CN1657868A - Quick calibrating method for line structure optical sensor based on coplanar calibrated reference - Google Patents
Quick calibrating method for line structure optical sensor based on coplanar calibrated reference Download PDFInfo
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- CN1657868A CN1657868A CN 200510013231 CN200510013231A CN1657868A CN 1657868 A CN1657868 A CN 1657868A CN 200510013231 CN200510013231 CN 200510013231 CN 200510013231 A CN200510013231 A CN 200510013231A CN 1657868 A CN1657868 A CN 1657868A
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Abstract
The invention discloses a fast marking technique with a liner structure light sensor based on coplanar reference. By displacing the coplanar reference freely, determine a plane with the light bar information acquired on the image surface and by penetrating the projecting center with a camera. Determine the position of light plane relates to the camera, according to the intersection of above determined plane and the plane of the reference, and the intersection acquired by freely displacing the coplanar reference. There is no position requirement to the reference plane and no blackout between the different plane while marking the reference which ensures that the measuring status is completely the same as the marked status so to acquire considerable marking accuracy.
Description
Technical field
The invention belongs to light vision measurement technology, particularly a kind of quick calibrating method for line structure optical sensor based on coplanar calibrated reference.
Background technology
Line-structured light vision measurement technology is a kind of noncontact measurement, has simple in structure, flexible good, characteristics such as speed fast, moderate accuracy, strong interference immunity, is widely used in applications such as the online detection of high speed, quality control, reverse engineerings.But the optical plane of line structure optical sensor is an imaginary plane of being determined by the beam distribution of light projector projection and striation software algorithm, it unlike mechanical planarization that works goes to measure and observation with general instrument, thereby make the position relation of determining between optical plane and the video camera very difficult.Satisfying under the condition of precision, how to determine the position of the relative video camera of optical plane easily and quickly, is the important content that vision detection system is demarcated.
Structured light sensor scaling method commonly used mainly contains mechanical adjustment method, filament scattering method, flute profile scaling method etc.
The mechanical adjustment method is to use adjusting mechanism earlier, by rule of thumb optical plane is adjusted to an ad-hoc location of relative video camera, utilizes desirable perspective model to try to achieve the position of the relative video camera of optical plane again.It is too much that the method is artificially adjusted factor, and precision is not high.The cardinal principle of filament scattering method is to allow optical plane project on the filament of several incomplete coplanes, because the light scattering effect forms bright spot, adopt other coordinate-measuring instruments to measure the coordinate figure of bright spot in the space, the coordinate figure in the space just can resolve the position relation between optical plane and the video camera by bright spot imager coordinate and bright spot.In this method, the scattering bright spot itself shows as a kind of light distribution, makes that the bright spot of surveying instrument aiming and the bright spot extracted from image are generally not corresponding; And, because the measured surface scattering properties of demarcation filament and actual measurement is inconsistent, cause nominal light plane and measuring light plane inconsistent, will inevitably bring error to measurement.It is perpendicular with a certain reference field that the flute profile scaling method needs external unit to adjust optical plane, and it is few to obtain calibration point (reference mark) number, and the sawtooth rib is easily reflective, causes picture point extraction precision lower, is not suitable for on-site proving.
At present, new development a kind of scaling method that utilizes the double ratio unchangeability.By at least three collinear point of the known accurate coordinates on the three-dimensional calibrated reference, utilize the double ratio invariance principle to obtain the coordinate of the intersection point of structural light strip and these known 3 place straight lines.But this method needs at least two orthogonal planes to constitute the high-precision three-dimensional calibrated reference, causes blocking mutually between the plane, is difficult to obtain high-quality uncalibrated image, and the quantity of obtaining calibration point simultaneously can not be too many.
Summary of the invention
A technical matters to be solved by this invention is to overcome deficiency of the prior art, and a kind of quick calibrating method for line structure optical sensor based on coplanar calibrated reference is provided, and it need not assist adjustment equipment, and demarcation speed is fast, the efficient height.
