A fixture, binocular camera calibration device and calibration method

Abstract

The present application discloses a jig, a binocular camera calibration device, and a calibration method, relating to the field of camera calibration technology. The jig includes a base and a cover plate; the base includes a limiting groove and multiple groups of positioning groove assemblies, the multiple groups of positioning groove assemblies corresponding to each other are used to position and install multiple groups of binocular cameras, and the limiting grooves are used to position and install a control board electrically connected to the multiple groups of binocular cameras; the cover plate is provided on the multiple groups of positioning groove assemblies and connected to the base, and the cover plate is used to limit the multiple groups of binocular cameras in the multiple groups of positioning groove assemblies. The jig provided in this application can be used for simultaneous calibration of multiple groups of binocular cameras, thereby improving calibration efficiency.

Description

Technical Field

[0001] The present application relates to the field of camera calibration technology, and in particular to a jig, a binocular camera calibration device, and a calibration method. Background Art

[0002] Existing binocular camera calibration is usually performed manually, and each binocular camera can only be calibrated one at a time. For devices with multiple binocular cameras, multiple binocular cameras need to be calibrated in turn, which affects the efficiency of multiple binocular camera calibration. Summary of the Invention

[0003] The present application provides a jig, a binocular camera calibration device, and a calibration method to improve the calibration efficiency of multiple groups of binocular cameras.

[0004] This application provides:

[0005] A jig, comprising:

[0006] A base, comprising a limiting groove and a plurality of positioning groove assemblies, wherein the plurality of positioning groove assemblies are used for positioning and installing a plurality of binocular cameras in a one-to-one correspondence, and the limiting groove is used for positioning and installing a control board electrically connected to the plurality of binocular cameras; and

[0007] A cover plate is arranged on the multiple groups of positioning slot assemblies and is connected to the base, and the cover plate is used to limit the multiple groups of binocular cameras in the multiple groups of positioning slot assemblies.

[0008] In some possible implementations, the limiting groove and the multiple groups of positioning groove assemblies are opened on the same side of the base;

[0009] The limiting groove is arranged near one end of the base, and the multiple groups of positioning groove components are arranged in sequence in a direction away from the limiting groove, and a partition bar is formed between two adjacent groups of positioning groove components.

[0010] In some possible implementations, the positioning slot assembly includes a first positioning slot and a second positioning slot relative to each other, and the first positioning slot and the second positioning slot are used for positioning and installing two lenses in the same group of the binocular camera in a one-to-one correspondence.

[0011] In some possible implementations, a first positioning column and a second positioning column are protrudingly provided on a side of the base close to the positioning slot assembly;

[0012] The first positioning column is located on a side of the first positioning groove close to the second positioning groove, and the second positioning column is located on a side of the second positioning groove close to the first positioning groove. The first positioning column and the second positioning column are used together to position the connecting substrate connected to the binocular camera.

[0013] In some possible embodiments, a receiving groove connected to the limiting groove is further provided on one side of the base close to the positioning groove assembly, the receiving groove is located between the first positioning groove and the second positioning groove, and the notch of the receiving groove is flush with the bottom of the positioning groove assembly.

[0014] In some possible implementations, the cover plate further includes a first avoidance hole and a second avoidance hole;

[0015] Wherein, the first avoidance hole is relatively communicated with the first positioning groove in each group of the positioning groove assemblies;

[0016] The second avoidance hole is relatively communicated with the second positioning slot in each group of the positioning slot assemblies.

[0017] In some possible implementations, the distance n between two adjacent groups of positioning groove assemblies is 3 mm to 6 mm.

[0018] In the second aspect, the present application also provides a binocular camera calibration device, including a manipulator and the jig provided in the present application, the jig is connected to the manipulator, and the manipulator is used to drive the jig to move.

