CN204388802U

CN204388802U - Line-structured light vision system calibration plate

Info

Publication number: CN204388802U
Application number: CN201520035389.3U
Authority: CN
Inventors: 孙秋成; 刘仁云; 于繁华; 王春艳
Original assignee: Changchun Normal University
Current assignee: Changchun Normal University
Priority date: 2015-01-19
Filing date: 2015-01-19
Publication date: 2015-06-10
Anticipated expiration: 2025-01-19

Abstract

Line-structured light vision system calibration plate belongs to vision measurement imaging system caliberating device field, and this scaling board comprises glass plate, black box matrix and dark circular region, and described dark circular region is positioned at the center of glass plate; Black box matrix is made up of jointly 12 black box blocks, described 12 black box blocks all equidistantly distribute around dark circular region and jointly surround formation one square matrices larger than dark circular region outer profile size, all equidistant uniform four black box blocks on every bar limit of black box matrix; The spacing of the black box block of described any two vicinities is equal to the length of side of a black box block.Line-structured light vision system calibration plate of the present utility model can significantly improve the precision that optical losses detects, make the process solving the locus equation of linear structural laser plane in world coordinate system more accurately quick, thus improve the stated accuracy of vision measurement imaging system.

Description

Line-structured light vision system calibration plate

Technical field

The utility model belongs to vision measurement imaging system caliberating device field, is specifically related to a kind of line-structured light vision system calibration plate.

Background technology

Vision measurement technology can adapt to new standard that modern industry proposes workpiece configurations size detection and requirement well, is a kind of contactless profile measurement means having both precision and efficiency.

Traditional gridiron pattern scaling board (Calibration Target) is widely used in the calibration process of vision measurement imaging system, as shown in Figure 1, existing conventional gridiron pattern scaling board is the chess black and white square checkerboard pattern be made up of size and all on all four black box array of spacing, the high-precision coordinate system array that its black box is formed can be used for the calibration of camera of camera, and for determining the optical plane position equation in space that line-structured light laser instrument projects.

Vision measurement imaging system calibration process generally includes following steps:

Step one: taken pictures to traditional gridiron pattern scaling board by the camera of vision measurement imaging system, can utilize the inner parameter of black box angular coordinate to camera known on gridiron pattern scaling board to demarcate;

Step 2: utilize the external parameter of black box angular coordinate to camera known on traditional gridiron pattern scaling board to demarcate, the space equation of the intrinsic coordinate plane of traditional gridiron pattern scaling board under camera coordinates system can be obtained;

Step 3: attitude and the position of traditional gridiron pattern scaling board described in maintenance step one are all constant, receive as projection target plane the line-structured light plane sent by the line-structured light laser instrument of vision measurement imaging system with it, the intersection both it forms a laser straight linear light bar;

Step 4: take the gridiron pattern scaling board photo that a width comprises striation position described in step 3 by camera;

Step 5: by the pixel coordinate of optical losses point in image pixel plane in photo described in the striation intermediate detection algorithm extraction step four of image, utilize the camera internal parameter described in step one and the space equation of the intrinsic coordinate plane of the scaling board described in step 2 under camera coordinates system, the three-dimensional coordinate that optical losses point is corresponding under camera coordinates system can be calculated;

Step 6: the spatial attitude of conversion gridiron pattern scaling board and position, and repeat the operation of step 3 to step 5, obtain the three-dimensional coordinate of another optical losses point under camera coordinates system;

Step 7: the three-dimensional coordinate of two optical losses points under camera coordinates system utilizing step 5 and step 6 to obtain respectively, finally simulates the locus equation of linear structural laser plane in camera coordinates system that laser instrument projects.

But, due to the grid black and white interval on traditional gridiron pattern scaling board and layout density is higher, its imaging effect in the photo of laser striation described in step 4 is undesirable, in gridiron pattern, discontinuous white space part can form light and dark striation, and the more diffuse reflection effect in described white space region also can the image quality of striation photo taken by severe jamming, extract detection to the striation in subsequent step and add difficulty, and significantly reduce the precision of optical losses detection, cause the significantly reduction of the stated accuracy of vision measurement imaging system.

