Multi-reflector calibration diagram and calibration method

Abstract

This invention discloses a multi-reflective-surface calibration image acquisition method, which includes pre-setting multiple reflective planes within the camera's field of view; the multiple reflective planes respectively perform planar imaging on a map card at different angles, forming multiple reflective images of the map card within the camera's field of view; the camera captures the multiple reflective images of the map card in one step; this invention also discloses a calibration method. This application, by pre-setting multiple reflective planes at different angles to respectively perform planar imaging on the map card, thereby forming reflective images of the map card at multiple angles, and then the camera captures the multiple reflective images in one step to complete the calibration image acquisition. The calibration image acquisition time is short, and the camera calibration efficiency is high.

Description

Technical Field

[0001] This invention relates to the technical field of camera calibration, specifically to a multi-reflective surface calibration image acquisition method and calibration method. Background Technology

[0002] During the camera manufacturing process, parameter calibration of the camera is required. During calibration, the camera needs to capture images from multiple angles on the image card. The existing method of image acquisition is to swing the camera angle, changing the angle at which the camera faces the image card with each swing, thus allowing the camera to capture images from different angles. Calibration is performed after multiple image acquisitions. However, this method takes a long time to acquire images, affecting the efficiency of calibration. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a multi-reflective surface calibration and image acquisition method and calibration method.

[0004] This invention discloses a multi-reflection surface calibration and image acquisition method, which includes:

[0005] Multiple reflective surfaces are pre-set within the camera's field of view;

[0006] Multiple reflective planes project planar images onto the map card at different angles, forming multiple reflected images of the map card within the camera's field of view.

[0007] The camera captures multiple reflection images from the card at once.

[0008] According to one embodiment of the present invention, a plurality of reflective planes are pre-set within the camera's field of view, and the method further includes:

[0009] The planar imaging angles of multiple preset reflective planes are calculated respectively.

[0010] According to one embodiment of the present invention, the plurality of reflective planes have a plurality of first emitting surfaces and a second reflective surface; the plurality of reflective planes are preset within the camera's field of view, including:

[0011] Multiple first reflecting surfaces are distributed around a second reflecting surface;

[0012] Based on the calculated planar imaging angle, multiple first reflecting surfaces are tilted relative to the second reflecting surface, and the first reflecting surfaces are tilted from the outside of the second reflecting surface to the inside of the second reflecting surface.

[0013] According to one embodiment of the present invention, the angle between the second reflective surface and the central axis of the camera, and the angle between the second reflective surface and the central axis of the map are both 45 degrees.

[0014] According to one embodiment of the present invention, the tilt angle of the first reflective surface is less than 10 degrees.

[0015] According to one embodiment of the present invention, the number of reflective planes is 5-15.

[0016] According to one embodiment of the present invention, a reflective image of a diagram encompassing multiple cards is taken, without any blank edges of the card images.

[0017] According to one embodiment of the present invention, a plurality of reflective planes are located above the camera, and the image card and the plurality of reflective planes are at the same horizontal position.

[0018] According to one embodiment of the present invention, the chart is an electronic chart displayed on an electronic display.

[0019] The present invention discloses a calibration method comprising:

[0020] The above-described multi-reflection surface calibration and image acquisition method is used to acquire the image from the chart in one go;

[0021] The camera parameters are calibrated based on the captured images.

[0022] The beneficial effects of this application are as follows: by presetting multiple reflective planes at different angles, planar imaging is performed on the map card respectively, thereby forming reflective images of the map card at multiple angles. Then, the camera can complete the calibration image acquisition by taking images of multiple reflective images once. The calibration image acquisition time is short and the camera calibration efficiency is high. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0024] Figure 1 This is a schematic diagram of the multi-reflector calibration and image acquisition mechanism in the embodiment;

[0025] Figure 2 This is a schematic diagram illustrating the application of the multi-reflector calibration and mapping mechanism within the factory area in the embodiment.

