Calibration system, calibration method and device of industrial camera and medium

Abstract

The invention discloses an industrial camera calibration system, calibration method, device and medium, the calibration system comprises a to-be-calibrated industrial camera, an adapter ring, a light generation device, an imaging lens and a cursor reference object, the adapter ring is connected with the to-be-calibrated industrial camera and the imaging lens, the light generation device is arranged in the adapter ring, and the light generation device is arranged in the adapter ring. The light generating device comprises a light source, a light adjusting element, a first optical element and a second optical element, light emitted by the light source passes through the light adjusting element and the first optical element to reach the industrial camera to be calibrated, and the light emitted by the light source passes through the light adjusting element, the second optical element and the imaging lens to reach the cursor reference object. The embodiment of the invention can improve the calibration precision and efficiency of the industrial camera, and can be widely applied to the technical field of measurement.

Description

Technical Field

[0001] The present invention relates to the field of measurement technology, and in particular to a calibration system, calibration method, device and medium for an industrial camera. Background Art

[0002] Industrial cameras include industrial line scan cameras and industrial area scan cameras. In the field of machine vision defect detection, all scenarios that require the use of line scan cameras or area scan cameras mainly involve the debugging of industrial cameras to ensure that the camera is in the best shooting angle and position.

[0003] At present, the debugging of industrial cameras is all done manually with the help of tools. The camera angle is measured by a handheld angle meter or with the help of the built-in app tool on the mobile phone. Whether the position between the camera sensor and the object being photographed is appropriate needs to be judged by observing the imaging effect. For example, the object being photographed is a flat square printed paper with a square grid with a side length of 1 cm printed on it. For the area array industrial camera, the effect to be achieved is that the pattern on the printed paper captured by the camera is a regular square pattern, and the entire image is clear and uniform. The current manual debugging method is to roughly adjust the level of the camera, let the camera shoot the printed paper vertically, and then judge whether the camera position is appropriate based on the effect of the scheme pattern captured by the camera. If the captured square pattern is oblique, the camera needs to be rotated in the horizontal plane until the collected image is positive. After the pattern is positive, it is necessary to check whether the pattern is uniform, that is, whether the four corners of the square are in focus normally. At this time, the clarity of the square pattern is observed by the naked eye to judge whether the focus is appropriate. There is no strict ruler to measure the camera focus accuracy. If you observe with your naked eyes that a corner of the paper is a little out of focus, you need to adjust the angle of the camera based on the rough judgment of the out-of-focus position. After the adjustment is completed, continue to take pictures and observe until the collected image is clear and uniform.

[0004] Therefore, the current calibration method can only roughly determine the position of the industrial camera, but the position accuracy of the industrial camera is not enough to meet the detection scheme with precise requirements for imaging effects. In addition, the calibration process requires a lot of time and is not efficient. Summary of the invention

[0005] In view of this, in order to solve one of the above problems, an object of an embodiment of the present invention is to provide a calibration system, a calibration method device and a medium for an industrial camera, which can improve the calibration accuracy and efficiency of the industrial camera.

[0006] On the one hand, an embodiment of the present invention provides a calibration system for an industrial camera, comprising an industrial camera to be calibrated, an adapter ring, a light generating device, an imaging lens and a cursor reference, wherein the adapter ring connects the industrial camera to be calibrated and the imaging lens, the light generating device is arranged in the adapter ring, the light generating device comprises a light source, a light adjustment element, a first optical element and a second optical element, the light emitted by the light source passes through the light adjustment element and the first optical element to reach the industrial camera to be calibrated, and the light emitted by the light source passes through the light adjustment element, the second optical element and the imaging lens to reach the cursor reference.

[0007] Optionally, the system further comprises a plurality of rangefinders, and the rangefinders are arranged on the adapter ring.

[0008] Optionally, the system also includes a plurality of servo motors, which are arranged on the industrial camera to be calibrated and / or the imaging lens, and the servo motors are used to adjust the position and angle of the industrial camera to be calibrated, and / or the servo motors are used to adjust the focal length of the imaging lens.

[0009] Optionally, the system further comprises a remote control handle, and the remote control handle is used to control the servo motor.

[0010] Optionally, the cursor reference includes optical scale lines, and the optical scale lines include a center line and scale lines of different widths on both sides of the center line.

[0011] On the other hand, an embodiment of the present invention provides a calibration method for an industrial camera, which is applied to the above-mentioned calibration system, including:

[0012] Control the light emitted by the light source to pass through the light adjustment element and the first optical element to reach the industrial camera to be calibrated, adjust the light adjustment element so that the light emitted by the light source coincides with the image acquisition sensor of the industrial camera to be calibrated, and fix the light source and the light adjustment element after the coincidence;

[0013] The light emitted by the light source is controlled to pass through the light adjustment element, the second optical element and the imaging lens to reach the cursor reference object, the industrial camera to be calibrated is adjusted so that the light emitted by the light source is aligned with the cursor reference object, and the industrial camera to be calibrated is fixed.

