A method, device and system for calibrating module errors

Abstract

The present invention discloses a method, device and system for calibrating module errors. In the module error calibration device, it includes: a first calibration component and a second calibration component assembled in a moving component. Through the cooperation of the three, the calibration process of cycle error calibration, fixed-phase mode noise calibration, and calibration accuracy verification can be completed in the same set of module error calibration device. Therefore, there is no need to transfer the calibration environment for the camera module, so the entire calibration process can be completed with a set of jigs, which can eliminate the change of contact difference and ensure the accuracy of the calibration result.

Description

Technical Field

[0001] The present application relates to the technical field of camera module calibration, and particularly to a module error calibration method, device and system. Background Art

[0002] Currently, the calibration of ITOF (indirect Time-of-Flight) module errors generally has three items: periodic error calibration, fixed phase mode noise calibration, and calibration accuracy verification. Common calibration devices on the market include three-station calibration devices and two-station calibration devices. The three-station calibration device sets up a station for periodic error calibration, fixed phase mode noise calibration, and calibration accuracy verification respectively and performs calibration in sequence. The two-station calibration device combines the two stations of periodic error calibration and fixed phase mode noise calibration into one station for calibration, while setting up a separate station for calibration accuracy verification.

[0003] Currently, whether it is a three-station calibration device or a two-station calibration device, there is a problem of inaccurate calibration accuracy. The main reason is that the camera module needs to complete different error calibrations in sequence within three stations or two stations. Therefore, the camera module needs to be continuously transferred to switch the calibration environment. However, when the camera module is transferred between different stations, it is necessary to continuously pick up / place the camera module to re-assemble it in the fixture of the corresponding station, and each time the camera module is picked up / placed, there will be a change in the contact difference with the fixture of the calibration station, especially the change in the contact difference between the pins of the camera module and the pins in the fixture. This change in the contact difference will ultimately lead to inconsistent calibration accuracy at each calibration station, having a fatal impact on the final calibration result. Summary of the Invention

[0004] The present invention provides a module error calibration method, device and system to solve or partially solve the technical problem of inaccurate calibration accuracy of current calibration devices.

[0005] To solve the above technical problem, a module error calibration device of the present invention has an initial state and a calibration state, and the module error calibration device includes:

[0006] A first calibration component;

[0007] A second calibration component, disposed opposite to the first calibration component;

[0008] A moving component, with the second calibration component disposed on the moving component;

[0009] And a driving component, connected to the moving component and driving the moving component to move or rotate;

[0010] In the calibration state of the module error calibration device, the driving component drives the moving component to drive the second calibration component to rotate relative to the plane where the first calibration component is located, so that the central axis of the second calibration component forms a preset angle with the plane where the first calibration component is located; and

[0011] The driving component drives the moving component again to drive the second calibration component to rotate along the central axis or translate relative to the first calibration component.

[0012] Preferably, the first calibration component is a checkerboard calibration plate, and the second calibration component is a jig loaded with a camera module; or

[0013] The first calibration component is the jig, and the second calibration component is the checkerboard calibration plate.

[0014] Preferably, the module error calibration device further includes: a fixed bracket for fixing the first calibration component;

[0015] The fixed bracket is connected to the driving component, and the fixed bracket is driven by the driving component to drive the first calibration component to move.

[0016] Preferably, the moving component includes: a jig loading component, a moving frame, and a guide rail;

[0017] The jig loading component fixes the second calibration component;

[0018] One end of the moving frame bears the jig loading component, and the other end of the moving frame is connected to the guide rail;

[0019] The moving frame is connected to the driving component, and under the driving action of the driving component, the moving frame translates in the guide rail.

[0020] Preferably, the jig loading component includes:

[0021] A jig loading table fixedly connected to the second calibration component;

[0022] A load-bearing member for bearing the jig loading table;

[0023] A first rotating component, both ends of the load-bearing member are connected to the moving frame through the first rotating component, and the first rotating component is connected to the driving component;

[0024] Under the driving action of the driving component, the load-bearing member drives the jig loading table to rotate relative to the plane where the first calibration component is located, and the second calibration component rotates relative to the plane where the first calibration component is located under the rotation of the jig loading table.

