CN104820978B - A kind of origin reference location method of CCD camera - Google Patents
A kind of origin reference location method of CCD camera Download PDFInfo
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Abstract
The present invention proposes a kind of origin reference location method of CCD camera, this method is corrected to two CCD cameras simultaneously, place the first CCD camera and the second CCD camera on platform, the camera lens of the first CCD camera and the second CCD camera vertically downward, and apart from platform a certain distance；Correct the perpendicularity of the first CCD camera and the second CCD camera；In one horizon rule of placement for the first CCD camera and the underface level of the second CCD camera for having corrected perpendicularity；The image of first CCD camera and the equal shooting level chi of the second CCD camera, and handled image transmitting into PC, and the position of the first CCD camera or the second CCD camera is adjusted until completing the correction of the relative position of the first CCD camera and the second CCD camera according to result.The origin reference location method of the present invention is simple, and the degree of accuracy is high.
Description
Technical field
The present invention relates to origin reference location field, a kind of origin reference location method of CCD camera is particularly related to.
Background technology
CCD camera has high acquisition rate, and the advantage of wide visual field is typically employed in high-velocity scanning high-precision detection system,
The relative pose of CCD camera and detection object not only influences camera scanning scope, and influences its scanning accuracy, needs successively pair
CCD camera carries out origin reference location.At present, there are traditional camera standardization, Camera Self-Calibration method and master to the scaling method of CCD camera
Dynamic vision camera scaling method, traditional camera standardization needs to realize by demarcating thing, although and demarcating thing and making simple, essence
Degree easily ensures, but use environment is limited, and must use complexity using images more than two width or two width during demarcation；Camera is certainly
The relation that standardization is only relied between multi views corresponding points just can be demarcated directly, but kinematic constraint condition is too strong,
It is in practice and impracticable；The camera calibration method of active vision is that robustness is higher, but it is real to need high-precision platform for video camera
Existing, cost is high.
The content of the invention
The present invention proposes a kind of origin reference location method of CCD camera, solves that scaling method in the prior art is complicated to ask
Topic.
The technical proposal of the invention is realized in this way：
A kind of origin reference location method of CCD camera, this method is corrected to two CCD cameras simultaneously, including following step
Suddenly：
Step one：The first CCD camera and the second CCD camera, first CCD camera and the 2nd CCD are placed on platform
The camera lens of camera vertically downward, and apart from platform a certain distance；
Step 2：Correct the perpendicularity of the first CCD camera and the second CCD camera；
Step 3：In the placement one for the first CCD camera and the underface level of the second CCD camera for having corrected perpendicularity
Horizon rule；
Step 4：The image of first CCD camera and the equal shooting level chi of the second CCD camera, and by image transmitting to PC
In；
Step 5：In the PC, the first image and the 2nd CCD of the horizon rule that first CCD camera is shot
The comparison under same plane coordinate system of second image of the horizon rule that camera is shot is handled, when the coordinate and the second figure of the first image
When the coordinate of picture is overlapped, then the correction of the relative position of the first CCD camera and the second CCD camera is completed；When the seat of the first image
When the coordinate of mark and the second image is misaligned, the relative position amount of the first CCD camera and the second CCD camera is calculated, and adjust the
The position of one CCD camera or the second CCD camera overlaps the coordinate of the first image and the coordinate of the second image.
Preferably, in the origin reference location method of described CCD camera, to the first CCD camera or in the step 2
The correcting mode of the perpendicularity of two CCD cameras is：First, the first cylinder is superimposed upon on the second cylinder as demarcation thing and put
Put on the platform, and positioned at the underface of first CCD camera or the second CCD camera, wherein, first cylinder
It is coaxially disposed with the second cylinder, and diameter of the diameter less than the second cylinder of the first cylinder；Secondly, the first CCD
Camera or the second CCD camera obtain the image of the demarcation thing, if image is two coaxial circles, complete the first CCD camera
Or second CCD camera perpendicularity correction；If image is two out-of-alignment ellipses, by the image transmitting of the demarcation thing
To PC, the oval center offset of two out-of-alignments is calculated in PC, and according to offset regulation described the
The position of one CCD camera or the second CCD camera, until the image of the demarcation thing is two coaxial circles, then completes the first CCD
The correction of the perpendicularity of camera or the second CCD camera.