Utility model content

In order to the grid black and white interval that solves on existing gridiron pattern scaling board and layout density is higher, the laser striation that it receives discontinuous white space part in gridiron pattern can form light and dark striation, and the more diffuse reflection effect in described white space region also can the image quality of striation photo taken by severe jamming, extract detection to the striation in subsequent step and add difficulty, and significantly reduce the precision of optical losses detection, cause the technical matters that the stated accuracy of vision measurement imaging system significantly reduces, the utility model provides a kind of line-structured light vision system calibration plate.

The technical scheme that the utility model technical solution problem is taked is as follows:

Line-structured light vision system calibration plate, it comprises glass plate, black box matrix and dark circular region, and described dark circular region is positioned at the center of glass plate; Black box matrix is made up of jointly 12 black box blocks, described 12 black box blocks all equidistantly distribute around dark circular region and jointly surround formation one square matrices larger than dark circular region outer profile size, all equidistant uniform four black box blocks on every bar limit of black box matrix; The spacing of the black box block of described any two vicinities is equal to the length of side of a black box block.

The beneficial effects of the utility model are: the striation that the dark circular region on this line-structured light vision system calibration plate is used as line-structured light laser instrument extracts target, due to this dark circular region continuously, the characteristic such as all even scattering angle to light is all consistent, high by the striation photograph quality captured by it, quality good, be very beneficial for detecting the extraction of laser striation in subsequent step.Therefore, line-structured light vision system calibration plate of the present utility model can significantly improve the precision that optical losses detects, make the process solving the locus equation of linear structural laser plane in world coordinate system more accurately quick, thus improve the stated accuracy of vision measurement imaging system.

Accompanying drawing explanation

Fig. 1 is existing conventional gridiron pattern scaling board structural representation;

Fig. 2 is the structural representation of a kind of line-structured light vision system calibration of the utility model plate.

Embodiment

Below in conjunction with accompanying drawing, the utility model is described in further details.

As shown in Figure 2, a kind of line-structured light vision system calibration plate of the present utility model comprises glass plate 1, black box matrix 2 and dark circular region 3, and described dark circular region 3 is positioned at the center of glass plate 1; Black box matrix 2 is made up of jointly 12 black box block 2-1, described 12 black box block 2-1 all around dark circular region 3 equidistantly distribution jointly surround formation one square matrices larger than dark circular region 3 outer profile size, all equidistant uniform four black box block 2-1 on every bar limit of black box matrix 2; The spacing of the black box block 2-1 of described any two vicinities is equal to the length of side of a black box block 2-1.

Each black box block in described dark circular region 3 or black box matrix 2 is high-precision optical groove layer.

When carrying out the step 3 in vision measurement imaging system calibration process to step 6, the striation that dark circular region 3 on scaling board of the present utility model is used as line-structured light laser instrument extracts target, due to this dark circular region 3 continuously, the characteristic such as all even scattering angle to light is all consistent, high by the striation photograph quality captured by it, quality good, be very beneficial in subsequent step to striation extract detect.Therefore, line-structured light vision system calibration plate of the present utility model can significantly improve the precision that optical losses detects, make the process solving the locus equation of linear structural laser plane in world coordinate system more accurately quick, thus improve the stated accuracy of vision measurement imaging system.

Claims

1. line-structured light vision system calibration plate, it is characterized in that: this scaling board comprises glass plate (1), black box matrix (2) and dark circular region (3), and described dark circular region (3) is positioned at the center of glass plate (1); Black box matrix (2) is made up of jointly 12 black box blocks (2-1), described 12 black box blocks (2-1) all around dark circular region (3) equidistantly distribution jointly surround formation one square matrices larger than dark circular region (3) outer profile size, all equidistant uniform four black box blocks (2-1) on every bar limit of black box matrix (2); The spacing of the black box block (2-1) of described any two vicinities is equal to the length of side of a black box block (2-1).