CN115468588A - Mechanical calibration device and method for spatial relation between light plane and camera light sensing plane - Google Patents
Mechanical calibration device and method for spatial relation between light plane and camera light sensing plane Download PDFInfo
- Publication number
- CN115468588A CN115468588A CN202211264192.8A CN202211264192A CN115468588A CN 115468588 A CN115468588 A CN 115468588A CN 202211264192 A CN202211264192 A CN 202211264192A CN 115468588 A CN115468588 A CN 115468588A
- Authority
- CN
- China
- Prior art keywords
- plane
- camera
- light
- calibration
- spatial relationship
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
A mechanical calibration device and method for the spatial relationship between a light plane and a camera light sensing plane belong to the technical field of plane spatial relationship calibration. The calibration device comprises a calibration base, and an optical plane calibration block, a camera photosensitive plane calibration block and an optical plane projection scale which are arranged on the calibration base, wherein the spatial relation of an optical plane relative to the calibration base is calibrated through the optical plane calibration block and the optical plane projection scale; calibrating the spatial relationship of the camera light sensing plane relative to the calibration base by the camera light sensing plane calibration block; through the spatial relationship between the light plane calibration block and the camera light sensing plane calibration block as well as the calibration base, the spatial relationship between the light plane and the camera light sensing plane can be calibrated in a mechanical mode, the calibration of any angle of the light plane and the camera light sensing plane in space is realized, and the calibration device has the advantages of simple structure and convenience in processing and implementation.
Description
Technical Field
The invention belongs to the technical field of plane space relation calibration, and particularly relates to a mechanical calibration device and method for the space relation between a light plane and a camera light sensing plane.
Background
The measurement with laser and camera is a common non-contact measurement method at present, and an important example is laser triangulation.
The laser triangulation method utilizes the spatial relationship between a laser plane and a camera light sensing plane to realize the measurement of a laser irradiation object within the range of the depth of field of a camera.
Since the measurement process requires calibration of the light plane and the camera light sensing plane, i.e. knowledge of the spatial relationship between the light plane and the camera light sensing plane, otherwise accurate measurement cannot be performed, there are many software algorithms for the relationship between the two planes, such as finding the spatial relationship between the light plane and the camera light sensing plane by means of external markers through complex algorithms.
These software methods require the production of external markers, require operators to perform different posture changes on the markers during the operation process, and obtain the spatial relationship after multiple operations and software calculation. And many software have copyright restrictions.
For the vast majority of manufacturers with this application requirement, the ideal spatial relationship between the light plane and the camera's light sensing plane is required. However, since there is no way to observe the spatial position of the light plane or the camera photosensitive plane, the spatial relationship between the light plane and the camera photosensitive plane under the non-ideal condition can only be obtained in the later stage of the product by the software method as described above, and the compensation is performed by using the mathematical method, so that the performance of the product in the ideal spatial relationship between the light plane and the camera photosensitive plane is as close as possible during the use process.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a device and a method for mechanically calibrating the spatial relationship between a light plane and a camera light-sensitive plane.
The technical scheme adopted by the invention is as follows: the mechanical calibration device for the spatial relation between the light plane and the camera light sensing plane comprises a calibration base, and a light plane calibration block, a camera light sensing plane calibration block and a light plane projection scale which are arranged on the calibration base, wherein the light plane calibration block is provided with a gap through which a laser line emitted by a laser emitter passes and projects the laser line onto the plane projection scale; the camera sensitization plane calibration block has the gap that makes the camera shoot and get laser line on the plane projection scale, the camera install in the frame and see through the second light trap of frame and shoot and get the image.
In the above scheme, the center point of the laser emitter is consistent with the height of the zero point on the light plane projection scale.
In the above scheme, the center point of the camera is consistent with the height of the zero point on the light plane projection scale.
In the above scheme, the space included angle between the light plane calibration block (1) and the camera light sensing plane calibration block (2) is equal to the space included angle between the light plane where the laser ray is located and the camera light sensing plane where the light ray emitted by the camera is located.