[0014] Optionally, the industrial camera to be calibrated is adjusted by the following method:

[0015] The position of the industrial camera to be calibrated is adjusted in three-dimensional space by a plurality of servo motors;

[0016] The angle of the industrial camera to be calibrated is adjusted in three-dimensional space by a plurality of servo motors.

[0017] Optionally, the calibration method further includes:

[0018] A plurality of rangefinders are controlled to measure the distance from the adapter ring to the cursor reference object, so as to determine whether the industrial camera to be calibrated is parallel to the cursor reference object.

[0019] On the other hand, an embodiment of the present invention provides a calibration device for an industrial camera, comprising:

[0020] at least one processor;

[0021] at least one memory for storing at least one program;

[0022] When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0023] On the other hand, an embodiment of the present invention provides a computer-readable storage medium, in which a program executable by a processor is stored. When the program executable by the processor is executed by the processor, it is used to perform the above method.

[0024] The implementation of the embodiment of the present invention includes the following beneficial effects: the calibration system of the industrial camera in the embodiment includes the industrial camera to be calibrated, an adapter ring, a light generating device, an imaging lens and a cursor reference object, the adapter ring connects the industrial camera to be calibrated and the imaging lens, the light generating device is arranged in the adapter ring, the light generating device includes a light source, a light adjusting element, a first optical element and a second optical element, the light emitted by the light source passes through the light adjusting element and the first optical element to reach the industrial camera to be calibrated, the light adjusting element is adjusted so that the light emitted by the light source coincides with the image acquisition sensor of the industrial camera to be calibrated, and after the coincidence, the light source and the light adjusting element are fixed Element, light emitted by the light source passes through the light adjustment element, the second optical element and the imaging lens to reach the cursor reference object, the industrial camera to be calibrated is adjusted to align the light emitted by the light source with the cursor reference object, the industrial camera to be calibrated is fixed, and the light emitted by the light source is transmitted to the cursor reference object, which is equivalent to light emitted from the image acquisition sensor of the industrial camera to be calibrated and transmitted to the cursor reference object, the imaging process of the industrial camera is reversed, and the industrial camera to be calibrated is adjusted through the cursor reference object to complete the calibration, without having to debug the industrial camera back and forth many times according to the captured images, thereby improving the calibration accuracy and efficiency of the industrial camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a structural block diagram of a calibration system for an industrial camera provided by an embodiment of the present invention;

[0026] Figure 2 is a structural block diagram of another industrial camera calibration system provided by an embodiment of the present invention;

[0027] Figure 3 is a structural block diagram of another industrial camera calibration system provided by an embodiment of the present invention;

[0028] Figure 4 is a cross-sectional view of an adapter ring provided by an embodiment of the present invention;

[0029] Figure 5 is a structural schematic diagram of a cursor reference provided by an embodiment of the present invention;

[0030] Figure 6 is a flowchart of a calibration method for an industrial camera provided by an embodiment of the present invention;

[0031] Figure 7 is a flowchart of steps for adjusting an industrial camera provided by an embodiment of the present invention;

[0032] Figure 8 is a flowchart of another method for calibrating an industrial camera provided by an embodiment of the present invention;

[0033] Fig. 9 is a structural block diagram of another industrial camera calibration system provided by an embodiment of the present invention;

[0034] Fig.10 It is a structural block diagram of a calibration device for an industrial camera provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The step numbers in the following embodiments are only provided for the convenience of explanation and description, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0036] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0038] Industrial cameras include industrial line scan cameras and industrial area scan cameras. When an industrial line scan camera receives a pulse signal, the image it collects is only a horizontal line with a width of 1 pixel. When an industrial area scan camera receives a pulse signal, the image it collects is a whole image with a fixed width and height. For a row of images, find an image and use image viewing software to enlarge the image until you can see the small squares that make up the image. This small square is called a pixel. The pattern composed of all pixel squares on a horizontal line where any small square in the image is located is called a row of images.

[0039] like Figure 1 and Figure 2 As shown, Figure 1 Represents the first optical path of the calibration system of the industrial camera, Figure 2 The second optical path of the calibration system of the industrial camera is represented. The embodiment of the present invention provides a calibration system of the industrial camera, comprising an industrial camera to be calibrated, an adapter ring, a light generating device, an imaging lens and a cursor reference object (1-6). The adapter ring connects the industrial camera to be calibrated and the imaging lens. The light generating device is arranged in the adapter ring. The light generating device comprises a light source (1-1), a light adjustment element (1-2), a first optical element (1-3) and a second optical element (1-5). The light emitted by the light source (1-1) passes through the light adjustment element (1-2) and the first optical element (1-3) to reach the industrial camera to be calibrated. The light emitted by the light source (1-1) passes through the light adjustment element (1-2), the second optical element (1-5) and the imaging lens to reach the cursor reference object (1-6). The industrial camera to be calibrated comprises an image acquisition sensor (1-4).