[0026] Figure 3 For the example Figure 1 Enlarged view of part A in the image;

[0027] Figure 4 For the example Figure 1 Enlarged view of part B;

[0028] Figure 5 This is a schematic diagram of the mirror support assembly in the embodiment;

[0029] Figure 6 This is a flowchart of the multi-reflector calibration and image acquisition method in the embodiment. Detailed Implementation

[0030] The following drawings disclose several embodiments of the present invention. For clarity, many practical details will be described in the following description. However, it should be understood that these practical details are not intended to limit the invention. That is, in some embodiments of the invention, these practical details are not essential. Furthermore, for the sake of simplicity, some conventional structures and components will be shown in the drawings in a simple schematic manner.

[0031] It should be noted that all directional indications in the embodiments of the present invention, such as up, down, left, right, front, back, etc., are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indication will also change accordingly.

[0032] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms, and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but only if they are feasible for those skilled in the art. If a combination of technical solutions is contradictory or impossible to implement, such a combination should be considered nonexistent and not within the scope of protection claimed by this invention.

[0033] To further understand the invention's content, features, and effects, the following embodiments are provided, along with detailed descriptions in conjunction with the accompanying drawings:

[0034] Example 1

[0035] Reference Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the multi-reflector calibration and image acquisition mechanism in the embodiment. Figure 2This is a schematic diagram illustrating the application of the multi-reflective surface calibration and image acquisition mechanism within a factory area, as described in this embodiment. The multi-reflective surface calibration and image acquisition mechanism in this embodiment includes a support component 1, a mirror support component 2, a reflection component 3, and an image card component 4. The support component 1 supports the camera 100. The mirror support component 2 is located on one side of the support component 1. The reflection component 3 includes multiple first reflective elements 31 disposed on the mirror support component 2. The shooting end of the camera 100 faces the multiple first reflective elements 31, and all the multiple first reflective elements 31 are within the field of view of the camera 100. The image card component 4 is located on one side of the mirror support component 2, and the image-bearing side of the image card component 4 faces the multiple first reflective elements 31. The camera 100 captures images from multiple angles simultaneously from the image card component 4 through the multiple first reflective elements 31.

[0036] By arranging multiple first reflectors 31 within the field of view of the camera 100, the camera 100 can capture images of multiple image card components 4 reflected by the multiple first reflectors 31 from multiple angles in a single capture, without needing to move the position of the camera 100, and reducing the number of photos taken, thereby reducing the overall image capture time and improving the parameter calibration efficiency of the camera 100. In this embodiment, the first reflector 31 is an optical reflector.

[0037] Preferably, the multi-reflector calibration and mapping mechanism further includes a frame 5. A support component 1 is mounted on the frame 5, and the frame 5 supports the support component 1. In this embodiment, the frame 5 includes a frame body 51, the upper end of which has a working surface 511, and the support component 1 is mounted on the working surface 511.

[0038] Please refer to the following: Figure 3 , Figure 3 For the example Figure 1 The enlarged view of part A is shown in the figure. Further, the support assembly 1 includes a suspended support frame 11 and a clamp 12. The suspended support frame 11 is mounted on the frame 5, and the clamp 12 is mounted on the suspended support frame 11. Before image capture and calibration, the operator positions and clamps the camera 100 within the clamp 12. After image capture and calibration, the operator removes the camera 100 from the clamp 12. It is understood that after capturing an image, the camera 100 needs to transmit the captured image to a monitor for display and perform calculations and calibrations via an industrial computer. The suspended support frame 11 suspends the clamp 12 to facilitate external connection of the camera 100 within the clamp 12 via cable, enabling data exchange.

[0039] Specifically, the suspended support frame 11 is approximately a U-shaped support frame, with its open end vertically positioned on the working surface 511, and its connecting end having a cable passage hole 111 for cable passage. The clamp 12 is located at the connecting end of the suspended frame 11, and the camera 100 can be placed inside the clamp 12, and connected to an external industrial computer with calculation and calibration functions via a cable passing through the clamp 12 and the suspended support frame 11.