[0019] In a third aspect, the present application further provides a binocular camera calibration method, which is implemented based on the binocular camera calibration device provided in the present application. The binocular camera calibration method includes:

[0020] Installing the multiple sets of binocular cameras in the multiple sets of positioning slot assemblies in a one-to-one correspondence, and installing the control board in the limiting slot;

[0021] respectively acquiring image data of the multiple groups of binocular cameras;

[0022] The multiple sets of binocular cameras respectively take pictures of the chessboard and obtain multiple sets of chessboard images;

[0023] Calculate the intrinsic parameter data and extrinsic parameter data of each group of binocular cameras respectively.

[0024] In some possible implementations, the taking pictures of the checkerboard by the multiple sets of binocular cameras and acquiring multiple sets of checkerboard images includes:

[0025] The manipulator drives the multiple sets of binocular cameras to move to multiple preset positions in sequence, so that the multiple sets of binocular cameras respectively shoot the chessboard once at each of the preset positions to obtain multiple sets of chessboard images.

[0026] The beneficial effects of the present application are as follows: the present application proposes a jig, a binocular camera calibration device and a calibration method, and the binocular camera calibration device includes the jig. Among them, the jig includes a base and a cover plate, and a limit slot and a plurality of positioning slot assemblies are provided on the base. The limit slot can be used to position and install a control board connected to a plurality of binocular cameras, and the plurality of positioning slot assemblies can be used to position and install a plurality of binocular cameras. For equipment with a plurality of binocular cameras, the plurality of binocular cameras can be positioned and installed in the jig at the same time, and the jig can drive the plurality of binocular cameras to move synchronously to a plurality of preset positions to take pictures of the checkerboard, so that the plurality of binocular cameras can be calibrated synchronously, which can improve the calibration efficiency of the plurality of binocular cameras. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 Shown are schematic structural diagrams of fixtures in some embodiments;

[0029] Figure 2 Shows a schematic diagram of the exploded structure of a fixture and a binocular camera in some embodiments;

[0030] Figure 3 Shows a schematic structural diagram of a base in some embodiments;

[0031] Figure 4 Shown are schematic structural diagrams of the base in use in some embodiments;

[0032] Figure 5 Shown are schematic structural diagrams of cover plates in some embodiments;

[0033] Figure 6 Schematic diagrams of the cross-sectional structure of the cover plate and the base in some embodiments are shown;

[0034] Figure 7 A schematic structural diagram of a binocular camera calibration device in some embodiments is shown;

[0035] Figure 8 A schematic diagram showing a flow chart of a binocular camera calibration method in some embodiments is shown;

[0036] Figure 9 Shown are schematic diagrams of the structure of a checkerboard in some embodiments;

[0037] Figure 10Schematic diagrams of the structures of the chessboard and the motion plane in some embodiments are shown;

[0038] Figure 11 A schematic structural diagram of preset positions in some embodiments is shown.

[0039] Description of main component symbols:

[0040] 100- fixture; 10- base; 101- limiting groove; 102- positioning groove assembly; 1021- first positioning groove; 1022- second positioning groove; 103- first sink; 104- receiving groove; 105- positioning hole; 11- spacer; 111- first spacer; 112- second spacer; 121- first positioning column; 122- second positioning column; 20- cover; 201- first avoidance hole; 202- second avoidance hole; 203- second sink; 204- avoidance Slot; 21-locating pin; 30-connecting plate; 31-connecting claw; 200-manipulator; 210-universal ball; 310-binocular camera; 311-lens; 320-control board; 330-connecting base plate; 400-chessboard; 500-movement plane; 510-directly in front; 520-directly above; 530-directly below; 540-directly left; 550-directly right; 560-upper left; 570-upper right; 580-lower left; 590-lower right. DETAILED DESCRIPTION

[0041] The following describes in detail embodiments of the present application. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and are not to be construed as limiting the present application.

[0042] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application 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 application.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0044] In this application, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on specific circumstances.

[0045] In this application, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0046] like Figure 1 As shown, a Cartesian coordinate system is established, defining the length direction of the jig 100 as parallel to the direction indicated by the x-axis, the width direction of the jig 100 as parallel to the direction indicated by the y-axis, and the height direction of the jig 100 as parallel to the direction indicated by the z-axis. It is understood that the above definitions are only for facilitating the understanding of the relative positional relationships of the various components of the jig 100 and should not be construed as limiting the present application.

