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Nonlinear CCD 3D locating device combined with laser transmitter and locating method thereof

A laser transmitter and three-dimensional positioning technology, which is applied in the direction of using optical devices, measuring devices, instruments, etc., can solve problems such as short time, achieve low cost, improve positioning accuracy, and high positioning accuracy

Inactive Publication Date: 2010-01-20
HARBIN ENG UNIV
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Problems solved by technology

At short distances, however, the time is so short that this method is no longer applicable

Method used

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  • Nonlinear CCD 3D locating device combined with laser transmitter and locating method thereof
  • Nonlinear CCD 3D locating device combined with laser transmitter and locating method thereof
  • Nonlinear CCD 3D locating device combined with laser transmitter and locating method thereof

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Embodiment Construction

[0028] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0029] combine Figure 2-a and Figure 2-b , where 1 is the coupling, 2 is the laser transmitter, and 3 is the CCD camera. The structural device of the present invention needs to meet the following requirements:

[0030] 1) Ensure that the optical center of the CCD camera 3 and the emission point of the line laser transmitter 2 are strictly coplanar on the vertical plane;

[0031] 2) The motor shaft is perpendicular to the horizontal plane;

[0032] 3) Keep the plane formed by the emission light of the line laser transmitter perpendicular to the horizontal plane, that is, the projection of the intersection line between the emission light and the target point on the vertical plane is in a plumb state;

[0033] 4) The direction of the CCD camera lens is vertical to the inside of the paper;

[0034] 5) The shaft of the stepping motor cannot withstand a large axi...

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Abstract

The invention provides a nonlinear CCD 3D locating device combined with a laser transmitter and a locating method thereof. The locating method comprises the following steps: calibrating nonlinear CCD camera parameters in a plane; adjusting the relative position relation of a stepping motor, the laser transmitter and a camera so as to satisfy that a shaft of the stepping motor is vertical to a horizontal plane, an optical center of the CCD camera is seriously coplanar with emitting points of the line laser transmitter on a vertical plane, and a plane formed by the emitting line of the laser transmitter is vertical to the horizontal plane; and obtaining a 3D coordinate of an objective by virtue of the collected image information and in combination with a triangular structure of the device. In the invention, the laser transmitter is employed to increase auxiliary locating information, which compensates for the defect of inaccurate locating precision resulted from inexact calculation in monocular vision and avoids the problem of difficulty in stereo matching in binocular vision; and the stepping motor is introduced to facilitate angle measurement in trigonometry without error accumulation and improve the locating precision.

Description

(1) Technical field [0001] The invention relates to a three-dimensional positioning device based on monocular vision. The invention also relates to a three-dimensional positioning method based on monocular vision. (2) Background technology [0002] The positioning methods of the three-dimensional positioning system mainly include mechanical positioning method, ultrasonic positioning method, electromagnetic positioning method and optical positioning method. The optical positioning method is a positioning method with the highest positioning accuracy and the most convenient use. Optical vision positioning technology can be divided into monocular vision positioning technology and binocular vision positioning technology. For example: in 1992, binocular cameras were used in "3-D Computer Vision System High Precision Camera Calibration Algorithm-DLTEAII" in the 11th issue of "Acta Electronics"; in 2009, "Computer Engineering and Design" in the 30th issue " The research and impro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/00
Inventor 张铭钧张丽徐建安王玉甲赵文德历妍杨杰
Owner HARBIN ENG UNIV
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