[0040] Preferably, the clamp 12 includes a clamp body 121. The upper end of the clamp body 121 has a positioning groove 1211 and a wire-passing groove 1212. The shape and size of the positioning groove 1211 are adapted to the shape and size of the camera 100, and the camera 100 is adapted to be supported within the positioning groove 1211. One end of the wire-passing groove 1212 communicates with the positioning groove 1211, and the other end communicates with the end face of the lower end of the clamp body 121. The positioning groove 1211 and the wire-passing hole 111 are directly opposite and communicate with each other. The cable passes through the wire-passing hole 111 and the positioning groove 1211 in sequence and is then electrically connected to the camera 100. In specific applications, an electrical connection female connector can be provided in the positioning groove 1211. This female connector is adapted to the camera 100, and the cable is electrically connected to this female connector. When the camera 100 is placed in the positioning groove 1211, an electrical connection with the cable is achieved.

[0041] Preferably, the clamp 12 further includes a pressure plate 122 and two sliding parts 123. The two sliding parts 123 are respectively disposed on opposite sides of the positioning groove 1211. The pressure plate 122 is located above the positioning groove 1211, and its two ends are respectively connected to the two sliding parts 123. In this embodiment, the sliding part 123 is a combination of a slide rail and a slider, which will not be described in detail here. The height between the pressure plate 122 and the bottom of the positioning groove 1211 is adapted to the height of the camera 100, the shape of the pressure plate 122 is adapted to the upper part of the camera 100, and the pressure plate 122 has a notch reserved for the shooting end of the camera 100. Before the camera is positioned, the operator places the camera 100 in the positioning slot 1211 and then slides the pressure plate 122 to press the side of the camera 100, thereby stabilizing the camera 100 in the positioning slot 1211 to ensure the stability of the shooting. After the camera is positioned, the operator then reverses the sliding plate 122 to remove the camera 100.

[0042] Preferably, the clamp 12 also includes a handle 124, which is rotatably connected to the clamp body 121. The handle 124 facilitates the operator's overall movement of the clamp 12, and the rotatable connection between the handle 124 and the clamp body 121 prevents interference. It is understood that the camera 100 comes in various specifications and sizes; when calibration and image capture are required for products of other specifications and sizes, a suitable clamp 12 needs to be replaced. The handle 124 facilitates the movement and replacement of the clamp 121. In practical applications, the clamp body 121 can be fixed to the suspended support frame 11 with screws, and can be disassembled for replacement.

[0043] Please refer to the following: Figure 4 , Figure 4 For the example Figure 1A magnified view of part B. Furthermore, the reflective assembly 3 also includes a second reflector 32 disposed on the mirror support assembly 2. Multiple first reflectors 31 are arranged around the second reflector 32, the shooting end of the camera 100 faces the second reflector 32, and the second reflector 32 is within the field of view of the camera 100; the image-bearing side of the image card assembly 4 faces the multiple first reflectors 31 and the second reflector 32; the camera 100 captures an image of the image card assembly 4 through the multiple first reflectors 31 and the second reflector 32.

[0044] The reasonable arrangement of the second reflector 32 at the center and the multiple first reflectors 31 surrounding it facilitates the camera 100 to capture images reflected from multiple image card components 4 at once, and makes it easier to find the center point after image capture, which is beneficial for subsequent calibration calculations. In this embodiment, the second reflector 32 is also an optical reflector.

[0045] The number of first reflectors 31 can be selected according to actual conditions, generally ranging from 4 to 14. In this embodiment, there are 8 first reflectors 31. Both the first reflectors 31 and the second reflectors 32 are square in shape, and the 8 first reflectors 31 are arranged around 1 second reflector 32, thus forming a matrix distribution structure centered on the second reflector 32. In this way, the 8 first reflectors 31 and 1 second reflector 32 work together to reflect the view of 9 image card components 4, which are then captured by the camera 100 in one go. The obtained image contains images of 9 image cards, which are then transmitted to an external industrial computer for calculation and calibration. Compared with the traditional method of using a swinging camera 100 to take multi-angle pictures of a single image card, the calibration efficiency of this application can be improved by more than 5 times.

