CN113959374B - Image-based laser holder optical axis correction method and device - Google Patents
Image-based laser holder optical axis correction method and device Download PDFInfo
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- CN113959374B CN113959374B CN202111579882.8A CN202111579882A CN113959374B CN 113959374 B CN113959374 B CN 113959374B CN 202111579882 A CN202111579882 A CN 202111579882A CN 113959374 B CN113959374 B CN 113959374B
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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
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
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Abstract
The invention belongs to the field of laser technology application, and particularly relates to an image-based laser holder optical axis correction method and device. The method comprises the following steps: placing a target object at an actual using distance of a laser holder to obtain a laser irradiation reference point; performing laser irradiation by using a laser holder, and observing the irradiation condition of a laser spot by using a laser spot observation mirror to obtain a deviation position; adjusting the cutting center position of the visible light image to coincide with the center of the laser spot; and (5) storing the current calibration parameters after the optical axis of the laser holder is retested to be correct, and finishing the correction work. The invention corrects the position of the optical axis by adjusting the cutting center of the large-format image to adapt to the center of the optical axis, calibrates the use scene, has high calibration precision and small error, reduces the difficulty of debugging the optical axis during the assembly of the traditional holder, and perfectly solves the problem that the laser holder cannot normally irradiate on the target when the functions of long-distance target irradiation, distance measurement and the like are realized due to the change or deviation of the optical axis.
Description
Technical Field
The invention belongs to the field of laser technology application, is applied to laser optical axis correction of a multi-optical holder with laser, and particularly relates to an image-based laser holder optical axis correction method and device.
Background
Many of the cloud platform equipment such as many three light cloud platforms, four light cloud platforms in the trade at present all possess laser, and the adjustment of present laser cloud platform optical axis is calibration when all by the assembly, and the assembly process is complicated consuming time, and under many circumstances, has a plurality of pixel level deviations between the cloud platform optical axis of artifical optical axis platform calibration and the visible light optical axis. Meanwhile, the size of 1 pixel of a visible light zoom camera in the industry is generally smaller than an included angle of 0.0005 degrees, and the requirement of high precision also causes the change of an optical axis of a plurality of machines due to low assembly precision, structural stress, structural expansion and contraction with heat, external force action and the like. The change of the optical axis also causes that the laser holder can not normally hit the target to generate deviation when the laser holder realizes the functions of irradiating the long-distance target, measuring distance and the like by the optical axis deviation, so that the measuring result or the irradiation result is not in accordance with the actual result.
Disclosure of Invention
The invention provides an image-based laser holder optical axis correction method and device, aiming at solving the problem that a laser holder cannot normally irradiate a target when the functions of long-distance target irradiation, distance measurement and the like are realized due to the change or deviation of an optical axis in the prior art. The problem that the laser holder cannot normally irradiate on the target when long-distance target irradiation, distance measurement and other functions are realized due to the change or deviation of the optical axis is perfectly solved.
The invention is realized by adopting the following technical scheme:
an image-based optical axis correction method of a laser holder is applied to a multi-light holder containing laser and used for calibrating a laser optical axis and a visible light optical axis of the laser holder, and comprises the following steps:
placing a target object at an actual using distance of a laser holder to obtain a laser irradiation reference point;
using the laser of the laser holder to aim at the target object where the datum point is located through the visible light image to carry out laser irradiation, and observing the laser spot irradiation condition through a laser spot observation mirror to obtain a deviation position;
adjusting the cutting center position of the visible light image, and moving the cutting center position to coincide with the center of the laser spot;
and after the optical axis of the laser holder is retested, storing the current calibration parameters, and finishing the correction work of the optical axis of the laser holder.
Optionally, the target is a laser target placed at an actual using distance of the laser holder, or an irradiation target is found at the actual using distance of the laser holder, and the irradiation target is a target having a typical characteristic.
Further, the reference point is used as a characteristic point for judging laser offset of the laser holder, and if the actual irradiation distance of the laser holder exceeds 1km, the 1km target is used as the reference point.
Optionally, the visible light image is obtained by a plurality of visible light zoom cameras, a plurality of camera video images obtained by the cameras are transmitted to the holder processor platform, and the holder processor platform is further configured to control the laser of the laser holder.
Further, the maximum resolution of a holder camera image of the laser holder is greater than the video resolution of the holder camera, the holder camera image has a space for cutting adjustment, and the XY axis of the maximum resolution of the holder camera image is selected to be greater than 10% of the XY axis of the video resolution of the holder camera.
