CN109064517A - A kind of optical axis verticality method of adjustment and device - Google Patents
A kind of optical axis verticality method of adjustment and device Download PDFInfo
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- G—PHYSICS
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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Abstract
The invention discloses a kind of optical axis verticality methods of adjustment, ellipse fitting is carried out by the shooting image to imaging unit, and to be fitted the obtained length difference of elliptical major semiaxis and semi-minor axis as the judgment criteria of verticality, it is adjusted the adjustment direction and adjustment angle of verticality, the characteristics of using circular isotropic is calibrated, so that the accuracy with higher of adjustment result and precision.The present invention additionally provides a kind of optical axis verticality adjustment device simultaneously, mainly includes display unit, imaging unit, adjustment unit, image processing unit and control unit.
Description
Technical field
The invention belongs to field of optical measurements more particularly to a kind of optical axis verticality method of adjustment and devices.
Background technique
In the color analysis system based on CCD image-forming principle, the perpendicularity deviation of imaging colorimeter and tested object plane will
It can cause measurement error, especially in high-precision test, error caused by small drift angle is also that can not ignore.Cause
This, realizes that the high-precision verticality of imaging colorimeter and tested object plane is to realize one of the key link accurately tested.
Presently, there are verticality adjusting method be mainly following two:
1, existing standard pattern is directly shot, the diameter error of different direction is compared.But due to the secondary mistake of pattern
Difference, evaluation accuracy be not high.
2, it encounters workbench reflection from camera lens emergent ray using alignment method and returns.When optical axis and object plane normal weight
When conjunction, reflected light and emergent light are overlapped, and otherwise have deviation.The method requires lens barrel that can generate emergent light, and can be accurate
The offset of reflected light is measured, but subject to conditions, it tends to be difficult to implement.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of optical axis verticality method of adjustment and devices, adjust result tool
There is higher accuracy, and facilitates implementation.
To solve the above problems, the technical solution of the present invention is as follows:
A kind of optical axis verticality method of adjustment, to adjust the vertical of the optical axis of imaging unit and the display surface of display unit
Degree, comprising:
S1: pattern is calibrated in the display unit display, and the position of imaging unit described in first successive step makes the calibration pattern
The center of the imaging unit can be imaged on；
Wherein, the scalable video includes that a calibration is round；
S2: the imaging unit takes pictures to the calibration pattern, obtains the first shooting image；
S3: to it is described first shooting image handle, and to it is described first shooting image in the calibration circle into
Row ellipse fitting, and find out the first elliptical first semi-minor axis endpoint vector obtained through the ellipse fittingMajor semiaxis length
l1, semi-minor axis length l2And the length difference Δ of major semiaxis and semi-minor axis；
S4: the length difference threshold epsilon of the major semiaxis and semi-minor axis, and the length difference Δ and the length difference are set
The size of threshold epsilon；
If the length difference Δ is less than or equal to the length difference threshold epsilon, then it is assumed that the optical axis of the imaging unit and described
The verticality degree of the display surface of display unit meets the requirements, and terminates adjustment；
If the length difference Δ is greater than the length difference threshold epsilon, along the first semi-minor axis endpoint vectorDirection pair
The calibration circle in the first shooting image is adjusted, round according to the calibration in the first shooting image
The direction of adjustment and the length difference Δ calculate the adjustment direction of the imaging unit and adjust the angle θ；
S5: the imaging unit is adjusted according to the adjustment direction and adjustment angle θ, the imaging is single after adjustment
Member again takes pictures to the calibration pattern, obtains the second shooting image；
S6: to it is described second shooting image handle, and to it is described second shooting image in the calibration circle into
Row ellipse fitting；
Find out the second elliptical semi-minor axis length l obtained through the ellipse fitting4If the second elliptical semi-minor axis
Length l4Semi-minor axis length l elliptical less than described first2, it is believed that the angle adjustment direction of imaging unit described in S4 is wrong, then
The angle of twice of θ is adjusted along the direction opposite with the angle adjustment direction of imaging unit described in S4；
S7: repeating step S2 to S6, until the length difference Δ is less than or equal to the length difference threshold epsilon.
