CN117119327A - Multi-sensor camera and deviation calculation method and installation method thereof - Google Patents
Multi-sensor camera and deviation calculation method and installation method thereof Download PDFInfo
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Abstract
The invention discloses a multi-sensor camera and a deviation calculation method and an installation method thereof, and belongs to the technical field of multi-sensor cameras. The multi-sensor camera deviation calculating method comprises the following steps: obtaining a distance set corresponding to each linear array sensor according to the distance between a plurality of points on each linear array sensor and a plane equation of the front cover of the camera; calculating a difference value between a maximum value and a minimum value in each distance set, wherein the difference value is used for measuring the parallelism deviation between each linear array sensor and the front cover of the camera; and extracting the coordinate value of each linear array sensor edge, fitting a linear equation of each linear array sensor edge under the same coordinate system, and calculating an included angle between the two linear array sensors according to the linear equation of the two linear array sensor edges, wherein the included angle is used for measuring whether the photosensitive lines of the linear array sensors are parallel or not. Whether the mounting process of the multi-sensor camera meets the requirement can be judged based on the deviation, and further the parallelism of the plurality of pairs of sensors and the front cover of the camera can be adjusted simultaneously.
Description
Technical Field
The invention relates to the technical field of multi-sensor cameras, in particular to a multi-sensor camera, a deviation calculation method and an installation method thereof.
Background
The increasing detection efficiency and accuracy in the machine vision field requires increasing the resolution of front-end image sensors. To achieve higher resolution, on the one hand, image sensors with higher resolution can be directly used, but the method is limited to technology, technology update and other competing limitations, and the large-resolution image sensor has small optional space and is particularly expensive; on the other hand, lower resolution image sensors can be used for stitching to achieve greater lateral resolution under cost and technical competition constraints. For example, the two sensors are overlapped in the transverse direction to complete the full coverage of the detection area, and simultaneously, the two sensors are kept parallel as far as possible in the transverse direction to ensure the consistency of imaging.
The existing adjusting method for the parallelism of the image sensor is less, the parallelism of the light sensitive surface and the interface is detected in real time through a camera and then is adjusted in place through a mechanical arm, the parallelism among a plurality of sensors and the parallelism of the whole and the interface are corrected based on deviation in algorithm, in the prior art, for example, in patent CN116156342A and US20170085746A1, the image is corrected for the fixed multi-sensor camera, and finally, the complete image spliced by a plurality of sensors is obtained. However, in the above-mentioned algorithm angle-based stitching schemes, the deviation angle between the plurality of sensors is required to be within a certain range, and if the deviation between the plurality of sensors is too large during installation, it is difficult to stitch the images from the algorithm angle. Therefore, the invention provides a parallelism adjusting method among a plurality of linear array sensors, which can accurately position the positions among the plurality of sensors in the multi-sensor installation process so as to reduce errors and facilitate the subsequent image splicing from the algorithm angle.
Disclosure of Invention
The invention provides a multi-sensor camera, a deviation calculating method and an installation method 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-sensor camera deviation calculating method, the sensor is a linear array sensor, several linear array sensors are parallel arranged side by side, adjacent linear array sensors adopt the picture to link up each other, used for improving the resolution, comprising:
measuring the space position coordinates of a plurality of points on each linear array sensor by taking a front cover of a camera as a reference plane to obtain the space position of each linear array sensor; measuring whether each linear array sensor is parallel to the front cover of the camera or not according to the position relation between the spatial position of each linear array sensor and the reference plane;
and acquiring images of a plurality of linear array sensors, extracting coordinate values of edges of each linear array sensor, fitting a linear equation of the edges of each linear array sensor under the same coordinate system, and calculating an included angle between the two linear array sensors according to the linear equations of the edges of the two linear array sensors, wherein the included angle is used for measuring whether effective photosensitive areas of the linear array sensors are consistent or not.
Further, the measuring whether each linear array sensor is parallel to the front cover of the camera includes:
measuring the space position coordinates of a plurality of points on each linear array sensor, and calculating the distance between the plurality of points on each linear array sensor and the reference plane to obtain a distance set corresponding to each linear array sensor;
and calculating a difference value between the maximum value and the minimum value in each distance set, wherein the difference value is used for measuring whether each linear array sensor is parallel to the front cover of the camera.
