CN117119324A - Multi-area array sensor camera and installation position adjusting method and device thereof - Google Patents

Multi-area array sensor camera and installation position adjusting method and device thereof Download PDF

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Publication number
CN117119324A
CN117119324A CN202311073533.8A CN202311073533A CN117119324A CN 117119324 A CN117119324 A CN 117119324A CN 202311073533 A CN202311073533 A CN 202311073533A CN 117119324 A CN117119324 A CN 117119324A
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area array
sensor
area
camera
sensors
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CN117119324B (en
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沈曦
吴荣华
邵云峰
唐俊峰
张光宇
曹桂平
董宁
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Hefei Eko Photoelectric Technology Co ltd
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Hefei Eko Photoelectric Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/40—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a multi-area array sensor camera and an installation position adjusting method and device thereof, and belongs to the technical field of multi-sensor cameras. The method comprises the following steps: measuring the space position coordinates of at least three points on each area array sensor to obtain a coordinate position set S corresponding to each area array sensor 1 ～S N The method comprises the steps of carrying out a first treatment on the surface of the Measuring the space position coordinates of at least three points on the front cover of the camera to obtain a coordinate position set S; fitting the equation of the plane of the set S, and calculating the set S 1 ～S N Each position coordinate in the plane equation is fitted with the distance to obtain a distance set D 1 ～D N The method comprises the steps of carrying out a first treatment on the surface of the Calculating the distance set D 1 ～D N And if the difference value is larger than the parallelism threshold, adjusting the installation positions of the corresponding area array sensors according to the difference value so that all the area array sensors are parallel to the front cover of the camera. By the method for adjusting the mounting position of the multi-area array sensor camera, the camera can obtain a larger imaging area, and imaging blurring of the camera is avoided.

Description

Multi-area array sensor camera and installation position adjusting method and device thereof
Technical Field
The invention relates to the technical field of multi-sensor cameras, in particular to a multi-area array sensor camera, and an installation position adjusting method and an adjusting device thereof.
Background
The multi-area array sensor cameras can be classified into a horizontal multi-area array sensor camera, a vertical multi-area array camera, and an M-row N-column multi-area array sensor camera according to the arrangement of the area array sensors, as shown in fig. 1, 2, and 3. Without loss of generality, the M-row N-column array multi-area sensor camera is mainly described.
In the industrial camera adjustment process, the multi-area array sensor camera needs to consider the adjustment index of a single area array sensor and the adjustment index among a plurality of area array sensors. The single area array sensor needs to ensure that the plane of the sensor is parallel to the end face of the front cover of the camera as much as possible. More adjustment indexes need to be referred to among the plurality of area array sensors: 1. the included angle in the horizontal direction between the plurality of area array sensors is smaller than a threshold value theta x The angle between the vertical directions is smaller than the threshold value theta y The method comprises the steps of carrying out a first treatment on the surface of the 2. In the horizontal direction, the difference between the maximum value and the minimum value of the distances between two adjacent area array sensors is smaller than a threshold d x The method comprises the steps of carrying out a first treatment on the surface of the In the vertical direction, the difference between the maximum value and the minimum value of the distances between two adjacent area array sensors is smaller than a threshold value d y The method comprises the steps of carrying out a first treatment on the surface of the 3. The difference value between the horizontal direction and the vertical direction of the center of the multi-area array sensor camera and the center of the front cover of the camera is smaller than a threshold value, and the included angle is smaller than the threshold value. The index is adjusted, so that the multi-area sensor camera can realize a larger imaging area and avoid the imaging blurring of the camera to influence the analysis of an imaging target.
Disclosure of Invention
The invention provides a multi-area array sensor camera, and an installation position adjusting method and an installation position adjusting device thereof, which can at least solve one of the technical problems.
In order to achieve the above purpose, the present invention proposes the following technical solutions:
a method for adjusting the mounting position of a multi-area array sensor camera, a plurality of area array sensors are arranged on the same camera according to a set arrangement mode, comprising the following steps:
measuring the space position coordinates of at least three points on each area array sensor to obtain a coordinate position set S corresponding to each area array sensor 1 ～S N The method comprises the steps of carrying out a first treatment on the surface of the Measuring the space position coordinates of at least three points on the front cover of the camera to obtain a coordinate position set S;
fitting the equation of the plane of the set S, and calculating the set S 1 ～S N Each position coordinate in the plane equation is fitted with the distance to obtain a distance set D 1 ～D N The method comprises the steps of carrying out a first treatment on the surface of the Calculating the distance set D 1 ～D N And if the difference value is larger than the parallelism threshold, adjusting the installation positions of the corresponding area array sensors according to the difference value so that all the area array sensors are parallel to the front cover of the camera.
