CN103630072B - The layout optimization method of video camera in two CCD camera measure system - Google Patents
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Abstract
In two CCD camera measure system of the present invention, the layout optimization method of video camera belongs to Computer Vision Detection and field of image detection, particularly for obtain large forgings dimensional parameters two CCD camera measure system in the layout optimization method of video camera.In two CCD camera measure system, consider that the picture point that image sampling causes extracts deviation, the present invention sets up the numerical relationship model being extracted the measuring error that causes of deviation and focal length of camera, parallax range, video camera deflection angle three structural parameters by picture point, i.e. Camera composition optimized mathematical model, and utilize genetic algorithm to obtain optimum structural parameters combination.The present invention utilizes genetic algorithm to achieve the layout optimization design of video camera in two CCD camera measure system, the measuring error caused by picture point extraction error is made to reach minimum, when not demarcating video camera, namely the rational deployment that can be video camera provides effective theoretical direction and reference, there is effect of optimization good, the feature that application is strong.
Description
Technical field
The invention belongs to Computer Vision Detection and field of image detection, particularly for obtain large forgings dimensional parameters two CCD camera measure system in the layout optimization method of video camera.
Background technology
Binocular vision photogrammetry is as a kind of real-time, non-contact measurement method that measuring accuracy is high, be widely used in the numerous areas such as industrial detection, target identification, especially in the forging and stamping of measurement large forgings in real time process, in hot physical dimension, there is incomparable advantage.Many scholars have carried out large quantifier elimination around how obtaining high-precision measurement result, but these research work mainly concentrate on the raising stated accuracy of camera system and the matching precision of unique point, often have ignored the impact of structural parameters on measuring accuracy of measuring system, and structural parameters not only determine the size of apparent field, and decide the measuring accuracy of diverse location in apparent field.When utilizing two CCD camera measure system to measure, target to be measured must in apparent field.Therefore, when analytical structure parameter is on the affecting of measuring error, the research carried out under not considering apparent field's constraint all has one-sidedness.In actual measurement process, once after system calibrating, system just must keep relatively fixing, and the structural parameters of system all can not change, so before starting to demarcate, be necessary to be optimized system structure parameter.The measuring accuracy of two CCD camera measure system is improved by the installation position of reasonable Arrangement video camera.
Existing Camera composition optimization method draws general conclusion by investigating single structure parameter one by one to the impact of measuring accuracy mostly, fail each structural parameters to consider and obtain optimum structural parameters combination, or utilize first order optimization method etc. to carry out video camera to optimize distribution, but be easily absorbed in local minimum point.In fact, current most of optimization method all belongs to local optimal searching category, and its effect of optimization depends on choosing of initial value to a great extent, and genetic algorithm is a kind of heuristic random searching algorithm, has efficient global optimizing ability.In addition, the picture point seldom having focus of attention to produce by sampling extracts deviation to the impact of final measuring error.
Summary of the invention
Technical matters to be solved by this invention overcomes the deficiencies in the prior art, effective Camera composition optimization method is lacked at forging scene, and not by problems such as each structural parameters of system consider, invent a kind of layout optimization method based on video camera in the two CCD camera measure system of genetic algorithm.In two CCD camera measure system, consider that the picture point that image sampling causes extracts deviation, the present invention establishes the numerical relationship model between measuring error and focal length of camera, parallax range and video camera deflection angle three structural parameters caused by picture point extraction deviation.Distance between the Liang Tai video camera centre of perspectivity, is parallax range; The angle of two camera optical axis and Z axis, is video camera deflection angle.Under the constraints such as consideration apparent field, by the single objective programming problem that the layout optimization question variation of two CCD camera measure system is belt restraining, and use genetic algorithm to carry out global optimizing, obtain the measuring system structural parameters of one group of optimum, make the measuring error caused by picture point extraction deviation reach minimum.
