CN117073582A - Calibration method and device of line laser profilometer system and electronic equipment - Google Patents
Calibration method and device of line laser profilometer system and electronic equipment Download PDFInfo
- Publication number
- CN117073582A CN117073582A CN202311167444.XA CN202311167444A CN117073582A CN 117073582 A CN117073582 A CN 117073582A CN 202311167444 A CN202311167444 A CN 202311167444A CN 117073582 A CN117073582 A CN 117073582A
- Authority
- CN
- China
- Prior art keywords
- coordinate
- line laser
- laser profiler
- calibration
- determining
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 71
- 239000011159 matrix material Substances 0.000 claims abstract description 158
- 230000009466 transformation Effects 0.000 claims abstract description 85
- 238000006243 chemical reaction Methods 0.000 claims abstract description 20
- 230000006870 function Effects 0.000 claims description 20
- 238000004590 computer program Methods 0.000 claims description 12
- 238000013519 translation Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000005259 measurement Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2504—Calibration devices
-
- 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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/11—Complex mathematical operations for solving equations, e.g. nonlinear equations, general mathematical optimization problems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Data Mining & Analysis (AREA)
- Theoretical Computer Science (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Databases & Information Systems (AREA)
- Algebra (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Operations Research (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computing Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present disclosure provides a calibration method, a device and an electronic device for a line laser profiler system, where the method includes: acquiring first point cloud information acquired by a line laser profiler, wherein the first point cloud information comprises: calibrating three-dimensional coordinates of circumferences of a plurality of section circles of the ball under a first coordinate system, wherein the first coordinate system is a coordinate system of a line laser profiler system; determining a first coordinate of the center of the cross-section circle under a first coordinate system according to the first point cloud information; determining a coordinate conversion matrix from a first coordinate to a second coordinate, wherein the second coordinate is a three-dimensional coordinate of the center of a cross-section circle under a second coordinate system, and the second coordinate system is a coordinate system of a line laser profiler; according to the line laser profiler system calibrated by the coordinate transformation matrix, the line laser profiler system calibration method and device can achieve calibration of the line laser profiler system.
Description
Technical Field
The disclosure relates to the field of sensor calibration, in particular to a calibration method, a calibration device and electronic equipment of a line laser profilometer system.
Background
In the measuring scene of the object, the line laser profiler or the object to be measured is driven to move by a motion axis. In the moving process, the line laser profiler projects laser lines to the surface of an object through a laser, brightness information reflected by the profile surface is recorded through an optical sensor, and then the geometric dimension of the object is calculated through a computer.
However, when the axis of motion and the laser plane are not perpendicular, measurement errors in the geometry of the object may result, and a calibration method is needed to correct such errors.
Disclosure of Invention
Aspects of the present disclosure provide a calibration method, apparatus, and electronic device for a line laser profiler system to calibrate the line laser profiler system to correct measurement errors in object dimensions using the line laser profiler.
A first aspect of an embodiment of the present disclosure provides a calibration method of a line laser profiler system, the line laser profiler system including: the line laser profiler and motion axle, wherein, motion axle drive line laser profiler or demarcation ball remove, and the demarcation method includes:
acquiring first point cloud information acquired by a line laser profiler, wherein the first point cloud information comprises: calibrating three-dimensional coordinates of circumferences of a plurality of section circles of the ball under a first coordinate system, wherein the first coordinate system is a coordinate system of a line laser profiler system;
determining a first coordinate of the center of the cross-section circle under a first coordinate system according to the first point cloud information;
determining a coordinate conversion matrix from a first coordinate to a second coordinate, wherein the second coordinate is a three-dimensional coordinate of the center of a cross-section circle under a second coordinate system, and the second coordinate system is a coordinate system of a line laser profiler; and calibrating the line laser profiler system according to the coordinate transformation matrix.
A second aspect of the disclosed embodiments provides a calibration device for a line laser profiler system, the line laser profiler system comprising: line laser profiler and motion axle, wherein, motion axle drive line laser profiler or demarcation ball remove, and the demarcation device includes:
the acquisition module is used for acquiring first point cloud information acquired by the line laser profiler, wherein the first point cloud information comprises: calibrating three-dimensional coordinates of circumferences of a plurality of section circles of the ball under a first coordinate system, wherein the first coordinate system is a coordinate system of a line laser profiler system;
the first determining module is used for determining a first coordinate of the center of the cross-section circle under a first coordinate system according to the first point cloud information;
the second determining module is used for determining a coordinate conversion matrix from a first coordinate to a second coordinate, wherein the second coordinate is a three-dimensional coordinate of the center of the cross-section circle under a second coordinate system, and the second coordinate system is a coordinate system of the line laser profiler;
and the calibration module is used for calibrating the line laser profiler system according to the coordinate transformation matrix.
A third aspect of an embodiment of the present disclosure provides an electronic device, including: a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the calibration method of the first aspect when executing the computer program.
A fourth aspect of the disclosed embodiments provides a computer-readable storage medium having stored therein computer-executable instructions for implementing the calibration method of the first aspect when executed by a processor.
A fifth aspect of the disclosed embodiments provides a computer program product comprising: a computer program stored in a readable storage medium, from which the computer program can be read by at least one processor of an electronic device, the at least one processor executing the computer program causing the electronic device to perform the calibration method of the first aspect.
The present disclosure provides a calibration method of a line laser profiler system, the line laser profiler system comprising: line laser profiler and motion axle, wherein, motion axle drive line laser profiler or demarcation ball remove, and this disclosure is through the first point cloud information that acquires line laser profiler and gather, and first point cloud information includes: calibrating three-dimensional coordinates of circumferences of a plurality of section circles of the ball under a first coordinate system, wherein the first coordinate system is a coordinate system of a line laser profiler system; determining a first coordinate of the center of the cross-section circle under a first coordinate system according to the first point cloud information; determining a coordinate conversion matrix from a first coordinate to a second coordinate, wherein the second coordinate is a three-dimensional coordinate of the center of a cross-section circle under a second coordinate system, and the second coordinate system is a coordinate system of a line laser profiler; and calibrating the line laser profiler system according to the coordinate transformation matrix to realize the calibration of the line laser profiler system.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the present disclosure, and together with the description serve to explain the present disclosure. In the drawings:
FIG. 1 is a schematic diagram of a line laser profiler system in an ideal state;
FIG. 2 is a schematic diagram of a line laser profiler system provided in an exemplary embodiment of the present disclosure;
FIG. 3 is a flow chart of steps of a calibration method provided by an exemplary embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a first coordinate system and a second coordinate system provided by an exemplary embodiment of the present disclosure;
FIG. 5 is a flow chart of steps of another calibration method provided by an exemplary embodiment of the present disclosure;
FIG. 6 is a block diagram of a calibration device provided in an exemplary embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be clearly and completely described below with reference to specific embodiments of the present disclosure and corresponding drawings. It will be apparent that the embodiments presented are only some, but not all, of the embodiments of the present disclosure. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of protection of this disclosure.