Further, the method for obtaining the cutting center position includes:
and processing the cloud deck camera image through a cloud deck processor platform, setting a cutting frame in the cloud deck camera image, setting the center of the cutting frame as a cutting center, and calibrating the coordinates of the cutting center as (X, Y).
The holder processor platform further has a setting function of adjusting the cutting center of each holder camera image, and the holder processor platform is provided with an independent cutting function and a cutting center of each holder camera image so as to facilitate adjustment of each video image.
Optionally, the method for obtaining the laser spot center includes: when a laser target is placed at the actual using distance of the laser holder or an irradiation target is searched to obtain a laser irradiation reference point; and after the laser cloud deck is used for carrying out laser irradiation, measuring the center of the laser spot according to the observed laser spot irradiation condition.
Further, calibrating the coordinates of the laser spot center in an image cutting area of the cutting frame, wherein the coordinates of the laser spot center relative to the cutting center are (X + A, Y + B).
Optionally, the method for moving the image cutting center position to coincide with the laser spot center includes: and calculating to obtain an optical axis deviation angle according to the obtained coordinates (X, Y) of the cutting center and the coordinates (X + A, Y + B) of the laser spot center, adjusting an X axis and a Y axis of a camera image of the holder, and moving the image cutting area of the cutting frame until the coordinates of the cutting center coincide with the coordinates of the laser spot center.
The invention also comprises an image-based laser holder optical axis correction device, wherein the image-based laser holder optical axis correction device adopts the image-based laser holder optical axis correction method to realize optical axis calibration work; the image-based laser holder optical axis correction device comprises a laser holder, a camera, a holder processor platform and a target;
the target is placed at the actual using distance of the laser holder and is used for obtaining a laser irradiation datum point;
the cameras are a plurality of visible light zooming cameras and are used for obtaining visible light images;
the laser holder is used for irradiating a target by laser to obtain a reference point and is also used for irradiating the reference point by the laser through a visible light image to generate a laser spot;
the holder processor platform is used for controlling the laser of the laser holder and processing a holder camera image, setting a cutting frame in the holder camera image, and setting the center of the cutting frame as a cutting center; and the laser tripod head is also used for adjusting the cutting center of each tripod head camera image, moving the cutting center position of the image to coincide with the center of the laser spot, and finishing the correction work of the optical axis of the laser tripod head.
The invention also comprises an application of the image-based laser holder optical axis correction method, wherein the image-based laser holder optical axis correction method is applied to a production assembly stage and a normal use stage, and the steps of applying the image-based laser holder optical axis correction method to carry out holder laser optical axis correction in the production assembly stage are as follows:
manually assembling a holder on an assembly optical axis table to within a certain error;
performing laser irradiation on the optical axis table target by using a holder, and obtaining a deviation position according to the irradiation condition of a laser spot;
adjusting the cutting center position of the visible video image through software, and aligning the center of the image with the center of the laser optical axis through moving the image center position;
and finishing the calibration work of the laser holder optical axis software, storing the current calibration parameters and finishing the assembly work.
Through the application, after manual assembly, the laser optical axis of the holder is corrected again through the step of correcting the laser optical axis of the holder, so that the requirement on the precision of the manual assembly can be reduced, the difficulty of the manual assembly can be reduced, and the problem that the requirement is extremely high when the optical axis is adjusted to within 2 pixels according to the traditional manual assembly requirement can be solved.
The step of applying the image-based laser holder optical axis correction method to carry out holder laser optical axis correction in the normal use stage comprises the following steps:
placing a laser target or searching an irradiation target to obtain a laser irradiation reference point according to the actual use distance of the laser holder;
performing laser irradiation by using a laser holder, and observing the irradiation condition of a laser spot by using a laser spot observation mirror to obtain a deviation position;
adjusting the cutting center position of the visible video image through software, and aligning the center of the image with the center of the laser optical axis through moving the image center position;
and finishing the calibration work of the laser holder optical axis software and storing the current calibration parameters.
And in the normal use stage of the product, manually correcting the laser axis according to the image-based laser holder optical axis correction method so as to correct the problem of laser axis deviation caused by structural stress, thermal expansion and cold contraction, external force and other factors.