[0047] Combined together Figure 2 and Figure 4 Currently, devices such as drones and autonomous vehicles are equipped with multiple binocular cameras. Calibration of each binocular camera 310 is required to ensure that the drones and autonomous vehicles can properly capture image information during subsequent operations. The binocular camera 310 may include two lenses 311. Multiple binocular cameras 310 may be mounted on the same control board 320, which controls the operation of each binocular camera 310. The two lenses 311 of the binocular camera 310 may be connected to the control board 320 via a T-shaped connecting substrate 330.

[0048] In an embodiment, a fixture 100 is provided, which can be used for synchronous calibration of multiple sets of binocular cameras 310 to improve the calibration efficiency of the multiple sets of binocular cameras 310.

[0049] like Figure 1 As shown, the fixture 100 may include a base 10 and a cover 20 .

[0050] Combined together Figure 2 The base 10 can serve as the supporting body of the fixture 100 and can be used to position and install multiple sets of binocular cameras 310 and the control board 320. Specifically, the base 10 can include a limiting groove 101 and multiple sets of positioning groove assemblies 102. The limiting groove 101 can be used to position and install the control board 320, and the multiple sets of positioning groove assemblies 102 can be used to position and install multiple sets of binocular cameras 310 in a one-to-one correspondence.

[0051] The cover plate 20 can be covered on the multiple sets of positioning slot components 102, and the cover plate 20 can be connected to the base 10. Thus, the multiple sets of binocular cameras 310 can be confined in the multiple sets of positioning slot components 102.

[0052] Combined together Figure 9 During the calibration process of the binocular cameras 310, multiple binocular cameras 310 from the same device can be installed on the same fixture 100, and the fixture 100 can drive the multiple binocular cameras 310 to move synchronously. Specifically, the multiple binocular cameras 310 can be moved to multiple preset positions in sequence under the drive of the fixture 100. The multiple binocular cameras 310 can respectively take pictures of the checkerboard 400 at each preset position. The captured checkerboard images can then be processed and analyzed to determine the internal and external reference data of the multiple binocular cameras 310. In this way, the calibration of multiple binocular cameras 310 can be achieved.

[0053] It is understandable that multiple sets of binocular cameras 310 can be calibrated simultaneously. Compared with the prior art method of calibrating multiple sets of binocular cameras 310 one by one, the fixture 100 provided in this embodiment can increase the calibration speed of multiple sets of binocular cameras 310 and improve calibration efficiency.

[0054] like Figures 2 to 4 As shown, the limiting groove 101 and the multiple sets of positioning groove assemblies 102 can be located on the same side of the base 10. Specifically, the limiting groove 101 can be located near one end of the base 10, and the multiple sets of positioning groove assemblies 102 can be located near the opposite end of the base 10. For example, along the length of the fixture 100, the limiting groove 101 and the multiple sets of positioning groove assemblies 102 can be located at both ends of the base 10. Alternatively, the multiple sets of positioning groove assemblies 102 can be arranged sequentially, gradually moving away from the limiting groove 101.

[0055] In this embodiment, the specific shape of the retaining groove 101 can be adapted to the shape of the control board 320. During use, the control board 320 can be placed in the retaining groove 101. The retaining groove 101 can provide a retaining effect for the control board 320, preventing the control board 320 from moving freely within the retaining groove 101. In this embodiment, the control board 320 can be further secured in the retaining groove 101 by means of screws or snap connections.

[0056] like Figure 3 and Figure 4 As shown, along the width direction of the jig 100, at least one end of the limiting groove 101 is an open structure, which can form a corresponding hand clearance space, making it easier for the operator to place the control board 320 in the limiting groove 101 and also easier for the operator to smoothly remove the control board 320 from the limiting groove 101. In some embodiments, along the width direction of the jig 100, both ends of the limiting groove 101 can be an open structure.

