CN209927146U - Calibration device for laser target - Google Patents
Calibration device for laser target Download PDFInfo
- Publication number
- CN209927146U CN209927146U CN201920615750.8U CN201920615750U CN209927146U CN 209927146 U CN209927146 U CN 209927146U CN 201920615750 U CN201920615750 U CN 201920615750U CN 209927146 U CN209927146 U CN 209927146U
- Authority
- CN
- China
- Prior art keywords
- laser target
- calibration
- camera
- laser
- calibration device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model discloses a calibration device for a laser target, which comprises an optical platform, a multi-tooth dividing table, the laser target (an industrial camera is arranged in the laser target), a multifunctional calibration board, a total station, calibration software and a computer; the optical platform is fixed on the shockproof floor and is adjusted to be horizontal, the multi-tooth dividing table is placed on the optical platform, the multifunctional calibration plate is placed on the multi-tooth dividing table, and the laser target is placed on the calibration plate; the total station is horizontally arranged at the other end, and is required to be leveled to be on the same horizontal plane with the laser target, and no shielding object is arranged between the total station and the laser target. The laser target emitted by the total station is irradiated on the prism surface of the laser target, the prism collects the light source on the CCD panel of the camera in the laser target, and the external reference of the internal reference of the camera is calibrated by using special calibration software and a computer, so that the laser target meets the engineering precision requirement.
Description
Technical Field
The utility model relates to a measuring field's calibrating device, in particular to calibration device to laser target.
Background
At present, most subway tunnels at home and abroad are tunneled by adopting a shield machine, and the route of the shield machine is guided by an automatic guiding system. It is well known that the existing automatic guidance system is basically a laser target method, and the laser target method is used for the guidance system for tunnel engineering in large cost due to the convenience, rapidness, ultrahigh precision, stability and reliability. During construction, the shield machine can only move forward and cannot move backward, so that the requirement on the position and the posture of the shield machine is accurate, the shield machine can only move forward along a designed route to ensure smooth penetration of a tunnel, once the final penetration error exceeds the allowable maximum deviation limit, the whole project fails due to butt joint of tunnel pipelines, the guide system of the shield machine is required to have higher requirement in the construction process, an important measuring module in the guide system is a laser target, and the precision of the laser target is required to meet the measuring requirement.
In the laser target measuring system, besides the input variables and the output variables in the measuring model, some fixed parameters are also included. Where the values of some of the parameters are unknown or insufficiently accurate, calibration is required to obtain accurate values for these parameters.
At present, camera calibration methods include: a conventional camera calibration method, an active vision camera calibration method, and a camera self-calibration method.
The traditional camera calibration method comprises the following steps: a calibration object with a known size is used, and the internal and external parameters of the camera model are obtained by using a certain algorithm by establishing correspondence between points with known coordinates on the calibration object and image points thereof. The three-dimensional calibration object and the planar calibration object can be classified according to the calibration object. The three-dimensional calibration object can be calibrated by a single image, the calibration precision is higher, but the processing and the maintenance of the high-precision three-dimensional calibration object are more difficult.
Active visual camera calibration method: refers to that certain motion information of a known camera is used to calibrate the camera. The method does not need a calibration object, but needs to control the camera to do some special motions, and the internal parameters of the camera can be calculated by utilizing the particularity of the motions. The camera calibration method based on active vision has the advantages of simple algorithm, high robustness due to the fact that linear solutions can be obtained, high system cost, expensive experimental equipment and high requirement on experimental conditions, and is not suitable for occasions where motion parameters are unknown or cannot be controlled.
Camera self-calibration method: is to take advantage of constraints on camera motion. The motion constraints of the camera are too strong, thus making it impractical in practice. Exploiting scene constraints is mainly exploiting some parallel or orthogonal information in the scene. The intersection point of the parallel lines in space on the camera image plane is called vanishing point, which is a very important feature in projective geometry, so many scholars research the camera self-calibration method based on vanishing point. The self-calibration method has strong flexibility and can perform online calibration on the camera. But because it is an absolute quadratic curve or curved surface based method, its algorithm robustness is poor.
Most of the existing calibration methods are complex, and because the object to be calibrated is a measuring instrument, the calibration is particularly important for achieving the purpose of mass production, and the calibration method is simple and convenient and is easy to operate.