The technical scheme that the present invention takes is the layout optimization method of video camera in a kind of two CCD camera measure system, in two CCD camera measure system, image sampling can cause picture point to extract deviation, sets up the measuring error and focal length of camera f, parallax range D, video camera deflection angle that are caused by picture point extraction deviation
the numerical relationship model of three structural parameters, i.e. Camera composition optimized mathematical model, and utilize genetic algorithm to obtain optimum structural parameters combination.The concrete steps that layout optimization method adopts are as follows:
Step 1: in two CCD camera measure system, sets up two Camera composition optimized mathematical models.
As shown in Figure 2, left side camera CCD1 and right camera CCD2 converges arranged in form with optical axis, the initial point O of world coordinate system OXYZ and the camera coordinate system O of left side camera
lx
ly
lz
linitial point O
loverlap.If the coordinate of a certain object point P in world coordinate system OXYZ is (X
w, Y
w, Z
w), at the camera coordinate system O of left side camera
lx
ly
lz
lwith the camera coordinate system O of right camera
rx
ry
rz
runder coordinate be respectively (X
l, Y
l, Z
l), (X
r, Y
r, Z
r), in left and right side video camera CCD1, CCD2 image planes, the image physical coordinates of picture point is respectively (x
l, y
l) and (x
r, y
r).
Object point P is at the camera coordinate system O of left and right side video camera
lx
ly
lz
l, O
rx
ry
rz
runder coordinate and the image physical coordinates of picture point there is following relation:
Object point P is at the camera coordinate system O of left and right side video camera
lx
ly
lz
l, O
rx
ry
rz
runder coordinate and its coordinate under world coordinate system OXYZ there is following relation:
Formula (3) and formula (2) are substituted into formula (1), there is following relation in the image physical coordinates obtaining the coordinate of object point P under world coordinate system OXYZ and picture point:
Simultaneous formula (1) ~ formula (5), obtains the coordinate (X of object point P under world coordinate system OXYZ
w, Y
w, Z
w) as follows:
Wherein, if the expression formula of Ψ is as follows:
Consider that sampling causes the situation of maximum picture point deviation, suppose that Pixel Dimensions is δ, then the picture point on the actual left and right camera image plane obtained and the extraction deviation existed between picture point are ideally:
ε
l＝ε
r＝±0.5δ(10)
Picture point physical coordinates on the left and right camera image plane that actual extracting obtains is respectively
itself and picture point physical coordinates (x ideally
l, y
l), (x
r, y
r) pass be:
The picture point physical coordinates obtained by actual extracting obtains the coordinate of object point P under world coordinate system OXYZ
as follows:
Wherein, if
expression formula as follows:
Setting up the mathematical relation that picture point extracts between the measuring error Q that causes of deviation and structural parameters is:
For obtaining the measurement space of forging ' s block dimension as shown in the hatched region in Fig. 2, it is of a size of L × W × H, L represents the size of length direction (X to), W represents the size of Width (Z-direction), H represents the size of short transverse (Y-direction), Y-axis forward be vertical paper inwards.
In XOZ plane, the angle theta of camera optical axis and the left and right visual field border line of video camera is:
Wherein, γ is effective image planes size.
The front depth of field Δ L1 of video camera is:
The rear depth of field Δ L2 of video camera is:
The depth of field Δ L of video camera is:
Wherein, F is f-number, d=|O
la|=|O
rb| be focusing from, CoC, for allowing blur circle diameter, is calculated by following formula:
CoC＝a/1730(21)
Wherein, a is the catercorner length of effective image planes.
In XOZ coordinate system, build the equation of each place, border straight line, the form of straight-line equation is z=k
0x+b, wherein k
0for the slope of straight line, b is the intercept of straight line.
