to perform image processing and deviation operation according to the first image and the second image to obtain an image offset, so as to implement axis consistency calibration of the borescope 12.
Optionally, the two-dimensional CCD autocollimator module includes: a two-dimensional CCD autocollimator clamp 5 and a CCD autocollimator 6; two-dimensional CCD autocollimator anchor clamps 5 set up cut type elevating platform 4's top, CCD autocollimator 6 sets up on two-dimensional CCD autocollimator anchor clamps 5, two-dimensional CCD autocollimator anchor clamps 5 are used for adjusting CCD autocollimator 6's angle of pitch and horizontal rotation angle, CCD autocollimator 6 with computer 14 is connected, CCD autocollimator 6 is used for launching the cross line signal, CCD autocollimator 6's mechanical axle center with the mechanical axle center of school target mirror 12 is on same straight line.
Alternatively, the calibration mirror 12 is an irregular object, which makes it difficult to stably clamp the calibration mirror 12 without affecting the convenience and accuracy of the experiment, and the device needs to place the mechanical axis of the calibration mirror 12 on the same mechanical axis of the CCD autocollimator 6. Therefore, a reference plane for the borescope 12 needs to be determined. The mode that the rear end face of the correcting lens 12 is used as a reference surface is determined by combining the actual using method of the correcting lens 12.
Fig. 4 is a schematic diagram of an actual use of the target calibration mirror 12 in the embodiment of the present invention, as shown in fig. 4, in an actual use process, the rear end of the target calibration mirror 12 is connected to a connecting member 13 conforming to the caliber of a gun barrel 22, the connecting member 13 is inserted into the gun barrel 22, the mechanical axis of the connecting member 13 and the mechanical axis of the gun barrel 22 are on a straight line, and the mechanical axis of the connecting member 13 and the mechanical axis of the target calibration mirror 12 are also on a straight line. Therefore, when the calibration of the borescope 12 is performed, a reference plane is determined with the portion of the borescope 12 connected to the connecting member 13 as a reference plane. This is chosen to conform to the principles of the borescope 12 in actual use. The calibration mirror 12 can be well fixed by matching with the customized connecting piece 13 and the customized saddle 10, and the subsequent mechanical coaxiality is conveniently realized.
Fig. 5 is a schematic structural view of a connector according to an embodiment of the present invention, wherein (a) in fig. 5 is a left side view of the connector, and (b) in fig. 5 is a front view of the connector. The connecting piece 13 is designed as a cylindrical device with the same outer diameter as the digital goniometer 11, the front end of the connecting piece is provided with an external thread 19, the connecting piece 13 is aligned according to the position of the limit clamping groove 17 by matching with the limit bayonet 20 of the limit clamping groove 17 behind the calibration mirror 12, the threaded port 18 at the rear end of the calibration mirror 12 is screwed on the external thread 19 at the front end of the connecting piece 13, the connection between the calibration mirror 12 and the connecting piece 13 is completed, and the mechanical axis of the connecting piece 13 is the same as the mechanical axis of the reference surface selected by the calibration mirror 12 at the moment.
Specifically, the CCD autocollimator 6 and the digital goniometer 11 are both connected to the computer 14 through a USB communication line 15.
Preferably, the optical flat plate 3 is provided with a plurality of standard screw 9 hole sites.
Optionally, the light source module includes: a light source power supply 7 and a point light source 8; the light source power supply 7 is arranged on the optical flat plate 3, the light source power supply 7 is used for supplying power to the point light source 8, and the point light source 8 is used for illuminating the target correcting mirror 12.
Specifically, the device also comprises a screw 9; the base of the supporting table 10 is provided with a clamping groove which moves left and right along the axis of the mechanical shaft, the screw 9 is arranged in the clamping groove, and the screw 9 is used for fixing after the position of the supporting table 10 is adjusted and determined.
Optionally, the alignment of the axis consistency of the calibration target 12 needs to calibrate the deviation between the mechanical axis and the optical axis of the calibration target 12, the present invention uses the mechanical axis of the CCD autocollimator 6 as the reference axis, so it is ensured that the pallet 10 cooperates with the calibration target 12, the mechanical axis of the calibration target 12 is on the mechanical axis of the CCD autocollimator 6, and in order to ensure that the coaxiality between the calibration target 12 and the CCD autocollimator 6 cannot be achieved under the condition that the machining coaxiality is not achieved, the present invention uses the method of bidirectional alignment of the CCD autocollimator 6 and the digital goniometer 11, and cooperates with the two-dimensional CCD autocollimator clamp 5, the shear-type lifting table 4 and the pallet 10 which can be adjusted in one-dimensional manner to achieve coaxial alignment, as shown in fig. 6, the specific flow is:
(1) the CCD autocollimator 6 is used as a signal source, transmits a cross line signal along a mechanical shaft, the opposite end uses the digital goniometer 11 as a receiver, after receiving the cross line signal, an image collected by the digital goniometer 11 is transmitted to the computer 14, and whether an emergent signal is on the axis of the digital goniometer 11 is judged by software.