[0025] Preferably, the fixture loading assembly further includes a second rotating assembly. The fixture loading table is connected to the load component through the second rotating assembly, and the second rotating assembly is connected to the driving component;

[0026] Under the driving action of the driving component, the fixture loading table rotates self - centrically, and the second calibration component rotates along the central axis under the self - centric rotation of the fixture loading table.

[0027] Preferably, an angle detector for detecting the angle of the second calibration component is provided on the fixture loading table.

[0028] The present invention also provides a method for calibrating module errors. The method includes:

[0029] Controlling the module error calibration device disclosed in the above - mentioned technical solution to switch different calibration states;

[0030] Based on the calibration state, controlling the module error calibration device to adjust the calibration angle;

[0031] Controlling the camera module to capture a calibration image at the calibration angle;

[0032] Performing error calibration based on the calibration image.

[0033] Preferably, the calibration states include: periodic error calibration state, fixed - phase mode noise calibration state, calibration accuracy verification state. The performing error calibration based on the calibration image includes:

[0034] If the calibration state is the calibration accuracy verification state, extracting a target area image from the calibration image;

[0035] Performing accuracy verification based on the target area image.

[0036] The present invention also provides a module error calibration system. The system includes:

[0037] A camera module;

[0038] The module error calibration device disclosed in the above - mentioned technical solution;

[0039] An upper computer, respectively connected to the camera module and the module error calibration device, for controlling the module error calibration device to switch different calibration states; based on the calibration state, controlling the module error calibration device to adjust the calibration angle; controlling the camera module to capture a calibration image at the calibration angle; performing error calibration based on the calibration image.

[0040] Through one or more technical solutions of the present invention, the present invention has the following beneficial effects or advantages:

[0041] The present invention discloses a method, device and system for calibrating module errors. In the module error calibration device, it includes: a first calibration component and a second calibration component assembled in a moving component. Through the cooperation of the three, the calibration process of cycle error calibration, fixed-phase mode noise calibration, and calibration accuracy verification can be completed in the same set of module error calibration device. Therefore, there is no need to transfer the calibration environment for the camera module, so the entire calibration process can be completed with a set of jigs, which can eliminate the change of contact differences and ensure the accuracy of the calibration results.

[0042] In addition, since the entire calibration process is completed in the module error calibration device of this embodiment, the overall calibration efficiency can be improved and the equipment cost can be reduced.

[0043] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the following specifically illustrates the embodiments of the present invention. Brief Description of the Drawings

[0044] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0045] Figure 1 It shows a schematic diagram of the calibration environment corresponding to cycle error calibration and fixed-phase mode noise calibration;

[0046] Figure 2 It shows a schematic diagram of the calibration environment corresponding to calibration accuracy verification;

[0047] Figure 3 It shows a schematic diagram of the structure of a module error calibration device according to an embodiment of the present invention;

[0048] Figure 4 It shows a schematic diagram of a module error calibration device according to an embodiment of the present invention during calibration accuracy verification;

[0049] Figure 5 It shows a schematic diagram of the central axis of a jig and a checkerboard calibration board at 60° according to an embodiment of the present invention;

[0050] Figure 6 It shows a schematic diagram of a jig rotating to 0° according to an embodiment of the present invention;

[0051] Figure 7Shows a schematic diagram of the fixture rotating 90° by itself according to an embodiment of the present invention;

[0052] Figure 8 Shows a schematic diagram of the fixture rotating 180° by itself according to an embodiment of the present invention;

[0053] Figure 9 Shows a schematic diagram of the fixture rotating 270° by itself according to an embodiment of the present invention;

[0054] Figure 10 Shows a control schematic diagram of a control component according to an embodiment of the present invention;

[0055] Figure 11 Shows a schematic diagram of a module error calibration system according to an embodiment of the present invention;

[0056] Figure 12 Shows a flowchart of a module error calibration method according to an embodiment of the present invention.

[0057] Explanation of reference numerals: Module error calibration device 10, host computer 20, checkerboard calibration board 101, camera module 102, fixture 103, whiteboard 104, guide rail 105, moving component 106, driving component 107, fixture loading component 108, moving frame 109, fixture loading table 110, load-carrying component 111, first rotating component 112, second rotating component 113, central axis 114, control component 115. Detailed implementation manners

[0058] In order to enable those skilled in the art in the technical field to which the present application belongs to understand the present application more clearly, the technical solutions of the present application will be described in detail below with reference to the accompanying drawings through specific embodiments.

