Binocular camera intrinsic parameter calibration image taking device and method and intrinsic parameter calibration system

Abstract

The application relates to the technical field of vehicle-mounted camera parameter adjustment, in particular to a binocular camera internal parameter calibration picture taking device, a binocular camera internal parameter calibration picture taking method and a binocular camera internal parameter calibration system. The device comprises an upper picture clamping plate, a front picture clamping plate and an operating device; the upper picture clamping plate and the front picture clamping plate are arranged above and in front of the operating device respectively; the operating device comprises a moving mechanism, a clamping and rotating mechanism and a control mechanism; the control mechanism is in control connection with the moving mechanism and the clamping and rotating mechanism respectively; the clamping and rotating mechanism is arranged above the moving mechanism and is switched to a feeding position, a wide-angle picture taking position and a narrow-angle picture taking position under the driving of the moving mechanism; and the clamping and rotating mechanism comprises a base, an angle adjusting seat and a clamp. The application provides a mechanical design of an automatic internal parameter calibration device of a binocular camera product, can realize automatic calibration of the binocular camera and guarantees the reliability of internal parameter calibration picture taking of the binocular camera product.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle-mounted camera parameter adjustment, and in particular to a binocular camera internal parameter calibration picture taking device, method and internal parameter calibration system. BACKGROUND

[0002] With the rapid development of automatic driving in the automotive industry, intelligent driving technology has gradually upgraded from L2 to L3 and even L4 (automobile automatic driving level), which undoubtedly brings new opportunities and challenges to the development of corresponding hardware technology. Vehicle-mounted cameras are known as the eyes of the car in the era of intelligent driving, and their application and requirements are becoming higher and higher.

[0003] The current mainstream solution for intelligent driving road condition recognition adopts a monocular camera solution. The current unsolved problem is that the camera viewing angle and the length of the detected accurate distance cannot be simultaneously achieved. The wider the viewing angle, the shorter the accurate distance that can be detected, and the narrower the viewing angle, the longer the accurate distance that can be detected. In addition, the camera is fixed focus, and different focal lengths correspond to different resolutions, which cannot be frequently zoomed and process a large amount of data in a short time. The binocular camera can solve the above problems in hardware technology.

[0004] However, since there are two cameras in the binocular camera, the binocular camera needs to be adjusted in parameters, and the binocular camera internal parameter calibration belongs to a process difficulty. Since the binocular camera internal parameter calibration needs to adapt the two direction picture cards of each camera of the product to the space multi-angle picture taking and data calculation, in this process, the center of the main camera needs to be consistent with the center of the picture card after rotating different space angles. The binocular camera internal parameter calibration process is complex, difficult to operate, and requires high precision. The current internal parameter calibration equipment picture taking process is complicated, has low automation, needs to be operated and detected by an operator, has low efficiency, and has insufficient stability. SUMMARY

[0005] The present application provides a binocular camera internal parameter calibration picture taking device, method and internal parameter calibration system to solve the technical problems of the current internal parameter calibration equipment picture taking process being complicated, having low efficiency, being insufficient in stability and being low in automation.

[0006] To solve the above technical problems, the technical solutions of the present application are as follows:

[0007] In a first aspect, the present application provides a binocular camera internal parameter calibration and image taking device, comprising an upper image card plate, a front image card plate and an operating device; the upper image card plate and the front image card plate are respectively arranged above and in front of the operating device; the operating device comprises a moving mechanism, a clamping and rotating mechanism and a control mechanism, the control mechanism is respectively connected with the moving mechanism and the clamping and rotating mechanism; the clamping and rotating mechanism is arranged above the moving mechanism and is switched to a feeding position, a wide-angle image taking position and a narrow-angle image taking position under the driving of the moving mechanism; the clamping and rotating mechanism comprises

[0008] a base which is slidingly arranged on the moving mechanism;

[0009] an angle adjusting seat which is horizontally rotatably arranged on the base, the angle adjusting seat is provided with a swing arm which swings radially along the angle adjusting seat, and the angle adjusting seat is further provided with a teleconverter which is coaxially arranged with the swing arm; and

[0010] a clamp which is rotatably arranged at the middle part of the swing arm and is provided with a rotation shaft, the clamp is used for clamping a product and completing multi-angle image taking of the product on the upper image card plate and the front image card plate according to the multi-axis rotation between the base, the angle adjusting seat, the swing arm and the clamp.