The equation of right camera CCD2 depth of field inner boundary l1 place straight line is:
The equation of right camera CCD2 depth of field outer boundary l2 place straight line is:
The equation of left side camera CCD1 depth of field inner boundary l3 place straight line is:
The equation of left side camera CCD1 depth of field outer boundary l4 place straight line is:
The equation of left margin l5 place, right camera CCD2 visual field straight line is:
The equation of left margin l6 place, left side camera CCD1 visual field straight line is:
The equation of right margin l7 place, right camera CCD2 visual field straight line is:
The equation of right margin l8 place, left side camera CCD1 visual field straight line is:
On measurement space length direction, the equation of left margin l9 (l9') place straight line is:
x＝D/2-L/2(30)
On measurement space length direction, the equation of right margin l10 place straight line is:
x＝D/2+L/2(31)
The statement of measurement space Width size W is divided into two kinds of situations: | CU|=W, | C'V'|=W.Then there is W=min{|CU|, | C'V'|}.Wherein,
According to the range of size of actual measurement demand determination measurement space, the size L>=L of length direction (X to)
0, the size W>=W of Width (Z-direction)
0, the size H>=H of short transverse (Y-direction)
0, should L=L be met
0time corresponding measurement space width
choose and be positioned at apparent field center L
0× W
0× H
0in measurement space, an equally distributed p position is as test point, and the layout scenarios of test point is as follows: according to being divided into q the test plane be equally spaced along Z-direction direction from the close-by examples to those far off, test interplanar spacing is W
0/ (q-1), each test plane is L
0× H
0region, each region is chosen r is capable, s arranges uniform test point.
Video camera adopts zoom lens, and the range of adjustment of focal distance f is [f
1, f
2]; The scope of parallax range D is [D
1, D
2]; Video camera depth of field Δ L>=W
0; Distance between reference measure system and forging arranges suitable focusing from d; Video camera deflection angle
scope be [0, θ];
The layout optimization question variation of this two CCD camera measure system is the single objective programming problem of following belt restraining:
Wherein, Σ Q is the summation of p test point measuring error.Γ is the mean value of each test point measuring error, and it is objective function to be optimized.
for the reference position along Z-direction two camera field of view laps, its value is less than focusing from d.
Step 2: use genetic algorithm to find optimum solution, namely optimum structural parameters combination.
For the single objective programming problem of the belt restraining obtained in step 1, genetic algorithm is adopted to carry out global optimizing.Detailed process is as follows:
(1) algorithm routine is write, and comprises and writes the objective function of optimization problem described in step 1 and the program file of non-linear constrain.
(2) optimized variable is focal distance f, parallax range D and video camera deflection angle
the span of each variable is respectively [f
1, f
2], [D
1, D
2] and
(3) Population Size is set, crossover probability, mutation probability and algorithm end condition.
Population Size elects PopSize as, and crossover probability elects p as
c, mutation probability elects p as
m.The stop criterion of algorithm is: iterations reaches maximum iteration time MaxGen; Or when algorithm is in the algebraically ConGen that stagnation algebraically specifies, the weighted mean change of fitness function is less than function franchise FunTol.
(4) run the program of genetic algorithm, draw the optimum solution of optimization problem, namely optimum structural parameters combination, makes the measuring error in whole measurement space reach minimum.
The invention has the beneficial effects as follows the layout optimization design utilizing genetic algorithm to achieve video camera in two CCD camera measure system, the measuring error caused by picture point extraction error is made to reach minimum, when not demarcating video camera, namely the rational deployment that can be video camera provides effective theoretical direction and reference, there is effect of optimization good, the features such as application is strong.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that analog image is sampled as digital picture.A () figure is the analog image of unique point, (b) figure is corresponding digital picture after unique point sampling, wherein: 1-unique point, and 2-boost line, 3-pixel, 4-unique point place pixel.
Fig. 2 is the structural representation of two CCD camera measure system, and Fig. 3 is the distribution schematic diagram of test point.Wherein: CCD1-left side camera, CCD2-right camera, O
lx
ly
lz
lthe camera coordinate system of-left side camera, O
l-left side camera the centre of perspectivity, O
lz
l-left side camera optical axis, | O
lthe focusing of A|-left side camera is from, O
rx
ry
rz
rthe camera coordinate system of-right camera, O
r-right camera the centre of perspectivity, O
rz
r-right camera optical axis, | O
rthe focusing of B|-right camera from, OXYZ-world coordinate system, O-world coordinate system initial point, D-parallax range, f-focal length of camera,
-video camera deflection angle, the angle of θ-camera optical axis and camera field of view boundary line, L-measurement space length, W-measurement space width, Z
0-along the reference position of Z-direction two camera field of view laps, the Δ L-video camera depth of field, l1-right camera depth of field inner boundary, l2-right camera depth of field outer boundary, l3-left side camera depth of field inner boundary, l4-left side camera depth of field outer boundary, l5-right camera visual field left margin, l6-left side camera visual field left margin, l7-right camera visual field right margin, l8-left side camera visual field right margin, left margin on l9-measurement space length direction, the intersection point of C-l9 and l2, the intersection point of U-l9 and l3, the intersection point of V-l9 and l5, right margin on l10-measurement space length direction, left margin on measurement space length direction in the another kind of situation of l9'-, the intersection point of C'-l9' and l2, the intersection point of U'-l9' and l3, the intersection point of V'-l9' and l5, P
k, (i, j)test point in-kth test a plane on the i-th row jth row.
