CN218100260U - Calibration system based on three-dimensional - Google Patents
Calibration system based on three-dimensional Download PDFInfo
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- CN218100260U CN218100260U CN202222397933.1U CN202222397933U CN218100260U CN 218100260 U CN218100260 U CN 218100260U CN 202222397933 U CN202222397933 U CN 202222397933U CN 218100260 U CN218100260 U CN 218100260U
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Abstract
The application belongs to a calibration system based on three-dimensional, which comprises a base, a frame, a multiband backlight plate and an electric control system, wherein the frame is fixed on the base and at least comprises two calibration plates; the frame and the calibration plate are positioned in a space coordinate system, and the space coordinate system comprises an X axis, a Y axis and a Z axis; the calibration plates are connected in the frame through cross rods and are arranged in parallel in a staggered manner; the calibration plate comprises two precise marking points, the two precise marking points are respectively positioned at the left lower corner of the first calibration plate and the right upper corner of the last calibration plate, the distance between the two precise marking points is a known value, the precise marking points on the calibration plates and the precise marking points on the calibration plates are arranged in a staggered mode, the space volume of the scanner camera can be precisely calibrated, and meanwhile real-time monitoring can be carried out on the overall calibration precision in the calibration process.
Description
Technical Field
The application relates to a calibration system based on a stereo.
Background
In the field of photogrammetry, the accuracy of the image formation of a scanner is of crucial importance, for which a calibration of the scanner is necessary, in which the presence of a calibration plate is essential. Nowadays, the following calibration plates are common:
the first calibration plate consists of a plurality of groups of target units drawn by black and white grids at intervals, but the calibration plate is a single surface, so that only data of a plane image can be acquired, and the spatial volume precision of a scanner cannot be calibrated.
The second calibration board is provided with a plurality of reference dots and five reference dots on a black background board, the distances between the reference dots are the same, the five reference dots comprise four peripheral reference dots, the connection lines of the four reference dots can form a quadrangle with a perspective relation, the four reference dots are arranged in the central area of all the reference dots, the fifth reference dot is arranged between the two reference dots with the relative positions of the lower sides and is used as the origin of a coordinate system of the calibration board, the calibration board is more convenient to operate and has better automation degree and robustness due to the design of the reference dots, but due to the instability of the quadrangle, the quadrangle with different shapes can be seen from different angles, the limitation on the scanning position is higher, and meanwhile, the calibration board is also a single side, so that the space volume of the scanner cannot be accurately calibrated.
The background board of the third calibration board is black, the mark dots distributed according to the array are arranged on the background board, and meanwhile, five mark dots are selected according to a certain rule as the characteristic mark dots, so that the calibration board is more convenient and has stronger universality compared with the previous calibration board, but the precision of the space volume of the scanner cannot be accurately calibrated due to the fact that the calibration board is a single-side calibration board.
The fourth calibration plate has three calibration plates, and the three calibration plates can not be coplanar, and the calibration plate can provide data of three dimensions due to the fact that the three calibration plates are not coplanar, so that the scanner space volume can be accurately calibrated.
The technical scheme is also provided for solving the problem of accurate calibration of the space volume of the scanner, but different from the fourth scheme, a new calibration plate is designed from another angle, and the problems that the three-dimensional calibration precision of the scanner is lacked and the calibration precision cannot be monitored in real time in the calibration process are solved.
SUMMERY OF THE UTILITY MODEL
The technical scheme aims to overcome the defects in the prior art and provide a calibration system based on three-dimensional.
A calibration system based on three-dimensional comprises a base, a frame, a multiband backlight plate, an electric control system and calibration plates, wherein the frame is fixed on the base, at least two calibration plates are arranged in the frame, the frame and the calibration plates are positioned in a space coordinate system, and the space coordinate system comprises an X axis, a Y axis and a Z axis; the calibration plates are connected in the frame through cross rods and are arranged in parallel in a staggered manner; the calibration plate comprises two precise marker points which are respectively positioned at the left lower corner of the first calibration plate and the right upper corner of the last calibration plate, the distance between the two precise marker points is a known value, and when a scanner camera is calibrated, because the calibration plates are staggered and arranged in parallel, when the scanner collects images, complete and precise space data can be collected, so that the space precision of the image collector in three directions of an X axis, a Y axis and a Z axis can be more accurately calculated; through two precise mark points with known coordinates, the calibration precision can be monitored in real time in the calibration process, and the calibration precision is improved.
The quantity of calibration board is three, can show the spatial relationship and the data of object comprehensively.
And alternate black and white squares are drawn on the surface of the calibration plate, and the black and white squares have the same size, so that coordinate data of an object on each calibration plate can be clearly shown.
The calibration plate comprises reference object coding points, and calibration accuracy is improved.