[0011] Further, the moving mechanism comprises a sliding rail and a transmission track, the bottom of the base is provided with a sliding buckle corresponding to the sliding rail and a butt joint corresponding to the transmission track, the base is slidingly arranged on the moving mechanism through the cooperation of the sliding buckle and the sliding rail and moves on the moving mechanism under the driving of the transmission track.

[0012] Further, the feeding position is arranged at the feeding end of the moving mechanism, the wide-angle image taking position is arranged at the middle part of the moving mechanism and is correspondingly arranged with the upper image card plate, and the narrow-angle image taking position is arranged at the other end of the moving mechanism and is correspondingly arranged with the front image card plate; the upper image card plate is horizontally arranged relative to the ground, and the front image card plate is vertically arranged on the ground.

[0013] Further, a rotating shaft is arranged between the angle adjusting seat and the base, and the angle adjusting seat rotates on the base through the rotating shaft.

[0014] Further, the angle adjusting seat comprises a bottom plate and two support arms, the two support arms are vertically and upwardly arranged from both ends of the bottom plate, and the two support arms are provided with a rotating shaft assembly at the same height, and the two ends of the swing arm are swingingly arranged on the support arms through the rotating shaft assembly.

[0015] Further, the swing arm is provided with a sliding groove, the clamp is slidingly arranged on the sliding groove and adjusts the axial position of the product on the angle adjusting seat through the sliding groove.

[0016] Further, the distance extender is rotatably installed on the supporting arm of the angle adjusting base through a rotating swing arm and is coaxially arranged with the swing arm; the distance extender, the clamp and the front picture card plate are arranged on the same plane.

[0017] Further, the rotating swing arm is provided with a distance adjusting mechanism for adjusting the distance between the distance extender and the clamp.

[0018] In a second aspect, the application further provides a method for calibrating and taking pictures of a binocular camera internal parameter, which is applied to the above-mentioned equipment for calibrating and taking pictures of a binocular camera internal parameter, and the method comprises the following steps:

[0019] S1, moving the clamping and rotating mechanism to a feeding position through the moving mechanism, adjusting the clamp on the clamping and rotating mechanism to an initial feeding position, feeding and placing a product on the clamp;

[0020] S2, moving the clamping and rotating mechanism to a wide-angle picture taking position through the moving mechanism, adjusting the clamping and rotating mechanism to a wide-angle picture taking initial position, taking pictures, rotating and taking pictures around three axes and writing data into the three axes, the two axes are unchanged, and only the reference of the third axis is changed, the three axes are the self-rotation axis of the clamp, the swing axis on the angle adjusting base of the swing arm and the rotating axis between the angle adjusting base and the base;

[0021] S3, moving the clamping and rotating mechanism to a narrow-angle picture taking position through the moving mechanism, adjusting the clamping and rotating mechanism to a narrow-angle picture taking initial position, adjusting the clamp and the distance extender so that they are aligned, rotating and taking pictures around three axes and writing data into the three axes, the two axes are unchanged, and only the reference of the third axis is changed, the three axes are the self-rotation axis of the clamp, the swing axis on the angle adjusting base of the swing arm and the rotating axis between the angle adjusting base and the base, and the picture taking operation is completed.

[0022] In a third aspect, the application further provides a system for calibrating binocular camera internal parameters, which comprises a processing unit and the above-mentioned equipment for calibrating and taking pictures of binocular camera internal parameters; the processing unit is in data transmission connection with the equipment for calibrating and taking pictures of binocular camera internal parameters, the processing unit acquires wide-angle picture taking data and narrow-angle picture taking data of a binocular camera product through the equipment for calibrating and taking pictures of binocular camera internal parameters, and calibrates the binocular camera through the wide-angle picture taking data and the narrow-angle picture taking data.