[0057] In some embodiments, the base 10 may be provided with four sets of positioning slot assemblies 102. These four sets of positioning slot assemblies 102 may be evenly spaced apart at the end of the base 10 away from the retaining slot 101. It is understood that the four sets of positioning slot assemblies 102 may be arranged sequentially along the length of the fixture 100. Accordingly, the fixture 100 may simultaneously position and mount four sets of binocular cameras 310.

[0058] In other embodiments, the base 10 may be provided with two, three, five, or eight groups of positioning slot assemblies 102. When the binocular camera 310 is a 60° flat-angle camera, the number of positioning slot assemblies 102 on the base 10 may be less than or equal to five. When the binocular camera 310 is a wide-angle camera greater than 60°, the number of positioning slot assemblies 102 on the base 10 may be less than or equal to eight.

[0059] Combined together Figure 9 In some embodiments, the spacing n between two adjacent sets of positioning groove assemblies 102 can be set to 3mm-6mm, which can ensure that the shooting angles of the four sets of binocular cameras 310 on the base 10 are consistent. When photographing the checkerboard 400, this ensures that all four sets of binocular cameras 310 can capture a complete image of the checkerboard. For example, the spacing n between two adjacent sets of positioning groove assemblies 102 can be set to 3.0mm, 3.2mm, 3.5mm, 3.65mm, 3.9mm, 4.3mm, 4.5mm, 4.7mm, 4.8mm, 5.1mm, 5.5mm, 5.75mm, 6.0mm, etc.

[0060] In an embodiment, when the binocular camera 310 has a relatively small field of view, the distance n between two adjacent groups of positioning groove assemblies 102 can be set as small as possible. When the binocular camera 310 has a relatively large field of view, the distance n between two adjacent groups of positioning groove assemblies 102 can be allowed to be relatively large.

[0061] like Figures 2 to 4 As shown, the positioning slot assembly 102 may include a first positioning slot 1021 and a second positioning slot 1022. The first positioning slot 1021 may be arranged opposite to the second positioning slot 1022 of the same group. In the embodiment, the first positioning slot 1021 and the second positioning slot 1022 may be used to respectively position and install the two lenses 311 of the same binocular camera group 310.

[0062] In this embodiment, a first recessed groove 103 is further defined between the first positioning groove 1021 and the second positioning groove 1022. Along the height of the jig 100, the first recessed groove 103 can have the same depth as the first positioning groove 1021 and the second positioning groove 1022. Along the length of the jig 100, the first recessed groove 103 can extend from one end proximal to the limiting groove 101 to the end distal to the limiting groove 101, formed by the four sets of positioning groove assemblies 102.

[0063] In addition, the first positioning groove 1021 can be open on one side close to the second positioning groove 1022 in the same group. The second positioning groove 1022 can also be open on one side close to the first positioning groove 1021 in the same group. That is, both the first positioning groove 1021 and the second positioning groove 1022 are connected to the first sink 103.

[0064] When using the fixture 100, the portion of the connecting substrate 330 can be placed in the first recessed groove 103. Furthermore, the portion of the connecting substrate 330 that is mounted on the lens 311 can extend into the corresponding positioning groove, thereby limiting the position of the lens 311 in the corresponding positioning groove. It will be appreciated that by providing the first recessed groove 103 between the first positioning groove 1021 and the second positioning groove 1022, and ensuring that both positioning grooves are connected to the first recessed groove 103, the portion of the connecting substrate 330 that is adjacent to the lens 311 can be kept flat, thereby ensuring that the lens 311 remains stable in the corresponding positioning groove, ensuring smooth calibration, and improving calibration accuracy.

[0065] like Figure 3 and Figure 4 As shown, a spacer bar 11 may be provided between two adjacent sets of positioning groove assemblies 102. Specifically, a first spacer bar 111 may be provided between any two adjacent first positioning grooves 1021 to separate the two adjacent first positioning grooves 1021. A second spacer bar 112 may be provided between any two adjacent second positioning grooves 1022 to separate the two adjacent second positioning grooves 1022. In this embodiment, a first spacer bar 111 is spaced apart from the opposing second spacer bar 112.