An embodiment according to the present invention, the scalable video further include calibration rectangle, the calibration circle and the calibration
Rectangle inscribe, and the round center with the calibration rectangle of the calibration is overlapped；
Include step S8 between the step S1 and the step S2:
S8: the imaging unit takes pictures to the calibration pattern, obtains initial shooting image, calculates the initial bat
Take the photograph the centre coordinate value of the calibration rectangle in image；
Find out the calibration rectangle in the centre coordinate value and the initial shooting image of the initial shooting image
The difference of centre coordinate value is denoted as position compensation coefficient；
According to the position compensation coefficient, the spatial position of the imaging unit is adjusted, to realize the initial shooting figure
The center of picture and the center of the calibration rectangle in the initial shooting image are overlapped.
To the first shooting image or described the in an embodiment according to the present invention, the step S3 or the step S6
Two shooting images image processing process include:
A1: filtering processing, to remove the noise in the first shooting image or the second shooting image；
A2: binary conversion treatment, to highlight the objective contour in the first shooting image or the second shooting image；
A3: edge extracting, to extract the object edge in the first shooting image or the second shooting image
Profile.
An embodiment according to the present invention further includes step A4 between the step A2 and the step A3,
A4: distortion correction, the distortion of the imaging system to correct the imaging unit.
A kind of optical axis verticality adjustment device, comprising:
Display unit, to show scalable video, the scalable video include calibration rectangle and with the calibration rectangle
The calibration of inscribe is round；
Imaging unit, the scalable video to be imaged；
Adjustment unit, to adjust the spatial position of the imaging unit, and the optical axis phase of the adjustment imaging unit
To the angle of the display surface of the display unit；
Image processing unit, the shooting image to obtain to the imaging unit are handled；And
Control unit, to according to the processing result of described image processing unit control adjustment unit adjustment it is described at
As the spatial position of unit, or control the aobvious of the relatively described display unit of optical axis that the adjustment unit adjusts the imaging unit
Show the angle in face.
The present invention due to using the technology described above, makes it have the following advantages that and actively imitate compared with prior art
Fruit:
1) calibration pattern is enable to be imaged on imaging list by tentatively adjusting the position of imaging unit in one embodiment of the invention
The center of member, and scalable video includes that a calibration is round, guarantees that calibration circle is imaged as oval or circle under unspecified angle,
Circle has the characteristics that isotropic, and relative to other polygons are used, as test image, round test image can guarantee
As long as the length difference of elliptical major semiaxis and semi-minor axis is to ensure that imaging in length difference threshold range in adjustment process
The verticality of the display surface of the optical axis and display unit of unit complies with standard, the accuracy with higher of adjustment result and precision.
2) the optical axis verticality method of adjustment in one embodiment of the invention only shoots calibration pattern by imaging unit, then
Image real time transfer is carried out to shooting image, the adjustment direction and adjusting angle of imaging unit are obtained according to processing result image later
Degree, it is seen that optical axis verticality method of adjustment of the invention is convenient to implement to adjust under circumstances to the of less demanding of external condition
It is whole.
3) one embodiment of the invention is by obtaining the second shooting image, and compares first oval and the second elliptical semi-minor axis
Whether the adjustment direction that length can detecte imaging unit is accurate, guarantees that the adjustment of imaging unit angle is correct.
4) one embodiment of the invention is by setting calibration rectangle, and calibrates the round center with calibration rectangle and be overlapped, into one
Walk calculating position penalty coefficient, according to the spatial position of position compensation coefficient adjustment imaging unit realize shooting image center and
The center for shooting the calibration rectangle in image is overlapped, and is further ensured calibration circle under unspecified angle and is imaged as oval or circle,
Improve the accuracy of measuring for verticality.
Detailed description of the invention
Fig. 1 is a kind of flow chart of optical axis verticality method of adjustment of the invention；
Fig. 2 is a kind of calibration pattern that optical axis verticality method of adjustment uses of the invention
Fig. 3 is the calibration pattern shot before optical axis verticality adjustment
Fig. 4 is that a kind of optical axis verticality of the invention adjusts apparatus module composition diagram.
Description of symbols:
1: display unit；2: imaging unit；3: adjustment unit；4: image processing unit；5: control unit.
Specific embodiment
A kind of optical axis verticality method of adjustment proposed by the present invention and device are made below in conjunction with the drawings and specific embodiments
It is further described.According to following explanation and claims, advantages and features of the invention will be become apparent from.
Embodiment 1
Referring to Fig. 1 and Fig. 2, a kind of optical axis verticality method of adjustment, to adjust the optical axis and display list of imaging unit
The verticality of the display surface of member, comprising:
S1: display unit display calibration pattern, the preliminary position for adjusting imaging unit enables calibration pattern to be imaged on imaging
The center of unit；Wherein, scalable video includes that a calibration is round；
S2: imaging unit takes pictures to calibration pattern, obtains the first shooting image；
S3: handling the first shooting image, and carries out ellipse fitting to the calibration circle in the first shooting image, and
Find out the first elliptical first semi-minor axis endpoint vector obtained through ellipse fittingMajor semiaxis length l1, semi-minor axis length l2, with
And the length difference Δ of major semiaxis and semi-minor axis；
S4: the length difference threshold epsilon of setting major semiaxis and semi-minor axis, and the size of comparison length difference Δ and length difference threshold epsilon；
If length difference Δ is less than or equal to length difference threshold epsilon, then it is assumed that the verticality of the display surface of the optical axis and display unit of imaging unit
Degree meets the requirements, and terminates adjustment；If length difference Δ is greater than length difference threshold epsilon, along the first semi-minor axis endpoint vectorDirection pair
Calibration circle in first shooting image is adjusted, according to the direction of the round adjustment of calibration in the first shooting image and length
Poor Δ is spent to calculate the adjustment direction of imaging unit and adjust the angle θ；
S5: imaging unit is adjusted according to adjustment direction and adjustment angle θ, imaging unit is again to calibration after adjustment
Pattern is taken pictures, and the second shooting image is obtained；
S6: handling the second shooting image, and carries out ellipse fitting to the calibration circle in the second shooting image；It asks
The the second elliptical semi-minor axis length l obtained out through ellipse fitting4If the second elliptical semi-minor axis length l4Less than the first ellipse
Semi-minor axis length l2, it is believed that the angle adjustment direction of imaging unit is wrong in S4, then along the angle tune with imaging unit in S4
Perfect square adjusts the angle of twice of θ in the opposite direction；
S7: repeating step S2 to S6, until length difference Δ is less than or equal to length difference threshold epsilon.
The centre bit that the present embodiment enables calibration pattern to be imaged on imaging unit by tentatively adjusting the position of imaging unit
Set, and scalable video includes that a calibration is round, guarantee under unspecified angle calibration circle be imaged as oval or circle (referring to Fig. 2 with
And Fig. 3).It is appreciated that circle has the characteristics that isotropic, relative to use other polygons as test image, circle
As long as test image can guarantee that the length difference of elliptical major semiaxis and semi-minor axis is in length difference threshold range in adjustment process
Inside it is to ensure that the optical axis of imaging unit and the verticality of the display surface of display unit comply with standard, adjustment result has higher
Accuracy and precision.In other words, due to circular isotropic feature, the optical axis of imaging unit and the display surface of display unit
When out of plumb, the shooting image that imaging unit obtains can be an ellipse, and shoot in image when by adjusting imaging unit
It is round for one, i.e., it is believed that the optical axis of imaging unit and the display surface of display unit are methods vertical, that the present embodiment uses
With single and high accuracy judgment criteria, result accuracy with higher and precision are adjusted.Additionally, it is appreciated that this
Optical axis verticality method of adjustment in embodiment only shoots calibration pattern by imaging unit, then carries out image to shooting image
Data processing obtains the adjustment direction and adjustment angle of imaging unit according to processing result image later, it is seen that light of the invention
(such as the illumination condition) of less demanding of axis verticality adjusting method to external condition, convenient implementation adjustment under circumstances.
The first semi-minor axis endpoint vector in the present embodimentFor the vector of the first semi-minor axis endpoint relative image central point.
It is appreciated that along the first semi-minor axis endpoint vectorDirection the calibration circle in the first shooting image is adjusted and it is expected
Increase the length of the first semi-minor axis.