Embodiment
The specific embodiment of the present invention is further described below in conjunction with accompanying drawing and technical scheme.
As shown in Figure 1, after only having the sampling of the analog image (a) of a unique point 1, obtain the corresponding digital picture (b) of unique point 1, continuous print image planes by discrete be many square region, i.e. pixel 3.For the characteristic point positioning method of Pixel-level precision, the positional information of unique point 1 place pixel 4 can only being obtained, if think that the position of this pixel is the position of unique point 1, so extracting deviation by there is the picture point caused by image sampling.The system structure parameter that the present invention considers is the deflection angle of focal length of camera f, parallax range D and video camera
the present invention establishes the numerical relationship model of measuring error and the said structure parameter caused by picture point extraction deviation, i.e. Camera composition optimized mathematical model, under the constraint of consideration apparent field, use genetic algorithm to carry out global optimizing, obtain the measuring system structural parameters of one group of optimum.Concrete steps are as follows:
Step 1: in two CCD camera measure system, sets up two Camera composition optimized mathematical models.
The imaging device that the present invention selects is Princeton MegaPlusIIES4020 type black-white CCD video camera, and its resolution is 2048 × 2048, and Pixel Dimensions is δ=7.4 μm; Effective image planes are of a size of 15.2mm × 15.2mm, i.e. γ=15.2mm, catercorner length
for adapting to different visual field demands, two video cameras are all furnished with TamronDi-IILD zoom lens, and the range of adjustment of its focal distance f is [f
1, f
2]=[18,250], unit is mm.The range of adjustment of the f-number F of this camera lens is [3.5,6.3], and for making logical light quantity large as far as possible, to obtain image clearly, lens aperture value F selects 3.5.Suppose that the parameters of two video cameras is identical.
The derivation of aforesaid formula (1) ~ formula (9) is all be based upon on the basis of the perspective projection relation met ideally, and namely object point distributes at Spatial continual.But, the object point of Spatial continual is sampled as picture point discrete in digital camera image planes, cause and there is picture point extraction deviation, consider the situation causing maximum deviation in sampling process, then tried to achieve to exist between picture point in the left and right picture plane of actual acquisition and picture point ideally by formula (10) and extract deviation:
ε
l＝ε
r＝±3.7μm
Calculating permission blur circle diameter CoC by formula (21) is:
When utilizing binocular vision system to measure, target to be measured must in apparent field, and apparent field refers to the overlapped fov be in two video camera field depths, as shown in the shadow region in Fig. 2.For obtaining the measurement space of forging ' s block dimension as shown in the hatched region in Fig. 2.According to practical measurement requirement, require that measurement space need meet: L
0=3000mm, W
0=3000mm, H
0=3000mm, i.e. the size L>=3000mm of length direction (X to), the size W>=1000mm of Width (Z-direction), the size H>=3000mm of short transverse (Y-direction).