[0066] In other embodiments, the first spacer 111 and the opposite second spacer 112 may also be connected.

[0067] like Figure 3 and Figure 4 As shown, a first positioning column 121 and a second positioning column 122 are protrudingly provided on one side of the base 10 close to the positioning groove assembly 102. The first positioning column 121 can be located on a side of the first positioning groove 1021 close to the second positioning groove 1022. The second positioning column 122 can be located on a side of the second positioning groove 1022 close to the first positioning groove 1021. In the embodiment, the first positioning column 121 and the second positioning column 122 are both protruding from the first sink 103. During use, the first positioning column 121 and the second positioning column 122 can both be plugged into the same connecting substrate 330 to provide positioning for the connecting substrate 330, preventing the connecting substrate 330 from moving arbitrarily and causing the lens 311 to shake, thereby further ensuring the stable installation of the lens 311.

[0068] In the embodiment, the first positioning columns 121 and the second positioning columns 122 can be arranged into four groups according to the number of the positioning slot assemblies 102 , and the four groups of first positioning columns 121 and second positioning columns 122 are installed in a one-to-one correspondence with the four groups of positioning slot assemblies 102 .

[0069] Furthermore, a receiving groove 104 may be provided on a side of the base 10 near the positioning groove assembly 102. The receiving groove 104 may be located between the first positioning groove 1021 and the second positioning groove 1022. Specifically, the receiving groove 104 may be formed by further sinking the bottom of the first sinking groove 103 away from the positioning groove assembly 102. Accordingly, the notch of the receiving groove 104 may be flush with the bottom of the positioning groove assembly 102. In an embodiment, the first positioning groove 1021 and the second positioning groove 1022 may be symmetrical with respect to the receiving groove 104.

[0070] Furthermore, the receiving groove 104 can extend from one end of the four positioning groove assemblies 102 proximal to the limiting groove 101 to an end distal to the limiting groove 101. In one embodiment, the receiving groove 104 can communicate with the limiting groove 101. The bottom of the receiving groove 104 can be flush with the bottom of the limiting groove 101. The receiving groove 104 can be used to accommodate a section of the connecting substrate 330 that is connected to the control board 320.

[0071] When using the jig 100, the sections of the connecting substrates 330 used for connecting to the control board 320 can be stacked layer by layer in the accommodating groove 104. The ends of the connecting substrates 330 used for connecting to the lens 311 can extend from the accommodating groove 104 and lie flat in the first sink 103. It will be appreciated that the connecting substrates 330 can be made of a flexible printed circuit board. The section of the connecting substrate 330 used for connecting to the control board 320 can be bent relative to the section used for connecting to the lens 311.

[0072] like Figure 1 、 Figure 3 and Figure 5 As shown, the cover plate 20 can be shaped roughly like a rectangular plate. A first avoidance hole 201 and a second avoidance hole 202 can be formed on the cover plate 20. The first avoidance hole 201 and the second avoidance hole 202 can each be a long, rectangular through hole extending along the length of the fixture 100. In this embodiment, the first avoidance hole 201 can be in relative communication with each first positioning groove 1021 in the plurality of positioning groove assemblies 102. The second avoidance hole 202 can be in relative communication with each second positioning groove 1022 in the plurality of positioning groove assemblies 102.

[0073] Combined together Figure 9 When using the fixture 100, the light incident side of the lens 311 can be positioned toward the cover plate 20. Accordingly, the lens 311 located in each first positioning groove 1021 can be exposed through the first avoidance hole 201 to obtain image information of the checkerboard 400. Similarly, the lens 311 located in each second positioning groove 1022 can be exposed through the second avoidance hole 202 to obtain image information of the checkerboard 400.

