CN116543056A - Linear camera calibration and calibration method, device and storage medium - Google Patents
Linear camera calibration and calibration method, device and storage medium Download PDFInfo
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- CN116543056A CN116543056A CN202310236464.1A CN202310236464A CN116543056A CN 116543056 A CN116543056 A CN 116543056A CN 202310236464 A CN202310236464 A CN 202310236464A CN 116543056 A CN116543056 A CN 116543056A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000003860 storage Methods 0.000 title claims abstract description 10
- 238000005259 measurement Methods 0.000 claims abstract description 29
- 238000004590 computer program Methods 0.000 claims description 6
- 230000006399 behavior Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application provides a linear camera calibration and calibration method, equipment and a storage medium, wherein the method comprises the following steps of S1, setting camera parameters, and setting a first calibration piece and a second calibration piece at preset positions of calibration objects; s2, collecting at least two first calibration sheets and second calibration measurement images, and automatically analyzing the distance between the first calibration sheets and the second calibration sheets in the measurement images through the measurement images; and S3, judging whether the distance between the first calibration piece and the second calibration piece exceeds a threshold value, and adjusting when the distance exceeds the threshold value. According to the method, the parameters are configured only once, and then under the condition that the camera is not offset, manual recalibration is not needed, so that manpower and time are saved, and the on-site productivity is improved.
Description
Technical Field
The application relates to the technical field of camera calibration, in particular to a linear camera calibration method, device and storage medium.
Background
The size and the defects are detected by adopting a line scanning camera on lithium battery coating, rolling and die cutting equipment, each line scanning camera is calibrated firstly, and the CCD is required to be kept not to be displaced in the production process so as to ensure the accuracy of detecting the size. Before each production, an operator needs to perform first inspection, namely, firstly, the equipment is enabled to travel a certain distance, the CCD (charge coupled device) measures and displays the measurement size, then, the pole piece is manually cut off to be taken to the measuring instrument for verification to measure the size, and the two sizes are compared. When the dimensional deviation of both are within a predetermined range, the CCD is considered to be usable, and normal production can be performed. When the deviation of the two is not in the preset range, the CCD is considered to move, the measured size is inaccurate, and the CCD cannot be produced. However, certain materials are wasted in the first inspection process, and time and labor are wasted and the productivity is reduced.
Disclosure of Invention
In order to solve the above problems, embodiments of the present application provide a calibration method, device, and storage medium for a linear camera, which save manpower and time in a first inspection process and improve productivity.
To this end, in one aspect of the present application, there is provided a linear camera calibration method, comprising the steps of:
s1, setting linear camera parameters, and setting a first calibration piece and a second calibration piece at preset positions of a calibration object;
s2, collecting at least two first calibration sheets and second calibration measurement images, and automatically analyzing the distance between the first calibration sheets and the second calibration sheets in the measurement images through the measurement images;
and S3, judging whether the distance between the first calibration piece and the second calibration piece exceeds a threshold value, and adjusting when the distance exceeds the threshold value.
Alternatively, in combination with any one of the above aspects, in another implementation manner of the present aspect, the distance between the first calibration piece and the second calibration piece in the measurement image is automatically analyzed by the measurement image, specifically,
acquiring the positions of the first standard piece and the second standard piece, and determining the center points of the first standard piece and the second standard piece;
and calculating the pixel coordinates of the central points of the first calibration piece and the second calibration piece, and converting the pixel coordinates of the central points into physical coordinates to obtain the distance between the central points of the first calibration piece and the second calibration piece.
Optionally, in combination with any one of the foregoing aspects, in another implementation manner of the present aspect, the preset positions are two ends of the calibration object, and the number of the first calibration piece and the second calibration piece is one or two.
Optionally, in combination with any one of the above aspects, in another implementation manner of the present aspect, the number of the first calibration pieces is two, and the number of the second calibration pieces is one; and the pole piece behavior direction is perpendicular to the calibration object, the first calibration piece is positioned at the left side of the pole walking direction, and the second calibration piece is positioned at the right side of the pole piece walking direction.
Alternatively, in combination with any one of the above aspects, in another implementation manner of the present aspect, the first and second calibration pieces are circular or rectangular in shape.
Alternatively, in combination with any of the above aspects, in another implementation of the present aspect, the first and second calibration pieces are identical in shape.
Optionally, in combination with any one of the foregoing aspects, in another implementation manner of this aspect, at least two first calibration pieces and second calibration measurement images in step S2 include a measurement image before the calibration object is started and a measurement image after the calibration object is started.
Optionally, in combination with any one of the above aspects, in another implementation manner of the present aspect, the camera is a CCD camera.
In another aspect of the present application, a computer device is provided, which includes a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor implementing a linear camera calibration method as described in any one of the above when executing the computer program.
