CN114137554A - Method for correcting linear scanning camera and measuring point position through laser ranging - Google Patents
Method for correcting linear scanning camera and measuring point position through laser ranging Download PDFInfo
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- CN114137554A CN114137554A CN202110901422.6A CN202110901422A CN114137554A CN 114137554 A CN114137554 A CN 114137554A CN 202110901422 A CN202110901422 A CN 202110901422A CN 114137554 A CN114137554 A CN 114137554A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
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Abstract
The invention discloses a method for correcting positions of a line scanning camera and a measuring point by laser ranging, which comprises the following steps: s1, initializing equipment; s2, preparing for measurement; s3, debugging equipment; s4, operating the system; the line scan camera self-adaptive acquisition system used in the laser ranging correction line scan camera measuring point position process comprises an image acquisition module, a laser ranging module, a position adjusting module and a computer processing module, wherein the image acquisition module is used for acquiring images of products. The self-adaptive acquisition system of the line scan camera comprises an image acquisition module, a laser ranging module, a position adjusting module and a computer processing module, wherein the position adjusting module can be controlled by the computer processing module to drive the image acquisition module to adjust the position of the image acquisition module in real time, so that the phenomenon that an image is unclear due to the fact that a measuring plane is not parallel to or the height of the camera is unstable can be avoided, and the degree of automation is high during use.
Description
Technical Field
The invention relates to the technical field of line scan cameras, in particular to a method for correcting the positions of a line scan camera and a measuring point by laser ranging.
Background
Along with the continuous progress of society and science and technology, the scale and the degree of automation of industrial production also continuously improve thereupon, for example when scanning the work piece of production and detecting and categorizing, can adopt comparatively automatic mode to go on, just need use the line scanning camera at this in-process, the line scanning camera is line scanning camera again, and it can scan the surface of work piece to compare it through computer system, thereby can accomplish the detection and the classification to the work piece, promote the efficiency and the rate of accuracy of work piece production.
In the actual production process, a certain error often exists in the mechanical installation of a product, or the height of the product is not coordinated, and the surface is not flat enough, so that the ideal image acquisition plane and the actual image acquisition plane of the line scanning camera in the use process have deviation in some ranges, and the height difference between the two planes exceeds the current depth of field, so that the visual angle difference exists in a partial area, the quality of a target image obtained by the line scanning camera is not ideal enough, the measurement and detection result has a certain deviation from the actual state, the measurement and detection result is not accurate enough, and the target product cannot be correctly measured or detected. In the existing industrial application, the planes of a camera and a positioning workpiece are generally leveled by matching mechanical leveling with mechanical positioning, the problems of large integral leveling difficulty coefficient, long time consumption and the like exist, the problems of warping and the like exist on the surface of part of the product, and when the ordinary mechanical leveling is adopted, the pressure and friction between the mechanical leveling part and the product are easily large, so that the phenomena of indentation, even scratching and the like are easily caused to the product, and a new problem is brought to the produced manufacturing.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a laser ranging correction line scanning camera and a method for measuring the position of a point.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for correcting the position of a line scanning camera measuring point by laser ranging comprises the following steps:
s1, initializing equipment, namely, installing the self-adaptive acquisition system of the line scan camera on the equipment, resetting all driving parts and initializing a hardware module;
s2, preparing measurement, adjusting the focal length of the line scanning camera according to the designed installation height, and implementing operations such as external light supplement;
s3, debugging equipment, adjusting the positions of the laser generators, ensuring that the laser measurement positions are on the product and the two measurement points can not coincide, and setting the initial distance of the two laser generators after the adjustment, wherein the more the distance on the vision measurement product is, the more accurate the distance is;
s4, operating the system, starting the line scan camera self-adaptive acquisition system, measuring the current measurement position change in real time, feeding back to the vision collection part and the calculation part for comparison operation, correcting the obtained position compensation data by the driving part, and ensuring that the camera and the measurement position keep a corresponding position relation;
above-mentioned camera self-adaptation collection system is swept to line that camera measuring point position in-process was used is swept to laser rangefinder correction line includes image acquisition module, laser rangefinder module, position adjustment module and computer processing module, image acquisition module is used for implementing image acquisition to the product, laser rangefinder module is used for measuring the relative position between image acquisition module and the product, position adjustment module is used for driving image acquisition module and adjusts, computer processing module is used for comparing laser rangefinder module measuring position and initial condition and controls position adjustment module to drive image acquisition module's position and adjusts.
Preferably, the image acquisition module includes camera main part and camera lens, the laser rangefinder module includes first laser rangefinder and second laser rangefinder, the externally mounted of image acquisition module and laser rangefinder module has protecting sheathing, and is provided with light filling mechanism on the shell to protecting sheathing passes through the connecting piece and installs on a set of can remove and pivoted base.
