A multi-line array camera rapid calibration tape and calibration system based on one-dimensional code

Abstract

The invention relates to a one-dimensional code-based multi-line array camera rapid calibration belt and a calibration system. The calibration belt is composed of a plurality of calibration belt line arrays of equal length, each calibration belt line array comprises a one-dimensional code segment and an equilateral triangle segment of the same length, the equilateral triangle segment comprises a positive equilateral triangle and an inverted equilateral triangle with the same side length and arranged alternately; the calibration system comprises: a light source, a line array camera, a line array camera bracket, a line array camera base, a calibration belt and a calibration module, a plurality of line array camera bases are arranged at equal intervals on a crossbeam of the line array camera bracket, the top of the line array camera base is connected to the line array camera bracket, and the bottom is connected to the line array camera, the line array camera moves in the X, Y and Z directions, and each line array camera is connected to the calibration module through a circuit; the calibration belt is vertically below the line array camera bracket and is detachably connected to a measured object; the calibration belt and the calibration system of the invention reduce the calibration steps and the complexity of the calibration operation.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-line array camera calibration, and in particular to a multi-line array camera rapid calibration belt and a calibration system based on a one-dimensional code. Background Art

[0002] Machine vision inspection technology uses image acquisition equipment to capture the inspection target, uses image processing methods to analyze, and automatically outputs the inspection results. Machine vision inspection technology is widely used in the industrial field, among which the quality defect detection of industrial product surfaces is its main application direction. However, due to the large surface area, high inspection accuracy requirements, and fast production speed of some industrial products, the image acquisition equipment using a single linear array camera cannot meet the actual requirements. Therefore, in actual applications, it is necessary to use multiple linear array cameras to simultaneously capture the inspection target for quality inspection.

[0003] Multi-line array cameras need to be calibrated with high precision before shooting the inspection target to ensure that the imaging effect of each camera is consistent. The existing calibration operation has the problems of cumbersome operation process, low efficiency, easy to produce errors and affect the accuracy, which is not conducive to the calibration operation in the actual production environment.

[0004] Therefore, it is hoped that a multi-line array camera rapid calibration tape and calibration system based on one-dimensional code can solve the problems existing in the prior art. Summary of the invention

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a multi-line array camera rapid calibration belt and calibration system based on one-dimensional code, which solves the technical problems of complicated calibration steps, slow calibration speed and low calibration accuracy of multi-line array cameras.

[0006] In order to achieve the above object, the main technical solutions adopted by the present invention include:

[0007] An embodiment of the present invention provides a multi-line array camera rapid calibration tape based on a one-dimensional code, which is applied to the calibration and correction of a multi-line array camera in machine vision inspection, and is characterized in that the calibration tape is composed of a plurality of calibration tape line arrays of equal length, and the length of the calibration tape line array is α; each calibration tape line array comprises a one-dimensional code segment and an equilateral triangle segment of the same length, the length of the one-dimensional code segment is θ, the length of the equilateral triangle segment is β, the equilateral triangle segment comprises a forward equilateral triangle and an inverted equilateral triangle with the same side length arranged alternately, and each equilateral triangle segment has and only has one equilateral triangle.

[0008] Optionally, the equilateral triangles are filled with black solid and are arranged at equal intervals.

[0009] Optionally, the one-dimensional code segment is composed of line segments of different thicknesses, and contains one-dimensional code positioning number data. The first group of one-dimensional code positioning numbers set from the left end to the right end of the calibration tape is 00, the second group of one-dimensional code positioning numbers is 01, and the third group of one-dimensional code positioning numbers is 02, and so on.

[0010] Optionally, the length of the calibration tape is equal to the width of the object to be measured, the number of the one-dimensional code segments and the equilateral triangle segments is related to the field of view of the linear array camera, and the field of view of each linear array camera contains more than three complete groups of the one-dimensional code segments and the equilateral triangle segments.

