A 3D camera calibration device and method

Abstract

The present invention provides a calibration device and method for a 3D camera, and relates to the technical field of camera calibration. The calibration device for a 3D camera includes a calibration plate, a translation stage, and a linear structured light laser mounted on the translation stage, wherein the translation stage is used to carry a 3D camera, and the translation stage can be moved closer to or farther from the calibration plate, and a detachable groove structure is provided on the surface of the calibration plate facing the translation stage, and a groove is provided on the groove structure. The cross-sectional contour of the groove on the calibration plate is measured by triangulation using a laser line, the coordinates of the points on the cross-sectional contour are extracted, and a set of equations is established with the coordinates of the known edge points of the groove, so that the coordinate transformation matrix coefficients can be solved. According to the coordinate transformation matrix coefficients, the corresponding object coordinates can be found according to the image coordinates, which not only has high solution efficiency, but also reduces the influence of camera lens distortion and has high calibration accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of camera calibration, and in particular to a calibration device and method for a 3D camera. Background Art

[0002] In the image measurement process and machine vision applications, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a spatial object and its corresponding point in the image, a geometric model of camera imaging must be established. These geometric model parameters are the camera parameters. Under most conditions, these parameters must be obtained through experiments and calculations. The process of solving the parameters is called camera calibration. Whether in image measurement or machine vision applications, the calibration of camera parameters is a very critical link. The accuracy of the calibration results and the stability of the algorithm directly affect the accuracy of the results produced by the camera. Therefore, doing a good job of camera calibration is the prerequisite for doing a good job in subsequent work, and improving the calibration accuracy is the focus of scientific research.

[0003] However, the calibration accuracy of existing 3D camera calibration devices and methods needs to be improved. Therefore, designing a 3D camera calibration device and method that can improve the calibration accuracy of 3D camera is a technical problem that urgently needs to be solved. Summary of the invention

[0004] The object of the present invention is to provide a 3D camera calibration device and method, which can improve the calibration accuracy of the 3D camera.

[0005] In a first aspect, the present invention provides a technical solution:

[0006] A 3D camera calibration device comprises a calibration plate, a translation stage and a linear structured light laser mounted on the translation stage, wherein the translation stage is used to carry the 3D camera, the translation stage can be moved closer to or farther from the calibration plate, a detachable groove structure is arranged on the surface of the calibration plate facing the translation stage, and a groove is provided on the groove structure.

[0007] In a preferred embodiment of the present invention, the translation stage includes a stepper motor, a drive control board, a screw guide mechanism and a base, the drive control board is electrically connected to the stepper motor, the stepper motor is transmission-connected to the screw guide mechanism, and the base is mounted on the screw guide mechanism.

[0008] In a preferred embodiment of the present invention, the groove structure includes a plurality of assembly blocks evenly spaced apart, and the groove is formed between two adjacent assembly blocks.

[0009] In a preferred embodiment of the present invention, the groove is any one of a dovetail groove, a triangular groove, and a rectangular groove.

[0010] In a second aspect, the present invention provides a technical solution:

[0011] A 3D camera calibration method, using the 3D camera calibration device provided in the first aspect, comprises:

[0012] Controlling the translation stage to approach or move away from the calibration plate, and during the movement, the 3D camera collects cross-sectional data of the plurality of grooves;

[0013] Extracting coordinates of section contour points in the section data;

[0014] A set of equations for the coordinates of the cross-section contour points and the edge points of the groove is established to solve the coordinate conversion matrix coefficients.

[0015] In a preferred embodiment of the present invention, the step of controlling the translation stage to approach or move away from the calibration plate, and during the movement, the 3D camera collecting cross-sectional data of the plurality of grooves comprises:

[0016] The range of movement of the translation stage is [Z0, Z1], and the distance of each movement is ΔZ, where ΔZ is the depth of the groove. The translation stage moves once, and the 3D camera collects cross-sectional data of the groove once. The translation stage is controlled to move a distance of |Z0-Z1|, and the 3D camera collects |Z0-Z1| / ΔZ cross-sectional data.