Preferably, install respectively on first laser range finder and the second laser range finder and carry out the drive part that the position removed, and first laser range finder and second laser range finder guarantee through coaxial light guide mechanism that laser survey point can carry out the range finding in the field of vision.
Preferably, the position adjusting module comprises a first motor, a second motor and a third motor, the output ends of the first motor, the second motor and the third motor are respectively connected with the image acquisition module and the laser ranging module through auxiliary adjusting mechanisms, and braking mechanisms are respectively arranged on the first motor, the second motor and the third motor.
Preferably, the computer processing module comprises a vision and operation control processing module, and is electrically connected with the image acquisition module, the laser ranging module and the position adjusting module respectively, and a touch panel is arranged on the computer processing module.
The invention has the following beneficial effects:
1. the line scanning camera self-adaptive acquisition system comprises an image acquisition module, a laser ranging module, a position adjusting module and a computer processing module, so that when the image acquisition module acquires an image on the surface of a product, the distance measurement correction can be carried out through the laser ranging module, and the position adjusting module is controlled by the computer processing module to drive the image acquisition module to adjust the position of the image acquisition module in real time, thereby avoiding the situation that the image is unclear due to the fact that a measurement plane is not parallel to a camera or the height of the measurement plane is unstable, and further avoiding the omission of detection or classification errors of micro defects;
2. through computer processing module respectively with image acquisition module, the electric connection of laser rangefinder module and position adjustment module for image acquisition module and laser rangefinder module can carry the image and the positional information of gathering in real time to computer processing module, computer processing module can correspond the adjustment to image acquisition module's position by automatic control position adjustment module after comparing the operation, the whole in-process carries out the operation coordination through computer processing module, thereby make whole degree of automation higher.
Drawings
Fig. 1 is a schematic structural diagram of a line scanning adaptive measurement surface system according to the present invention;
fig. 2 is a schematic view of a work flow of the line scanning adaptive measuring surface system according to the present invention.
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.
A method for correcting the position of a line scanning camera measuring point by laser ranging comprises the following steps:
s1, initializing equipment, namely, installing the self-adaptive acquisition system of the line scan camera on the equipment, resetting all driving parts and initializing a hardware module;
s2, preparing measurement, adjusting the focal length of the line scanning camera according to the designed installation height, and implementing operations such as external light supplement;
s3, debugging equipment, adjusting the positions of the laser generators, ensuring that the laser measurement positions are on the product and the two measurement points can not coincide, and setting the initial distance of the two laser generators after the adjustment, wherein the more the distance on the vision measurement product is, the more accurate the distance is;
s4, operating the system, starting the line scan camera self-adaptive acquisition system, measuring the current measurement position change in real time, feeding back to the vision collection part and the calculation part for comparison operation, correcting the obtained position compensation data by the driving part, and ensuring that the camera and the measurement position keep a corresponding position relation;
referring to fig. 1-2, the line scan camera adaptive acquisition system used in the laser ranging correction line scan camera measuring point position process comprises an image acquisition module, a laser ranging module, a position adjustment module and a computer processing module, wherein the image acquisition module is used for carrying out image acquisition on a product, the laser ranging module is used for measuring the relative position between the image acquisition module and the product, the position adjustment module is used for driving the image acquisition module to adjust, and the computer processing module is used for comparing the position measured by the laser ranging module with an initial state and controlling the position adjustment module to drive the position of the image acquisition module to adjust.
It should be noted that, the image acquisition module includes a camera body and a lens, the laser ranging module includes a first laser ranging device and a second laser ranging device, the exterior of the image acquisition module and the laser ranging module is installed with a protective shell, and the shell is provided with a light supplementing mechanism, and the protective shell is installed on a group of movable and rotatable bases through a connecting piece, the protective shell can connect and protect the image acquisition module and the laser ranging module, so that the image acquisition module and the laser ranging module can be installed on the bases together, and further the bases can drive the image acquisition module and the laser ranging module to move when moving, the lens part on the image acquisition module, the laser emitting areas of the first laser ranging device and the second laser ranging device on the laser ranging module respectively extend out of the protective shell, thereby the image acquisition module and the laser ranging module can respectively implement real-time image acquisition and laser ranging, and then the subsequent operation is completed in a matching way.
Install the drive division that carries out the position and remove on first laser range finder and the second laser range finder respectively, and first laser range finder and second laser range finder guarantee through coaxial light guide mechanism that laser survey point can range in the field of vision, make first laser range finder and second laser range finder remove respectively, and then make the interval between it change, thereby when carrying out the range finding in the face of part product, can guarantee through the interval between first laser range finder and the second laser range finder that two sets of laser of transmission can not be in same position department, and then can calculate the relative position between image acquisition module and the product to the product, thereby be convenient for follow-up comparison model that generates initial state positional information.