Further, the multi-sensor parallelism deviation calculation further includes:
and calculating the difference between the maximum value and the minimum value in the union of the distance sets corresponding to the two linear array sensors, wherein the difference is used for measuring the parallelism deviation between the linear array sensors.
On the other hand, the invention also provides a multi-sensor camera installation method, which uses the multi-sensor camera deviation calculation method to obtain the multi-sensor parallelism deviation and the multi-sensor photosensitive line consistency deviation, and comprises the following steps:
the plurality of linear array sensors are arranged on a fixed plate of the front cover of the camera, and the positions of the corresponding fixed plates are adjusted according to the position relation between the spatial position of each linear array sensor and the reference plane so that the plurality of linear array sensors are parallel to the front cover of the camera;
a plurality of PCB boards are preinstalled on the front cover of the camera, each PCB board is fixedly connected with a corresponding linear array sensor, and the preinstallation enables the PCB boards to be capable of driving the sensors on the PCB boards to move along the plane where the PCB boards are located;
selecting a reference line sensor, canceling installation between the rest non-reference line sensors and a fixed plate, and if the included angle between any non-reference line sensor and the reference line sensor is larger than a set included angle threshold value, adjusting the position of a PCB (printed circuit board) where the non-reference sensor is positioned according to the included angle so that each non-reference sensor is parallel to the reference sensor;
and fixing the plurality of PCB boards on the front cover of the camera to finish the installation.
Further, the adjusting the position of the PCB where the non-reference sensor is located includes:
two spiral micrometer heads are arranged on two sides of the PCB where any non-reference sensor is located, and the positions of the PCB where any non-reference sensor is located are adjusted by the spiral micrometer heads according to the corresponding included angles.
Further, the spectral confocal sensor is used to measure the spatial position coordinates of at least three points on the front cover, and the spatial position coordinates of a plurality of points on each linear array sensor are measured.
On the other hand, the invention also provides a multi-sensor camera, which acquires the multi-sensor parallelism deviation and the multi-sensor photosensitive line consistency deviation by using the multi-sensor camera deviation calculation method, and comprises the following steps:
the camera comprises a camera front cover, wherein a fixed plate is arranged on the camera front cover, and a plurality of linear array sensors are arranged on the fixed plate; if the difference value between the maximum value and the minimum value in any distance set is larger than a set difference value threshold value, the positions of the corresponding fixing plates are adjusted according to the difference value so that the plurality of linear array sensors are parallel to the front cover of the camera;
the plurality of PCB boards are fixedly connected with the plurality of sensors and are preinstalled on the front cover of the camera, and the preinstallation enables the PCB boards to be capable of driving the sensors on the PCB boards to move along the plane where the PCB boards are located; and selecting a reference line sensor, canceling installation between the rest non-reference line sensors and the fixed plate, and if the included angle between any non-reference line sensor and the reference line sensor is larger than a set included angle threshold value, adjusting the position of the PCB where the non-reference sensor is located according to the included angle so that each non-reference sensor is parallel to the reference sensor.
Further, a plurality of sensors are installed on the fixing plate, including:
the plurality of linear array sensors are respectively arranged on the corresponding fixed plates through corresponding pressing covers, the pressing covers are connected with the fixed plates through pressing cover screws, and the pressing cover screws are screwed in from the outside of the front cover of the camera;
the non-reference sensor and the fixed plate are not installed, and the corresponding gland screws are screwed out from the outer side of the front cover of the camera.
Further, the adjusting the position of the corresponding fixing plate to be parallel between the plurality of linear array sensors and the front cover of the camera includes: the camera front cover is connected with the camera front cover through a fixing plate adjusting screw which is used for adjusting the parallelism between the fixing plate and the camera front cover; the fixing plate fixing screw is used for fixing the fixing plate with the front cover of the camera after the parallelism of the fixing plate is adjusted.
Further, the plurality of PCB boards are preinstalled on the camera front cover, including:
a through hole is formed in the middle of the PCB and matched with the middle shaft on the front cover of the camera, so that the PCB can move along the plane where the PCB is located, and the linear array sensor on the PCB is driven to move.