[0017] In a preferred embodiment of the present invention, the step of establishing a set of equations for the coordinates of the cross-section contour points and the edge points of the groove and solving the coordinate transformation matrix coefficients comprises:

[0018] The coordinates of the i-th cross-section contour point are [u i ,v i ], the coordinates of the edge point of the i-th groove are [x i ,y i ], the coordinate transformation matrix coefficient is a 11 ~a 32 , solve the coordinate transformation matrix coefficient a 11 ~a 32 The system of equations is:

[0019]

[0020] In a preferred embodiment of the present invention, before the step of controlling the translation stage to approach or move away from the calibration plate, the step further includes:

[0021] Adjusting the laser line of the line structured light laser to emit toward the surface of the calibration plate where the groove structure is not installed;

[0022] Adjusting the 3D camera to shoot the laser line so that the captured laser line is in the brightest and thinnest state;

[0023] The groove structure is installed on the calibration plate, and the positions of the 3D camera and the line structured light laser are adjusted so that the heights of the contours of the groove taken by the 3D camera at multiple positions are equal.

[0024] In a preferred embodiment of the present invention, after the step of installing the groove structure on the calibration plate and adjusting the positions of the 3D camera and the line structured light laser so that the heights of the contours of the grooves captured by the 3D camera at multiple positions are equal, the method further includes:

[0025] The parameters of the 3D camera are adjusted so that the widths of the raised portion and the sunken portion of the groove captured by the 3D camera are equal.

[0026] In a preferred embodiment of the present invention, before the step of adjusting the laser line of the line structured light laser to emit toward the surface of the calibration plate where the groove structure is not installed, the step further includes:

[0027] The 3D camera is adjusted to be parallel to the line structured light laser.

[0028] The 3D camera calibration device and method provided by the present invention have the following beneficial effects:

[0029] By combining line structured light with a 3D camera, the cross-sectional profile of the groove on the calibration plate is measured using laser line triangulation, the coordinates of the points on the cross-sectional profile are extracted, and a set of equations is established with the known coordinates of the edge points of the groove to solve the coordinate transformation matrix coefficients. The coordinate transformation matrix coefficients represent the one-to-one correspondence between the image coordinates and the object coordinates. According to the coordinate transformation matrix coefficients, the corresponding object coordinates can be found based on the image coordinates. This not only has high calculation efficiency, but also reduces the influence of camera lens distortion and has high calibration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 A schematic diagram of the top structure of a 3D camera calibration device provided in an embodiment of the present invention.

[0032] Figure 2A schematic diagram of the side structure of a 3D camera calibration device provided in an embodiment of the present invention.

[0033] Figure 3 Schematic diagram of the assembly of the 3D camera and the mounting leveler.

[0034] Figure 4 The present invention provides a flow chart of a 3D camera calibration method.

[0035] Figure 5 It is a statistical diagram of a single effective groove cross-section profile in the image-space coordinate system.

[0036] Figure 6 This is a statistical diagram of the original calibrated groove cross-section profile in the image-space coordinate system.

[0037] Figure 7 It is a statistical diagram of the calibrated groove cross-section profile in the object coordinate system.

[0038] Icons: 100-3D camera calibration device; 110-calibration plate; 120-groove structure; 121-combination block; 122-groove; 130-translation stage; 140-line structured light laser; 150-3D camera; 160-installation leveler; 161-base plate; 162-leveling screw; 163-camera fixing hole; 164-installation hole. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0042] In the description of the present invention, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the invention is conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0043] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The existing 3D camera calibration device and method have a need to improve the calibration accuracy of the 3D camera. Therefore, an embodiment of the present invention provides a 3D camera calibration device and method, which can improve the calibration accuracy of the 3D camera.