Adjustment direction judgement error step S5 and S6 is by obtaining the second shooting image in order to prevent, and it is ellipse to compare first
Whether the adjustment direction that round and the second elliptical semi-minor axis length can detecte imaging unit is accurate, ensure that imaging unit angle
Adjustment is correct.
Further, scalable video further includes calibration rectangle, calibration circle and calibration rectangle inscribe, and is calibrated round and fixed
The center for marking rectangle is overlapped；Include step S8 between step S1 and step S2: imaging unit takes pictures to calibration pattern, obtains
Initial shooting image is taken, the centre coordinate value of the calibration rectangle in initial shooting image is calculated；It finds out in initial shooting image
The difference of the centre coordinate value of heart coordinate value and the calibration rectangle in initial shooting image, is denoted as position compensation coefficient；According to position
Penalty coefficient is set, the spatial position of imaging unit is adjusted, in the center and initial shooting image to realize initial shooting image
The center for calibrating rectangle is overlapped.It was appreciated that setting calibration rectangle, and calibrates the round center with calibration rectangle and be overlapped, into
One step calculating position penalty coefficient realizes the center of shooting image according to the spatial position of position compensation coefficient adjustment imaging unit
Be overlapped with the center of the calibration rectangle in shooting image, further ensure calibrated under unspecified angle circle be imaged as it is oval or
Circle, improves the accuracy of measuring for verticality.In other words, the position relative to the preliminary adjustment imaging unit in step S1, makes
Calibration pattern can be imaged on the center of imaging unit, and step S8 has then accurately calculated shooting by way of image procossing
The difference of the centre coordinate value of image and the centre coordinate value of the calibration rectangle in initial shooting image, according to this difference at
As the center and the center standard for calibrating rectangle in shooting image that the spatial position of unit is accurately adjusted, and realization shoots image
Really it is overlapped.
Specifically, to the image processing process packet of the first shooting image or the second shooting image in step S3 or step S6
It includes:
A1: filtering processing, to remove the noise in the first shooting image or the second shooting image；
A2: binary conversion treatment, to highlight the objective contour in the first shooting image or the second shooting image；
A3: edge extracting, to extract the object edge profile in the first shooting image or the second shooting image.
It further, between step A2 and step A3 further include step A4, distortion correction, to correct imaging unit
The distortion of imaging system.It is appreciated that the distortion effects of imaging unit optical system can be eliminated by distortion correction, further
It ensure that the accuracy of verticality adjustment.
Embodiment 2
Referring to Fig. 4, present embodiment discloses the optical axis verticalities for the method in embodiment 1 of realizing to adjust device, comprising: aobvious
Show unit 1, to show that scalable video, scalable video include calibrating rectangle and the calibration circle with calibration rectangle inscribe；At
As unit 2, scalable video to be imaged；Adjustment unit 3, to adjust the spatial position of imaging unit 2, and adjustment
Angle of the optical axis of imaging unit 2 with respect to the display surface of display unit 1；Image processing unit 4, to be obtained to imaging unit 2
Shooting image handled；And control unit 5, it is adjusted to control adjustment unit 3 according to the processing result of image processing unit 4
The spatial position of whole imaging unit 2, or control adjustment unit 5 adjust display surface of the optical axis with respect to display unit 1 of imaging unit 2
Angle.
Embodiments of the present invention are explained in detail above in conjunction with attached drawing, but the present invention is not limited to above-mentioned implementations
Mode.Even if to the present invention, various changes can be made, if these variations belong to the model of the claims in the present invention and its equivalent technologies
Within enclosing, then still fall within the protection scope of the present invention.
