CN116878422B - Device and method for measuring rotation angle of geometric axis of object - Google Patents
Device and method for measuring rotation angle of geometric axis of object Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention relates to a device and a method for measuring the rotation angle of a geometric axis of an object, wherein the measuring device comprises: a reference placed opposite to the test object; a first feature point located on the reference; the second characteristic point is positioned on the object to be detected; a first camera positioned on the reference object, wherein the second characteristic point is in the shooting range of the first camera; the second camera is positioned on the object to be detected, and the first characteristic point is in the shooting range of the second camera; and the computer is connected with the first camera and the second camera and is used for calculating a transverse included angle and a vertical included angle between the geometric axis of the reference object and the geometric axis of the object to be measured according to the images acquired by the first camera and the second camera. The invention can increase the measuring range and distance.
Description
Technical Field
The invention relates to the technical field of measurement of a rotation angle of a geometric axis of an object, in particular to a device and a method for measuring the rotation angle of the geometric axis of the object.
Background
The existing method for measuring the rotation angle of the geometric axis of the object is usually realized by an automatic total station and a laser target provided with a front screen and a rear screen, wherein the laser target is positioned on the object to be measured, the total station emits a beam of red laser or a beam of infrared light, the beam forms a light spot 1 through the front screen to form a light spot 2 through the rear screen, the relative coordinates of the light spot 1 and the light spot 2 on the laser target are accurately measured, and the included angle between the beam and the axis of the laser target is calculated by combining the distance between the front screen and the rear screen, so that the geometric axis rotation angle of the object to be measured is obtained.
The method is completely dependent on the automatic total station, the range of the incidence angle of the light beam of the automatic total station is +/-12 degrees, and the maximum distance between the automatic total station and the laser target is 150 meters, so that the measuring range and the measuring distance are small, and special requirements cannot be met.
Disclosure of Invention
The invention aims to provide a device and a method for measuring the rotation angle of a geometric axis of an object, which can increase the measuring range and the measuring distance.
The technical scheme adopted for solving the technical problems is as follows: there is provided an object geometric axis rotation angle measuring device comprising:
a reference placed opposite to the test object;
a first feature point located on the reference;
the second characteristic point is positioned on the object to be detected;
a first camera positioned on the reference object, wherein the second characteristic point is in the shooting range of the first camera;
the second camera is positioned on the object to be detected, and the first characteristic point is in the shooting range of the second camera;
and the computer is connected with the first camera and the second camera and is used for calculating a transverse included angle and a vertical included angle between the geometric axis of the reference object and the geometric axis of the object to be measured according to the images acquired by the first camera and the second camera.
The computer includes:
a first image analysis module for calculating a transverse included angle alpha of the second feature point on the first camera axis according to the image acquired by the first camera 1 And a vertical angle beta 1 ；
A second image analysis module for calculating a transverse included angle alpha of the first feature point on the second camera axis according to the image acquired by the second camera 2 And a vertical angle beta 2 ；
A first angle calculation module for calculating a transverse included angle alpha of the second feature point on the first camera axis 1 A transverse included angle alpha of the first characteristic point on the second camera axis 2 The transverse distance H from the first characteristic point to the first camera axis 1 A lateral distance H of the second feature point to the second camera axis 2 And an axial distance D meter of the second characteristic point at the first cameraCalculating a transverse included angle alpha' between the first camera axis and the second camera axis;
a second angle calculation module, configured to calculate a vertical angle β of the second feature point at the first camera axis 1 A vertical included angle beta of the first characteristic point on the second camera axis 2 The vertical distance V from the first characteristic point to the first camera axis 1 A vertical distance V from the second feature point to the second camera axis 2 Calculating a vertical included angle beta' between the first camera axis and the second camera axis at an axial distance D of the second feature point from the first camera;
a third angle calculation module for calculating a transverse angle delta between the first camera axis and the geometric axis of the reference object according to the transverse angle alpha 1 And a transverse included angle delta between the second camera axis and the geometric axis of the object to be detected 2 Calculating a transverse included angle alpha between the geometric axis of the reference object and the geometric axis of the object to be detected;
a fourth angle calculation module for calculating a vertical angle sigma between the first camera axis and the geometric axis of the reference object according to the vertical angle beta', and the vertical angle sigma 1 And a vertical included angle sigma between the second camera axis and the geometric axis of the object to be detected 2 And calculating a vertical included angle beta between the geometric axis of the reference object and the geometric axis of the object to be detected.
