CN211121097U - Adjustable posture calibration and calibration device suitable for grating fringe projection profile measurement - Google Patents
Adjustable posture calibration and calibration device suitable for grating fringe projection profile measurement Download PDFInfo
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- CN211121097U CN211121097U CN202020163634.XU CN202020163634U CN211121097U CN 211121097 U CN211121097 U CN 211121097U CN 202020163634 U CN202020163634 U CN 202020163634U CN 211121097 U CN211121097 U CN 211121097U
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- 239000011159 matrix material Substances 0.000 description 7
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- 238000007476 Maximum Likelihood Methods 0.000 description 1
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Abstract
The utility model discloses an adjustable posture calibration device suitable for grating fringe projection profile measurement, which comprises a base, wherein the upper end of the base is hinged with a rotating column, the upper end of the rotating column is provided with a groove and is hinged with the spherical end of a spherical connecting rod through the groove, and the rod end of the spherical connecting rod is fixedly connected with a calibration plate; the base is arranged on the device bottom plate, and the device bottom plate is provided with a standard square block. The utility model discloses can solve among the prior art handheld calibration block and carry out the problem that the calibration time detects the precision not enough, data precision is high, with low costs, easy and simple to handle.
Description
Technical Field
The utility model relates to a grating stripe projection technical field, concretely relates to calibrating device is markd to adjustable appearance suitable for grating stripe projection profile is measured.
Background
With continuous innovation and development of digitization and computer intelligence, grating fringe projection profilometry is increasingly widely researched and applied in various fields such as three-dimensional measurement, medicine, machine vision, dynamic monitoring and the like by virtue of the characteristics of high precision, full field of view, no damage, no contact and the like. The principle is that grating stripes are projected onto the surface of a target through a digital projector, the stripes are deformed after being modulated by the height of an object, the grating stripes are shot and recorded in an inclined mode through a camera, and the three-dimensional height distribution of the detected object is restored through demodulation phases.
In the process, the camera needs to correct the image coordinate system problem due to the fact that the transformation relation between a world coordinate system and a camera coordinate system exists in inclined shooting and lens distortion exists; in the prior art, a camera is usually held by hand, so that the problem that the detection precision is reduced during calibration due to hand shake exists.
SUMMERY OF THE UTILITY MODEL
The utility model discloses it is not enough to the above-mentioned among the prior art, provide one kind can solve among the prior art hand-held calibration piece and carry out calibration time and detect the adjustable appearance calibration device that is applicable to grating stripe projection profile measurement of not enough problem of precision.
In order to solve the technical problem, the utility model discloses a following technical scheme:
the adjustable posture calibration and calibration device comprises a base, wherein the upper end of the base is hinged with a rotating column, the upper end of the rotating column is provided with a groove and is hinged with the spherical end of a spherical connecting rod through the groove, and the rod end of the spherical connecting rod is fixedly connected with a calibration plate; the base is arranged on the device bottom plate, and the device bottom plate is provided with a standard square block.
The device bottom plate is arranged to place an object to be measured, and light rays penetrate through the calibration plate to irradiate the standard square block and the object to be measured; therefore, the contour size of the object to be measured can be judged according to the number of the grating stripes projected on the object to be measured by the light.
Through setting up recess and spherical connecting rod, make the calibration board can be around rotating 360 degrees rotations of post Z axle to can rotate at certain angular range in X, Y axle directions, in order to make things convenient for the measurement.
Among the above-mentioned scheme, preferred, the calibration board includes the transparent plate, is provided with a plurality of connecting rods in the transparent plate.
By arranging the transparent plate and the connecting rod, grating stripes are generated when light passes through the calibration plate.
In the above aspect, preferably, the connecting rods and the transparent plate form a checkerboard shape or a solid circular array shape.
The transparent plate and the connecting rod are set to be in the shapes of uniform line segments and circular rings, so that the same space between grating stripes is ensured, and the outline size is conveniently calculated.
In the above aspect, preferably, the calibration plate is a lightweight plastic plate.
The light plastic plate is arranged to facilitate light to penetrate through the calibration plate to form the grating, and materials can be saved.
In the above scheme, preferably, the connecting rod is of a light-tight structure.
The connecting rod is set to be of a light-tight structure, so that the number of the grating stripes can be calculated better.
In the above scheme, preferably, the inner side of the groove is spherical, the two opposite sides of the groove are provided with vertical grooves, and the height of the lower ends of the vertical grooves is not higher than the spherical center of the groove.
The vertical groove is formed, so that the calibration plate can rotate 180 degrees in the direction of the vertical groove; through rotating the post and the cooperation of base to realize that the calibration plate homoenergetic realizes 180 degrees rotations in arbitrary direction.
In the above scheme, preferably, a fastening screw is arranged at a position where the base is connected with the rotating column.
When the relative position of the base and the rotating column needs to be fixed, the fastening screw is screwed down, so that the base and the rotating column cannot rotate relatively.