[0074] like Figure 3 and Figure 5 As shown, two second grooves 203 are further defined on the side of the cover plate 20 near the base 10. One second groove 203 can be disposed circumferentially around the first avoidance hole 201, and the other second groove 203 can be disposed circumferentially around the second avoidance hole 202. Along the height of the fixture 100, the depth of the second grooves 203 can be greater than or equal to the height of the spacer bar 11.

[0075] Furthermore, two sets of avoidance grooves 204 are formed on a side of the cover plate 20 near the base 10. One set of avoidance grooves 204 can be located on a side of the first avoidance hole 201 near the second avoidance hole 202, and can communicate with the second sunken groove 203 surrounding the first avoidance hole 201. The other set of avoidance grooves 204 can be located on a side of the second avoidance hole 202 near the first avoidance hole 201, and can communicate with the second sunken groove 203 surrounding the second avoidance hole 202.

[0076] In some embodiments, both sets of avoidance grooves 204 include four avoidance grooves 204, which are arranged one-to-one with the positioning posts on both sides of the base 10. When the cover 20 is connected to the base 10, the positioning posts can be inserted into the avoidance grooves 204 one-to-one, so that the cover 20 can be smoothly covered on the base 10 without being interfered with by the positioning posts.

[0077] In this embodiment, the portion of the cover plate 20 protruding from the second recessed groove 203 and the escape groove 204 on the side of the base 10 can be adapted to fit within the first recessed groove 103 of the base 10. When the cover plate 20 is connected to the base 10, the portion of the cover plate 20 protruding from the second recessed groove 203 and the escape groove 204 on the side of the base 10 can be inserted into the first recessed groove 103 and pressed against the connection base plate 330. This also ensures that the cover plate 20 and the base 10 are positioned in the correct position.

[0078] Gather together again Figure 6 , a positioning pin 21 is protruding from one side of the cover 20 close to the base 10. Correspondingly, a positioning hole 105 compatible with the positioning pin 21 may be provided on the base 10. In some embodiments, four positioning pins 21 may be protruding from the cover 20, and they are respectively arranged at the four corner positions of the cover 20. Correspondingly, four positioning holes 105 may be provided on the base 10, and they correspond one to one to the four positioning pins 21. When the cover 20 is connected to the base 10, the four positioning pins 21 may be inserted into the four positioning holes 105 in a one-to-one manner, which can further realize the positioning between the cover 20 and the base 10, so that the operator can further fix the cover 20 to the base 10 through structural parts such as buckles.

[0079] In some embodiments, the cover 20 and the base 10 can be detachably connected by snap connections, screw connections, etc. In this way, multiple sets of binocular cameras 310 and control boards 320 can be fixed in the fixture 100.

[0080] like Figure 1 、 Figure 7 and Figure 9 As shown, an embodiment further provides a binocular camera calibration device, comprising a manipulator 200 and a fixture 100 provided in the embodiment. The manipulator 200 can be used to drive the fixture 100 to move, thereby driving the multiple sets of binocular cameras 310 located in the fixture 100 to move, so that the multiple sets of binocular cameras 310 are sequentially moved to multiple preset positions to capture the checkerboard 400.

[0081] In some embodiments, the fixture 100 further includes a connecting plate 30, which can be fixedly connected to the side of the base 10 away from the cover 20 by screw connection, clamping, bonding, etc. The side of the connecting plate 30 away from the base 10 is also provided with a connecting claw 31, which can be used to connect to the robot 200.

[0082] The manipulator 200's actuator end is fixedly connected to a universal ball 210. When the connecting jig 100 is connected to the manipulator 200, the connecting claw 31 can wrap around the circumference of the universal ball 210, allowing the angle of the jig 100 to be adjusted as needed. Once the angle of the jig 100 is adjusted, the connecting claw 31 can be tightened with a bolt (not shown) to securely grip the universal ball 210, securing the connection and preventing the jig 100 from rotating relative to the universal ball 210.

[0083] In the embodiment, the robot 200 can be a two-axis robot, a three-axis robot, a five-axis robot, etc., and no specific limitation is given here.

