CN108132058A - Digital Photogrammetric System on-line displacement measurement calibrates for error device and method - Google Patents
Digital Photogrammetric System on-line displacement measurement calibrates for error device and method Download PDFInfo
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- CN108132058A CN108132058A CN201611089001.3A CN201611089001A CN108132058A CN 108132058 A CN108132058 A CN 108132058A CN 201611089001 A CN201611089001 A CN 201611089001A CN 108132058 A CN108132058 A CN 108132058A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention belongs to photogrammetric collimation technique fields, and in particular to a kind of Digital Photogrammetric System on-line displacement measurement calibrates for error device and method.Linear motor drives slide unit to move along a straight line along guide rail direction, the linear guide side is equipped with grating and grating reading head, grating cooperation grating reading head measures the moving displacement of slide unit, the groove pulse signal of grating is as synchronous triggering signal simultaneously, after processing circuit carries out voltage conversion, trigger Digital Photogrammetric System acquisition image to be calibrated, when slide unit passes through shooting area, Digital Photogrammetric System to be calibrated can shoot to obtain the moving image of the optical target on slide unit, the moving displacement of optical target is obtained after data processing computer resolves, and then it compares to obtain the on-line displacement measurement error of Digital Photogrammetric System to be calibrated by the measurement data with grating, complete system calibration.The present invention can solve the calibration problem of industrial photogrammetry system on-line displacement measurement error.
Description
Technical field
The invention belongs to photogrammetric collimation technique fields, and in particular to a kind of Digital Photogrammetric System on-line displacement measurement misses
Poor calibrating installation and method.
Background technology
Digital Photogrammetric System is using camera as sensing element, and by acquiring the image of testee, cooperation resolves model
And algorithm, the 3 d space coordinate of measured point can be measured, with non-cpntact measurement, collection point quantity is more, equipment is simple, dynamic
The advantages such as performance is good are especially continuously improved recently as measuring camera high speed performance, and Digital Photogrammetric System is widely used
It is measured in dynamic testing field, such as the movement velocity measurement of high-speed moving object, the separated track of separation test.
At present, the Research on Calibration Technology of Digital Photogrammetric System is calibrated for the measurement error under static conditions, side
Method is roughly divided into two kinds：(1), as length standard, optics target on optical scale is demarcated by early period using using optical scale
Distance between mark is known standard value, and optical scale is erected to the different location of Digital Photogrammetric System visual field, photogrammetric system
Distance, measured value are compared with standard value between target on unified test amount optical scale.(2) optical calibrating field is established, by metal frame
Frame builds Calibration Field main body, and a large amount of optical targets are installed on metal framework, passes through the equipment mark such as theodolite, laser tracker
Fixed, the space coordinate between each optical target is known standard value, and Digital Photogrammetric System measures the three-dimensional of target in optical calibrating field
Coordinate, measured value are compared with standard value.The above method can calibrate Digital Photogrammetric System since feature extraction is inaccurate, ginseng
The measurement error that the factors such as number calibrated error, the unreasonable, resolution error of mathematical model are brought, but the dynamic bit of Digital Photogrammetric System
It is many to also suffer from system synchronization performance, sample rate, time for exposure etc. other than being influenced by above-mentioned factor for shift measurement error
The influence of factor, the measurement error calibration under static conditions can not reflect the dynamic property of Digital Photogrammetric System completely.
Invention content
It calibrates for error device and method the purpose of the present invention is to provide a kind of Digital Photogrammetric System on-line displacement measurement, with
Solve the calibration problem of industrial photogrammetry system on-line displacement measurement error.
In order to achieve the above objectives, the technical solution used in the present invention is：
A kind of Digital Photogrammetric System on-line displacement measurement calibrates for error device, including the linear guide, grating, optical target,
Slide unit, linear motor, grating reading head, processing circuit, data processing computer；Slide unit is installed, straight line is led in the linear guide
The linear motor of fluting installation along its length, linear motor drive slide unit to move along a straight line along guide rail direction in the middle part of rail, straight line
Guide rail side is equipped with grating and grating reading head, and grating cooperation grating reading head measures the moving displacement of slide unit, while grating
Groove pulse signal as synchronous triggering signal, after processing circuit carries out voltage conversion, triggering is to be calibrated photogrammetric
System acquisition image, when slide unit passes through shooting area, Digital Photogrammetric System to be calibrated can shoot to obtain on slide unit
Optical target moving image, the moving displacement of optical target is obtained after data processing computer resolves, and then pass through
It compares to obtain the on-line displacement measurement error of Digital Photogrammetric System to be calibrated with the measurement data of grating, completes system calibration.