[0046] Preferably, each first reflector 31 is tilted, and the first reflector 31 is tilted from the outside of the second reflector 32 towards the inside of the second emitter 32. By tilting multiple first reflectors 31 towards the second emitter 32, the multiple first reflectors 31 and second reflectors 32 cooperate to form an approximately concave layout structure, ensuring no gaps between adjacent first reflectors 31 or between adjacent first reflectors 31 and second reflectors 32. This allows the outermost first reflectors 31 to be included within the field of view of the camera 100, making it easier for the camera 100 to capture images reflected from the multiple image card components 4, and facilitating subsequent calculations and calibration. In this embodiment, there are no blank spots on the outer edge of the images captured by the camera 100. For example, if the image card component 4 is a checkerboard grid image card, in the nine images of the image card captured by the camera 100 at one time, the edges of the eight outermost images have a checkerboard pattern with no blank areas. Preferably, the angle between the second reflector 32 and the central axis of the camera 100 is 45 degrees; preferably, the central axis of the second reflector 32 and the central axis of the camera 100 overlap. The angle at which the first reflector 31 tilts from the outside of the second reflector 32 towards the inside of the second emitter 32 is less than 10 degrees. Preferably, the angle at which the first reflector 31 tilts from the outside of the second reflector 32 towards the inside of the second emitter 32 is between 5 and 9 degrees.

[0047] Please refer to the following: Figure 5 , Figure 5 This is a schematic diagram of the mirror support assembly in the embodiment. Furthermore, the mirror support assembly 2 includes a support body 21, which is located above the camera 100, and the angle between the support body 21 and the central axis of the camera 100 is 45 degrees. A second reflector 32 and multiple first reflectors 31 are respectively disposed on the support body 21. The centerline of the image card assembly 4 is at the same horizontal position as the centerline of the support body 21, and there is a preset distance between the image card assembly 4 and the support body 21.

[0048] The second reflector 32 and multiple first reflectors 31 are supported by the supporting body 21, which is positioned above the camera 100. The image card assembly 4 is also at the same horizontal level as the supporting body 21. This ensures that there is no obstruction between the image card assembly 4 and the reflectors 3 in the upper space, guaranteeing the image card assembly 4's reflection imaging from the first and second reflectors 31 and 32. The lower space can be used for other operations, thereby improving the space utilization of the factory and indirectly reducing costs. In this embodiment, the distance between the image card assembly 4 and the supporting body 21 is 5-6 meters.

[0049] Specifically, the support body 21 is a flat plate-shaped structure located directly above the camera 100, forming a 45-degree angle with the central axis of the camera 100. The second reflector 32 is directly positioned at the center of the support body 21. Preferably, the central axis of the second reflector 32, the central axis of the camera 100, and the central axis of the support body 21 overlap. In practical applications, both the graphics card assembly 4 and the support body 21 are positioned close to the factory ceiling. The graphics card assembly 4 can be installed by supporting it from the ground or by mounting it from the factory ceiling using a support frame.

[0050] Preferably, the mirror support assembly 2 further includes a support frame 20, and the support body 21 is installed through the support frame 20. The lower end of the support frame 20 is vertically disposed on the working surface 511 of the frame body 51 and located on one side of the load-bearing assembly 1. The support body 21 is disposed at the upper end of the support frame 20.

[0051] Specifically, the support frame 20 includes a first frame 201, a second frame 202, and a third frame 203. The lower end of the first frame 201 is located on one side of the bearing component 1. One end of the second frame 202 is vertically connected to the upper end of the first frame 201. One end of the third frame 203 is connected to the other end of the second frame 202, and the other end of the third frame 203 is connected to the first frame 201. The angle between the third frame 203 and the first frame 201, and the angle between the third frame 203 and the second frame 203 are both 45 degrees. The side of the support body 21 facing away from the first mirror support member 22 is located on the third frame 203.

