CN209785068U - Three-dimensional space abnormal-shape curved surface rotation calibration solid model - Google Patents
Three-dimensional space abnormal-shape curved surface rotation calibration solid model Download PDFInfo
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- CN209785068U CN209785068U CN201920511988.6U CN201920511988U CN209785068U CN 209785068 U CN209785068 U CN 209785068U CN 201920511988 U CN201920511988 U CN 201920511988U CN 209785068 U CN209785068 U CN 209785068U
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Abstract
The utility model provides a solid model is markd in rotation of three-dimensional space abnormal shape curved surface, solid model is markd in rotation of three-dimensional space abnormal shape curved surface includes: the positioning identification device comprises an arc-shaped plate and a plurality of positioning identification cylinders, wherein a plurality of equidistant first mounting holes are formed in the arc-shaped plate, the first mounting holes correspond to the positioning identification cylinders in quantity one by one, and the positioning identification cylinders are partially accommodated in the first mounting holes and are fixedly connected with the arc-shaped plate; the three-dimensional space special-shaped curved surface rotation calibration solid model is easy to process, can be processed and finished only by a common machine tool for turning, milling and drilling, does not need a complex processing flow, and is low in production cost.
Description
Technical Field
The utility model relates to a camera field of maring mainly is the camera calibration of space abnormal shape curved surface, especially relates to a three-dimensional space abnormal shape curved surface rotation calibration solid model and the rotatory calibration method of 3D camera.
Background
at present, in the field of 3D vision, a 3D calibration technology is generally plane calibration, that is, a camera horizontally scans a target object, but the object exists in a three-dimensional form in space, so that the camera cannot image each side of the object at one time, or needs to be spliced after a plurality of cameras are combined for imaging, or needs to be spliced after a single camera is scanned and imaged for multiple times, the technology can cause long scanning time or high cost, and splicing loss precision, so that technical difficulties can be greatly increased, and development time and debugging time are increased.
SUMMERY OF THE UTILITY MODEL
in order to solve the problem, the utility model provides a need not the image concatenation, only need a laser 3D camera can accomplish the rotatory calibration solid model of three-dimensional space abnormal shape curved surface and the rotatory calibration method of 3D camera that camera was markd.
The utility model discloses a following technical scheme realizes:
The utility model provides a solid model is markd in rotation of three-dimensional space abnormal shape curved surface for the camera is markd, solid model is markd in rotation of three-dimensional space abnormal shape curved surface includes: the arc and a plurality of location discernment cylinder, be equipped with the first mounting hole of a plurality of equidistances on the arc, first mounting hole with location discernment cylinder quantity one-to-one, location discernment cylinder part is acceptd in the first mounting hole and with arc fixed connection.
Furthermore, the arc-shaped plate is provided with an arch surface and a positioning groove; the positioning groove is located in the center of the arched surface.
Furthermore, a positioning hole is formed in the positioning identification column body and penetrates through the positioning identification column body.
Further, the three-dimensional space abnormal-shaped curved surface rotation calibration solid model also comprises a bottom mounting structure; the bottom mounting structure is fixedly connected with the arc-shaped plate, and a second mounting hole penetrating through the bottom mounting structure is further formed in the bottom mounting structure.
