WO2020134412A1 - Measurement and adjustment apparatus for included angle between optical axes - Google Patents

Measurement and adjustment apparatus for included angle between optical axes Download PDF

Info

Publication number
WO2020134412A1
WO2020134412A1 PCT/CN2019/112525 CN2019112525W WO2020134412A1 WO 2020134412 A1 WO2020134412 A1 WO 2020134412A1 CN 2019112525 W CN2019112525 W CN 2019112525W WO 2020134412 A1 WO2020134412 A1 WO 2020134412A1
Authority
WO
WIPO (PCT)
Prior art keywords
angle
optical axis
cameras
measurement
distance
Prior art date
Application number
PCT/CN2019/112525
Other languages
French (fr)
Chinese (zh)
Inventor
刘若鹏
栾琳
张旋
Original Assignee
深圳光启空间技术有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 深圳光启空间技术有限公司 filed Critical 深圳光启空间技术有限公司
Publication of WO2020134412A1 publication Critical patent/WO2020134412A1/en

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Definitions

  • the invention relates to the technical field of angle measurement, in particular to an optical axis angle measurement adjustment device.
  • the determination of the angle of the optical axis is very important. It involves image center point shift, image overlap area calibration and panoramic stitching.
  • the angle of the optical axis is determined by using equipment such as theodolite, reading microscope, etc.; or the actual object distance and the coordinate value of the image plane are reversely pushed out by taking a picture; or the angle of the optical axis is post-processed by taking a picture. To obtain the angle of the optical axis. It can be seen that all of these require the use of equipment such as theodolites to perform complex post-calculation on the captured pictures, which is inconvenient and inefficient.
  • the technical problem to be solved by the present invention is to provide an optical axis angle measurement and adjustment device, which uses an angle measurement target to conveniently and efficiently determine the optical axis angle relationship between cameras, regardless of the up-down or left-right position relationship Camera groups can be easily measured.
  • the real-time video image can also be used to perform real-time calibration of the optical axis angle.
  • an embodiment of the present invention provides an optical axis angle measurement adjustment device, at least two cameras and a measurement target, the at least two cameras are installed or assembled on the same height plane, and the at least two The optical axes of the cameras face the measurement target and form an angle; the distance between the measurement target and the at least two cameras is L, and the intersection of the optical axes of the at least two cameras and the measurement target The distance between them is d, and the distance between the at least two cameras is D; the angle between the optical axes between the at least two cameras is expressed in radians as
  • the background color of the measuring target is white, and black round spots are provided on the target.
  • the measurement target has a starting point of 0, and the scale is set symmetrically on the left and right.
  • the camera base is provided with a mechanical structure for fine-tuning the angle.
  • the mechanical structure is a universal joint.
  • the installation or assembly direction of the more than two cameras is parallel to the installation direction of the measurement target.
  • the mechanical structure is used for calibration of the included angle of the optical axis.
  • the distance between the cameras between the two optical axes to be measured between the plurality of cameras is D
  • the distance between the cameras between the two optical axes to be measured between the plurality of cameras is D
  • the above technical solution has the following advantages: without the need for equipment such as theodolites, microscopes, etc., the angle of the optical axis can be obtained and adjusted instantly, and the target for measuring the angle of the optical axis is designed, which is convenient and efficient. , High accuracy, can instantly obtain and adjust the angle of the optical axis.
  • FIG. 1 is an embodiment of an optical axis angle measurement and adjustment device of the present invention.
  • FIG. 2 is a schematic diagram of angle calculation of the optical axis included angle measuring and adjusting device of the present invention.
  • FIG. 3 is another schematic diagram of angle calculation of the optical axis included angle measuring and adjusting device of the present invention.
  • FIG. 4 is another embodiment of the measuring and adjusting device for the angle of the optical axis of the present invention.
  • FIG. 1 is an embodiment of an optical axis angle measurement and adjustment device of the present invention.
  • a measurement device for the angle of the optical axis of a camera placed horizontally is proposed, and the positional relationship between the cameras is a left-right relationship.
  • Camera No.1, No.2...N are installed or assembled on the same height plane.
  • the optical axis of the camera whose angle is to be measured faces the measurement target, and the measurement target is used as the shooting target.
  • the real-time video of the camera can be zoomed in electronically.
  • the distance between the measuring target and the camera at the angle of the optical axis to be measured is L