(2) Through software identification, the coordinate of the mechanical axis can be accurately and digitally displayed on a screen of a computer 14, real-time adjustment can be performed according to deviation, a two-dimensional CCD autocollimator clamp 5 is used for adjusting a pitch angle and a horizontal rotation angle, a shear type lifting platform 4 is used for performing lifting adjustment in the vertical direction, a one-dimensional adjusting supporting platform 10 is used for performing horizontal left-right adjustment based on an axis 21, and after the supporting platform 10 is adjusted, a screw 9 in a displacement clamping groove of a base of the supporting platform 10 is fixed. At this time, the axis of the CCD autocollimator 6 and the axis of the digital goniometer 11 are located on the same straight line.
Specifically, after the mechanical coaxial calibration in the previous step is performed, the digital angle gauge is taken down from the pallet 10, and the target calibration mirror 12 connected with the connecting piece 13 is placed on the pallet 10. And (3) turning on a light source power supply 7, lighting a point light source 8, extending a lamp holder of the light source into an eyepiece of the target correcting lens 12, wherein a reticle with a reticle in a lens barrel of the target correcting lens 12 is illuminated by the light source of the power supply, an image of the reticle enters a light tube of the CCD autocollimator 6 through an objective lens end of the target correcting lens 12 and is collected by the CCD autocollimator 6, and the collected image is a reticle image with a cross reticle. In the image, the background is a bright field of view and the cross hairs are a dark field of view. The image is transmitted to a computer 14 via a USB communication line 15 and processed by programmed calibration software 16.
As an alternative embodiment, the computer 14 is a laptop computer 14 or a desktop computer 14.
The invention has the following beneficial effects:
(1) the high-precision electronic level meter is adopted to calibrate the optical platform, and a calibration environment with higher precision is provided for subsequent calibration of the borescope. And the electronic level can realize real-time display of levelness, and the adjusting efficiency is improved.
(2) Adopt adjustable base, adapt to different calibration environment, be more suitable for calibrating device's outdoor experiment than traditional fixed baseplate.
(3) In the processing of the mechanical axis, a mode of combining image processing and four-dimensional adjustment is adopted, so that the processing difficulty caused by high requirement on the machining precision is avoided; the device is avoided using throughout the year, the experimental environment is uncomfortable, the use mode is improper, the module damage caused by improper storage influences the final calibration result, the environmental suitability is higher, and the service life is longer.
(4) The mechanical axis calibration process is assisted by software, data is visualized, the operation threshold in the calibration process is greatly reduced, an operator only needs to correspondingly adjust according to the reading of the software, and the adjustment efficiency is greatly improved.
(5) The digital goniometer used in the mechanical axis calibration has higher precision, and has higher precision compared with the single mechanical processing, thereby reducing the influence on the subsequent calibration of the consistency of the axis of the borescope.
(6) The optical flat plate is used as the bearing platform instead of a customized base, so that the optical flat plate with different levels can be selected according to the calibration requirements of different calibration targets, the adaptability is stronger, and the cost can be saved in a low-precision calibration experiment.
(7) The optical flat plate is provided with standard screw hole positions, so that the optical flat plate is more suitable for mounting optical equipment, axis consistency calibration is required to be carried out on the optical flat plate if the target correcting lenses with different sizes exist, and longer calibration distance can be provided by redundant hole positions.
(8) The optical flat plate is used as a calibration platform, so that equipment can be better disassembled, different parts can be stored in different modules when not used, the portability is increased, and the maintainability is greatly improved.
(9) The CCD autocollimator is adopted for image acquisition, the precision of the CCD autocollimator can be selected, the CCD autocollimator only needs to be replaced in order to adapt to different calibration requirements, the whole system structure does not need to be redesigned, and the cost is saved.
(10) The CCD autocollimator is designed by integrating a CCD camera and a collimator, vibration can be caused by installation in the calibration process, and the integrated design can avoid deviation of the end face of the camera sensor and the mechanical axis of the collimator, which is caused by vibration.
(11) And a computer is used as an image processing end, so that the calibration efficiency can be improved.
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.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. A calibration method for the axis consistency of a borescope is characterized by comprising the following steps:
acquiring a reticle image with a cross reticle; the reticle image is an image of the calibration lens in the lens barrel after mechanical calibration;
sequentially preprocessing the reticle images;
extracting edge information of the preprocessed reticle image to obtain an edge image;
calibrating the cross reticle in the edge image to obtain an endpoint coordinate value of the cross reticle;
calculating the central coordinate value of the cross reticle according to the endpoint coordinate value;
calculating the mechanical axis coordinate according to the edge image;
calculating a deviation value according to the central coordinate value and the mechanical axis coordinate;
and calibrating the consistency of the axis of the boresight according to the deviation value.