The technical scheme provided by the invention has the following beneficial effects:
the invention corrects the position of the optical axis by adjusting the cutting center of the large-format image to be matched with the center of the optical axis, has simple integral method and convenient realization, does not need to disassemble the holder, can adjust the position of the optical axis by means of a tool at any time and any place, calibrates the use scene, and has high calibration precision and small error. The optical axis debugging difficulty during the assembly of the traditional holder is reduced, and the optical axis is adjusted through the optical axis adjusting device after manual debugging, so that the requirement on the precision of manual adjustment is reduced, and the assembling time of an assembling worker is greatly saved. Meanwhile, the problem that the laser holder cannot normally irradiate on the target when long-distance target irradiation, distance measurement and other functions are realized due to the change or deviation of the optical axis is perfectly solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of an optical axis correction method for a laser holder based on an image according to embodiment 1 of the present invention.
Fig. 2 is a schematic diagram illustrating a clipping center set in the optical axis correction method for the image-based laser holder according to embodiment 1 of the present invention.
Fig. 3 is a schematic view of the measured laser spot center in the image-based laser holder optical axis correction method according to embodiment 1 of the present invention.
Fig. 4 is a schematic diagram of adjusting the center position of an image to coincide with the center of a laser spot in the method for correcting the optical axis of the image-based laser holder according to embodiment 1 of the present invention.
Fig. 5 is a block diagram of an optical axis correction device of a laser holder based on an image according to embodiment 2 of the present invention.
Fig. 6 is a flowchart of the method for correcting the optical axis of the laser holder based on the image in the production assembly stage according to embodiment 3 of the present invention.
Fig. 7 is a flow chart of the optical axis correction method of the laser holder based on the image in the normal use stage according to embodiment 4 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
According to the image-based laser holder optical axis correction method and device, firstly, the optical axis deviation angle is measured by means of a laser spot measuring tool, then the center coordinate of the cutting axis of the image X, Y is adjusted according to the actual light spot calibration result, and finally the optical axis center and the image center are coincided. The problem that the laser holder cannot normally irradiate on the target when long-distance target irradiation, distance measurement and other functions are realized due to the change or deviation of the optical axis is perfectly solved. The following description will be given with reference to specific examples.
Example 1
As shown in fig. 1, an embodiment of the present invention provides an image-based optical axis correction method for a laser pan-tilt, which is applied to a multi-optical pan-tilt including laser, and is used for calibrating a laser optical axis and a visible light optical axis of the laser pan-tilt, and the method includes the following steps:
and S1, placing the target object at the actual using distance of the laser holder to obtain a laser irradiation reference point.
In this embodiment, the target is a laser target placed at an actual using distance of the laser pan-tilt, or an irradiation target may be found at the actual using distance of the laser pan-tilt, the irradiation target is a reference point for finding a target with a typical characteristic to obtain laser irradiation, and in general, if the actual irradiation distance exceeds 1km, the 1km target is used as the reference point for laser deviation determination.
It should be particularly noted that the image-based laser holder optical axis correction method of this embodiment is applied to a multi-optical holder product that satisfies that the maximum resolution of the holder camera is greater than the video resolution of the holder camera, that is, this embodiment is applicable to the calibration of the laser optical axis and the visible light optical axis in a multi-optical holder with the maximum image resolution of the visible light of the holder camera being greater than the video resolution of the visible light. Meanwhile, in other embodiments of the present invention, the laser irradiation reference points in the method may be replaced by image reference points, and the method may be applied to calibration of the center of the multi-pan-tilt image such as visible light and visible light, visible light and infrared light.
And S2, using the laser of the laser holder to aim at the target object where the datum point is located through the visible light image to carry out laser irradiation, and observing the laser spot irradiation condition through the laser spot observation mirror to obtain the deviation position.
In this embodiment, laser of the laser pan-tilt is used to irradiate the reference point through the visible light image, and the irradiation condition of the laser spot is observed through the laser spot observation mirror, so as to obtain the deviation position. Wherein, part cloud platform camera visible light wave band is wider, can directly see the laser facula, then need not to rely on facula observation equipment. The visible light images are obtained by a plurality of visible light zooming cameras, a plurality of camera video images obtained by the cameras are transmitted to the holder processor platform, and the holder processor platform is further used for controlling laser of the laser holder.
And S3, adjusting the cutting center position of the visible light image, and moving the cutting center position to coincide with the laser spot center.