[0040] It should be noted that the light source is determined according to the actual application, and this embodiment does not make specific restrictions, such as a visible light source or a laser light source. The light adjustment element can adjust the distance from the light source to the first optical element or the second optical element, the brightness of the light, and the shape of the light spot, etc. The shape of the light spot can be achieved by optical components such as an aperture. It can be understood by those skilled in the art that the industrial camera to be calibrated can be an industrial line scan camera and an industrial area scan camera. Different types of industrial cameras correspond to different light adjustment elements for adjustment. For example, the image acquisition sensor of an industrial line scan camera is linear, so the light adjustment element corresponding to the industrial line scan camera adjusts the light emitted by the light source into a linear shape; the image acquisition sensor of an industrial area scan camera is planar, so the light adjustment element corresponding to the industrial area scan camera adjusts the light emitted by the light source into a planar shape.

[0041] It should be noted that the adapter ring is a universal adapter ring, which can be connected to industrial cameras with different interfaces to be calibrated and imaging lenses with different interfaces; other sensors can also be integrated in the adapter ring, such as various miniature level angle sensors. The level is used to give an accurate angle level data for reference. In addition, according to the measured three-dimensional space parameters, the three-dimensional space graphics of industrial cameras and imaging lenses in the calibration system are determined.

[0042] Those skilled in the art will appreciate that the focal length of the imaging lens can be adjusted according to the imaging of light on the surface of the cursor reference object to form a clear image on the surface of the cursor reference object.

[0043] Optionally, the calibration system further includes a plurality of rangefinders, and the rangefinders are arranged on the adapter ring.

[0044] It should be noted that the number and installation position of the rangefinders are determined according to actual applications, and this embodiment does not impose any specific restrictions. Figure 3 and Figure 4 , Figure 3 shows a side view of the calibration system, Figure 4 The cross-sectional view of the adapter ring is shown. The calibration system integrates 4 point laser distance meters, of which 3 point laser distance meters (2-1) are installed at the 3 corners of the level meter of the adapter ring, measuring the distance vertically downward, i.e., vertical distance meters; 1 point laser distance meter (2-2) is installed at the center of one side of the level meter of the adapter ring, measuring the distance horizontally to the left, i.e., horizontal distance meter. The vertical distance meter can accurately measure the distance between the cursor reference object and the imaging lens, and can also make the flange surface of the industrial camera to be calibrated and the surface of the cursor reference object parallel through the vertical laser distance measurement at 3 points in the same horizontal plane. Another horizontal horizontal laser distance meter can measure the distance between adjacent cameras.

[0045] The function of the laser rangefinder is to determine whether the position of the industrial camera to be calibrated is parallel to the surface of the cursor reference object, which is equivalent to an auxiliary role. The data measured by the laser rangefinder is used to control the fine-tuning position of the servo motor of the industrial camera to be calibrated in three dimensions of three-dimensional space.

[0046] Optionally, the system also includes a plurality of servo motors, which are arranged on the industrial camera to be calibrated and / or the imaging lens, and the servo motors are used to adjust the position and angle of the industrial camera to be calibrated, and / or the servo motors are used to adjust the focal length of the imaging lens.

[0047] It should be noted that the data of the servo motor is determined according to the actual application, and this embodiment does not impose specific restrictions. For example, the calibration system of an industrial camera is equipped with 7 servo motors, each of which independently controls the position of each component in the calibration system of the industrial camera; among them, 1 servo motor (including a component assembled from mechanical accessories) is fixed on the imaging lens to control the focal length of the imaging lens for small movements; the mechanical structure composed of 3 servo motors can control the displacement of the industrial camera to be calibrated in the three directions of XYZ in three-dimensional space, and the mechanical structure composed of another 3 servo motors can control the angle of the industrial camera to be calibrated in the three directions of XYZ in three-dimensional space. In addition to realizing the precise adjustment of the camera angle and position, these mechanical structures can also lock the position of the industrial camera to be calibrated or the imaging lens in real time, and will not change under the violent influence of the outside world within a certain range.

[0048] In addition, in the related art, the focal length of the target industrial camera is only judged by naked eye observation and adjusted repeatedly, while the embodiment of the present invention can call the image of the imaging lens and automatically adjust the focal length of the imaging lens according to the image effect; and can eliminate the focal length change caused by the slight offset of the lens position due to accidental touch during the process of locking the camera lens after the manual adjustment is completed. After the lens focal length is manually adjusted and in the process of locking the lens, the lens focal length may change slightly again due to hand shaking. The embodiment of the present invention uses a servo motor to control the lens to adjust the focal length. After the adjustment is completed, the lens position is locked by the servo. At this time, the locking screw of the camera lens itself is locked, and the focal length change caused by accidental triggering of hand shaking will not occur.

[0049] In some optional embodiments, the calibration system may also include a bracket, which is used to support the industrial camera to be calibrated. The bracket can be made of all-aluminum alloy in order to keep the mechanical structure from being easily deformed. In addition to using a manual knob to fine-tune the bracket, the bracket can also control the displacement of the camera through a servo motor by adding a servo motor. There are three moving directions of the bracket, XYZ, and the structures of the three directions are basically the same. The movement adjustment structure in each direction controls the moving direction to remain unchanged through the friction of the slide rail, controls the accuracy of the moving distance through the servo motor to control the precision threaded rod, and controls the angle of the three directions through the servo motor to control the gear set. After using the servo motor to adjust the position and angle of the industrial camera to be calibrated, the position of the industrial camera to be calibrated can be locked, and the installed servo motor can be removed, and the entire system can be easily disassembled and fixed.