A method for calibrating the spatial relationship between a light plane and a camera light sensing plane is technically characterized by comprising the following steps:
respectively installing a light plane calibration block, a camera light sensing plane calibration block and a light plane projection scale on a calibration base;
calibrating the spatial relationship of the light plane relative to the calibration base by the light plane calibration block and the light plane projection scale; calibrating the spatial relationship of the camera light sensing plane relative to the calibration base by the camera light sensing plane calibration block; and determining the spatial relationship between the light plane and the camera photosensitive plane through the spatial relationship between the light plane and the camera photosensitive plane and the calibration base.
In the above solution, the spatial relationship between the light plane and the calibration base is calibrated by the light plane calibration block and the light plane projection scale, and the process is as follows:
the laser emitter works to enable the laser generator to emit laser lines to form a light plane;
adjusting the spatial position of the laser emitter to enable the light plane where the laser is located to penetrate through the gap of the light plane calibration block and project the light plane onto the light plane projection scale;
and adjusting the position of the laser emitter to enable the center point of the laser emitter to be consistent with the height of the zero point on the light plane projection scale.
In the above scheme, the spatial relationship of the camera light sensing plane relative to the calibration base is calibrated by the camera light sensing plane calibration block, and the process is as follows:
adjusting the height of the center point of the camera from the calibration base to make the center point of the camera consistent with the height of a zero point on the light plane projection scale;
enabling a camera to shoot a laser line projection image formed on the light plane projection scale through the camera light sensing plane calibration block on the camera light sensing plane;
and continuously adjusting the position of the camera to enable the image to be positioned at the middle horizontal or vertical position of the photosensitive plane of the camera.
In the above scheme, the spatial relationship between the light plane and the camera light sensing plane is determined by the spatial relationship between the light plane and the camera light sensing plane and the calibration base, and the process is as follows:
observation light plane projection scale:
if a laser line projection cannot be formed on the light plane projection scale, the spatial relationship between the light plane and the calibration base is proved to be incorrect, and the posture of the laser generator needs to be adjusted;
if a laser line is formed on the light plane projection scale, but the reading of the scale is on the upper side or on the lower side, the spatial relationship between the light plane and the calibration base is proved to be incorrect in one direction, and the posture of the laser generator needs to be adjusted;
and (3) imaging by an observation camera:
if the camera cannot shoot the laser line formed on the light plane projection scale through the camera light sensing plane calibration block to form an image on the camera light sensing plane in a projection mode, the camera light sensing plane and the calibration base are proved to be incorrect in spatial relation, and the position of the camera needs to be adjusted;
if the imaging of the camera light sensing plane is not in the middle of the camera light sensing plane, the spatial relationship between the camera light sensing plane and the calibration base is proved to be incorrect, and the position of the camera needs to be adjusted.
The invention has the beneficial effects that: the mechanical calibration device for the spatial relationship between the light plane and the camera light sensing plane comprises a calibration base, and a light plane calibration block, a camera light sensing plane calibration block and a light plane projection scale which are arranged on the calibration base, wherein the spatial relationship between the light plane and the calibration base is calibrated through the light plane calibration block and the light plane projection scale; calibrating the spatial relationship of the camera light sensing plane relative to the calibration base by the camera light sensing plane calibration block; through the spatial relationship between the light plane calibration block and the camera light sensing plane calibration block as well as the calibration base, the spatial relationship between the light plane and the camera light sensing plane can be calibrated in a mechanical mode, the calibration of any angle of the light plane and the camera light sensing plane in space is realized, and the calibration device has the advantages of simple structure and convenience in processing and implementation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed 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 creative efforts.
FIG. 1 is a schematic structural diagram of a mechanical calibration apparatus for spatial relationship between a light plane and a camera light sensing plane according to an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a schematic diagram of a light plane calibration block according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a light plane projection scale according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a calibration block for a light sensing plane of a camera according to an embodiment of the present invention;
the sequence numbers in the figures illustrate: the device comprises a light plane calibration block 1, a camera light sensing plane calibration block 2, a light plane projection scale 3, a calibration base 4, a laser emitter 5 and a camera 6.
Detailed Description
The above objects, features and advantages of the present invention will become more apparent from the following detailed description of the present invention with reference to the accompanying drawings 1 to 5.