It should be particularly noted that the maximum resolution of the pan-tilt camera image of the laser pan-tilt is greater than the video resolution of the pan-tilt camera, the pan-tilt camera image has a space for cutting adjustment, and the XY axis of the maximum resolution of the pan-tilt camera image is selected to be greater than 10% of the XY axis of the video resolution of the pan-tilt camera. Based on this, the method for obtaining the cutting center position includes:
referring to fig. 2, a pan-tilt camera image is processed through a pan-tilt processor platform, a cropping frame is set in the pan-tilt camera image, the center of the cropping frame is set as a cropping center, and coordinates of the cropping center are calibrated to be (X, Y). The holder processor platform further has a setting function of adjusting the cutting center of each holder camera image, and the holder processor platform is provided with an independent cutting function and a cutting center of each holder camera image so as to facilitate adjustment of each video image.
In addition, referring to fig. 3, the method for acquiring the laser spot center includes: when a laser target is placed at the actual using distance of the laser holder or an irradiation target is searched to obtain a laser irradiation reference point; and after the laser cloud deck is used for carrying out laser irradiation, measuring the center of the laser spot according to the observed laser spot irradiation condition.
When the position of the mobile image cutting center is overlapped with the center of the laser spot, referring to fig. 4, the coordinates of the center of the laser spot are calibrated in the image cutting area of the cutting frame, the coordinates of the center of the laser spot relative to the cutting center are (X + a, Y + B), and the method for moving the position of the cutting center to be overlapped with the center of the laser spot comprises the following steps: and calculating to obtain an optical axis deviation angle according to the obtained coordinates (X, Y) of the cutting center and the coordinates (X + A, Y + B) of the laser spot center, adjusting an X axis and a Y axis of a camera image of the holder, and moving the image cutting area of the cutting frame until the coordinates of the cutting center coincide with the coordinates of the laser spot center.
And S4, retesting the laser holder optical axis, storing the current calibration parameters, and finishing the correction work of the laser holder optical axis.
In the embodiment, the optical axis position is corrected by adjusting the cutting center of the large-format image to be matched with the optical axis center through software arranged on a holder processor platform, the whole method is simple, the realization is convenient, the holder does not need to be disassembled, meanwhile, the optical axis position can be adjusted by means of a tool at any time and any place, the calibration is carried out aiming at a use scene, the calibration precision is high, and the error is small. The optical axis debugging difficulty during the assembly of the traditional holder is reduced, and the optical axis of software is used for adjustment after manual debugging, so that the requirement on the precision of manual adjustment is reduced, and the assembly time of assembly personnel is greatly saved. Meanwhile, the problem that the laser holder cannot normally irradiate on the target when long-distance target irradiation, distance measurement and other functions are realized due to the change or deviation of the optical axis is perfectly solved.
Example 2
As shown in fig. 5, an embodiment of the present invention provides an image-based laser pan/tilt optical axis correction apparatus including a laser pan/tilt 11, a camera 12, a pan/tilt processor platform 13, and a target 14.
The target 14 is placed at a distance actually used by the laser pan/tilt head 11 for obtaining a laser irradiation reference point. In this embodiment, the target object 14 may be a laser target at the actual use distance of the laser pan-tilt 11, or may be an irradiation target searched at the actual use distance of the laser pan-tilt 11, and a reference point is obtained by laser irradiation, and the reference point is used as a characteristic point for laser deviation determination.
The camera 12 is used to obtain visible light images. The camera 12 may be a plurality of visible light zoom cameras connected to the pan/tilt processor platform 13, the camera 12 serves as a pan/tilt camera, a maximum resolution of a pan/tilt camera image of the camera 12 is greater than a video resolution of the image, and the image of the camera 12 has a suitable space for clipping adjustment.
The laser holder 11 is used for irradiating a target 14 with laser to obtain a reference point, performing laser irradiation by matching with the target 14 to obtain the reference point, aligning the reference point through a visible light image, performing laser irradiation to generate a laser spot, measuring the center of the laser spot, and observing the irradiation condition of the laser spot through a laser spot observation mirror to obtain a deviation position.
The holder processor platform 13 is used for controlling the laser of the laser holder 11 and processing the image of the holder camera 12, setting a cutting frame in the image of the holder camera 12, and setting the center of the cutting frame as a cutting center; and the laser processing device is also used for adjusting the cutting center of each pan-tilt camera 12 image, moving the cutting center position of the image to coincide with the center of the laser spot, and finishing the correction work of the optical axis of the laser pan-tilt 11.