  • the distance between the intersection of the optical axis of the camera at the angle of the optical axis to be measured and the intersection of the measuring target is d
  • the angle of the optical axis to be measured The distance between the cameras is D; the angle of the optical axis is expressed in radians as
  • the background color of the measuring target is white, and there are black round spots on the target.
  • the measuring target has a starting point of 0, and the scale is set symmetrically.
  • the black round spots are divided into different sizes and serve as scales.
  • the corresponding distance value is marked under different round spots, and there is a 0 value in the distance value as a starting point.
  • FIG. 2 is a schematic diagram of angle calculation of the optical axis included angle measuring and adjusting device of the present invention.
  • the distance between the optical axis of the camera between the angles of the optical axes to be measured and the intersection of the measurement targets is d1 and d2
  • the distance between the cameras between the angles of the optical axes to be measured is D
  • the distance between the intersection of the optical axis of the two cameras to be measured and the intersection point of the measurement target is d
  • the angle ⁇ of the optical axis is expressed in radians as:
  • the angle ⁇ of the optical axis is expressed in radians as:
  • FIG. 3 is another schematic diagram of angle calculation of the optical axis included angle measuring and adjusting device of the present invention.
  • the distance between the optical axis of two cameras with an angle between the optical axes to be measured and the intersection of the measurement targets is d1 and d2
  • the distance between the cameras with the angle between the optical axes to be measured is D
  • the distance between the intersection of the optical axis of the two cameras to be measured and the intersection point of the measurement target is d
  • the angle ⁇ of the optical axis is expressed in radians as:
  • the angle ⁇ of the optical axis is expressed in radians as:
  • optical axis angle measurement and calibration The implementation process of optical axis angle measurement and calibration is as follows:
  • FIG. 4 is another embodiment of the measuring and adjusting device for the angle of the optical axis of the present invention. This embodiment differs from FIG. 1 in that the positional relationship of the camera group is an up-down relationship, and the optical axis angle measurement target is placed vertically. The process of measuring and adjusting the angle of the optical axis is the same as the embodiment in FIG. 1.
  • the measuring and adjusting device for the angle of the optical axis includes a camera and a measuring target for measuring the angle of the optical axis.
  • Cameras No.1, No.2...N are placed vertically, and the position relationship between the cameras is on-line.
  • the optical axis angle measurement target is placed horizontally.
  • Camera No.1, No.2...N are installed or assembled on the same height plane.
  • the optical axis of the camera whose angle is to be measured faces the measurement target, and the measurement target is used as the shooting target.
  • the mounting bases of cameras No. 1 to N each have a mechanical structure for fine-tuning the angle, such as a universal joint, which is used to calibrate the angle of the optical axis.
  • the real-time video of the camera can be zoomed in electronically.
  • the distance between the measurement target and the camera at an angle between the optical axis to be measured is L, and the distance between the intersection of the optical axis of the camera at the angle between the optical axis to be measured and the measurement target is d, and the The distance between the cameras of the angle of the light measuring axis is D; the angle of the optical axis is expressed in radians as
  • the background color of the measuring target is white, and there are black round spots on the target.
  • the measuring target has a starting point of 0 and the scale is set symmetrically.
  • the black round spots are divided into different sizes and serve as scales.
  • the corresponding distance value is marked under different round spots.
  • an LED display module can also be added to the optical axis angle measurement adjustment device to display the distance d between the optical axis of the camera measuring the angle of the optical axis and the measurement target, which can interact with the user and the user enters the measurement
  • the distance L between the target plate and the camera whose angle is the optical axis to be measured shows the angle ⁇ of the optical axis through internal calculation. According to the conversion relationship between radians and angles, it is necessary to convert radians to angles when bypassing, then the angle of the optical axis is expressed in angles as
  • the optical axis angle measurement and adjustment device can obtain and adjust the optical axis angle immediately without the aid of theodolite, microscope and other equipment, and design the optical axis angle measurement target plate in a targeted manner. It has the advantages of convenience, high efficiency, high accuracy, and instantaneous acquisition and adjustment of the angle of the optical axis.