[0045] Please refer to Figure 1 and Figure 2 The 3D camera calibration device 100 provided in this embodiment includes a calibration plate 110, a translation stage 130, and a linear structured light laser 140 mounted on the translation stage 130. The translation stage 130 is used to carry a 3D camera 150. The surface of the calibration plate 110 facing the translation stage 130 is provided with a detachable, and a groove 122 is provided on the groove structure 120. The calibration plate 110 and the groove structure 120 are made of a material that is not easily deformed. In order to improve the recognition of the edge of the dovetail groove, the non-convex surfaces of the calibration plate 110 and the groove structure 120 are treated with light absorption.

[0046] The translation stage 130 can be moved closer to or farther from the calibration plate 110. The translation stage 130 includes a stepper motor, a drive control board, a screw guide mechanism, and a base. The drive control board is electrically connected to the stepper motor, the stepper motor is transmission-connected to the screw guide mechanism, and the base is mounted on the screw guide mechanism. The translation stage 130 and the calibration plate 110 are both horizontally arranged, and the moving direction of the translation stage 130 is perpendicular to the calibration plate 110.

[0047] The groove structure 120 includes a plurality of evenly spaced assembly blocks 121, and a groove 122 is formed between two adjacent assembly blocks 121. There are many options for the shape of the groove 122, such as a dovetail groove, a triangular groove, a rectangular groove, etc. In this embodiment, the shape of the groove 122 is a dovetail groove, and the dovetail groove is a trapezoid. Correspondingly, the cross-sectional shape of the assembly block 121 is a trapezoid, the top surface of the assembly block 121 is connected to the surface of the calibration plate 110, the assembly blocks 121 are evenly spaced, and a dovetail groove is formed between two adjacent assembly blocks 121.

[0048] Using the principle of triangulation, the line structured light emitted by the line structured light laser 140 vertically illuminates the target object, which is a dovetail groove. Diffuse reflection occurs on the surface of the target object, and the partially reflected laser line is converged at another angle by the imaging system, and the reflected laser line is imaged on the photosensitive chip of the 3D camera 150. When the surface of the object being measured is displaced along the axis direction of the line structured light, the image of the light spot on the photosensitive chip of the 3D camera 150 will also move accordingly, and the imaging position and the position of the axis of the line structured light have a unique corresponding relationship. The deformation of known size, that is, the association between the object coordinate system and the image coordinate system, is used to solve the coordinate conversion matrix coefficients. Subsequently, the corresponding object coordinates can be quickly obtained from the image coordinates output by the 3D camera 150 by looking up the coordinate conversion matrix coefficients.

[0049] Among them, the preset image coordinate system, that is, the coordinate system of the photosensitive chip of the 3D camera 150: the upper left corner of the photosensitive chip of the 3D camera 150 is the coordinate origin, the direction parallel to the calibration plate 110 is the X-axis, and the other direction parallel to the calibration plate 110 is the Z-axis, and the unit of the coordinate axis is pixel.

[0050] The preset object coordinate system, that is, the coordinate system of the calibration device 100 of the 3D camera: the light-emitting point of the line structured light laser 140 is the coordinate origin, the direction parallel to the calibration plate 110 is the X-axis, the direction parallel to the moving direction of the translation stage 130 is the Z-axis, and the unit of the coordinate axis is mm.

[0051] Please refer to Figure 3 The bottom of the 3D camera 150 is also provided with a mounting leveler 160, and the 3D camera 150 is mounted on the base of the translation stage 130 through the mounting leveler 160. The mounting leveler 160 includes a substrate 161 and a leveling screw 162. The substrate 161 is provided with a 3D camera 150 connected to a camera fixing hole 163 through a screw, and the mounting leveler 160 is connected to the base of the translation stage 130 through a screw and a mounting hole 164. The leveling screw 162 is screwed into the leveling hole, and the leveling screw 162 is used to abut against the base of the translation stage 130. Rotating the leveling screw 162 can adjust the horizontal degree of the 3D camera 150 relative to the base.