In the above solution, preferably, at least two standard blocks are provided, and the heights of the standard blocks are different from each other.
The height information of the object to be detected is detected by matching the standard blocks with different heights.
In the above scheme, preferably, the bottom plate of the device is made of ferromagnetic material, and magnets are arranged in the calibration plate and the standard block.
Through set up magnet in calibration plate and standard square to can be fixed in the device bottom plate with the standard square on, and can paste the calibration plate and locate device bottom plate below, with regard to as the detection plane.
In the above scheme, preferably, the positioning hole is formed below the device bottom plate.
Therefore, the calibration device can be fixed on occasions such as an optical platform, a wall surface and the like.
The utility model provides an above-mentioned adjustable appearance calibration device suitable for grating stripe projection profile measurement's main beneficial effect lies in:
the utility model discloses a place the determinand on calibrating device to avoid the precision reduction problem that current handheld camera measurement projection profile brought, improve measurement accuracy. The Zhang Zhengyou calibration method is realized by setting the calibration plate and the calibration pattern, namely the method for calibrating the camera by utilizing the single-plane checkerboard, overcomes the defects of high-precision calibration objects required by the traditional calibration method, and only needs one printed checkerboard. The cost is reduced, the operation is convenient, and the data precision and reliability are improved.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of a transparent plate and a connecting rod.
The device comprises a base, a device bottom plate, a standard square block, a fixing screw, a transparent plate, a calibration plate, a spherical connecting rod, a rotating column, a base, a spherical connecting rod, a rotating column.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings:
fig. 1 is a schematic structural diagram of an adjustable attitude calibration apparatus suitable for grating fringe projection profile measurement.
The utility model discloses an adjustable appearance calibration calibrating device suitable for grating stripe projection profile measurement includes base 5, and base 5 upper end is articulated with rotation post 4, and rotation post 4 upper end is provided with the recess to articulated with the spherical end of spherical connecting rod 3 through the recess, the rod end of spherical connecting rod 3 and calibration board 2 fixed connection; the base 5 is arranged on a device bottom plate 6, and a standard square 7 is arranged on the device bottom plate 6.
The device bottom plate 6 is arranged to place an object to be measured, light rays penetrate through the calibration plate 2 to irradiate the standard square 7 and the object to be measured, and the light rays on the calibration plate 2 are uniform due to the fact that the size of the standard square 7 is known; therefore, the contour size of the object to be measured can be judged according to the number of the grating stripes projected on the object to be measured by the light.
Through setting up recess and spherical connecting rod 3, make calibration board 2 can be around the 360 degrees rotations of Z axle of rotation post 4 to can rotate at certain angle within range X, Y axle directions, in order to make things convenient for the measurement.
Wherein, the calibration plate 2 is provided with a connecting rod and a transparent plate 1. The connecting rods and the transparent plate 1 form a checkerboard or solid circular array shape as shown in fig. 2. The connecting rod and the transparent plate 1 are arranged so that the grating stripes are generated when light passes through the calibration plate 2. The connecting rod and the transparent plate 1 are set to be in the shapes of uniform line segments and circular rings, so that the same space between grating stripes is ensured, and the outline size is conveniently calculated.
Typically, the calibration plate 2 is a lightweight plastic plate. The connecting rod is made of light-tight material. By arranging the light plastic plate, light can conveniently penetrate through the calibration plate 2 to form the grating, and materials can be saved. The connecting rod is set to be of a light-tight structure, so that the number of the grating stripes can be calculated better.
The inner side of the groove is spherical, vertical grooves are formed in two opposite sides of the groove, and the height of the lower end of each vertical groove is not higher than the height of the spherical center of the groove. The vertical groove is formed, so that the calibration plate 2 can rotate 180 degrees in the direction of the vertical groove; through rotating 4 and the cooperation of base 5 of post to realize that calibration plate 2 can all realize 180 degrees rotations in arbitrary direction.
A fastening screw 8 is arranged at the joint of the base 5 and the rotating column 4. When the relative position of the base 5 and the rotating column 4 needs to be fixed, the fastening screw 8 is tightened, so that the base 5 and the rotating column 4 cannot rotate relatively.
Preferably, there are at least two standard squares 7, and the heights are different from each other. The height information of the object to be detected is detected by matching the standard blocks 7 with different heights.
The bottom plate 6 of the device is made of ferromagnetic material, and magnets are arranged in the calibration plate 2 and the standard blocks 7. Thereby, the standard block 7 can be fixed on the device bottom plate 6, and the calibration plate 2 can be attached under the device bottom plate 6 as a detection plane.
The lower part of the device bottom plate 6 is provided with a positioning hole. Therefore, the calibration device can be fixed on occasions such as an optical platform, a wall surface and the like.