[0052] Preferably, the support body 21 is connected to the third frame 203 via multiple adjustable fasteners 204. It is understood that the support frame 20 is generally made of aluminum alloy, etc. When the first frame 201, second frame 202, and third frame 203 are assembled and fixed, slight errors often exist, making it impossible to perfectly achieve a 45-degree angle between the third frame 203 and the first frame 201, or between the third frame 203 and the second frame 203. Thus, when the side of the support body 21 facing away from the first mirror support 22 is positioned on the third frame 203, the angle between the support body 21 and the central axis of the camera 100 cannot be guaranteed to be an accurate 45 degrees. However, by using multiple adjustable fasteners 204, the installation angle of the support body 21 on the third frame 203 can be finely adjusted to ensure that the angle between the support body 21 and the central axis of the camera 100 is 45 degrees. In this embodiment, there are four adjustable fasteners 204, located at the four corners of the support body 21. Each adjustable fastener 204 consists of a fixing plate and fixing screws. One end of the fixing plate is fixedly connected to the support body 21, and the fixing plate has an arc-shaped hole 2041. The third frame 203 has a fixing groove 2031. The screws pass through the arc-shaped hole 2041 and the fixing groove 2031 in sequence for fixation. When it is necessary to fine-tune the angle of the support body 21, loosen the screws, and tighten them again after adjustment.

[0053] Preferably, the mirror support assembly 2 further includes a plurality of first mirror support members 22 disposed on the support body 21. The plurality of first mirror support members 22 are arranged around the second reflector 32, and the plurality of first reflectors 31 are respectively disposed on the plurality of first mirror support members 22. The first mirror support members 22 support the first reflectors 31 to facilitate the tilting of the first reflectors 31. In this embodiment, the side of each first mirror support member 22 facing away from the support body 21 is a slope, and along the direction perpendicular to the support body 21, the side of the slope of the first mirror support member 22 away from the second mirror support member 23 is higher than the side closer to the second mirror support member 23.

[0054] Preferably, the first reflector 31 is adhered to the inclined surface of the first mirror support 22 by adhesive, and the second reflector 32 is adhered to the surface of the support body 21 by adhesive. It is understood that the first reflector 31 and the second reflector 32 are optical mirrors made of optical glass. Glass products are easily damaged or deformed when fixed by screws or other means. Fixing the first reflector 31 and the second reflector 32 by adhesive means ensures that they are only subjected to the adhesive force of the glue, thereby preventing deformation of the first reflector 31 and the second reflector 32. In this embodiment, the thickness of both the first reflector 31 and the second reflector 32 is 10mm. Preferably, the first mirror support 22 has a mounting groove 221 in the middle, and a screw hole 222 is provided in the mounting groove 221. The screw passes through the screw hole 222 to fix the first mirror support 22 to the support body 21, and the end of the screw is located within the mounting groove 221. Thus, when the first reflector 31 is bonded to the inclined surface of the first mirror support 22, it only needs to be bonded to the surface around the mounting groove 221. This reduces the contact area between the first reflector 31 and the first mirror support 22, further ensuring parallelism during bonding.

[0055] Preferably, the frame 5 also includes a plurality of leveling adjustment components 52, which are disposed at the lower end of the frame body 51, and the plurality of leveling adjustment components 52 cooperate to adjust the level of the working surface 511.

[0056] The horizontality of the working surface 511 is adjusted by multiple parallel adjustment components 52 to ensure that the end face of the camera 100's shooting end is parallel to the horizontal plane. Specifically, the frame body 51 is a rectangular box structure with four main support columns 512 at its four corners. Four horizontal adjustment components 52 are installed at the lower ends of the four main support columns of the frame body 51. Thus, by adjusting the height of the four corners of the frame body 51, the horizontality of the working surface 511 is adjusted. In this embodiment, the horizontal adjustment component 52 is a foot pad with a screw-in post. By adjusting the depth of the horizontal adjustment component 12 screwed into the lower end of the main support column 512, the height of the four corners of the frame body 51 is adjusted, ensuring that the working surface 511 of the frame body 51 is parallel to the horizontal plane.

[0057] Preferably, the image card component 4 displays the image card via an electronic display. In this embodiment, the image card component 4 displays the image card via an electronic display, such as a television screen. Thus, compared to a physical image card, the type and size of the electronically displayed image card are easier to replace, and the electronically displayed image card has its own backlight, eliminating the need for additional backlighting, thereby ensuring the shooting quality of the camera 100.

[0058] In this embodiment, the multi-reflector calibration and image acquisition mechanism reduces the number of times the camera takes pictures, thereby reducing the overall image acquisition time and improving the efficiency of camera parameter calibration. Furthermore, the space below can be used for other work areas, thus improving the space utilization of the factory and indirectly reducing the company's costs.