[0011] The embodiment of the present invention further provides a calibration system for a multi-line array camera rapid calibration tape based on a one-dimensional code, comprising: a light source, a line array camera, a line array camera bracket, a line array camera base, the calibration tape and a calibration module, characterized in that: the line array camera bracket is in the shape of a gantry as a whole and spans the object to be measured, a plurality of line array camera bases are arranged at equal intervals on the crossbeam of the line array camera bracket, the top of the line array camera base is connected to the line array camera bracket, the bottom of the line array camera base is connected to the line array camera, the length direction of the calibration tape is the X direction, the width direction of the calibration tape is the Y direction, and the height direction of the calibration tape is the Z direction, the line array camera moves in the X, Y and Z directions, and each line array camera is connected to the calibration module through a circuit; the calibration tape is arranged vertically below the line array camera bracket and is detachably connected to the object to be measured; the light source is a strip light source and is arranged across the object to be measured, and the length of the light source is greater than or equal to the width of the object to be measured.

[0012] The embodiment of the present invention further provides a calibration method for a multi-line array camera rapid calibration tape based on a one-dimensional code, comprising the following steps:

[0013] Step 1: Deploy the calibration environment; install the line array camera on the line array camera base, adjust the position of the line array camera in the X, Y and Z directions, so that the multiple line array cameras are evenly spaced in the X direction and are basically aligned in the Y and Z directions, the spacing between adjacent line array cameras is smaller than the imaging width of a single line array camera on the object to be measured, and the calibration tape is set in contact with the surface of the object to be measured;

[0014] Step 2: calibrate the focal length of the multi-line array camera; the multi-line array camera images the calibration tape and sends the imaging data to the calibration module, the calibration module performs gradient calculation on the imaging data of each line array camera, the internal edge gradient value of the equilateral triangle is Q, the external edge gradient value is P, the gradient value difference A=|PQ|, and the focal length of each line array camera is adjusted respectively, so that the gradient value difference A of the imaging data of the line array camera is the minimum value, so as to ensure the image clarity;

[0015] Step 3: Adjust the horizontality of the line array camera; adjust the position of the line array camera along the Z direction so that the length value β of the equilateral triangle segment in the imaging data of each line array camera is the same, and the length value β of the equilateral triangle segment is the minimum value, so that each line array camera is in the same horizontal plane;

[0016] Step 4: Adjust the collinearity of the line array cameras; rotate the line array camera angles along the Y direction, so that the projection line segments of the horizontal central axis of each line array camera's field of view in adjacent positive equilateral triangles and inverted equilateral triangles are equal, and complete the collinearity calibration of each line array camera;

[0017] Step 5: Adjust the line array camera along the X direction to complete the imaging stitching; the calibration module extracts the imaging data of each line array camera, including: the complete one-dimensional code positioning number, the distance value C from the end position of the rightmost complete one-dimensional code photographed by the first line array camera to the right edge of the imaging, and the distance value D from the start position of the leftmost complete one-dimensional code photographed by the second line array camera to the left edge of the imaging, and the calibration tape imaging is stitched by judging the one-dimensional code positioning number, distance value C and distance value D.

[0018] Optionally, the step 5 of determining specifically includes:

[0019] One-dimensional code repeats; when the positioning number of the complete one-dimensional code on the far right of the first linear array camera and the positioning number of the complete one-dimensional code on the far left of the second linear array camera are repeated, the first linear array camera moves leftward along the X direction to shorten the right field of view of the first linear array camera to the left to the end position of the repeated one-dimensional code, and the second linear array camera moves rightward along the X direction to shorten the left field of view of the second linear array camera to the right to the end position of the repeated one-dimensional code, and the calibration is completed.

[0020] Optionally, the step 5 of determining further includes:

[0021] The one-dimensional code positioning numbers at the joint are discontinuous and there is no overlapping area; the one-dimensional code positioning numbers at the joint between the first line array camera and the second line array camera are discontinuous and there is no overlapping area between the first line array camera and the second line array camera, C+D<2β+θ, the second line array camera moves to the left along the X direction, close to the first line array camera, until C+D=2β+θ, and the calibration is completed.

[0022] Optionally, the step 5 of determining further comprises:

[0023] The one-dimensional code positioning numbers at the splicing are discontinuous and have overlapping areas; the one-dimensional code positioning numbers at the splicing of the images taken by the first line array camera and the second line array camera are discontinuous and the images taken by the first line array camera and the second line array camera have overlapping areas, C+D>2β+θ, the second line array camera moves to the right along the X direction until C+D=2β+θ, and the calibration is completed.

[0024] Optionally, the step 5 of determining further includes:

[0025] The one-dimensional code positioning numbers at the joint are continuous; the one-dimensional code positioning numbers at the joint where the first line array camera and the second line array camera take images are continuous, and the second line array camera moves rightward along the X direction until C+D=2β+θ, and the calibration is completed.