Landscapes

  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The present invention provides a measurement and adjustment apparatus for an included angle between optical axes. At least two cameras and a measurement target are comprised; the at least two cameras are mounted or assembled on a plane of the same height; the optical axes of the at least two cameras face the measurement target and form an included angle; the distances between the measurement target and the at least two cameras are L, the distance between the intersection points of the optical axes of the at least two cameras and the measurement target d, and the distance between the at least two cameras is D; the included angle between the optical axes of the at least two cameras is expressed as (I) in radians. By using an included angle measurement target, an included angle relationship between the optical axes of the cameras can be conveniently and efficiently determined, and the included angle between the optical axes of a camera group having an upper-lower or left-right position relationship can be easily measured. For the camera mounted on a universal joint or the like, the included angle between the optical axes can also be calibrated in real time according to a real-time video image.

Description

一种光轴夹角测量调整装置Optical axis included angle measuring and adjusting device 【技术领域】【Technical field】
本发明涉及角度测量技术领域，尤其涉及一种光轴夹角测量调整装置。The invention relates to the technical field of angle measurement, in particular to an optical axis angle measurement adjustment device.
【背景技术】【Background technique】
在需要两台或多台摄像机配合工作的装置中，光轴夹角的确定非常重要。它涉及到图像中心点偏移、图像重叠区域标定及全景拼接等。现有技术中有借助经纬仪、读数显微镜等设备确定光轴夹角的；或者通过拍摄图片，将实际物距与像面坐标值进行对应反推出光轴夹角；或者通过拍摄图片，进行后期处理以获得光轴夹角。可见这些都无不例外地需借助经纬仪等设备，对拍摄图片进行复杂的后期计算，因此不便捷、效率低。In devices that require two or more cameras to work together, the determination of the angle of the optical axis is very important. It involves image center point shift, image overlap area calibration and panoramic stitching. In the prior art, the angle of the optical axis is determined by using equipment such as theodolite, reading microscope, etc.; or the actual object distance and the coordinate value of the image plane are reversely pushed out by taking a picture; or the angle of the optical axis is post-processed by taking a picture. To obtain the angle of the optical axis. It can be seen that all of these require the use of equipment such as theodolites to perform complex post-calculation on the captured pictures, which is inconvenient and inefficient.
【发明内容】[Invention content]
本发明所要解决的技术问题是提供一种光轴夹角测量调整装置，使用夹角测量标板，可便捷、高效的确定摄像机之间的光轴夹角关系，无论是上下或左右位置关系的摄像机组，都可轻松测得。对于安装在万向节等装置上的摄像机，还可根据实时视频图像，进行光轴夹角实时校准。The technical problem to be solved by the present invention is to provide an optical axis angle measurement and adjustment device, which uses an angle measurement target to conveniently and efficiently determine the optical axis angle relationship between cameras, regardless of the up-down or left-right position relationship Camera groups can be easily measured. For the cameras installed on the gimbal and other devices, the real-time video image can also be used to perform real-time calibration of the optical axis angle.
为解决上述技术问题，本发明一实施例提供了一种光轴夹角测量调整装置，至少两个摄像机和测量标板，所述至少两个摄像机安装或组装在同一高度平面，所述至少两个摄像机的光轴朝向测量标板且形成夹角；所述测量标板与所述至少两个摄像机之间的距离为L，所述至少两个摄像机的光轴与所述测量标板的交点之间的距离为d，所述至少两个摄像机之间的距离为D；所述至少两个摄像机之间的光轴夹角以弧度表示为
Figure PCTCN2019112525-appb-000001
To solve the above technical problems, an embodiment of the present invention provides an optical axis angle measurement adjustment device, at least two cameras and a measurement target, the at least two cameras are installed or assembled on the same height plane, and the at least two The optical axes of the cameras face the measurement target and form an angle; the distance between the measurement target and the at least two cameras is L, and the intersection of the optical axes of the at least two cameras and the measurement target The distance between them is d, and the distance between the at least two cameras is D; the angle between the optical axes between the at least two cameras is expressed in radians as
Figure PCTCN2019112525-appb-000001
优选地，所述测量标板的标板底色为白色，标板上设有黑色圆斑。Preferably, the background color of the measuring target is white, and black round spots are provided on the target.
优选地，所述测量标板具有0值起点，左右对称设置刻度。Preferably, the measurement target has a starting point of 0, and the scale is set symmetrically on the left and right.
优选地，所述摄像机超过两个。Preferably, there are more than two cameras.
优选地，所述摄像机底座设有微调角度的机械结构。Preferably, the camera base is provided with a mechanical structure for fine-tuning the angle.
优选地，所述机械结构为万向节。Preferably, the mechanical structure is a universal joint.
优选地，所述超过两个摄像机安装或组装方向与所述测量标板安装方向平行。Preferably, the installation or assembly direction of the more than two cameras is parallel to the installation direction of the measurement target.
优选地，所述机械结构用于光轴夹角的校准。Preferably, the mechanical structure is used for calibration of the included angle of the optical axis.
优选地，所述多个摄像机之间的其中两个待测光轴夹角的摄像机之间的距离为D，所述两个待测光轴夹角的摄像机的光轴与所述测量标板的交点之间的距离分别为d1和d2，所述两个待测光轴夹角的摄像机的光轴与所述测量标板的交点之间的距离为d＝d 1+d 2+D，则所述两个待测光轴夹角的摄像机的光轴夹角以弧度表示为
Figure PCTCN2019112525-appb-000002