According to the invention, the spectral confocal equipment is used for measuring the parallelism between the sensor light sensing line and the front cover joint ring surface, the motor is used for rotating the adjusting screw by a certain angle according to the measured data, the parallelism between the sensor and the light sensing line is controlled within a certain range, after the adjustment is finished, the set screw is driven, and then the screw of the fixing plate is screwed. After the welding is finished, the screw of one of the sensor gland is loosened, the sensor sensing line and the front cover are shot by the imager, the sensing line and the front cover are subjected to edge extraction in the photo through an algorithm, so that the sensing line and the corresponding front cover edge projection line are fitted, the sensing line and the front cover edge projection line and the angle are calculated respectively, the sensing line is adjusted to a certain range through the screw micrometer head, the sensor is adjusted to be fixed in advance by dispensing, and finally the PCB is fixed by screwing the spacing column. The parallelism of the pairs of sensors and the front cover of the camera can be adjusted simultaneously.
Drawings
FIG. 1 is a schematic diagram of a multi-sensor camera installation of the present invention;
FIG. 2 is a cross-sectional view of a multi-sensor camera of the present invention;
FIG. 3 is a top view of the multi-sensor camera of the present invention;
fig. 4 is a bottom view of the multi-sensor camera of the present invention.
In the figure: 1-a camera front cover; 2-spacing columns; 3-a first PCB; 4-a second PCB; 5-a first screw micrometer head; 6-a second screw micrometer head; 8-a first sensor; 9-a fixing plate; 10-a second sensor; 11-a first gland; 12-a second gland; 14-fixing the plate fixing screw; 15-capping screws; 16-fixing screws on the tool bottom plate; 17-fixing plate adjusting screw.
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 proposes a multi-sensor camera, and the plurality of sensors can be a plurality of linear array sensors or a plurality of area array sensors. The present embodiment is described taking a camera including two line sensors as an example.
Fig. 1 is a schematic general structure of the present embodiment, and as shown, includes: the camera front cover 1, the spacing column 2 and the spacing column 2 are used for fixing a PCB board provided with a linear array sensor on the camera front cover 1. In this embodiment, two PCBs are installed on the front cover, namely a first PCB 3 and a second PCB 4, and two linear array sensors are respectively installed on the two PCBs, namely a first sensor 8 and a second sensor 10, and the installation position requirements of the two sensors are: the two linear array image sensors scan images with overlapping areas, and the scanned images are not completely overlapped; the deflection angle of the photosensitive lines of the two linear array image sensors is not larger than the threshold value of the angle which can be spliced, and the two linear array image sensors are parallel as far as possible in theory.
Therefore, this embodiment also includes sensor position adjustment frock, and this regulation frock includes frock bottom plate 7 and two spiral micrometer heads, and frock bottom plate 7 accessible screw fixation that sets for is in the camera protecgulum outside, and in the camera installation, two spiral micrometer heads are located arbitrary PCB board both sides for adjust the position of this PCB board, thereby realize the regulation of position between first sensor 8 and the second sensor 10. In this embodiment, the two spiral micrometer heads include a first spiral micrometer head 5 and a second spiral micrometer head 6, which are respectively installed at two sides of the second PCB board 4 and are used for adjusting the position of the second PCB board 4.
The above-mentioned frock can adjust the position between first sensor 8 and the second sensor 10, in the camera use, still requires that the photosurface of first sensor 8 and second sensor 10 all keeps parallel with camera protecgulum 1, for realizing the above-mentioned purpose in the installation, the camera of this embodiment still includes: a fixing plate 9 for temporarily fixing the first sensor 8 and the second sensor 10 so that both the first sensor 8 and the second sensor 10 are parallel to the camera front cover 1, as shown in fig. 2. Specifically, the fixing plate 9 is connected to the camera front cover 1 by a fixing plate adjusting screw 17 for adjusting parallelism between the fixing plate 9 and the camera front cover 1 so that the first and second sensors 8 and 10 are parallel to the camera front cover 1 by the fixing plate 9, as shown in fig. 3, and a fixing plate fixing screw 14; the fixing plate fixing screw 14 is used to fix the fixing plate 9 to the camera front cover 1 after the parallelism of the fixing plate is adjusted. The first sensor 8 and the second sensor 10 are fixed to the fixed plate 9 by a first gland 11 and a second gland 12, respectively.