[0059] Example 2

[0060] Reference Figure 6 , Figure 6 This is a flowchart of the multi-reflector calibration and mapping method in this embodiment. The multi-reflector calibration and mapping method in this embodiment is based on the multi-reflector calibration and mapping mechanism in Embodiment 1, and specifically includes the following steps:

[0061] S1, multiple reflective planes are preset within the camera's field of view;

[0062] S2, multiple reflective planes perform planar imaging on the map card at different angles, forming multiple reflected images of the map card within the camera's field of view;

[0063] S3, the camera captures multiple reflected images from the image card at once.

[0064] By pre-setting multiple reflective planes at different angles, planar imaging is performed on the map card, thus forming reflective images of the map card from multiple angles. Then, the camera captures multiple reflective images in one step to complete the calibration image acquisition. The calibration image acquisition time is short, and the camera calibration efficiency is high. Among them, the map card is the map card component 4 in Embodiment 1, and the camera is the camera 100 in the embodiment, which will not be described in detail here.

[0065] Preferably, in step S1, multiple reflective planes are preset within the camera's field of view area, and the following step is included before this: S0, the planar imaging angles of the multiple preset reflective planes are calculated respectively.

[0066] First, calculate the planar imaging angle of each reflective plane to ensure smooth deployment of multiple reflective planes within the camera's field of view, and also to facilitate subsequent calculations after image acquisition.

[0067] Specifically, in step S0, the planar imaging angle of the reflecting plane is calculated based on the principle of planar imaging and the law of reflection, which will not be elaborated here.

[0068] In step S1, the multiple reflecting planes have multiple first reflecting surfaces and a second reflecting surface. Preferably, the number of reflecting planes is 5-15, wherein there is one second reflecting surface and 1-14 first reflecting surfaces. In this embodiment, the first reflecting surface and the second reflecting surface are the first reflecting element 31 and the second reflecting element 32 in Embodiment 1, respectively, and will not be described again here.

[0069] Multiple reflective planes are pre-set within the camera's field of view, including the following sub-steps:

[0070] S11, multiple first reflecting surfaces are distributed around a second reflecting surface;

[0071] S12, based on the calculated planar imaging angle, multiple first reflecting surfaces are tilted relative to the second reflecting surface, and the first reflecting surfaces are tilted from the outside of the second reflecting surface to the inside of the second reflecting surface.

[0072] By arranging multiple first reflective surfaces around a second reflective surface, and then limiting the outer first reflective surfaces to tilt towards the inner second reflective surface, a concave layout structure centered on the second reflective surface is formed. This has two advantages: first, it allows multiple reflective surfaces to reflect the image card from different angles, forming image card reflection views from multiple angles; second, it ensures that the camera's field of view can encompass all reflected images, and that there are no gaps between adjacent reflected images, facilitating the camera's initial image capture and subsequent image calibration.

[0073] In step S11, both the first and second reflective surfaces are squares with equal side lengths. Eight first reflective surfaces are arranged around the perimeter and right angles of one second reflective surface, forming a matrix layout. In this embodiment, the angles between the second reflective surface and the central axis of the camera 100, and between the second reflective surface and the central axis of the image card, are both 45 degrees. The second reflective surface is located at the center of the matrix, forming 45-degree angles with both the central axis of the camera 100 and the central axis of the image card. This allows the image card image reflected by the second reflective surface to serve as the center of planar imaging, facilitating the setting of the first reflective surfaces with the second reflective surface as a reference, and also facilitating the finding of the image center during subsequent image acquisition and calibration.

[0074] In step S12, each first reflective surface is tilted from the outside of the second reflective surface towards the inside of the second reflective surface, wherein the tilt angle of the first reflective surface is less than 10 degrees. In this embodiment, the tilt angle of each first reflective surface is between 5 and 9 degrees, ultimately forming the following... Figure 4 The matrix layout structure is shown. It's understandable that when the camera takes an image, it needs to acquire as many images of the map card as possible. The tilt angle of the first reflecting surface is limited to less than 10 degrees to ensure that more images of the map card are obtained in a single capture, facilitating subsequent calibration calculations.