Example 1:
the mechanical calibration device of light plane and camera sensitization plane spatial relation that this embodiment adopted, including light plane calibration piece 1, 2 light plane projection scales 3 of camera sensitization plane calibration piece, calibration base 4, laser emitter 5 and camera 6, light plane calibration piece 1 of this embodiment adopts machine to add or the printing mode preparation, it comprises two calibration pieces about by, the opposite face machine of two calibration pieces adds the recess, the surface of recess can be the arc, also can be other shapes, do not do specific restriction, as long as guarantee that two calibration pieces are placed its inside cavity of back can, form the gap that the laser ray passes through altogether between two calibration pieces. The structure is firm and easy to process, the formed gap is not easy to damage, and the plane through which the light plane passes is determined through the two linear gaps. The light plane refers to a plane constrained by a beam of plane scattered light emitted by the laser emitter.
The camera light sensing plane calibration block 2 of this embodiment is manufactured by machining or printing, and is composed of two prismatic calibration blocks, and a suitable gap is obtained by adjusting the distance between the two prisms, so that the camera 6 can observe the light of the laser emitter 5 on the light plane projection scale 3 through the gap.
The light plane projection scale 3 adopted by the embodiment is manufactured in a machining or printing mode, and can move back and forth on the calibration base 4 according to the laser emission direction so as to calibrate the distance h between the laser emitter 5 and the light plane projection scale 3 and indirectly calibrate the design distance l between the laser emitter 5 and the camera 6. The light plane projection scale 3 is provided with scales, and the central point of the laser emitter 5 is adjusted to be as high as the zero point of the light plane projection scale 3, so that a mounting angle of the laser emitter 5 in space can be determined according to the projection formed by the laser emitter 5 on the light plane projection scale 3 and the lengths of the laser emitter 5 above and below the zero point.
The mechanical calibration method for the spatial relationship between the light surface and the camera light sensing plane can realize the calibration of the spatial relationship between the light plane of the laser emitter 5 and the camera light sensing plane of the camera 6 by adjusting the spatial relationship among the light plane calibration block 1, the camera light sensing plane calibration block 2, the light plane projection scale 3 and the calibration base 4, and comprises the following steps:
the light plane calibration block 1, the camera light sensing plane calibration block 2 and the light plane projection scale 3 are respectively arranged on the calibration base 4.
The spatial relationship between the calibration light plane calibration block 1 and the camera light sensing plane calibration block 2 is calibrated, so that the spatial angle between the calibration light plane calibration block 1 and the camera light sensing plane calibration block 2 meets the target requirement, namely the required design angle theta of the light plane and the camera light sensing plane.
The distance between the calibration laser emitter 5 and the light plane projection scale 3 is a function of the desired angle of the light plane and the camera's photosurface and the distance h between the laser emitter 5 and the camera 6. The distance h can be simply obtained by the design distance l between the laser emitter 5 and the camera 6 and the design angle theta between the light plane and the light sensing plane of the camera.
And adjusting the height of the calibration laser emitter 5 from the calibration base 4 to make the center point of the laser emitter 5 consistent with the height of the zero point on the light plane projection scale 3.
The laser emitter 5 is operated to emit a laser plane;
adjusting the spatial position of the laser emitter 5 to enable a laser plane to pass through the gap of the light plane calibration block 1 and project the laser plane onto the light plane projection scale 3;
adjusting the position of the laser emitter 5 to enable the distances between the laser lines formed on the light plane projection scale 3 and the zero point to be consistent;
and after the steps are completed, the calibration of the laser emitter is completed, namely the calibration of the light plane is completed.
The height of the center point of the camera 6 from the calibration base 4 is adjusted to be consistent with the height of the zero point on the light plane projection scale 3
Operating the camera 6;
Adjusting the position of the camera 6 to enable the camera 6 to image on the camera light sensing plane through the camera light sensing plane calibration block 2
Continuing to adjust the position of the camera 6 to make the imaging position as far as possible at the middle horizontal/vertical position of the camera light sensing plane (depending on whether the camera needs to be installed horizontally or vertically);
and after the steps are completed, the camera calibration is completed, namely the calibration of the photosensitive plane of the camera is completed.
Since all the calibration blocks are fixed in spatial relationship to the calibration base 4, the spatial relationship of the light plane to the camera's photosurface is also fixed.