Based on the multi-sensor camera, the embodiment further provides a multi-sensor camera installation method, which comprises the following steps: the first sensor 8 and the second sensor 10 are placed on the fixed plate 9, the parallelism of the sensor and the front cover interface is guaranteed through the parallelism of the bottom surface of the fixed plate, the first pressing cover 11 and the second pressing cover 12 are used for fixing the first sensor 8 and the second sensor 10 on the fixed plate 9 respectively, specifically, the pressing cover screws 15 can be used for fixing, and the pressing cover screws 15 are screwed in from the outside of the front cover 1 of the camera, as shown in fig. 4. The fixing plate 9 is connected with the camera front cover 1 through the fixing plate adjusting screw 17 and the fixing plate fixing screw 14, and then the fixing plate adjusting screw 17 is feedback-adjusted by measuring the parallelism between the sensor and the front cover. Specifically, in the present embodiment, the parallelism between the sensor sensing line and the bezel face is measured by the spectral confocal apparatus, and the fixing plate adjusting screw 17 is adjusted so that the sensing surfaces of the first sensor 8 and the second sensor 10 are both kept parallel to the camera bezel 1, based on the measured data. After the parallelism adjustment of the sensor and the front cover is completed, the fixing plate 9 and the front cover 1 of the camera are fixed through the fixing plate fixing screws 14.
And then welding the PCB and the sensor pins, loosening a screw of one of the sensor gland after the welding is finished, shooting the sensor sensing ray and the front cover by using a camera, extracting edges of the sensor sensing ray and the front cover in a photo through an algorithm, fitting out the sensing ray and a corresponding projection line of the front cover edge, respectively calculating the projection line and angle of the sensing ray to the front cover edge, adjusting the projection line and angle to a certain range by a spiral micrometer head, adjusting, finishing glue dispensing pre-fixing around the sensor, and finally screwing the spacing columns 2 to fix the PCB.
Specifically, the above process is: the first PCB 3 and the second PCB 4 corresponding to the first sensor 8 and the second sensor 10 are placed in the sensor pins, the sensor pins and the PCB are welded, after the welding is finished, the screw driver is used for loosening the gland screw 15 of the second gland 12 from the back of the bottom plate, so that the second sensor 10 can be finely adjusted under the drive of the second PCB 4. According to the real-time detection feedback result of the camera, the screw micrometer heads 5 and 6 are rotated to adjust the position of the sensor 10, a hole is formed in the middle of the second PCB 4, the sensor assembly can rotate around the middle shaft, when the detection result judges that the error is within 0.05mm, glue is applied to the periphery of the second PCB 4 for pre-fixing, and after the glue is solidified, the second PCB 4 and the front cover 1 of the camera are fixed through the spacing columns 2. And finally, other components of the camera, such as other PCB boards, a camera rear cover and the like, are assembled with the camera front cover 1, and thus the camera installation is completed.
It can be understood that, in the multi-sensor camera of this embodiment, if the number of sensors is more than 2, only one reference sensor needs to be set, and the other sensors all perform parallelism adjustment with the reference sensor according to the above flow.
The embodiment also provides a multi-sensor camera deviation calculating method. The method is divided into parallelism between an adjusting sensor and a front cover and parallelism between adjusting sensing rays.
Parallelism of the adjusting sensor and the front cover: the parallelism between the sensor sensing line and the front cover joint ring surface is measured through the spectrum confocal equipment, according to the measured data, the motor rotates the adjusting screw by a certain angle to control the parallelism between the sensor and the sensing line within a certain range, after the adjustment is finished, the set screw is fastened, and then the screw of the fixing plate is screwed.
The linear array sensor is in an elongated rectangular shape, different positions on the linear array sensor are measured by utilizing spectrum confocal equipment, and corresponding measurement results are recorded, so that the method can be used for verifying whether the installation of the linear array sensor is horizontal. However, the reference zero point of the spectrum confocal device is fixed, if the linear array sensor is obliquely arranged, the result of measuring the linear array sensor of the spectrum confocal device comprises two parts of the measured value of the linear array sensor and the inclination amount, so that obvious errors exist in the measured parallelism by directly using the measured result of the spectrum confocal device.