The optical axis position of the laser holder based on the image is corrected by adjusting the cutting center of the large-size image to be matched with the optical axis center, the whole method is simple, the realization is convenient, the holder does not need to be disassembled, meanwhile, the optical axis position can be adjusted by means of a tool at any time and any place, the calibration is performed aiming at a use scene, the calibration precision is high, and the error is small. The optical axis debugging difficulty during the assembly of the traditional holder is reduced, and the optical axis is adjusted through the optical axis adjusting device after manual debugging, so that the requirement on the precision of manual adjustment is reduced, and the assembling time of an assembling worker is greatly saved. Meanwhile, the problem that the laser holder 11 cannot normally irradiate on the target when long-distance target irradiation, distance measurement and other functions are realized due to the change or deviation of the optical axis is perfectly solved.
Example 3
In one embodiment of the invention, an application of an image-based laser holder optical axis correction method is provided, and the image-based laser holder optical axis correction method is applied to a production assembly stage. As shown in fig. 6, the step of applying the image-based laser holder optical axis correction method to perform holder laser optical axis correction in the production assembly stage is as follows:
s301, manually assembling a holder on an assembly optical axis table to within a certain error;
s302, performing laser irradiation on the optical axis table target by using a holder, and obtaining a deviation position according to the irradiation condition of laser spots;
s303, adjusting the cutting center position of the visible video image through software, and aligning the center of the image with the center of the laser optical axis through moving the center position of the image;
s304, completing the calibration work of the laser holder optical axis software, storing the current calibration parameters, and completing the assembly work.
Through the application, after manual assembly, the laser optical axis of the holder is corrected again through the step of correcting the laser optical axis of the holder, so that the requirement on the precision of the manual assembly can be reduced, the difficulty of the manual assembly can be reduced, and the problem that the requirement is extremely high when the optical axis is adjusted to within 2 pixels according to the traditional manual assembly requirement can be solved.
Example 4
In one embodiment of the invention, an application of an image-based laser holder optical axis correction method is provided, and the image-based laser holder optical axis correction method is applied to a normal use stage. As shown in fig. 7, the step of applying the image-based laser holder optical axis correction method to perform holder laser optical axis correction in the normal use stage includes:
s401, placing a laser target or searching an irradiation target to obtain a laser irradiation reference point according to the actual use distance of a laser holder;
s402, performing laser irradiation by using a laser holder, and observing the laser spot irradiation condition through a laser spot observation mirror to obtain a deviation position;
s403, adjusting the cutting center position of the visible video image through software, and aligning the center of the image with the center of the laser optical axis through moving the center position of the image;
and S404, completing the calibration work of the laser holder optical axis software, and storing the current calibration parameters.
In the normal use stage of the product, the laser optical axis is manually corrected according to the image-based laser holder optical axis correction method so as to correct the problem of laser optical axis deviation caused by structural stress, thermal expansion and cold contraction, external force and other factors.
Example 5
In an embodiment of the present invention, a computer device is provided, where the computer device may be used to implement the image-based laser holder optical axis correction method provided in the above embodiments, and the computer device may be a smart phone, a computer, a tablet computer, or the like.
The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps in the above method embodiment when executing the computer program:
placing a target object at an actual using distance of a laser holder to obtain a laser irradiation reference point;
using the laser of the laser holder to aim at the target object where the datum point is located through the visible light image to carry out laser irradiation, and observing the laser spot irradiation condition through a laser spot observation mirror to obtain a deviation position;
adjusting the cutting center position of the visible light image, and moving the cutting center position to coincide with the center of the laser spot;
and after the optical axis of the laser holder is retested, storing the current calibration parameters, and finishing the correction work of the optical axis of the laser holder.
Example 6
An embodiment of the present invention further provides a storage medium having a computer program stored thereon, which when executed by a processor implements the steps in the above-mentioned method embodiments:
placing a target object at an actual using distance of a laser holder to obtain a laser irradiation reference point;
using the laser of the laser holder to aim at the target object where the datum point is located through the visible light image to carry out laser irradiation, and observing the laser spot irradiation condition through a laser spot observation mirror to obtain a deviation position;
adjusting the cutting center position of the visible light image, and moving the cutting center position to coincide with the center of the laser spot;
and after the optical axis of the laser holder is retested, storing the current calibration parameters, and finishing the correction work of the optical axis of the laser holder.
It should be noted that, for the optical axis correction method of the image-based laser holder described in this application, it can be understood by those skilled in the art that all or part of the process for implementing the optical axis correction method of the image-based laser holder according to the embodiments of this application can be implemented by controlling related hardware through a computer program, where the computer program can be stored in a computer-readable storage medium, such as a memory of a computer device, and executed by at least one processor in the computer device, and during the execution process, the process of the embodiment of the optical axis correction method of the image-based laser holder can be included. The storage medium may be a magnetic disk, an optical disk, a Read Only Memory (ROM), a Random Access Memory (RAM), or the like.