[0023] The beneficial effects of the application include:

[0024] 1.The mechanical design of the automatic internal parameter calibration equipment of the binocular camera product can realize the automatic calibration of the binocular camera. The control unit is used to control the binocular camera internal parameter calibration image taking equipment to realize automatic image taking, two different fields of view are used for spatial multi-dimensional photographing and image taking calibration, and the software is matched with the mechanical action mode, three rotating shafts are rotated in two image taking directions to ensure the same two actions and one, and the reliability of the binocular camera product internal parameter calibration image taking is ensured.

[0025] 2.The application can synchronously solve the problem of the narrow-angle requiring a magnifying mirror, the magnifying mirror is always concentric and equidistant with the camera in the whole calibration process in the narrow-angle image taking process, and the automatic calibration of the binocular camera is realized. The magnifying mirror can be automatically set to a height, match different product requirements, the new structure combination has higher compatibility for products, the production efficiency and quality are more stable, and the competitiveness of the product in the manufacturing link is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a three-dimensional structure diagram of the binocular camera internal parameter calibration image taking equipment in the embodiment of the application.

[0027] Figure 2 It is a three-dimensional structure diagram of the binocular camera internal parameter calibration image taking equipment in another angle in the first embodiment of the application.

[0028] Figure 3 It is a structure diagram of the binocular camera internal parameter calibration image taking equipment in the loading position in the embodiment of the application.

[0029] Figure 4 It is a structure diagram of the binocular camera internal parameter calibration image taking equipment in the wide-angle image taking position initial action in the embodiment of the application.

[0030] Figure 5 It is a structure diagram of the binocular camera internal parameter calibration image taking equipment in the wide-angle image taking position after the rotating action in the embodiment of the application.

[0031] Figure 6 It is a structure diagram of the binocular camera internal parameter calibration image taking equipment in the narrow-angle image taking position initial action in the embodiment of the application.

[0032] Figure 7 It is a structure diagram of the binocular camera internal parameter calibration image taking equipment in the narrow-angle image taking position after the rotating action in the embodiment of the application.

[0033] Wherein:

[0034] The upper card plate is 10, and the front card plate is 20.

[0035] The operation device is 30, the moving mechanism is 31, the clamping rotating mechanism is 32, the base is 321, the angle adjusting seat is 322, the swing arm is 323, the clamp is 324, the extender lens is 325, the bottom plate is 3221, and the support arm is 3222. DETAILED DESCRIPTION

[0036] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0037] The same or similar reference numerals in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore the terms describing the positional relationships in the drawings cannot be understood as limiting the present patent to a specific orientation, structure and operation.

[0038] Embodiment one

[0039] Figure 1 A stereoscopic structure diagram of a binocular camera internal parameter calibration photographing device in the embodiment of the present application is shown; Figure 2 A stereoscopic structure diagram of the binocular camera internal parameter calibration photographing device in the first embodiment of the present application is shown from another angle.

[0040] The embodiment provides a binocular camera internal parameter calibration photographing device, which comprises an upper chart plate 10, a front chart plate 20 and an operation device 30. The upper chart plate 10 and the front chart plate 20 are chart plates for camera testing, also known as chart, which are used to provide a shooting target for the camera. The camera shoots the pattern on the chart plate to obtain image data and write it. In the embodiment, "upper" and "front" in the upper chart plate 10 and the front chart plate 20 are described according to the position and placement mode of the chart plate in the device, rather than defining them. In terms of function, the upper chart plate 10 is arranged above the operation device 30 and is used for wide-angle camera photographing, and the front chart plate 20 is arranged on one side of the operation device 30, specifically close to the side of the operation device 30 at the narrow-angle photographing position, and is used for narrow-angle camera photographing.