Preferably, in the origin reference location method of described CCD camera, in the step 5, calculate the first CCD camera and
The mode of the relative position amount of second CCD camera is：Under a plane coordinate system OXY, horizon rule is in X in the first image of acquisition
Coordinate on axle and Y-axis, and the angle of inclination of horizon rule in the first image is calculated, obtain the position of the first image；Obtain the
Coordinate of the horizon rule in X-axis and Y-axis in two images, and the angle of inclination of horizon rule in the second image is calculated, obtain second
The position of image.
Beneficial effects of the present invention are：The origin reference location method of CCD camera in the present invention, while realizing to two CCD phases
The origin reference location of machine；It is corrected using coordinate decomposition method, first carries out the correction of perpendicularity, then carries out in plane coordinates school
Just, bearing calibration is simple, and the degree of accuracy is high, solves the problem of positioning complicated in the prior art.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is a kind of structural representation of CCD camera origin reference location method of the invention；
Fig. 2 is the structural representation of demarcation thing；
Fig. 3 is the image of the demarcation thing after the first CCD camera perpendicularity shown in Fig. 1 is corrected；
Fig. 4 is the image of the demarcation thing to be corrected of the first CCD camera perpendicularity shown in Fig. 1；
Fig. 5 is the schematic diagram for the position that the first image is calculated shown in Fig. 1；
Fig. 6 is the schematic diagram for the position that the second image is calculated shown in Fig. 1.
In figure：
1st, the first cylinder；2nd, the second cylinder.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
A kind of origin reference location method of CCD camera as shown in Figures 1 to 4, this method is carried out to two CCD cameras simultaneously
Correction, comprises the following steps：
Step one：The first CCD camera and the second CCD camera, the first CCD camera and the second CCD camera are placed on platform
Camera lens vertically downward, and apart from platform a certain distance；
Step 2：Correct the perpendicularity of the first CCD camera and the second CCD camera；
Step 3：In the placement one for the first CCD camera and the underface level of the second CCD camera for having corrected perpendicularity
Horizon rule；
Step 4：The image of first CCD camera and the equal shooting level chi of the second CCD camera, and by image transmitting to PC
In；
Step 5：In PC, the first image and the second CCD camera of the horizon rule that the first CCD camera is shot are shot
Horizon rule the second image under same plane coordinate system comparison handle, when the coordinate and the coordinate of the second image of the first image
During coincidence, then the correction of the relative position of the first CCD camera and the second CCD camera is completed；When the coordinate of the first image and second
When the coordinate of image is misaligned, the relative position amount of the first CCD camera and the second CCD camera is calculated, and adjust the first CCD camera
Or second CCD camera position make the first image coordinate and the second image coordinate overlap.
It is to the correcting mode of the first CCD camera or the perpendicularity of the second CCD camera in step 2：First, by first
Cylinder 1 is superimposed upon on the second cylinder 2 to be placed on the platform as demarcation thing, and positioned at the first CCD camera or second
The underface of CCD camera, wherein, the first cylinder and the second cylinder are coaxially disposed, and the diameter of the first cylinder is less than the
The diameter of two cylinders；Secondly, the first CCD camera or the second CCD camera obtain the image of demarcation thing, if image is two coaxial
Circle, then complete the correction of the perpendicularity of the first CCD camera or the second CCD camera；If image is two out-of-alignment ellipses,
By in image transmitting to the PC of the demarcation thing, the oval center offset of two out-of-alignments, and root are calculated in PC
The position of first CCD camera or the second CCD camera is adjusted according to the offset, until the image of the demarcation thing is two
Coaxial circle, then complete the correction of the perpendicularity of the first CCD camera or the second CCD camera.
In step 5, the mode for calculating the relative position amount of the first CCD camera and the second CCD camera is：It is flat at one
Under areal coordinate system OXY, coordinate of the horizon rule in X-axis and Y-axis in the first image is obtained, and calculate horizon rule in the first image
Angle of inclination, obtain the position of the first image；Coordinate of the horizon rule in X-axis and Y-axis in the second image is obtained, and is calculated
The angle of inclination of horizon rule in second image, obtains the position of the second image.