Referring to FIG. 1, in an ideal case, the moving direction of the motion axisPerpendicular to the laser plane. Thus, accurate three-dimensional information of the object can be determined by using the line laser profiler. In practical cases, however, referring to FIG. 2, the direction of movement of the motional axisNot perpendicular to the laser plane, there is some error if the line laser profiler system (line laser profiler and axis of motion) is used to measure the three-dimensional dimensions of the object.
Based on the above-mentioned problems, the present disclosure provides a calibration method of a line laser profiler system, which establishes a first coordinate system based on a laser surface, establishes a second coordinate system based on a motion axis, then adopts three-dimensional coordinates of a calibration sphere acquired by a line laser profiler, and accurately calibrates the line laser profiler system according to a positional relationship between the first coordinate system and the second coordinate system, so that the calibrated line laser profiler system can accurately measure three-dimensional dimensions of an object.
The line fitting, the circle fitting and the ellipse fitting mentioned below in the present disclosure may be performed by using an existing fitting tool, and the present disclosure is not limited to the fitting tool.
FIG. 3 is a flow chart of steps of a calibration method of a line laser profiler system according to an exemplary embodiment of the present disclosure, wherein the line laser profiler system includes: the line laser profiler and the motion axis, wherein the motion axis drives the line laser profiler or the calibration ball to move, and the calibration method specifically comprises the following steps:
S301, acquiring first point cloud information acquired by a line laser profiler.
Wherein the first point cloud information includes: calibrating three-dimensional coordinates of circumferences of a plurality of section circles of the ball under a first coordinate system, wherein the first coordinate system is a coordinate system of a line laser profiler system;
in the method, a line laser profiler and a calibration ball relatively move, and the line laser profiler collects point cloud information of the spherical surface of the calibration ball in the movement process.
Further, the first point cloud information is the three-dimensional coordinates of circumferences of a plurality of section circles of the calibration sphere under a first coordinate system;
in the embodiment of the disclosure, the line laser profiler acquires the point cloud information of the circumference of the cross-section circle, and then fits the first point cloud information of the circumference of the cross-section circle, so that the point cloud information of the center of the cross-section circle, namely the first coordinate of the center of the circle, can be obtained.
S302, determining a first coordinate of the center of the cross-section circle under a first coordinate system according to the first point cloud information.
The first coordinate is a three-dimensional coordinate of the center of a cross-section circle of the calibration sphere under a first coordinate system, a horizontal axis and a vertical axis of the first coordinate system are used for representing a laser surface emitted by the line laser profiler, and a first vertical axis of the first coordinate system represents the moving direction of the line laser profiler.
With reference to figures 2 and 4 of the drawings,representing a first coordinate system, ">Representing a second coordinate system, ">Representing the laser plane; />The (first vertical axis) represents the moving direction of the motion axis, namely the moving direction of the line laser profiler, and the laser surface composed of a plurality of laser lines emitted by the line laser profiler is also along +.>And (3) moving in the direction. />(second vertical axis) and->Axes (horizontal axis) and->The axis (vertical axis) is vertical.
Further, referring to (2) of fig. 2, the online laser profiler followsDuring the movement, the laser surface is also along +.>And moving, wherein the laser surface intersects with circumferences of a plurality of cross-section circles of the calibration sphere, so that first point cloud information of the circumferences under a first coordinate system can be acquired, and a first coordinate of the center of the cross-section circle under the first coordinate system can be obtained by fitting according to the first point cloud information.
In the embodiment of the disclosure, the first coordinates of the centers of a plurality of section circles of the calibration sphere can be determined in the moving process of the line laser profiler.
S303, determining a coordinate conversion matrix from the first coordinate to the second coordinate.
The second coordinate is a three-dimensional coordinate of the center of the cross-section circle under the second coordinate system, the transverse axis of the second coordinate system is identical to the transverse axis of the first coordinate system, the vertical axis of the second coordinate system is identical to the vertical axis of the first coordinate system, and the second vertical axis of the second coordinate system is perpendicular to the laser surface of the laser profiler.
In the embodiment of the present disclosure, referring to fig. 4, a coordinate conversion relationship from a first coordinate system to a second coordinate system may be obtainedThe method comprises the steps of carrying out a first treatment on the surface of the And then the coordinate transformation matrix can be obtained>Wherein->Representing a first longitudinal axis +.>And a second longitudinal axis->Angle of (1)>Representing a first longitudinal axis +.>Projection onto a laser surfaceIs->Is included in the bearing.
In an embodiment of the present disclosure, a method for processing a web,and->The value is to be evaluated, and the +.A. can be calculated according to the first coordinates of the centers of a plurality of cross-section circles and the calibration equation>And->Values. And further obtaining a coordinate transformation matrix.
S305, calibrating the line laser profiler system according to the coordinate conversion matrix.
After the line laser profiler system is calibrated, if the line laser profiler system is required to measure three-dimensional information of any object, the three-dimensional information of the object under the first coordinate system can be obtained first, then the three-dimensional information is converted by using the coordinate conversion matrix, so that the three-dimensional information of the object under the second coordinate system is obtained, and the three-dimensional information of the object under the second coordinate system is the accurate three-dimensional information of the object finally output by the line laser profiler.
In summary, the present disclosure may enable calibration of a line laser profiler system, thereby enabling accurate measurement of three-dimensional information of an object.
FIG. 5 is a flowchart illustrating steps of a calibration method of another line laser profiler system according to an exemplary embodiment of the present disclosure, including the following steps:
s501, acquiring first point cloud information acquired by a line laser profiler, and determining a first coordinate of the center of a cross-section circle under a first coordinate system according to the first point cloud information.
The specific implementation process of this step is referred to S301 and S302, and will not be described here again.
S502, determining a calibration equation.
Wherein, the calibration equation is:the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>A first coordinate is indicated and a second coordinate is indicated,representing the second coordinate, ++>Represents the angle between the first longitudinal axis and the second longitudinal axis, < >>The angle between the projection of the first longitudinal axis on the laser surface and the horizontal axis is shown.
S503, determining a first intermediate equation according to the calibration equation.
Wherein the first intermediate equation is。
In the disclosed embodiment, referring to FIG. 2, the line laser profiler measures at each location during movementThe intersection line of the plane (laser surface) and the calibration sphere is still circular (i.e. the circumferences of a plurality of cross-section circles of the calibration sphere) due to the rotational symmetry of the calibration sphere, and the connection line of the centers of all cross-section circles is perpendicular to the laser plane, i.e. parallel to +. >A shaft (second longitudinal axis).