Preferably, the distance between the cameras between the two optical axes to be measured between the plurality of cameras is D, and the optical axis of the cameras between the two optical axes to be measured and the measurement target The distances between the intersections of d1 and d2 are respectively, and the distance between the intersections of the optical axes of the two cameras to be measured and the measurement target is d=d 1 +d 2 +D, Then the angle between the optical axes of the two cameras to be measured is expressed in radians as
Figure PCTCN2019112525-appb-000002
优选地，所述多个摄像机之间的其中两个待测光轴夹角的摄像机之间的距离为D，所述两个待测光轴夹角的摄像机的光轴与所述测量标板的交点之间的距离分别为d1和d2，所述两个待测光轴夹角的摄像机的光轴与所述测量标板的交点之间的距离为d＝d 1-d 2+D，则所述两个待测光轴夹角的摄像机的光轴夹角以弧度表示为
Figure PCTCN2019112525-appb-000003
Preferably, the distance between the cameras between the two optical axes to be measured between the plurality of cameras is D, and the optical axis of the cameras between the two optical axes to be measured and the measurement target The distance between the intersection points of d1 and d2 is respectively, and the distance between the intersection of the optical axis of the camera between the two optical axes to be measured and the measurement target is d=d 1 -d 2 +D, Then the angle between the optical axes of the two cameras to be measured is expressed in radians as
Figure PCTCN2019112525-appb-000003
与现有技术相比，上述技术方案具有以下优点：无需借助经纬仪、显微镜等设备，可即时获取并调整光轴夹角，并有针对性的设计光轴夹角测量标板，具有便捷、高效、准确度高、可即时获取并调整光轴夹角的优点。Compared with the prior art, the above technical solution has the following advantages: without the need for equipment such as theodolites, microscopes, etc., the angle of the optical axis can be obtained and adjusted instantly, and the target for measuring the angle of the optical axis is designed, which is convenient and efficient. , High accuracy, can instantly obtain and adjust the angle of the optical axis.
【附图说明】[Description of the drawings]
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其它的附图。In order to more clearly explain the technical solutions in the embodiments of the present invention, the drawings required in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without paying any creative labor, other drawings can also be obtained based on these drawings.
图1是本发明光轴夹角测量调整装置一实施例。FIG. 1 is an embodiment of an optical axis angle measurement and adjustment device of the present invention.
图2是本发明光轴夹角测量调整装置角度计算示意图。2 is a schematic diagram of angle calculation of the optical axis included angle measuring and adjusting device of the present invention.
图3是本发明光轴夹角测量调整装置角度计算另一示意图。FIG. 3 is another schematic diagram of angle calculation of the optical axis included angle measuring and adjusting device of the present invention.
图4是本发明光轴夹角测量调整装置另一实施例。4 is another embodiment of the measuring and adjusting device for the angle of the optical axis of the present invention.
【具体实施方式】【detailed description】
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present invention.
实施例一Example one
图1是本发明光轴夹角测量调整装置一实施例。如图1所示，提出的是一种水平方向摆放的摄像机光轴夹角测量装置，摄像机之间的位置关系是左右关系。包括安装待测光轴夹角的摄像机1号、2号...N号和光轴夹角测量标板。摄像机1号、2号...N号安装或组装在同一高度平面。待测光轴夹角的摄像机的光轴朝向测量标板，以测量标板为拍摄目标。1到N号摄像机的安装底座各自具有微调角度的机械结构，如万向节，用于光轴夹角的校准。摄像机实时视频可进行电子放大。测量标板与待测光轴夹角的摄像机之间的距离为L，待测光轴夹角的摄像机的光轴与测量标板的交点之间的距离为d，待测光轴夹角的摄像机之间的距离为D；光轴夹角以弧度表示为
Figure PCTCN2019112525-appb-000004
FIG. 1 is an embodiment of an optical axis angle measurement and adjustment device of the present invention. As shown in Fig. 1, a measurement device for the angle of the optical axis of a camera placed horizontally is proposed, and the positional relationship between the cameras is a left-right relationship. Including the camera No. 1, No. 2...N installed with the angle of the optical axis to be measured and the optical axis angle measurement target. Camera No.1, No.2...N are installed or assembled on the same height plane. The optical axis of the camera whose angle is to be measured faces the measurement target, and the measurement target is used as the shooting target. The mounting bases of cameras No. 1 to N each have a mechanical structure for fine-tuning the angle, such as a universal joint, which is used to calibrate the angle of the optical axis. The real-time video of the camera can be zoomed in electronically. The distance between the measuring target and the camera at the angle of the optical axis to be measured is L, the distance between the intersection of the optical axis of the camera at the angle of the optical axis to be measured and the intersection of the measuring target is d, and the angle of the optical axis to be measured The distance between the cameras is D; the angle of the optical axis is expressed in radians as
Figure PCTCN2019112525-appb-000004
测量标板的标板底色为白色，标板上设有黑色圆斑。测量标板具有0值起点，左右对称设置刻度。黑色圆斑分不同大小，作为标尺。不同圆斑下标注对应距离值，距离值中存在0值作为起点。The background color of the measuring target is white, and there are black round spots on the target. The measuring target has a starting point of 0, and the scale is set symmetrically. The black round spots are divided into different sizes and serve as scales. The corresponding distance value is marked under different round spots, and there is a 0 value in the distance value as a starting point.