The relative position amount of the first CCD camera and the second CCD camera, the A points of the first image are calculated as shown in Figure 5 to Figure 6
Coordinate be A (X1, Y1), B coordinate is B (X2, Y2), and AB line and the angle of Y-axis are a；The coordinate of the C points of second image
For C (X3, Y3), the coordinate of D points is D (X4, Y4), and CD line and the angle of Y-axis are b, then can calculate angle a the number of degrees and
The angle b number of degrees, then the angle of first camera and second camera is a+b, and the displacement difference of first camera and second camera is X3-
The position of X1, adjustment first camera and second camera, so that the angle of first camera and second camera is 0, displacement difference is 0.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (3)
1. a kind of origin reference location method of CCD camera, it is characterised in that this method is corrected to two CCD cameras simultaneously, bag
Include following steps：
Step one：The first CCD camera and the second CCD camera, first CCD camera and the second CCD camera are placed on platform
Camera lens vertically downward, and apart from platform a certain distance；
Step 2：Correct the perpendicularity of the first CCD camera and the second CCD camera；
Step 3：In one level of placement for the first CCD camera and the underface level of the second CCD camera for having corrected perpendicularity
Chi；
Step 4：The image of first CCD camera and the equal shooting level chi of the second CCD camera, and by image transmitting into PC；
Step 5：In the PC, the first image and the second CCD camera of the horizon rule that first CCD camera is shot
The comparison under same plane coordinate system of second image of the horizon rule of shooting is handled, when the coordinate and the second image of the first image
When coordinate is overlapped, then the correction of the relative position of the first CCD camera and the second CCD camera is completed；When the first image coordinate and
When the coordinate of second image is misaligned, the relative position amount of the first CCD camera and the second CCD camera is calculated, and adjust the first CCD
The position of camera or the second CCD camera overlaps the coordinate of the first image and the coordinate of the second image.
2. the origin reference location method of CCD camera according to claim 1, it is characterised in that to first in the step 2
The correcting mode of the perpendicularity of CCD camera or the second CCD camera is：First, the first cylinder is superimposed upon on the second cylinder
Placed on the platform as demarcation thing, and positioned at the underface of first CCD camera or the second CCD camera, wherein, institute
State the first cylinder and the second cylinder is coaxially disposed, and diameter of the diameter less than the second cylinder of the first cylinder；Secondly,
First CCD camera or the second CCD camera obtain the image of the demarcation thing, if image is two coaxial circles, complete
The correction of the perpendicularity of first CCD camera or the second CCD camera；If image is two out-of-alignment ellipses, by the demarcation
In the image transmitting of thing to PC, the oval center offset of two out-of-alignments is calculated in PC, and according to the skew
The position of amount regulation first CCD camera or the second CCD camera, until the image of the demarcation thing is two coaxial circles,
Then complete the correction of the perpendicularity of the first CCD camera or the second CCD camera.
3. the origin reference location method of CCD camera according to claim 1, it is characterised in that in the step 5, the is calculated
The mode of the relative position amount of one CCD camera and the second CCD camera is：Under a plane coordinate system OXY, the first image is obtained
Coordinate of the middle horizon rule in X-axis and Y-axis, and the angle of inclination of horizon rule in the first image is calculated, obtain the first image
Position；Coordinate of the horizon rule in X-axis and Y-axis in the second image is obtained, and calculates the inclination angle of horizon rule in the second image
Degree, obtains the position of the second image.
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| CN105466360B (en) * | 2015-11-20 | 2018-09-11 | 合肥芯碁微电子装备有限公司 | A kind of device and method for demarcating multiple camera collimations |
| CN107705304B (en) * | 2017-10-19 | 2020-11-17 | 深圳市劲拓自动化设备股份有限公司 | Positioning method and device |
| CN108007435B (en) * | 2017-11-15 | 2020-11-20 | 长春理工大学 | Camera positioning device and method for positioning target camera based on four points |
| CN108062778B (en) * | 2017-12-18 | 2021-05-14 | 广州大学 | Position adjusting method and control device of shooting device |
| CN108340371B (en) * | 2018-01-29 | 2020-04-21 | 珠海市万瑙特健康科技有限公司 | Target following point positioning method and system |
| CN108460804A (en) * | 2018-03-20 | 2018-08-28 | 重庆大学 | A kind of Three Degree Of Freedom position and posture detection method of transhipment docking mechanism and transhipment docking mechanism based on machine vision |
| CN113458156B (en) * | 2020-03-31 | 2022-08-16 | 宝山钢铁股份有限公司 | Calibration method of on-line monitoring device for position of hot rolling finish rolling strip steel |
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| WO2009106141A1 (en) * | 2008-02-29 | 2009-09-03 | Trimble Ab | Determining coordinates of a target in relation to a survey instrument having at least two cameras |
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| CN103632364A (en) * | 2013-11-06 | 2014-03-12 | 同济大学 | Camera spatial position relation calibration device in multi-camera photographing measurement system |
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| Camera calibration with two arbitrary coplanar circles;Qian Chen等;《Computer Vision - ECCV 2004. ECCV 2004. Lecture Notes in Computer Science》;20041231;第3023卷;第521-532页 * |
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