Further, it can be recorded in a first coordinate system) The center coordinates of the lower cross-section circle are +.>The method comprises the steps of carrying out a first treatment on the surface of the In a second coordinate system (+)>) The lower circle center coordinate is>. Wherein the line connecting the centers of all cross-sectional circles is parallel to +.>An axis, therefore, can be obtained +.A.of each cross-sectional circle with the movement of the line laser profiler>The values are identical, +.>The values are identical. Based on this, the calibration equation is rewritten to obtain a first intermediate equation.
S504, determining according to the first intermediate equationAnd->Is a value of (2).
In an alternative embodiment, the determination is based on a first intermediate equationAnd->Comprises: determining a second intermediate equation according to the first intermediate equation, wherein the second intermediate equation is: />The method comprises the steps of carrying out a first treatment on the surface of the For->And->Performing linear fitting to obtain a first slope for +.>And->Performing linear fitting to obtain a second slope; determining a slope equation according to the second intermediate equation, the first slope and the second slope, wherein the slope equation is as follows: />Wherein->Representing a first slope, +.>Representing a second slope; determining +.>And->Is a value of (2).
Specifically, the first intermediate equation is eliminatedA second intermediate equation is obtained. From the second intermediate equation, one can get +. >And->Is a linear relationship of +.>And->Is to ∈>Performing straight line fitting to obtain a first slope +.>For->The second slope is +.>. Then there is a slope equation:the method comprises the steps of carrying out a first treatment on the surface of the And then get->Wherein, due to fitting, get +.>And->According to the above formula +.>And->Is a value of (2).
In another alternative embodiment, the determination is based on a first intermediate equationAnd->Comprises: under the condition that the first intermediate equation is determined to be a three-dimensional linear equation, determining a direction vector of the first intermediate equation, wherein the direction vector is expressed as:the method comprises the steps of carrying out a first treatment on the surface of the Fitting a normalized direction vector of the three-dimensional straight line, the normalized direction vector being expressed as: />The method comprises the steps of carrying out a first treatment on the surface of the Determining +.>And->The linear relationship is expressed as +.>Wherein->Is constant.
Specifically, the first intermediate equationConsidered as a three-dimensional straight line equation, the direction vector of the three-dimensional straight line equation is +.>Fitting the normalized direction vector of the three-dimensional straight line to +.>. Wherein the direction vector is normalized/>And (4) direction vector->There is a linear relationship，/>Is constant, then get->Solving the equation can be obtained>Due to->Are all determined and can then obtain +. >And->Is a value of (2).
S505 according toAnd->Is used to determine the coordinate transformation matrix.
Wherein the coordinate transformation matrix is expressed as。
In this step, to determineAnd->Is substituted into the value ofMatrix->And obtaining the coordinate transformation matrix.
S506, determining a first radius of the cross-section circle according to the first point cloud information.
The first radius of the cross-sectional circle can be obtained by fitting according to the first point cloud information of the cross-sectional circle. In the present disclosure, a first radius of each cross-sectional circle may be determined.
S507, determining a second vertical axis coordinate according to the first point cloud information and the coordinate transformation matrix.
The second vertical axis coordinate is the vertical axis coordinate of the cross-section circle under the second coordinate system.
For example, if the first point cloud information includes a plurality of three-dimensional coordinates, the three-dimensional coordinates of the first point cloud information may be expressed as. Can be according to->Calculating to obtain three-dimensional coordinates of the cross-section circle (circumference and circle center) in the second coordinate system>Wherein ∈10 is determined>Is the second vertical axis coordinate. In embodiments of the present disclosure, a plurality of second longitudinal axis coordinates may be obtained.
And S508, fitting a target ellipse according to the second longitudinal axis coordinate and the first radius to obtain a first ellipse half axis of the target ellipse along the laser surface direction and a second ellipse half axis along the second longitudinal axis direction.
In the present disclosure, if the measured profile of the line laser profiler and/or the encoder encoding interval is accurate, the fitting results are circular according to the second longitudinal axis coordinates and the first radius. If the measured contour of the line laser profiler and/or the coding interval of the encoder are inaccurate, the ellipse is obtained by fitting according to the second longitudinal axis coordinate and the first radius, namely the target ellipse.
The present disclosure fits a target ellipse using a plurality of second longitudinal axis coordinates corresponding to the circumferences of a plurality of cross-sectional circles and a first radius.
Further, the half axis of the target ellipse along the laser plane direction is determined as a first ellipse half axis, and the half axis of the target ellipse along the second longitudinal axis direction is determined as a second ellipse half axis.
Referring to FIG. 2, after the first point cloud information of each cross-sectional circle is acquired, a target ellipse can be obtained by fitting, and a first ellipse half axis of the target ellipseAlong the laser plane direction, a first elliptic half-axis +.>Parallel to the laser plane and perpendicular to the second elliptical half axis. Second oval half axle->Along a second longitudinal axis.
S509, determining a scaling matrix of the line laser profiler according to the first elliptic half axis and the second elliptic half axis.
In an alternative embodiment, if the actual radius of the calibration sphere is known, determining a scaling matrix for the line laser profiler based on the first elliptical half-axis and the second elliptical half-axis, comprising: acquiring the actual radius of the calibration sphere; determining the ratio of the actual radius to a first elliptic half axis as a first scaling factor of the line laser profiler system in the direction parallel to the laser surface; determining the ratio of the actual radius to a second elliptical half axis as a second scaling factor of the line laser profiler system in a second longitudinal axis direction; a scaling matrix is determined from the first scaling factor and the second scaling factor.
Specifically, if the actual radius isThe first elliptic half axis is +.>The second elliptic half axis is +.>The first scaling factor and the second scaling factor are expressed as: />Wherein->Representing a first scaling factor, ">Representing a second scaling factor.
In another alternative embodiment, if the actual radius of the calibration sphere is unknown, determining the scaling factor of the line laser profiler system based on the first elliptical half-axis and the second elliptical half-axis includes: determining a value 1 as a first scaling factor of the line laser profiler system in the radial direction of the calibration sphere; determining the ratio of the first elliptic half axis to the second elliptic half axis as a second scaling factor of the line laser profiler system in the direction of a second longitudinal axis; a scaling matrix is determined from the first scaling factor and the second scaling factor.
Specifically, if the radius of the calibration sphere is unknown, the laser surface fitting diameter may be used to correct scaling of the vertical axis, where the first scaling factor and the second scaling factor are expressed as:。
further, the scaling matrix is expressed as。
S510, calibrating the line laser profiler system according to the scaling matrix and the coordinate transformation matrix.
In one embodiment, after the scaling matrix and the coordinate transformation matrix are used to calibrate the line laser profiler system, if the line laser profiler system is used to collect three-dimensional point cloud information of the object, the three-dimensional point cloud information is multiplied by the scaling matrix and the coordinate transformation matrix to obtain actual three-dimensional point cloud information of the object.