[0050] In the existing adjustment methods for the industrial camera to be calibrated, it is difficult to move the position of the industrial camera to be calibrated without changing the angle of the camera. The system of this embodiment only needs to focus on the position adjustment of the industrial camera to be calibrated, and the angle of the industrial camera to be calibrated will automatically remain unchanged.

[0051] Optionally, the system further comprises a remote control handle, and the remote control handle is used to control the servo motor.

[0052] The remote control handle can control multiple servo motors to move in multiple directions, and can keep the angle of the industrial camera to be calibrated unchanged to move the position, or it can lock one or more dimensions to adjust the remaining dimensions.

[0053] Optionally, the cursor reference includes optical scale lines, and the optical scale lines include a center line and scale lines of different widths on both sides of the center line.

[0054] It should be noted that the cursor reference is determined based on factors such as the light spot shape of the light source and the object to be photographed.

[0055] In some optional embodiments, see Figure 5 , the white part is the spot shape of the light source, with sawtooth squares above and below, the purpose is to judge whether the light irradiated on the surface of the cursor reference is in focus, and to judge whether the edge of the sawtooth square is clear and sharp. At the same time, when multiple cameras are spliced ​​and aligned, the distance that needs to be overlapped at the splicing of two adjacent industrial cameras to be calibrated can be accurately set according to the light scale line. For example, the spacing between the two squares above represents 1 cm, and the spacing between the two squares below is 2 cm. The sawtooth patterns projected by the two industrial cameras to be calibrated can be aligned, so that the two industrial cameras to be calibrated will not be misaligned in the horizontal direction when photographing the object pattern. The cursor reference has a clear imaging effect on the light emitted by the light source and has scale lines. The cursor reference is used to provide a judgment standard for the operator to truly observe whether the final shooting position of the industrial camera to be calibrated is appropriate and whether the focal length is in focus.

[0056] It can be understood by those skilled in the art that the calibration system can also be connected to a computer, and the computer can also simulate and generate a three-dimensional image of the industrial camera to be calibrated based on the data measured by the laser rangefinder combined with the mechanical size data of the industrial camera to be calibrated and the imaging lens itself, and display the simulated three-dimensional spatial graphics of the industrial camera to be calibrated, and perform operations such as parameter setting, and can also be used to synchronously display the content of the industrial computer connected to the industrial camera to be calibrated. The computer can also set and adjust the position and angle of the industrial camera to be calibrated based on the three-dimensional graphics. The system can be displayed on a computer or operated by an operating handle.

[0057] See also Figure 6 The embodiment of the present invention provides a calibration method for an industrial camera, which is applied to the above-mentioned calibration system, and includes:

[0058] S100, controlling the light emitted by the light source to pass through the light adjustment element and the first optical element to reach the industrial camera to be calibrated, adjusting the light adjustment element so that the light emitted by the light source coincides with the image acquisition sensor of the industrial camera to be calibrated, and fixing the light source and the light adjustment element after the coincidence;

[0059] S200, control the light emitted by the light source to pass through the light adjustment element, the second optical element and the imaging lens to reach the cursor reference object, adjust the industrial camera to be calibrated so that the light emitted by the light source is aligned with the cursor reference object, and fix the industrial camera to be calibrated.

[0060] It can be understood by those skilled in the art that the light generating device also needs to include an optical module switching mechanism, because the light emitted by the light source needs to be reflected not only to the industrial camera to be calibrated, but also to the surface of the cursor reference object. At the same time, it is also necessary to ensure that the optical path distance of the light emitted by the light source through the light adjustment element, the second optical element and the imaging lens to reach the cursor reference object is equivalent to the optical path distance of the light emitted by the image acquisition sensor of the industrial camera to be calibrated and irradiated on the cursor reference object. Therefore, it is necessary to switch two optical paths. For example, a reflector optical module is first used to fix the light emitting range size of the light source and the distance between the light source and the sensor through the reflector optical module, which is used to be equivalent to the light irradiated from the image acquisition sensor position of the industrial camera to be calibrated. At the same time, it is necessary to overlap the light of the light source and the image acquisition sensor to fix the light emitting position of the light source. After it is determined, the optical module is changed from a reflector to a prism. At this time, the light is irradiated on the cursor reference object through the prism. The purpose is to accurately simulate the field of view width of the camera. The width of the scale line of visible light can represent the field of view width of the camera. At this time, the light emitted by the light source is refracted through the prism, and the optical path distance is equal to the optical path distance of the light emitted by the image acquisition sensor of the industrial camera to be calibrated to the cursor reference. The focus of the camera is adjusted by the clarity of the light scale line irradiated on the cursor reference. It can be adjusted manually here, but the accuracy of manual adjustment of the focus is difficult to achieve the best state, so a servo motor can be used to control the focus of the lens.