图2是本发明光轴夹角测量调整装置角度计算示意图。如图2所示，两个待测光轴夹角的摄像机的光轴与所述测量标板的交点之间的距离分别为d1和d2，待测光轴夹角的摄像机之间的距离为D，两个待测光轴夹角的摄像机的光轴与测量标板的交点之间的距离为d，有2 is a schematic diagram of angle calculation of the optical axis included angle measuring and adjusting device of the present invention. As shown in FIG. 2, the distance between the optical axis of the camera between the angles of the optical axes to be measured and the intersection of the measurement targets is d1 and d2, and the distance between the cameras between the angles of the optical axes to be measured is D, the distance between the intersection of the optical axis of the two cameras to be measured and the intersection point of the measurement target is d, there is
Figure PCTCN2019112525-appb-000005
Figure PCTCN2019112525-appb-000005
Figure PCTCN2019112525-appb-000006
Figure PCTCN2019112525-appb-000006
d＝d 1+d 2+D d=d 1 +d 2 +D
光轴夹角φ以弧度表示为：The angle φ of the optical axis is expressed in radians as:
Figure PCTCN2019112525-appb-000007
Figure PCTCN2019112525-appb-000007
举例说明，如果d1＝4米，d2＝3米，d＝8米，D＝1米，L＝10米，则：For example, if d1 = 4 meters, d2 = 3 meters, d = 8 meters, D = 1 meter, and L = 10 meters, then:
Figure PCTCN2019112525-appb-000008
Figure PCTCN2019112525-appb-000008
Figure PCTCN2019112525-appb-000009
Figure PCTCN2019112525-appb-000009
光轴夹角φ以弧度表示为：The angle φ of the optical axis is expressed in radians as:
Figure PCTCN2019112525-appb-000010
Figure PCTCN2019112525-appb-000010
Figure PCTCN2019112525-appb-000011
Figure PCTCN2019112525-appb-000011
则光轴夹角φ弧度表示式
Figure PCTCN2019112525-appb-000012
的测量误差为： Then the angle of the optical axis φ radian expression
Figure PCTCN2019112525-appb-000012
The measurement error of is:
Figure PCTCN2019112525-appb-000013
Figure PCTCN2019112525-appb-000013
则光轴夹角φ以角度表示为：Then the angle φ of the optical axis is expressed as an angle:
Figure PCTCN2019112525-appb-000014
Figure PCTCN2019112525-appb-000014
Figure PCTCN2019112525-appb-000015
Figure PCTCN2019112525-appb-000015
则光轴夹角φ弧度以角度表示的测量误差为：Then the measurement error expressed by the angle of the optical axis φ radian in angles is:
Figure PCTCN2019112525-appb-000016
Figure PCTCN2019112525-appb-000016
图3是本发明光轴夹角测量调整装置角度计算另一示意图。如图3所示，两个待测光轴夹角的摄像机的光轴与所述测量标板的交点之间的距离分别为d1和d2，待测光轴夹角的摄像机之间的距离为D，两个待测光轴夹角的 摄像机的光轴与测量标板的交点之间的距离为d，有：FIG. 3 is another schematic diagram of angle calculation of the optical axis included angle measuring and adjusting device of the present invention. As shown in FIG. 3, the distance between the optical axis of two cameras with an angle between the optical axes to be measured and the intersection of the measurement targets is d1 and d2, and the distance between the cameras with the angle between the optical axes to be measured is D, the distance between the intersection of the optical axis of the two cameras to be measured and the intersection point of the measurement target is d, there are:
Figure PCTCN2019112525-appb-000017
Figure PCTCN2019112525-appb-000017
Figure PCTCN2019112525-appb-000018
Figure PCTCN2019112525-appb-000018
d＝d 1-d 2+D d = d 1 -d 2 +D
所述光轴夹角φ以弧度表示为：The angle φ of the optical axis is expressed in radians as:
Figure PCTCN2019112525-appb-000019
Figure PCTCN2019112525-appb-000019
举例说明，如果d1＝1米，d2＝0.5米，d＝2米，D＝1.5米，L＝10米，则：For example, if d1 = 1 meter, d2 = 0.5 meters, d = 2 meters, D = 1.5 meters, and L = 10 meters, then:
Figure PCTCN2019112525-appb-000020
Figure PCTCN2019112525-appb-000020
Figure PCTCN2019112525-appb-000021
Figure PCTCN2019112525-appb-000021
光轴夹角φ以弧度表示为：The angle φ of the optical axis is expressed in radians as:
Figure PCTCN2019112525-appb-000022
Figure PCTCN2019112525-appb-000022
Figure PCTCN2019112525-appb-000023
Figure PCTCN2019112525-appb-000023
则光轴夹角φ弧度表示式
Figure PCTCN2019112525-appb-000024
的测量误差为： Then the angle of the optical axis φ radian expression
Figure PCTCN2019112525-appb-000024
The measurement error of is:
Figure PCTCN2019112525-appb-000025
Figure PCTCN2019112525-appb-000025
则光轴夹角φ以角度表示为：Then the angle φ of the optical axis is expressed as an angle:
Figure PCTCN2019112525-appb-000026
Figure PCTCN2019112525-appb-000026
Figure PCTCN2019112525-appb-000027
Figure PCTCN2019112525-appb-000027
则光轴夹角φ弧度以角度表示的测量误差为：Then the measurement error expressed by the angle of the optical axis φ radian in angles is:
Figure PCTCN2019112525-appb-000028
Figure PCTCN2019112525-appb-000028
光轴夹角测量及校准实施过程如下：The implementation process of optical axis angle measurement and calibration is as follows:
对1到N号摄像机开启电子放大，将图像中心区域放大。移动整个摄像机组，使得1号摄像机的图像中心为0值圆斑，依次读出2到N号摄像机的图像中心圆斑刻度与0点之间的距离，并计算出φ i(i＝2，3……N)，即为各摄像机与1号摄像机的光轴夹角；(φ i-φ j)即为任意两摄像机的光轴夹角。 Turn on the electronic zoom for cameras 1 to N to enlarge the center area of the image. Move the entire camera group so that the center of the image of the No. 1 camera is a 0-valued round spot, read the distance between the scale of the round spot of the center of the image of the No. 2 camera and the 0 point in sequence, and calculate φ i (i=2, 3……N) is the angle between each camera and No. 1 camera; (φ i -φ j ) is the angle between the optical axes of any two cameras.
如需校准、调整摄像机N与摄像机1的光轴夹角，通过摄像机N安装底座的方向调整结构进行微调，对照实时视频图像，使得摄像机N的图像中心为测量标板上对应角度值的圆斑。To calibrate and adjust the angle between the optical axis of camera N and camera 1, make fine adjustments through the direction adjustment structure of the mounting base of camera N, and compare the real-time video image so that the center of the image of camera N is the circular spot of the corresponding angle value on the measurement target .