[0041] The binocular camera is used for accurately judging the distance by using the parallax change of the camera, and the distance from the two lenses to the imaging object is calculated according to the principle of similar triangles, and then the actual distance of the imaging object is calculated through the parallax of the two cameras. The binocular camera usually includes a wide-angle camera and a narrow-angle camera, and the two cameras assist each other to improve the camera angle and the length of the detected accurate distance. The wide-angle camera has the characteristics of wide angle and short focal length. Therefore, the upper card plate 10 can be arranged above the operating device 30, without other distance auxiliary devices. In order to ensure the stability of the shooting and taking pictures, the preferred solution is that the center of the upper card plate 10 is aligned with the product located in the wide-angle shooting position, and the center of the upper card plate 10 is aligned with the shooting route of the wide-angle camera, so as to achieve the best shooting effect.

[0042] The front card plate 20 is used to provide a shooting calibration object for the narrow-angle camera of the binocular camera. Since the calibration and taking picture device is arranged in the indoor, based on the site relationship, it is impossible to reach the tens of meters or hundreds of meters distance required by the narrow-angle camera. Therefore, a telescopic lens 325 is needed to assist in the narrow-angle taking picture process. At the same time, the front card plate 20 needs to be placed farther and larger relative to the upper card plate 10. In view of this, in the embodiment, the card plate position is that the wide-angle camera corresponds to the upper card plate 10, and the narrow-angle camera corresponds to the front card plate 20. This preferred solution can greatly optimize the space, so that the device will not be too large, and the requirement of the device to the test site is reduced. It is worth noting that although the present solution adopts the way that the wide-angle camera corresponds to the upper card plate 10, and the narrow-angle camera corresponds to the front card plate 20, in the case that the test site is large enough, the way that the wide-angle camera corresponds to the front card plate 20, and the narrow-angle camera corresponds to the upper card plate 10 can also be adopted, or the wide-angle camera and the narrow-angle camera are both vertically placed on the desktop card plate, or both are placed on the upper card plate. The position of the card plate does not limit the device of the present solution too much.

[0043] The calibration and taking picture device also includes a base and a shell for protection and support. The operating device 30 is placed in the middle of the base, and the front card plate 20 is placed on the base, so as to be arranged above the operating device 30. Of course, the shell of the device is omitted in the drawing in order to ensure the clarity and integrity of the internal mechanism. It can be understood that the shell is arranged outside the mechanism, and is arranged for protection.

[0044] Figure 3 The structure diagram of the binocular camera internal parameter calibration and taking picture device in the embodiment is provided in the loading position; Figure 4 The structure diagram of the binocular camera internal parameter calibration and taking picture device in the embodiment is provided in the initial action of the wide-angle taking picture position; Figure 5 The structure diagram of the binocular camera internal parameter calibration and taking picture device in the embodiment is provided after the rotating action of the wide-angle taking picture position.

[0045] Figure 6 A structure diagram of the initial action of the narrow-angle image taking position of the binocular camera internal parameter calibration image taking device in the embodiment is provided. Figure 7 A structure diagram of the narrow-angle image taking position of the binocular camera internal parameter calibration image taking device in the embodiment is provided.

[0046] Please refer to the following Figures 3-7 In terms of the operation device 30, the operation device 30 specifically comprises a moving mechanism 31, a clamping and rotating mechanism 32 and a control mechanism, in terms of connection, the control mechanism is in control connection with the moving mechanism 31 and the clamping and rotating mechanism 32 respectively, the clamping and rotating mechanism 32 is placed on the moving mechanism 31 and is switched to the feeding position, the wide-angle image taking position and the narrow-angle image taking position under the driving of the moving mechanism 31. The clamping and rotating mechanism 32 is the main part of the clamping and rotating of the binocular camera product, the product is clamped in the clamping and rotating mechanism 32 through the clamp 324 and the rotation shaft and the swing shaft above it are used to adjust the image taking angle of the product. The control mechanism is the automatic control main body of the whole image taking device, which is mainly used to drive the clamping and rotating mechanism 32 to move on the moving mechanism 31 and the rotation shaft of the clamping and rotating mechanism 32 to rotate according to the setting of the operator, so as to realize the automatic internal parameter calibration image taking.