The using method comprises the following steps:
the first step is as follows: adjusting the multi-band backlight plate light of the calibration frame to a same-band light supplement mode matched with the scanner;
the second step is that: the scanner is opposite to the frame, and images of the calibration plate are continuously taken from the upper left corner;
the third step: tilting the scanner for multiple times to continuously fetch images of the calibration plate;
the fourth step: pulling the scanner to the position where two precise mark points can be seen in the same image, rotating the scanner by 360 degrees, and simultaneously taking an image;
the fifth step: calculating the result of the current round of calibration of the acquired image by using software, and judging whether the acquired image meets the requirement;
and a sixth step: and performing analog calculation through software, and obtaining the size data of the product to be calibrated.
The distance between the scanner and the calibration board is within the normal use distance range when the scanner fetches the pictures; the scanner slowly moves along the Y-axis direction from top to bottom and from left to right, and continuously picks up images at the same time until the whole image of the calibration plate is completely collected; in the process of drawing by tilting the scanner for multiple times, the scanner tilts left and right by 45 degrees respectively, and also tilts up and tilts down by 45 degrees respectively, and then draws the drawing again according to the mode, namely the scanner slowly moves from left to right along the Y-axis direction from top to bottom, and continuously draws the drawing at the same time until the whole image of the calibration plate is completely acquired, so that the camera of the scanner can be accurately calibrated; when the image calculation result shows that the image acquisition precision of a certain area of the calibration plate is poor, multi-angle image acquisition is carried out on the area again, so that errors are reduced, and the precision is improved.
Has the advantages that:
the calibration system comprises a base, a frame, calibration plates, a backlight plate and an electric control system, wherein three calibration plates are respectively fixed on the frame through cross rods and are placed on different planes, the three calibration plates are mutually parallel, when a scanner performs image acquisition, the plane precision and the space precision of an X axis, a Y axis and a Z axis of a camera of the scanner can be accurately calibrated to acquire data of three dimensions, the data acquisition is more comprehensive, so that the space volume calibration of the scanner is more accurate and effective, and the problem of the loss of the three-dimensional calibration precision of the scanner is solved;
meanwhile, in the process of drawing by the scanner, the scanner is inclined upwards, downwards, leftwards and rightwards by 45 degrees respectively except for drawing from top to bottom in the direction opposite to the calibration plate, drawing is respectively carried out, the calibration plate is provided with two precise mark points, the scanner is pulled to the position where the two precise mark points can be seen in the same image and is rotated by 360 degrees, and drawing is simultaneously carried out, due to the existence of the precise mark points, when the drawing process is carried out, real-time feedback calculation can be carried out on the result calibrated by each group of pictures, whether the overall precision of the scanner meets the expected calibration result is judged, and due to multi-azimuth drawing, the calibration precision of the scanner is improved, the problem that the calibration precision cannot be monitored in real time in the calibration process of the scanner is solved, so that the calibration path is more convenient to adjust and optimize, the calibration is more humanized, the working efficiency and the precision of equipment are improved, the counter attack probability is reduced, and the energy consumption and the working procedure are saved.
Drawings
FIG. 1 is a schematic diagram of a calibration method and a calibration board based on three-dimensional structure;
FIG. 2 is a schematic diagram of a calibration plate;
1. base 2, frame 3, calibration board.
Detailed Description
For the purpose of enhancing the understanding of the present application, the present application will be described in further detail with reference to the following examples and the accompanying drawings, which are only used for explaining the present application and are not to be construed as limiting the scope of the present application.
The device comprises a base 1, a frame 2 and a calibration plate 3.
As shown in fig. 1;
a calibration method and calibration plate based on three-dimensional, including base 1, frame 2, multiband backlight board and its electric control system, the said frame is fixed on base, characterized by that include two calibration plates 3 in the said frame at least; the frame 1 and the calibration plate 3 are positioned in an overall space coordinate system, and the space coordinate system comprises an X axis, a Y axis and a Z axis; the calibration plates are connected in the frame 2 through cross rods and are arranged in parallel in a staggered manner; the spacing between the calibration plates 3 in the X-axis and Y-direction is a known value; the calibration plate 3 comprises two precise marker points which are respectively positioned at the lower left corner of the first calibration plate and the upper right corner of the last calibration plate, and the number of the calibration plates 3 is three when the coordinates of the two precise marker points in a space coordinate system are known values; the surface of the calibration plate is painted with black and white checks which are mutually spaced, and the sizes of the black and white checks are the same; the calibration plate 3 comprises reference object coding points, and the using method comprises the following steps:
the first step is as follows: adjusting the multi-band backlight plate light of the calibration frame to a same-band light supplement mode matched with the scanner;
the second step is that: the scanner is opposite to the frame, and continuous drawing is carried out on the calibration plate from the upper left corner;
the third step: tilting the scanner for multiple times to continuously fetch images of the calibration plate;
the fourth step: pulling the scanner to the position where two precise mark points can be seen in the same image, rotating the scanner by 360 degrees, and simultaneously taking an image;
the fifth step: and calculating the result of the current round of calibration by using software for the acquired image, and judging whether the acquired image meets the requirement.