Further, the method also comprises the adjustment of flatness among the multi-area array sensors:
distance collection D 1 ～D N Is a combined and concentrated reference minimum d min Calculate each distance set D 1 ～D N Minimum value of (2)And the reference minimum value d min Is a difference in (2);
and if the difference value is larger than the flatness threshold value, adjusting the installation positions of the corresponding area array sensors according to the difference value so that the light sensitive surfaces of all the area array sensors are on the same plane.
Further, the method also comprises the adjustment of the included angle between the multi-area array sensors:
the multi-area array sensor camera comprises M rows and N columns of area array sensors;
acquiring images of a plurality of area array sensors, extracting the edge pixel position of each area array sensor, and fitting a linear equation where the edge of each area array sensor is located;
taking an area array sensor of a first row and a first column as a reference area array sensor, taking one longitudinal edge of the area array sensor as a longitudinal reference line, calculating the included angle between one longitudinal edge of other area array sensors of the first column and the longitudinal reference line, and adjusting the positions of the other area array sensors of the first column relative to the reference area array sensor according to the included angle if the included angle exceeds a longitudinal included angle threshold;
and taking one transverse edge of the first area array sensor of each row as a transverse reference line, calculating an included angle between one transverse edge of the other area array sensors of each row and the transverse reference line, and if the included angle exceeds a transverse included angle threshold value, according to the position of the other area array sensors of each row relative to the first area array sensor of each row.
Further, the method also comprises the steps of adjusting the distance between the multi-area array sensors:
adjusting horizontal distances among the plurality of area array sensors: calculating a distance between two adjacent area array sensors in a horizontal direction, comprising: extracting two edges between two adjacent area array sensors in the water direction, extracting a plurality of points on one edge, and calculating the average value of the distances from the plurality of points to the other edge; adjusting the position of one of the area array sensors so that the average value is equal to a preset standard horizontal distance;
adjusting vertical distances among a plurality of area array sensors: calculating a distance between two adjacent area array sensors in a vertical direction, comprising: extracting two edges between two adjacent area array sensors in the vertical direction, extracting a plurality of points on one edge, and calculating the average value of the distances from the plurality of points to the other edge; and adjusting the position of one of the area array sensors so that the average value is equal to a preset standard vertical distance.
Further, the method also comprises the whole position adjustment of the multi-area array sensor:
forming a sensor array by M rows and N columns of area array sensors, wherein a rectangular opening is formed in the front cover of the camera, and the sensor array is positioned in the rectangular opening;
acquiring an image of the sensor array in the rectangular opening, extracting pixel position coordinates on four edges of the rectangular opening, and fitting a linear equation of the four edges according to the position coordinates;
calculating a transverse included angle between an edge straight line in a transverse direction of any one of the array sensors in the sensor array and an edge straight line in a transverse direction of the rectangular opening, and calculating a longitudinal included angle between an edge straight line in a longitudinal direction of any one of the array sensors in the sensor array and an edge straight line in a longitudinal direction of the rectangular opening;
and adjusting the overall position of the sensor array according to the transverse included angle and the longitudinal included angle.
Further, the method also comprises the whole position adjustment of the multi-area array sensor:
selecting a plurality of points on the upper and lower sides of the rectangular opening, respectively calculating the average value of the distances between the points and the straight line where the upper and lower edges of the sensor array are located, wherein the average value is d u And d d ；
According to d u And d d The difference value is used for adjusting the azimuth deviation of the sensor array in the up-down direction;
selecting a plurality of points on the left and right sides of the rectangular opening, and respectively calculating the average value of the distances between the points and the straight line of the left and right edges of the sensor array, wherein the average value is d l And d r ；
According to d l And d r And adjusting the azimuth deviation of the area array sensor in the left-right direction by the difference value.