[0026] The beneficial effects of the present invention are as follows: the one-dimensional code-based multi-line array camera rapid calibration tape of the present invention uses the one-dimensional code as the stitching positioning feature information of the line array camera imaging, and uses the positive and negative alternating equilateral triangles as the calibration positioning information of the multi-line array camera. The one-dimensional code-based multi-line array camera rapid calibration system of the present invention can adjust the position of the multi-line array camera and realize the multi-line array camera rapid calibration process by imaging the calibration tape while the calibration tape and the object to be measured remain stationary, thereby effectively reducing the complexity of the calibration operation process, reducing the steps of the calibration operation, and improving the speed and accuracy of the multi-line array camera calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of a multi-line array camera rapid calibration tape based on a one-dimensional code according to the present invention;

[0028] Figure 2 It is a schematic diagram of the structure of a multi-line array camera rapid calibration system based on one-dimensional code of the present invention;

[0029] Figure 3 It is a schematic diagram of processing the repetition of one-dimensional code at the imaging splicing part of the calibration system of the present invention.

[0030] Figure 4 It is a schematic diagram of processing the one-dimensional code positioning numbering discontinuous and non-overlapping area at the imaging splicing area of ​​the calibration system of the present invention.

[0031] Figure 5 It is a schematic diagram of processing when the one-dimensional code positioning number is discontinuous and has overlapping areas at the imaging splicing part of the calibration system of the present invention.

[0032] Figure 6 It is a schematic diagram of the processing of continuous one-dimensional code positioning numbering at the imaging splicing part by the calibration system of the present invention.

[0033] Figure 7The calibration module of the calibration system of the present invention displays the focal length, horizontality and co-linear annotation interface of the multi-line array camera calibration tool.

[0034] Figure 8 The calibration module of the calibration system of the present invention displays the multi-camera stitching interface of the multi-line array camera calibration tool. DETAILED DESCRIPTION

[0035] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below through specific implementation modes in conjunction with the accompanying drawings.

[0036] Before shooting the detection target, the multi-line array camera needs to perform a high-precision calibration operation to ensure that the imaging effect of each camera is consistent. Therefore, in order to provide a simple and efficient calibration operation, the embodiment of the present invention provides a multi-line array camera rapid calibration tape and calibration system based on a one-dimensional code. By using a calibration tape with a one-dimensional code and alternating positive and negative equilateral triangles, the multi-line array camera rapid calibration system of the present invention effectively reduces the complexity of the calibration operation process, reduces the calibration operation steps, and improves the speed and accuracy of the multi-line array camera calibration.

[0037] In order to better understand the above technical solution, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0038] Embodiment 1:

[0039] like Figure 1 As shown, an embodiment of the present invention provides a multi-line array camera rapid calibration tape based on a one-dimensional code, which is applied to the calibration of a multi-line array camera in machine vision inspection, wherein the calibration tape is composed of three calibration tape line arrays of equal length, and the length of each calibration tape line array is α; each calibration tape line array comprises a one-dimensional code segment and an equilateral triangle segment of the same length, the length of the one-dimensional code segment is θ, the length of the equilateral triangle segment is β, the equilateral triangle segment comprises two regular equilateral triangles and an inverted equilateral triangle with the same side lengths alternately arranged, and each equilateral triangle segment has and only has one equilateral triangle.

[0040] The one-dimensional code and the alternating upright and inverted equilateral triangles proposed in the embodiment of the present invention provide stitching positioning feature information for imaging by a linear array camera and provide positioning information for calibration of a multi-linear array camera, thereby reducing the complexity of the calibration operation process and improving the speed and accuracy of the calibration of a multi-linear array camera.

[0041] Embodiment 2

[0042] This embodiment provides a more detailed one-dimensional code-based multi-line array camera rapid calibration belt, and the multi-line array camera rapid calibration belt contains the same number of one-dimensional code segments and equilateral triangle segments.

[0043] The alternating upright and inverted equilateral triangles are arranged in the middle of the equilateral triangle segment. The alternating upright and inverted equilateral triangles are in a black solid filling form. The alternating upright and inverted equilateral triangles are arranged at equal intervals.

[0044] The one-dimensional code segment is composed of line segments of different thicknesses, and contains one-dimensional code positioning number data. The first group of one-dimensional code positioning numbers set from the left end to the right end of the calibration tape is 00, the second group of one-dimensional code positioning numbers is 01, and the third group of one-dimensional code positioning numbers is 02, and so on.