[0047] The moving mechanism 31 is fixed on the base or directly arranged on the preset work station, and is in movable connection with the clamping and rotating mechanism 32, the clamping and rotating mechanism 32 can switch to each work station through the moving mechanism 31, for example, when feeding, the clamping and rotating mechanism 32 is adjusted to the feeding position through the moving mechanism 31, and corresponding wide-angle image taking and narrow-angle image taking, the clamping and rotating mechanism 32 is adjusted to the wide-angle image taking position and the narrow-angle image taking position through the moving mechanism 31, so as to complete the subsequent feeding and image taking operation. As preferred, in the embodiment, the moving mechanism 31 adopts a slide rail, the base 321 of the clamping and rotating mechanism 32 is provided with a slide fastener corresponding to the slide rail, and the clamping and rotating mechanism 32 is slidably installed on the moving mechanism 31 through the cooperation between the slide fastener and the slide rail. Of course, in order to realize the purpose of driving the clamping and rotating mechanism 32 by the moving mechanism 31, the moving mechanism 31 is provided with a driving track on one side of the slide rail in parallel, and the base 321 of the clamping and rotating mechanism 32 is additionally provided with a corresponding docking piece, which is arranged on the driving track. Under the driving of the driving track, the clamping and rotating mechanism 32 realizes the movement on the moving mechanism 31.

[0048] Specifically, as one preferred embodiment of the present application, the feeding position is arranged at the feeding end of the moving mechanism 31, the wide-angle image capturing position is arranged at the middle of the moving mechanism 31 and corresponds to the upper image card plate 10, and the narrow-angle image capturing position is arranged at the other end of the moving mechanism 31 and corresponds to the front image card plate 20. The feeding position is used to place the product on the clamp 324, the wide-angle image capturing position is used for wide-angle camera image capturing, and the narrow-angle image capturing position is used for narrow-angle camera image capturing.

[0049] The clamping rotating mechanism 32 specifically includes a base 321, an angle adjusting seat 322, and a clamp 324. The base 321 is slidingly arranged on the moving mechanism 31. The angle adjusting seat 322 is horizontally rotatably arranged on the base 321. The angle adjusting seat 322 is provided with a swing arm 323 that swings radially along the angle adjusting seat 322. The angle adjusting seat 322 is further provided with a macro lens 325 that is coaxially arranged with the swing arm 323. The base 321 serves as a component that supports the angle adjusting seat 322 and the moving mechanism 31. Specifically, the base 321 provides a support seat for other components of the clamping rotating mechanism 32. Specifically, a rotating shaft is arranged between the angle adjusting seat 322 and the base 321. The angle adjusting seat 322 rotates on the base 321 through the rotating shaft. The rotating shaft is mainly used to ensure that the product and the macro lens 325 rotate in the horizontal direction under the condition of relative static state during narrow-angle image capturing. The angle adjusting seat 322 provides multiple rotation axis positions for the binocular camera product on the clamp 324. The product can be rotated and the angle can be changed through multiple axis positions controlled by the control unit during image capturing. The clamp 324 is rotatably arranged in the middle of the swing arm 323. The clamp 324 is provided with a self-rotation shaft that is used to clamp the product. The multiple-axis rotation between the base 321, the angle adjusting seat 322, the swing arm 323, and the clamp 324 completes the multi-angle image capturing of the product on the upper image card plate 10 and the front image card plate 20.