To solve the above problem, a transparent, smooth-surfaced object may be placed over the bezel collar. In order to make the parallelism measurement before the spectral confocal sensor measures the linear array sensor and the front cover joint ring more accurate, the following requirements are required for the object: the spectroscopic confocal apparatus measures the upper and lower surfaces of the object (because the object has a certain thickness), calculates the difference between the measurements of the upper and lower surfaces of the object, measures a plurality of positions, and the maximum difference and the minimum difference are smaller than a desired threshold, such as 5 microns. Placing the object on the front cover collar has the following advantages: 1. the lower surface of the object can be approximately used for replacing the front cover joint ring surface, and the spectrum confocal equipment can measure the lower surface of the object with higher precision; 2. if the linear array sensor is placed at an incline, the object will exhibit a consistent incline with the linear array sensor. The spectrum confocal device measures the linear array sensor and the object, calculates the distance from the measurement result of the linear array sensor to the measurement result of the object, and can eliminate errors caused by the inclination of the placement of the linear array sensor to a certain extent.
The specific measurement steps are as follows:
measuring a first sensor: the motor is regulated to move, so that the spectrum confocal equipment presents small circular spots on the linear array sensor, corresponding peaks are obtained, the positions of the peaks correspond to the measured distance of the linear array sensor, and the position P of the motor at the moment is recorded 1 (x 1 ,y 1 ,z 1 ) And the distance d measured by the spectral confocal apparatus. Measurement of N 1 A plurality of points, a set S of positions and measurement results corresponding to the linear array sensor measurement is obtained 1 The method is characterized by comprising the following steps:
measuring a second sensor: in the same way as the first sensor, N is measured 2 A plurality of points, a set S of positions and measurement results corresponding to the linear array sensor measurement is obtained 2 The method is characterized by comprising the following steps:
measuring the lower surface of an object: adjusting motor operationThe spectroscopic confocal apparatus is focused on the lower surface of the object (as previously described, the lower surface of the object may be approximated by a bezel interface), where the coordinates (x, y) of the motor may be the same as the two linear array sensors. And selecting a peak corresponding to the lower surface of the object, and recording the distance d measured by the spectrum confocal equipment. Measurement of N 3 A plurality of points, a set S of positions and measurement results corresponding to the linear array sensor measurement is obtained 3 The method is characterized by comprising the following steps:
calculating the distance between the linear array sensor measurement result and the object measurement result:
in order to measure the distance from the linear sensor measurement to the object measurement,
1. will be set S 1 、S 2 、S 3 And (3) adjusting to obtain:
the units of x, y, Z, d in the above set have been unified, and Z and d are distances in the Z direction, and thus can be added. At the same time S 3 Is not collinear.
2. Fitting set S' 3 An equation for the plane. S'. 3 Is a collection obtained by measuring the lower surface of the object, and the collection S 'is formed by smoothing the lower surface of the object' 3 Approximately in one plane, therefore, S 'can be utilized' 3 The plane equation can be expressed as: ax+by+cz+d=0;
calculate set S' 1 And S' 2 To a plane ax+by+cz+d=0Distance. Set S' 1 Is D from the point of (2) to the plane ax+by+cz+d=0 1 ＝{d i |i＝1，2，…，N 1 Set S' 2 Is D from the point of (2) to the plane ax+by+cz+d=0 2 ＝{d i |i＝1，2，…，N 2 }。
And calculating the parallelism. Calculate distance set D 1 Difference p between maximum and minimum 1 ，p 1 Representing the parallelism of the first linear array sensor; calculate distance set D 2 Difference p between maximum and minimum 2 ，p 2 Representing the parallelism of the second linear array sensor; calculate distance set D 1 And D 2 Difference p between maximum and minimum 3 ，p 3 Representing the parallelism of the two linear array sensors. If p is 1 、p 2 、p 3 All smaller than the threshold, no further parallelism adjustment is required. Otherwise, turning to the step 5 to adjust the parallelism between the linear array sensor and the object.