[0045] The length of the calibration tape is equal to the width of the object to be measured, the number of the one-dimensional code segments and the equilateral triangle segments is related to the field of view of the linear array camera, and each linear array camera field of view contains more than three complete groups of the one-dimensional code segments and the equilateral triangle segments.

[0046] Embodiment 3

[0047] like Figure 2 As shown, an embodiment of the present invention provides a calibration system for a multi-line array camera rapid calibration tape based on a one-dimensional code, comprising: a light source 3, a line array camera 1, a line array camera bracket 2, a line array camera base, a calibration tape 5, a calibration module and an object to be measured 4, characterized in that: the line array camera bracket 2 is in the shape of a gantry as a whole and spans over the object to be measured 4, a plurality of line array camera bases are arranged at equal intervals on the crossbeam of the line array camera bracket 2, the top of the line array camera base is connected to the line array camera bracket 2, the bottom of the line array camera base is connected to the line array camera 1, the length direction along the calibration tape 5 is the X direction, the width direction along the calibration tape 5 is the Y direction, and the height direction along the calibration tape 5 is the Z direction, the line array camera 1 moves in the X, Y and Z directions, and the line array camera 1 is connected to the calibration module through a circuit; the calibration tape 5 is arranged vertically below the line array camera bracket 2, and is detachably connected to the object to be measured 4; the light source 3 is a strip light source and is arranged across the object to be measured 4, the illumination range covers the camera field of view, and the length of the light source 3 is greater than the width of the object to be measured 4. In another specific embodiment, the length of the light source is equal to the width of the object to be measured.

[0048] The number of linear array cameras is related to the width of the object being measured and the detection accuracy. The larger the width and the higher the accuracy requirement, the more cameras are needed.

[0049] Embodiment 4

[0050] The embodiment of the present invention provides a calibration method for a multi-line array camera rapid calibration tape based on a one-dimensional code, comprising the following steps:

[0051] Step 1: Deploy the calibration environment; install the line array camera on the line array camera base, adjust the position of the line array camera in the X, Y and Z directions, so that the multiple line array cameras are evenly spaced in the X direction and are basically aligned in the Y and Z directions, the spacing between adjacent line array cameras is smaller than the imaging width of a single line array camera on the object to be measured, and the calibration tape is set in contact with the surface of the object to be measured;

[0052] Step 2: calibrate the focal length of the multi-line array camera; the multi-line array camera images the calibration tape and sends the imaging data to the calibration module, the calibration module performs gradient calculation on the imaging data of each line array camera, the internal edge gradient value of the equilateral triangle is Q, the external edge gradient value is P, the gradient value difference A=|PQ|, and the focal length of each line array camera is adjusted respectively, so that the gradient value difference A of the imaging data of the line array camera is the minimum value, so as to ensure the image clarity;

[0053] Step 3: If Figure 7 As shown, the horizontality of the line array camera is adjusted; the position of the line array camera is adjusted along the Z direction, so that the length value β of the equilateral triangle segment in the imaging data of each line array camera is the same, and the length value β of the equilateral triangle segment is the minimum value, so that each line array camera is in the same horizontal plane;

[0054] Step 4: If Figure 7 As shown, adjust the collinearity of the linear array cameras; rotate the linear array camera angles along the Y direction, so that the projection line segments of the horizontal central axis of each linear array camera's field of view in adjacent positive equilateral triangles and inverted equilateral triangles are equal, and complete the collinearity calibration of each linear array camera;

[0055] Step 5: If Figure 8 As shown, the linear array camera is adjusted along the X direction to complete the imaging stitching; the calibration module extracts the imaging data of each linear array camera, including: the complete one-dimensional code positioning number, the distance value C from the end position of the rightmost complete one-dimensional code photographed by the first linear array camera to the right edge of the imaging, and the distance value D from the start position of the leftmost complete one-dimensional code photographed by the second linear array camera to the left edge of the imaging, and the calibration tape imaging is stitched by judging the one-dimensional code positioning number, the distance value C and the distance value D.