[0050] The angle adjusting seat 322 comprises a bottom plate 3221 and two support arms 3222 vertically extending from both ends of the bottom plate 3221, and the two support arms 3222 are provided with a rotating shaft assembly, and the two ends of the swing arm 323 are swingably installed on the support arms 3222 through the rotating shaft assembly. The bottom plate 3221 and the two support arms 3222 of the angle adjusting seat 322 form a V-shaped structure, which forms a space for accommodating the swing arm 323 in the middle. The swing arm 323 has a similar structure to the angle adjusting seat 322 and is matched with the V-shaped structure of the angle adjusting seat 322 in the middle, and the two ends thereof are rotatably connected with the rotating shaft assembly of the support arm 3222, so that the swing arm 323 can swing in the middle of the angle adjusting seat 322 to drive the clamp 324 to rotate around the rotating shaft assembly of the support arm 3222. The middle of the swing arm 323 is provided with a sliding groove, and the clamp 324 is slidably installed on the sliding groove and adjusts the axial position of the product on the angle adjusting seat 322 through the sliding groove, and the clamp 324 is rotatably installed in the middle of the swing arm 323.

[0051] The zoom lens 325 is rotatably installed on the support arm 3222 of the angle adjusting seat 322 through a rotating swing arm and is coaxially arranged with the swing arm 323, that is, when the swing arm 323 drives the clamp 324 to swing and rotate, the zoom lens 325 can keep relatively static with the clamp 324 according to the same swing amplitude. It is worth noting that, in the narrow-angle photographing process, in order to keep the binocular camera product on the clamp 324 and the zoom lens 325 relatively static, the rotating swing arm of the zoom lens 325 can be locked relative to the swing arm 323. In the initial position, the zoom lens 325, the clamp 324 and the front card plate 20 are arranged on the same plane. Of course, in the wide-angle photographing process, the zoom lens 325 is not needed, so the zoom lens 325 needs to be rotated to a position that does not interfere with the test. As a preferred embodiment, the rotating swing arm is provided with a distance adjusting mechanism for adjusting the distance between the zoom lens 325 and the clamp 324, and the distance between the zoom lens 325 and the product is adjusted through the distance adjusting mechanism.

[0052] Specifically, in order to have a better operation experience, the rotating shaft positions in the embodiment include:

[0053] The first rotating shaft position is between the base 321 and the angle adjusting seat 322;

[0054] The second rotating shaft position is between the angle adjusting seat 322 and the swing arm 323;

[0055] The third rotating shaft position is between the swing arm 323 and the clamp 324;

[0056] The fourth rotating shaft position is the self-rotation axis of the clamp 324;

[0057] Rotational axis position five: the rotational axis between the zoom lens 325 and the angle adjustment seat 322.

[0058] Horizontal axis position:

[0059] Horizontal axis position one: the horizontal axis between the moving mechanism 31 and the base 321;

[0060] Horizontal axis position two: the horizontal axis position between the swing arm 323 and the clamp 324;

[0061] Horizontal axis position three: the zoom axis between the zoom lens 325 and the clamp 324 product.

[0062] The image taking working process of the image taking equipment in the binocular camera internal parameter calibration in the embodiment is as follows:

[0063] Feeding: the control mechanism controls the moving mechanism 31 to move the clamping rotating mechanism 32 to the feeding position, controls the clamp 324 on the clamping rotating mechanism 32 to adjust to the feeding initial working position, feeds, and places the product on the clamp 324.

[0064] Wide-angle image taking: the control mechanism moves the clamping rotating mechanism 32 to the wide-angle image taking position through the moving mechanism 31, adjusts the clamping rotating mechanism 32 to the wide-angle image taking initial working position, takes images, and writes data into the data. The self-rotation axis of the clamp 324, the swing axis on the angle adjustment seat 322 of the swing arm 323, and the rotation axis between the clamp 324 and the swing arm 323 are three axes, two axes are unchanged, and only the reference of the third axis is changed. Rotate and take pictures around the three axes arranged and combined at angles and write data into the data.

[0065] Narrow-angle image taking: the control mechanism moves the clamping rotating mechanism 32 to the narrow-angle image taking position through the moving mechanism 31, adjusts the clamping rotating mechanism 32 to the narrow-angle image taking initial working position, adjusts the clamp 324 and the zoom lens 325, and aligns them. The self-rotation axis of the clamp 324, the swing axis on the angle adjustment seat 322 of the swing arm 323, and the rotation axis between the angle adjustment seat 322 and the base 321 are three axes, two axes are unchanged, and only the reference of the third axis is changed. Rotate and take pictures around the three axes arranged and combined at angles and write data into the data, and complete the image taking operation.