In another embodiment, a system for calibrating a line laser profiler from a scaling matrix and a coordinate transformation matrix includes: determining an initial coordinate transformation matrix according to a plurality of coordinate transformation matrices obtained by a plurality of calibration balls; wherein the initial coordinate transformation matrix is one of a plurality of coordinate transformation matrices, or the value in the initial coordinate transformation matrix is the average value of the values of at least part of the coordinate transformation matrices in the plurality of coordinate transformation matrices, and the beta value is the average value of the values of at least part of the coordinate transformation matrices in the plurality of coordinate transformation matrices; determining an initial scaling matrix according to a plurality of scaling matrices obtained by a plurality of calibration balls; wherein the initial scaling matrix is one of a plurality of scaling matrices or is an average value of at least part of the plurality of scaling matrices; the line laser profiler system is calibrated according to the initial scaling matrix and the initial coordinate transformation matrix.
In the present disclosure, if there are a plurality of calibration balls, the processing in the above manner may be performed on each calibration ball, and a coordinate transformation matrix and a scaling matrix may be obtained for each calibration ball. For example, there are three calibration balls #、/>And->) Wherein the calibration ball->Corresponding coordinate transformation matrix->Scaling matrix- >The method comprises the steps of carrying out a first treatment on the surface of the Marking ball->Corresponding coordinate transformation matrix->Scaling matrix->The method comprises the steps of carrying out a first treatment on the surface of the Marking ball->Corresponding coordinate transformation matrix->Scaling matrix->. The initial coordinate transformation matrix may be a coordinate transformation matrix +.>Coordinate transformation matrix->And coordinate transformation matrix->For example, the initial coordinate transfer matrix may be the smallest coordinate transfer matrix +.>。
Or alternatively、/>、/>. Wherein ∈10 is obtained>、/>. And then the initial coordinate transformation matrix can be obtained as。
Further, the line laser profiler system is calibrated using an initial scaling matrix and an initial coordinate transformation matrix. Then after the three-dimensional point cloud information of the object is acquired by adopting the line laser contour system, the three-dimensional point cloud information is multiplied by the initial scaling matrix and the initial coordinate transformation matrix to obtain the actual three-dimensional point cloud information of the object.
In the present disclosure, if the number of calibration balls and the distance between the calibration balls in the line laser profile system are determined according to the length of the object in the actual measurement scene, if a longer object needs to be measured, the number of calibration balls needs to be greater, and the distance between the calibration balls is greater.
In the present disclosure, when the number of calibration balls is greater than or equal to 2, calibrating the line laser profiler system according to the initial scaling matrix and the initial coordinate conversion matrix, including: adjusting an initial coordinate transformation matrix according to a preset cost function to obtain a target coordinate transformation matrix; adjusting an initial scaling matrix according to a preset cost function to obtain a target scaling matrix; and calibrating the line laser profiler system according to the target coordinate transformation matrix and the target scaling matrix.
In an embodiment of the present disclosure, the matrix is transformed in determining the initial coordinatesAnd an initial scaling matrix->After that, the matrix can be transformed according to the initial coordinates +.>And an initial scaling matrix->Correcting the three-dimensional point cloud information on the surface of the calibration sphere, which is acquired by the linear laser profiler, to obtain corrected three-dimensional point cloud information, and then fitting the spherical center coordinates and the radius of the corresponding calibration sphere by using the corrected three-dimensional point cloud information. Feeding inAnd the spherical center coordinates and the radius of each calibration sphere can be obtained.
In an alternative embodiment, when the number of calibration balls is 2, the preset cost function is:；
wherein,the +.o representing the first calibration sphere>Three-dimensional coordinates of the spherical points in a first coordinate system, wherein,，/>is a positive integer; />Is the three-dimensional coordinate of the sphere center of the first calibration sphere under the second coordinate system, +.>The actual radius of the first calibration sphere;
the +.o representing the second calibration sphere>Three-dimensional coordinates of the spherical point in a first coordinate system, wherein +>，Is a positive integer; />The sphere center of the second calibration sphere is at the secondThree-dimensional coordinates in a coordinate system, +.>For the actual radius of the second calibration sphere, +.>Is a constant coefficient>For the actual centre of sphere distance between the first calibration sphere and the second calibration sphere +. >Representing an initial coordinate transformation matrix,/>Representing the initial scaling matrix.
Wherein,in order to calibrate the spherical constraint of the sphere,for the constraint of the center distance of the calibration ball, +.>Weight for adjusting the centre of gravity constraint relative to the sphere constraint, +.>The value of (2) can be predetermined according to the length of the center of sphere, the diameter of the calibration sphere and the number of points of the three-dimensional point cloud.
In the embodiment of the disclosure, the initial coordinate transformation matrix is adjusted by adopting a preset cost functionInitial scaling matrixLet the cost function value->Get the minimum +.>For the target coordinate transformation matrix, < > for>Scaling the matrix for the target.
In another alternative embodiment, if the number of balls is greater than or equal to 3, the preset cost function is:the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Indicate->The->Three-dimensional coordinates of the individual sphere points in a first coordinate system, wherein +.>，/>Is a positive integer>，/>Is a positive integer. />Is->Three-dimensional coordinates of the sphere centers of the calibration spheres under a calibration sphere coordinate system are +.>Is->The actual radius of each calibration sphere; />Representing an initial coordinate transformation matrix,/>Representing an initial scaling matrix +.>Rotation matrix representing the second coordinate system to the calibration sphere coordinate system,/>Representing a translation matrix of the second coordinate system to the calibration sphere coordinate system.
In an embodiment of the present disclosure, if the number of balls is greater than or equal to 3, a calibration ball coordinate system may be determined according to the plurality of balls, and the ball coordinate system may be predetermined according to the marker design. Using an initial coordinate transformation matrixInitial scaling matrixCorrecting the collected spherical point cloud under the first coordinate system to obtain a spherical point cloud under the second coordinate system; performing spherical fitting by using the corrected spherical point cloud to obtain spherical center coordinates; and calculating the rotational moment and the translation vector from the second coordinate system to the spherical coordinate system by using the spherical center coordinates under the second coordinate system obtained by fitting and the spherical center coordinates under the known spherical coordinate system through the existing rigid body transformation estimation algorithm. The present disclosure is not limited to rigid body transformation estimation algorithms.
If the number of balls is greater than or equal to 3, the cost function can be used to adjust the initial coordinate transformation matrixAnd an initial scaling matrix->Let the cost function value->Get the minimum +.>For the target coordinate transformation matrix, < > for>Scaling the matrix for the target.