SUMMERY OF THE UTILITY MODEL
To the problem that exists, the utility model aims to solve the technical problem that a calibration device to the laser target is proposed, overcome among the prior art to the calibration thing one-tenth aberration, it is complicated to mark, calculates inaccurate technological problem.
In order to achieve the above object, the present invention provides a technical solution:
a calibration device for a laser target is composed of a device body, wherein the device body comprises a rotary table, a multi-tooth indexing mechanism and a two-way adjusting mechanism; and a positioning table is arranged between the multi-tooth indexing mechanism and the bidirectional adjusting mechanism, the multi-tooth indexing mechanism is connected with the positioning table through a flange, and the positioning table is connected with the bidirectional adjusting mechanism through a socle.
Two-way adjustment mechanism is including the base and the calibration platform that the recess was established on the surface, in the calibration platform embedding recess, be provided with the first slide rail that sets up along the cross axle on the base, the second slide rail that sets up along the axis of ordinates on the calibration platform, the calibration platform can be on first slide rail longitudinal sliding.
The stilts are cylindrical, and concave clamping parts are arranged on the cylindrical periphery of the stilts.
The foot posts are provided with knobs.
And a scale is arranged on the multi-tooth dividing mechanism.
Advantageous effects
The utility model discloses the laser that calibration arrangement utilized the total powerstation to send shines on the laser target prism face to collect the light source by the prism in the laser target on the CCD panel of camera, utilize dedicated calibration arrangement, calibration software and computer to mark the outer reference of the interior reference of camera, thereby make its laser target precision reach the engineering construction requirement.
The utility model overcomes become the aberration to the calibration thing among the prior art, mark complicacy, calculate inaccurate technological problem, improved work efficiency, satisfy the construction requirement.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a D-D sectional view of the present invention.
Fig. 3 is a schematic view of the structure of the middle leg of the present invention.
Fig. 4 is a schematic calculation diagram of the present invention.
Detailed Description
Preferred embodiments of the present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the utility model provides a calibration device for laser targets, which comprises a device body, wherein the device comprises a turntable 101, a multi-tooth dividing mechanism 201 and a bidirectional adjusting mechanism 301; a positioning table 401 is arranged between the multi-tooth indexing mechanism 201 and the bidirectional adjusting mechanism 301, the multi-tooth indexing mechanism 201 is connected with the positioning table 401 through a flange 202, the positioning table 401 is connected with the bidirectional adjusting mechanism 301 through a support pillar 402, and a handle 102 capable of rotating the rotary table 101 is arranged on the rotary table 101. The leg post 402 is cylindrical, and a concave clamping portion is disposed on the circumference of the cylindrical leg post, as shown in fig. 3, the leg post 402 can not only support the two-way adjusting mechanism, but also clamp the positioning table through the upper clamping portion 402A thereof. Still be provided with knob 402B on the heel post 402, the utility model discloses can reciprocate two-way adjustment mechanism through knob activity 402B regulation on the heel post 402.
Be provided with half arc locating piece 403 on the locating table 401, the utility model discloses well locating piece 403 sets up at least one on the multiple tooth indexing mechanism 201 circumference flange face. The positioning blocks 403 are equidistantly distributed on the circumferential (flange) surface of the multi-tooth indexing mechanism 201. The bidirectional adjusting mechanism 301 comprises a base 302 and a calibrating table 303, wherein the surface of the base 302 is provided with a groove 304, the calibrating table 303 is embedded into the groove 304, and the base 302 is provided with a first sliding rail 302A arranged along a transverse shaft, so that the laser target is ensured to move left and right. And a second sliding rail 303A arranged on the calibration table 303 along the longitudinal axis ensures that the laser target moves back and forth. The baffle 305 that prevents the laser target from droing is provided with to calibration platform 303 one side, calibration platform 303 can be on first slide rail 302A longitudinal sliding, the base passes through the bolt with calibration platform and fixes.
As shown in fig. 2, a scale 203 is provided on the multi-tooth indexing mechanism 201, in order to more accurately match the height of the laser target with the height of the total station, the utility model discloses a handle 102 adjusts the range of the turntable 101 within a range of ± 20 °. Particularly, during calibration, the turntable 101 only needs to be calibrated by +/-15 degrees, and +/-15 degrees meet the requirements of a construction site. The utility model discloses well scale 203's use is the height of getting revolving stage and ground.