The position adjusting module comprises a first motor, a second motor and a third motor, the output ends of the first motor, the second motor and the third motor are respectively connected with the image acquisition module and the laser ranging module through an auxiliary adjusting mechanism, and the first motor, the second motor and the third motor are respectively provided with a braking mechanism, so that the first motor, the second motor and the third motor can drive the bases of the image acquisition module and the laser ranging module to move in multiple directions, the positions of the image acquisition module and the laser ranging module can be adjusted according to the shape and the position of a product, the image acquisition module and the laser ranging module are located at corresponding positions, the image acquired by the image acquisition module has comparison value, meanwhile, the first motor, the second motor and the third motor are servo motors and can rotate in a reciprocating manner, and the adjustment in the reciprocating direction is carried out by matching with the auxiliary adjusting mechanism, and after the regulation is accomplished, the actuating mechanism on first motor, second motor and the third motor can drive its output shaft part respectively and partially fix, and then guarantees the steadiness after image acquisition module and the adjustment of laser rangefinder module to guarantee the clarity of follow-up image acquisition module collection image, the accuracy of laser rangefinder module measurement position information.
The computer processing module comprises a vision and operation control processing module, and is respectively and electrically connected with the image acquisition module, the laser ranging module and the position adjusting module, and the computer processing module is provided with a touch panel, so that images acquired by the image acquisition module and the laser ranging module and measured position information can be transmitted to the computer processing module in an electric signal mode, the computer processing module comprises a vision and operation control processing module, an operation control part in the vision and operation control module feeds back height change fed back by laser to the computer processing module, calculated motor correction parameters are sent to an execution motor to correct the theoretical position of a camera, and the operation control part in the vision and operation control module is used for assisting in acquiring images with better quality, and the vision processing module can carry out some specific analyses according to the acquired images so as to cooperate with subsequent recognition and detection.
In the implementation of the method, as shown in fig. 1-2, the adaptive measuring surface system of the line scan camera is detachably mounted on a production device through a screw rod and the like, so as to facilitate subsequent disassembly and maintenance, wherein the image acquisition module and the laser ranging module are mounted on a movable base through a protective shell outside the image acquisition module and the laser ranging module, a touch panel is arranged on the computer processing module, the output ends of the first motor, the second motor and the third motor are respectively connected with the bases on the image acquisition module and the laser ranging module through auxiliary adjusting mechanisms, the computer processing module is respectively electrically connected with the first motor, the second motor and the third motor on the position adjusting module, the first motor, the second motor and the third motor are controlled by the touch panel to drive the image acquisition module and the laser ranging module to be adjusted to the initial position, and a light supplementing mechanism is arranged on the image acquisition module, open light filling mechanism, adjust the camera lens on the image acquisition module to appointed focus according to the product position, be convenient for follow-up camera main part can acquire enough clear image, open first laser range finder and second laser range finder on the laser range finder module simultaneously, install the drive division that carries out the position removal on through first laser range finder and the second laser range finder respectively, and first laser range finder and second laser range finder install through the mode of coaxial firmware, control first laser range finder and second laser range finder through this drive division and remove, can shine to the product simultaneously until the laser of first laser range finder and second laser range finder transmission, and shine the point is the non-coincidence state, through the electric connection of computer processing module and laser range finder module, operating personnel can set up first laser range finder and second laser range finder this moment to initial comparison through the touch panel on the computer processing module and compare to the product at this moment The state, activate the whole line scan camera self-adapting collection system, when the product is placed at the measured position, the laser distance measuring module can measure the real-time distance by the laser generated by the first laser distance measuring instrument and the second laser distance measuring instrument, and transmit the data to the computer processing module in the form of electric signal, the image collection module can transmit the collected image to the computer processing module in the form of electric signal, the vision and operation control processing module on the computer processing module converts the electric signal into position and image information again by decoding and compares the position and image information with the initial state, when the position information corresponds to the initial state, the vision and operation control processing module further compares the image information, detect and measure the product, when the position information does not correspond to the initial state, the vision and operation control processing module obtains the adjusting direction and amplitude by transportation and transmits the adjusting command to the position adjusting module, the position adjusting module drives the base to move correspondingly through the first motor, the second motor and the third motor on the position adjusting module, meanwhile, the laser ranging module works in real time and transmits position information to the computer processing module in real time until the position information is in line with expectation, and at the moment, the image acquisition module acquires an image again and transmits the image to the computer processing module for subsequent comparison detection and measurement;
specifically, the method can be applied to high-precision defect detection and classification of display panels such as mobile phones and tablet computers in the panel manufacturing industry, the existing display panels generally rely on manual visual inspection of welded circuit boards during inspection to check whether the phenomenon of insufficient solder short circuit exists or not, and compared with the existing method, the method does not rely on manual visual inspection, so that the accuracy and efficiency are higher, and the labor cost in the production process is saved;
the method can be applied to high-precision detection and classification of micro defects on wafers in the semiconductor manufacturing industry, the micro defects on the wafers in the existing semiconductor manufacturing industry are generally matched by a plurality of industrial cameras during detection, and the wafers are driven by a turntable to rotate for detection;
specifically, the method can be applied to high-precision detection and classification of curved surfaces such as bearings and cams, mechanical positioning is generally adopted for detection of the curved surfaces such as the existing bearings and cams, the bearings or the cams need to be fixed one by one in the actual use process, the detection part is used for laminating detection, the whole process is complicated, the image acquisition module can be directly adopted for acquiring image information of corresponding positions during the method, the acquired images are compared with images of expected products subsequently through the computer processing module, the bearings, the cams and other products are not required to be fixed, the detection part is adjusted to be laminated with the products for detection, and the method is more convenient and rapid.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. A method for correcting the position of a line scanning camera measuring point through laser ranging is characterized by comprising the following steps:
s1, initializing equipment, namely, installing the self-adaptive acquisition system of the line scan camera on the equipment, resetting all driving parts and initializing a hardware module;
s2, preparing measurement, adjusting the focal length of the line scanning camera according to the designed installation height, and implementing operations such as external light supplement;
s3, debugging equipment, adjusting the positions of the laser generators, ensuring that the laser measurement positions are on the product and the two measurement points can not coincide, and setting the initial distance of the two laser generators after the adjustment, wherein the more the distance on the vision measurement product is, the more accurate the distance is;
s4, operating the system, starting the line scan camera self-adaptive acquisition system, measuring the current measurement position change in real time, feeding back to the vision collection part and the calculation part for comparison operation, correcting the obtained position compensation data by the driving part, and ensuring that the camera and the measurement position keep a corresponding position relation;
above-mentioned camera self-adaptation collection system is swept to line that camera measuring point position in-process was used is swept to laser rangefinder correction line includes image acquisition module, laser rangefinder module, position adjustment module and computer processing module, image acquisition module is used for implementing image acquisition to the product, laser rangefinder module is used for measuring the relative position between image acquisition module and the product, position adjustment module is used for driving image acquisition module and adjusts, computer processing module is used for comparing laser rangefinder module measuring position and initial condition and controls position adjustment module to drive image acquisition module's position and adjusts.
2. The method for laser ranging and correcting the position of a measurement point of a line scanning camera according to claim 1, wherein the image acquisition module comprises a camera body and a lens, the laser ranging module comprises a first laser range finder and a second laser range finder, protective housings are mounted outside the image acquisition module and the laser ranging module, a light supplementing mechanism is arranged on the housings, and the protective housings are mounted on a group of bases which can move and rotate through connecting pieces.
3. The method for laser ranging and correcting the position of the measuring point of the line sweeping camera according to claim 2, wherein the first laser range finder and the second laser range finder are respectively provided with a driving part for performing position movement, and the first laser range finder and the second laser range finder ensure that the laser measuring point can be measured within the visual field through the coaxial light guide mechanism.
4. The method for laser ranging and correcting the position of the measuring point of the linear scanning camera according to claim 1, wherein the position adjusting module comprises a first motor, a second motor and a third motor, the output ends of the first motor, the second motor and the third motor are respectively connected with the image acquisition module and the laser ranging module through auxiliary adjusting mechanisms, and braking mechanisms are respectively arranged on the first motor, the second motor and the third motor.
5. The method of claim 1, wherein the computer processing module comprises a vision and operation control processing module, the computer processing module is electrically connected with the image acquisition module, the laser ranging module and the position adjustment module respectively, and a touch panel is disposed on the computer processing module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110901422.6A CN114137554A (en) | 2021-08-06 | 2021-08-06 | Method for correcting linear scanning camera and measuring point position through laser ranging |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110901422.6A CN114137554A (en) | 2021-08-06 | 2021-08-06 | Method for correcting linear scanning camera and measuring point position through laser ranging |
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| CN114137554A true CN114137554A (en) | 2022-03-04 |
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| CN202110901422.6A Pending CN114137554A (en) | 2021-08-06 | 2021-08-06 | Method for correcting linear scanning camera and measuring point position through laser ranging |
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