[0075] In step S2, the multiple reflective planes, namely the first reflective surface and the second reflective surface, are arranged in an inclined configuration with the second reflective surface as the center and the multiple first reflective surfaces surrounding it. This allows the multiple reflective planes to perform planar imaging of the image card at different angles and form multiple reflected images of the image card within the camera's field of view. This enables the camera to capture multiple images of the image card from different angles in a single image capture.

[0076] In step S3, the reflected image encompassing multiple cards is captured, without any blank edges in the card images. It is understood that, for better calibration calculations, the final image captured by the camera needs to be a continuous image of the cards, without blank edges. This means that there are boundaries but no blank spaces between the reflected images of two adjacent cards, and the perimeter of the outermost card also has no blank spaces. This is why multiple first reflecting surfaces are tilted around the second reflecting surface. In this way, a single image capture can form a continuous image of the cards, facilitating subsequent calibration calculations.

[0077] Preferably, during actual setup, multiple reflective planes are positioned above the camera, with the image card and the reflective planes at the same horizontal level. It is understood that there is a relatively long distance between the image card and the reflective planes, typically 5-6 meters. Setting this up in the lower part of the factory space would waste space. By positioning the multiple reflective planes above the camera, with the image card and the reflective planes at the same horizontal level, the space in the area below the factory can be utilized, improving space utilization and indirectly reducing enterprise costs. The specific implementation process can be found in the detailed setup in Embodiment 1, and will not be repeated here.

[0078] Preferably, in practical applications, the image card is an electronic image card displayed on an electronic monitor. Using an electronic image card with an electronic monitor has two advantages: firstly, the monitor has its own backlight, eliminating the need for additional backlighting on the image card; secondly, the size, format, and shape of the electronic image card can be flexibly changed, facilitating adaptation to various types of image retrieval and avoiding the hassle of replacing physical image cards.

[0079] This embodiment also discloses a calibration method. After acquiring an image from the image card using the multi-reflective surface calibration method described above, the camera parameters are calibrated based on the acquired image. In practical applications, existing industrial computers and methods can be used to perform calculations and camera calibration on the acquired image, which will not be elaborated here.

[0080] In summary, the multi-reflection surface calibration and image acquisition method in this embodiment not only has a short calibration and image acquisition time and high camera calibration efficiency, but also increases the space utilization rate of the factory and indirectly reduces enterprise costs.

[0081] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method for calibrating and obtaining images from multiple reflective surfaces, characterized in that, include: The planar imaging angles of the multiple preset reflection planes are calculated respectively; Multiple reflective surfaces are pre-set within the camera's field of view; Multiple reflecting planes have multiple first reflecting surfaces and a second reflecting surface; The number of reflective planes is 5-15. The multiple reflective planes respectively perform planar imaging on the map card at different angles, forming multiple reflected images of the map card within the field of view of the camera; The camera captures multiple reflected images of the image card at once; the captured image includes reflected images of multiple image cards and has no blank edges of the image card images; Multiple reflective planes are pre-set within the camera's field of view, including: Multiple first reflective surfaces are distributed around a second reflective surface; the angle between the second reflective surface and the central axis of the camera, and the angle between the second reflective surface and the central axis of the map card are both 45 degrees. Based on the calculated planar imaging angle, multiple first reflective surfaces are tilted relative to the second reflective surface, and the first reflective surface is tilted from the outside of the second reflective surface to the inside of the second reflective surface, with the tilt angle of the first reflective surface being less than 10 degrees.

2. The multi-reflection surface calibration and mapping method according to claim 1, characterized in that, The plurality of reflective planes are located above the camera, and the image card is at the same horizontal level as the plurality of reflective planes.

3. The multi-reflection surface calibration and mapping method according to claim 1, characterized in that, The chart is an electronic chart displayed on an electronic display.

4. A calibration method, characterized in that, include: The multi-reflection surface calibration and image acquisition method described in any one of claims 1-3 is used to acquire an image from the chart in one step. The camera parameters are calibrated based on the captured images.

Images