The first image analysis module includes:
a first obtaining unit, configured to obtain pixel coordinates of the second feature point in an image obtained by the first camera;
a first conversion unit for converting the internal parameters of the first cameraFirst distortion coefficient k 11 And a second distortion coefficient k 12 Converting pixel coordinates of the second feature point in the image acquired by the first camera into physical coordinates on the first camera axis; the calculation formula is as follows: />Wherein u is 2 And v 2 A horizontal physical coordinate and a vertical physical coordinate of the second feature point on the first camera axis; x is x 2 And y 2 The horizontal pixel coordinates and the vertical pixel coordinates of the second feature points in the image acquired by the first camera are obtained;
a first transverse included angle calculation unit for calculating a transverse included angle by alpha 1 ＝tan -1 (x 2 ) Calculating a transverse included angle alpha of the second characteristic point on the first camera axis 1 ；
A first vertical included angle calculating unit for passing beta 1 ＝tan -1 (y 2 ) Calculating a vertical included angle beta of the second characteristic point on the first camera axis 1 。
The second image analysis module includes:
a second acquisition unit, configured to acquire pixel coordinates of the first feature point in the image acquired by the second camera;
a second conversion unit for converting the internal parameters of the second cameraFirst distortion coefficient k 21 And a second distortion coefficient k 22 Converting pixel coordinates of the first feature point in the image acquired by the second camera into physical coordinates on the axis of the second camera; the calculation formula is as follows: />Wherein u is 1 And v 1 A horizontal physical coordinate and a vertical physical coordinate of the first feature point on the second camera axis; x is x 1 And y 1 The first characteristic point is a horizontal pixel coordinate and a vertical pixel coordinate in the image acquired by the second camera;
a second transverse included angle calculating unit for calculating a transverse included angle by alpha 2 ＝tan -1 (x 1 ) Calculating the first characteristic point on the second camera axisThe transverse angle alpha of the line 2 ；
A second vertical included angle calculating unit for passing beta 2 ＝tan -1 (y 1 ) Calculating a vertical included angle beta of the first characteristic point on the second camera axis 2 。
The first angle calculation module adopts a calculation mode that:the second angle calculation module adopts a calculation mode that: />
The third angle calculation module adopts a calculation mode that: α=α' +δ 1 -δ 2 The method comprises the steps of carrying out a first treatment on the surface of the The fourth angle calculation module adopts a calculation mode of beta=beta' +sigma 1 -σ 2 。
The technical scheme adopted for solving the technical problems is as follows: provided is a method for measuring the rotation angle of a geometric axis of an object, comprising the following steps:
setting a reference object so that the reference object is placed opposite to the test object;
setting a first characteristic point on the reference object and setting a second characteristic point on the object to be detected;
setting a first camera on a reference object, wherein the second characteristic point is in a shooting range of the first camera;
setting a second camera on an object to be detected, wherein the first characteristic point is in the shooting range of the second camera;
the first camera and the second camera respectively acquire images, and calculate a transverse included angle and a vertical included angle between the geometric axis of the reference object and the geometric axis of the object to be measured according to the acquired images.
The calculating the horizontal included angle and the vertical included angle between the geometric axis of the reference object and the geometric axis of the object to be measured according to the acquired image specifically comprises:
based on the image acquired by the first cameraCalculating a transverse included angle alpha of the second characteristic point on the first camera axis 1 And a vertical angle beta 1 ；
Calculating a transverse included angle alpha of the first feature point on the axis of the second camera according to the image acquired by the second camera 2 And a vertical angle beta 2 ；
According to the transverse included angle alpha of the second characteristic point on the first camera axis 1 A transverse included angle alpha of the first characteristic point on the second camera axis 2 The transverse distance H from the first characteristic point to the first camera axis 1 A lateral distance H of the second feature point to the second camera axis 2 And calculating a transverse included angle alpha' between the first camera axis and the second camera axis at an axial distance D of the second feature point from the first camera;
according to the vertical included angle beta of the second characteristic point on the first camera axis 1 A vertical included angle beta of the first characteristic point on the second camera axis 2 The vertical distance V from the first characteristic point to the first camera axis 1 A vertical distance V from the second feature point to the second camera axis 2 Calculating a vertical included angle beta' between the first camera axis and the second camera axis at an axial distance D of the second feature point from the first camera;
according to the transverse included angle alpha', the transverse included angle delta between the first camera axis and the geometric axis of the reference object 1 And a transverse included angle delta between the second camera axis and the geometric axis of the object to be detected 2 Calculating a transverse included angle alpha between the geometric axis of the reference object and the geometric axis of the object to be detected;
according to the vertical included angle beta', the vertical included angle sigma between the first camera axis and the geometric axis of the reference object 1 And a vertical included angle sigma between the second camera axis and the geometric axis of the object to be detected 2 And calculating a vertical included angle beta between the geometric axis of the reference object and the geometric axis of the object to be detected.
The image meter acquired according to the first cameraCalculating the transverse included angle alpha of the second characteristic point on the first camera axis 1 And a vertical angle beta 1 The method specifically comprises the following steps:
acquiring pixel coordinates of the second feature points in the image acquired by the first camera;
according to the internal parameters of the first cameraFirst distortion coefficient k 11 And a second distortion coefficient k 12 Converting pixel coordinates of the second feature point in the image acquired by the first camera into physical coordinates on the first camera axis; the calculation formula is as follows: />Wherein u is 2 And v 2 A horizontal physical coordinate and a vertical physical coordinate of the second feature point on the first camera axis; x is x 2 And y 2 The horizontal pixel coordinates and the vertical pixel coordinates of the second feature points in the image acquired by the first camera are obtained;
by alpha 1 ＝tan -1 (x 2 ) Calculating a transverse included angle alpha of the second characteristic point on the first camera axis 1 ；
By beta 1 ＝tan -1 (y 2 ) Calculating a vertical included angle beta of the second characteristic point on the first camera axis 1 。
The transverse included angle alpha of the first feature point on the axis of the second camera is calculated according to the image acquired by the second camera 2 And a vertical angle beta 2 The method specifically comprises the following steps:
acquiring pixel coordinates of the first feature points in the image acquired by the second camera;
according to the internal parameters of the second cameraFirst distortion coefficient k 21 And a second distortion coefficient k 22 By applying the first feature toPixel coordinates of points in the image acquired by the second camera are converted into physical coordinates on the second camera axis; the calculation formula is as follows: />Wherein u is 1 And v 1 A horizontal physical coordinate and a vertical physical coordinate of the first feature point on the second camera axis; x is x 1 And y 1 The first characteristic point is a horizontal pixel coordinate and a vertical pixel coordinate in the image acquired by the second camera;
by alpha 2 ＝tan -1 (x 1 ) Calculating a transverse included angle alpha of the first characteristic point on the second camera axis 2 ；
By beta 2 ＝tan -1 (y 1 ) Calculating a vertical included angle beta of the first characteristic point on the second camera axis 2 。
The transverse included angle alpha' between the first camera axis and the second camera axis passesCalculating to obtain; the vertical included angle beta' between the first camera axis and the second camera axis passes throughCalculating to obtain; the transverse included angle alpha between the geometric axis of the reference object and the geometric axis of the object to be detected passes through alpha = alpha' +delta 1 -δ 2 Calculating to obtain; the vertical included angle beta between the geometric axis of the reference object and the geometric axis of the object to be detected passes through beta=beta' +sigma 1 -σ 2 And (5) calculating to obtain the product.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: according to the invention, the first camera and the first characteristic point are added on one reference object, the second camera and the second characteristic point are added on the object to be measured, the two cameras are utilized to image each other, the included angle of the characteristic point on the axis of the camera is obtained, and then the included angle between the axis of the object to be measured and the axis of the reference object is determined based on the obtained included angle, so that the measurement of the geometrical axis rotation angle of the object to be measured is realized, the range of the incident angle is +/-45 degrees, the maximum distance between the two ranges up to 600 meters, and compared with the traditional automatic total station, the measuring range and the measuring distance are increased, and the cost is lower.
Drawings
FIG. 1 is a flow chart of a method for measuring the rotational angle of a geometric axis of an object according to a first embodiment of the present invention;
FIG. 2 is a flow chart of calculating the angle between the geometric axis of the reference object and the geometric axis of the object to be measured according to the first embodiment of the present invention;
fig. 3 is a schematic view of an object geometric axis rotation angle measuring device according to a second embodiment of the present invention.
Detailed Description
The invention will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present invention and are not intended to limit the scope of the present invention. Further, it is understood that various changes and modifications may be made by those skilled in the art after reading the teachings of the present invention, and such equivalents are intended to fall within the scope of the claims appended hereto.
A first embodiment of the present invention relates to a method for measuring a rotation angle of a geometric axis of an object, as shown in fig. 1, including:
step 1, setting a reference object so that the reference object is placed opposite to the to-be-detected object;
step 2, setting a first characteristic point on the reference object and setting a second characteristic point on the object to be detected; the first characteristic point and the second characteristic point can be any one of a pattern, a light source and a structural member with clear outline.
Step 3, setting a first camera on a reference object, wherein the second characteristic points are in the shooting range of the first camera; wherein a transverse angle delta between a first camera axis and the reference geometric axis 1 A vertical angle sigma between the first camera axis and the reference geometric axis 1 The transverse distance H from the first characteristic point to the first camera axis 1 Vertical distance V of first feature point to first camera axis 1 Calibration can be performed by means of conventional accurate measurements. Internal reference of first cameraFirst distortion coefficient k 11 And a second distortion coefficient k 12 Calibration can also be performed by means of accurate measurement.
Step 4, setting a second camera on the object to be detected, wherein the first characteristic point is in the shooting range of the second camera; wherein, the second camera axis and the geometric axis of the object to be detected form a transverse included angle delta 2 A vertical included angle sigma between the second camera axis and the geometric axis of the object to be detected 2 Lateral distance H of the second feature point to the second camera axis 2 Vertical distance V of the second feature point to the second camera axis 2 Calibration can be performed by means of conventional accurate measurements. Internal reference of the second cameraFirst distortion coefficient k 21 And a second distortion coefficient k 22 Calibration can also be performed by means of accurate measurement.
And 5, respectively acquiring images by the first camera and the second camera, and calculating a transverse included angle and a vertical included angle between the geometric axis of the reference object and the geometric axis of the object to be detected according to the acquired images. As shown in fig. 2, this step specifically includes:
step 5.1, calculating a transverse included angle alpha of the second feature point on the axis of the first camera according to the image acquired by the first camera 1 And a vertical angle beta 1 The method comprises the steps of carrying out a first treatment on the surface of the The method comprises the following steps:
acquiring pixel coordinates of the second feature points in the image acquired by the first camera;
according to the internal parameters of the first cameraFirst distortion coefficient k 11 And a second distortion coefficient k 12 Converting pixel coordinates of the second feature point in the image acquired by the first camera into physical coordinates on the first camera axis; the calculation formula is as follows: />Wherein u is 2 And v 2 A horizontal physical coordinate and a vertical physical coordinate of the second feature point on the first camera axis; x is x 2 And y 2 The horizontal pixel coordinates and the vertical pixel coordinates of the second feature points in the image acquired by the first camera are obtained;
by alpha 1 ＝tan -1 (x 2 ) Calculating a transverse included angle alpha of the second characteristic point on the first camera axis 1 ；
By beta 1 ＝tan -1 (y 2 ) Calculating a vertical included angle beta of the second characteristic point on the first camera axis 1 。
Step 5.2, calculating the transverse included angle alpha of the first feature point on the axis of the second camera according to the image acquired by the second camera 2 And a vertical angle beta 2 The method comprises the steps of carrying out a first treatment on the surface of the The method comprises the following steps:
acquiring pixel coordinates of the first feature points in the image acquired by the second camera;
according to the internal parameters of the second cameraFirst distortion coefficient k 21 And a second distortion coefficient k 22 Converting pixel coordinates of the first feature point in the image acquired by the second camera into physical coordinates on the axis of the second camera; the calculation formula is as follows: />Wherein u is 1 And v 1 A horizontal physical coordinate and a vertical physical coordinate of the first feature point on the second camera axis; x is x 1 And y 1 Is saidA first feature point is in a horizontal pixel coordinate and a vertical pixel coordinate in an image acquired by the second camera;
by alpha 2 ＝tan -1 (x 1 ) Calculating a transverse included angle alpha of the first characteristic point on the second camera axis 2 ；
By beta 2 ＝tan -1 (y 1 ) Calculating a vertical included angle beta of the first characteristic point on the second camera axis 2 。
Step 5.3, according to the transverse included angle alpha of the second characteristic point on the first camera axis 1 A transverse included angle alpha of the first characteristic point on the second camera axis 2 The transverse distance H from the first characteristic point to the first camera axis 1 A lateral distance H of the second feature point to the second camera axis 2 And calculating a transverse included angle alpha' between the first camera axis and the second camera axis at the axial distance D of the second feature point from the first camera, wherein a specific calculation formula is as follows:the axial distance D of the second characteristic point on the first camera can be calibrated in an accurate measurement mode.
Step 5.4, according to the vertical included angle beta of the second characteristic point on the first camera axis 1 A vertical included angle beta of the first characteristic point on the second camera axis 2 The vertical distance V from the first characteristic point to the first camera axis 1 A vertical distance V from the second feature point to the second camera axis 2 And calculating a vertical included angle beta' between the first camera axis and the second camera axis at the axial distance D of the second feature point from the first camera, wherein the specific calculation mode is as follows:
step 5.5, according to said transverse included angle α', the transverse of said first camera axis and said reference object geometric axisAngle delta of direction 1 And a transverse included angle delta between the second camera axis and the geometric axis of the object to be detected 2 The transverse included angle alpha between the geometric axis of the reference object and the geometric axis of the object to be detected is calculated by the following specific calculation method: α=α' +δ 1 -δ 2 。
Step 5.6, according to the vertical included angle beta', the vertical included angle sigma between the first camera axis and the geometric axis of the reference object 1 And a vertical included angle sigma between the second camera axis and the geometric axis of the object to be detected 2 Calculating a vertical included angle beta between the geometric axis of the reference object and the geometric axis of the object to be measured, wherein the specific calculation mode is as follows: beta = beta' + sigma 1 -σ 2 。
A second embodiment of the present invention relates to an object geometric axis rotation angle measuring device, as shown in fig. 3, including:
a reference object 1 placed opposite to the object 2 to be measured;
a first feature point 3 located on the reference 1;
a second feature point 4 located on the object 2 to be measured;
a first camera 5 located on the reference object 1, the second feature point 4 being within a shooting range of the first camera 5;
the second camera 6 is positioned on the object 2 to be detected, and the first characteristic point 3 is in the shooting range of the second camera 6;
and a computer 7 connected to the first camera 5 and the second camera 6, for calculating an included angle between the first camera axis and the second camera axis according to the images acquired by the first camera 5 and the second camera 6.
The computer 7 includes:
a first image analysis module for calculating a transverse included angle alpha of the second feature point on the first camera axis according to the image acquired by the first camera 1 And a vertical angle beta 1 ；
A second image analysis module for calculating the transverse clamp of the first characteristic point on the second camera axis according to the image acquired by the second cameraAngle alpha 2 And a vertical angle beta 2 ；
A first angle calculation module for calculating a transverse included angle alpha of the second feature point on the first camera axis 1 A transverse included angle alpha of the first characteristic point on the second camera axis 2 The transverse distance H from the first characteristic point to the first camera axis 1 A lateral distance H of the second feature point to the second camera axis 2 And calculating a transverse included angle alpha' between the first camera axis and the second camera axis at an axial distance D of the second feature point from the first camera;
a second angle calculation module, configured to calculate a vertical angle β of the second feature point at the first camera axis 1 A vertical included angle beta of the first characteristic point on the second camera axis 2 The vertical distance V from the first characteristic point to the first camera axis 1 A vertical distance V from the second feature point to the second camera axis 2 Calculating a vertical included angle beta' between the first camera axis and the second camera axis at an axial distance D of the second feature point from the first camera;
a third angle calculation module for calculating a transverse angle delta between the first camera axis and the geometric axis of the reference object according to the transverse angle alpha 1 And a transverse included angle delta between the second camera axis and the geometric axis of the object to be detected 2 Calculating a transverse included angle alpha between the geometric axis of the reference object and the geometric axis of the object to be detected;
a fourth angle calculation module for calculating a vertical angle sigma between the first camera axis and the geometric axis of the reference object according to the vertical angle beta', and the vertical angle sigma 1 And a vertical included angle sigma between the second camera axis and the geometric axis of the object to be detected 2 And calculating a vertical included angle beta between the geometric axis of the reference object and the geometric axis of the object to be detected.
The first image analysis module includes:
a first obtaining unit, configured to obtain pixel coordinates of the second feature point in an image obtained by the first camera;
a first conversion unit for converting the internal parameters of the first cameraFirst distortion coefficient k 11 And a second distortion coefficient k 12 Converting pixel coordinates of the second feature point in the image acquired by the first camera into physical coordinates on the first camera axis; the calculation formula is as follows: />Wherein u is 2 And v 2 A horizontal physical coordinate and a vertical physical coordinate of the second feature point on the first camera axis; x is x 2 And y 2 The horizontal pixel coordinates and the vertical pixel coordinates of the second feature points in the image acquired by the first camera are obtained;
a first transverse included angle calculation unit for calculating a transverse included angle by alpha 1 ＝tan -1 (x 2 ) Calculating a transverse included angle alpha of the second characteristic point on the first camera axis 1 ；
A first vertical included angle calculating unit for passing beta 1 ＝tan -1 (y 2 ) Calculating a vertical included angle beta of the second characteristic point on the first camera axis 1 。
The second image analysis module includes:
a second acquisition unit, configured to acquire pixel coordinates of the first feature point in the image acquired by the second camera;
a second conversion unit for converting the internal parameters of the second cameraFirst distortion coefficient k 21 And a second distortion coefficient k 22 Converting pixel coordinates of the first feature point in the image acquired by the second camera into physical coordinates on the axis of the second camera; the calculation formula is as follows: />Wherein u is 1 And v 1 A horizontal physical coordinate and a vertical physical coordinate of the first feature point on the second camera axis; x is x 1 And y 1 The first characteristic point is a horizontal pixel coordinate and a vertical pixel coordinate in the image acquired by the second camera;
a second transverse included angle calculating unit for calculating a transverse included angle by alpha 2 ＝tan -1 (x 1 ) Calculating a transverse included angle alpha of the first characteristic point on the second camera axis 2 ；
A second vertical included angle calculating unit for passing beta 2 ＝tan -1 (y 1 ) Calculating a vertical included angle beta of the first characteristic point on the second camera axis 2 。
The first angle calculation module adopts a calculation mode that:the second angle calculation module adopts a calculation mode that: />
The third angle calculation module adopts a calculation mode that: α=α' +δ 1 -δ 2 The method comprises the steps of carrying out a first treatment on the surface of the The fourth angle calculation module adopts a calculation mode of beta=beta' +sigma 1 -σ 2 。
Therefore, the first camera and the first characteristic point are added on the reference object, the second camera and the second characteristic point are added on the object to be measured, the two cameras are used for imaging each other to obtain the included angle of the characteristic point on the axis of the camera, and the included angle between the axis of the object to be measured and the axis of the reference object is determined based on the obtained included angle, so that the measurement of the geometric axis rotation angle of the object to be measured is realized, the range of the incident angle is +/-45 degrees, the maximum distance between the two ranges up to 600 meters, and compared with the traditional automatic total station, the measuring range and the measuring distance are increased.
Claims (8)
1. An object geometric axis rotation angle measuring device, comprising:
a reference placed opposite to the test object;
a first feature point located on the reference;
the second characteristic point is positioned on the object to be detected;
a first camera positioned on the reference object, wherein the second characteristic point is in the shooting range of the first camera;
the second camera is positioned on the object to be detected, and the first characteristic point is in the shooting range of the second camera;
the computer is connected with the first camera and the second camera and is used for calculating a transverse included angle and a vertical included angle between the geometric axis of the reference object and the geometric axis of the object to be detected according to the images acquired by the first camera and the second camera; the computer includes:
a first image analysis module for calculating a transverse included angle alpha of the second feature point on the first camera axis according to the image acquired by the first camera 1 And a vertical angle beta 1 ；
A second image analysis module for calculating a transverse included angle alpha of the first feature point on the second camera axis according to the image acquired by the second camera 2 And a vertical angle beta 2 ；
A first angle calculation module for calculating a transverse included angle alpha of the second feature point on the first camera axis 1 A transverse included angle alpha of the first characteristic point on the second camera axis 2 The transverse distance H from the first characteristic point to the first camera axis 1 A lateral distance H of the second feature point to the second camera axis 2 And calculating a transverse included angle alpha' between the first camera axis and the second camera axis at an axial distance D of the second feature point from the first camera;
a second angle calculation module, configured to calculate a vertical angle β of the second feature point at the first camera axis 1 The first characteristic point is atThe vertical included angle beta of the second camera axis 2 The vertical distance V from the first characteristic point to the first camera axis 1 A vertical distance V from the second feature point to the second camera axis 2 Calculating a vertical included angle beta' between the first camera axis and the second camera axis at an axial distance D of the second feature point from the first camera;
a third angle calculation module for calculating a transverse angle delta between the first camera axis and the geometric axis of the reference object according to the transverse angle alpha 1 And a transverse included angle delta between the second camera axis and the geometric axis of the object to be detected 2 Calculating a transverse included angle alpha between the geometric axis of the reference object and the geometric axis of the object to be detected;
a fourth angle calculation module for calculating a vertical angle sigma between the first camera axis and the geometric axis of the reference object according to the vertical angle beta', and the vertical angle sigma 1 And a vertical included angle sigma between the second camera axis and the geometric axis of the object to be detected 2 And calculating a vertical included angle beta between the geometric axis of the reference object and the geometric axis of the object to be detected.
2. The object geometric axis rotation angle measurement device of claim 1, wherein the first image analysis module comprises:
a first obtaining unit, configured to obtain pixel coordinates of the second feature point in an image obtained by the first camera; a first conversion unit for converting the internal parameters of the first cameraFirst distortion coefficient k 11 And a second distortion coefficient k 12 Converting pixel coordinates of the second feature point in the image acquired by the first camera into physical coordinates on the first camera axis; the calculation formula is as follows: />Wherein u is 2 And v 2 At the second characteristic pointA horizontal physical coordinate and a vertical physical coordinate of a camera axis; x is x 2 And y 2 The horizontal pixel coordinates and the vertical pixel coordinates of the second feature points in the image acquired by the first camera are obtained;
a first transverse included angle calculation unit for calculating a transverse included angle by alpha 1 ＝tan -1 (x 2 ) Calculating a transverse included angle alpha of the second characteristic point on the first camera axis 1 ；
A first vertical included angle calculating unit for passing beta 1 ＝tan -1 (y 2 ) Calculating a vertical included angle beta of the second characteristic point on the first camera axis 1 。
3. The object geometric axis rotation angle measurement device of claim 1, wherein the second image analysis module comprises:
a second acquisition unit, configured to acquire pixel coordinates of the first feature point in the image acquired by the second camera; a second conversion unit for converting the internal parameters of the second cameraFirst distortion coefficient k 21 And a second distortion coefficient k 22 Converting pixel coordinates of the first feature point in the image acquired by the second camera into physical coordinates on the axis of the second camera; the calculation formula is as follows: />Wherein u is 1 And v 1 A horizontal physical coordinate and a vertical physical coordinate of the first feature point on the second camera axis; x is x 1 And y 1 The first characteristic point is a horizontal pixel coordinate and a vertical pixel coordinate in the image acquired by the second camera;
a second transverse included angle calculating unit for calculating a transverse included angle by alpha 2 ＝tan -1 (x 1 ) Calculating a transverse included angle alpha of the first characteristic point on the second camera axis 2 ；
A second vertical included angle calculating unit for passing beta 2 ＝tan -1 (y 1 ) Calculating a vertical included angle beta of the first characteristic point on the second camera axis 2 。
4. The device for measuring the rotation angle of the geometric axis of an object according to claim 1, wherein the first angle calculating module adopts a calculating mode that:
the second angle calculation module adopts a calculation mode that: />
5. The device for measuring the rotation angle of the geometric axis of an object according to claim 1, wherein the third angle calculating module adopts a calculating mode that: α=α' +δ 1 -δ 2 The method comprises the steps of carrying out a first treatment on the surface of the The fourth angle calculation module adopts a calculation mode of beta=beta' +sigma 1 -σ 2 。
6. A method for measuring the rotation angle of a geometric axis of an object, comprising:
setting a reference object so that the reference object is placed opposite to a to-be-detected object;
setting a first characteristic point on the reference object and setting a second characteristic point on the object to be detected;
setting a first camera on a reference object, wherein the second characteristic point is in a shooting range of the first camera;
setting a second camera on an object to be detected, wherein the first characteristic point is in the shooting range of the second camera;
the first camera and the second camera respectively acquire images, and calculate a transverse included angle and a vertical included angle between the geometric axis of the reference object and the geometric axis of the object to be detected according to the acquired images; the calculating the horizontal included angle and the vertical included angle between the geometric axis of the reference object and the geometric axis of the object to be measured according to the acquired image specifically comprises:
calculating a transverse included angle alpha of the second feature point on the axis of the first camera according to the image acquired by the first camera 1 And a vertical angle beta 1 ；
Calculating a transverse included angle alpha of the first feature point on the axis of the second camera according to the image acquired by the second camera 2 And a vertical angle beta 2 ；