Further, the method further comprises the following steps:
the sensor array has an azimuth deviation Deltad in the up-down direction y The method comprises the following steps:
the azimuth deviation of the area array sensor in the left-right direction is delta d x ：
In another aspect, there is also provided a multi-area sensor camera mounting position adjustment apparatus for performing the multi-area sensor camera mounting position adjustment method as described above, including:
a mounting structure including a reference surface parallel to the camera front cover and a rectangular reference edge for defining an array sensor arrangement position; the coordinate position set S is obtained by measuring the spatial position coordinates of at least three points on the reference surface.
On the other hand, a multi-area array sensor camera is also provided, wherein a plurality of area array sensors are arranged on the same camera according to a set arrangement mode:
the area array sensor camera includes when the installation:
measuring the space position coordinates of at least three points on each area array sensor to obtain a coordinate position set S corresponding to each area array sensor 1 ～S N The method comprises the steps of carrying out a first treatment on the surface of the Measuring the space position coordinates of at least three points on the front cover of the camera to obtain a coordinate position set S;
fitting the equation of the plane of the set S, and calculating the set S 1 ～S N Each position coordinate in the plane equation is fitted with the distance to obtain a distance set D 1 ～D N The method comprises the steps of carrying out a first treatment on the surface of the Calculating the distance set D 1 ～D N And if the difference value is larger than the parallelism threshold, adjusting the installation positions of the corresponding area array sensors according to the difference value so that all the area array sensors are parallel to the front cover of the camera.
Further, when the area array sensor camera is installed, the area array sensor camera further comprises:
distance collection D 1 ～D N Is a combined and concentrated reference minimum d min Calculate each distance set D 1 ～D N The minimum value d of (2) i And the reference minimum value d min Is a difference in (2);
and if the difference value is larger than the flatness threshold value, adjusting the installation positions of the corresponding area array sensors according to the difference value so that the light sensitive surfaces of all the area array sensors are on the same plane.
In order to more accurately adjust the indexes, the invention ensures the parallelism between the plane of each area array sensor and the end face of the front cover of the camera; and adjusting the included angle, the distance and the deviation and the included angle of the central position among the plurality of area array sensors by collecting the image of the edge of each area array sensor and the image of the edge of the end face of the front cover of the camera. By the method for adjusting the mounting position of the multi-area array sensor camera, the camera can obtain a larger imaging area, and imaging blurring of the camera is avoided.
Drawings
FIG. 1 is a schematic view of a multi-faceted array sensor camera landscape arrangement;
FIG. 2 is a schematic view of a longitudinal array of multi-faceted array sensor cameras;
FIG. 3 is a schematic diagram of an array installation of M rows and N columns of a multi-area sensor camera;
FIG. 4 is a simulation diagram when the included angle between the multi-area array sensors is calculated in the present embodiment;
FIG. 5 is a schematic view of a multi-area sensor camera in the present embodiment;
fig. 6 is a schematic view of the present embodiment when the mounting structure is used for assisting the mounting.
In the figure: 1-a camera front cover; 2-area array sensor; 3-mounting structural members.
Description of the embodiments
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention.
The embodiment firstly provides a method for adjusting the installation position of a multi-area array sensor camera. By the method, the parallelism of the single area array sensor 2 and the included angles, the distances and the deviations and included angles of the central positions among the plurality of area array sensors 2 can be adjusted, so that the camera can keep clear images on the premise of large imaging area.
The method mainly comprises the following steps:
the camera is fixed on the detection platform;
n is taken from the ith area array sensor 2 i The point is that N non-collinear is taken on the end face of the front cover 1 of the camera s Using N on the end face of the front cover 1 of the camera s The points fit the plane, and the distance from the points on each area array sensor 2 to the fit plane is calculated;
adjusting the parallelism of single area array sensing;
the parallelism between the area array sensors 2 is adjusted.
Re-measuring the parallelism among the cameras of the plurality of area array sensors 2, and if the parallelism meets the requirement, performing subsequent measurement; otherwise, continuing to adjust according to the measurement result.
Images of each area array sensor 2 and each camera front cover 1 are acquired, straight lines of edges of each area array sensor 2 and each camera front cover 1 are respectively extracted, and the included angles, the distances and the deviation and the included angles of the central positions among the plurality of area array sensors 2 are calculated.
And adjusting the included angle between the multi-area array sensors 2.
The distance between the multi-area array sensors 2 is adjusted.
And adjusting the deviation and the included angle of the central position of the multi-area array sensor 2.