For solving the problems of the technologies described above, the quick calibrating method for line structure optical sensor based on coplanar calibrated reference of the present invention may further comprise the steps:
A, a plurality of circular holes are set on the good plane of a flatness form a standard coplanar calibrated reference, measure the spatial relationship between its each circular hole;
B, above-mentioned standard coplanar calibrated reference is placed in the sensor measurement space;
C, according to the image coordinate of circular hole on the coplanar calibrated reference on video camera and known spatial relationship, obtain the plane equation of coplanar reference object at camera coordinate system;
D, in the sensor measurement space, adopt light projector that light beam is projected on the coplanar calibrated reference, intersect a striation with the reference object plane, obtain the information of this striation on image planes by video camera;
E, determine a plane according to the striation information on video camera projection centre and the video camera image planes, this plane and object of reference Plane intersects are in line, thereby obtain the straight line equation in the optical plane;
F, in the measurement space of sensor, object of reference is not had constraint and move to arbitrary position, take second width of cloth image, obtain the information of second striation on the video camera image planes, obtain the second straight-line equation in the optical plane;
G, do not overlap straight line according to two in the above-mentioned optical plane, obtain the equation of light projector optical plane, thereby obtain the position relation of the relative video camera of optical plane.
The invention has the beneficial effects as follows: the object of reference plane is not had status requirement, and do not have blocking mutually between the calibrated reference Different Plane, guarantee that the measurement state and the demarcation state of sensor is in full accord, thereby have desirable stated accuracy.This scaling method has reduced the cost of calibration facility, has simplified calibration process, has improved demarcation efficient, has reduced demarcation intensity.
Description of drawings
The present invention is further described below in conjunction with accompanying drawing.
Fig. 1 is the coplanar calibrated reference structural representation;
Fig. 2 is that structured light sensor is demarcated pictorial diagram;
Fig. 3 is a structured light sensor calibration principle synoptic diagram;
Embodiment
Be example explanation specific embodiment with the line structure optical sensor calibration process below:
As shown in Figure 1, the standard coplanar calibrated reference is made up of good plane of a flatness and a plurality of circular holes on this plane, and the spatial relationship between circular hole is known.
As shown in Figure 2: in the measurement space of line structure optical sensor, place the standard coplanar calibrated reference that contains a plurality of circular holes.Timing signal, at first place i place, position with reference to thing, on the image planes of video camera C, obtain the projection of a plurality of circular holes,, determine the plane equation (position i place) of coplanar reference object at camera coordinate system according to the image coordinate of circular hole on the coplanar reference object on video camera and known spatial relationship.Simultaneously light projector P produces a projection (solid line shown in the i of position among Fig. 2) on coplanar reference object, is projected in the image-forming information on the video camera image planes and the projection centre of video camera thus and determines a plane.This plane and calibrated reference Plane intersects are in line (projection on the calibrated reference face), determine the straight-line equation of this projection; Then in measurement space, do not have constraint with reference to thing and move to ii place, position (maintenance light projector P and video camera C invariant position), in like manner can obtain the straight-line equation of coplanar reference object projection (dotted line shown in the ii of position among Fig. 2) on the plane equation (position ii place) of camera coordinate system and calibrated reference face.Can determine the equation of light projector optical plane by the straight-line equation of position i place's projection and the equation of position ii place's projection, thereby obtain the relative position relation between light projector plane and the video camera, realize the demarcation of line structure optical sensor.
As shown in Figure 3, structured light sensor calibration principle synoptic diagram, three-dimensional system of coordinate o
cx
cy
cz
cBe camera coordinate system, o
ix
iy
iz
iFor being based upon the coordinate system on the coplanar reference object, o
Iix
Iiy
Iiz
IiBe the coordinate system on the coplanar reference object after moving, o
sx
sy
sz
sMeasurement coordinate system, O
cProjection centre for video camera; π
cBe the plane of delineation, π
sOptical plane, π
iBe calibrated reference plane, π
IiBe the calibrated reference plane after moving, π
AbFor by projection centre O
cAnd straight line a
ib
iThe plane of determining, π
CdFor by projection centre O
cAnd straight line c
id
iThe plane of determining; The P point is represented light projector.Straight line A
iB
i, C
iD
iFor light projector P at plane π
iAnd π
IiOn projection (optical plane π
sWith plane π
iAnd π
IiIntersection), A
iB
i, C
iD
iProjection straight line is a on camera plane
id
i, c
id
iObtaining calibrated reference plane π
iUnder the prerequisite of coordinate, obtain striation A by Flame Image Process
iB
iProjection information a on the video camera image planes
ib
i, by video camera projection centre O
cAnd straight line information a
id
i, determine plane π
AbBy the pin hole Perspective transformation model as can be known, striation A
iB
iAlso at plane π
AbOn, and A
iB
iAt coplanar reference object plane π
iOn, A then
iB
iBe plane π
AbAnd plane π
iIntersection, determine straight line A
iB
iEquation.In like manner, in the sensor measurement space, the object of reference plane is moved to arbitrary position π
Ii, determine straight line C
iD
iEquation.Because of striation A
iB
iAnd C
iD
iBe optical plane π
sAt plane π
iAnd π
IiOn projection, hence one can see that A
iB
iAnd C
iD
iAt optical plane π
sOn, obtain the position relation between optical plane and the video camera.