[0052] See also Figure 4 Based on the 3D camera calibration device 100, this embodiment also provides a 3D camera 150 calibration method, including the following steps:

[0053] S1: Adjust the 3D camera 150 to be parallel to the line structured light laser 140 .

[0054] Among them, by operating the installation leveler 160 at the bottom of the 3D camera 150, the 3D camera 150 can be easily adjusted to be parallel to the line structured light laser 140. At the same time, the laser line emitted by the line structured light laser 140 photographed by the 3D camera 150 is parallel to the X-axis of the image coordinate system, and the laser line photographed by the 3D camera 150 does not appear to be tilted as a whole.

[0055] S2: adjusting the laser line of the line structured light laser 140 to emit toward the surface of the calibration plate 110 where the groove structure 120 is not installed.

[0056] S3: Adjust the 3D camera 150 to shoot the laser line, and make the shot laser line be in the brightest and thinnest state.

[0057] The focal length and aperture of the lens of the 3D camera 150 are adjusted so that the laser line captured by the 3D camera 150 within the measuring range of the Z axis of the object coordinate system is in the brightest and thinnest state.

[0058] S4: Install the groove structure 120 on the calibration plate 110, and adjust the positions of the 3D camera 150 and the line structured light laser 140 so that the heights of the contours of the groove 122 captured by the 3D camera 150 at multiple positions are equal.

[0059] First, the triangular mounting bracket bolts of the translation stage 130 are adjusted to make the translation stage 130 level, and the level bubble meter is used to check whether the translation stage 130 is level, and the translation stage 130 is adjusted until it is level. Then, the groove structure 120 is installed on the calibration plate 110. Finally, the translation stage 130 is rotated horizontally to fine-tune the translation stage 130 so that the contour heights of the dovetail grooves captured by the 3D camera 150 at different left and right positions are equal.

[0060] Because the laser line of the line structured light laser 140 is irradiated vertically on the groove 122, the 3D camera 150 is tilted at a certain angle to shoot the laser line on the groove 122. The tilt angle of the 3D camera 150 is designed and calculated according to the special needs of the application scenario. The mechanical shell of the 3D camera 150 is designed with this angle to constrain the angle relationship between the 3D camera 150 and the line structured light laser 140. Since there will be certain errors in machining, the relative position relationship between the 3D camera 150 and the line structured light laser 140 is fine-tuned by installing the leveler 160 of the 3D camera 150, so it is necessary to adjust the height of the line structured light laser 140 and the groove 122.

[0061] S5: adjusting the parameters of the 3D camera 150 so that the widths of the convex part and the concave part of the groove 122 captured by the 3D camera 150 are equal.

[0062] The parameters such as exposure, gain and laser line detection threshold of the 3D camera 150 are adjusted so that the convex part and the concave part of the groove 122 captured by the 3D camera 150 have the same width.

[0063] S6: Control the translation stage 130 to move closer to or farther from the calibration plate 110 , and during the movement, the 3D camera 150 collects cross-sectional data of the plurality of grooves 122 .

[0064] The range of movement of the translation stage 130 is [Z0, Z1], and the distance of each movement is ΔZ, where ΔZ is the depth of the groove 122. Due to the return error of the lead screw, the translation stage 130 moves in the same direction each time. The translation stage 130 moves once, and the 3D camera 150 collects cross-sectional data of the groove 122 once. The translation stage 130 is controlled to move a distance of |Z0-Z1|, and the 3D camera 150 collects |Z0-Z1| / ΔZ cross-sectional data.

[0065] The 3D camera 150 collects multiple frames of sections at the same position, and takes an average value of the multiple frames of sections as valid section data of the current section, so that all the collected |Z0-Z1| / ΔZ sections of data are valid section data.

[0066] S7: Extract the coordinates of the cross-section contour points in the cross-section data.

[0067] Among them, please refer to Figure 5 , extract the coordinates of multiple cross-sectional contour points of the dovetail groove in the image coordinate system in the cross-sectional contour of each dovetail groove collected, such as Figure 5 As shown by the black cross in .