For the optical axis correction device of the laser holder based on the image in the embodiment of the application, each functional module may be integrated in one processing chip, or each module may exist alone physically, or two or more modules are integrated in one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium, such as a read-only memory, a magnetic or optical disk, or the like.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. The image-based optical axis correction method of the laser holder is characterized by being applied to a multi-light holder containing laser and used for calibrating a laser optical axis and a visible light optical axis of the laser holder, and comprises the following steps:
placing a target object at an actual using distance of a laser holder to obtain a laser irradiation reference point;
using the laser of the laser holder to aim at the target object where the datum point is located through the visible light image to carry out laser irradiation, and observing the laser spot irradiation condition through a laser spot observation mirror to obtain a deviation position;
adjusting the cutting center position of the visible light image, and moving the cutting center position to coincide with the center of the laser spot;
after the optical axis of the laser holder is retested to be correct, the current calibration parameters are stored, and the optical axis of the laser holder is corrected;
the method for acquiring the cutting center position comprises the following steps:
processing the holder camera image through a holder processor platform, setting a cutting frame in the holder camera image, setting the center of the cutting frame as a cutting center, and calibrating the coordinates of the cutting center as (X, Y);
the method for acquiring the laser spot center comprises the following steps: when a laser target is placed at the actual using distance of the laser holder or an irradiation target is searched to obtain a laser irradiation reference point; after laser irradiation is carried out by using a laser holder, measuring the center of a laser spot according to the observed irradiation condition of the laser spot;
calibrating the coordinates of the laser spot center in an image cutting area of a cutting frame, wherein the coordinates of the laser spot center relative to the cutting center are (X + A, Y + B);
the method for moving the cutting center position of the image to coincide with the center of the laser spot comprises the following steps: calculating to obtain an optical axis deviation angle according to the obtained coordinates (X, Y) of the cutting center and the coordinates (X + A, Y + B) of the laser spot center; and adjusting the X axis and the Y axis of the camera image of the holder, and moving the image cutting area of the cutting frame until the cutting center coordinate coincides with the laser spot center coordinate.
2. The method for correcting the optical axis of the image-based laser holder according to claim 1, wherein the target is a laser target placed at the actual using distance of the laser holder, or an irradiation target is found at the actual using distance of the laser holder, and the irradiation target is a characteristic irradiation target found at the actual using distance of the laser holder.
3. The method according to claim 2, wherein the visible light images are obtained by a plurality of visible light zoom cameras, and video images of the plurality of cameras obtained by the cameras are transmitted to a pan/tilt/zoom processor platform, and the pan/tilt/zoom processor platform is further configured to control the laser of the laser pan/tilt/zoom.
4. The image-based laser holder optical axis correction method according to claim 3, wherein the holder camera image maximum resolution of the laser holder is greater than the holder camera video resolution, the holder camera image has a space for clipping adjustment, and the holder camera image maximum resolution XY axis is selected to be greater than 10% of the holder camera video resolution XY axis.
5. The image-based laser holder optical axis correction method according to claim 1, applied to a multi-pan-tilt product satisfying that the maximum resolution of the pan-tilt camera is greater than the video resolution of the pan-tilt camera, and applied to the laser holder optical axis correction in the production assembly stage and the normal use stage.
6. An image-based laser holder optical axis correction device, characterized in that the image-based laser holder optical axis correction device adopts the image-based laser holder optical axis correction method of any one of claims 1 to 5 to realize optical axis calibration; the image-based laser holder optical axis correction device comprises a laser holder, a camera, a holder processor platform and a target;
the target is placed at the actual using distance of the laser holder and is used for obtaining a laser irradiation datum point;
the cameras are a plurality of visible light zooming cameras and are used for obtaining visible light images;
the laser holder is used for irradiating a target by laser to obtain a reference point and is also used for irradiating the reference point by the laser through a visible light image to generate a laser spot;
the holder processor platform is used for controlling the laser of the laser holder, processing the holder camera image, setting a cutting frame in the holder camera image, and setting the center of the cutting frame as a cutting center; and the laser tripod head is also used for adjusting the cutting center of each tripod head camera image, moving the cutting center position of the image to coincide with the center of the laser spot, and finishing the correction work of the optical axis of the laser tripod head.
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| CN117590361B (en) * | 2024-01-18 | 2024-04-30 | 深圳北醒科技有限公司 | Optical axis center testing method |
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