[0066] Specifically, in the embodiment, multi-angle and multi-distance adjustment is achieved through the multi-axis motion assembly stacking mode, and the problem that the distance and position of the binocular camera are not fixed and each lens must be able to rotate a certain angle around three rotational axes in space during calibration is solved.

[0067] In order to have a better experience, a specific image taking step is provided:

[0068] 1. Before calibration, according to the characteristics and requirements of the wide-angle lens, the card plate 10 is first lifted to the required distance, and the front card is fixed at a certain distance according to the characteristics and actual simulation distance of the narrow-angle wide-angle lens.

[0069] 2. After entering the top view calibration station, the moving mechanism 31 moves the wide-angle lens to the center of the top view card 10 for taking pictures; then the angle is rotated around the three rotation axes of XYZ in sequence to take pictures and write data, and then the narrow-angle calibration is performed.

[0070] 3. The product is turned 90° around the X-axis by the clamp 324 rotating mechanism to enter the front view calibration station, and the moving mechanism 31 moves the narrow-angle lens to the center of the front card for taking pictures; then the angle is rotated around the three rotation axes of XYZ in sequence to take pictures and write data. After completion, it returns to the product loading position.

[0071] Embodiment Two

[0072] The embodiment provides a binocular camera internal parameter calibration and picture taking method, which is applied to the binocular camera internal parameter calibration and picture taking device in embodiment one, and specifically includes the following steps:

[0073] S1, moving the clamping rotating mechanism to the loading position by the moving mechanism, adjusting the clamp on the clamping rotating mechanism to the loading initial station, loading, and placing the product on the clamp;

[0074] S2, moving the clamping rotating mechanism to the wide-angle picture taking position by the moving mechanism, adjusting the clamping rotating mechanism to the wide-angle picture taking initial station, and taking pictures. The three axes are the rotation axis of the clamp, the swing axis on the swing arm angle adjusting seat, and the rotation axis between the clamp and the swing arm. The reference of the third axis is changed while the references of the other two axes remain unchanged. The angle is rotated around the three axes in sequence to take pictures and write data;

[0075] S3, moving the clamping rotating mechanism to the narrow-angle picture taking position by the moving mechanism, adjusting the clamping rotating mechanism to the narrow-angle picture taking initial station, and adjusting the clamp and the extender lens to be aligned. The three axes are the rotation axis of the clamp, the swing axis on the swing arm angle adjusting seat, and the rotation axis between the angle adjusting seat and the base. The reference of the third axis is changed while the references of the other two axes remain unchanged. The angle is rotated around the three axes in sequence to take pictures and write data, and the picture taking operation is completed.

[0076] Embodiment Three

[0077] The embodiment provides a binocular camera internal parameter calibration system, which comprises a processing unit and the binocular camera internal parameter calibration photographing device in the embodiment one. The processing unit is in data transmission connection with the binocular camera internal parameter calibration photographing device. The processing unit acquires wide-angle photographing data and narrow-angle photographing data of the binocular camera product through the binocular camera internal parameter calibration photographing device, and calibrates the internal parameters of the binocular camera through the wide-angle photographing data and the narrow-angle photographing data.

[0078] Specifically, the wide-angle photographing data and the narrow-angle photographing data of the binocular camera product acquired by the processing unit can be obtained through the photographing method in the embodiment two.