实施例二Example 2
图4是本发明光轴夹角测量调整装置另一实施例。本实施例与图1不同之处在于，摄像机组位置关系为上下关系，光轴夹角测量标板竖直放置。光轴夹角测量及调整过程同图1实施例。4 is another embodiment of the measuring and adjusting device for the angle of the optical axis of the present invention. This embodiment differs from FIG. 1 in that the positional relationship of the camera group is an up-down relationship, and the optical axis angle measurement target is placed vertically. The process of measuring and adjusting the angle of the optical axis is the same as the embodiment in FIG. 1.
如图4所示，光轴夹角测量调整装置包括待测光轴夹角的摄像机和测量标板。摄像机1号、2号...N号竖直方向摆放，摄像机之间的位置关系是上线关系。光轴夹角测量标板水平放置。摄像机1号、2号...N号安装或组装在同一高度平面。待测光轴夹角的摄像机的光轴朝向测量标板，以测量标板为拍摄目标。1到N号摄像机的安装底座各自具有微调角度的机械结构，如万向节，用于光轴夹角的校准。摄像机实时视频可进行电子放大。测量标板与待测光轴夹角的摄像机之间的距离为L，所述待测光轴夹角的摄像机的光轴与所述测量标板的交点之间的距离为d，所述待测光轴夹角的摄像机之间的距离为D；所述光轴夹角以弧度表示为
Figure PCTCN2019112525-appb-000029
As shown in FIG. 4, the measuring and adjusting device for the angle of the optical axis includes a camera and a measuring target for measuring the angle of the optical axis. Cameras No.1, No.2...N are placed vertically, and the position relationship between the cameras is on-line. The optical axis angle measurement target is placed horizontally. Camera No.1, No.2...N are installed or assembled on the same height plane. The optical axis of the camera whose angle is to be measured faces the measurement target, and the measurement target is used as the shooting target. The mounting bases of cameras No. 1 to N each have a mechanical structure for fine-tuning the angle, such as a universal joint, which is used to calibrate the angle of the optical axis. The real-time video of the camera can be zoomed in electronically. The distance between the measurement target and the camera at an angle between the optical axis to be measured is L, and the distance between the intersection of the optical axis of the camera at the angle between the optical axis to be measured and the measurement target is d, and the The distance between the cameras of the angle of the light measuring axis is D; the angle of the optical axis is expressed in radians as
Figure PCTCN2019112525-appb-000029
测量标板的标板底色为白色，标板上设有黑色圆斑。测量标板具有0值起点，左右对称设置刻度。黑色圆斑分不同大小，作为标尺。不同圆斑下标注对应距离值，距离值中存在0值作为起点，左右对称设置刻度。具体实施时，还可以在光轴夹角测量调整装置上增加LED显示模块，显示测光轴夹角的摄像机的光轴与测量标板之间的距离d，可以与用户进行交互，用户输入测量标板与待测光轴夹角的摄像机之间的距离L，通过内部计算显示出光轴夹角φ。根 据弧度与角度的换算关系，绕过需要将弧度转换为角度，则光轴夹角以角度表示为
Figure PCTCN2019112525-appb-000030
The background color of the measuring target is white, and there are black round spots on the target. The measuring target has a starting point of 0 and the scale is set symmetrically. The black round spots are divided into different sizes and serve as scales. The corresponding distance value is marked under different round spots. There is a 0 value in the distance value as a starting point, and the scale is set symmetrically left and right. During specific implementation, an LED display module can also be added to the optical axis angle measurement adjustment device to display the distance d between the optical axis of the camera measuring the angle of the optical axis and the measurement target, which can interact with the user and the user enters the measurement The distance L between the target plate and the camera whose angle is the optical axis to be measured shows the angle φ of the optical axis through internal calculation. According to the conversion relationship between radians and angles, it is necessary to convert radians to angles when bypassing, then the angle of the optical axis is expressed in angles as
Figure PCTCN2019112525-appb-000030
具体实施时，还可以根据实际安装需要，确保多个摄像机安装或组装方向与测量标板安装方向平行，即可以算出两两摄像机之间的光轴夹角。由上述说明可知，使用根据本发明的光轴夹角测量调整装置，无需借助经纬仪、显微镜等设备，可即时获取并调整光轴夹角，并有针对性的设计光轴夹角测量标板，具有便捷、高效、准确度高、可即时获取并调整光轴夹角的优点。During specific implementation, it can also ensure that the installation or assembly direction of multiple cameras is parallel to the installation direction of the measurement target according to the actual installation needs, that is, the angle of the optical axis between the two cameras can be calculated. It can be seen from the above description that using the optical axis angle measurement and adjustment device according to the present invention can obtain and adjust the optical axis angle immediately without the aid of theodolite, microscope and other equipment, and design the optical axis angle measurement target plate in a targeted manner. It has the advantages of convenience, high efficiency, high accuracy, and instantaneous acquisition and adjustment of the angle of the optical axis.
以上对本发明实施例进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。The embodiments of the present invention have been described in detail above, and specific examples have been used in this article to explain the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the method and core idea of the present invention; Those of ordinary skill in the art, according to the ideas of the present invention, will have changes in specific implementations and application scopes. In summary, the content of this specification should not be construed as limiting the present invention.