If the number of balls is greater than or equal to 3, there may be reflections in the calibration ball coordinate system and the second coordinate system, and if there is a reflection, determining a reflection matrix, and adding the reflection matrix to the cost function. The cost function can be expressed as: Wherein->Representing the reflection matrix.
In the embodiment of the application, if the target coordinate transformation matrix is obtainedAnd a target scaling matrix->And calibrating the line laser profile system by adopting a target coordinate transformation matrix and a target scaling matrix.
Further, in the using process of the line laser contour system, three-dimensional point cloud information of the object is acquired by adopting the line laser contour systemCalculating actual three-dimensional point cloud information +.>The method specifically comprises the following steps: />，，/>。
According to the calibration method of the line laser profiler system, the coordinate conversion matrix of the line laser profiler system can be calibrated by considering that the laser surface is not perpendicular to the motion axis, and the calibration of the scaling matrix of the line laser profiler is realized by considering that the measurement profile of the line laser profiler and/or the coding interval of the encoder is inaccurate. Further, the coordinate conversion matrix and the scaling matrix are adjusted by adopting the cost function, so that the line laser profiler system can accurately calibrate, and the calibrated line laser profiler system can accurately measure the size of an object.
Referring to fig. 6, for a block diagram of a calibration device 60 of a line laser profiler system provided by the present disclosure, the line laser profiler system includes: line laser profiler and motion axis, wherein the motion axis drives the line laser profiler or calibration sphere to move, the calibration device 60 specifically comprises:
The obtaining module 61 is configured to obtain first point cloud information collected by the line laser profiler, where the first point cloud information includes: calibrating three-dimensional coordinates of circumferences of a plurality of section circles of the ball under a first coordinate system, wherein the first coordinate system is a coordinate system of a line laser profiler system;
a first determining module 62, configured to determine, according to the first point cloud information, a first coordinate of a center of the cross-section circle in a first coordinate system;
a second determining module 63, configured to determine a coordinate transformation matrix from a first coordinate to a second coordinate, where the second coordinate is a three-dimensional coordinate of a center of the cross-sectional circle under a second coordinate system, and the second coordinate system is a coordinate system of the line laser profiler;
and a calibration module 64 for calibrating the line laser profiler system according to the coordinate conversion matrix.
In an alternative embodiment, the horizontal and vertical axes of a first coordinate system are used to represent the laser surface emitted by the line laser profiler, and the first vertical axis of the first coordinate system represents motionThe moving direction of the shaft, the transverse shaft of the second coordinate system is the same as that of the first coordinate system, the vertical shaft of the second coordinate system is the same as that of the first coordinate system, and the second vertical shaft of the second coordinate system is perpendicular to the laser surface of the laser profiler; the second determining module 63 is specifically configured to: determining a calibration equation, wherein the calibration equation is as follows: The method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Representing the first coordinate, ++>Representing the second coordinate, ++>Represents the angle between the first longitudinal axis and the second longitudinal axis, < >>Representing the included angle between the projection of the first longitudinal axis on the laser surface and the transverse axis; according to the calibration equation, a first intermediate equation is determined, the first intermediate equation is +.>The method comprises the steps of carrying out a first treatment on the surface of the According to a first intermediate equation, determine +.>And->Is a value of (2); according to->And->Is to determine a coordinate transformation matrix, which is expressed as +.>。
In an alternative embodiment, the second determining module63 in determining according to a first intermediate equationAnd->Is specifically used for: determining a second intermediate equation according to the first intermediate equation, wherein the second intermediate equation is:the method comprises the steps of carrying out a first treatment on the surface of the For->And->Performing linear fitting to obtain a first slope for +.>And->Performing linear fitting to obtain a second slope; determining a slope equation according to the second intermediate equation, the first slope and the second slope, wherein the slope equation is as follows: />Wherein->Representing a first slope, +.>Representing a second slope; determining +.>And->Is a value of (2).
In an alternative embodiment, the second determining module 63 determines based on the first intermediate equationAnd->Is specifically used for: under the condition that the first intermediate equation is determined to be a three-dimensional linear equation, determining a direction vector of the first intermediate equation, wherein the direction vector is expressed as: / >The method comprises the steps of carrying out a first treatment on the surface of the Fitting a normalized direction vector of the three-dimensional straight line, the normalized direction vector being expressed as: />The method comprises the steps of carrying out a first treatment on the surface of the Determining +.>And->The linear relationship is expressed as +.>Wherein->Is constant.
In an alternative embodiment, calibration module 63 is specifically configured to: acquiring first point cloud information of a cross-sectional circle acquired by a line laser profiler, wherein the first point cloud information is three-dimensional coordinates of the cross-sectional circle of a calibration sphere in a first coordinate system, and the first point cloud information comprises: the point cloud information of the circumference of the cross section circle and the point cloud information of the center of the cross section circle; determining a first radius of the cross-section circle according to the first point cloud information; determining a second longitudinal axis coordinate according to the first point cloud information and the coordinate conversion matrix; the second vertical axis coordinate is the vertical axis coordinate of the cross-section circle under the second coordinate system; fitting a target ellipse according to the second longitudinal axis coordinate and the first radius to obtain a first ellipse half axis of the target ellipse along the laser surface direction and a second ellipse half axis along the second longitudinal axis direction; determining a scaling matrix of the line laser profiler according to the first elliptic half shaft and the second elliptic half shaft; and calibrating the line laser profiler system according to the scaling matrix and the coordinate transformation matrix.
In an alternative embodiment, if the actual radius of the calibration sphere is known, the calibration module 63 is specifically configured to, when determining the scaling matrix of the line laser profiler based on the first elliptical half-axis and the second elliptical half-axis: acquiring the actual radius of the calibration sphere; determining the ratio of the actual radius to a first elliptic half axis as a first scaling factor of the line laser profiler system in the direction parallel to the laser surface; determining the ratio of the actual radius to a second elliptical half axis as a second scaling factor of the line laser profiler system in a second longitudinal axis direction; determining a scaling matrix according to the first scaling coefficient and the second scaling coefficient, wherein the scaling matrix is as follows:wherein->Representing a first scaling factor, ">Representing a second scaling factor.
In an alternative embodiment, if the actual radius of the calibration sphere is unknown, the calibration module 63 is specifically configured to, when determining the scaling factor of the line laser profiler system based on the first elliptical half-axis and the second elliptical half-axis: determining a value 1 as a first scaling factor of the line laser profiler system in the radial direction of the calibration sphere; determining the ratio of the first elliptic half axis to the second elliptic half axis as a second scaling factor of the line laser profiler system in the direction of a second longitudinal axis; a scaling matrix is determined from the first scaling factor and the second scaling factor.