[0079] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and also impossible to exhaust all the implementation modes. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A binocular camera intrinsic parameter calibration photographing device, characterized in that, The device comprises an upper card plate, a front card plate and an operating device; the upper card plate and the front card plate are arranged above and in front of the operating device respectively; the operating device comprises a moving mechanism, a clamping and rotating mechanism and a control mechanism, the control mechanism is connected with the moving mechanism and the clamping and rotating mechanism respectively; the clamping and rotating mechanism is arranged above the moving mechanism and is switched to a feeding position, a wide-angle photographing position and a narrow-angle photographing position under the driving of the moving mechanism; the clamping and rotating mechanism comprises: a base which is slidably arranged on the moving mechanism; an angle adjusting base which is horizontally rotatably arranged on the base, the angle adjusting base is provided with a swing arm which swings radially along the angle adjusting base, and the angle adjusting base is further provided with a zoom lens which is coaxially arranged with the swing arm; and a clamp which is rotatably arranged at the middle part of the swing arm and is provided with a rotation shaft, the clamp is used for clamping a product and completing multi-angle photographing of the product on the upper card plate and the front card plate according to the multi-axis rotation between the base, the angle adjusting base, the swing arm and the clamp. The angle adjusting base comprises a base plate and two support arms, the two support arms are vertically and upwardly arranged from both ends of the base plate, the two support arms are provided with a rotating shaft assembly at the same height, and the two ends of the swing arm are swingably arranged on the support arms through the rotating shaft assembly. The zoom lens is rotatably arranged on the support arm of the angle adjusting base through a rotating swing arm and is coaxially arranged with the swing arm; the zoom lens, the clamp and the front card plate are arranged on the same plane. The rotating swing arm is provided with a distance adjusting mechanism for adjusting the distance between the zoom lens and the clamp.

2. The dual-camera intrinsic parameter calibration photographing device according to claim 1, wherein, The moving mechanism comprises a sliding rail and a transmission track, the bottom of the base is provided with a sliding buckle corresponding to the sliding rail and a butt joint corresponding to the transmission track, the base is slidably arranged on the moving mechanism through the cooperation of the sliding buckle and the sliding rail and is moved on the moving mechanism under the driving of the transmission track.

3. The dual-camera intrinsic parameter calibration photographing device according to claim 2, wherein, The feeding position is arranged at the feeding end of the moving mechanism, the wide-angle photographing position is arranged at the middle part of the moving mechanism and is correspondingly arranged with the upper card plate, and the narrow-angle photographing position is arranged at the other end of the moving mechanism and is correspondingly arranged with the front card plate; the upper card plate is horizontally arranged relative to the ground, and the front card plate is vertically arranged on the ground.

4. The dual-camera intrinsic parameter calibration apparatus of claim 1, wherein, A rotating shaft is arranged between the angle adjusting base and the base, and the angle adjusting base rotates on the base through the rotating shaft.

5. The dual-camera intrinsic parameter calibration apparatus of claim 1, wherein, The swing arm is provided with a sliding groove, the clamp is slidably arranged on the sliding groove and adjusts the axial position of the product on the angle adjusting base through the sliding groove.

6. A binocular camera intrinsic parameter calibration image capturing method, characterized in that, The method is applied to the binocular camera internal parameter calibration photographing device of any one of claims 1-5, and the method comprises: S1, moving the clamping and rotating mechanism to the feeding position through the moving mechanism, adjusting the clamp on the clamping and rotating mechanism to the feeding initial position, feeding and placing the product on the clamp; S2, moving the clamping and rotating mechanism to a wide-angle photographing position by the moving mechanism, adjusting the clamping and rotating mechanism to a wide-angle photographing initial position, photographing, rotating around three axes to take pictures and write data, with two axes unchanged and only the third axis changed; S3, moving the clamping and rotating mechanism to a narrow-angle photographing position by the moving mechanism, adjusting the clamping and rotating mechanism to a narrow-angle photographing initial position, adjusting the clamp and the extender lens to be aligned, rotating around three axes to take pictures and write data, with two axes unchanged and only the third axis changed, completing the photographing operation. 7.A system for calibrating intrinsic parameters of a dual-camera, characterized in that, The processing unit is in data transmission connection with the binocular camera internal parameter calibration photographing device, and the processing unit acquires wide-angle photographing data and narrow-angle photographing data of a binocular camera product through the binocular camera internal parameter calibration photographing device, and calibrates the internal parameters of the binocular camera through the wide-angle photographing data and the narrow-angle photographing data.

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