[0061] The main purpose of acquiring the image of the industrial camera to be calibrated is to align the light emitted by the light source in the calibration adapter ring with the image acquisition sensor of the industrial camera to be calibrated. The light emitted by the light source is used as the standard for adjusting the position of the industrial camera to be calibrated. The light emitted by the light source is aligned with the image acquisition sensor of the industrial camera to be calibrated. If it is an area array camera, it is necessary to ensure that the line marking is on the horizontal line in the center of the acquired image.

[0062] The clarity and position of the image formed on the cursor reference surface by the light emitted by the light source can be used to determine whether the position of the industrial camera to be calibrated is accurate and whether the focal length is aligned. In a specific embodiment, the light emitted by the light source is irradiated on a rectangular fluorescent sticker, and the scale on the fluorescent sticker can be used to align the reference line, that is, the fluorescent sticker with a scale simulates the position of the photographed object, and then the cursor line of the embodiment of the present invention is aligned with the scale line on the fluorescent sticker; then the bright line of the light source is aligned with the scale line on the fluorescent sticker, so that the strip sensor of the industrial camera to be calibrated and the bright line of the light source are also aligned. In this way, after one dimension is fixed, the other dimension of the camera can be adjusted until the position of the camera is accurately adjusted. In addition, the position of the linear visible light and the width of the light emission can be fine-tuned by controlling the light adjustment element. The visible light in the adapter ring is reflected through the prism to the image acquisition sensor and imaging lens of the industrial camera to be calibrated, so that the light-emitting surface of the light source is equivalent to the width and length of the image acquisition sensor of the industrial camera to be calibrated, which is equivalent to not adding an adapter ring. The camera sensor can emit light, and the light shines on the surface of the photographed object. The position of the camera can be adjusted according to the light on the surface of the object. At the same time, the focal length of the camera lens can be adjusted. The focus clarity of the light shining on the surface of the photographed object can be observed to determine whether the focal length setting of the lens is appropriate. The width and length of the light emitted by the light source, as well as the entire optical system, can be rotated in the horizontal plane to adjust the cursor line and the image acquisition sensor of the industrial camera to be calibrated.

[0063] It is difficult to adjust the position of the industrial camera to be calibrated to the optimal position with the existing technical solutions, and there are large errors. It is difficult to keep the linear sensor of the industrial camera to be calibrated consistent with the center line of the bright line of the strip light source. The imaging effect can only be judged by observing it with the naked eye, and the process of collecting images is time-consuming and labor-intensive. The embodiment of the present invention uses the light emitted by the light source to reversely simulate the optical path of the industrial camera to be calibrated, and can more intuitively display the actual position that the industrial camera to be calibrated will capture, including the field of view width of the industrial camera to be calibrated and whether it is focused. When two adjacent industrial cameras to be calibrated are spliced, accurate splicing between the two industrial cameras to be calibrated can be achieved according to the marking line of the light, and the accuracy can reach within 1mm.

[0064] Since the imaging and image acquisition of the area array camera is also simpler, the embodiment of the present invention uses the linear array camera as an example to illustrate the advantages. The image acquisition sensor of the linear array camera is in the shape of a very thin line. After the lens is installed, the image acquired by each trigger signal when taking the image of the object is only a line of image. Therefore, if the linear array camera needs to take a complete image of the object, it is necessary to move the linear array camera or move the object to be photographed so that the linear array camera can scan the complete image of the photographed object. The linear array camera stitches together all the scanned images in rows to form a complete image of the object. The principle of the linear array camera to acquire an image is that the light reflected by the object is refracted through the imaging lens into the linear image acquisition sensor, and the image acquisition sensor converts the sensed light into a signal to acquire an image. In order to debug the position of the linear array camera, the position of the strip sensor of the linear array camera is accurately aligned with the center line of the plane where the photographed object is located, in order to ensure that the captured image is positive and not tilted. An adapter ring with an angle sensor and a light source is installed between the imaging lens and the line array camera. The width, brightness and angle of the light in the adapter ring can be adjusted. Then the light width at the light source emission position is adjusted to be consistent with the width of the image acquisition sensor of the line array camera, and the light position is aligned with the image sensor of the line array camera. This is equivalent to emitting light from the image acquisition sensor of the line array camera in reverse and illuminating the photographed object. At this time, the position of the line array camera can be intuitively adjusted according to the cursor line projected onto the object, and the stitching between the two line array cameras can be accurately controlled, because the field of view width of the line array camera can also be intuitively seen through the cursor line.

[0065] Optionally, see Figure 7 , the industrial camera to be calibrated is adjusted by the following method:

[0066] S210, adjusting the position of the industrial camera to be calibrated in three-dimensional space by using a plurality of servo motors;

[0067] S220, adjusting the angle of the industrial camera to be calibrated in three-dimensional space by using a plurality of servo motors.