[0068] S8: Establish a set of equations for the coordinates of the cross-section contour points and the edge points of the groove 122, and solve for the coordinate conversion matrix coefficients.

[0069] In the calibration process, the coordinates of the edge points of the dovetail slot in the object coordinate system are all known, such as Figure 5 As shown by the black dots in .

[0070] To solve the coordinate transformation matrix coefficients, firstly, it is assumed that each pixel point in the image coordinate system has a unique corresponding rigid body transformation relationship with the spatial position in the object coordinate system:

[0071]

[0072] After rewriting and normalizing the coordinate transformation matrix coefficient a33, we can get,

[0073]

[0074]

[0075] Among them, [u,v] is the point in the image coordinate system, and [x,y] is the point in the object coordinate system.

[0076] The coordinates of the i-th cross-section contour point are [u i ,v i ], the coordinates of the edge point of the i-th groove 122 are [x i ,y i ], the coordinate transformation matrix coefficient is a 11 ~a 32 According to equations 1 and 2 and two adjacent valid cross-section data, the following equations are established for the four adjacent cross-section contour points of the same dovetail groove in the object coordinate system to solve the coordinate transformation matrix coefficient a 11 ~a 32 :

[0077]

[0078] The four points corresponding to the same dovetail groove of the adjacent sections of the cross-sectional contour points of all dovetail grooves are formed into a quadrilateral, and the coordinate transformation matrix coefficients of each quadrilateral are solved. Any image-side coordinate in the coordinate transformation matrix coefficient can be solved using formula 2 to obtain the unique corresponding object-side coordinate.

[0079] In order to improve the speed of solving subsequent data, the object coordinates corresponding to all points in the image coordinates of the 3D camera 150 are solved, and the two-dimensional lookup matrices of the object coordinate system X-axis and Z-axis are generated respectively. The image coordinates are used as the lower table of the lookup matrix, thereby improving the calculation efficiency.

[0080] The 3D camera calibration device 100 and method provided in this embodiment not only has high calculation efficiency, but also reduces the influence of camera lens distortion and has high calibration accuracy. Figure 6 and Figure 7 , Figure 6 is a statistical diagram of the cross-sectional profile of the originally calibrated groove 122 in the image-space coordinate system, Figure 7 The statistical diagram of the cross-sectional profile of the groove 122 after calibration in the object coordinate system is compared with Figure 6 and Figure 7 It can be seen that the cross-sectional contours of the grooves 122 formed in the object coordinate system after calibration are clearly visible and regularly arranged. Therefore, the calibration device 100 and method for a 3D camera provided in this embodiment significantly reduce the influence of camera lens distortion and have high calibration accuracy.

[0081] The 3D camera calibration device 100 and method provided in this embodiment have at least the following technical effects:

[0082] 1. A calibration plate 110 with a dovetail groove is designed to facilitate the extraction of image feature points, but the groove 122 is not limited to the dovetail groove shape, and can also be designed to be a triangle, rectangle or other groove 122 that is convenient for extracting feature points;

[0083] 2. Since there will be angle errors in machining and assembly, a mounting leveler 160 installed at the bottom of the 3D camera 150 is designed to easily and quickly adjust the angle relationship between the 3D camera 150 and the line structured light laser 140;

[0084] 3. Designed a conversion algorithm from the image coordinate system to the object coordinate system, collected cross-sectional data at different positions, and used the feature points of the same dovetail groove of adjacent cross sections to solve the local conversion coefficient, thus reducing the influence of camera lens distortion;

