CN201707034U - Rail gauge detecting system calibration device based on multi-camera and multi-field of view - Google Patents

Abstract

The utility model relates to a rail gauge detecting system calibration device based on multi-camera and multi-field of view, which comprises a back-to-back type binocular vision system, a fan-shaped laser structure light source, a long type black white chess board calibration target, a combined mounting bracket, a bracket, an I-type bracket and a stay bar, wherein the back-to-back type binocular vision system comprises two groups of crossed binocular systems connected with one another through the combined mounting bracket; each group of crossed binocular system includes two cameras; the fan-shaped laser structure light source is connected with the two cameras through the bracket in sequence to form a ring-shaped structure; the fan-shaped laser structure light source is fixed on the I-shaped bracket through the stay bar; and the I-shaped bracket is fixed on the long type black and white chess board calibration target. Compared with the prior art, the utility model has the advantages of non-contact, fast speed measurement, convenience and flexibility, and a servo mechanism is not easy to damage.

Description

A kind of gauge detection system robot scaling equipment based on the many visual fields of many cameras

Technical field

The utility model relates to a kind of robot scaling equipment, especially relates to a kind of gauge detection system robot scaling equipment based on the many visual fields of many cameras.

Background technology

Traditional gauge detects and adopts photoelectric sensing and servo control mechanism to measure, and its major defect is that the reason servo control mechanism owing to the scene vibration damages easily.Classic method is to be based upon on the basis that a plurality of video cameras all can collect the calibration target image in the public view field scope to calibrate, for " opposite type " vision system, owing to there is not public view field, can't accomplish to gather the calibration target information in the public view field, adopt traditional calibrating method can't directly finish calibration the camera interior and exterior parameter matrix.

The utility model content

The purpose of this utility model be exactly provide in order to overcome the defective that above-mentioned prior art exists that a kind of servo control mechanism is not easy to damage, noncontact, fast, the convenient, flexible gauge detection system robot scaling equipment based on the many visual fields of many cameras tests the speed.

The purpose of this utility model can be achieved through the following technical solutions:

A kind of gauge detection system robot scaling equipment based on the many visual fields of many cameras, it is characterized in that, comprise the opposite type binocular vision system, fan-shaped laser structure light source, elongated black and white chessboard is demarcated target, combined installation rack, support, worker's type support, strut, described opposite type binocular vision system comprises two groups of formula biocular systems that cross, the described formula biocular systems that crosses comprises two video cameras, described two groups cross and are connected by combined installation rack between the formula biocular systems, described fan-shaped laser structure light source is connected by support successively with two video cameras, and formation ring-type, described fan-shaped laser structure light source is fixed on worker's type support by strut, and described worker's type support is fixed on elongated black and white chessboard and demarcates on the target.

Described video camera is a ccd video camera.

Compared with prior art, the utlity model has following advantage:

Vision measurement has noncontact, the advantage such as fast, convenient, flexible that tests the speed, and has great significance and wide application prospect in fields such as industrial detection.Utilize the efficient non-contact detecting of realizing of Robot Vision gauge to become developing direction, this device utilizes 4 ccd video cameras, constitutes " opposite type " two groups of binoculars formula gauge detection system that crosses.Vision system is being carried out in the calibration process, adopting traditional camera calibration method that multiple cameras is calibrated, need utilize the calibration target to calibrate one by one, obtaining the camera interior and exterior parameter matrix every video camera.

Description of drawings

Fig. 1 is the gauge detection system synoptic diagram based on machine vision of the present utility model;

Fig. 2 is " opposite type " of the present utility model used for multi-vision visual system schematic;

Fig. 3 is a calibration target synoptic diagram of the present utility model;

Fig. 4 is the binocular formula vision system synoptic diagram that crosses;

Fig. 5 is a calibration process flow diagram of the present utility model;

Fig. 6 sets up two world coordinate system graphs of a relation for the utility model.

Embodiment

Below in conjunction with the drawings and specific embodiments the utility model is elaborated.

Embodiment

Shown in Fig. 1～3, a kind of gauge detection system robot scaling equipment based on the many visual fields of many cameras, comprise " opposite type " binocular vision system, fan-shaped laser structure light source 5, elongated black and white chessboard is demarcated target 7, combined installation rack 6, support 2, worker's type support 4, strut 3, described " opposite type " binocular vision system comprises two groups of formula biocular systems that cross, the described formula biocular systems that crosses comprises two video cameras 1, described two groups cross and are connected by combined installation rack 6 between the formula biocular systems, described fan-shaped laser structure light source 5 is connected by support 2 successively with two video cameras 1, and formation ring-type, described fan-shaped laser structure light source 5 is fixed on worker's type support 4 by strut 3, and described worker's type support 4 is fixed on elongated black and white chessboard and demarcates on the target 7.Described video camera 1 is a ccd video camera.

Before building " opposite type " binocular vision system, at first build the one-sided binocular formula vision system that crosses, show that as Fig. 4 wherein dash area is represented the public view field zone 8 of two video cameras 1.

The calibration flow process as shown in Figure 5.

Steps A 1, the formula binocular calibration that crosses in left side, the calibration target image of the one-sided biocular systems of video camera 1 shooting, collecting in the public domain adopts traditional scaling algorithm to obtain the inside and outside parameter matrix of video camera 1, draws corresponding external parameter and uses [R respectively ₁t ₁] and [R ₂t ₂] expression, then [R ₁t ₁] relative position between expression CCD1 video camera and the world coordinates, [R ₂t ₂] represent the relative position between CCD2 video camera and the world coordinates, then the relative position relation of two ccd video cameras can be expressed as:

$\left\{\begin{array}{c}{R}_{12}=R_1{R}_2^{-1}\\ T_{12}=t_1-R_{12}{t}_2\end{array}\right.---\left(1\right)$

Our calibration obtains the external parameter matrix [R of CCD3 and CCD4 equally ₃t ₃] and [R ₄t ₄], and the relative position relation that calculates CCD3 and CCD4:

$\left\{\begin{array}{c}{R}_{34}=R_3{R}_4^{-1}\\ T_{34}=t_3-R_{34}{t}_4\end{array}\right.---\left(2\right)$

Owing to gather formula biocular systems formation " opposite type " vision system that crosses that left and right sides rail gauge is measured match point, so the calibration target image that biocular systems collects is just calibrated the parts of images at target two ends, but select world coordinate system to be based upon on the calibration target, the volume coordinate relative position of all angle points on the calibration target is the relations that only have translation, two worlds coordinate system on the foundation calibration target as shown in Figure 6, its relation table is shown: X _Wl=X _Wr+ t _Lr, the relative position relation of CCD1 and CCD3 then:

$\left\{\begin{array}{c}{R}_{13}=R_1{R}_3^{-1}\\ T_{13}=t_1-R_1{R_3}^{-1}{t}_3+t_{1r}\end{array}\right.---\left(3\right)$

Utilize the three dimensions reconstruction theory under the two worlds coordinate system, to rebuild left and right sides gauge and measure match point, obtain gauge and measure match point at the coordinate of world coordinates (" opposite type " binocular vision system) separately, and through type (3), the coordinate of world coordinates is unified under same world coordinate system separately with " opposite type " binocular vision system, thereby further calculates the gauge value.

Claims (2)

1. gauge detection system robot scaling equipment based on the many visual fields of many cameras, it is characterized in that, comprise the opposite type binocular vision system, fan-shaped laser structure light source, elongated black and white chessboard is demarcated target, combined installation rack, support, worker's type support, strut, described opposite type binocular vision system comprises two groups of formula biocular systems that cross, the described formula biocular systems that crosses comprises two video cameras, described two groups cross and are connected by combined installation rack between the formula biocular systems, described fan-shaped laser structure light source is connected by support successively with two video cameras, and formation ring-type, described fan-shaped laser structure light source is fixed on worker's type support by strut, and described worker's type support is fixed on elongated black and white chessboard and demarcates on the target.

2. the gauge detection system robot scaling equipment based on the many visual fields of many cameras according to claim 1 is characterized in that described video camera is a ccd video camera.

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