[0059] Currently, a three-station calibration device or a two-station calibration device is generally used to calibrate the errors of the ITOF module. Taking the two-station calibration device as an example, it is introduced below. Refer to Figure 1 , which is a schematic diagram of a calibration environment in a two-station calibration device where the two stations of periodic error calibration and fixed-phase mode noise calibration are combined into one station for calibration. In this calibration environment, a checkerboard calibration board 101 and a fixture 103 for assembling the camera module 102 are arranged. During calibration, the camera module 102 is placed in this fixture 103. The camera module 102 has a certain included angle (for example, 30°) relative to the checkerboard calibration board 101, and the camera module 102 rotates clockwise by itself facing the checkerboard calibration board 101 and takes pictures at multiple rotation angles, such as taking pictures at rotation angles of 0°, 90°, 180°, 270°, etc. Refer to Figure 2, which is a schematic diagram of the calibration environment for calibration accuracy verification. In this calibration environment, a whiteboard 104 and a jig 103 for placing the camera module 102 are arranged. The camera module 102 and the whiteboard 104 are perpendicular to each other. During calibration, the camera module 102 is transferred from the previous calibration environment into this jig 103, and the whiteboard 104 moves vertically relative to the camera module 102 through a guide rail 105. The camera module 102 takes pictures when the whiteboard 104 moves to an appropriate position.

[0060] It can be seen that in the current calibration equipment, when the camera module is calibrated at different stations, it is necessary to transfer the calibration environment and re-assemble it in the jig at the corresponding station, thereby generating contact difference changes and affecting the accuracy of the calibration result. Therefore, to solve this problem, one or more of the following embodiments disclose a module error calibration method, device, and system. In the module error calibration device, the cooperation of the first calibration component, the second calibration component, the moving component, and the driving component can complete three calibration processes of periodic error calibration, fixed-phase mode noise calibration, and calibration accuracy verification in the same module error calibration device. Without the need for the camera module to transfer the calibration environment, a set of jigs can be used to complete the entire calibration process, which can eliminate contact difference changes and ensure the accuracy of the calibration result. In addition, since the entire calibration process is completed in the module error calibration device of this embodiment, the overall calibration efficiency can be improved, and the equipment cost can be reduced.

[0061] See Figure 3 , which is a schematic structural diagram of the module error calibration device 10, including: a first calibration component, a second calibration component, a moving component 106, and a driving component 107. Among them, the first calibration component and the second calibration component are arranged opposite to each other. The second calibration component is arranged on the moving component 106. The driving component 107 is connected to the moving component 106 and drives the moving component 106 to move or rotate.

[0062] The first calibration component and the second calibration component are arranged opposite to each other. In Figure 3 , the first calibration component is shown as a checkerboard calibration plate 101, and the second calibration component is shown as a jig 103 loaded with the camera module 102, but this does not form a limitation. For example, the first calibration component can also be shown as a jig 103 loaded with the camera module 102. On the contrary, the second calibration component is shown as a checkerboard calibration plate 101. The two calibration components can be selected according to specific circumstances in actual use, and in this application, the structure in Figure 3 is used as an example for illustration.

[0063] In Figure 3 , the first calibration component is arranged in the vertical direction, and the vertical direction is shown as Figure 3the Z-axis direction of the three-dimensional coordinates. The second calibration component is assembled in the moving component 106 and is arranged opposite to the first calibration component. The central axis 114 of the second calibration component is parallel to the X-axis direction of the three-dimensional coordinates in Figure 3 In Figure 3 , the module error calibration device is in an initial state.

[0064] In some alternative embodiments, the first calibration component is fixed in the vertical direction, for example, fixed to a wall. At this time, the first calibration component is immovable, and it is necessary to control the moving component 106 to drive the second calibration component to move to adjust the relative distance between the two calibration components.