Re-acquiring the images of each area array sensor 2 and the camera front cover 1, calculating the included angles among the plurality of area array sensors 2, the distances and the deviation and included angles of the central positions, and completing the measurement if the requirements are met; otherwise, continuing to adjust.
Specific embodiments include:
(1) Adjusting the parallelism of a single area array sensor: measuring the space position coordinates of at least three points on each area array sensor 2 to obtain a coordinate position set S corresponding to each area array sensor 2 1 ～S N The method comprises the steps of carrying out a first treatment on the surface of the Measuring the space position coordinates of at least three points on the front cover 1 of the camera to obtain a coordinate position set S;
fitting the equation of the plane of the set S, and calculating the set S 1 ～S N Is a distance to the fitted plane equation,obtaining a distance set D 1 ～D N The method comprises the steps of carrying out a first treatment on the surface of the Calculating the distance set D 1 ～D N And if the difference value is larger than the parallelism threshold value, adjusting the installation position of the corresponding area array sensor 2 according to the difference value. Specifically: n on the ith area array sensor 2 i The distance from each point to the fitting plane is d i Taking d i Minimum value of (2)Calculate d i And->Is a difference Δd of (d) i If Δd i Greater than a preset parallelism threshold, Δd i I.e. the adjustment amount of the ith area sensor 2, and adjusting the parallelism of each area sensor 2 according to the adjustment amount.
(2) Adjusting flatness between the area array sensors 2: distance collection D 1 ～D N Is a combined and concentrated reference minimum d min Calculate each distance set D 1 ～D N Minimum value of (2)And the reference minimum value d min Is a difference in (2); and if the difference value is larger than the flatness threshold value, adjusting the installation positions of the corresponding area array sensors 2 according to the difference value so that the light sensitive surfaces of all the area array sensors 2 are on the same plane. Specifically, after the parallelism of the individual area sensors 2 is adjusted, the parallelism of each area sensor 2 is satisfactory, but in order to ensure the imaging clarity of the camera, it is also necessary to adjust the flatness between each area sensor 2. After each area array sensor 2 is adjusted, the distance between the ith sensor and the fitting plane is considered to be the minimum valueTaking the minimum value d from all the area array sensors 2 to the fitting plane as min Calculate->And d min And if the difference value delta d is delta d, the delta d is the adjustment quantity of the ith area array sensor 2, and the flatness between the area array sensors 2 is adjusted according to the adjustment quantity.
Re-measuring the flatness among the cameras of the plurality of area array sensors 2, and if the flatness meets the requirement, performing subsequent measurement; otherwise, continuing to adjust according to the measurement result.
The image device is used for collecting the images of each area array sensor 2 and the camera front cover 1, the straight line where the edges of each area array sensor 2 and the camera front cover 1 are located is respectively extracted, and the included angle, the distance and the deviation and the included angle of the central position among the plurality of area array sensors 2 are calculated.
(3) Adjusting the included angle between the multi-area array sensors 2: taking the planar array sensor 2 of the first row and the first column as a reference planar array sensor 2, taking one longitudinal edge of the planar array sensor 2 as a longitudinal reference line, calculating the included angle between one longitudinal edge of other planar array sensors 2 of the first column and the longitudinal reference line, and adjusting the positions of the other planar array sensors 2 of the first column relative to the reference planar array sensor 2 according to the included angle if the included angle exceeds a longitudinal included angle threshold value.
And taking one transverse edge of the first area array sensor 2 of each row as a transverse reference line, calculating the included angle between one transverse edge of the other area array sensors 2 of each row and the transverse reference line, and if the included angle exceeds a transverse included angle threshold value, according to the position of the other area array sensors 2 of each row relative to the first area array sensor 2 of each row.
Specifically, the included angle of the multi-area sensor 2 is a straight line as shown in fig. 4. Wherein, the dotted line in the horizontal direction represents a horizontal edge straight line extracted by the area array sensor 2 and is used for calculating an included angle in the horizontal direction; the broken line in the vertical direction represents a longitudinal edge line extracted by the area sensor 2. And (2) calculating the included angle between the straight line extracted by the other area array sensor and the straight line extracted by the area array sensor 11 in the direction by taking the area array sensor 11 as a reference in the 1 st row. If the included angle is smaller than the transverse included angle threshold, the sensor is considered to be completed in the adjustment of the included angle in the horizontal direction; otherwise, the corresponding included angle is adjusted. And so on, to row M. Since the area array sensor 2 is a regular rectangle, the angle in the vertical direction is naturally satisfactory after the adjustment of the angle in the horizontal direction is completed.