Claims (1)
1, a kind of quick calibrating method for line structure optical sensor based on coplanar calibrated reference is characterized in that, may further comprise the steps:
A, a plurality of circular holes are set on the good plane of a flatness form a standard coplanar calibrated reference, measure the spatial relationship between its each circular hole;
B, above-mentioned standard coplanar calibrated reference is positioned in the sensor measurement space;
C, according to the image coordinate of circular hole on the coplanar calibrated reference on video camera and known spatial relationship, obtain the plane equation of coplanar reference object at camera coordinate system;
D, in the sensor measurement space, adopt light projector that light beam is projected on the coplanar calibrated reference, intersect a striation with the reference object plane, obtain the information of this striation on image planes by video camera;
E, determine a plane according to the striation information on video camera projection centre and the video camera image planes, this plane and object of reference Plane intersects are in line, thereby obtain the straight line equation in the optical plane;
F, in the measurement space of sensor, object of reference is not had constraint and move to arbitrary position, take second width of cloth image, obtain the information of second striation on the video camera image planes, obtain the second straight-line equation in the optical plane;
G, do not overlap straight line according to two in the above-mentioned optical plane, obtain the equation of light projector optical plane, thereby obtain the position relation of the relative video camera of optical plane.
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| CNB2005100132317A CN1300548C (en) | 2005-03-23 | 2005-03-23 | Quick calibrating method for line structure optical sensor based on coplanar calibrated reference |
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| CN1657868A true CN1657868A (en) | 2005-08-24 |
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Cited By (15)
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| CN100429476C (en) * | 2006-12-20 | 2008-10-29 | 北京航空航天大学 | Double-sensor laser visual measuring system calibrating method |
| CN100462668C (en) * | 2005-09-07 | 2009-02-18 | 北京航空航天大学 | Flexible plane target for vision system scaling |
| CN100489448C (en) * | 2006-06-30 | 2009-05-20 | 廊坊智通机器人系统有限公司 | Method for calibrating workpieces coordinate system |
| CN100489449C (en) * | 2006-06-30 | 2009-05-20 | 廊坊智通机器人系统有限公司 | Workpieces coordinate system calibration method based on relative measurement |
| CN101799271A (en) * | 2010-04-01 | 2010-08-11 | 哈尔滨工业大学 | Method for obtaining camera calibration point under large viewing field condition |
| CN101517433B (en) * | 2006-09-21 | 2012-05-30 | 三星重工业株式会社 | Global coordinate creation method for precision measurement of hollow frame |
| CN103148865A (en) * | 2013-01-17 | 2013-06-12 | 天津大学 | Camera model standardization method and standardization device |
| CN103175470A (en) * | 2013-03-01 | 2013-06-26 | 天津大学 | Reference sphere positioning and measuring method based on line-structured light vision sensor |
| CN105716527A (en) * | 2016-04-18 | 2016-06-29 | 中国计量学院 | Laser-welding seam tracking sensor calibration method |
| CN106441099A (en) * | 2016-10-13 | 2017-02-22 | 北京交通大学 | Multi-line structure light sensor calibration method |
| CN109425292A (en) * | 2017-08-29 | 2019-03-05 | 西安知微传感技术有限公司 | Three-dimensional measuring systems calibration device and method based on one-dimensional line-structured light |
| CN110953988A (en) * | 2019-12-04 | 2020-04-03 | 易思维（杭州）科技有限公司 | Three-dimensional block and method for evaluating accuracy of linear structure optical sensor by using same |