The optical target has the optical signature that can be identified by Digital Photogrammetric System to be calibrated, including using plane
Reflecting sign, spherical reflecting sign is light-emitting LED, black and white chessboard case marker will；Multiple optical targets can be arranged on slide unit, can be adopted
With the structure of frame-type optical target, the relative displacement of multiple optical targets that measurement is obtained takes average as to be calibrated and takes the photograph
The measurement result of shadow measuring system.
The processing circuit is realized by FPGA.
It is different according to the frequency acquisition of Digital Photogrammetric System to be calibrated, it can be adjusted and triggered by processing circuit in calibration process
The interval of signal can export a camera trigger signal at interval of n grating line interval.
The linear guide is formed using the marble abrasive lapping of 5000mm × 500mm × 500mm.
A kind of Digital Photogrammetric System on-line displacement measurement error calibrating method, includes the following steps：
The first step sets up Digital Photogrammetric System to be calibrated, can measure the interlude region of calibrating installation；
Second step connects Synchronization Control cable, synchronous using the grating line signal of calibrating installation as synchronous triggering signal
Trigger signal is drawn from grating reading head, after carrying out voltage conversion by processing circuit, is connected to Digital Photogrammetric System to be calibrated
Trigger collection control terminal；
Third walks, and starts Digital Photogrammetric System to be calibrated, is at state to be triggered；
4th step starts calibrating installation, and slide unit and optical target are driven by linear motor, is carried out along the linear guide direction straight
Line moves, and linear motor passes through accelerator, and maximum speed, uniform motion a distance are reached at the linear guide medium position
Retarded motion afterwards, it is to be calibrated by the triggering of grating line pulse signal in the linear guide tail portion stop motion, above-mentioned motion process
Digital Photogrammetric System carries out Image Acquisition, i.e. grating reading head starts figure by grating zero-bit moment Digital Photogrammetric System to be calibrated
As acquisition, it is denoted as image P0, by first grating line, acquisition piece image P1, and so on, it is carved by n-th of grating
Line acquires the n-th width image Pn；
4th step, Digital Photogrammetric System data calculation to be calibrated, Digital Photogrammetric System to be calibrated is to collected optics target
Logo image is resolved, and obtains the optical target three dimensional space coordinate at each trigger position, it is assumed that in kth width image to l width
Image (k<L) optical target is fully located inside shooting area in, and the three-dimensional coordinate that resolving obtains optical target is (xi,yi,
zi), k≤i≤l, and then optical target at the i of position is calculated is relative to the displacement at the k of position：
5th step, error calculation, by the moving displacement measurement error of formula (1) calculating Digital Photogrammetric System to be calibrated：
δi-k=Di-k-(i-k)dg................................(1)
In formula：dgFor grating line interval.
Having the beneficial effect that acquired by the present invention：
The dynamic bit of Digital Photogrammetric System can be used in using the on-line displacement measurement that builds of the present invention device that calibrates for error
The calibration of shift measurement error, the deficiency of static measurement error calibration can only be carried out, and pass through dynamic bit by making up existing calibration method
The comparison of shift measurement error and static displacement measurement error, the error source of analytical photography measuring system dynamic measurement error, into
One step improves the on-line displacement measurement precision of industrial photogrammetry system.The present invention is suitable for corresponding to used in dynamic testing field
Industrial photogrammetry system is calibrated, and evaluates its on-line displacement measurement precision.