Claims (10)

  1. 一种光轴夹角测量装置，其特征在于，包括：An optical axis included angle measuring device, characterized in that it includes:
    至少两个摄像机和测量标板，所述至少两个摄像机安装或组装在同一高度平面，所述至少两个摄像机的光轴朝向测量标板且形成夹角；所述测量标板与所述至少两个摄像机之间的距离为L，所述至少两个摄像机的光轴与所述测量标板的交点之间的距离为d，所述至少两个摄像机之间的距离为D；所述至少两个摄像机之间的光轴夹角以弧度表示为
    Figure PCTCN2019112525-appb-100001
    At least two cameras and a measurement target, the at least two cameras are installed or assembled on the same height plane, the optical axis of the at least two cameras faces the measurement target and forms an angle; the measurement target and the at least The distance between the two cameras is L, the distance between the intersection points of the optical axes of the at least two cameras and the measurement target is d, and the distance between the at least two cameras is D; the at least The angle of the optical axis between the two cameras is expressed in radians as
    Figure PCTCN2019112525-appb-100001
  2. 根据权利要求1所述的光轴夹角测量调整装置，其特征在于，所述测量标板的标板底色为白色，标板上设有黑色圆斑。The optical axis angle measuring and adjusting device according to claim 1, characterized in that the background color of the target of the measuring target is white, and black round spots are provided on the target.
  3. 根据权利要求1所述的光轴夹角测量调整装置，其特征在于，所述测量标板具有0值起点，左右对称设置刻度。The optical axis included angle measurement and adjustment device according to claim 1, wherein the measurement target has a starting point of 0, and the scale is symmetrically set on the left and right.
  4. 根据权利要求1所述的光轴夹角测量调整装置，其特征在于，所述摄像机超过两个。The optical axis angle measuring and adjusting device according to claim 1, wherein there are more than two cameras.
  5. 根据权利要求1所述的光轴夹角测量调整装置，其特征在于，所述摄像机底座设有微调角度的机械结构。The optical axis angle measurement and adjustment device according to claim 1, wherein the camera base is provided with a mechanical structure for fine-tuning the angle.
  6. 根据权利要求5所述的光轴夹角测量调整装置，其特征在于，所述机械结构为万向节。The optical axis angle measuring and adjusting device according to claim 5, wherein the mechanical structure is a universal joint.
  7. 根据权利要求4所述的光轴夹角测量调整装置，其特征在于，所述超过两个摄像机安装或组装方向与所述测量标板安装方向平行。The optical axis angle measurement and adjustment device according to claim 4, wherein the installation or assembly direction of the more than two cameras is parallel to the measurement target installation direction.
  8. 根据权利要求5所述的光轴夹角测量调整装置，其特征在于，所述机械结构用于光轴夹角的校准。The optical axis angle measurement and adjustment device according to claim 5, wherein the mechanical structure is used for calibration of the optical axis angle.
  9. 根据权利要求4所述的光轴夹角测量调整装置，其特征在于，所述多个摄像机之间的其中两个待测光轴夹角的摄像机之间的距离为D，所述两个待测光轴夹角的摄像机的光轴与所述测量标板的交点之间的距离分别为d1和d2，所述两个待测光轴夹角的摄像机的光轴与所述测量标板的交点之间的距离为d＝d 1+d 2+D，则所述两个待测光轴夹角的摄像机的光轴夹角以 弧度表示为
    Figure PCTCN2019112525-appb-100002
    The optical axis angle measuring and adjusting device according to claim 4, characterized in that the distance between two cameras of the optical axis included in the plurality of cameras is D, and the two The distance between the optical axis of the camera at the angle of the light measuring axis and the intersection of the measurement targets is d1 and d2, respectively, and the optical axis of the camera at the angle between the two optical axes to be measured and the measurement target The distance between the intersection points is d=d 1 +d 2 +D, then the angle between the optical axes of the cameras between the two optical axes to be measured is expressed in radians as
    Figure PCTCN2019112525-appb-100002
  10. 根据权利要求4所述的光轴夹角测量调整装置，其特征在于，所述多个摄像机之间的其中两个待测光轴夹角的摄像机之间的距离为D，所述两个待测光轴夹角的摄像机的光轴与所述测量标板的交点之间的距离分别为d1和d2，所述两个待测光轴夹角的摄像机的光轴与所述测量标板的交点之间的距离为d＝d 1-d 2+D，则所述两个待测光轴夹角的摄像机的光轴夹角以弧度表示为
    Figure PCTCN2019112525-appb-100003
    The optical axis angle measuring and adjusting device according to claim 4, characterized in that the distance between two cameras of the optical axis included in the plurality of cameras is D, and the two The distance between the optical axis of the camera at the angle of the light measuring axis and the intersection of the measurement targets is d1 and d2, respectively, and the optical axis of the camera at the angle between the two optical axes to be measured and the measurement target The distance between the intersection points is d=d 1 -d 2 +D, then the angle between the optical axes of the cameras between the two optical axes to be measured is expressed in radians as
    Figure PCTCN2019112525-appb-100003
PCT/CN2019/112525 2018-12-29 2019-10-22 Measurement and adjustment apparatus for included angle between optical axes WO2020134412A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811654275.1A CN111385565A (en) 2018-12-29 2018-12-29 Optical axis included angle measuring and adjusting device
CN201811654275.1 2018-12-29