In an alternative embodiment, when the number of calibration balls is greater than 1, each calibration ball correspondingly obtains a coordinate transformation matrix, and the calibration module 63 is specifically configured to, when calibrating the line laser profiler system according to the scaling matrix and the coordinate transformation matrix: determining an initial coordinate transformation matrix according to a plurality of coordinate transformation matrices obtained by a plurality of calibration balls, wherein the initial coordinate transformation matrix is one of the plurality of coordinate transformation matrices or an initial coordinateIn a conversion matrixThe value is +/of at least part of the plurality of coordinate transformation matrices>Average value of>The value is +/of at least part of the plurality of coordinate transformation matrices>Average of values; determining an initial scaling matrix according to a plurality of scaling matrices obtained by the plurality of calibration balls, wherein the initial scaling matrix is one of the plurality of scaling matrices or is an average value of at least part of the scaling matrices in the plurality of scaling matrices; the line laser profiler system is calibrated according to the initial scaling matrix and the initial coordinate transformation matrix.
In an alternative embodiment, when the number of calibration balls is greater than or equal to 2, the calibration module 63 is specifically configured to, when calibrating the line laser profiler system according to the initial scaling matrix and the initial coordinate transformation matrix: adjusting an initial coordinate transformation matrix according to a preset cost function to obtain a target coordinate transformation matrix; adjusting an initial scaling matrix according to a preset cost function to obtain a target scaling matrix; and calibrating the line laser profiler system according to the target coordinate transformation matrix and the target scaling matrix.
In an alternative embodiment, when the number of calibration balls is 2, the preset cost function is:；
wherein,the +.o representing the first calibration sphere>Three-dimensional coordinates of the spherical points in a first coordinate system, wherein,，/>is a positive integer; />Is the three-dimensional coordinate of the sphere center of the first calibration sphere under the second coordinate system, +.>The actual radius of the first calibration sphere;
the +.o representing the second calibration sphere>Three-dimensional coordinates of a spherical point in a first coordinate system, wherein>，/>Is a positive integer; />Is the three-dimensional coordinate of the sphere center of the second calibration sphere under the second coordinate system, +.>For the actual radius of the second calibration sphere, +.>Is a constant coefficient>For the actual centre of sphere distance between the first calibration sphere and the second calibration sphere +.>Representing an initial coordinate transformation matrix,/>Representing the initial scaling matrix.
In an alternative embodiment, if the number of balls is greater than or equal to 3, the preset cost function is:the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Indicate->The->Three-dimensional coordinates of the individual sphere points in a first coordinate system, wherein +.>，/>Is a positive integer>，/>Is a positive integer. />Is->Three-dimensional coordinates of the sphere centers of the calibration spheres under a calibration sphere coordinate system are +.>Is->The actual radius of each calibration sphere; / >Representing an initial coordinate transformation matrix,/>Representing an initial scaling matrix +.>Rotation matrix representing the second coordinate system to the calibration sphere coordinate system,/>Representing a translation matrix of the second coordinate system to the calibration sphere coordinate system.
The calibration device provided by the disclosure can realize the calibration method, and specific reference is made to the above, and details are not repeated here.
In addition, in some of the above embodiments and the flows in the drawings, a plurality of operations appearing in a particular order are included, but it should be clearly understood that the operations may be performed out of order or performed in parallel in the order in which they appear herein, merely for distinguishing between the various operations, and the sequence number itself does not represent any order of execution. In addition, the flows may include more or fewer operations, and the operations may be performed sequentially or in parallel. It should be noted that, herein, "second", "first", etc. are used to distinguish different messages, devices, modules, etc., and do not represent a sequence, nor do they limit that "second" and "first" are different types.
Fig. 7 is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present disclosure. As shown in fig. 7, the electronic device 70 includes: a processor 71, and a memory 72 communicatively coupled to the processor 71, the memory 72 storing computer-executable instructions.
The specific functions and the technical effects that can be achieved by the calibration method provided by any of the method embodiments are not described herein.
The disclosed embodiments also provide a computer-readable storage medium having stored therein computer-executable instructions that, when executed by a processor, are configured to implement any of the methods described above.
The disclosed embodiments also provide a computer program product comprising: a computer program stored in a readable storage medium, from which the computer program can be read by at least one processor of an electronic device, the at least one processor executing the computer program causing the electronic device to perform any one of the methods described above.
In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems and methods may be implemented in other ways. For example, the system embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, system or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform part of the steps of the methods of the various embodiments of the disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
It will be apparent to those skilled in the art that, for convenience and brevity, only the above-described division of the functional modules is illustrated, and in practical applications, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the system is divided into different functional modules to perform all or part of the above-described functions. The specific working process of the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (14)
1. A method of calibrating a line laser profiler system, the line laser profiler system comprising: the line laser profiler and motion axis, wherein, the motion axis drives line laser profiler or demarcation ball removes, the demarcation method includes:
acquiring first point cloud information acquired by the line laser profiler, wherein the first point cloud information comprises: the three-dimensional coordinates of the circumferences of the cross-section circles of the calibration ball are in a first coordinate system, wherein the first coordinate system is the coordinate system of the line laser profiler system;
determining a first coordinate of the center of the cross-section circle under the first coordinate system according to the first point cloud information;
determining a coordinate conversion matrix from a first coordinate to a second coordinate, wherein the second coordinate is a three-dimensional coordinate of the center of the cross-section circle under a second coordinate system, and the second coordinate system is a coordinate system of the line laser profiler;
and calibrating the line laser profiler system according to the coordinate conversion matrix.
2. The method of calibrating a line laser profiler system according to claim 1, wherein a horizontal axis and a vertical axis of the first coordinate system are used for representing a laser surface emitted by a line laser profiler, a first vertical axis of the first coordinate system represents a moving direction of the motion axis, a horizontal axis of the second coordinate system is identical to the horizontal axis of the first coordinate system, a vertical axis of the second coordinate system is identical to the vertical axis of the first coordinate system, and a second vertical axis of the second coordinate system is perpendicular to the laser surface of the line laser profiler; the determining a coordinate transformation matrix from the first coordinate to the second coordinate includes:
Determining a calibration equation, wherein the calibration equation is as follows:the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Representing said first coordinate,/->Representing said second coordinate,/->Representing the first longitudinal axis and the second longitudinal axisAngle of longitudinal axis->Representing an angle between a projection of a first longitudinal axis on the laser surface and the transverse axis;
determining a first intermediate equation according to the calibration equation, wherein the first intermediate equation is；
Determining the first intermediate equationAnd said->Is a value of (2);
according to the describedAnd said->Determining the coordinate transformation matrix, the coordinate transformation matrix being expressed as。
3. The method of calibrating a line laser profiler system according to claim 2, wherein the determining the line laser profiler system is based on the first intermediate equationAnd said->Comprises:
determining a second intermediate equation according to the first intermediate equation, wherein the second intermediate equation is:；
for a pair ofAnd->Performing linear fitting to obtain a first slope for +.>And->Performing linear fitting to obtain a second slope;
determining a slope equation according to the second intermediate equation, the first slope and the second slope, wherein the slope equation is:wherein->Representing the first slope,/- >Representing the second slope;
determining the slope equationAnd said->Is a value of (2).