Description of the drawings
Fig. 1 calibrates for error structure drawing of device for Digital Photogrammetric System on-line displacement measurement of the present invention；
Fig. 2 is Digital Photogrammetric System on-line displacement measurement error calibrating method flow chart of the present invention；
In figure：1st, the linear guide；2nd, grating；3rd, optical target；4th, slide unit；5th, linear motor；6th, grating reading head；7th, locate
Manage circuit；8th, Digital Photogrammetric System to be calibrated；9th, data processing computer.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1, Digital Photogrammetric System on-line displacement measurement of the present invention calibrates for error, device includes the linear guide
1st, grating 2, optical target 3, slide unit 4, linear motor 5, grating reading head 6, processing circuit 7, data processing computer 9；Straight line
Slide unit 4 is installed, linear motor 5 drives slide unit 4 to move along a straight line along 1 direction of guide rail, 1 side of the linear guide peace on guide rail 1
Grating 2 and grating reading head 6 are filled, grating 2 coordinates the moving displacement of the measurement slide unit 4 of grating reading head 6, while the groove of grating 2
Pulse signal after processing circuit 7 carries out voltage conversion, triggers Digital Photogrammetric System 8 to be calibrated as synchronous triggering signal
Image is acquired, when slide unit 4 is by shooting area, Digital Photogrammetric System 8 to be calibrated can shoot to obtain on slide unit 4
The moving image of optical target 3 obtains the moving displacement of optical target 3, and then pass through after the resolving of data processing computer 9
It compares to obtain the on-line displacement measurement error of Digital Photogrammetric System 8 to be calibrated with the measurement data of grating 2, completes system calibration.
As shown in Fig. 2, Digital Photogrammetric System on-line displacement measurement error calibrating method of the present invention is as follows：
The first step sets up Digital Photogrammetric System 8 to be calibrated, can measure the interlude region of calibrating installation；
Second step connects Synchronization Control cable, synchronous using the grating line signal of calibrating installation as synchronous triggering signal
Trigger signal is drawn from grating reading head 6, after carrying out voltage conversion by processing circuit 7, is connected to Digital Photogrammetric System 8 to be calibrated
Trigger collection control terminal；
Third walks, and starts Digital Photogrammetric System 8 to be calibrated, is at state to be triggered；
4th step, start calibrating installation, slide unit 4 and optical target 3 are driven by linear motor 5, along 1 direction of the linear guide into
Row linear motion, linear motor 1 pass through accelerator, maximum speed, uniform motion one are reached at 1 medium position of the linear guide
Retarded motion after segment distance is triggered in 1 tail portion stop motion of the linear guide, above-mentioned motion process by grating line pulse signal
Digital Photogrammetric System 8 to be calibrated carries out Image Acquisition, i.e. grating reading head 6 passes through grating zero-bit moment photogrammetric system to be calibrated
System 8 starts Image Acquisition, is denoted as image P0, by first grating line, acquisition piece image P1, and so on, by
N grating line acquires the n-th width image Pn；
4th step, 8 data calculation of Digital Photogrammetric System to be calibrated, Digital Photogrammetric System 8 to be calibrated is to collected optics
Target image is resolved, and obtains 3 three dimensional space coordinate of optical target at each trigger position, it is assumed that in kth width image to l
Width image (k<L) optical target 3 is fully located inside shooting area in, and the three-dimensional coordinate that resolving obtains optical target 3 is (xi,
yi,zi), k≤i≤l, and then optical target 3 at the i of position is calculated is relative to the displacement at the k of position：
5th step, error calculation, by the moving displacement measurement error of formula (1) calculating Digital Photogrammetric System 8 to be calibrated：
δi-k=Di-k-(i-k)dg................................(1)
In formula：dgFor grating line interval, due to grating 2 have it is very high portray precision (2 μm of δ ＜), therefore can make
Standard for 8 dynamic displacement of Digital Photogrammetric System to be calibrated calibration.
Optical target 3 need to have the optical signature that can be identified by Digital Photogrammetric System 8 to be calibrated, such as reflective using plane
Mark, spherical reflecting sign is light-emitting LED, black and white chessboard case marker will etc., in order to reduce influence of the random error to calibration result,
Multiple optical targets 3 can be arranged on slide unit 4, the structure of frame-type optical target as shown in Figure 1 can be used, measurement is obtained
The relative displacements of multiple optical targets 3 take the average measurement result as Digital Photogrammetric System 8 to be calibrated.Processing circuit 7
It can be realized by FPGA.