[0068] In the traditional industrial camera debugging process, if the position of the industrial camera is changed, it is necessary to repeatedly iterate and tentatively adjust according to the image effect. The position of the camera cannot be accurately determined to the precise position value of the three-dimensional space of linear movement and the accurate angle value of the three directions of the spatial angle, that is, it is impossible to accurately read the position coordinate information of the current camera, and it is also impossible to control the current camera to adjust in only one dimension. In the embodiment of the present invention, the projected cursor reference is used as the final adjustment reference. If the cursor reference is out of focus on the photographed object, it means that the camera position or lens focal length is not appropriate. Not only can the current three-dimensional spatial coordinate value (including the numerical value of the linear position XYZ of the three-dimensional space and the angle value of the three directions of XYZ) be displayed in real time, and it can also be displayed in the form of a three-dimensional simulated real-time graph. When adjusting, the system can automatically calibrate the position of the industrial camera according to the pre-set parameter standard, and can also manually set the size of each parameter according to special requirements to control the control system to customize the position of the industrial camera.

[0069] Optionally, see Figure 8 , the calibration method also includes:

[0070] S010. Control a plurality of rangefinders to measure the distance from the adapter ring to the cursor reference object to determine whether the industrial camera to be calibrated is parallel to the cursor reference object.

[0071] S020: If the industrial camera to be calibrated is parallel to the cursor reference object, the calibration operation is started.

[0072] In a specific embodiment, the calibration system includes three point laser rangefinders, which are installed at three corners of the level of the adapter ring to measure the distance vertically downward, i.e., vertical rangefinders; when the distances measured by the three vertical rangefinders are different, it means that the plane of the industrial camera to be calibrated and the plane of the cursor reference object are not parallel, and the distances and angles that need to be adjusted in three dimensions of the industrial camera to be calibrated are calculated through the three distances, and the industrial camera to be calibrated is automatically adjusted through the servo motor until the industrial camera to be calibrated is parallel to the cursor reference object, and the calibration operation is started.

[0073] Optionally, the calibration method further comprises:

[0074] S010. Control a plurality of rangefinders to measure the distance from an adapter ring to an adjacent adapter ring to determine whether the spacing between adjacent industrial cameras to be calibrated meets preset requirements.

[0075] In a specific embodiment, the calibration system includes a point laser rangefinder, which is installed at the center position of one side of the level gauge of the adapter ring. By measuring the distance horizontally to the left, the distance between adjacent adapter rings can be obtained, and then the preset requirements are judged based on the actual measurement value.

[0076] It should be noted that the preset requirements are determined according to actual applications and are not specifically limited in this embodiment.

[0077] When debugging two or more industrial cameras, it is impossible to accurately align the positions of two adjacent industrial cameras. For example, when splicing two industrial cameras, in order to ensure that the image effect is as consistent as possible, the angles of the camera and the photographed object need to be set to the same, and the distance between the camera and the photographed object must be kept consistent, so that the camera can get as close as possible after the debugging is completed. If two adjacent industrial cameras cannot be aligned, the images of the moving objects taken by the two adjacent industrial cameras will be misaligned in the front and back positions or overlapped in the left and right positions after being spliced ​​together. In an embodiment of the present invention, the position of the industrial camera is determined according to a rangefinder, and two adjacent industrial cameras or multiple cameras can be automatically controlled to align.

[0078] If it is not suitable, the servo motor can be controlled through the operation interface to fine-tune the position of the industrial camera to be calibrated. When the position of the industrial camera to be calibrated is adjusted, the adapter ring and internal components can be removed to restore the original structure of the industrial camera to be calibrated. Since the image collected by the line scan camera after receiving a single exposure signal is only a row of pixel images, it cannot show the overall appearance of the photographed object. The photographed object needs to be moved in a certain direction. The encoder controls the camera to collect all the row-by-row image data and splices them together to form a complete image of the photographed object. Therefore, the position of the line scan camera has a particularly large impact on the imaging effect. Angle tilt will cause uneven images and even dispersion. All colors of the color camera are composed of RGB red, green and blue. When dispersion occurs, for example, red, green or blue will appear on the edge of the black pattern when it was originally black. By modifying the parameters and adjusting the position of the industrial camera to be calibrated, the red, green and blue colors will overlap, restore the original color effect, and eliminate dispersion. Therefore, the position relationship between the line scan camera sensor and the moving direction of the cursor reference object needs to be as accurate as possible to obtain the best image effect.

[0079] The implementation of the embodiment of the present invention includes the following beneficial effects: the calibration system of the industrial camera in the calibration method of the embodiment includes the industrial camera to be calibrated, an adapter ring, a light generating device, an imaging lens and a cursor reference object, the adapter ring connects the industrial camera to be calibrated and the imaging lens, the light generating device is arranged in the adapter ring, the light generating device includes a light source, a light adjusting element, a first optical element and a second optical element, the light emitted by the light source passes through the light adjusting element and the first optical element to reach the industrial camera to be calibrated, the light is adjusted by adjusting the light adjusting element so that the light emitted by the light source coincides with the image acquisition sensor of the industrial camera to be calibrated, and after the coincidence, the light source and A light adjustment element, the light emitted by the light source passes through the light adjustment element, the second optical element and the imaging lens to reach the cursor reference object, the industrial camera to be calibrated is adjusted to align the light emitted by the light source with the cursor reference object, the industrial camera to be calibrated is fixed, and the light emitted by the light source is transmitted to the cursor reference object, which is equivalent to the light emitted from the image acquisition sensor of the industrial camera to be calibrated and transmitted to the cursor reference object, the imaging process of the industrial camera is reversed, and the industrial camera to be calibrated is adjusted through the cursor reference object to complete the calibration, without having to debug the industrial camera back and forth many times according to the captured images, thereby improving the calibration accuracy and efficiency of the industrial camera.