The measuring error of two CCD camera measure system is uneven in the distribution of measurement space, for without loss of generality, choose and be positioned at apparent field center 3000mm × 1000mm × 3000mm measurement space (the shade rectangular parallelepiped region shown in Fig. 3) equally distributed 180 location points as test point, be i.e. p=180.Test point is numbered according to following rule: according to being divided into 5 tests plane, i.e. q=5 being equally spaced along Z-direction direction from the close-by examples to those far off.Interplanar spacing is 1000/4=250mm, and each test plane is the region of 3000mm × 3000mm, each region is chosen 6 row × 6 and arranges uniform test point, i.e. r=6, s=6.Test point coding rule in each test plane is encoded consistent with the pixel coordinate of image, and the upper left corner is coordinate origin, and (i, j) represents the test point on the i-th row jth row, and the sequence number of row increases progressively from top to bottom, and the sequence number of row increases progressively from left to right, uses P
k, (i, j)represent the test point on the i-th row jth row in a kth test plane.Therefore, the value of all test points each coordinate components in the ideal coordinates under world coordinate system can be obtained, X
wvalue have: { D/2-1500, D/2-900, D/2-300, D/2+300, D/2+900, D/2+1500}, Y
wvalue have :-1500 ,-900 ,-300,300,900,1500}, Z
wvalue according to intersection point C (C'), U (U') and the focusing of V (V') the relative camera position from d place,
evenly choose in scope 5 be worth and be spaced apart 250mm or
evenly choose 5 in scope be worth and be spaced apart 250mm.Wherein, if the expression formula of d' is:
The Z-direction coordinate of intersection point C (C'), U (U') and V (V') is solved under XOZ coordinate system:
The Z-direction coordinate that C (C') puts is:
The Z-direction coordinate that U (U') puts is:
The Z-direction coordinate that V (V') puts is:
According to forging on-site actual situations, consideration equipment install and avoid equipment because of some constraint conditions obtaining other apart from factors such as hot large forgings are nearer and overheated as follows: the statement of the size W of measurement space Width is divided into two kinds of situations, a kind of situation is that the distance between C and U equals W, namely | CU|=W, another kind of situation be on measurement space length direction left margin l9' when apparent field's right side edge, distance between C' and V' equals W, namely | C'V'|=W, then there is W=min{|CU|, | C'V'|}.During measurement space lengthwise dimension L=3000mm, then corresponding measurement space Width size W
l=3000=min{|CU|
l=3000, | C'V'|
l=3000and W
l=3000>=W
0, therefore have | CU|
l=3000>=1000 and | C'V'|
l=3000>=1000.Consider the compactedness requirement of two CCD camera measure system, in conjunction with the restriction of video camera own dimensions and erecting bed size, parallax range D span is [D
1, D
2]=[100,2000], unit is mm.Because measurement space is arranged in the overlapped fov of two video camera field depths, therefore, video camera depth of field Δ L must be greater than the width W of measurement space
0, namely have Δ L>=1000mm.For avoiding high temperature to cause damage to measuring equipment, under measuring system distance forge press, anvil center is at least d
1=8000mm is far away, with reference to d
1choose video camera focusing from d=8000mm.For making full use of apparent field, video camera deflection angle
scope is [0, θ].By formula (17), in conjunction with focal range [f
1, f
2] and effectively image planes size γ calculate the span of θ for [1.74 °, 22.89 °].
In sum, the layout optimization question variation of this two CCD camera measure system is the single objective programming problem of following belt restraining:
Wherein, Q
k, (i, j)for the measuring error of the upper test point of the i-th row jth row in a kth test plane, Z
0for along the overlapping reference position of Z-direction two camera field of view, Z should be had
0< 8000mm.
Step 2: use genetic algorithm to find optimum solution, namely optimum structural parameters combination.
For the single objective programming problem of the belt restraining obtained in step 1, genetic algorithm is adopted to carry out global optimizing.From initial population, use genetic operator, namely selection opertor, crossover operator and mutation operator produce population of future generation, so make population evolve towards the direction of optimization solution, until meet the end condition of setting.Detailed process is as follows:
(1) algorithm routine is write, and comprises and writes the objective function of optimization problem described in step 1 and the program file of non-linear constrain.
(2) optimized variable is focal distance f, parallax range D and video camera deflection angle
each variable-value scope is respectively [18,250], [100,2000] and [0,22.89], and unit is respectively millimeter, millimeter and degree.