[0084] It is understood that the binocular camera calibration device may further include a controller (not shown), which may be electrically connected to the electrical components in the manipulator 200, thereby controlling the movements of the manipulator 200. When using a dual-film camera calibration device, the control board 320 may also be electrically connected to the controller, and the controller may power on the control board 320.

[0085] Of course, in other embodiments, the control board 320 can also be connected to a power source separately for power supply, and then the control board 320 controls each binocular camera 310 to operate.

[0086] like Figure 8 As shown, the embodiment further provides a binocular camera calibration method, which can be implemented based on the binocular camera calibration device provided in the embodiment. The binocular camera calibration method may include:

[0087] S100 , multiple sets of binocular cameras 310 are installed in multiple sets of positioning slot assemblies 102 in a one-to-one correspondence, and the control board 320 is installed in the limiting slot 101 .

[0088] Specifically, one lens 311 of each binocular camera 310 can be placed in each first positioning groove 1021, and the other lens 311 of each binocular camera 310 can be placed in the corresponding second positioning groove 1022 of the same group. Then, the cover plate 20 can be placed on the base 10 and fixedly connected. In addition, the control board 320 can be placed in the limiting groove 101 and fixed by means of screws or the like.

[0089] S200 , acquiring image data of multiple groups of binocular cameras 310 respectively.

[0090] Specifically, the control board 320 may be powered so that the control board 320 controls the operation of the multiple binocular cameras 310. The control board 320 may also read image data from the binocular cameras 310, wherein the image data may include pixel information of the binocular cameras 310.

[0091] S300 , multiple groups of binocular cameras 310 take pictures of the chessboard 400 respectively and obtain multiple groups of chessboard images.

[0092] like Figure 7 and Figure 9 Specifically, the controller can control the robot 200 to move the multiple binocular cameras 310 to multiple preset positions in sequence. The multiple binocular cameras 310 can take pictures of the checkerboard 400 at each preset position and obtain the image information of the checkerboard at the corresponding position. Each binocular camera 310 takes a picture of the checkerboard 400 once at each preset position.

[0093] Combined together Figure 10 and Figure 11 In this embodiment, multiple sets of binocular cameras 310 can be positioned on a motion plane 500 that is opposite to the checkerboard 400. The motion plane 500 can be parallel to the checkerboard 400. The manipulator 200 can drive the multiple sets of binocular cameras 310 to move synchronously within the motion plane 500 and sequentially to multiple preset positions. It is understood that the multiple preset positions can all be located on the motion plane 500.

[0094] In this embodiment, the distance between the motion plane 500 and the checkerboard 400 can be set based on the size of the checkerboard 400 to ensure that each set of binocular cameras 310 can capture a complete checkerboard image, and that the checkerboard image accounts for no less than 1 / 2 of the entire captured image. For example, when the checkerboard 400 is 12*9 and each square has a side length of 20 mm, the distance between the motion plane 500 and the checkerboard 400 can be set to approximately 0.5 m.

[0095] In some embodiments, the plurality of preset positions may include the front 510, the top 520, the bottom 530, the left 540, the right 550, the upper left 560, the upper right 570, the lower left 580, and the lower right 590 relative to the checkerboard 400. It is understood that the top 520, the bottom 530, the left 540, the right 550, the upper left 560, the upper right 570, the lower left 580, and the lower right 590 may be located on the same circle surrounding the front 510 position.

[0096] The multiple sets of binocular cameras 310 can take pictures of the chessboard 400 at nine preset positions respectively to obtain corresponding chessboard image information.

[0097] S400 , calculating the internal reference data and external reference data of each group of binocular cameras 310 respectively.

[0098] Specifically, for the same set of binocular cameras 310, the checkerboard corners in the checkerboard images captured by the two lenses 311 can be determined separately, and the intrinsic and extrinsic parameter data for the binocular cameras 310 can be calculated using the Zhang Zhengyou calibration algorithm. In this embodiment, the intrinsic and extrinsic parameter data for each set of binocular cameras 310 can be calculated and stored using the same method. In this way, calibration of multiple sets of binocular cameras 310 can be completed.

[0099] In an embodiment, by installing multiple groups of binocular cameras 310 in the same device in the same binocular camera calibration device for calibration, synchronous calibration operations of the multiple groups of binocular cameras 310 can be achieved, which can improve the calibration efficiency of the multiple groups of binocular cameras 310.

[0100] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0101] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A fixture, characterized in that: include: The base includes a limiting groove and multiple groups of positioning groove assemblies located on the same side, the limiting groove is arranged near one end of the base, the multiple groups of positioning groove assemblies are used to position and install multiple groups of binocular cameras in a one-to-one correspondence, the multiple groups of positioning groove assemblies are arranged in sequence in a direction away from the limiting groove, and a partition is formed between two adjacent groups of positioning groove assemblies, the positioning groove assembly includes a first positioning groove and a second positioning groove relative to each other, the first positioning groove and the second positioning groove are used to position and install two lenses in the same group of binocular cameras in a one-to-one correspondence, a first sink groove is further provided between the first positioning groove and the second positioning groove, the limiting groove is used to position and install a control board electrically connected to the multiple groups of binocular cameras, A connecting substrate is connected between the control board and the lens, and a portion of the connecting substrate is arranged in the first sink groove. One end of the connecting substrate installed on the lens extends to the corresponding positioning groove. A receiving groove connected to the limit groove is further provided on the side of the base close to the positioning groove assembly. The receiving groove is located between the first positioning groove and the second positioning groove. The receiving groove is formed by the bottom of the first sink groove further sinking in the direction away from the positioning groove assembly. The notch of the receiving groove is flush with the bottom of the positioning groove assembly. Each group of the binocular cameras has one connecting substrate, and a section of the connecting substrates used for connecting to the control board in multiple groups is stacked layer by layer in the receiving groove. and A cover plate is arranged on the multiple groups of positioning slot assemblies and is connected to the base, and the cover plate is used to limit the multiple groups of binocular cameras in the multiple groups of positioning slot assemblies.

2. The fixture according to claim 1, characterized in that: A first positioning column and a second positioning column are protruding from one side of the base close to the positioning slot assembly; The first positioning column is located on a side of the first positioning groove close to the second positioning groove, and the second positioning column is located on a side of the second positioning groove close to the first positioning groove. The first positioning column and the second positioning column are used together to position the connecting substrate connected to the binocular camera.

3. The jig according to claim 1 or 2, characterized in that: The cover plate is further provided with a first avoidance hole and a second avoidance hole; Wherein, the first avoidance hole is relatively communicated with the first positioning groove in each group of the positioning groove assemblies; The second avoidance hole is relatively communicated with the second positioning slot in each group of the positioning slot assemblies.

4. The fixture according to claim 1, characterized in that: The distance n between two adjacent groups of positioning groove components is 3mm-6mm.

5. A binocular camera calibration device, characterized in that: It comprises a robot and the jig according to any one of claims 1 to 4, wherein the jig is connected to the robot, and the robot is used to drive the jig to move.

6. A binocular camera calibration method, characterized in that: Based on the binocular camera calibration device according to claim 5, the binocular camera calibration method includes: Installing the multiple sets of binocular cameras in the multiple sets of positioning slot assemblies in a one-to-one correspondence, and installing the control board in the limiting slot; respectively acquiring image data of the multiple groups of binocular cameras; The multiple sets of binocular cameras respectively take pictures of the chessboard and obtain multiple sets of chessboard images; Calculate the intrinsic parameter data and extrinsic parameter data of each group of binocular cameras respectively.

7. The binocular camera calibration method according to claim 6, characterized in that: The plurality of binocular cameras are used to respectively photograph the chessboard and obtain a plurality of sets of chessboard images, including: The manipulator drives the multiple sets of binocular cameras to move to multiple preset positions in sequence, so that the multiple sets of binocular cameras respectively shoot the chessboard once at each of the preset positions to obtain multiple sets of chessboard images.

Images