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| CN112797915A (en) * | 2020-12-29 | 2021-05-14 | 杭州海康机器人技术有限公司 | Calibration method, calibration device and system of line structured light measurement system |
| CN114885141A (en) * | 2022-05-26 | 2022-08-09 | 海信视像科技股份有限公司 | Projection detection method and projection equipment |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE69013899T2 (en) * | 1989-12-28 | 1995-06-22 | Kabushiki Kaisha Toyota Chuo Kenkyusho, Aichi | DEVICE FOR MEASURING THREE-DIMENSIONAL COORDINATES. |
| JP2001304816A (en) * | 2000-04-26 | 2001-10-31 | Kenichiro Kobayashi | Travel measuring system and apparatus using granular dot pattern by laser reflected light |
| CN1216273C (en) * | 2002-12-17 | 2005-08-24 | 北京航空航天大学 | Method for calibrating structure optical vision sensor |
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2005
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| CN100462668C (en) * | 2005-09-07 | 2009-02-18 | 北京航空航天大学 | Flexible plane target for vision system scaling |
| CN100489448C (en) * | 2006-06-30 | 2009-05-20 | 廊坊智通机器人系统有限公司 | Method for calibrating workpieces coordinate system |
| CN100489449C (en) * | 2006-06-30 | 2009-05-20 | 廊坊智通机器人系统有限公司 | Workpieces coordinate system calibration method based on relative measurement |
| CN101517433B (en) * | 2006-09-21 | 2012-05-30 | 三星重工业株式会社 | Global coordinate creation method for precision measurement of hollow frame |
| CN100429476C (en) * | 2006-12-20 | 2008-10-29 | 北京航空航天大学 | Double-sensor laser visual measuring system calibrating method |
| CN101799271A (en) * | 2010-04-01 | 2010-08-11 | 哈尔滨工业大学 | Method for obtaining camera calibration point under large viewing field condition |
| CN103148865A (en) * | 2013-01-17 | 2013-06-12 | 天津大学 | Camera model standardization method and standardization device |
| CN103148865B (en) * | 2013-01-17 | 2015-05-20 | 天津大学 | Camera model standardization method and standardization device |
| CN103175470A (en) * | 2013-03-01 | 2013-06-26 | 天津大学 | Reference sphere positioning and measuring method based on line-structured light vision sensor |
| CN105716527B (en) * | 2016-04-18 | 2018-01-12 | 中国计量学院 | Laser seam tracking transducer calibration method |
| CN105716527A (en) * | 2016-04-18 | 2016-06-29 | 中国计量学院 | Laser-welding seam tracking sensor calibration method |
| CN106441099A (en) * | 2016-10-13 | 2017-02-22 | 北京交通大学 | Multi-line structure light sensor calibration method |
| CN106441099B (en) * | 2016-10-13 | 2019-04-05 | 北京交通大学 | The scaling method of multiple line structure optical sensor |
| CN109425292A (en) * | 2017-08-29 | 2019-03-05 | 西安知微传感技术有限公司 | Three-dimensional measuring systems calibration device and method based on one-dimensional line-structured light |
| CN110953988A (en) * | 2019-12-04 | 2020-04-03 | 易思维（杭州）科技有限公司 | Three-dimensional block and method for evaluating accuracy of linear structure optical sensor by using same |
| CN111910935A (en) * | 2020-07-29 | 2020-11-10 | 广东中集建筑制造有限公司 | Paying-off method of box type building module |
| CN111910935B (en) * | 2020-07-29 | 2021-07-30 | 广东中集建筑制造有限公司 | Paying-off method of box type building module |
| CN112797915A (en) * | 2020-12-29 | 2021-05-14 | 杭州海康机器人技术有限公司 | Calibration method, calibration device and system of line structured light measurement system |
| CN112797915B (en) * | 2020-12-29 | 2023-09-12 | 杭州海康机器人股份有限公司 | Calibration method, calibration device and system of line structured light measurement system |
| CN114885141A (en) * | 2022-05-26 | 2022-08-09 | 海信视像科技股份有限公司 | Projection detection method and projection equipment |
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