[0065] In some alternative embodiments, there is a fixed bracket (not shown in the figure) in the module error calibration device for fixing the first calibration component. Further, the fixed bracket is connected to the driving component 107, and the fixed bracket is driven by the driving component 107 to drive the first calibration component to move, and / or the moving component drives the second calibration component to move to adjust the relative distance between the two calibration components.

[0066] The second calibration component is arranged on the moving component 106 and moves or rotates following the moving component 106.

[0067] For the structure of the moving component 106, see Figure 3 . Specifically, the moving component 106 includes: a fixture loading component 108, a moving frame 109, and a guide rail 105.

[0068] The fixture loading component 108 fixes the second calibration component.

[0069] One end of the moving frame 109 bears the fixture loading component 108, and the other end of the moving frame 109 is connected to the guide rail 105. Further, the moving frame 109 is connected to the driving component 107, and under the driving action of the driving component 107, the moving frame 109 translates in the guide rail 105. Specifically, see Figure 4 , the moving frame 109 translates back and forth to adjust the relative positions of the two calibration components.

[0070] For the structure of the fixture loading component 108, it includes: a fixture loading table 110, a load-bearing component 111, and a first rotating component 112.

[0071] Among them, the fixture loading table 110 assembles the second calibration component. After assembly, the second calibration component is fixed to the fixture loading table 110. Optionally, an angle detector is assembled on the fixture loading table 110, and the angle detector can be assembled at any position in the fixture loading table 110. Since the angle detector and the second calibration component are both in the fixture loading table 110, the angle detector can detect the angle of the second calibration component.

[0072] The load-carrying component 111 carries the fixture loading table 110. For the load-carrying component 111, both ends of the load-carrying component 111 are connected to the moving frame 109 through the first rotating assembly 112.

[0073] Specifically, the first rotating assembly 112 is connected to the driving component 107. Therefore, under the driving action of the driving component 107, the first rotating assembly 112 rotates clockwise, and then drives the load-carrying component 111 to rotate clockwise. Further, the load-carrying component 111 drives the fixture loading table 110 to rotate relative to the plane where the first calibration piece is located. Since the second calibration piece is fixed to the fixture loading table 110, the second calibration piece will rotate relative to the plane where the first calibration piece is located under the rotation of the fixture loading table 110.

[0074] As Figure 5 shown, under the clockwise rotation of the first rotating assembly 112, the fixture 103 starts to rotate clockwise relative to the checkerboard calibration plate 101 from the Figure 3 initial state in. For the initial state, refer to Figure 3 . The central axis 114 of the fixture 103 is perpendicular to the checkerboard calibration plate 101, that is: the central axis 114 is parallel to the X-axis. Specifically, the fixture 103 starts to rotate clockwise relative to the checkerboard calibration plate 101 with the X-axis in the Figure 3 . For the schematic diagram after rotation, refer to Figure 5 . The angle between the central axis 114 and the checkerboard calibration plate 101 is 60°, but this is not restrictive.

[0075] In some alternative embodiments, the fixture loading assembly 108 further includes a second rotating assembly 113.

[0076] The fixture loading table 110 is assembled to the load-carrying component 111 through the second rotating assembly 113, and the second rotating assembly 113 is connected to the driving component 107. Therefore, under the driving action of the driving component 107, the second rotating assembly 113 rotates, and then drives the fixture loading table 110 to rotate around its own central axis 114. Since the second calibration piece is fixed to the fixture loading table 110 and the central axis 114 of the second calibration piece coincides with the central axis 114 of the fixture loading table 110, the second calibration piece will also rotate around its own central axis 114 under the self-rotation of the fixture loading table 110. For example, continuing with the Figure 5 presented angle, the fixture 103 starts to rotate self under the rotation of the second rotating assembly 113. Figures 6 - 9 are schematic diagrams of the fixture 103 rotating to 0°, 90°, 180°, and 270° respectively. Among them, Figure 6 the arrows in show the self-rotation direction of the fixture 103. InFigures 7 - 9 In this case, since the second rotating component 113, the fixture loading table 110, etc. are all blocked by the load-carrying component 111, only the rotation angle of the self-rotation of the second rotating component 113 is marked in the load-carrying component 111.