4. The method of calibrating a line laser profiler system according to claim 2, wherein the determining the line laser profiler system is based on the first intermediate equationAnd said->Comprises:
determining a direction vector of the first intermediate equation under the condition that the first intermediate equation is determined to be a three-dimensional linear equation, wherein the direction vector is expressed as:；
fitting a normalized direction vector of the three-dimensional straight line, the normalized direction vector being expressed as:；
determining the direction vector from the linear relationship of the direction vector and the normalized direction vectorAnd said->The linear relation is expressed as +.>Wherein->Is constant.
5. The method of calibrating a line laser profiler system according to any one of claims 2 to 4, wherein calibrating the line laser profiler system according to the coordinate conversion matrix comprises:
determining a first radius of the cross-section circle according to the first point cloud information;
determining a second vertical axis coordinate according to the first point cloud information and the coordinate transformation matrix, wherein the second vertical axis coordinate is the vertical axis coordinate of the cross-section circle under the second coordinate system;
Fitting a target ellipse according to the second longitudinal axis coordinate and the first radius to obtain a first ellipse half axis of the target ellipse along the laser surface direction and a second ellipse half axis along the second longitudinal axis direction;
determining a scaling matrix of the line laser profiler according to the first elliptic half axis and the second elliptic half axis;
and calibrating the line laser profiler system according to the scaling matrix and the coordinate transformation matrix.
6. The method of calibrating a line laser profiler system according to claim 5, wherein determining a scaling matrix of the line laser profiler based on the first and second elliptical half-axes if an actual radius of the calibration sphere is known comprises:
acquiring the actual radius of the calibration sphere;
determining the ratio of the actual radius to the first elliptical half axis as a first scaling factor of the line laser profiler system in a direction parallel to the laser surface;
determining the ratio of the actual radius to the second elliptical half axis as a second scaling factor of the line laser profiler system in the direction of the second longitudinal axis;
determining the scaling matrix according to the first scaling coefficient and the second scaling coefficient, wherein the scaling matrix is as follows: Wherein->Representing said first scaling factor,/>Representing the second scaling factor.
7. The method of calibrating a line laser profiler system according to claim 5, wherein determining a scaling factor of the line laser profiler system based on the first and second elliptical half-axes if an actual radius of the calibration sphere is unknown comprises:
determining a value 1 as a first scaling factor of the line laser profiler system in the radial direction of the calibration sphere;
determining a ratio of the first elliptical half axis to the second elliptical half axis as a second scaling factor of the line laser profiler system in the second longitudinal axis direction;
and determining the scaling matrix according to the first scaling coefficient and the second scaling coefficient.
8. The method according to claim 5, wherein when the number of calibration balls is greater than 1, each calibration ball correspondingly obtains a coordinate transformation matrix and a scaling matrix, and the calibrating the line laser profiler system according to the scaling matrix and the coordinate transformation matrix includes:
determining an initial coordinate transformation matrix according to a plurality of coordinate transformation matrices obtained by a plurality of calibration balls, wherein the initial coordinate transformation matrix is one of the plurality of coordinate transformation matrices or one of the initial coordinate transformation matrices The value is +.>Average value of>The value is +.>Average of values;
determining an initial scaling matrix according to a plurality of scaling matrices obtained by a plurality of calibration balls, wherein the initial scaling matrix is one of the scaling matrices or an average value of at least part of the scaling matrices;
calibrating the line laser profiler system according to the initial scaling matrix and the initial coordinate transformation matrix.
9. The method of calibrating a line laser profiler system according to claim 8, wherein the calibrating the line laser profiler system according to the initial scaling matrix and the initial coordinate conversion matrix when the number of calibration balls is greater than or equal to 2 comprises:
adjusting the initial coordinate transformation matrix according to a preset cost function to obtain a target coordinate transformation matrix;
adjusting the initial scaling matrix according to the preset cost function to obtain a target scaling matrix;
and calibrating the line laser profiler system according to the target coordinate transformation matrix and the target scaling matrix.
10. The method for calibrating a line laser profiler system according to claim 9, wherein when the number of calibration balls is 2, the preset cost function is:；
wherein,the +.o representing the first calibration sphere>Three-dimensional coordinates of the spherical points in the first coordinate system, wherein,，/>is a positive integer; />Is the three-dimensional coordinate of the sphere center of the first calibration sphere under the second coordinate system, theAn actual radius for the first calibration sphere;
the +.o representing the second calibration sphere>Three-dimensional coordinates of the spherical point in said first coordinate system, wherein +.>，/>Is a positive integer; />Is the three-dimensional coordinate of the sphere center of the second calibration sphere under the second coordinate system, wherein the +.>For the actual radius of said second calibration sphere, < > x->Is a constant coefficient>For the actual centre of sphere distance between the first calibration sphere and the second calibration sphere, and (2)>Representing the initial coordinate transformation matrix, +.>Representing the initial scaling matrix.
11. The method of calibrating a line laser profiler system according to claim 9, wherein if the number of balls is greater than or equal to 3, the predetermined cost function is:the method comprises the steps of carrying out a first treatment on the surface of the Wherein (1)>Indicate->The- >Three-dimensional coordinates of the spherical points in the first coordinate system, wherein,，/>is a positive integer>，/>Is a positive integer; />Is->Three-dimensional coordinates of the sphere centers of the calibration spheres in a calibration sphere coordinate system, wherein/>For the->The actual radius of each calibration sphere; />Representing the initial coordinate transformation matrix,representing the initial scaling matrix,>a rotation matrix representing said second coordinate system to a calibration sphere coordinate system,/for>And representing a translation matrix from the second coordinate system to a calibration sphere coordinate system.
12. A calibration device for a line laser profiler system, the line laser profiler system comprising: the line laser profiler and motion axle, wherein, the motion axle drives line laser profiler or demarcation ball remove, demarcation device includes:
the acquisition module is used for acquiring first point cloud information acquired by the line laser profiler, wherein the first point cloud information comprises: the three-dimensional coordinates of the circumferences of the cross-section circles of the calibration ball are in a first coordinate system, wherein the first coordinate system is the coordinate system of the line laser profiler system;
the first determining module is used for determining a first coordinate of the center of the cross-section circle under the first coordinate system according to the first point cloud information;
The second determining module is used for determining a coordinate conversion matrix from a first coordinate to a second coordinate, wherein the second coordinate is a three-dimensional coordinate of the center of the cross-section circle under a second coordinate system, and the second coordinate system is a coordinate system of the line laser profiler;
and the calibration module is used for calibrating the line laser profiler system according to the coordinate conversion matrix.