And adjusting the parallelism between the linear array sensor and the object. The parallelism includes the following five cases: (1) P is p 1 、p 2 Meet the requirements, p 3 The requirements are not satisfied. Adjusting the fixing plate adjusting screw 17 to make p 3 Meeting the requirements and finishing adjustment; (2) P is p 1 Meet the requirements, p 2 The adjustment screw 17 of the fixing plate is adjusted to make p 2 Meets the requirements. Alternatively, p 2 Meet the requirements, p 1 The requirement is not satisfied, and the fixing plate adjusting screw 17 is adjusted to satisfy the requirement. After adjustment, if p 3 If the requirements are met, the adjustment is completed; after adjustment, if p 3 If the requirement is not satisfied, the adjustment is performed according to (1).
Adjusting parallelism between the sensing lines: after the welding is finished, the screw of one of the sensor gland is loosened, the sensor sensing line and the front cover are shot by the imager, the sensing line and the front cover are subjected to edge extraction in the photo through an algorithm, so that the sensing line and the corresponding front cover edge projection line are fitted, the sensing line and the front cover edge projection line and the angle are calculated respectively, the sensing line is adjusted to a certain range through the screw micrometer head, the sensor is adjusted to be fixed in advance by dispensing, and finally the PCB is fixed by screwing the spacing column.
The motor i-axis is moved to the linear array sensor, and imaging is clear in the imager. And acquiring images of the two linear array sensors, and intercepting the area where the edges of the linear array sensors are positioned. And extracting the edge of the linear array sensor by using an edge extraction algorithm. And extracting the coordinate value of the edge of the linear array sensor, and performing linear fitting according to the coordinate value. The linear equation obtained by the sensor 1 is: y=k 1 x+b, the linear equation obtained by the sensor 2 is: y=k 2 x+b. Because the parallelism (and the front cover) between the two linear array sensors is adjusted, the imager can acquire images of the two linear array sensors without changing the position of the Z axis, and the motor only translates in motion and only translates in rotation between the images of the two linear array sensors.
Based on the above information, it can be considered that the included angle between the straight lines extracted by the linear array sensor is the included angle between the linear array sensors, and the calculation formula is that the former unit is radian and the latter unit is angle θ=ajean (k) 1 )-arctan(k 2 ) Or (b)If the angle meets the requirement, no adjustment is needed; and if the angle does not meet the requirement, one linear array sensor is taken as a reference, the other linear array sensor is adjusted to a certain range through the spiral micrometer head, the adjustment is completed, glue dispensing pre-fixing is carried out on the periphery of the sensor, and finally, a spacing column is screwed to fix the PCB.
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. The utility model provides a multisensor camera deviation calculation method, this sensor is the linear array sensor, and several linear array sensor sets up side by side in parallel, and adjacent linear array sensor adopts the picture to link up each other for improve the resolution ratio, its characterized in that includes:
measuring the space position coordinates of a plurality of points on each linear array sensor by taking a front cover of a camera as a reference plane to obtain the space position of each linear array sensor; measuring whether each linear array sensor is parallel to the front cover of the camera or not according to the position relation between the spatial position of each linear array sensor and the reference plane;
and acquiring images of a plurality of linear array sensors, extracting coordinate values of edges of each linear array sensor, fitting a linear equation of the edges of each linear array sensor under the same coordinate system, and calculating an included angle between the two linear array sensors according to the linear equations of the edges of the two linear array sensors, wherein the included angle is used for measuring whether effective photosensitive areas of the linear array sensors are consistent or not.
2. The method for calculating the deviation of the multi-sensor camera according to claim 1, wherein the measuring whether each linear array sensor is parallel to the front cover of the camera comprises:
measuring the space position coordinates of a plurality of points on each linear array sensor, and calculating the distance between the plurality of points on each linear array sensor and the reference plane to obtain a distance set corresponding to each linear array sensor;
and calculating a difference value between the maximum value and the minimum value in each distance set, wherein the difference value is used for measuring whether each linear array sensor is parallel to the front cover of the camera.