And a sixth step: and performing analog calculation through software, and obtaining the size data of the product to be calibrated.
The distance between the scanner and the calibration plate is within the normal use distance range when the scanner takes pictures; the scanner slowly moves from left to right along the Y-axis direction from top to bottom, and continuously picks up images at the same time until the whole image of the calibration plate is completely collected; the scanner not only inclines to the left and right respectively by 45 degrees in the process of taking pictures by inclining for many times, but also tilts upwards and tilts downwards by 45 degrees respectively, and then takes pictures again according to the mode, namely, the scanner slowly moves from top to bottom along the Y-axis direction, and continuously takes pictures at the same time until the whole image of the calibration plate is completely acquired, and when the image calculation result shows that the image acquisition precision of a certain area of the calibration plate is poor, the multi-angle image acquisition is carried out on the area again.
The implementation example is as follows:
firstly, adjusting a multi-band backlight plate lamp tube of a frame to a same-band light supplement mode matched with a scanner, then placing the scanner in front of a calibration plate 3 shown in a figure I and facing the upper left corner of the frame 2, wherein the distance between the scanner and the calibration plate 3 when the scanner takes pictures is within a normal use distance range; starting from the upper left corner of the frame 2, slowly moving the scanner along the Y-axis direction from top to bottom and from left to right, and simultaneously continuously taking images until the whole image of the calibration plate 3 is completely collected; then, the scanner is inclined for many times to take pictures, the scanner is inclined for 45 degrees left and right respectively and is also inclined for 45 degrees upwards and downwards in the process of taking pictures for many times, then the pictures are taken again according to the mode, namely, the scanner slowly moves from left to right along the Y-axis direction from top to bottom and simultaneously continuously takes pictures until the whole image of the calibration 3 plate is completely acquired, when the image calculation result shows that the image acquisition precision of a certain area of the calibration plate 3 is poor, the area is subjected to multi-angle image acquisition again, then the scanner is pulled to the position where two precise mark points can be seen in the same image, and the scanner is rotated for 360 degrees to simultaneously take pictures; after the image is taken, software is used for calculating the image, and whether the calibration of the current round meets the requirements is judged.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (9)
1. A calibration system based on three-dimensional comprises a base, a frame, a multiband backlight plate and an electric control system, wherein the frame is fixed on the base; the frame and the calibration plate are positioned in a space coordinate system, and the space coordinate system comprises an X axis, a Y axis and a Z axis; the calibration plates are connected in the frame through cross rods and are arranged in parallel in a staggered manner; the calibration plate comprises two precise marker points which are respectively positioned at the lower left corner of the first calibration plate and the upper right corner of the last calibration plate, and the coordinates of the two precise marker points in a space coordinate system and the distance between the two points are known values.
2. The stereo-based calibration system according to claim 1, wherein the number of calibration plates is three.
3. The calibration system based on three-dimensional space as claimed in claim 1, wherein the calibration plate surface is painted with black and white checks, and the black and white checks are the same size.
4. The stereo-based calibration system according to claim 1, wherein said calibration plate comprises reference object code points.
5. The calibration system based on three-dimensional space as claimed in claim 4, wherein the distance from the calibration board when the scanner takes the image is within the normal use distance range.
6. The system of claim 4, wherein the scanner is slowly moved along the Y-axis from top to bottom and from left to right while continuously taking images until the entire image of the calibration plate is completely captured.
7. The calibration system based on three-dimensional space as claimed in claim 4, wherein the scanner is not only tilted 45 ° to the left and right, but also tilted 45 ° up and down respectively during the process of multiple tilting to take images.
8. The system of claim 4, wherein the scanner is slowly moved along the Y-axis from top to bottom and from left to right while continuously taking images until the entire image of the calibration plate is completely captured.
9. The system of claim 4, wherein when the image calculation result indicates that the image capturing precision of a certain area of the calibration plate is poor, the multi-angle image capturing is performed again on the certain area.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222397933.1U CN218100260U (en) | 2022-09-09 | 2022-09-09 | Calibration system based on three-dimensional |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222397933.1U CN218100260U (en) | 2022-09-09 | 2022-09-09 | Calibration system based on three-dimensional |
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| CN218100260U true CN218100260U (en) | 2022-12-20 |
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