2. The borescope axis consistency calibration method of claim 1, wherein said sequentially pre-processing the reticle images comprises:
and sequentially carrying out median filtering, picture color reversal and image binarization processing on the reticle image.
3. The method for calibrating the axis consistency of the borescope according to claim 1, wherein the extracting edge information of the preprocessed reticle image to obtain the edge image comprises:
and carrying out edge detection on the preprocessed reticle image by utilizing a Sobel operator to obtain an edge image of a cross reticle in the reticle image and coordinate values of the edge image.
4. The method for calibrating the axis consistency of the borescope according to claim 1, wherein the extracting the edge information of the preprocessed reticle image further comprises:
and carrying out morphological image processing on the edge image.
5. The method for calibrating the axis consistency of the borescope according to claim 1, wherein the calibrating the cross scribe line in the edge image to obtain the coordinate values of the straight end points of the cross scribe line comprises:
carrying out linear detection on the cross reticle in the edge image by utilizing Hough transformation to obtain a linear detection image;
and calculating the coordinate values of the end points of the four line segments in the cross reticle according to the straight line detection graph.
6. The method for calibrating the axis consistency of the borescope according to claim 1, wherein the method for calculating the central coordinate value of the cross reticle according to the endpoint coordinate value specifically comprises:
wherein X is the abscissa of the central coordinate value, Y is the ordinate of the central coordinate value, XaIs the abscissa value, X, of the first line segmentbIs the abscissa value, Y, of the second line segmentcIs the ordinate value, Y, of the third line segmentdIs the ordinate value of the fourth line segment.
7. The borescope axis consistency calibration method according to claim 1, wherein the calculation method for calculating the mechanical axis coordinate from the edge image specifically comprises:
wherein Z is the abscissa of the mechanical axis, K is the ordinate of the mechanical axis, and XminIs the minimum abscissa value, X, of the edge imagemaxIs the maximum abscissa value, Y, of the edge imageminIs the minimum ordinate value, Y, of the edge imagemaxIs the maximum ordinate value of the edge image.
8. The borescope axis consistency calibration method of claim 1, wherein the calculating method of calculating the deviation value according to the center coordinate value and the mechanical axis coordinate specifically comprises:
P＝X-Z
Q＝Y-K
wherein, P is an abscissa deviation value, Q is an ordinate deviation value, X is an abscissa of a central coordinate value, Y is an ordinate of the central coordinate value, Z is an abscissa of a mechanical axis, and Y is an ordinate of the mechanical axis.
9. A calibration device for calibrating the axis consistency of a borescope is characterized by comprising: the device comprises an electronic level meter, a plurality of adjustable bases, an optical flat plate, a shear type lifting table, a two-dimensional CCD (charge coupled device) autocollimator module, a light source module, a supporting table, a digital goniometer, a connecting piece and a computer;
the electronic level gauge and the light source module are placed on the upper bottom surface of the optical flat plate; the adjustable bases are connected with the lower bottom surface of the optical flat plate and used for adjusting the levelness of the optical flat plate according to the indication number of the electronic level meter; the shearing type lifting table and the supporting table are arranged on the upper bottom surface of the optical flat plate, and the two-dimensional CCD autocollimator module is arranged above the shearing type lifting table; the digital angle measuring instrument is further arranged above the supporting table during mechanical axis calibration, the two-dimensional CCD autocollimator module and the digital angle measuring instrument are respectively connected with the computer, the two-dimensional CCD autocollimator module is used for emitting a cross line signal along the mechanical axis of the two-dimensional CCD autocollimator module, and the digital angle measuring instrument is used for receiving the cross line signal, collecting an image of the cross line signal and sending the image to the computer; the computer is used for judging whether the cross line signal is on the axis of the digital goniometer according to the image of the cross line signal, and the computer is also used for displaying the coordinate number of the mechanical shaft; the shearing type lifting platform is used for adjusting the height of the two-dimensional CCD autocollimator module in the vertical direction, the supporting platform is used for adjusting the horizontal distance of the digital goniometer based on the axis of the mechanical shaft, and the two-dimensional CCD autocollimator module is used for adjusting the pitching angle and the horizontal rotation angle of the cross line signal;
the connecting piece is connected with the rear end of the target correcting lens, the mechanical axis of the connecting piece and the mechanical axis of the target correcting lens are on the same straight line, the connecting piece is used for extending into the gun barrel, and the mechanical axis of the connecting piece and the mechanical axis of the gun barrel are on the same straight line; the calibration target is used for replacing the digital goniometer after the calibration of the mechanical axis is completed, the light source module is used for emitting a light source into the calibration target, the two-dimensional CCD auto-collimator module receives a reticle image with a cross reticle in the calibration target lens barrel and sends the reticle image to the computer, and the computer is used for calculating the deviation value of the mechanical axis and the actual optical axis of the calibration target by adopting the method of any one of claims 1 to 8 so as to calibrate the consistency of the axis of the calibration target according to the deviation value.
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