Linear motor 5 has preferable control performance, and higher movement velocity can be accelerated in relatively short distance, calibrates
The movement velocity and acceleration of linear motor 5 can be adjusted according to the dynamic property of Digital Photogrammetric System 8 to be calibrated in the process, but
Linear motor 5 is one embodiment of the present of invention, the limitation to the embodiment of the present invention is not formed, as long as slide unit can be driven
4 and optical target 3 move along a straight line, and the calibration requirements for meeting Digital Photogrammetric System 8 to be calibrated are the embodiment of the present invention
The driving device.
It is different according to the frequency acquisition of Digital Photogrammetric System 8 to be calibrated, it can also be adjusted in calibration process by processing circuit 7
The interval of whole trigger signal such as can export a camera trigger signal at interval of n grating line interval.
Using the marble material of 5000mm × 500mm × 500mm by grinding as the linear guide 1；In the linear guide 1
Middle part is slotted along its length installs linear motor 5, and linear motor 5 can drive slide unit 4 and optical target 3 to carry out straight line fortune
It is dynamic, the movement velocity of highest 5m/s can be reached in 5m long ranges；1 side of the linear guide is installed by Dynamic High-accuracy linear grating
2 and grating reading head 6, the grating 2 and 6 highest of grating reading head can realize the data output under 8m/s movement velocitys, grating
Groove interval 2mm；Processing circuit 7 by grating line pulse signal be converted into the matched Transistor-Transistor Logic level of camera trigger module, and have
There are counting and division function.Using above-mentioned calibrating installation to the Digital Photogrammetric System to be calibrated 8 of highest filming frequency 3000Hz into
Row calibration, Digital Photogrammetric System 8 to be calibrated are calibrated in a static condition, and 2m × 2m × 2m spatial dimension internal coordinates measurement error is not
More than 0.1mm, carry out on-line displacement measurement with the calibrating installation of the present invention and calibrate for error, measurement error 1.2mm, it is seen that with
Calibration result under static conditions has bigger difference.
Claims (6)
- The device 1. a kind of Digital Photogrammetric System on-line displacement measurement calibrates for error, it is characterised in that：Including the linear guide (1), light Grid (2), optical target (3), slide unit (4), linear motor (5), grating reading head (6), processing circuit (7), data processing calculate Machine (9)；Slide unit (4) is installed, installation linear motor of slotting along its length in the middle part of the linear guide (1) in the linear guide (1) (5), linear motor (5) drives slide unit (4) to move along a straight line along the linear guide (1) direction, and the linear guide (1) side is equipped with Grating (2) and grating reading head (6), grating (2) cooperation grating reading head (6) measure the moving displacement of slide unit (4), while grating (2) groove pulse signal is as synchronous triggering signal, and after processing circuit (7) carries out voltage conversion, triggering is to be calibrated to take the photograph Shadow measuring system (8) acquires image, and when slide unit (4) is by shooting area, Digital Photogrammetric System (8) to be calibrated can shoot To the moving image of the optical target (3) on slide unit (4), optics is obtained after data processing computer (9) resolving The moving displacement of target (3), and then by comparing to obtain Digital Photogrammetric System to be calibrated (8) with the measurement data of grating (2) On-line displacement measurement error completes system calibration.
- The device 2. Digital Photogrammetric System on-line displacement measurement according to claim 1 calibrates for error, it is characterised in that：It is described Optical target (3) have the optical signature that can be identified by Digital Photogrammetric System to be calibrated (8), including use plane reflecting sign Will, spherical reflecting sign is light-emitting LED, black and white chessboard case marker will；Multiple optical targets (3) can be arranged on slide unit (4), can be adopted With the structure of frame-type optical target, will measure the obtained relative displacement of multiple optical targets (3) take it is average as treating school The measurement result of quasi- Digital Photogrammetric System (8).
- The device 3. Digital Photogrammetric System on-line displacement measurement according to claim 1 calibrates for error, it is characterised in that：It is described Processing circuit (7) realized by FPGA.
- The device 4. Digital Photogrammetric System on-line displacement measurement according to claim 1 calibrates for error, it is characterised in that：According to The frequency acquisition of Digital Photogrammetric System (8) to be calibrated is different, and trigger signal can be adjusted by processing circuit (7) in calibration process Interval can export a camera trigger signal at interval of n grating line interval.
- The device 5. Digital Photogrammetric System on-line displacement measurement according to claim 1 calibrates for error, it is characterised in that：It is described The linear guide (1) formed using the marble abrasive lapping of 5000mm × 500mm × 500mm.
- 6. a kind of Digital Photogrammetric System for the device that calibrated for error based on Digital Photogrammetric System on-line displacement measurement described in claim 1 On-line displacement measurement error calibrating method, it is characterised in that：Include the following steps：The first step sets up Digital Photogrammetric System to be calibrated (8), can measure the interlude region of calibrating installation；Second step connects Synchronization Control cable, using the grating line signal of calibrating installation as synchronous triggering signal, synchronous triggering Signal is drawn from grating reading head (6), after carrying out voltage conversion by processing circuit (7), is connected to Digital Photogrammetric System to be calibrated (8) trigger collection control terminal；Third walks, and starts Digital Photogrammetric System to be calibrated (8), is at state to be triggered；4th step starts calibrating installation, and slide unit (4) and optical target (3) are driven by linear motor (5), along the linear guide (1) side To moving along a straight line, linear motor (1) reaches maximum speed by accelerator at the linear guide (1) medium position, even Retarded motion after speed movement a distance, by grating line arteries and veins in the linear guide (1) tail portion stop motion, above-mentioned motion process It rushes signal and triggers Digital Photogrammetric System (8) progress Image Acquisition to be calibrated, is i.e. grating reading head (6) is treated by the grating zero-bit moment It calibrates Digital Photogrammetric System (8) and starts Image Acquisition, be denoted as image P0, by first grating line, acquire piece image P1, and so on, by n-th of grating line, acquire the n-th width image Pn；4th step, Digital Photogrammetric System (8) data calculation to be calibrated, Digital Photogrammetric System (8) to be calibrated is to collected optics Target image is resolved, and obtains optical target (3) three dimensional space coordinate at each trigger position, it is assumed that in kth width image extremely L width images (k<L) optical target (3) is fully located inside shooting area in, and resolving obtains the three-dimensional coordinate of optical target (3) For (xi,yi,zi), k≤i≤l, and then optical target (3) at the i of position is calculated is relative to the displacement at the k of position：5th step, error calculation, by the moving displacement measurement error of formula (1) calculating Digital Photogrammetric System (8) to be calibrated：δi-k=Di-k-(i-k)dg................................(1)In formula：dgFor grating line interval.
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| CN108871207A (en) * | 2018-09-14 | 2018-11-23 | 佛山市天目工业测量科技有限公司 | A kind of photogrammetric station meter calibrating length device and application method |
| CN109764806A (en) * | 2019-01-04 | 2019-05-17 | 西安交通大学 | Sound state calibrating installation and dynamic and static calibration method for laser tracker |
| CN110132307A (en) * | 2018-12-11 | 2019-08-16 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of straight line dynamic calibration apparatus |
| CN111765844A (en) * | 2020-07-09 | 2020-10-13 | 广东省计量科学研究院（华南国家计量测试中心） | System and method for detecting dynamic error of grating ruler |
| CN114279334A (en) * | 2021-12-01 | 2022-04-05 | 淮阴工学院 | Optical calibrator and method of use |
| CN116539068A (en) * | 2023-07-03 | 2023-08-04 | 国网山西省电力公司电力科学研究院 | Flexible self-checking adjusting device and method for vision measurement system |
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| CN108871207A (en) * | 2018-09-14 | 2018-11-23 | 佛山市天目工业测量科技有限公司 | A kind of photogrammetric station meter calibrating length device and application method |
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| CN109764806A (en) * | 2019-01-04 | 2019-05-17 | 西安交通大学 | Sound state calibrating installation and dynamic and static calibration method for laser tracker |
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| CN111765844B (en) * | 2020-07-09 | 2021-12-14 | 广东省计量科学研究院（华南国家计量测试中心） | Method for detecting dynamic error of grating ruler |
| CN114279334A (en) * | 2021-12-01 | 2022-04-05 | 淮阴工学院 | Optical calibrator and method of use |
| CN116539068A (en) * | 2023-07-03 | 2023-08-04 | 国网山西省电力公司电力科学研究院 | Flexible self-checking adjusting device and method for vision measurement system |
| CN116539068B (en) * | 2023-07-03 | 2023-09-08 | 国网山西省电力公司电力科学研究院 | Flexible self-checking adjusting device and method for vision measurement system |
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