[0056] like Figure 3 As shown, the step 5 of making a judgment specifically includes:

[0057] One-dimensional code repeats; when the positioning number of the complete one-dimensional code on the far right of the first linear array camera and the positioning number of the complete one-dimensional code on the far left of the second linear array camera are repeated, the first linear array camera moves leftward along the X direction to shorten the right field of view of the first linear array camera to the left to the end position of the repeated one-dimensional code, and the second linear array camera moves rightward along the X direction to shorten the left field of view of the second linear array camera to the right to the end position of the repeated one-dimensional code, and the calibration is completed.

[0058] like Figure 4 As shown, the step 5 of making a judgment specifically includes:

[0059] The one-dimensional code positioning numbers at the joint are discontinuous and there is no overlapping area; the one-dimensional code positioning numbers at the joint between the first line array camera and the second line array camera are discontinuous and there is no overlapping area between the first line array camera and the second line array camera, C+D<2β+θ, the second line array camera moves to the left along the X direction, close to the first line array camera, until C+D=2β+θ, and the calibration is completed.

[0060] like Figure 5 As shown, the step 5 of making a judgment further includes:

[0061] The one-dimensional code positioning numbers at the splicing are discontinuous and have overlapping areas; the one-dimensional code positioning numbers at the splicing of the images taken by the first line array camera and the second line array camera are discontinuous and the images taken by the first line array camera and the second line array camera have overlapping areas, C+D>2β+θ, the second line array camera moves to the right along the X direction until C+D=2β+θ, and the calibration is completed.

[0062] like Figure 6 As shown, the step 5 of making a judgment further includes:

[0063] The one-dimensional code positioning numbers at the joint are continuous; the one-dimensional code positioning numbers at the joint where the first line array camera and the second line array camera take images are continuous, and the second line array camera moves rightward along the X direction until C+D=2β+θ, and the calibration is completed.

[0064] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments after knowing the basic creative concept. Therefore, the claims should be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0065] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention should also include these modifications and variations.

Claims

1. A calibration system for a multi-line array camera rapid calibration tape based on a one-dimensional code, which is applied to the calibration of a multi-line array camera in machine vision inspection, wherein the calibration tape is composed of a plurality of calibration tape arrays of equal length, and the length of the calibration tape array is α; each calibration tape array comprises a one-dimensional code segment and an equilateral triangle segment of the same length, and the one-dimensional code segment and the equilateral triangle segment are sequentially arranged in the horizontal direction of the calibration tape, the length of the one-dimensional code segment is θ, and the length of the equilateral triangle segment is β, and the equilateral triangle segment comprises a forward equilateral triangle and an inverted equilateral triangle with the same side length arranged alternately, and each equilateral triangle segment has and only has one equilateral triangle, characterized in that: The calibration system comprises: a light source, a linear array camera, a linear array camera bracket, a linear array camera base, the calibration belt and a calibration module. The linear array camera bracket is in the shape of a gantry and spans the object to be measured. A plurality of linear array camera bases are arranged at equal intervals on the crossbeam of the linear array camera bracket. The top of the linear array camera base is connected to the linear array camera bracket, and the bottom of the linear array camera base is connected to the linear array camera. The length direction of the calibration belt is the X direction, the width direction of the calibration belt is the Y direction, and the height direction of the calibration belt is the Z direction. The linear array camera moves in the X, Y and Z directions, and each linear array camera is connected to the calibration module through a circuit. The calibration belt is arranged vertically below the linear array camera bracket and is detachably connected to the object to be measured. The light source is a strip light source and is arranged across the object to be measured, and the length of the light source is greater than or equal to the width of the object to be measured. The calibration method using the calibration system comprises the following steps: Step 1: Deploy the calibration environment; install the line array camera on the line array camera base, adjust the position of the line array camera in the X, Y and Z directions, so that the multiple line array cameras are evenly spaced in the X direction and are basically aligned in the Y and Z directions, the spacing between adjacent line array cameras is smaller than the imaging width of a single line array camera on the object to be measured, and the calibration tape is set in contact with the surface of the object to be measured; Step 2: calibrate the focal length of the multi-line array camera; the multi-line array camera images the calibration tape and sends the imaging data to the calibration module, the calibration module performs gradient calculation on the imaging data of each line array camera, the calibration tape comprises a one-dimensional code segment and an equilateral triangle segment, the internal edge gradient value of the equilateral triangle is Q, the external edge gradient value is P, the gradient value difference A=|PQ|, and the focal length of each of the line array cameras is adjusted respectively, so that the gradient value difference A of the imaging data of the line array camera is the minimum value, thereby ensuring the image clarity; Step 3: Adjust the horizontality of the line array camera; adjust the position of the line array camera along the Z direction so that the length value β of the equilateral triangle segment in the imaging data of each line array camera is the same, and the length value β of the equilateral triangle segment is the minimum value, so that each line array camera is in the same horizontal plane; Step 4: Adjust the collinearity of the line array cameras; rotate the line array camera angles along the Y direction, so that the projection line segments of the horizontal central axis of each line array camera's field of view in adjacent positive equilateral triangles and inverted equilateral triangles are equal, and complete the collinearity calibration of each line array camera; Step 5: Adjust the line array camera along the X direction to complete the imaging stitching; the calibration module extracts the imaging data of each line array camera, including: the complete one-dimensional code positioning number, the distance value C from the end position of the rightmost complete one-dimensional code photographed by the first line array camera to the right edge of the imaging, and the distance value D from the start position of the leftmost complete one-dimensional code photographed by the second line array camera to the left edge of the imaging, and the calibration tape imaging is stitched by judging the one-dimensional code positioning number, distance value C and distance value D.