Publications (1)

Publication Number Publication Date
WO2020134412A1 true WO2020134412A1 (en) 2020-07-02

Family

ID=71127334

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/112525 WO2020134412A1 (en) 2018-12-29 2019-10-22 Measurement and adjustment apparatus for included angle between optical axes

Country Status (2)

Country Link
CN (1) CN111385565A (en)
WO (1) WO2020134412A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115824038A (en) * 2022-08-17 2023-03-21 宁德时代新能源科技股份有限公司 Calibration scale, calibration method and device, and detection method and device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114993211B (en) * 2022-06-13 2024-07-23 北京信息科技大学 Calibrating system for calibrating measuring range of multiplied included angle measuring instrument

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5929983A (en) * 1997-10-29 1999-07-27 International Business Machines Corporation Optical apparatus for determining the height and tilt of a sample surface
CN106228534A (en) * 2016-07-08 2016-12-14 众趣（北京）科技有限公司 Relation scaling method between a kind of rotating shaft based on constrained global optimization and camera
CN106289086A (en) * 2016-09-20 2017-01-04 东南大学 A kind of for optical indicia dot spacing from the double camera measuring method of Accurate Calibration
CN106989697A (en) * 2017-05-24 2017-07-28 深圳天珑无线科技有限公司 The acquisition methods and device of a kind of optical axis included angle
CN208141454U (en) * 2018-02-09 2018-11-23 深圳先进技术研究院 A kind of scaling board and binocular are to view photographic device calibration system

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001359126A (en) * 2000-06-16 2001-12-26 Sony Corp Optical axis tilt angle detector and image measurement device provided with it
CN101794184B (en) * 2010-04-07 2012-10-03 广东威创视讯科技股份有限公司 Coordinate detection device and locating method thereof
CN106657992B (en) * 2017-02-28 2018-03-09 西安中科光电精密工程有限公司 Device and method for adaptively detecting and adjusting double-camera-axis

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5929983A (en) * 1997-10-29 1999-07-27 International Business Machines Corporation Optical apparatus for determining the height and tilt of a sample surface
CN106228534A (en) * 2016-07-08 2016-12-14 众趣（北京）科技有限公司 Relation scaling method between a kind of rotating shaft based on constrained global optimization and camera
CN106289086A (en) * 2016-09-20 2017-01-04 东南大学 A kind of for optical indicia dot spacing from the double camera measuring method of Accurate Calibration
CN106989697A (en) * 2017-05-24 2017-07-28 深圳天珑无线科技有限公司 The acquisition methods and device of a kind of optical axis included angle
CN208141454U (en) * 2018-02-09 2018-11-23 深圳先进技术研究院 A kind of scaling board and binocular are to view photographic device calibration system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115824038A (en) * 2022-08-17 2023-03-21 宁德时代新能源科技股份有限公司 Calibration scale, calibration method and device, and detection method and device
CN115824038B (en) * 2022-08-17 2023-09-29 宁德时代新能源科技股份有限公司 Calibration ruler, calibration method and device, and detection method and device

Also Published As

Publication number Publication date
CN111385565A (en) 2020-07-07

Similar Documents

Publication Publication Date Title
CN110057295B (en) Monocular vision plane distance measuring method without image control
US7912320B1 (en) Method and apparatus for photographic measurement
CN108828554B (en) Coordinate transformation-based measuring method, system and device without laser drop point
CN106871787B (en) Large space line scanning imagery method for three-dimensional measurement
CN102509261B (en) Distortion correction method for fisheye lens
CN108050928B (en) Visual measuring instrument and visual measuring method
CN111220129B (en) Focusing measurement method with rotating holder and terminal
CN109916304B (en) Mirror surface/mirror surface-like object three-dimensional measurement system calibration method
CN106644410A (en) Camera module optical center position measuring method and system
CN109978960B (en) High-precision screen-camera pose calibration method based on photogrammetry
JPH11118425A (en) Calibration method and device and calibration data production
WO2020134412A1 (en) Measurement and adjustment apparatus for included angle between optical axes
CN103017666A (en) Method and assembly for determining the position of a measurement point in geometric space
CN110501026B (en) Camera internal orientation element calibration device and method based on array star points
CN108469254A (en) A kind of more visual measuring system overall calibration methods of big visual field being suitable for looking up and overlooking pose
CN110736447B (en) Vertical-direction horizontal position calibration method for integrated image acquisition equipment
CN102313525B (en) Laser beam parallelism regulating system and regulating method thereof
JP2019060754A (en) Cloud altitude and wind velocity measurement method using optical image
CN105043252A (en) Image processing based size measuring method without reference object
CN206961189U (en) A kind of optical axis deflection measurement apparatus of vehicle-mounted camera
CN103278104A (en) Calibration plate of double-camera system for DIC (Digital Image Correlation) measurement and calibration method thereof
CN207456379U (en) A kind of vision measurer
CN105809685A (en) Single-concentric circle image-based camera calibration method
CN113596441B (en) Optical axis adjusting device, method, system and readable storage medium
CN207881656U (en) Angle measurement caliberating device

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19906529

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19906529

Country of ref document: EP

Kind code of ref document: A1