[0077] For the drive component 107, the drive component 107 is connected to the following components: a fixed bracket, a moving frame 109, a first rotating component 112, and a second rotating component 113. In order to facilitate independent control of the movement or rotation of each component, in practical applications, an independent drive component 107 can be configured for each of the above components for driving.

[0078] Furthermore, the module error calibration device 10 further includes: a control component 115.

[0079] Refer to Figure 10 , the control component 115 is connected to the drive component 107 and is used to control the drive component 107 to drive the moving component 106 to move or rotate. Furthermore, if the four components of the fixed bracket (not shown in the figure), the moving frame 109, the first rotating component 112, and the second rotating component 113 are configured with independent drive components 107, the control component 115 is respectively connected to the drive components 107 of the four components for control.

[0080] The above is the specific structural description of each component. Based on the above structure, the calibration process of the module error calibration device is introduced below.

[0081] Specifically, the module error calibration device has an initial state and a calibration state, and the initial state is as Figure 3 shown. The calibration state includes three states: a periodic error calibration state, a fixed-phase mode noise calibration state, and a calibration accuracy verification state. Since the control principles of the module error calibration device in the periodic error calibration state and the fixed-phase mode noise calibration state are the same, they will be introduced together. The calibration accuracy verification state will be introduced separately.

[0082] In the calibration accuracy verification state, the drive component 107 drives the moving component 106 to drive the second calibration piece to rotate relative to the plane where the first calibration piece is located, so that the central axis 114 of the second calibration piece forms a preset angle (such as 90°) with the plane where the first calibration piece is located, and the drive component 107 drives the moving component 106 again to drive the second calibration piece to translate to a set position relative to the first calibration piece.

[0083] Specifically, in the calibration accuracy verification state, it is required that the fixture 103 and the checkerboard calibration board 101 are perpendicular, as Figure 4As shown, the central axis 114 of the jig 103 and the checkerboard calibration plate 101 are at 90°. Under this condition, the driving component 107 drives the moving frame 109 to translate back and forth along the X-axis in the guide rail 105 to adjust the relative position of the jig 103 and the checkerboard calibration plate 101 to the set position. Thereafter, the camera module 102 takes a photo for calibration.

[0084] In some alternative embodiments, after the photo calibration is completed, the module error calibration device 10 returns to the initial state. Of course, it can also remain in the current state unchanged, which is specifically controlled according to the actual situation.

[0085] In the periodic error calibration state or the fixed-phase mode noise calibration state, the driving component 107 drives the moving component 106 to drive the second calibration part to rotate relative to the plane where the first calibration part is located, so that the central axis 114 of the second calibration part and the plane where the first calibration part is located form a preset angle (such as 60°), and the driving component 107 drives the moving component 106 again to drive the second calibration part to rotate around the central axis 114.

[0086] See the above structure Figures 5 - 9 for description. On the basis of Figure 3 , the moving component 106 drives the jig 103 to rotate clockwise relative to the checkerboard calibration plate 101 to Figure 5 the state where, at this time, the central axis 114 of the jig 103 and the checkerboard calibration plate 101 are at 60°. In this state, the driving component 107 drives the moving component 106 to drive the jig 103 to rotate clockwise around its own axis. Figures 6 - 9 are schematic diagrams of the jig 103 rotating to 0°, 90°, 180°, and 270° respectively. The camera module 102 takes photos for calibration when the jig 103 rotates to 0°, 90°, 180°, and 270°. Of course, the rotation angle can also be other angles.

[0087] In some alternative embodiments, after the photo calibration is completed, the module error calibration device 10 returns to the initial state. In some alternative embodiments, after the photo calibration is completed, it can also remain in the current state unchanged, which is specifically controlled according to the actual situation.

[0088] The above is the introduction of the implementation principle of the module error calibration device 10. Based on the above structure, in this embodiment, a module error calibration system is disclosed, and its structure is shown in Figure 11, the system includes: a camera module 102, a module error calibration device 10, and a host computer 20. The host computer 20 is respectively connected to the camera module 102 and the module error calibration device 10. The module error calibration device 10 can support the completion of three calibration processes: periodic error calibration, fixed-phase mode noise calibration, and calibration accuracy verification. Further, the host computer 20 is used to control the module error calibration device 10 to switch the calibration state; based on the calibration state, control the module error calibration device 10 to adjust the calibration angle; control the camera module 102 to capture a calibration image at the calibration angle; and perform error calibration based on the calibration image.