Claims (5)
1. a kind of optical axis verticality method of adjustment, which is characterized in that adjust the optical axis of imaging unit and showing for display unit
Show the verticality in face, comprising:
S1: display unit display calibration pattern, the position of imaging unit described in first successive step, enable the calibration pattern at
As in the center of the imaging unit；
Wherein, the scalable video includes that a calibration is round；
S2: the imaging unit takes pictures to the calibration pattern, obtains the first shooting image；
S3: handling the first shooting image, and carries out to the calibration circle in the first shooting image ellipse
Circle fitting, and find out the first elliptical first semi-minor axis endpoint vector obtained through the ellipse fittingMajor semiaxis length l1、
Semi-minor axis length l2And the length difference Δ of major semiaxis and semi-minor axis；
S4: the length difference threshold epsilon of the major semiaxis and semi-minor axis, and the length difference Δ and the length difference threshold value are set
The size of ε；
If the length difference Δ is less than or equal to the length difference threshold epsilon, then it is assumed that the optical axis of the imaging unit and the display
The verticality degree of the display surface of unit meets the requirements, and terminates adjustment；
If the length difference Δ is greater than the length difference threshold epsilon, along the first semi-minor axis endpoint vectorDirection to described
The calibration circle in first shooting image is adjusted, and is adjusted according to the calibration circle in the first shooting image
Direction and the length difference Δ calculate the imaging unit adjustment direction and adjust the angle θ；
S5: the imaging unit is adjusted according to the adjustment direction and adjustment angle θ, the imaging unit weight after adjustment
It newly takes pictures to the calibration pattern, obtains the second shooting image；
S6: handling the second shooting image, and carries out to the calibration circle in the second shooting image ellipse
Circle fitting；
Find out the second elliptical semi-minor axis length l obtained through the ellipse fitting4If the second elliptical semi-minor axis length
l4Semi-minor axis length l elliptical less than described first2, it is believed that the angle adjustment direction of imaging unit described in S4 is wrong, then along with
The opposite direction of the angle adjustment direction of imaging unit described in S4 adjusts the angle of twice of θ；
S7: repeating step S2 to S6, until the length difference Δ is less than or equal to the length difference threshold epsilon.
2. optical axis verticality method of adjustment as described in claim 1, which is characterized in that the scalable video further includes calibration square
Shape, the calibration circle and the calibration rectangle inscribe, and the round center with the calibration rectangle of the calibration is overlapped；
Include step S8 between the step S1 and the step S2:
S8: the imaging unit takes pictures to the calibration pattern, obtains initial shooting image, calculates the initial shooting figure
The centre coordinate value of the calibration rectangle as in；
Find out the centre coordinate value of the initial shooting image and the center of the calibration rectangle in the initial shooting image
The difference of coordinate value is denoted as position compensation coefficient；
According to the position compensation coefficient, the spatial position of the imaging unit is adjusted, to realize the initial shooting image
Center and the center of the calibration rectangle in the initial shooting image are overlapped.
3. optical axis verticality method of adjustment as claimed in claim 1 or 2, which is characterized in that the step S3 or step S6
In to it is described first shooting image or it is described second shooting image image processing process include:
A1: filtering processing, to remove the noise in the first shooting image or the second shooting image；
A2: binary conversion treatment, to highlight the objective contour in the first shooting image or the second shooting image；
A3: edge extracting, to extract the object edge profile in the first shooting image or the second shooting image.
4. optical axis verticality method of adjustment as claimed in claim 3, which is characterized in that the step A2 and step A3 it
Between further include step A4,
A4: distortion correction, the distortion of the imaging system to correct the imaging unit.
5. a kind of optical axis verticality adjusts device characterized by comprising
Display unit, to show scalable video, the scalable video include calibration rectangle and with the calibration rectangle inscribe
Calibration it is round；
Imaging unit, the scalable video to be imaged；
Adjustment unit, adjusting the spatial position of the imaging unit, and the adjustment imaging unit optical axis with respect to institute
State the angle of the display surface of display unit；
Image processing unit, the shooting image to obtain to the imaging unit are handled；And
Control unit adjusts the imaging list to control the adjustment unit according to the processing result of described image processing unit
The spatial position of member, or control the display surface for the relatively described display unit of optical axis that the adjustment unit adjusts the imaging unit
Angle.
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| CN109064517B (en) | 2021-07-27 |
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Denomination of invention: A method and device for adjusting the verticality of an optical axis Effective date of registration: 20231221 Granted publication date: 20210727 Pledgee: Industrial Bank Co.,Ltd. Shanghai West sub branch Pledgor: SHANGHAI FUZHAN INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2023310000905 |