(4) Adjusting the distance between the multi-area array sensors 2 includes:
adjusting the horizontal distance between the plurality of area array sensors 2: calculating the distance between two adjacent area array sensors 2 in the horizontal direction includes: extracting two edges in the middle of two adjacent area array sensors 2 in the water direction, extracting a plurality of points on one edge, and calculating the average value of the distances from the plurality of points to the other edge; the position of one of the area array sensors 2 is adjusted so that the average value is equal to a preset standard horizontal distance.
Adjusting the vertical distance between the plurality of area array sensors 2: calculating the distance between two adjacent area array sensors 2 in the vertical direction includes: extracting two edges in the middle of two adjacent area array sensors 2 in the vertical direction, extracting a plurality of points on one edge, and calculating the average value of the distances from the plurality of points to the other edge; the position of one of the area sensors 2 is adjusted so that the average value is equal to a preset standard vertical distance.
(5) And (3) adjusting deviation and included angle of the central position of the multi-area array sensor 2:
forming a sensor array by M rows and N columns of area array sensors 2, wherein a rectangular opening is formed in the front cover 1 of the camera, and the sensor array is positioned in the rectangular opening; and acquiring an image of the sensor array in the rectangular opening, extracting pixel position coordinates on four edges of the rectangular opening, and fitting a linear equation of the four edges according to the position coordinates.
Calculating a transverse included angle between an edge straight line in one transverse direction of any one of the array sensors 2 in the sensor array and an edge straight line in the transverse direction of the rectangular opening, and calculating a longitudinal included angle between an edge straight line in one longitudinal direction of any one of the array sensors 2 in the sensor array and an edge straight line in the longitudinal direction of the rectangular opening; and adjusting the overall position of the sensor array according to the transverse included angle and the longitudinal included angle.
Re-acquiring the images of each area array sensor 2 and the camera front cover 1, calculating the included angles among the plurality of area array sensors 2, the distances and the deviation and included angles of the central positions, and completing the measurement if the requirements are met; otherwise, continuing to adjust.
Wherein, the above-mentioned taking a point on the ith area array sensor 2, taking a non-collinear point on the end face of the front cover 1, calculating the distance from the point on each area array sensor 2 to the fitting plane by using the fitting plane of the point on the end face of the front cover 1, in a preferred embodiment, the method comprises:
the area array sensor 2 is rectangular, different positions on the area array sensor 2 are measured by utilizing the spectrum confocal equipment, and corresponding measurement results are recorded, so that the method can be used for verifying whether the installation of the area array sensor 2 is horizontal. However, the reference zero point of the spectrum confocal device is fixed, if the area array sensor 2 is obliquely placed, the result of measuring the area array sensor 2 of the spectrum confocal device will include two parts of the measured value of the area array sensor 2 and the placed oblique amount, so that the measured parallelism will have obvious errors when the measured result of the spectrum confocal device is directly used.
To solve the above problem, a transparent, smooth-surfaced measurement aid can be placed over the bezel collar. In order to make the parallelism measurement between the spectral confocal sensor measuring area sensor 2 and the front cover collar more accurate, the following requirements are placed on the measurement aid: the spectral confocal apparatus measures the upper and lower surfaces of the measurement aid (because the measurement aid has a certain thickness), calculates the difference between the measurements of the upper and lower surfaces of the measurement aid, measures a plurality of positions, and the maximum difference and the minimum difference are smaller than the expected threshold, preferably 5 microns. The auxiliary measuring piece is placed on the front cover joint ring, and has the following advantages: 1. the lower surface of the measurement auxiliary piece can be approximately used for replacing the front cover joint ring surface, and the spectrum confocal equipment can be used for measuring the lower surface of the measurement auxiliary piece with higher precision; 2. if the area sensor 2 is placed inclined, the measurement aid will assume a consistent inclination with the area sensor 2. The spectral confocal equipment measures the area array sensor 2 and the measurement auxiliary, calculates the distance from the measurement result of the area array sensor 2 to the measurement result of the measurement auxiliary, and can eliminate errors caused by the inclination of the placement of the area array sensor 2 to a certain extent.
The specific measurement steps are as follows:
measuring the photosensitive area of the ith sensor: the spectrum confocal device forms small circular spots on the area array sensor 2, and obtains corresponding peaks, the positions of the peaks correspond to the measured distance of the area array sensor 2, and the position P (x 1 ，y 1 ，z 1 ) And the distance d measured by the spectral confocal apparatus. Measurement of N i A plurality of points, a set S of the corresponding positions and the measuring results of the area array sensor 2 is obtained i The method is characterized by comprising the following steps:
measuring the lower surface of the measurement aid: the spectral confocal sensor motion is adjusted so that the spectral confocal device is focused on the measurement aid lower surface (which may be approximated as a replacement for the bezel interface as previously described), wherein the coordinates (x, y) of the spectral confocal sensor may be the same as the area array sensor 2. And selecting a peak corresponding to the lower surface of the auxiliary measuring piece, and recording the distance d measured by the spectrum confocal equipment. Measurement of N s A plurality of points, a set S of the corresponding positions and the measuring results of the area array sensor 2 is obtained s The method is characterized by comprising the following steps:
calculating the distance between the measurement result of the area sensor 2 and the measurement result of the measurement auxiliary member:
in order to measure the distance between the measurement result of the area sensor 2 and the measurement result of the measurement aid, the following steps are carried out:
1. will be set S i 、S s And (3) adjusting to obtain:
the units of x, y, Z, d in the above set have been unified, and Z and d are both distances in the Z direction, and thus can be added. At the same time S' i Is not collinear. The superscript in the above formula is merely a reference, and is not an index.
2. Fitting set S' s An equation for the plane. S'. s Is the set obtained by measuring the lower surface of the auxiliary member, set S' s Approximately in one plane, therefore, S 'can be utilized' s The plane equation can be expressed as: ax+by+cz+d=0.
3. Calculate set S' i Is to the plane ax+by+cz+d=0. Set S' i Is a distance of ax+by+cz+d=0 from the plane
4. And calculating the parallelism of the single area array camera. Selecting the difference between the minimum values of the calculated distance set Di Due to distance set D i Representation set S' i Is set D if the distance of the point of (a) to plane ax+by+cz+d=0 i Difference of minimum->Is the nearest location to the plane. The adjustment of the parallelism can be achieved by adding suitable shims, so that the deviation of the parallelism to be adjusted is +.>
And calculating the flatness between the area array cameras. Each area array sensor 2 distance set D i Difference of minimum valueForm set D m ，/>Set D m The minimum value of (2) is d min Then->
The above-mentioned capturing images of each area array sensor 2 and the front cover 1 with the imaging device, respectively extracting straight lines where edges of each area array sensor 2 and the front cover 1 are located, and calculating deviations and angles of angles, distances and central positions between the plurality of area array sensors 2, in a preferred embodiment, the method comprises:
in the invention, because the imaging area of the imaging device is smaller, the complete images of the area array sensor 2 and the camera front cover 1 can not be acquired, so the invention utilizes the common area array camera to acquire the images of the edges of the camera front cover 1 at the photosensitive area of the area array sensor 2 and calculate the offset of the azimuth direction.
And acquiring images of four directions of the upper, lower, left and right of the edge of each area array camera sensor, and acquiring images of four directions of the upper, lower, left and right of the edge of the front cover 1 of the camera.
For the image of the edge of the area sensor 2, the area where the edge of the area sensor 2 is located is cut. And extracting the straight line where the edge of the area sensor 2 is positioned by using an edge extraction algorithm. And extracting coordinate values of the edge of the area array sensor 2, and performing linear fitting according to the coordinate values, wherein the fitted linear equation is as y=kx+b.
The linear equations of the four directions of the area array sensor 2 at the ith row and the jth column are respectively as follows:
the straight line equations of the upper, lower, left and right directions of the edge of the front cover 1 of the camera are respectively as follows:
calculating the included angle between the multi-area array sensors 2: the included angle between the jth area array sensor 2 of the ith row and the 1 st area array sensor 2 of the ith row is as follows:
calculating the distance between the multi-area sensors 2: the horizontal distance between the area array sensor 2 at the j-th column position of the i-th row and the area array sensor 2 at the j-1-th column position of the i-th row isThe calculation method is as follows: from straight line->Upper selection of N r A plurality of points, calculate the N r Point-to-straight line->And convert it into a physical distanceMeanwhile, the movement distance of the imaging device is +.>Then->
The vertical distance between the surface array sensor 2 at the kth row position of the jth column and the surface array sensor 2 at the kth-1 row position of the jth column isThe calculation method is as follows: from straight line->Upper selection of N r Point, calculateThe N is r From point to straight lineAnd converts it into a physical distance +.>Meanwhile, the movement distance of the imaging deviceThen->
Calculating deviation and included angle of the central position of the multi-area array sensor 2: after the included angle and the distance between the multi-area array sensors 2 are adjusted, the parallel and the distance between the area array sensors 2 are equal. At this time, the deviation and the angle of the center position of the multi-area sensor 2 can be calculated. The linear equation of the leftmost M-row area array sensor 2 isThe straight line of the edge of the front cover 1 of the left camera is +.>Since the angle between the multi-area sensors 2 has been adjusted, there is +.>
In straight lineRandomly select N s Points, calculate N s The point-to-line equation isIs converted into a physical distance d l The method comprises the steps of carrying out a first treatment on the surface of the Similarly, the physical distance between the right side of the sensor array and the right side of the camera front cover 1 is d r Sensor arrayThe physical distance above and above the camera front cover 1 is d u The physical distance below the sensor array and below the structure is d d . Then the deviation value Δd of the center position of the multi-area sensor 2 x 、Δd y And the included angle delta theta is as follows:
the embodiment also provides a multi-area array sensor camera which is installed by using the method. Further, the present embodiment uses the mounting structure 3 for adjustment of the mounting position of the area sensor 1, the mounting structure 3 including a reference surface parallel to the front cover of the camera, and a rectangular reference edge for defining the arrangement position of the area sensor 1. The above-described mounting position adjustment step is performed using a reference surface instead of the camera front cover.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A method for adjusting a mounting position of a multi-area array sensor camera, in which a plurality of area array sensors are arranged on the same camera in a set arrangement, comprising:
measuring the space position coordinates of at least three points on each area array sensor to obtain a coordinate position set S corresponding to each area array sensor 1 ～S N The method comprises the steps of carrying out a first treatment on the surface of the Measuring the space position coordinates of at least three points on the front cover of the camera to obtain a coordinate position set S;
fitting the equation of the plane of the set S, and calculating the set S 1 ～S N Each position coordinate in the plane equation is fitted with the distance to obtain a distance set D 1 ～D N The method comprises the steps of carrying out a first treatment on the surface of the Calculating the distance set D 1 ～D N And if the difference value is larger than the parallelism threshold, adjusting the installation positions of the corresponding area array sensors according to the difference value so that all the area array sensors are parallel to the front cover of the camera.
2. The multi-area sensor camera mounting position adjustment method according to claim 1, further comprising adjustment of flatness between multi-area sensors:
distance collection D 1 ～D N Is a combined and concentrated reference minimum d min Calculate each distance set D 1 ～D N Minimum value of (2)And the reference minimum value d min Is a difference in (2);
and if the difference value is larger than the flatness threshold value, adjusting the installation positions of the corresponding area array sensors according to the difference value so that the light sensitive surfaces of all the area array sensors are on the same plane.
3. The method for adjusting the mounting position of a multi-area sensor camera according to claim 1, further comprising adjusting an included angle between the multi-area sensor:
the multi-area array sensor camera comprises M rows and N columns of area array sensors;
acquiring images of a plurality of area array sensors, extracting the edge pixel position of each area array sensor, and fitting a linear equation where the edge of each area array sensor is located;
taking an area array sensor of a first row and a first column as a reference area array sensor, taking one longitudinal edge of the area array sensor as a longitudinal reference line, calculating the included angle between one longitudinal edge of other area array sensors of the first column and the longitudinal reference line, and adjusting the positions of the other area array sensors of the first column relative to the reference area array sensor according to the included angle if the included angle exceeds a longitudinal included angle threshold;
and taking one transverse edge of the first area array sensor of each row as a transverse reference line, calculating an included angle between one transverse edge of the other area array sensors of each row and the transverse reference line, and if the included angle exceeds a transverse included angle threshold value, according to the position of the other area array sensors of each row relative to the first area array sensor of each row.
4. The multi-area sensor camera mounting position adjustment method according to claim 3, further comprising adjustment of a distance between multi-area sensors:
adjusting horizontal distances among the plurality of area array sensors: calculating a distance between two adjacent area array sensors in a horizontal direction, comprising: extracting two edges between two adjacent area array sensors in the water direction, extracting a plurality of points on one edge, and calculating the average value of the distances from the plurality of points to the other edge; adjusting the position of one of the area array sensors so that the average value is equal to a preset standard horizontal distance;
adjusting vertical distances among a plurality of area array sensors: calculating a distance between two adjacent area array sensors in a vertical direction, comprising: extracting two edges between two adjacent area array sensors in the vertical direction, extracting a plurality of points on one edge, and calculating the average value of the distances from the plurality of points to the other edge; and adjusting the position of one of the area array sensors so that the average value is equal to a preset standard vertical distance.
5. The multi-area sensor camera mounting position adjustment method of claim 4, further comprising multi-area sensor overall position adjustment:
forming a sensor array by M rows and N columns of area array sensors, wherein a rectangular opening is formed in the front cover of the camera, and the sensor array is positioned in the rectangular opening;
acquiring an image of the sensor array in the rectangular opening, extracting pixel position coordinates on four edges of the rectangular opening, and fitting a linear equation of the four edges according to the position coordinates;
calculating a transverse included angle between an edge straight line in a transverse direction of any one of the array sensors in the sensor array and an edge straight line in a transverse direction of the rectangular opening, and calculating a longitudinal included angle between an edge straight line in a longitudinal direction of any one of the array sensors in the sensor array and an edge straight line in a longitudinal direction of the rectangular opening;
and adjusting the overall position of the sensor array according to the transverse included angle and the longitudinal included angle.
6. The multi-area sensor camera mounting position adjustment method of claim 4, further comprising multi-area sensor overall position adjustment:
selecting a plurality of points on the upper and lower sides of the rectangular opening, respectively calculating the average value of the distances between the points and the straight line where the upper and lower edges of the sensor array are located, wherein the average value is d u And d d ；
According to d u And d d The difference value is used for adjusting the azimuth deviation of the sensor array in the up-down direction;
selecting a plurality of points on the left and right sides of the rectangular opening, and respectively calculating the average value of the distances between the points and the straight line of the left and right edges of the sensor array, wherein the average value is d l And d r ；
According to d l And d r And adjusting the azimuth deviation of the area array sensor in the left-right direction by the difference value.
7. The multi-area sensor camera mounting position adjustment method according to claim 5, further comprising:
the sensor array has an azimuth deviation Deltad in the up-down direction y The method comprises the following steps:
the azimuth deviation of the area array sensor in the left-right direction is delta d x ：
8. A multi-area sensor camera mounting position adjustment apparatus for performing the multi-area sensor camera mounting position adjustment method according to any one of claims 1 to 7, comprising:
a mounting structure including a reference surface parallel to the camera front cover and a rectangular reference edge for defining an array sensor arrangement position; the coordinate position set S is obtained by measuring the spatial position coordinates of at least three points on the reference surface.
9. A multiaspect array sensor camera, a plurality of area array sensors arrange on same camera according to the arrangement mode that sets for, its characterized in that:
the area array sensor camera includes when the installation:
measuring the space position coordinates of at least three points on each area array sensor to obtain a coordinate position set S corresponding to each area array sensor 1 ～S N The method comprises the steps of carrying out a first treatment on the surface of the Measuring the space position coordinates of at least three points on the front cover of the camera to obtain a coordinate position set S;
fitting the equation of the plane of the set S, and calculating the set S 1 ～S N Each position coordinate in the plane equation is fitted with the distance to obtain a distance set D 1 ～D N The method comprises the steps of carrying out a first treatment on the surface of the Calculating the distanceFrom set D 1 ～D N And if the difference value is larger than the parallelism threshold, adjusting the installation positions of the corresponding area array sensors according to the difference value so that all the area array sensors are parallel to the front cover of the camera.
10. The multi-area sensor camera of claim 8, wherein the area sensor camera, when installed, further comprises:
distance collection D 1 ～D N Is a combined and concentrated reference minimum d min Calculate each distance set D 1 ～D N The minimum value d of (2) i And the reference minimum value d min Is a difference in (2);
and if the difference value is larger than the flatness threshold value, adjusting the installation positions of the corresponding area array sensors according to the difference value so that the light sensitive surfaces of all the area array sensors are on the same plane.
CN202311073533.8A 2023-08-24 2023-08-24 Multi-area array sensor camera and installation position adjusting method and device thereof Active CN117119324B (en)

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