According to the steps, the included angle theta between the designed light plane and the light sensing plane of the camera and the distance l between the designed laser emitter 5 and the designed camera 6 can be directly or indirectly calibrated through the method, and the accuracy of theta and l is ensured through the machining and mounting precision.
Most commercially available cameras view the image on the camera's photosurface directly through the camera manufacturer's software.
The ideal spatial relationship between the light plane and the camera light sensing plane is confirmed by the ideal relationship between the light plane and the camera light sensing plane and the calibration base 4.
Example 2:
this example differs from example 1 in that: the spatial relationship of other similar non-physical planes other than the light plane and the camera's photosensing plane is calibrated.
If the camera is replaced by another laser emitter, the light rays emitted by the two laser emitters can be corrected to be intersected on the light plane projection scale 3, and the projection angle can be measured, so that whether the installation angles of the two laser generators meet the design requirements can be judged.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The mechanical calibration device for the spatial relation between the light plane and the camera light sensing plane is characterized by comprising a calibration base (4), and a light plane calibration block (1), a camera light sensing plane calibration block (2) and a light plane projection scale (3) which are arranged on the calibration base (4), wherein the light plane calibration block (1) is provided with a gap through which a laser ray emitted by a laser emitter (5) passes and projects the laser ray onto the plane projection scale (3), the laser emitter (5) is arranged in a frame on the calibration base (4), and the laser emitted by the laser emitter (5) penetrates through a first light hole of the frame to be emitted; camera sensitization plane calibration block (2) make camera (6) through the light formation of image of throwing down on light plane projection scale (3) of laser emitter (5) in the gap on camera sensitization plane calibration block (2), camera (6) install in the frame, shoot the light of throwing down on light plane projection scale (3) of laser emitter (5) through the gap on camera sensitization plane calibration block (2).
2. The device for mechanical calibration of the spatial relationship between a light plane and a light sensitive plane of a camera according to claim 1, wherein the center point of the laser emitter (5) coincides with the height of the zero point on the projection scale (3) of the light plane.
3. The device for mechanical calibration of the spatial relationship between a light plane and a light sensing plane of a camera according to claim 1, wherein the center point of the camera (6) coincides with the height of the zero point on the projection scale (3) of the light plane.
4. The mechanical calibration device for the spatial relationship between the light plane and the camera light sensing plane according to claim 1, wherein the spatial angle between the light plane calibration block (1) and the camera light sensing plane calibration block (2) is equal to the spatial angle between the light plane formed by the laser line and the camera light sensing plane of the camera.
5. A method of calibrating a spatial relationship between a light plane and a camera light sensing plane, comprising the steps of:
respectively installing a light plane calibration block (1), a camera light sensing plane calibration block (2) and a light plane projection scale (3) on a calibration base (4);
the spatial relation of the light plane relative to the calibration base (4) is calibrated through the light plane calibration block (1) and the light plane projection scale (3); calibrating the spatial relationship of the camera light sensing plane relative to the calibration base (4) by the camera light sensing plane calibration block (2); the spatial relationship between the light plane and the camera light sensing plane is determined by the spatial relationship between the light plane and the camera light sensing plane and the calibration base (4).
6. A method of calibrating the spatial relationship between a light plane and a camera's photosurface according to claim 5, wherein the spatial relationship of the light plane with respect to the calibration base (4) is calibrated by means of a light plane calibration block (1) and a light plane projection scale (3) by:
the laser emitter (5) works to enable laser generated by the laser generator to form a laser plane;
adjusting the spatial position of the laser emitter (5), so that the light plane where the laser is positioned passes through the gap of the light plane calibration block (1) and is projected onto the light plane projection scale (3);
and adjusting the position of the laser emitter (5) to enable the center point of the laser emitter (5) to be consistent with the height of the zero point on the light plane projection scale (3).
7. A method of calibration of the spatial relationship between the light plane and the camera light sensing plane according to claim 5, characterized in that the spatial relationship of the camera light sensing plane with respect to the calibration base (4) is calibrated by the camera light sensing plane calibration block (2) by:
adjusting the height of the center point of the camera (6) from the calibration base (4) to make the center point of the camera (6) consistent with the height of a zero point on the light plane projection scale (3);
enabling a camera to shoot laser line projection images formed on the light plane projection scale (3) through the camera light sensing plane calibration block (2) and form the laser line projection images on the camera light sensing plane;
and continuously adjusting the position of the camera (6) to enable the image to be positioned at the middle horizontal or vertical position of the light sensing plane of the camera.