In another aspect of the present application, there is provided a storage medium having stored thereon a computer program which, when executed, implements a linear camera calibration method as described in any of the above.
As described above, the method, the device and the storage medium for calibrating and calibrating the linear camera provided by the application automatically judge whether the position of the camera or the position of the calibration object is in a preset range by arranging the first calibration piece and the second calibration piece on the calibration object and collecting the distance between the first calibration piece and the second calibration piece; when the position is out of the preset range, the user is prompted to adjust, so that the calibration efficiency is improved. The parameters are configured only once, and then under the condition that the camera is not offset, manual recalibration is not needed, so that the labor and time are saved, and the on-site productivity is improved.
The above summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. The above summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. The claimed subject matter is not limited to implementations that solve any or all disadvantages noted in the background.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort. These drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments.
FIG. 1 is a schematic flow chart provided in an embodiment of the present application;
FIG. 2 is a schematic structural diagram provided in an embodiment of the present application;
in the figure: 1. a first calibration piece; 2. a second calibration piece; 3. a pole piece; 4. and (3) a roller.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the element defined by the phrase "comprising one … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element, and furthermore, elements having the same name in different embodiments of the present application may have the same meaning or may have different meanings, a particular meaning of which is to be determined by its interpretation in this particular embodiment or by further combining the context of this particular embodiment.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context. Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" specify the presence of stated features, steps, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, steps, operations, elements, components, items, categories, and/or groups. The terms "or," "and/or," "including at least one of," and the like, as used herein, may be construed as inclusive, or meaning any one or any combination. An exception to this definition will occur only when a combination of elements, functions, steps or operations are in some way inherently mutually exclusive.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Referring to fig. 1, the present application provides a calibration and calibration method, device, and storage medium for a linear camera, which save manpower and time in the first inspection process and improve productivity.
Specifically, the method comprises the following steps:
step S1, setting linear camera parameters, and setting a first calibration piece 1 and a second calibration piece 2 at preset positions of the calibration object. Parameters of the linear camera are set in advance to perform calibration. Calibration of a linear camera, i.e. without taking into account the distortion of the camera, only takes into account the conversion of the spatial coordinates. Through linear camera calibration, the positions of the first calibration piece 1 and the second calibration piece 2 are conveniently and accurately calculated later.
In this embodiment, as shown in fig. 2, the running direction of the pole piece 3 is perpendicular to the roller 4, the calibration object is the roller 4, and the preset positions are two ends of the roller 4. The first calibration piece 1 is provided at one end of the roller 4, and the second calibration piece 2 is provided at the other end of the roller 4. More specifically, the first calibration piece 1 set up in the left side of pole piece 3 walking direction, the second calibration piece 2 set up in the right side of pole piece 3 walking direction, and the quantity of first calibration piece 1 is greater than the quantity of second calibration piece 2 to improve the precision of calculating first calibration piece 1 and second calibration piece 2 distance, improve the degree of accuracy of calibration. In the present embodiment, the number of the first calibration sheets 1 is two, and the number of the second calibration sheets 2 is one.
And S2, collecting at least two first calibration pieces 1 and second calibration measurement images, and analyzing the distance between the first calibration pieces 1 and the second calibration pieces 2 in the measurement images.
The measurement images of at least two of the first and second calibration sheets 1 and 2 are measured by linear camera timing sampling. The at least two first calibration sheets 1 and the at least two second calibration measurement images comprise a measurement image before the starting of the calibration object and a measurement image after the starting of the calibration object. The measured image before starting the calibration object is used for calculating the distance between the first calibration piece 1 and the second calibration piece 2 under normal conditions. The measurement image after the calibration object is started is used for calculating the distance between the first calibration piece 1 and the second calibration piece 2 in the initial state. And judging whether the size of the pole piece 3 in the cutting process is in compliance or not through the comparison of the two distances. The number of measurement images is not limited here, and can be taken at regular time during operation to calibrate in real time.
The distance between the first and second calibration sheets 1 and 2 is automatically analyzed by measuring images, specifically,
step S21, acquiring positions of the first standard piece 1 and the second standard piece 2, and determining center points of the first standard piece 1 and the second standard piece 2; since the number of the first calibration pieces 1 is two in this application, the measurement image may have one first calibration piece 1 and one second calibration piece 2 or two first calibration pieces 1 and two second calibration pieces 2. The first calibration piece 1 and the second calibration piece 2 have the same shape, generally circular or rectangular, and regular shape, so that the center point of the first calibration piece can be obtained quickly. In this embodiment, the first and second calibration sheets 1 and 2 are circular in shape, and the center point thereof is the center of the circle.