[0089] Based on the same inventive concept, the following embodiments introduce a method for calibrating module errors. This method is applied to the module error calibration system introduced in the above embodiments. Refer to Figure 12 , the method includes the following steps:

[0090] Step 120, control the module error calibration device to switch to different calibration states.

[0091] Specifically, the module error calibration device 10 includes an initial state and a calibration state. Further, the calibration state includes: a periodic error calibration state, a fixed-phase mode noise calibration state, and a calibration accuracy verification state.

[0092] During the switching process of the calibration state, it can be switched from the initial state to the calibration state, or switched between different calibration states.

[0093] Step 121, based on the calibration state, control the module error calibration device to adjust the calibration angle.

[0094] Specifically, different calibration states correspond to different calibration angles. The following takes the first calibration component as the checkerboard calibration plate 110 and the second calibration component as the fixture 103 as an example. In the periodic error calibration state or the fixed-phase mode noise calibration state, there are four calibration angles of the module error calibration device 10, which are respectively:

[0095] The first calibration angle: The central axis 114 of the fixture 103 and the checkerboard calibration plate 101 form an angle of 60°, and the self-rotation angle of the fixture 103 is 0°.

[0096] The second calibration angle: The central axis 114 of the fixture 103 and the checkerboard calibration plate 101 form an angle of 60°, and the self-rotation angle of the fixture 103 is 90°.

[0097] The third calibration angle: The central axis 114 of the fixture 103 and the checkerboard calibration plate 101 form an angle of 60°, and the self-rotation angle of the fixture 103 is 180°.

[0098] Fourth calibration angle: The central axis 114 of the jig 103 and the checkerboard calibration plate 101 form an angle of 60°, and the rotation angle of the jig 103 is 270°.

[0099] In the calibration accuracy verification state, the calibration angle of the module error calibration device is: the central axis 114 of the jig 103 and the checkerboard calibration plate 101 form an angle of 90°, that is: the jig 103 is perpendicular to the checkerboard calibration plate 101, and the relative position of the jig 103 and the checkerboard calibration plate 101 is at the set position.

[0100] Therefore, under the corresponding relationship between the above calibration states and calibration angles, the module error calibration device is controlled to adjust the relative positions of the first calibration part and the second calibration part until the relative angle between the two meets the calibration angle. The specific adjustment process has been introduced in detail in the above embodiments, so it will not be repeated here.

[0101] Step 122, control the camera module to capture a calibration image at the calibration angle.

[0102] In the specific implementation process, when the module error calibration device 10 is adjusted to the calibration angle, the camera module 102 is controlled to capture the checkerboard calibration plate 101 to obtain a calibration image. Further, the camera module 102 will upload the calibration image.

[0103] Step 123, perform error calibration based on the calibration image.

[0104] In the above technical solution, in each calibration state, only the module error calibration device needs to be controlled to adjust the calibration angle to obtain the calibration image corresponding to each calibration state. It can be seen that the cycle error calibration, fixed phase mode noise calibration, and calibration accuracy verification can be completed in the same module error calibration device without the camera module transferring the calibration environment. The entire calibration process can be completed using a set of jigs, which can eliminate the change in contact differences and ensure the accuracy of the calibration result. In addition, since the entire calibration process is completed in the module error calibration device of this embodiment, the overall calibration efficiency can be improved and the equipment cost can be reduced.

[0105] Further, if the calibration state is the calibration accuracy verification state, since the calibration process of calibration accuracy verification originally used the whiteboard 104, and the checkerboard calibration plate 101 is used in the calibration process of calibration accuracy verification in this embodiment, the calibration image received in the calibration process of calibration accuracy verification is a checkerboard image. The target area image is extracted from the calibration image, and accuracy verification is performed based on the target area image. For example, the white area image in the checkerboard image is extracted for calibration accuracy verification.