[0085] 4. Generate a lookup matrix from all image-space coordinate points to object-space coordinate points, improving data solution efficiency.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A 3D camera calibration method, characterized in that: A 3D camera calibration device is used, the 3D camera calibration device comprising a calibration plate (110), a translation stage (130), and a line structured light laser (140) mounted on the translation stage (130), the translation stage (130) being used to carry a 3D camera (150), the translation stage (130) being able to move closer to or farther from the calibration plate (110), a detachable groove structure (120) being provided on a surface of the calibration plate (110) facing the translation stage (130), and a groove (122) being provided on the groove structure (120), and a 3D camera calibration method comprising: The translation stage (130) is controlled to move closer to or farther from the calibration plate (110), and during the movement, the 3D camera (150) collects cross-sectional data of a plurality of the grooves (122), wherein the 3D camera (150) collects a plurality of frames of cross-section at the same position, and an average value of the plurality of frames of cross-section is taken as valid cross-sectional data of the current cross-section; Extracting coordinates of section contour points in the section data; A set of equations for the coordinates of the cross-sectional contour points and the edge points of the groove (122) is established to solve the coordinate conversion matrix coefficients.

2. The 3D camera calibration method according to claim 1, characterized in that: The step of controlling the translation stage (130) to move closer to or farther from the calibration plate (110), and during the movement, the 3D camera (150) collecting cross-sectional data of the plurality of grooves (122), comprises: The translation stage (130) moves within a range of [Z0, Z1], and each movement distance is ΔZ, where ΔZ is the depth of the groove (122). The translation stage (130) moves once, and the 3D camera (150) collects cross-sectional data of the groove (122) once. The translation stage (130) is controlled to move a distance of |Z0-Z1|, and the 3D camera (150) collects |Z0-Z1| / ΔZ cross-sectional data.

3. The 3D camera calibration method according to claim 1, characterized in that: The step of establishing a set of equations for the coordinates of the cross-section contour points and the edge points of the groove (122) and solving the coordinate conversion matrix coefficients comprises: The coordinates of the i-th cross-section contour point are [u i ,v i ], the coordinates of the edge point of the i-th groove (122) are [x i ,y i ], the coordinate transformation matrix coefficient is a 11 ~a 32 , solve the coordinate transformation matrix coefficient a 11 ~a 32 The system of equations is:

4. The 3D camera calibration method according to claim 1, characterized in that: Before the step of controlling the translation stage (130) to move closer to or farther from the calibration plate (110), the method further comprises: adjusting the laser line of the line structured light laser (140) to be emitted toward the surface of the calibration plate (110) on which the groove structure (120) is not installed; adjusting the 3D camera (150) to shoot the laser line, and making the shot laser line be in the brightest and thinnest state; The groove structure (120) is mounted on the calibration plate (110), and the positions of the 3D camera (150) and the line structured light laser (140) are adjusted so that the heights of the contours of the groove (122) captured by the 3D camera (150) at multiple positions are equal.

5. The 3D camera calibration method according to claim 4, characterized in that: After the steps of installing the groove structure (120) on the calibration plate (110), adjusting the positions of the 3D camera (150) and the line structured light laser (140) so that the heights of the contours of the groove (122) captured by the 3D camera (150) at multiple positions are equal, the method further comprises: The parameters of the 3D camera (150) are adjusted so that the widths of the convex part and the concave part of the groove (122) photographed by the 3D camera (150) are equal.

6. The 3D camera calibration method according to claim 4, characterized in that: Before the step of adjusting the laser line of the line structured light laser (140) to emit toward the surface of the calibration plate (110) on which the groove structure (120) is not installed, the method further includes: The 3D camera (150) is adjusted to be parallel to the line structured light laser (140).

7. The 3D camera calibration method according to claim 1, characterized in that: The translation platform (130) comprises a stepping motor, a drive control board, a screw guide rail mechanism and a base, the drive control board is electrically connected to the stepping motor, the stepping motor is transmission-connected to the screw guide rail mechanism, and the base is mounted on the screw guide rail mechanism.

8. The 3D camera calibration method according to claim 1, characterized in that: The groove structure (120) comprises a plurality of assembly blocks (121) arranged at even intervals, and the groove (122) is formed between two adjacent assembly blocks (121).

9. The 3D camera calibration method according to claim 1, characterized in that: The groove (122) is any one of a dovetail groove, a triangular groove, and a rectangular groove.

Images