[0080] See also Fig. 9 , an embodiment of the present invention provides a calibration system for an industrial camera, comprising:

[0081] The first module is used to control the light emitted by the light source to pass through the light adjustment element and the first optical element to reach the industrial camera to be calibrated, adjust the light adjustment element so that the light emitted by the light source coincides with the image acquisition sensor of the industrial camera to be calibrated, and fix the light source and the light adjustment element after the coincidence;

[0082] The second module is used to control the light emitted by the light source to pass through the light adjustment element, the second optical element and the imaging lens to reach the cursor reference object, adjust the industrial camera to be calibrated so that the light emitted by the light source is aligned with the cursor reference object, and fix the industrial camera to be calibrated.

[0083] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0084] See also Fig.10 , an embodiment of the present invention provides a calibration device for an industrial camera, comprising:

[0085] at least one processor;

[0086] at least one memory for storing at least one program;

[0087] When at least one program is executed by at least one processor, the at least one processor implements the above method.

[0088] Among them, the memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. The memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a remote memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0089] It can be seen that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0090] The calibration device 1000 for an industrial camera may include an RF (Radio Frequency) circuit 1010, a memory 1020 including one or more computer-readable storage media, an input unit 1030, a display unit 1040, a sensor 1050, an audio circuit 1060, a short-range wireless transmission module 1070, a processor 1080 including one or more processing cores, and a power supply 10100. Those skilled in the art will appreciate that Figure 6 The device structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0091] The RF circuit 1010 can be used for receiving and sending signals during information transmission or calls. In particular, after receiving the downlink information of the base station, it is handed over to one or more processors 1080 for processing; in addition, the data related to the uplink is sent to the base station. Generally, the RF circuit 1010 includes but is not limited to an antenna, at least one amplifier, a tuner, one or more oscillators, a user identity module (SIM) card, a transceiver, a coupler, an LNA (Low Noise Amplifier), a duplexer, etc. In addition, the RF circuit 1010 can also communicate with the network and other devices through wireless communication. Wireless communication can use any communication standard or protocol, including but not limited to GSM (Global System of Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), email, SMS (Short Messaging Service), etc.

[0092] The memory 1020 can be used to store software programs and modules. The processor 1080 executes various functional applications and data processing by running the software programs and modules stored in the memory 1020. The memory 1020 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the device 1000 (such as audio data, a phone book, etc.), etc. In addition, the memory 1020 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 1020 may also include a memory controller to provide the processor 1080 and the input unit 1030 with access to the memory 1020. Although Fig.10 The RF circuit 1010 is shown, but it is understandable that it is not a necessary component of the device 1000 and can be omitted as needed without changing the essence of the invention.

[0093] The input unit 1030 can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control. Specifically, the input unit 1030 may include a touch-sensitive surface 1031 and other input devices 1032. The touch-sensitive surface 1031, also known as a touch display screen or a touch pad, can collect user touch operations on or near it (such as operations performed by the user using any suitable object or accessory such as a finger, stylus, etc. on or near the touch-sensitive surface 1031), and drive the corresponding connection device according to a pre-set program. Optionally, the touch-sensitive surface 1031 may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into touch point coordinates, and then sends it to the processor 1080, and can receive and execute commands sent by the processor 1080. In addition, the touch-sensitive surface 1031 may be implemented in various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch-sensitive surface 1031, the input unit 1030 may further include other input devices 1032. Specifically, the other input devices 1032 may include, but are not limited to, one or more of a physical keyboard, a function key (such as a volume control key, a switch key, etc.), a trackball, a mouse, a joystick, and the like.

[0094] The display unit 1040 can be used to display information input by the user or information provided to the user and various graphical user interfaces of the control 1000, which can be composed of graphics, text, icons, videos and any combination thereof. The display unit 1040 may include a display panel 1041. Optionally, the display panel 1041 may be configured in the form of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), etc. Further, the touch-sensitive surface 1031 may be covered on the display panel 1041. When the touch-sensitive surface 1031 detects a touch operation on or near it, it is transmitted to the processor 1080 to determine the type of touch event. Subsequently, the processor 1080 provides a corresponding visual output on the display panel 1041 according to the type of touch event. Although in Figure 6 In the embodiment, the touch-sensitive surface 1031 and the display panel 1041 are implemented as two independent components to implement input and output functions, but in some embodiments, the touch-sensitive surface 1031 and the display panel 1041 can be integrated to implement input and output functions.