[0106] Through one or more technical solutions of the present invention, the present invention has the following beneficial effects or advantages:

[0107] The present invention discloses a method, device and system for calibrating module errors. The module error calibration device includes: a first calibration component and a second calibration component assembled in a moving component. Through the cooperation of the three, the calibration processes of periodic error calibration, fixed-phase mode noise calibration, and calibration accuracy verification can be completed in the same set of module error calibration device. Therefore, there is no need to transfer the calibration environment for the camera module, so the entire calibration process can be completed with a set of jigs, which can eliminate the change of contact difference and ensure the accuracy of the calibration result.

[0108] In addition, since the entire calibration process is completed in the module error calibration device of this embodiment, the overall calibration efficiency can be improved and the equipment cost can be reduced.

[0109] Although the preferred embodiments of the present application have been described, those of ordinary skill in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present application.

[0110] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A module error calibration device, characterized in that It has an initial state and a calibrated state. The module error calibration device includes: The first calibration component is a checkerboard calibration plate; The second calibration component is a jig loaded with a camera module, which is arranged opposite to the first calibration component; A moving component, and the second calibration component is arranged on the moving component; And a driving component, which is connected to the moving component and drives the moving component to move or rotate; In the calibrated state of the module error calibration device, the driving component drives the moving component to drive the second calibration component to rotate relative to the plane where the first calibration component is located, so that the central axis of the second calibration component forms a preset angle with the plane where the first calibration component is located; and The driving component drives the moving component again to drive the second calibration component to rotate along the central axis or translate relative to the first calibration component; Wherein, through the cooperation of the first calibration component, the second calibration component, the moving component, and the driving component, the calibration processes of cycle error calibration, fixed phase mode noise calibration, and calibration accuracy verification are completed in the same set of the module error calibration device to eliminate the change of contact difference.

2. The device according to claim 1, wherein, The module error calibration device further includes: a fixed bracket for fixing the first calibration component; The fixed bracket is connected to the driving component, and the fixed bracket is driven by the driving component to drive the first calibration component to move.

3. The device according to claim 1, characterized in that The moving component includes: a jig loading component, a moving frame, and a guide rail; The jig loading component fixes the second calibration component; One end of the moving frame bears the jig loading component, and the other end of the moving frame is connected to the guide rail; The moving frame is connected to the driving component, and under the driving action of the driving component, the moving frame translates in the guide rail.

4. The device according to claim 3, wherein, The jig loading component includes: A jig loading table, which is fixedly connected to the second calibration component; A load-bearing component, which bears the jig loading table; A first rotating component, and both ends of the load-bearing component are connected to the moving frame through the first rotating component, and the first rotating component is connected to the driving component; Under the driving action of the driving component, the load-bearing component drives the jig loading table to rotate relative to the plane where the first calibration component is located, and the second calibration component rotates relative to the plane where the first calibration component is located under the rotation of the jig loading table.

5. The device according to claim 4, characterized in that, The jig loading component further includes a second rotating component, the jig loading table is connected to the load-bearing component through the second rotating component, and the second rotating component is connected to the driving component; Under the driving action of the driving component, the jig loading table rotates self, and the second calibration component rotates along the central axis under the self-rotation of the jig loading table.

6. The device according to claim 4, characterized in that, An angle detector for detecting the angle of the second calibration component is provided on the jig loading table.

7. A method for calibrating module errors, characterized in that, The method includes: Controlling the module error calibration device as described in any one of claims 1-6 to switch to different calibration states; Based on the calibration state, controlling the module error calibration device to adjust the calibration angle; Controlling the camera module to capture a calibration image at the calibration angle; Perform error calibration based on the calibrated image.

8. The method according to claim 7, wherein The calibration states include: periodic error calibration state, fixed phase mode noise calibration state, and calibration accuracy verification state. The performing error calibration based on the calibrated image includes: If the calibration state is the calibration accuracy verification state, extract the target region image from the calibrated image; Perform accuracy verification based on the target region image.

9. A module error calibration system, characterized in that The system includes: A camera module; The module error calibration device according to any one of claims 1-6; A host computer, respectively connected to the camera module and the module error calibration device, for controlling the module error calibration device to switch different calibration states; based on the calibration state, controlling the module error calibration device to adjust the calibration angle; controlling the camera module to capture a calibrated image at the calibration angle; performing error calibration based on the calibrated image.

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