(3) Population Size is set, crossover probability, mutation probability and algorithm end condition
Algorithm parameter is set as PopSize=500, p
c=0.78, p
m=0.008, MaxGen=2000, ConGen=500, FunTol=10
-12, that is: Population Size elects 500 as, and crossover probability elects 0.78 as, and mutation probability elects 0.008 as.The stop criterion of algorithm is: iterations reaches maximum iteration time 2000; Or when algorithm is in the algebraically 500 that stagnation algebraically specifies, the weighted mean change of fitness function is less than function franchise 10
-12.
(4) call genetic algorithm master routine, draw the optimum solution of optimization problem, namely optimum structural parameters combination, makes the measuring error in whole measurement space reach minimum.
In step 1, the optimum solution of optimization problem is focal length of camera f=42.552mm, parallax range D=2000mm, video camera deflection angle
target function value converges to minimum value 5.834mm.Above-mentioned experiment is carried out on the computing machine of 1.99GB internal memory, 2.09GHz processor, and on average consuming time is 2.8h.
In two CCD camera measure system, image sampling can cause picture point to extract deviation, the present invention extracts mathematical relation between the measuring error that causes of deviation and structural parameters by setting up picture point, consider that measurement space, equipment are installed and avoids equipment because of apart from factors such as large forgings radiation are nearer and overheated, for video camera and the fixed two CCD camera measure system of camera lens, adopt genetic algorithm to carry out the layout optimization design of video camera, rely on the efficient global optimizing ability of genetic algorithm can obtain the structural parameters combination of global optimum.
Claims (1)
1. the layout optimization method of video camera in a two CCD camera measure system, in two CCD camera measure system, consider that the picture point that image sampling causes extracts deviation, set up the numerical relationship model being extracted the measuring error that causes of deviation and focal length of camera, parallax range, video camera deflection angle three structural parameters by picture point, i.e. Camera composition optimized mathematical model, and utilize genetic algorithm to obtain optimum structural parameters combination, it is characterized in that, the concrete steps that layout optimization method adopts are as follows:
Step 1: in two CCD camera measure system, sets up two Camera composition optimized mathematical models;
Left side camera CCD1 and right camera CCD2 converges arranged in form with optical axis, the initial point O of world coordinate system OXYZ and the camera coordinate system O of left side camera
lx
ly
lz
linitial point O
loverlap; If the coordinate of a certain object point P in world coordinate system OXYZ is (X
w, Y
w, Z
w), at the camera coordinate system O of left side camera
lx
ly
lz
lwith the camera coordinate system O of right camera
rx
ry
rz
runder coordinate be respectively (X
l, Y
l, Z
l), (X
r, Y
r, Z
r), in left and right side video camera CCD1, CCD2 image planes, the image physical coordinates of picture point is respectively (x
l, y
l) and (x
r, y
r);
Object point P is at the camera coordinate system O of left and right side video camera
lx
ly
lz
l, O
rx
ry
rz
runder coordinate and the image physical coordinates of its picture point there is following relation:
Object point P is at the camera coordinate system O of left and right side video camera
lx
ly
lz
l, O
rx
ry
rz
runder coordinate and its coordinate under world coordinate system OXYZ there is following relation:
Formula (3) and formula (2) are substituted into formula (1), there is following relation in the image physical coordinates obtaining the coordinate of object point P under world coordinate system OXYZ and picture point:
Simultaneous formula (1) ~ formula (5), obtains the coordinate (X of object point P under world coordinate system OXYZ
w, Y
w, Z
w) as follows:
Wherein, if the expression formula of Ψ is as follows:
Consider that sampling causes the situation of maximum picture point deviation, suppose that Pixel Dimensions is δ, then the picture point on the actual left and right camera image plane obtained and the extraction deviation existed between picture point are ideally:
ε
l＝ε
r＝±0.5δ(10)
Picture point physical coordinates on the left and right camera image plane that actual extracting obtains is respectively
itself and picture point physical coordinates (x ideally
l, y
l), (x
r, y
r) pass be:
The picture point physical coordinates obtained by actual extracting obtains the coordinate of object point P under world coordinate system OXYZ
as follows:
Wherein, if
expression formula as follows:
Setting up the mathematical relation that picture point extracts between the measuring error Q that causes of deviation and structural parameters is:
Measurement space for obtaining forging ' s block dimension is of a size of L × W × H, L represents the size of length direction (X to), W represents the size of Width (Z-direction), and H represents the size of short transverse (Y-direction), Y-axis forward be vertical paper inwards;
In XOZ plane, the angle theta of camera optical axis and the left and right visual field border line of video camera is:
Wherein, γ is effective image planes size;
The front depth of field Δ L1 of video camera is:
The rear depth of field Δ L2 of video camera is:
The depth of field Δ L of video camera is:
Wherein, F is f-number, d=|O
la|=|O
rb| be focusing from, CoC, for allowing blur circle diameter, is calculated by following formula:
CoC＝a/1730(21)
Wherein, a is the catercorner length of effective image planes;
In XOZ coordinate system, build the equation of each place, border straight line, the form of straight-line equation is z=k
0x+b, wherein k
0for the slope of straight line, b is the intercept of straight line;
The equation of right camera CCD2 depth of field inner boundary l1 place straight line is:
The equation of right camera CCD2 depth of field outer boundary l2 place straight line is:
The equation of left side camera CCD1 depth of field inner boundary l3 place straight line is:
The equation of left side camera CCD1 depth of field outer boundary l4 place straight line is:
The equation of left margin l5 place, right camera CCD2 visual field straight line is:
The equation of left margin l6 place, left side camera CCD1 visual field straight line is:
The equation of right margin l7 place, right camera CCD2 visual field straight line is:
The equation of right margin l8 place, left side camera CCD1 visual field straight line is:
On measurement space length direction, the equation of left margin l9 (l9') place straight line is:
x＝D/2-L/2(30)
On measurement space length direction, the equation of right margin l10 place straight line is:
x＝D/2+L/2(31)
The statement of measurement space Width size W is divided into two kinds of situations: | CU|=W or | C'V'|=W, then have W=min{|CU|, | C'V'|}; Wherein,
According to the range of size of actual measurement demand determination measurement space, the size L>=L of length direction (X to)
0, the size W>=W of Width (Z-direction)
0, the size H>=H of short transverse (Y-direction)
0, should L=L be met
0time corresponding measurement space width
; Choose and be positioned at apparent field center L
0× W
0× H
0in measurement space, an equally distributed p position is as test point, and the layout scenarios of test point is as follows: according to being divided into q the test plane be equally spaced along Z-direction direction from the close-by examples to those far off, test interplanar spacing is W
0/ (q-1), each test plane is L
0× H
0region, each region is chosen r is capable, s arranges uniform test point;
Video camera adopts zoom lens, and the range of adjustment of focal distance f is [f
1, f
2]; The scope of parallax range D is [D
1, D
2]; Video camera depth of field Δ L>=W
0; Distance between reference measure system and forging arranges suitable focusing from d; Video camera deflection angle
scope be [0, θ];
The layout optimization question variation of this two CCD camera measure system is the single objective programming problem of following belt restraining:
Wherein, ∑ Q is the summation of p test point measuring error; Γ is the mean value of each test point measuring error, and it is objective function to be optimized;
for the reference position along Z-direction two camera field of view laps, its value is less than focusing from d;
Step 2: use genetic algorithm to find optimum solution, namely optimum structural parameters combination;
For the single objective programming problem of the belt restraining obtained in step 1, genetic algorithm is adopted to carry out global optimizing; Detailed process is as follows:
(1) algorithm routine is write, and comprises and writes the objective function of optimization problem described in step 1 and the program file of non-linear constrain;
(2) optimized variable is focal distance f, parallax range D and video camera deflection angle
the span of each variable is respectively [f
1, f
2], [D
1, D
2] and
(3) Population Size is set, crossover probability, mutation probability and algorithm end condition;
Population Size elects PopSize as, and crossover probability elects p as
c, mutation probability elects p as
m; The stop criterion of algorithm is: iterations reaches maximum iteration time MaxGen; Or when algorithm is in the algebraically ConGen that stagnation algebraically specifies, the weighted mean change of fitness function is less than function franchise FunTol;
(4) run the program of genetic algorithm, draw the optimum solution of optimization problem, namely optimum structural parameters combination, makes the measuring error in whole measurement space reach minimum.
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