Step S22, calculating the pixel coordinates of the central points of the first and second calibration pieces 1 and 2, and converting the pixel coordinates of the central points into physical coordinates to obtain the distance between the central points of the first and second calibration pieces 1 and 2. After the center points of the first standard piece 1 and the second standard piece 2 are obtained, coordinate conversion is performed, and the center distance between the two is calculated. When there are a plurality of first calibration pieces 1, the center distances of circles of the two first calibration pieces 1 and the second calibration piece 2 are calculated respectively, and the calculation is performed a plurality of times to improve the calculation accuracy.
Step S3, judging whether the distance between the first standard piece 1 and the second standard piece 2 exceeds a threshold value, and adjusting when the distance exceeds the threshold value.
And comparing the distance between the at least one first standard piece 1 and the at least one second standard piece 2 obtained in the previous step with the distance between the first standard piece 1 and the second standard piece 2 in the initial state, judging whether the distance exceeds a threshold value, and prompting a popup window to remind a worker to confirm and adjust when the distance exceeds the threshold value. The on-line automatic calibration is performed, parameters are configured only once, and manual recalibration is not needed in the subsequent condition that the camera is not deviated, so that the labor and time are saved, and the on-site productivity can be improved.
According to the linear camera calibration and calibration method, the first calibration piece 1 and the second calibration piece 2 are arranged on the calibration object, and the distance between the first calibration piece 1 and the second calibration piece 2 is collected, so that whether the position of the camera or the position of the calibration object is in a preset range is automatically judged; when the position is out of the preset range, the user is prompted to adjust, so that the calibration efficiency is improved. The parameters are configured only once, and then under the condition that the camera is not offset, manual recalibration is not needed, so that the labor and time are saved, and the on-site productivity is improved.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
In this application, the same or similar term concept, technical solution, and/or application scenario description will generally be described in detail only when first appearing, and when repeated later, for brevity, will not generally be repeated, and when understanding the content of the technical solution of the present application, etc., reference may be made to the previous related detailed description thereof for the same or similar term concept, technical solution, and/or application scenario description, etc., which are not described in detail later.
In this application, the descriptions of the embodiments are focused on, and the details or descriptions of one embodiment may be found in the related descriptions of other embodiments.
The technical features of the technical solutions of the present application may be arbitrarily combined, and for brevity of description, all possible combinations of the technical features in the above embodiments are not described, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the present application.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as above, comprising several instructions for causing a terminal device (which may be a consumer or a network device, etc.) to perform the method of each embodiment of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (10)
1. The calibration and calibration method for the linear camera is characterized by comprising the following steps of:
s1, setting linear camera parameters, and setting a first calibration piece and a second calibration piece at preset positions of a calibration object;
s2, collecting at least two first calibration sheets and second calibration measurement images, and automatically analyzing the distance between the first calibration sheets and the second calibration sheets in the measurement images through the measurement images;
and S3, judging whether the distance between the first calibration piece and the second calibration piece exceeds a threshold value, and adjusting when the distance exceeds the threshold value.
2. A method of calibrating a linear camera as claimed in claim 1, wherein: the distance between the first calibration piece and the second calibration piece in the measurement image is automatically analyzed through the measurement image, specifically,
acquiring the positions of the first standard piece and the second standard piece, and determining the center points of the first standard piece and the second standard piece;
and calculating the pixel coordinates of the central points of the first calibration piece and the second calibration piece, and converting the pixel coordinates of the central points into physical coordinates to obtain the distance between the central points of the first calibration piece and the second calibration piece.
3. A method of calibrating a linear camera as claimed in claim 2, wherein: the preset positions are two ends of the calibration object, and the number of the first calibration piece and the second calibration piece is one or two.
4. A method of calibrating a linear camera as claimed in claim 3, wherein: the number of the first calibration pieces is two, and the number of the second calibration pieces is one; and the pole piece behavior direction is perpendicular to the calibration object, the first calibration piece is positioned at the left side of the pole walking direction, and the second calibration piece is positioned at the right side of the pole piece walking direction.
5. A method of calibrating a linear camera as claimed in claim 2, wherein: the first and second calibration pieces are circular or rectangular in shape.
6. A method of calibrating a linear camera as defined in claim 5, wherein: the first and second tabs are identical in shape.
7. A method of calibrating a linear camera as claimed in claim 2, wherein: in the step S2, at least two first calibration pieces and second calibration measurement images include a measurement image before the calibration object is started and a measurement image after the calibration object is started.
8. A method of calibrating a linear camera as claimed in claim 2, wherein: the camera is a CCD camera.
9. A computer device, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing a linear camera calibration method according to any one of claims 1 to 8 when executing the computer program.
10. A storage medium having stored thereon a computer program which when executed implements a linear camera calibration method according to any one of claims 1 to 8.
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