A3D camera rotation calibration method comprises the three-dimensional space abnormal-shaped curved surface rotation calibration solid model, and comprises the following steps:
S1: the three-dimensional special-shaped curved surface rotation calibration solid model is installed on a workbench through the matching of screws and the second installation holes;
s2: enabling a laser line of the laser 3D camera to coincide with the cylindrical axis of the three-dimensional space special-shaped curved surface rotation calibration solid model, and ensuring that the visual field range of the laser 3D camera covers the three-dimensional space special-shaped curved surface rotation calibration solid model;
s3: enabling the laser 3D camera to rotate around the cylindrical axis of the three-dimensional space special-shaped curved surface to calibrate the solid model and acquire an imaging graph;
S4: a software algorithm restores the entity original image of the three-dimensional space abnormal-shape curved surface rotation calibration entity model according to the imaging graph, calculates the three-dimensional coordinates of the original image in the 3D space of the entity original image, wherein the entity original image is a point cloud image, each point of the point cloud image has a unique corresponding (x, y, z) coordinate, and then calculates the normal vector of each point according to the shape of the entity original image, thereby calculating the (rx, ry, rz) coordinates of each point of the point cloud image;
S5: detecting (x, y, z) coordinates of the positioning holes by using a TCP tip of a positioning mechanism, and recording the (x, y, z) coordinates of a plurality of positioning holes according to the requirements of a software algorithm;
S6: and (3) detecting the (x, y, z) coordinates of the positioning hole by combining the (x, y, z) coordinates of the point cloud picture and the TCP tip of the positioning mechanism through a software algorithm, converting the (x, y, z) coordinates of the point cloud picture into the (x, y, z) coordinates of the TCP through the software algorithm, and completely calculating the (rx, ry, rz) coordinates of the TCP through the software algorithm, so that the laser 3D camera finishes a calibration action.
further, after the steps S1-S6 are completed, the three-dimensional space special-shaped curved surface rotation calibration solid model can be detached from the workbench, the product to be detected is placed on the workbench, and the positioning coordinates or detection data of the product to be detected can be obtained by scanning the product to be detected with the laser 3D camera.
the utility model has the advantages that:
1. The utility model provides a solid model workable is markd in rotation of three-dimensional space abnormal shape curved surface, only need the ordinary lathe turn the milling bore alright with the processing completion, need not complicated processing procedure, low in production cost.
2. The utility model provides a rotatory calibration method of 3D camera only needs 1 laser 3D camera can accomplish the camera and marks, and ordinary plane calibration technique then needs 3 or 3 laser 3D cameras more than, perhaps scans then splices the image more than cubic or the cubic through cubic or the cubic, compares in ordinary plane calibration technique cost lower, and efficiency is faster.
3. The utility model provides a rotatory calibration method of 3D camera easy operation only needs to use laser 3D camera to scan one round the rotatory cylinder axle center of demarcating the solid model of three-dimensional space abnormal shape curved surface.
4. The utility model provides a data accuracy of the rotatory calibration method of 3D camera is higher, contrasts with ordinary 3 laser 3D camera plane calibration technique, the utility model provides a three-dimensional image that 3D camera is rotatory calibration method does not need the concatenation picture can obtain the object, consequently can not lose the precision because of the concatenation, guarantees the accuracy of data.
Drawings
FIG. 1 is an exploded view of the three-dimensional special-shaped curved surface rotation calibration solid model of the present invention;
FIG. 2 is a perspective view of the three-dimensional special-shaped curved surface rotation calibration solid model of the present invention;
Fig. 3 is a cloud point diagram of the 3D camera rotation calibration method of the present invention;
fig. 4 is a cloud point diagram of the other direction of the 3D camera rotation calibration method of the present invention.
Detailed Description
for a more clear and complete description of the technical solution of the present invention, the following description is made with reference to the accompanying drawings.
Please refer to fig. 1 to 4, the present invention provides a three-dimensional space abnormal-shape curved surface rotation calibration solid model, which is used for camera calibration, the three-dimensional space abnormal-shape curved surface rotation calibration solid model includes: arc 10 and a plurality of location discernment cylinder 20, be equipped with the first mounting hole 11 of a plurality of equidistances on the arc 10, first mounting hole 11 with location discernment cylinder 20 quantity one-to-one, location discernment cylinder 20 part accept in the first mounting hole 11 and with arc 10 fixed connection.