2. The calibration system for a multi-line array camera rapid calibration tape based on a one-dimensional code as claimed in claim 1, characterized in that: The step 5 of making the judgment specifically includes: One-dimensional code repeats; when the positioning number of the complete one-dimensional code on the far right of the first linear array camera and the positioning number of the complete one-dimensional code on the far left of the second linear array camera are repeated, the first linear array camera moves leftward along the X direction to shorten the right field of view of the first linear array camera to the left to the end position of the repeated one-dimensional code, and the second linear array camera moves rightward along the X direction to shorten the left field of view of the second linear array camera to the right to the end position of the repeated one-dimensional code, and the calibration is completed.

3. The calibration system for a multi-line array camera rapid calibration tape based on a one-dimensional code as claimed in claim 1, characterized in that: The step 5 of judging specifically includes: The one-dimensional code positioning numbers at the joint are discontinuous and there is no overlapping area; the one-dimensional code positioning numbers at the joint between the first line array camera and the second line array camera are discontinuous and there is no overlapping area between the first line array camera and the second line array camera, C+D<2β+θ, the second line array camera moves to the left along the X direction, close to the first line array camera, until C+D=2β+θ, and the calibration is completed.

4. The calibration system for a multi-line array camera rapid calibration tape based on a one-dimensional code as claimed in claim 1, characterized in that: The step 5 of making the judgment specifically further comprises: The one-dimensional code positioning numbers at the splicing are discontinuous and have overlapping areas; the one-dimensional code positioning numbers at the splicing of the images taken by the first line array camera and the second line array camera are discontinuous and the images taken by the first line array camera and the second line array camera have overlapping areas, C+D>2β+θ, the second line array camera moves to the right along the X direction until C+D=2β+θ, and the calibration is completed.

5. The calibration system for a multi-line array camera rapid calibration tape based on a one-dimensional code as claimed in claim 1, characterized in that: The step 5 of making the judgment further specifically includes: The one-dimensional code positioning numbers at the joint are continuous; the one-dimensional code positioning numbers at the joint where the first line array camera and the second line array camera take images are continuous, and the second line array camera moves rightward along the X direction until C+D=2β+θ, and the calibration is completed.

6. The calibration system for a multi-line array camera rapid calibration tape based on a one-dimensional code as claimed in claim 1, characterized in that: The equilateral triangles are filled with black solid and are arranged at equal intervals.

7. The calibration system for a multi-line array camera rapid calibration tape based on a one-dimensional code as claimed in claim 6, characterized in that: The one-dimensional code segment is composed of line segments of different thicknesses, and contains one-dimensional code positioning number data. The first group of one-dimensional code positioning numbers set from the left end to the right end of the calibration tape is 00, the second group of one-dimensional code positioning numbers is 01, and the third group of one-dimensional code positioning numbers is 02, and so on.

8. The calibration system for a multi-line array camera rapid calibration tape based on a one-dimensional code as claimed in claim 7, characterized in that: The length of the calibration tape is equal to the width of the object to be measured, the number of the one-dimensional code segments and the equilateral triangle segments is related to the field of view of the linear array camera, and each linear array camera field of view contains more than three complete groups of the one-dimensional code segments and the equilateral triangle segments.

Images