3. The multi-sensor camera deviation calculation method according to claim 1, characterized in that the multi-sensor parallelism deviation calculation further comprises:
and calculating the difference between the maximum value and the minimum value in the union of the distance sets corresponding to the two linear array sensors, wherein the difference is used for measuring the parallelism deviation between the linear array sensors.
4. A multi-sensor camera mounting method for acquiring a multi-sensor parallelism deviation and a multi-sensor photosensitive line consistency deviation using the multi-sensor camera deviation calculation method according to claim 1, comprising:
the plurality of linear array sensors are arranged on a fixed plate of the front cover of the camera, and the positions of the corresponding fixed plates are adjusted according to the position relation between the spatial position of each linear array sensor and the reference plane so that the plurality of linear array sensors are parallel to the front cover of the camera;
a plurality of PCB boards are preinstalled on the front cover of the camera, each PCB board is fixedly connected with a corresponding linear array sensor, and the preinstallation enables the PCB boards to be capable of driving the sensors on the PCB boards to move along the plane where the PCB boards are located;
selecting a reference line sensor, canceling installation between the rest non-reference line sensors and a fixed plate, and if the included angle between any non-reference line sensor and the reference line sensor is larger than a set included angle threshold value, adjusting the position of a PCB (printed circuit board) where the non-reference sensor is positioned according to the included angle so that each non-reference sensor is parallel to the reference sensor;
and fixing the plurality of PCB boards on the front cover of the camera to finish the installation.
5. The method of claim 4, wherein adjusting the position of the PCB where the non-reference sensor is located comprises:
two spiral micrometer heads are arranged on two sides of the PCB where any non-reference sensor is located, and the positions of the PCB where any non-reference sensor is located are adjusted by the spiral micrometer heads according to the corresponding included angles.
6. The multi-sensor camera mounting method of claim 4, wherein the spectral confocal sensor is used to measure spatial position coordinates of at least three points on the front cover and to measure spatial position coordinates of a plurality of points on each linear array sensor.
7. A multi-sensor camera for acquiring a multi-sensor parallelism deviation and a multi-sensor photosensitive line consistency deviation using the multi-sensor camera deviation calculation method according to claim 1, comprising:
the camera comprises a camera front cover, wherein a fixed plate is arranged on the camera front cover, and a plurality of linear array sensors are arranged on the fixed plate; if the difference value between the maximum value and the minimum value in any distance set is larger than a set difference value threshold value, the positions of the corresponding fixing plates are adjusted according to the difference value so that the plurality of linear array sensors are parallel to the front cover of the camera;
the plurality of PCB boards are fixedly connected with the plurality of sensors and are preinstalled on the front cover of the camera, and the preinstallation enables the PCB boards to be capable of driving the sensors on the PCB boards to move along the plane where the PCB boards are located; and selecting a reference line sensor, canceling installation between the rest non-reference line sensors and the fixed plate, and if the included angle between any non-reference line sensor and the reference line sensor is larger than a set included angle threshold value, adjusting the position of the PCB where the non-reference sensor is located according to the included angle so that each non-reference sensor is parallel to the reference sensor.
8. The multi-sensor camera of claim 7, wherein the mounting plate has a plurality of sensors mounted thereon, comprising:
the plurality of linear array sensors are respectively arranged on the corresponding fixed plates through corresponding pressing covers, the pressing covers are connected with the fixed plates through pressing cover screws, and the pressing cover screws are screwed in from the outside of the front cover of the camera;
the non-reference sensor and the fixed plate are not installed, and the corresponding gland screws are screwed out from the outer side of the front cover of the camera.
9. The multi-sensor camera of claim 7, wherein adjusting the position of the corresponding fixed plate to align the plurality of linear array sensors with the camera front cover comprises:
the camera front cover is connected with the camera front cover through a fixing plate adjusting screw which is used for adjusting the parallelism between the fixing plate and the camera front cover; the fixing plate fixing screw is used for fixing the fixing plate with the front cover of the camera after the parallelism of the fixing plate is adjusted.
10. The multi-sensor camera of claim 7, wherein the plurality of PCBs are pre-mounted on the camera front cover, comprising:
a through hole is formed in the middle of the PCB and matched with the middle shaft on the front cover of the camera, so that the PCB can move along the plane where the PCB is located, and the linear array sensor on the PCB is driven to move.
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