8. A method of calibration of the spatial relationship between the light plane and the camera's photosurface according to claim 5, characterized in that the spatial relationship between the light plane and the camera's photosurface is determined by the spatial relationship between the light plane and the camera's photosurface and the calibration base (4) by:
if a laser line projection cannot be formed on the light plane projection scale (3), the spatial relationship between the light plane and the calibration base (4) is proved to be incorrect, and the posture of the laser generator needs to be adjusted;
if a laser line is formed on the light plane projection scale (3) but the reading of the scale is on the upper side or on the lower side, the spatial relationship between the light plane and the calibration base (4) is proved to be incorrect in one direction, and the posture of the laser generator needs to be adjusted;
and (3) imaging by an observation camera:
if the camera cannot shoot the laser line formed on the light plane projection scale (3) through the camera light sensing plane calibration block (2) to project and image on the camera light sensing plane, the spatial relationship between the camera light sensing plane and the calibration base (4) is proved to be incorrect, and the position of the camera needs to be adjusted;
if the imaging of the camera light sensing plane is not in the middle of the camera light sensing plane, the spatial relationship between the camera light sensing plane and the calibration base (4) is proved to be incorrect, and the position of the camera (6) needs to be adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211264192.8A CN115468588A (en) | 2022-10-17 | 2022-10-17 | Mechanical calibration device and method for spatial relation between light plane and camera light sensing plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211264192.8A CN115468588A (en) | 2022-10-17 | 2022-10-17 | Mechanical calibration device and method for spatial relation between light plane and camera light sensing plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115468588A true CN115468588A (en) | 2022-12-13 |
Family
ID=84337202
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211264192.8A Pending CN115468588A (en) | 2022-10-17 | 2022-10-17 | Mechanical calibration device and method for spatial relation between light plane and camera light sensing plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115468588A (en) |
-
2022
- 2022-10-17 CN CN202211264192.8A patent/CN115468588A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10323927B2 (en) | Calibration of a triangulation sensor | |
| US11628621B2 (en) | Methods and systems for measuring base elements of a construction cylinder arrangement | |
| CN103201617B (en) | Substrate inspecting method | |
| US6067165A (en) | Position calibrating method for optical measuring apparatus | |
| US8434874B2 (en) | Pattern projection light source and compound-eye distance measurement apparatus | |
| CN109341546A (en) | A kind of light beam scaling method of dot laser displacement sensor under any installation position appearance | |
| US5671056A (en) | Three-dimensional form measuring apparatus and method | |
| JP2007524808A (en) | Scanning system with stereoscopic camera set | |
| KR20070000956A (en) | Image obtaining apparatus | |
| KR20200047643A (en) | Pattern measuring device and pattern measuring method | |
| CN109765240A (en) | A kind of detection industrial part stitch defect device and method | |
| CN111457942B (en) | Plane height-fixing calibration device | |
| US7274469B2 (en) | Method and apparatus for calibrating laser 3D digitizing sensor | |
| CN106840029A (en) | A kind of reflective object surface profiling device high and method | |
| CN107564051B (en) | Depth information acquisition method and system | |
| KR20090062027A (en) | Apparatus and method for 3-dimensional position and orientation measurements of reflection mirror package | |
| WO2022050279A1 (en) | Three-dimensional measurement device | |
| CN112817160B (en) | Method for assembling and adjusting optical imaging system | |
| CN218297190U (en) | Mechanical calibration device for spatial relation between light plane and camera light sensing plane | |
| CN115468588A (en) | Mechanical calibration device and method for spatial relation between light plane and camera light sensing plane | |
| CN114140444A (en) | Method for detecting rotation precision of motion platform | |
| CN114994850A (en) | Light path calibration method | |
| JP2012026816A (en) | Dimension measuring method and device | |
| CN109003306B (en) | Optical axis deflection measuring device and method for vehicle-mounted camera | |
| JPH11132735A (en) | Ic lead floating inspection device and inspection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |