CN115998045B - Shoe upper three-dimensional imaging device, calibration method and equipment - Google Patents
Shoe upper three-dimensional imaging device, calibration method and equipment Download PDFInfo
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Abstract
The invention discloses an upper three-dimensional imaging device, a calibration method and equipment, wherein the method comprises the steps of establishing a Cartesian three-dimensional coordinate system of a disc base and an unfolding coordinate system of the disc base, wherein the heights of the upper edge and the lower edge of each circular ring of a cylindrical calibration block are known information; the laser three-dimensional camera sends out a laser triangle plane to perform rotary scanning on the cylindrical calibration block, three-dimensional point cloud data of the cylindrical calibration block are collected, angular points are extracted from each row of three-dimensional point cloud data, and coordinate information of each angular point under a polar coordinate system is obtained; and calculating the transformation relation between the unfolding coordinate system of the disc base and the polar coordinate system according to the coordinate information of the unfolding coordinate system of each angular point disc base of the cylindrical calibration block and the coordinate information under the polar coordinate system. After the upper three-dimensional image is extracted, the three-dimensional image is converted into the coordinate information under the unfolding coordinate system of the disc base by utilizing the transformation relation, and then the coordinate information is converted into the coordinate information under the Cartesian coordinate system of the disc, so that the imaging precision is improved, and the information error is reduced.
Description
Technical Field
The invention belongs to the technical field of intelligent shoe manufacturing, and particularly relates to a shoe upper three-dimensional imaging device, a calibration method and equipment.
Background
In the shoe industry, the shoe making process can be roughly divided into a cut-off needle machine section, a forming section and a packaging section. The cut-off needle machine section is mainly responsible for manufacturing the vamp independently, specifically, cutting various fabrics, sewing the vamp into the vamp through a needle machine, and manufacturing the sole through injection molding or other processes; the forming section is mainly used for processing the joint part of the sole and the vamp, such as roughening, spraying a treating agent and spraying glue, so as to realize the joint of the sole and the vamp; the packaging section is mainly responsible for quality inspection of finished shoes and packaging the finished shoes into boxes. Wherein, in the shaping section, the treatment for the sole comprises feeding, applying a treating agent, a treating agent oven, sizing water, a glue oven and bottom pasting. In order to reduce the labor cost and realize the industrial upgrading of the shoe industry, the vamp needs to be automatically roughened, glued or treated by spraying.
At present, the prior art realizes automatic roughening, glue spraying and treating agent spraying on the vamp by adopting a fixed teaching track mode through a six-axis robot. Because the vamp is overlapped on last by the manual work, has certain deviation, in addition, last centre gripping also can introduce certain error, consequently, adopt the mode of fixed teaching orbit inevitably can make the orbit have the deviation, lead to making thick line/glueline inconsistent with sole edge, produce the condition of glue overflow or lack of glue, influence shoemaking quality. Therefore, in order to extract and generate the space track of vamp work, three-dimensional imaging needs to be performed on the whole vamp, namely, three-dimensional imaging needs to be performed on the whole vamp 360-degree outer ring.
Currently, there are several methods for three-dimensional imaging of 360 ° outer circles of objects. One is to use a structured light three-dimensional camera to image multiple times (typically 90 ° apart, 4 imaging) from multiple angles of the object, and then use pre-calibration data to perform three-dimensional stitching to achieve 360 ° outer ring three-dimensional imaging of the object. Still another is that a worker uses a hand-held structured light three-dimensional camera to continuously scan around an object for imaging, thereby obtaining an outer ring three-dimensional point cloud. In addition, a line laser three-dimensional camera is mounted at the end of the robot, and the robot takes a picture by rotating the camera. Because the robot cannot guarantee absolute uniform motion and has no encoder information, high-precision imaging information cannot be obtained. In addition, in the calibration algorithm, at present, a line structure optical camera is adopted to perform rotary scanning, and compared with a line laser three-dimensional camera, the three-dimensional camera can additionally obtain a two-dimensional image, but the hardware cost is high. In addition, there are some methods to use a cube calibration block for calibration, but it only uses the vertices of the cube for calibration, with relatively higher errors.
Disclosure of Invention
The invention aims to provide a shoe upper three-dimensional imaging device, a calibration method and equipment, which are used for solving the technical problems of lower imaging precision and higher error in the prior art.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect provides a three-dimensional imaging device for an upper, which comprises a bracket, wherein an industrial personal computer, a controller, a servo motor, a disc base, an upper and a laser three-dimensional camera are arranged on the bracket, the industrial personal computer is electrically connected with the controller, the controller is respectively electrically connected with the servo motor and the laser three-dimensional camera, the disc base is arranged on an output shaft of the servo motor, the upper is detachably arranged on the disc base, and the laser three-dimensional camera is arranged above the upper obliquely;
The industrial personal computer is used for issuing a control instruction to the controller, the controller is used for sending a control signal to the servo motor, the servo motor is used for driving the disc base to rotate so as to drive the upper to rotate, the controller is also used for receiving an encoder signal of the servo motor and triggering the laser three-dimensional camera to send a laser triangle plane through the encoder signal, so that three-dimensional point cloud data of the upper under a polar coordinate system are collected at 360 degrees.
In one possible design, the device further comprises a cylindrical calibration block detachably arranged on the disc base, wherein the central axis of the cylindrical calibration block coincides with the central axis of the disc base.
In one possible design, the cylindrical calibration block comprises a plurality of rings arranged in parallel in the longitudinal direction, wherein the height of the upper and lower edges of each ring on the cylindrical calibration block is known information.
In one possible design, the disc base is provided with a first central hole, the cylindrical calibration block is provided with a second central hole, and the cylindrical calibration block is mounted on the disc base through the first central hole and the second central hole by using a pin.
In one possible design, the laser triangle plane emitted by the laser three-dimensional camera is parallel to the central axis of the cylindrical calibration block.
A second aspect provides a calibration method based on the upper three-dimensional imaging device as described in any one of the possible designs of the first aspect, comprising:
setting a cylindrical calibration block at the center of a disc base, establishing a Cartesian three-dimensional coordinate system of the disc base, and establishing an unfolding coordinate system of the disc base according to the Cartesian three-dimensional coordinate system of the disc base, wherein the coordinate information of the upper edge and the lower edge of each circular ring of the cylindrical calibration block under the Cartesian three-dimensional coordinate system of the disc base is known information;
A laser three-dimensional camera sends out a laser triangle plane to perform rotary scanning on the cylindrical calibration block, three-dimensional point cloud data of the cylindrical calibration block are acquired, angular points are extracted from each row of three-dimensional point cloud data respectively, and coordinate information of each angular point under a polar coordinate system is obtained;
and calculating according to the coordinate information of each angular point of the cylindrical calibration block under the unfolding coordinate system of the disc base and the coordinate information under the polar coordinate system to obtain the transformation relation between the unfolding coordinate system of the disc base and the polar coordinate system.
In one possible design, the establishing a cartesian three-dimensional coordinate system of the disc base by placing the cylindrical calibration block at the center position of the disc base, and establishing an expanded coordinate system of the disc base according to the cartesian three-dimensional coordinate system of the disc base, includes:
The method comprises the steps of placing a cylindrical calibration block at the center of a disc base, taking the center point of the rotation of the disc as an origin, taking a rotating shaft of the disc as a Z axis, taking a connecting line between the origin and a point of a laser triangular plane irradiated to the bottom of the cylindrical calibration block as an X axis, determining the Z axis by a right-hand rule, and establishing a Cartesian three-dimensional coordinate system for obtaining the disc base;
Based on a Cartesian three-dimensional coordinate system of the disc base, unfolding the cylindrical calibration block along the rotation direction by taking the XOZ plane as a reference to obtain an unfolding coordinate system of the disc base;
the conversion relation between the Cartesian three-dimensional coordinate system of the disc base and the unfolding coordinate system of the disc base is as follows:
Zz＝ZW； (3)
Wherein Xz, yz and Zz refer to X, Y and Z coordinates, respectively, in the cartesian three-dimensional coordinate system of the disk base, and X W、YW and Z W refer to X, Y and Z coordinates, respectively, in the expanded coordinate system of the disk base.
In one possible design, extracting corner points for each row of three-dimensional point cloud data respectively to obtain coordinate information of each corner point under a polar coordinate system includes:
Performing first-order derivation on Z-axis data of each row of three-dimensional point cloud data, and when the Z-axis data after derivation is larger than a threshold value, determining that the current Z-axis data corresponds to a corner point;
According to coordinate information Pc= { V (i, j, 1), V (i, j, 2), V (i, j, 3) } of each corner point in a polar coordinate system, wherein V (i, j, 1), V (i, j, 2) and V (i, j, 3) respectively represent X-axis coordinates, Y-axis coordinates and Z-axis coordinates of a point in an ith row and a jth column in three-dimensional point cloud data.
In one possible design, according to the coordinate information of each angular point of the cylindrical calibration block under the unfolding coordinate system of the disc base and the coordinate information under the polar coordinate system, the transformation relation between the unfolding coordinate system of the disc base and the polar coordinate system is obtained by calculation, which comprises the following steps:
According to the coordinate information P Z of each angular point of the cylindrical calibration block under the unfolding coordinate system of the disc base and the coordinate information P C under the polar coordinate system, the transformation relation between the unfolding coordinate system of the disc base and the polar coordinate system is calculated, as follows:
PZ＝ZHC·PC； (4)
Wherein ZHC denotes a transformation relationship between the coordinate information P Z and the coordinate information P C, and is solved by a least square method.
In a third aspect, the present invention provides a computer device comprising a memory, a processor and a transceiver in communication with each other in sequence, wherein the memory is adapted to store a computer program and the transceiver is adapted to receive and transmit messages, and the processor is adapted to read the computer program and to perform a calibration method as described in any one of the possible designs of the first aspect.
In a fourth aspect, the invention provides a computer readable storage medium having instructions stored thereon which, when executed on a computer, perform a calibration method as described in any one of the possible designs of the first aspect.
In a fifth aspect, the invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform a calibration method as described in any one of the possible designs of the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
1. According to the invention, the upper three-dimensional imaging device is arranged, a control command is issued to the controller through the industrial personal computer, the controller sends a control signal to the servo motor, the servo motor drives the disc base to rotate so as to drive the upper to rotate, the controller receives an encoder signal of the servo motor, and the laser three-dimensional camera is triggered to emit a laser triangle plane through the encoder signal, so that three-dimensional point cloud data of the upper in a polar coordinate system can be collected at 360 degrees, namely, after one complete turn, three-dimensional imaging of the 360-degree outer ring of the upper is completed. Therefore, three-dimensional point cloud data can be provided for subsequent automatic track extraction.
2. According to the invention, the disc coordinate system is calibrated by arranging the cylindrical calibration blocks, the central axis of the cylindrical calibration blocks coincides with the central axis of the disc base, the heights of the upper edge and the lower edge of each circular ring of the cylindrical calibration blocks on the cylindrical calibration blocks are known information, and the laser triangle plane emitted by the laser three-dimensional camera is parallel to the central axis of the cylindrical calibration blocks, so that the accuracy of the obtained disc coordinate system coordinate information is ensured.
3. The invention establishes a Cartesian three-dimensional coordinate system of a disc base by arranging a cylindrical calibration block at the center of the disc base, and establishes an unfolding coordinate system of the disc base according to the Cartesian three-dimensional coordinate system of the disc base, wherein the coordinate information of the upper edge and the lower edge of each circular ring of the cylindrical calibration block under the Cartesian three-dimensional coordinate system of the disc base is known information; a laser three-dimensional camera sends out a laser triangle plane to perform rotary scanning on the cylindrical calibration block, three-dimensional point cloud data of the cylindrical calibration block are acquired, angular points are extracted from each row of three-dimensional point cloud data respectively, and coordinate information of each angular point under a polar coordinate system is obtained; and calculating according to the coordinate information of each angular point of the cylindrical calibration block under the unfolding coordinate system of the disc base and the coordinate information under the polar coordinate system to obtain the transformation relation between the unfolding coordinate system of the disc base and the polar coordinate system. Therefore, after the upper three-dimensional image is extracted subsequently, the three-dimensional image is converted into coordinate information under the unfolding coordinate system of the disc base by utilizing a transformation relation, and then the coordinate information is converted into coordinate information under the Cartesian coordinate system of the disc, so that the imaging precision is improved, and the information error is reduced.
Drawings
FIG. 1 is a schematic diagram of a three-dimensional imaging device for uppers in accordance with an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a cylindrical calibration block in an embodiment of the present application;
FIG. 3 is a flow chart of a calibration method in an embodiment of the application;
FIG. 4 is a diagram of transformation of a disk coordinate system in an embodiment of the application;
Fig. 5 is a schematic view of the corner positions in an embodiment of the present application.
Wherein, 1-bracket; 2-an industrial personal computer; 3-a controller; 4-a servo motor; 5-a disc base; 6-upper; 7-a laser three-dimensional camera; 8-a cylindrical calibration block; 9-a first central bore; 10-a second central bore; 11-ring.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be briefly described below with reference to the accompanying drawings and the description of the embodiments or the prior art, and it is obvious that the following description of the structure of the drawings is only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art. It should be noted that the description of these examples is for aiding in understanding the present invention, but is not intended to limit the present invention.
Example 1
As shown in fig. 1 and fig. 2, a first aspect of the embodiment of the present application provides a three-dimensional imaging device for a shoe upper, which includes a bracket, wherein an industrial personal computer, a controller, a servo motor, a disc base, a shoe upper and a laser three-dimensional camera are provided on the bracket, the industrial personal computer is electrically connected with the controller, the controller is respectively electrically connected with the servo motor and the laser three-dimensional camera, the disc base is provided on an output shaft of the servo motor, the shoe upper is detachably provided on the disc base, and the laser three-dimensional camera is provided above the shoe upper obliquely;
The industrial personal computer is used for issuing a control instruction to the controller, the controller is used for sending a control signal to the servo motor, the servo motor is used for driving the disc base to rotate so as to drive the upper to rotate, the controller is also used for receiving an encoder signal of the servo motor and triggering the laser three-dimensional camera to send a laser triangle plane through the encoder signal, so that three-dimensional point cloud data of the upper under a polar coordinate system are collected at 360 degrees.
When the actual imaging needs to be described, a control instruction is issued to the controller through the industrial personal computer, the controller sends a control signal to the servo motor, the servo motor drives the disc to rotate, the line laser three-dimensional camera is continuously triggered to image through encoder signals of the servo motor, and after one complete circle is rotated, three-dimensional imaging of the 360-degree outer ring of the vamp is completed. However, the image at this time is vamp three-dimensional point cloud data under the polar coordinate system of vamp, needs to be converted into vamp three-dimensional point cloud data under the Cartesian coordinate system through the calibration relation.
Based on the disclosure, the embodiment of the application sets the upper three-dimensional imaging device, sends a control instruction to the controller through the industrial personal computer, the controller sends a control signal to the servo motor, the servo motor drives the disc base to rotate so as to drive the upper to rotate, the controller receives an encoder signal of the servo motor, and triggers the laser three-dimensional camera to send a laser triangle plane through the encoder signal, so that three-dimensional point cloud data of the upper in a polar coordinate system is collected at 360 degrees, namely, after one complete circle of rotation, three-dimensional imaging of the 360-degree outer ring of the upper is completed. Therefore, three-dimensional point cloud data can be provided for subsequent automatic track extraction.
In a specific embodiment, the device further comprises a cylindrical calibration block, wherein the cylindrical calibration block is detachably arranged on the disc base, and the central axis of the cylindrical calibration block coincides with the central axis of the disc base. Preferably, the disc base is provided with a first central hole, the cylindrical calibration block is provided with a second central hole, and the cylindrical calibration block is installed on the disc base by penetrating through the first central hole and the second central hole through a pin. Preferably, the cylindrical calibration block comprises a plurality of rings arranged in parallel in the longitudinal direction, wherein the height of the upper edge and the lower edge of each ring on the cylindrical calibration block is known information, namely the Z-axis coordinate of the lower edge and the Z-axis coordinate of the lower edge of each ring can be determined by the height information when the rings are custom-manufactured, so that the coordinate information of each ring under a disc coordinate system is known information. More preferably, in one possible design, the laser triangle plane emitted by the laser three-dimensional camera is parallel to the central axis of the cylindrical calibration block, so that the accuracy of the Z-axis coordinate can be ensured.
Based on the above disclosure, in the embodiment of the application, the disc coordinate system is calibrated by setting the cylindrical calibration block, the central axis of the cylindrical calibration block coincides with the central axis of the disc base, the heights of the upper edge and the lower edge of each circular ring of the cylindrical calibration block on the cylindrical calibration block are known information, and the laser triangle plane emitted by the laser three-dimensional camera is parallel to the central axis of the cylindrical calibration block, so that the accuracy of the obtained disc coordinate system coordinate information is ensured.
Example two
As shown in fig. 3-5, a second aspect of the embodiment of the present application provides a calibration method based on the upper three-dimensional imaging device as described in any one of the possible designs of the first aspect, including, but not limited to, implementation by steps S1-S3:
S1, setting a cylindrical calibration block at the center of a disc base, establishing a Cartesian three-dimensional coordinate system of the disc base, and establishing an unfolding coordinate system of the disc base according to the Cartesian three-dimensional coordinate system of the disc base, wherein coordinate information of the upper edge and the lower edge of each circular ring of the cylindrical calibration block under the Cartesian three-dimensional coordinate system of the disc base is known information;
The laser line plane is parallel to the central axis of the cylinder, and the central axis of the cylinder is coincident with the central axis of the disc. And then starting the motor and the camera, and obtaining a three-dimensional image after rotary scanning. The input of the whole calibration algorithm is an image imaged by line laser scanning, the three-dimensional image is a three-dimensional matrix, V (i, j, 1), V (i, j, 2) and V (i, j, 3) respectively represent x-axis coordinates, y-axis coordinates and z-axis coordinates of a point of an ith row and an ith column, and the output is a rotation transformation relation between a three-dimensional coordinate system (C) of the line laser three-dimensional camera and a three-dimensional coordinate system (W) of a disc.
In a specific embodiment, the method for setting up a cartesian three-dimensional coordinate system of a disc base by placing a cylindrical calibration block at a central position of the disc base, and setting up an unfolding coordinate system of the disc base according to the cartesian three-dimensional coordinate system of the disc base comprises:
The method comprises the steps of placing a cylindrical calibration block at the center of a disc base, taking the center point of the rotation of the disc as an origin, taking a rotating shaft of the disc as a Z axis, taking a connecting line between the origin and a point of a laser triangular plane irradiated to the bottom of the cylindrical calibration block as an X axis, determining the Z axis by a right-hand rule, and establishing a Cartesian three-dimensional coordinate system for obtaining the disc base;
Based on a Cartesian three-dimensional coordinate system of the disc base, unfolding the cylindrical calibration block along the rotation direction by taking the XOZ plane as a reference to obtain an unfolding coordinate system of the disc base;
the conversion relation between the Cartesian three-dimensional coordinate system of the disc base and the unfolding coordinate system of the disc base is as follows:
Zz＝ZW； (3)
Wherein Xz, yz and Zz refer to X, Y and Z coordinates, respectively, in the cartesian three-dimensional coordinate system of the disk base, and X W、YW and Z W refer to X, Y and Z coordinates, respectively, in the expanded coordinate system of the disk base.
Based on the disclosure above, any point in the cartesian three-dimensional coordinate system of the disc can be obtained its coordinates in the disc expansion coordinate system by the above formulas (1), (2) and (3).
S2, a laser three-dimensional camera sends out a laser triangle plane to perform rotary scanning on the cylindrical calibration block, three-dimensional point cloud data of the cylindrical calibration block are acquired, angular points are respectively extracted from each row of three-dimensional point cloud data, and coordinate information of each angular point under a polar coordinate system is obtained;
In one possible design, extracting corner points for each row of three-dimensional point cloud data respectively to obtain coordinate information of each corner point under a polar coordinate system includes:
Performing first-order derivation on Z-axis data of each row of three-dimensional point cloud data, and when the Z-axis data after derivation is larger than a threshold value, determining that the current Z-axis data corresponds to a corner point;
According to coordinate information Pc= { V (i, j, 1), V (i, j, 2), V (i, j, 3) } of each corner point in a polar coordinate system, wherein V (i, j, 1), V (i, j, 2) and V (i, j, 3) respectively represent X-axis coordinates, Y-axis coordinates and Z-axis coordinates of a point in an ith row and a jth column in three-dimensional point cloud data.
Specifically, after the line laser three-dimensional camera performs rotational scanning on the cylinder, the form of the Z-axis data of each row of the obtained three-dimensional image is shown in fig. 4, and the position of the corner point is found by processing the Z-axis data of each row. First, the first derivative of the Z-axis data of each row is obtained. I.e., let V new (i, j, 3) =v (i, j, 3) -V (i, j-1, 3). When V new (i, j, 3) is greater than the threshold, corner points can be found. And obtaining coordinates of the corner point under an online laser three-dimensional coordinate system (C): pc= { V (i, j, 1), V (i, j, 2), V (i, j, 3) }. By the angular point extraction method, a plurality of points can be obtained, and the coordinates of the points under the online laser three-dimensional coordinate system are Pc.
And S3, calculating to obtain the transformation relation between the unfolding coordinate system of the disc base and the polar coordinate system according to the coordinate information of each corner point of the cylindrical calibration block under the unfolding coordinate system of the disc base and the coordinate information under the polar coordinate system.
In one possible design of step S3, according to the coordinate information of each corner point of the cylindrical calibration block under the unfolded coordinate system of the disc base and the coordinate information under the polar coordinate system, a transformation relationship between the unfolded coordinate system of the disc base and the polar coordinate system is obtained by calculation, including:
According to the coordinate information P Z of each angular point of the cylindrical calibration block under the unfolding coordinate system of the disc base and the coordinate information P C under the polar coordinate system, the transformation relation between the unfolding coordinate system of the disc base and the polar coordinate system is calculated, as follows:
PZ＝ZHC·PC； (4)
Wherein ZHC denotes a transformation relationship between the coordinate information P Z and the coordinate information P C, and is solved by a least square method.
Based on the above disclosure, in the embodiment of the application, a cartesian three-dimensional coordinate system of a disc base is established by placing a cylindrical calibration block at the center of the disc base, and an unfolding coordinate system of the disc base is established according to the cartesian three-dimensional coordinate system of the disc base, wherein the coordinate information of the upper edge and the lower edge of each circular ring of the cylindrical calibration block under the cartesian three-dimensional coordinate system of the disc base is known information; a laser three-dimensional camera sends out a laser triangle plane to perform rotary scanning on the cylindrical calibration block, three-dimensional point cloud data of the cylindrical calibration block are acquired, angular points are extracted from each row of three-dimensional point cloud data respectively, and coordinate information of each angular point under a polar coordinate system is obtained; and calculating according to the coordinate information of each angular point of the cylindrical calibration block under the unfolding coordinate system of the disc base and the coordinate information under the polar coordinate system to obtain the transformation relation between the unfolding coordinate system of the disc base and the polar coordinate system. Therefore, after the upper three-dimensional image is extracted subsequently, the three-dimensional image is converted into coordinate information under the unfolding coordinate system of the disc base by utilizing a transformation relation, and then the coordinate information is converted into coordinate information under the Cartesian coordinate system of the disc, so that the imaging precision is improved, and the information error is reduced.
Example III
In a third aspect, the present invention provides a computer device comprising a memory, a processor and a transceiver in communication with each other in sequence, wherein the memory is adapted to store a computer program and the transceiver is adapted to receive and transmit messages, and the processor is adapted to read the computer program and to perform a calibration method as described in any one of the possible designs of the first aspect.
By way of specific example, the Memory may include, but is not limited to, random-Access Memory (RAM), read-Only Memory (ROM), flash Memory (Flash Memory), first-in first-out Memory (First Input First Output, FIFO), and/or first-out Memory (First Input Last Output, FILO), etc.; the processor may not be limited to use with a microprocessor of the STM32F105 family; the transceiver may be, but is not limited to, a WiFi (wireless fidelity) wireless transceiver, a bluetooth wireless transceiver, a GPRS (GENERAL PACKET Radio Service ) wireless transceiver, and/or a ZigBee (ZigBee protocol, low power local area network protocol based on the ieee802.15.4 standard) wireless transceiver, etc. In addition, the computer device may include, but is not limited to, a power module, a display screen, and other necessary components.
The working process, working details and technical effects of the foregoing computer device provided in the third aspect of the present embodiment may refer to the calibration method described in the foregoing first aspect or any one of the possible designs of the first aspect, which are not described herein again.
Example IV
In a fourth aspect, the invention provides a computer readable storage medium having instructions stored thereon which, when executed on a computer, perform a calibration method as described in any one of the possible designs of the first aspect.
The computer readable storage medium refers to a carrier for storing data, and may include, but is not limited to, a floppy disk, an optical disk, a hard disk, a flash Memory, and/or a Memory Stick (Memory Stick), etc., where the computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
The working process, working details and technical effects of the foregoing computer readable storage medium provided in the fourth aspect of the present embodiment may refer to the method as described in the foregoing first aspect or any one of the possible designs of the first aspect, which are not repeated herein.
Example five
In a fifth aspect, the invention provides a computer program product comprising instructions which, when run on a computer, cause the computer to perform a calibration method as described in any one of the possible designs of the first aspect.
The working process, working details and technical effects of the foregoing computer program product containing instructions provided in the fifth aspect of the present embodiment may refer to the calibration method described in the foregoing first aspect or any one of the possible designs of the first aspect, which are not repeated herein.
Finally, it should be noted that: the foregoing description is only of the preferred embodiments of the invention and is not intended to limit the scope of the invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. The calibration method of the shoe upper three-dimensional imaging device is applied to the shoe upper three-dimensional imaging device, the device comprises a bracket, an industrial personal computer, a controller, a servo motor, a disc base, a shoe upper and a laser three-dimensional camera are arranged on the bracket, the industrial personal computer is electrically connected with the controller, the controller is respectively electrically connected with the servo motor and the laser three-dimensional camera, the disc base is arranged on an output shaft of the servo motor, the shoe upper is detachably arranged on the disc base, the laser three-dimensional camera is arranged above the shoe upper obliquely, the industrial personal computer is used for issuing a control instruction to the controller, the controller is used for sending a control signal to the servo motor, the servo motor is used for driving the disc base to rotate so as to drive the shoe upper to rotate, the controller is also used for receiving encoder signals of the servo motor, triggering the laser three-dimensional camera to send a laser triangle plane through the encoder signals so as to acquire three-dimensional point cloud data of the upper in a polar coordinate system in 360 degrees, the device also comprises a cylindrical calibration block, the cylindrical calibration block is detachably arranged on the disc base, wherein the central axis of the cylindrical calibration block is coincident with the central axis of the disc base, the cylindrical calibration block comprises a plurality of rings which are longitudinally and parallelly arranged, the height of the upper edge and the lower edge of each ring on the cylindrical calibration block is known information, the disc base is provided with a first central hole, the cylindrical calibration block is provided with a second central hole, the cylindrical calibration block is arranged on the disc base by penetrating through the first central hole and the second central hole through a spike, the laser triangle plane that the laser three-dimensional camera sent with the center pin of cylinder demarcation piece is parallel, its characterized in that includes:
setting a cylindrical calibration block at the center of a disc base, establishing a Cartesian three-dimensional coordinate system of the disc base, and establishing an unfolding coordinate system of the disc base according to the Cartesian three-dimensional coordinate system of the disc base, wherein the coordinate information of the upper edge and the lower edge of each circular ring of the cylindrical calibration block under the Cartesian three-dimensional coordinate system of the disc base is known information;
A laser three-dimensional camera sends out a laser triangle plane to perform rotary scanning on the cylindrical calibration block, three-dimensional point cloud data of the cylindrical calibration block are acquired, angular points are extracted from each row of three-dimensional point cloud data respectively, and coordinate information of each angular point under a polar coordinate system is obtained;
According to the coordinate information of each angular point of the cylindrical calibration block under the unfolding coordinate system of the disc base and the coordinate information under the polar coordinate system, calculating to obtain the transformation relation between the unfolding coordinate system of the disc base and the polar coordinate system;
The method for establishing the Cartesian three-dimensional coordinate system of the disc base by arranging the cylindrical calibration block at the center of the disc base and establishing the unfolding coordinate system of the disc base according to the Cartesian three-dimensional coordinate system of the disc base comprises the following steps:
The method comprises the steps of placing a cylindrical calibration block at the center of a disc base, taking the center point of the rotation of the disc as an origin, taking a rotating shaft of the disc as a Z axis, taking a connecting line between the origin and a point of a laser triangular plane irradiated to the bottom of the cylindrical calibration block as an X axis, determining the Z axis by a right-hand rule, and establishing a Cartesian three-dimensional coordinate system for obtaining the disc base;
Based on a Cartesian three-dimensional coordinate system of the disc base, unfolding the cylindrical calibration block along the rotation direction by taking the XOZ plane as a reference to obtain an unfolding coordinate system of the disc base;
the conversion relation between the Cartesian three-dimensional coordinate system of the disc base and the unfolding coordinate system of the disc base is as follows:
Zz＝ZW； (3)
Wherein Xz, yz and Zz refer to X, Y and Z coordinates, respectively, in a cartesian three-dimensional coordinate system of the disk base, and X W、YW and Z W refer to X, Y and Z coordinates, respectively, in an expanded coordinate system of the disk base;
Extracting angular points from each row of three-dimensional point cloud data respectively to obtain coordinate information of each angular point under a polar coordinate system, wherein the method comprises the following steps:
Performing first-order derivation on Z-axis data of each row of three-dimensional point cloud data, and when the Z-axis data after derivation is larger than a threshold value, determining that the current Z-axis data corresponds to a corner point;
According to coordinate information Pc= { V (i, j, 1), V (i, j, 2), V (i, j, 3) } of each corner point in a polar coordinate system, wherein V (i, j, 1), V (i, j, 2) and V (i, j, 3) respectively represent X-axis coordinates, Y-axis coordinates and Z-axis coordinates of a point in an ith row and a jth column in three-dimensional point cloud data;
According to the coordinate information of each angular point of the cylindrical calibration block under the unfolding coordinate system of the disc base and the coordinate information under the polar coordinate system, the transformation relation between the unfolding coordinate system of the disc base and the polar coordinate system is obtained through calculation, and the method comprises the following steps:
According to the coordinate information P Z of each angular point of the cylindrical calibration block under the unfolding coordinate system of the disc base and the coordinate information P C under the polar coordinate system, the transformation relation between the unfolding coordinate system of the disc base and the polar coordinate system is calculated, as follows:
PZ＝ZHC·PC； (4)
Wherein ZHC denotes a transformation relationship between the coordinate information P Z and the coordinate information P C, and is solved by a least square method.
2. A computer device comprising a memory, a processor and a transceiver connected in sequence, wherein the memory is configured to store a computer program, the transceiver is configured to send and receive messages, and the processor is configured to read the computer program to perform the calibration method of claim 1.
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| CN102628682A (en) * | 2012-04-24 | 2012-08-08 | 重庆大学 | Volume measurement method based on industrial CT scanning technology |
| CN104054079A (en) * | 2011-11-18 | 2014-09-17 | 耐克国际有限公司 | Automated 3-d modeling of shoe parts |
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