[0095] The calibration device 1000 for industrial cameras may also include at least one sensor 1050, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display panel 1041 according to the brightness of the ambient light, and the proximity sensor may turn off the display panel 1041 and / or the backlight when the calibration device 1000 for industrial cameras is moved to the ear. As a type of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary, which can be used for applications that recognize the posture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; as for other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc. that can also be configured in the calibration device 1000 for industrial cameras, they will not be repeated here.

[0096] The audio circuit 1060, the speaker 1061, and the microphone 1062 can provide an audio interface between the user and the calibration device 1000 for an industrial camera. The audio circuit 1060 can transmit the electrical signal converted from the received audio data to the speaker 1061, which is converted into a sound signal for output; on the other hand, the microphone 1062 converts the collected sound signal into an electrical signal, which is received by the audio circuit 1060 and converted into audio data, and then the audio data is processed by the output processor 1080 and sent to another control device through the RF circuit 1010, or the audio data is output to the memory 1020 for further processing. The audio circuit 1060 may also include an earplug jack to provide communication between an external earphone and the calibration device 1000 for an industrial camera.

[0097] The short-distance wireless transmission module 1070 may be a WIFI (wireless fidelity) module, a Bluetooth module, an infrared module, etc. The calibration device 1000 of the industrial camera may transmit information with a wireless transmission module provided on the combat device through the short-distance wireless transmission module 1070 .

[0098] The processor 1080 is the control center of the calibration device 1000 for industrial cameras. It uses various interfaces and lines to connect various parts of the entire control device. By running or executing software programs and / or modules stored in the memory 1020, and calling data stored in the memory 1020, it executes various functions of the calibration device 1000 for industrial cameras and processes data, thereby monitoring the control device as a whole. Optionally, the processor 1080 may include one or more processing cores; optionally, the processor 1080 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1050.

[0099] The calibration device 1000 for an industrial camera further includes a power supply 1090 (such as a battery) for supplying power to various components. Preferably, the power supply can be logically connected to the processor 1080 through a power management system, so that the power management system can manage charging, discharging, and power consumption. The power supply 1090 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0100] Although not shown, the calibration device 1000 for an industrial camera may also include a camera, a Bluetooth module, etc., which will not be described in detail here.

[0101] An embodiment of the present application further provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, the processor executes the method described in the above embodiments.

[0102] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0103] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0104] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0105] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0106] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0107] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0108] The step numbers in the above method embodiment are only provided for the convenience of explanation and description, and no limitation is imposed on the order of the steps. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0109] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A calibration system for an industrial camera, characterized in that: The invention comprises an industrial camera to be calibrated, an adapter ring, a light generating device, an imaging lens and a cursor reference object, wherein the adapter ring connects the industrial camera to be calibrated and the imaging lens, the light generating device is arranged in the adapter ring, the light generating device comprises a light source, a light adjusting element, a first optical element and a second optical element, the light emitted by the light source passes through the light adjusting element and the first optical element to reach the industrial camera to be calibrated, and the light emitted by the light source passes through the light adjusting element, the second optical element and the imaging lens to reach the cursor reference object.

2. The system according to claim 1, characterized in that The system also includes a plurality of rangefinders, and the rangefinders are arranged on the adapter ring.

3. The system according to claim 1, characterized in that The system also includes a plurality of servo motors, which are arranged on the industrial camera to be calibrated and / or the imaging lens. The servo motors are used to adjust the position and angle of the industrial camera to be calibrated, and / or the servo motors are used to adjust the focal length of the imaging lens.

4. The system according to claim 3, characterized in that The system further comprises a remote control handle, and the remote control handle is used for controlling the servo motor.

5. The system according to claim 1, characterized in that The cursor reference includes optical scale lines, and the optical scale lines include a center line and scale lines of different widths on both sides of the center line.

6. A calibration method for an industrial camera, characterized in that: The system applied to any one of claims 1 to 5, comprising: Control the light emitted by the light source to pass through the light adjustment element and the first optical element to reach the industrial camera to be calibrated, adjust the light adjustment element so that the light emitted by the light source coincides with the image acquisition sensor of the industrial camera to be calibrated, and fix the light source and the light adjustment element after the coincidence; The light emitted by the light source is controlled to pass through the light adjustment element, the second optical element and the imaging lens to reach the cursor reference object, the industrial camera to be calibrated is adjusted so that the light emitted by the light source is aligned with the cursor reference object, and the industrial camera to be calibrated is fixed.

7. The method according to claim 6, characterized in that The industrial camera to be calibrated is adjusted by the following method: The position of the industrial camera to be calibrated is adjusted in three-dimensional space by a plurality of servo motors; The angle of the industrial camera to be calibrated is adjusted in three-dimensional space by a plurality of servo motors.

8. The method according to claim 6, characterized in that The method further comprises: A plurality of rangefinders are controlled to measure the distance from the adapter ring to the cursor reference object, so as to determine whether the industrial camera to be calibrated is parallel to the cursor reference object.

9. A calibration device for an industrial camera, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 6 to 8.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is used to perform the method according to any one of claims 6 to 8 when executed by the processor.

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