In this embodiment, the arc plate 10 is a semicircular arc plate, the number of the positioning and identifying cylinders 20 is 21, the positioning and identifying cylinders 20 are equidistantly installed on the arc plate 10, the coordinates and the directions are determined by the plurality of positioning and identifying cylinders 20, so as to obtain the directions of X, Y, Z three axes of the coordinates, then the normal vector on the corresponding plane can be obtained according to the point cloud image scanned by the laser 3D camera, and the (x, y, z, rx, ry, rz) coordinates of the three-dimensional space can be obtained; the diameter of the positioning identification column 20 is matched with that of the first mounting hole 11, so that the positioning identification column 20 is convenient to mount; the three-dimensional space special-shaped curved surface rotation calibration solid model is easy to process, can be processed and finished only by a common machine tool for turning, milling and drilling, does not need a complex processing flow, can meet the precision requirement of the three-dimensional space special-shaped curved surface rotation calibration solid model only by the common machine tool, and is low in production cost.
Further, the arc-shaped plate 10 is provided with an arch surface 12 and a positioning groove 13; the positioning slot 13 is located in the center of the arcuate surface 12.
In this embodiment, the positioning groove 13 is located in the center of the arched surface 12, the positioning groove 13 is used for positioning, and a plurality of first mounting holes 11 with equal distance can be accurately machined on the arc-shaped plate 10 through the positioning groove 13; in addition, when the three-dimensional special-shaped curved surface rotation calibration solid model is required to be installed on an external workbench, the three-dimensional special-shaped curved surface rotation calibration solid model can be accurately installed on the external workbench through the accurate positioning of the positioning groove 13.
Further, a positioning hole 21 is formed in the positioning identification column 20, and the positioning hole 21 penetrates through the positioning identification column 20.
In the present embodiment, the positioning holes 21 are formed on the positioning identification column 20, each positioning hole 21 determines a mechanical coordinate, and forms a single direction, and the single direction plays an important role in imaging in a three-dimensional space; when the three-dimensional space special-shaped curved surface rotation calibration solid model is installed on an external workbench, the position of the positioning hole 21 is determined and unique; when the three-dimensional space special-shaped curved surface rotation calibration solid model is used for camera calibration, the (x, y, z) coordinates of the positioning hole 21 are detected by using the TCP tip of the positioning mechanism, and the camera calibration requirement is met.
Further, the three-dimensional space abnormal-shaped curved surface rotation calibration solid model further comprises a bottom mounting structure 30; the bottom mounting structure 30 is fixedly connected with the arc-shaped plate 10, and a second mounting hole 31 penetrating through the bottom mounting structure 30 is further formed in the bottom mounting structure 30.
in this embodiment, the bottom mounting structure 30 can stably place the three-dimensional space special-shaped curved surface rotation calibration solid model on an external workbench, and the three-dimensional space special-shaped curved surface rotation calibration solid model can be firmly mounted on the external workbench by matching external screws with the second mounting holes 31.
referring to fig. 3 and 4, a 3D camera rotation calibration method includes the above three-dimensional space irregular curved surface rotation calibration solid model, and the 3D camera rotation calibration method includes the following steps:
S1: the three-dimensional special-shaped curved surface rotation calibration solid model is installed on a workbench through the matching of screws and the second installation holes;
s2: enabling a laser line of the laser 3D camera to coincide with the cylindrical axis of the three-dimensional space special-shaped curved surface rotation calibration solid model, and ensuring that the visual field range of the laser 3D camera covers the three-dimensional space special-shaped curved surface rotation calibration solid model;
s3: enabling the laser 3D camera to rotate around the cylindrical axis of the three-dimensional space special-shaped curved surface to calibrate the solid model and acquire an imaging graph;
s4: a software algorithm restores the entity original image of the three-dimensional space abnormal-shape curved surface rotation calibration entity model according to the imaging graph, calculates the three-dimensional coordinates of the original image in the 3D space of the entity original image, wherein the entity original image is a point cloud image, each point of the point cloud image has a unique corresponding (x, y, z) coordinate, and then calculates the normal vector of each point according to the shape of the entity original image, thereby calculating the (rx, ry, rz) coordinates of each point of the point cloud image;
s5: detecting (x, y, z) coordinates of the positioning holes by using a TCP tip of a positioning mechanism, and recording the (x, y, z) coordinates of a plurality of positioning holes according to the requirements of a software algorithm;
S6: and (3) detecting the (x, y, z) coordinates of the positioning hole by combining the (x, y, z) coordinates of the point cloud picture and the TCP tip of the positioning mechanism through a software algorithm, converting the (x, y, z) coordinates of the point cloud picture into the (x, y, z) coordinates of the TCP through the software algorithm, and completely calculating the (rx, ry, rz) coordinates of the TCP through the software algorithm, so that the laser 3D camera finishes a calibration action.