According to the transverse included angle alpha of the second characteristic point on the first camera axis 1 A transverse included angle alpha of the first characteristic point on the second camera axis 2 The transverse distance H from the first characteristic point to the first camera axis 1 A lateral distance H of the second feature point to the second camera axis 2 And calculating a transverse included angle alpha' between the first camera axis and the second camera axis at an axial distance D of the second feature point from the first camera;
according to the vertical included angle beta of the second characteristic point on the first camera axis 1 A vertical included angle beta of the first characteristic point on the second camera axis 2 The vertical distance V from the first characteristic point to the first camera axis 1 A vertical distance V from the second feature point to the second camera axis 2 Calculating a vertical included angle beta' between the first camera axis and the second camera axis at an axial distance D of the second feature point from the first camera;
according to the transverse included angle alpha', the transverse included angle delta between the first camera axis and the geometric axis of the reference object 1 And a transverse included angle delta between the second camera axis and the geometric axis of the object to be detected 2 Calculating a transverse included angle alpha between the geometric axis of the reference object and the geometric axis of the object to be detected;
according to the vertical included angle beta', the vertical included angle sigma between the first camera axis and the geometric axis of the reference object 1 And the second camera axis and the geometric axis of the object to be detectedIs a vertical angle sigma of (2) 2 And calculating a vertical included angle beta between the geometric axis of the reference object and the geometric axis of the object to be detected.
7. The method according to claim 6, wherein the calculating the transverse angle α of the second feature point on the first camera axis based on the image obtained by the first camera 1 And a vertical angle beta 1 The method specifically comprises the following steps:
acquiring pixel coordinates of the second feature points in the image acquired by the first camera;
according to the internal parameters of the first cameraFirst distortion coefficient k 11 And a second distortion coefficient k 12 Converting pixel coordinates of the second feature point in the image acquired by the first camera into physical coordinates on the first camera axis; the calculation formula is as follows: />Wherein u is 2 And v 2 A horizontal physical coordinate and a vertical physical coordinate of the second feature point on the first camera axis; x is x 2 And y 2 The horizontal pixel coordinates and the vertical pixel coordinates of the second feature points in the image acquired by the first camera are obtained;
by alpha 1 ＝tan -1 (x 2 ) Calculating a transverse included angle alpha of the second characteristic point on the first camera axis 1 ；
By beta 1 ＝tan -1 (y 2 ) Calculating a vertical included angle beta of the second characteristic point on the first camera axis 1 ；
The transverse included angle alpha of the first feature point on the axis of the second camera is calculated according to the image acquired by the second camera 2 And a vertical angle beta 2 The method specifically comprises the following steps:
acquiring pixel coordinates of the first feature points in the image acquired by the second camera;
according to the internal parameters of the second cameraFirst distortion coefficient k 21 And a second distortion coefficient k 22 Converting pixel coordinates of the first feature point in the image acquired by the second camera into physical coordinates on the axis of the second camera; the calculation formula is as follows: />Wherein u is 1 And v 1 A horizontal physical coordinate and a vertical physical coordinate of the first feature point on the second camera axis; x is x 1 And y 1 The first characteristic point is a horizontal pixel coordinate and a vertical pixel coordinate in the image acquired by the second camera;
by alpha 2 ＝tan -1 (x 1 ) Calculating a transverse included angle alpha of the first characteristic point on the second camera axis 2 ；
By beta 2 ＝tan -1 (y 1 ) Calculating a vertical included angle beta of the first characteristic point on the second camera axis 2 。
8. The method of measuring the rotational angle of a geometric axis of an object according to claim 6, wherein the first camera axis and the second camera axis are at a transverse angle α' throughCalculating to obtain; the vertical included angle beta' between the first camera axis and the second camera axis passes throughCalculating to obtain; the transverse included angle alpha between the geometric axis of the reference object and the geometric axis of the object to be detected passes through alpha = alpha' +delta 1 -δ 2 Calculating to obtain; the vertical included angle beta between the geometric axis of the reference object and the geometric axis of the object to be detected passes throughβ＝β′+σ 1 -σ 2 And (5) calculating to obtain the product. />
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