The utility model discloses operation process, as shown in FIG. 4:
(1) placing the laser target on a calibration table, connecting a computer (not shown) through a special cable and a control box, and simultaneously opening calibration software; and measuring the distance size of the rotary table to the ground by using a caliper on the rotary table, and adjusting the height of the total station according to the size to enable the rotary table to be level with the total station. Leveling the total station and opening red laser of the total station to enable the red laser to be directly irradiated onto the central plane of a laser target prism, displaying facula data parameters in a laser target on calibration software, adjusting a base left and right to enable the facula data to be closest, and adjusting a calibration table front and back according to the facula parameters and horizontal angle data measured by the total station end to enable the rolling center of the laser target to be coaxial with a multi-tooth indexing table; when the horizontal angle difference of the laser target measured by the total station is within 5' when the horizontal angle difference is within +/-15 DEG of the multi-tooth dividing table, the adjustment is completed, the base and the calibration table are fixed by bolts, and then the laser target is calibrated;
(2) calibrating a transverse shaft of the laser target: after the multi-tooth indexing table and the laser target are coaxial, the red laser of the total station is directly emitted to the center of the prism, the parameters displayed by calibration software are closest, at the moment, the incident laser is parallel to the Y axis of the inclination angle sensor, namely, the rolling center of the laser target is found, when the laser target facula is positioned at the rolling center, the azimuth angle and the pitch angle of the incident laser under the laser target coordinate system are both 0 degree, and the laser facula position has a one-to-one mapping relation with the azimuth angle and the pitch angle of the incident laser under the camera coordinate system, so that the azimuth angle between the laser target coordinate system and the camera coordinate system can be determined. At the moment, the multi-tooth dividing table is rotated to +15 degrees, calibration is started from +15 degrees, a sending command in calibration software is clicked, data of the data are directly sent to the laser target, the data are sent once every 1-degree calibration point until the transverse shaft is calibrated to-15 degrees, at the moment, incident laser forms a track on a camera CCD panel, the transverse shaft of the laser target is calibrated, and the rolling center of the camera is always on the track;
(3) calibrating the longitudinal axis of the laser target: and horizontally placing the laser target on the calibration table by turning 90 degrees, horizontally injecting red laser of the total station into the prism surface of the laser target, and adjusting the scale of the multi-tooth dividing table to enable the spot data to be the closest. And after the adjustment is finished, rotating the multi-tooth dividing table to a position of +15 degrees, striking calibration software, similarly, starting calibration from the position of +15 degrees, sending a point at a time of calibration of 1 degree, until the longitudinal axis is calibrated to the position of-15 degrees, forming another track on a camera CCD panel at the moment, and completing the calibration of the internal parameter and the external parameter of the camera, namely completing the calibration of the laser target.
It is only above that the utility model discloses a concrete implementation mode, the technical type talent in the field of belong to can all make corresponding more this and transform. Modifications and changes based on the present invention shall fall into the protection scope of the claims of the present invention.
Claims (6)
1. The utility model provides a calibration device to laser target comprises the device body, its characterized in that: the device body comprises a rotary table, a multi-tooth indexing mechanism and a two-way adjusting mechanism; and a positioning table is arranged between the multi-tooth indexing mechanism and the bidirectional adjusting mechanism, the multi-tooth indexing mechanism is connected with the positioning table through a flange, and the positioning table is connected with the bidirectional adjusting mechanism through a socle.
2. The calibration device for the laser target according to claim 1, wherein: two-way adjustment mechanism is including the base and the calibration platform that the recess was established on the surface, in the calibration platform embedding recess, be provided with the first slide rail that sets up along the cross axle on the base, the second slide rail that sets up along the axis of ordinates on the calibration platform, the calibration platform can be on first slide rail longitudinal sliding.
3. The calibration device for the laser target according to claim 1, wherein: the stilts are cylindrical, and concave clamping parts are arranged on the cylindrical periphery of the stilts.