In this embodiment, the method of step S3 is simple to operate, and only the laser 3D camera needs to be used to rotate around the three-dimensional space irregular curved surface to calibrate the cylindrical axis of the solid model for scanning once;
fig. 3 and 4 are point cloud images of the three-dimensional space irregular curved surface rotation calibration solid model scanned by the laser 3D camera, wherein an imaging surface of the point cloud images is a plane, and rx and ry of the plane are very small; after the calibration is finished once, a standard calibration flow is formed, and the calibration can be automatically carried out for the second time;
The 3D camera rotation calibration method can complete camera calibration by only 1 laser 3D camera, while the common plane calibration technology needs 3 or more than 3 laser 3D cameras, and then images are spliced after scanning for three times or more than three times, so that the cost is lower compared with the common plane calibration technology;
The data accuracy of the rotatory calibration method of 3D camera is higher, compares with ordinary 3 laser 3D camera plane calibration technique, the utility model provides a rotatory calibration method of 3D camera does not need the concatenation picture can obtain the three-dimensional image of object, consequently can not lose the precision because of the concatenation, guarantees the accuracy of data.
Further, after the steps S1-S6 are completed, the three-dimensional space special-shaped curved surface rotation calibration solid model can be detached from the workbench, the product to be detected is placed on the workbench, and the positioning coordinates or detection data of the product to be detected can be obtained by scanning the product to be detected with the laser 3D camera.
In this embodiment, the contour of the product to be inspected cannot exceed the scanning range of the laser 3D camera.
of course, the present invention can also have other various embodiments, and based on the embodiments, those skilled in the art can obtain other embodiments without any creative work, and all of them belong to the protection scope of the present invention.
Claims (4)
1. A three-dimensional space abnormal-shaped curved surface rotation calibration solid model is used for camera calibration, and is characterized by comprising the following steps: the arc and a plurality of location discernment cylinder, be equipped with the first mounting hole of a plurality of equidistances on the arc, first mounting hole with location discernment cylinder quantity one-to-one, location discernment cylinder part is acceptd in the first mounting hole and with arc fixed connection.
2. The solid model for the rotational calibration of the special-shaped curved surface in the three-dimensional space according to claim 1, wherein the arc-shaped plate is provided with an arc-shaped surface and a positioning groove; the positioning groove is located in the center of the arched surface.
3. the solid model for rotationally calibrating a three-dimensional space special-shaped curved surface according to claim 1, wherein a positioning hole is formed in the positioning and identifying cylinder, and the positioning hole penetrates through the positioning and identifying cylinder.
4. The three-dimensional space special-shaped curved surface rotation calibration solid model as claimed in claim 1, wherein the three-dimensional space special-shaped curved surface rotation calibration solid model further comprises a bottom mounting structure; the bottom mounting structure is fixedly connected with the arc-shaped plate, and a second mounting hole penetrating through the bottom mounting structure is further formed in the bottom mounting structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920511988.6U CN209785068U (en) | 2019-04-15 | 2019-04-15 | Three-dimensional space abnormal-shape curved surface rotation calibration solid model |
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| CN201920511988.6U CN209785068U (en) | 2019-04-15 | 2019-04-15 | Three-dimensional space abnormal-shape curved surface rotation calibration solid model |
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