13. An electronic device, comprising: processor, memory and computer program stored on the memory and executable on the processor, the processor executing the computer program implementing the calibration method according to any one of claims 1 to 11.
14. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein computer executable instructions for implementing the calibration method according to any of claims 1 to 11 when executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311167444.XA CN117073582B (en) | 2023-09-12 | 2023-09-12 | Calibration method and device of line laser profilometer system and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311167444.XA CN117073582B (en) | 2023-09-12 | 2023-09-12 | Calibration method and device of line laser profilometer system and electronic equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117073582A true CN117073582A (en) | 2023-11-17 |
| CN117073582B CN117073582B (en) | 2024-01-26 |
Family
ID=88711649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311167444.XA Active CN117073582B (en) | 2023-09-12 | 2023-09-12 | Calibration method and device of line laser profilometer system and electronic equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117073582B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004113831A1 (en) * | 2003-06-24 | 2004-12-29 | Schreck-Mieves Gmbh | Method and measuring device for contactlessly measuring a contour of a surface, and method for automatically correcting coordinates of pixels |
| KR20110019011A (en) * | 2009-08-19 | 2011-02-25 | 대우조선해양 주식회사 | Calibration method and calibration jig between robot tcp and lvs |
| CN112781496A (en) * | 2021-01-20 | 2021-05-11 | 湘潭大学 | Measuring head pose calibration technology of non-contact measuring system |
| CN113009459A (en) * | 2021-04-27 | 2021-06-22 | 上海海事大学 | Space calibration method of two-dimensional laser range finder rotating three-dimensional measurement system |
| CN113739717A (en) * | 2021-08-20 | 2021-12-03 | 中国工程物理研究院激光聚变研究中心 | Line laser sensor pose calibration method in on-machine measurement system |
| CN114923453A (en) * | 2022-05-26 | 2022-08-19 | 杭州海康机器人技术有限公司 | Calibration method and device for external parameter of linear contourgraph and electronic equipment |
| CN115077378A (en) * | 2022-06-07 | 2022-09-20 | 上海中车瑞伯德智能系统股份有限公司 | Line scanning laser hand-eye calibration method applied to large workpiece measurement |
| CN115752295A (en) * | 2022-11-28 | 2023-03-07 | 浙江大学 | Automatic hand-eye calibration method for line laser profilometer |
| CN116045851A (en) * | 2023-03-31 | 2023-05-02 | 第六镜科技(北京)集团有限责任公司 | Line laser profiler calibration method and device, electronic equipment and storage medium |
-
2023
- 2023-09-12 CN CN202311167444.XA patent/CN117073582B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004113831A1 (en) * | 2003-06-24 | 2004-12-29 | Schreck-Mieves Gmbh | Method and measuring device for contactlessly measuring a contour of a surface, and method for automatically correcting coordinates of pixels |
| KR20110019011A (en) * | 2009-08-19 | 2011-02-25 | 대우조선해양 주식회사 | Calibration method and calibration jig between robot tcp and lvs |
| CN112781496A (en) * | 2021-01-20 | 2021-05-11 | 湘潭大学 | Measuring head pose calibration technology of non-contact measuring system |
| CN113009459A (en) * | 2021-04-27 | 2021-06-22 | 上海海事大学 | Space calibration method of two-dimensional laser range finder rotating three-dimensional measurement system |
| CN113739717A (en) * | 2021-08-20 | 2021-12-03 | 中国工程物理研究院激光聚变研究中心 | Line laser sensor pose calibration method in on-machine measurement system |
| CN114923453A (en) * | 2022-05-26 | 2022-08-19 | 杭州海康机器人技术有限公司 | Calibration method and device for external parameter of linear contourgraph and electronic equipment |
| CN115077378A (en) * | 2022-06-07 | 2022-09-20 | 上海中车瑞伯德智能系统股份有限公司 | Line scanning laser hand-eye calibration method applied to large workpiece measurement |
| CN115752295A (en) * | 2022-11-28 | 2023-03-07 | 浙江大学 | Automatic hand-eye calibration method for line laser profilometer |
| CN116045851A (en) * | 2023-03-31 | 2023-05-02 | 第六镜科技(北京)集团有限责任公司 | Line laser profiler calibration method and device, electronic equipment and storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 刘博文 等: "基于多线激光扫描的叶片轮廓快速测量系统标定方法", 纳米技术与精密工程, vol. 15, no. 06, pages 532 - 537 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117073582B (en) | 2024-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9928595B2 (en) | Devices, systems, and methods for high-resolution multi-view camera calibration | |
| CN102472609B (en) | Position and orientation calibration method and apparatus | |
| CN111487043B (en) | Method for determining calibration parameters of speckle projector of monocular speckle structured light system | |
| CN114923453B (en) | Calibration method and device for external parameters of linear profiler and electronic equipment | |
| CN117073581B (en) | Calibration method and device of line laser profilometer system and electronic equipment | |
| US9491448B2 (en) | Laser videogrammetry | |
| CN109514351B (en) | Calibration method of five-axis machine tool | |
| JP7173285B2 (en) | Camera calibration device, camera calibration method, and program | |
| WO2018126335A1 (en) | Method for evaluating and correcting geometric parameters of cone-beam ct system based on glomerulus motif | |
| CN101900531B (en) | Method for measuring and calculating binocular vision displacement measurement errors and measuring system | |
| CN108262953B (en) | DLP three-dimensional printer and calibration method of projector thereof | |
| CN108262952B (en) | DLP three-dimensional printer and printing method thereof | |
| CN110455222A (en) | A kind of high-precision rotary angle measuring method, device and equipment | |
| CN110211174B (en) | Method, equipment and storage medium for calibrating curved surface measuring device | |
| CN104133076A (en) | Speed measurement device and method and terminal | |
| CN111562563A (en) | Laser radar rotary table calibration method and device and computer readable storage medium | |
| CN117073582B (en) | Calibration method and device of line laser profilometer system and electronic equipment | |
| CN115187612A (en) | Plane area measuring method, device and system based on machine vision | |
| CN110686610A (en) | Optical deformation measuring method based on self-adaptive grid and electronic equipment | |
| CN103559710B (en) | A kind of scaling method for three-dimensional reconstruction system | |
| CN111462089B (en) | Virtual scene precision testing method based on optical dynamic capturing system and related equipment | |
| CN111145247B (en) | Position degree detection method based on vision, robot and computer storage medium | |
| Liu et al. | Research on 3D measurement model by line structure light vision | |
| CN108332784B (en) | Distance measurement verification method | |
| Bird et al. | Optimal image-based Euclidean calibration of structured light systems in general scenes |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |