CN117119324B - 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 PDFInfo
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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
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 installation adjusting method, an adjusting device and a camera 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 multi-area array sensor camera installation adjusting method, a plurality of area array sensors are arranged on the same camera according to a set arrangement mode, includes:
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 at least three points on the front cover of the cameraSpace position coordinates 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.
The method also comprises the following steps of adjusting the flatness between 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);
if each distance set D 1 ～D N Minimum value of (2)And the reference minimum value d min If the difference of (2) is greater than the flatness threshold, then according to each distance set D 1 ～D N Minimum value +.>And the reference minimum value d min The mounting positions of the corresponding area array sensors are adjusted so that the light sensitive surfaces of all the area array sensors are on the same plane.
The method also comprises the steps of adjusting 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.
The method also comprises the following 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.
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.
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 sensor array in the left-right direction by the difference value.
Further comprises:
the sensor array has an azimuth deviation Deltad in the up-down direction y The method comprises the following steps:
the azimuth deviation delta d of the sensor array in the left-right direction x The method comprises the following steps:
a multi-area sensor camera mounting position adjustment apparatus for performing a multi-area sensor camera mounting adjustment method, 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.
A multi-area array sensor camera in which a plurality of area array sensors are arranged on the same camera in a set arrangement, the area array sensor camera comprising, when mounted:
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.
The area array sensor camera when installing, still include:
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);
if each distance set D 1 ～D N Minimum value of (2)And the reference minimum value d min If the difference of (2) is greater than the flatness threshold, then according to each distance set D 1 ～D N Minimum value +.>And the reference minimum value d min The mounting positions of the corresponding area array sensors are adjusted 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. The installation and adjustment method for the multi-area array sensor camera can enable the camera to obtain a larger imaging area and avoid imaging blurring of the camera.
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.
Detailed Description
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 multi-area array sensor camera installation and adjustment method. By the method, as shown in fig. 5 and 6, the parallelism of the single area array sensor 2 and the included angle, the distance and the deviation and included angle 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 A plurality of points, N which are not collinear are 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.
The included angle between the plurality of area array sensors 2 is adjusted.
The distance between the plurality of area sensors 2 is adjusted.
And adjusting deviation and included angles of central positions of the plurality of area array sensors 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 single area array sensing: 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 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 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 Calculating the minimum value in each distance set D1-DNAnd the reference minimum value d min Is a difference in (2); if each distance set D 1 ～D N Minimum value +.>And the reference minimum value d min Is large in difference of (2)At the flatness threshold, according to each distance set D 1 ～D N Minimum value +.>And the reference minimum value d min The mounting positions of the corresponding area array sensors 2 are adjusted 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 from the ith sensor to the fitting plane is considered as the minimum value +.>Taking 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 plurality of 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 angles of the plurality of area sensors 2 are straight lines 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 plurality of 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) Adjusting deviation and included angle of central positions of a plurality of area array sensors 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 spectroscopic 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 an 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. Ni points are measured to obtain a set S of positions and measurement results corresponding to the measurement of the area array sensor 2 i Is recorded as
Measuring the lower surface of the measurement aid: adjusting the motion of the spectral confocal sensor to focus the spectral confocal apparatus on the lower surface of the measurement assist member (as previously described, the lower surface of the measurement assist member may be approximated by a bezel interface), wherein the (x, y) coordinates of the spectral confocal sensor may be aligned with the area arrayThe sensor 2 is identical. 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. Measuring Ns points to obtain a set S of corresponding positions and measurement results measured by the area array sensor 2 s Is recorded as
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 x, y, Z, d units in the above set are already unified, and Z and d are both distances in the Z direction, so 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 Is a plane, 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 a set of calculated distances D i Difference of minimum value 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 angles among the plurality of 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 plurality of area array 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->Selecting Nr points, calculating the Nr points to straight line +.>And converts it into a physical distance +.>Meanwhile, 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->Selecting Nr points, and calculating the Nr points to straight linesAnd converts it into a physical distance +.>Meanwhile, the movement distance of the imaging deviceThen
Calculating deviation and included angles of central positions of the plurality of area array sensors 2: adjusting a plurality ofAfter the included angle and the distance between the area array sensors 2, the area array sensors 2 are parallel, and the distances are equal. At this time, the deviation and the angle of the center positions of the plurality of area array sensors 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 included angles between the plurality of area array sensors 2 have been adjusted, there are
In straight lineRandomly selecting Ns points, and calculating Ns points to a linear equation asIs 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 The physical distance above the sensor array and above the camera front 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 plurality of area array sensors 2 x 、Δd y And the included angle delta theta is as follows:
the present embodiment also proposes a multi-area sensor camera, which is carried out using the above method at the time of installation, as shown in fig. 6. 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 (8)
1. A multi-area array sensor camera installation adjusting method is provided, wherein a plurality of area array sensors are arranged on the same camera according to a set arrangement mode, and the method is characterized by 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 The difference between the maximum value and the minimum value in each element is greater than the parallelism threshold, according to theThe difference value adjusts the installation position of the corresponding area array sensor so that all the area array sensors are parallel to the front cover of the camera;
the method also comprises the following steps of adjusting the flatness between 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 The minimum value d of (2) i min And the reference minimum value d min Is a difference in (2);
if each distance set D 1 ～D N The minimum value d of (2) i min And the reference minimum value d min If the difference of (2) is greater than the flatness threshold, then according to each distance set D 1 ～D N The minimum value d of (2) i min And the reference minimum value d min The mounting positions of the corresponding area array sensors are adjusted so that the light sensitive surfaces of all the area array sensors are on the same plane.
2. The multi-area sensor camera mounting adjustment method of claim 1, further comprising adjustment of 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.
3. The multi-area sensor camera mounting adjustment method of claim 2, 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.
4. The multi-area sensor camera mounting adjustment method of claim 3, 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.
5. The multi-area sensor camera mounting 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 sensor array in the left-right direction by the difference value.
6. The multi-area sensor camera mounting adjustment method of 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 delta d of the sensor array in the left-right direction x The method comprises the following steps:
7. a multi-area sensor camera mounting position adjusting apparatus for performing the multi-area sensor camera mounting adjustment method according to any one of claims 1 to 6, 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.
8. 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 distance set D 1 ～D N 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;
the area array sensor camera when installing, still include:
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);
if each distance set D 1 ～D N Minimum value of (2)And the reference minimum value d min If the difference of (2) is greater than the flatness threshold, then according to each distance set D 1 ～D N Minimum value +.>And the reference minimum value d min The mounting positions of the corresponding area array sensors are adjusted so that the light sensitive surfaces of all the area array sensors are on the same plane.
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