The principle of the device for measuring the profile of the object to be measured is a camera calibration method, in particular to a Zhang Zhengyou calibration method, and the measurement principle is as follows:
let p be any point on the object under measurement, in the world coordinate system { O }w；xw,yw,zwAnd camera coordinate system [ O ]c；xc,yc,zcThe coordinates in (f) are respectively expressed by (x)w,yw,zw) And (x)c,yc,zc) Represents, camera plane { O; u, v } is represented by (u, v).
Then any point on the measured object and the image point on the camera plane have the following perspective projection geometrical relationship:
sI＝A[R,t]Xw。
where s is a scale factor, I ═ u, v,1}T，Xw＝{xw,yw,zw,1}TAnd a indicates that the internal parameter matrix is only relevant to the camera itself.
The parameters are as follows:
parameter matrix (f)x,fy,cx,cy)；
Distortion coefficient (three radial k)1,k2,k3(ii) a Two tangential p1,p2)；
The extrinsic parameter matrix [ R, t ].
Wherein [ R, t ] is determined by the relative pose relationship between the camera and the world coordinate system, and respectively represents the rotation and transmission matrix between the world coordinate system and the camera coordinate system.
In the zhang shi calibration method, set up the world coordinate system on the checkerboard plane that connecting rod and transparent plate 1 formed on calibration plate 2, make the checkerboard plane be the plane that Z equals 0, then have:
S{u,v,1}T＝A[R,t]；
{xw,yw,0,1}T＝H{xw,yw,1}T；
the homography matrix is a 3 × 3 matrix, has 8 unknowns, at least 8 equations are needed, and each checkerboard corresponding point can provide two equations, so that at least four corresponding points are needed, the homography matrix H from the world plane to the image plane can be calculated, and the specific coordinates of the p points can be obtained.
In actual practice, due to the possible presence of gaussian noise, N checkerboard images comprising connecting bars and transparent plate 1 on calibration plate 2 can be collected for optimal calibration using maximum likelihood estimation. The specific process can be completed through a tool box toolbox _ calib in matlab software.
The foregoing description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and those skilled in the art will be able to understand the present invention as long as various changes are made within the spirit and scope of the present invention as defined and defined by the appended claims, and all such changes are obvious and contemplated by the present invention.
Claims (10)
1. An adjustable posture calibration device suitable for grating fringe projection profile measurement is characterized by comprising a base, wherein the upper end of the base is hinged with a rotating column, the upper end of the rotating column is provided with a groove and is hinged with a spherical end of a spherical connecting rod through the groove, and the rod end of the spherical connecting rod is fixedly connected with a calibration plate; the base is arranged on the device bottom plate, and the device bottom plate is provided with a standard square block.
2. The adjustable calibration device for calibration of an orientation suitable for measurement of a projection profile of a grating fringe as claimed in claim 1, wherein the calibration plate comprises a transparent plate, and a plurality of connecting rods are disposed in the transparent plate.
3. The adjustable attitude calibration apparatus suitable for grating fringe projection profile measurement according to claim 2, wherein the connecting rods and the transparent plate form a checkerboard or solid circle array shape.
4. The adjustable attitude calibration device suitable for grating fringe projection profile measurement according to claim 3, wherein said calibration plate is a lightweight plastic plate.
5. The adjustable attitude calibration apparatus for grating fringe projection profile measurement as claimed in claim 4, wherein said connecting rod is a light-tight structure.
6. The adjustable calibration device according to claim 1, wherein the inner side of the groove is spherical, the two opposite sides of the groove are provided with vertical grooves, and the height of the lower ends of the vertical grooves is not higher than the spherical center of the groove.
7. The adjustable calibration device for calibration of posture suitable for measurement of projection profile of grating fringe as claimed in claim 1, wherein a fastening screw is disposed at a position where the base is connected to the rotation column.
8. The adjustable calibration apparatus according to claim 1, wherein the standard blocks have at least two heights different from each other.
9. The adjustable calibration device for calibration of orientation suitable for measurement of projection profile of grating fringe as claimed in claim 1, wherein the bottom plate of said device is made of ferromagnetic material, and magnets are disposed in calibration plate and standard block.
10. The adjustable calibration device for calibration of posture suitable for measurement of projection profile of grating fringe as claimed in claim 1, wherein a positioning hole is provided below the bottom plate of said device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020163634.XU CN211121097U (en) | 2020-02-12 | 2020-02-12 | Adjustable posture calibration and calibration device suitable for grating fringe projection profile measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020163634.XU CN211121097U (en) | 2020-02-12 | 2020-02-12 | Adjustable posture calibration and calibration device suitable for grating fringe projection profile measurement |
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| CN211121097U true CN211121097U (en) | 2020-07-28 |
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| CN202020163634.XU Expired - Fee Related CN211121097U (en) | 2020-02-12 | 2020-02-12 | Adjustable posture calibration and calibration device suitable for grating fringe projection profile measurement |
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2020
- 2020-02-12 CN CN202020163634.XU patent/CN211121097U/en not_active Expired - Fee Related
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