4. The calibration device for the laser target according to claim 1, wherein: the foot posts are provided with knobs.
5. The calibration device for the laser target according to claim 3, wherein: the foot posts are provided with knobs.
6. The calibration device for the laser target according to any one of claims 1 to 5, wherein: and a scale is arranged on the multi-tooth dividing mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920615750.8U CN209927146U (en) | 2019-04-30 | 2019-04-30 | Calibration device for laser target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920615750.8U CN209927146U (en) | 2019-04-30 | 2019-04-30 | Calibration device for laser target |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209927146U true CN209927146U (en) | 2020-01-10 |
Family
ID=69089183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920615750.8U Active CN209927146U (en) | 2019-04-30 | 2019-04-30 | Calibration device for laser target |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209927146U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111473803A (en) * | 2020-05-27 | 2020-07-31 | 天津科技大学 | Calibration method for mining laser target |
| CN111551193A (en) * | 2020-05-25 | 2020-08-18 | 天津科技大学 | Laser target calibration method based on precise two-axis turntable |
| CN112837377A (en) * | 2021-01-13 | 2021-05-25 | 上海力信测量系统有限公司 | Camera internal and external parameter combined calibration system |
| CN112902985A (en) * | 2021-01-22 | 2021-06-04 | 湖南环境生物职业技术学院 | Equipment that total powerstation tracking rod detected and corrected is exclusively used in |
| CN112902840A (en) * | 2021-01-22 | 2021-06-04 | 湖南环境生物职业技术学院 | A centering check out test set for prism |
-
2019
- 2019-04-30 CN CN201920615750.8U patent/CN209927146U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111551193A (en) * | 2020-05-25 | 2020-08-18 | 天津科技大学 | Laser target calibration method based on precise two-axis turntable |
| CN111551193B (en) * | 2020-05-25 | 2023-09-05 | 天津科技大学 | Laser target targeting method based on precise biaxial turntable |
| CN111473803A (en) * | 2020-05-27 | 2020-07-31 | 天津科技大学 | Calibration method for mining laser target |
| CN111473803B (en) * | 2020-05-27 | 2023-09-05 | 天津科技大学 | Calibration method for mining laser target |
| CN112837377A (en) * | 2021-01-13 | 2021-05-25 | 上海力信测量系统有限公司 | Camera internal and external parameter combined calibration system |
| CN112902985A (en) * | 2021-01-22 | 2021-06-04 | 湖南环境生物职业技术学院 | Equipment that total powerstation tracking rod detected and corrected is exclusively used in |
| CN112902840A (en) * | 2021-01-22 | 2021-06-04 | 湖南环境生物职业技术学院 | A centering check out test set for prism |
| CN112902985B (en) * | 2021-01-22 | 2023-03-17 | 湖南环境生物职业技术学院 | Equipment that total powerstation tracking rod detected and corrected is exclusively used in |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209927146U (en) | Calibration device for laser target | |
| JP5538929B2 (en) | Three-dimensional position measurement and ink marking system and its usage | |
| CN103292748B (en) | A kind of split of many substrates based on laser measurement detection method | |
| DE102015108490B4 (en) | surveying instrument | |
| US9279679B2 (en) | Construction machine control method and construction machine control system | |
| CN102944188B (en) | A kind of spot scan three dimensional shape measurement system scaling method | |
| JP5044596B2 (en) | 3D position measurement system | |
| CN107380204A (en) | Orbit geometry parameter detects car and orbit geometry parameter detection method | |
| CN101044370A (en) | Method for calibrating the geometry of a multi-axis metrology system | |
| CN102679904A (en) | Measurement method and measurement instrument of revolution body part | |
| JP5386613B2 (en) | 3D positioning system | |
| CN103307984A (en) | Laser measuring device, laser measuring system and laser measuring method for adjustable paddle blade | |
| CN107421520B (en) | Decoration paying-off device and method based on BIM technology | |
| CN107014321A (en) | A kind of flatness rapid field measurement apparatus and measuring method | |
| CN103800032A (en) | Correcting system for correcting geometric position of cone-beam CT system, and correcting method thereof | |
| CN106767443A (en) | A kind of new automatic secondary element image detector and measuring method | |
| CN113984026A (en) | Total station scanning all-in-one instrument based on three-dimensional laser mapping technology and measuring method | |
| CN102692210A (en) | Fixed-point scanning type rapid tunnel section clearance measurement and convergence measurement method | |
| CN107917693B (en) | Inclination measuring device and method based on optical ranging | |
| CN106441371B (en) | Special verification/calibration device for digital level | |
| CN105466455B (en) | A kind of angle measurement accuracy calibration system and method | |
| US20240093986A1 (en) | Apparatus and method for coaxially aligning two rotatable shafts | |
| CN107726973B (en) | A kind of measurement establishment of coordinate system method of the side putting type measuring machine for large gear | |
| CN104316007B (en) | The accurate physical dimension measuring system of large scale based on witness mark battle array | |
| CN206695780U (en) | A kind of construction management survey tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |