Calibration device and calibration system for infrared binocular camera

Abstract

The present application relates to the calibration device and calibration system of infrared binocular camera, calibration device includes: calibration device includes: calibration box, calibration board, mechanical arm and controller, mechanical arm is arranged in calibration box, mechanical arm includes multiple joints hinged at the head and tail, the free end of the last joint in multiple joints is connected with calibration board, the free end of the head joint in multiple joints is arranged on the inner wall of calibration box; Controller is electrically connected with infrared binocular camera and mechanical arm respectively; Controller is used to control the rotation of at least one joint in multiple joints, so that multiple joints drive calibration board to move to the preset position, and when calibration board moves to the preset position, it is used to control infrared binocular camera to shoot calibration board. By controlling the rotation of the joint of the mechanical arm, the calibration board is moved, so that the infrared binocular camera is convenient for shooting multiple depth images at different distances and different angles at multiple preset positions.

Description

Technical Field

[0001] This invention relates to the field of camera calibration technology, and in particular to a calibration device and calibration system for infrared binocular cameras. Background Technology

[0002] Accurate calibration of the intrinsic parameters and distortion parameters of an infrared binocular camera is a crucial step. To obtain accurate calibration results, a large number of calibration images from different angles and distances need to be captured. In existing technologies, the relative position between the calibration board and the infrared binocular camera needs to be manually adjusted before capturing depth images, which is time-consuming, makes it difficult to acquire a large number of calibration images from different angles and distances, results in low calibration efficiency, and is not suitable for batch calibration of infrared binocular cameras. Summary of the Invention

[0003] Based on this, to address the problems of existing technologies that make it difficult to acquire a large number of calibration images from different angles and distances, resulting in low calibration efficiency and unsuitability for batch calibration of infrared binocular cameras, a calibration device and calibration system for infrared binocular cameras are provided.

[0004] In a first aspect, the present invention provides a calibration device for an infrared binocular camera, the infrared binocular camera being used to capture images via the calibration device, the calibration device comprising:

[0005] A calibration box, wherein the infrared binocular camera is slidably mounted on the calibration box and is directed toward the inside of the calibration box;

[0006] Calibration plate;

[0007] A robotic arm is disposed inside the calibration box. The robotic arm includes multiple joints that are hinged at both ends. The free end of the most distal joint is connected to the calibration plate. The free end of the first joint is disposed on the inner wall of the calibration box.

[0008] The controller is used to electrically connect to the infrared binocular camera and the robotic arm, respectively;

[0009] The controller is used to control at least one of the plurality of joints to rotate, so that the plurality of joints drive the calibration plate to move to a preset position. The controller is also used to control the infrared binocular camera to capture images of the calibration plate when the calibration plate moves to the preset position.

[0010] In one embodiment, the calibration device further includes: a first mounting plate, wherein the infrared binocular camera is detachably mounted on one side of the first mounting plate, and a through hole is formed on the first side wall of the calibration housing, the through hole communicating with the interior of the calibration housing;

[0011] A first groove is provided on the side of the first sidewall facing the external environment, and a first slider is provided on the first mounting plate to slide in cooperation with the groove. The first slider and the infrared binocular camera are located on the same side of the first mounting plate, and the infrared binocular camera is used to face the calibration box through the through hole.

[0012] In one embodiment, there are two first slide grooves, which are respectively disposed on opposite sides of the through hole; there are two first sliders, which are disposed corresponding to the two first slide grooves.

[0013] The first slide groove is provided with a limiting part, which is used to restrict the sliding of the first mounting plate when the first mounting plate slides from one end of the first slide groove to the limiting part by the first slider.

[0014] In one embodiment, the calibration device further includes: a plurality of infrared light sources, the plurality of infrared light sources being disposed on the side of the first sidewall facing the calibration box, and the plurality of infrared light sources being spaced apart from each other along the periphery of the first sidewall; the infrared binocular camera being disposed within the area enclosed by the plurality of infrared light sources; and the plurality of infrared light sources being used to provide supplementary lighting for the infrared binocular camera.

[0015] In one embodiment, the calibration device further includes a second mounting plate on which the infrared binocular camera is mounted;

[0016] The first mounting plate has a second sliding groove, which is located on the same side of the first mounting plate as the first slider. The second mounting plate has a second slider that cooperates with the second sliding groove on the side opposite to the infrared binocular camera.

[0017] In one embodiment, there are multiple infrared binocular cameras and multiple second mounting plates, with each infrared binocular camera mounted on one of the second mounting plates. There are multiple second sliding grooves, and the multiple infrared binocular cameras are configured to correspond one-to-one with the multiple second sliding grooves and the multiple second mounting plates.

[0018] In one embodiment, a communication connector is provided at one end of the second slide, the communication connector being used to electrically connect to the controller and the infrared binocular camera respectively.

[0019] In one embodiment, there are multiple preset positions, and each preset position corresponds to at least one of the multiple infrared binocular cameras. The controller is used to control at least one of the multiple joints to rotate, so that when the multiple joints move the calibration plate to one of the multiple preset positions, the controller is used to control the corresponding infrared binocular camera among the multiple infrared binocular cameras to photograph the calibration plate.

[0020] In one embodiment, the infrared binocular camera and the robotic arm are configured to be positioned opposite each other on the calibration box.

[0021] Secondly, the present invention provides a calibration system, characterized in that the calibration system includes an infrared binocular camera and a calibration device for the infrared binocular camera as described above.

[0022] Thirdly, the present invention provides a calibration method for an infrared binocular camera, applied to the aforementioned calibration device for an infrared binocular camera, comprising:

[0023] The controller sequentially sends multiple preset movement commands to the robotic arm, so that the robotic arm, based on the multiple movement commands, sequentially moves the calibration plate to the preset position corresponding to each movement command;

[0024] In response to the robotic arm moving to each preset position, the controller controls an infrared binocular camera whose field of view covers the target position to capture a depth image;

[0025] The controller calibrates each infrared binocular camera based on all depth images captured by each infrared binocular camera.

[0026] The aforementioned calibration device for an infrared binocular camera includes: a calibration housing, a calibration plate, a robotic arm, and a controller. The infrared binocular camera is slidably mounted on the calibration housing. The robotic arm is mounted inside the calibration housing and includes multiple joints hinged at both ends. The free end of the distal joint is connected to the calibration plate, while the free end of the proximal joint is mounted on the inner wall of the calibration housing. The controller is electrically connected to both the infrared binocular camera and the robotic arm. The controller controls at least one joint to rotate, causing the joints to move the calibration plate to a preset position, thereby controlling the infrared binocular camera to capture images of the calibration plate. The calibration device controls the joints of the robotic arm to rotate, thereby moving the calibration plate and changing the relative position between the calibration plate and the infrared binocular camera. This allows the infrared binocular camera to capture multiple depth images at different distances and angles from multiple preset positions. The infrared binocular camera is slidably mounted on the calibration box, which facilitates the replacement of infrared binocular cameras in application scenarios where infrared binocular cameras are calibrated in batches. Therefore, the above-mentioned infrared binocular camera calibration device is suitable for application scenarios where infrared binocular cameras are calibrated in batches. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the calibration device for the infrared binocular camera in an embodiment of the present invention from one viewpoint.

[0028] Figure 2 This is a schematic diagram of the structure of the robotic arm and calibration plate in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the calibration device for the infrared binocular camera in an embodiment of the present invention from another perspective;

[0030] Figure 4 This is a flowchart illustrating the calibration method for an infrared binocular camera in an embodiment of the present invention.

[0031] Figure 5 This is a flowchart illustrating the calibration method for an infrared binocular camera in a specific embodiment of the present invention. Detailed Implementation

[0032] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0037] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0038] The calibration device for the infrared binocular camera in this embodiment of the invention is used to calibrate the infrared binocular camera. In the application scenario of calibrating the infrared binocular camera, the infrared binocular camera is installed on the calibration device, and the infrared binocular camera captures a depth image through the calibration device. The calibration device calibrates the infrared binocular camera using the depth image captured by the infrared binocular camera.

[0039] See Figure 1 , Figure 2 and Figure 3 , Figure 1 This diagram illustrates a calibration device for an infrared binocular camera according to an embodiment of the present invention, viewed from one angle. Figure 2 A schematic diagram of the robotic arm and calibration plate is shown. Figure 3 The diagram shows a calibration device for an infrared binocular camera according to an embodiment of the present invention from another perspective; the calibration device for the infrared binocular camera includes:

[0040] A calibration box 100 is provided, on which an infrared binocular camera is slidably mounted, facing inwards; a calibration plate 200 is provided; a robotic arm 300 is provided inside the calibration box 100 and includes multiple joints hinged at both ends, with the free end of the distal joint connected to the calibration plate 200 and the free end of the proximal joint disposed on the inner wall of the calibration box 100; a controller 400 is electrically connected to both the infrared binocular camera and the robotic arm 300; the controller 400 controls at least one joint to rotate, so that the joints move the calibration plate 200 to a preset position; the controller 400 also controls the infrared binocular camera to capture images of the calibration plate 200 when the calibration plate 200 moves to the preset position.

[0041] Specifically, the robotic arm 300 is housed inside the calibration box, and the calibration plate 200 is connected to the joint at the far end of the robotic arm 300, so the calibration plate 200 is located inside the calibration box 100; in the application scenario of calibrating an infrared binocular camera, the infrared binocular camera faces into the calibration box 100, and the infrared binocular camera faces the calibration plate 200 inside the calibration box 100.

[0042] In one implementation, the free end of the first joint among multiple joints is disposed on the inner wall of the calibration box 100. Alternatively, the free end of the first joint can be disposed on the inner wall of the bottom surface of the calibration box 100. Correspondingly, the infrared binocular camera can be disposed on the top surface of the calibration box 100, with the bottom surface and top surface of the calibration box 100 being parallel. Alternatively, the infrared binocular camera can be disposed on any side elevation of the calibration box 100, with any side elevation of the calibration box 100 being perpendicular to the bottom surface.

[0043] In another implementation, the free end of the first joint among the multiple joints is set on the inner wall of the calibration box 100, or the free end of the first joint is set on the inner wall of any side facade of the calibration box 100. Correspondingly, the infrared binocular camera can be set on the top surface of the calibration box 100, and the top surface of the calibration box 100 is perpendicular to any side facade of the calibration box 100; the infrared binocular camera can also be set on the other side facade of the calibration box 100 that is parallel to the other side facade.

[0044] In one embodiment, the controller robotic arm 300 includes three joints hinged at the head and tail: a first joint 301 at the head, a second joint 302 at the second end, and a third joint 303 at the tail. For ease of description, a spatial coordinate system is set based on the calibration box. The origin of the spatial coordinate system can be set to the free end of the first joint 301. The xy plane of the spatial coordinate system is the plane containing the bottom surface of the calibration box 100. The xz plane of the spatial coordinate system is parallel to one side elevation of the calibration box 100, and the yz plane of the spatial coordinate system is parallel to the other side elevation of the calibration box 100.

[0045] The first joint 301 rotates in the xy plane, the second joint 302 rotates in the xz plane, and the third joint 303 rotates in the yz plane. The preset position can be represented by coordinate values ​​in this spatial coordinate system. The controller obtains the preset position and moves the calibration plate 200 to the preset position by controlling the rotation of at least one of the first joint 301, the second joint 302, and the third joint 303. When the calibration plate 200 moves to the preset position, the controller controls the infrared binocular camera to capture an image of the calibration plate 200, thus obtaining a depth image.

[0046] In one embodiment, the calibration device further includes a first mounting plate 500, an infrared binocular camera is detachably mounted on one side of the first mounting plate 500, a through hole is provided on the first side wall 101 of the calibration box 100, the through hole communicates with the interior of the calibration box 100; a first sliding groove is provided on the side of the first side wall 101 facing the external environment, a first slider is provided on the first mounting plate 500 that slides in cooperation with the first sliding groove, the first slider and the infrared binocular camera are located on the same side of the first mounting plate 500, and the infrared binocular camera is used to face the interior of the calibration box 100 through the through hole.

[0047] Specifically, the first mounting plate 500 and the first sidewall 101 are slidably connected via a first slider on the first mounting plate 500 and a first sliding groove on the outer surface of the first sidewall 101. This slidable connection facilitates the replacement of the next infrared binocular camera after the current infrared binocular camera mounted on the first mounting plate 500 has been calibrated. When the infrared binocular camera is mounted on the first mounting plate 500, it captures images of the calibration plate 200 inside the calibration housing 100 through a through-hole in the first sidewall 101.

[0048] In one implementation, the first sidewall 101 of the calibration box 100 can be the sidewall of the top surface of the calibration box 100, and correspondingly, the first mounting plate 500 is located outside the top surface of the calibration box 100 (outside the calibration box 100). In another implementation, the first sidewall 101 of the calibration box 100 can be the sidewall of any side facade of the calibration box 100, and correspondingly, the first mounting plate 500 is located outside that side facade (outside the calibration box 100).

[0049] To reduce the complexity of the rotation of multiple joints in the robotic arm 300, the infrared binocular camera and the robotic arm are positioned relative to each other on the calibration housing 100. For example, the infrared binocular camera faces into the calibration housing 100 through a through-hole on the first side wall of the calibration housing 100, and the robotic arm 300 is positioned on the opposite side wall of the calibration housing 100. To improve the stability of the robotic arm 300, the first side wall 101 is the side wall of the top surface of the calibration housing 100.

[0050] In one embodiment, there are two first slide grooves, which are respectively disposed on opposite sides of the through hole. There are two first sliders, which are disposed corresponding to the two first slide grooves. A limiting part is provided on the first slide groove, which is used to restrict the sliding of the first mounting plate 500 when the first mounting plate 500 slides from one end of the first slide groove to the limiting part through the first slider.

[0051] Specifically, two first sliders are provided on one side of the first mounting plate 500, and correspondingly, two first sliding grooves are provided on the side of the first sidewall 101 facing the external environment. The first mounting plate 500 and the first sidewall 101 are slidably connected by the two first sliders and the two first sliding grooves. When the first mounting plate 500 and the first sidewall 101 are connected, the two first sliders and the two first sliding grooves ensure that the first mounting plate 500 and the first sidewall 101 are parallel, making the sliding connection between the first mounting plate 500 and the first sidewall 101 more stable.

[0052] The limiting part can be set on any of the first slide grooves to limit the sliding of the first slider that cooperates with any of the first slide grooves, thereby limiting the sliding of another first slider that cooperates with another first slide groove. When the first mounting plate 500 slides from one end of the first slide groove to the limiting part via the first slider, the infrared binocular camera faces into the calibration box 100 through the through hole. That is to say, by setting the limiting part on the first slide groove, the relative position of the first mounting plate 500 and the first side wall 101 can be fixed, thereby ensuring that the field of view of the infrared binocular camera is not obstructed.

[0053] In one embodiment, the calibration device further includes: a plurality of infrared light sources, which are disposed on the side of the first sidewall 101 facing the calibration box, and are spaced apart from each other along the periphery of the first sidewall 101; an infrared binocular camera is disposed within the area enclosed by the plurality of infrared light sources, and the plurality of infrared light sources are used to provide supplementary lighting for the infrared binocular camera.

[0054] Specifically, a through hole is provided on the first sidewall 101, and the through hole is located within the area surrounded by multiple infrared light sources, so that when the infrared binocular camera is slidably positioned on the calibration box 100, the infrared binocular camera is within the area surrounded by multiple infrared light sources. The wavelength of the infrared light source can be 850nm, so that when the infrared binocular camera is shooting the calibration plate 200 at any preset position, the supplementary lighting of the multiple infrared light sources on the calibration plate 200 is sufficient and uniform, which improves the quality of the depth image captured by the infrared binocular camera and improves the calibration accuracy.

[0055] Multiple infrared light sources are electrically connected to the controller. The controller controls the multiple infrared light sources to turn on or off. When the infrared binocular camera starts calibration, the multiple infrared light sources can be controlled to turn on, and when the infrared binocular camera completes calibration, the multiple infrared light sources can be controlled to turn off. During the calibration process of the infrared binocular camera, when the calibration plate 200 moves to a preset position, the multiple infrared light sources can be controlled to turn on, and when the infrared binocular camera captures an image of the calibration plate 200 at the preset position, the multiple infrared light sources can be controlled to turn off.

[0056] In one embodiment, the calibration device further includes a second mounting plate 600, on which an infrared binocular camera is mounted; a second sliding groove is provided on the first mounting plate 500, and the second sliding groove and the first slider are located on the same side of the first mounting plate 500; a second slider that cooperates with the second sliding groove is provided on the side of the second mounting plate 600 away from the infrared binocular camera.

[0057] Specifically, the second mounting plate 600 is used to mount an infrared binocular camera. The second mounting plate 600 and the first mounting plate 500 are slidably connected through the second sliding groove on the second mounting plate 600 and the second slider on the first mounting plate 500, thereby realizing the detachable connection between the infrared binocular camera and the first mounting plate 500.

[0058] When the second mounting plate 600 is connected to the first mounting plate 500, and the first mounting plate 500 is connected to the first side wall 101, the second mounting plate 600 is located between the first side wall 101 and the first mounting plate 500. The infrared binocular camera mounted on the second mounting plate 600 faces the calibration box 100 through the through hole on the first side wall 101.

[0059] In one embodiment, there are multiple infrared binocular cameras and multiple second mounting plates 600. Each infrared binocular camera is mounted on a second mounting plate 600. There are multiple second sliding grooves, and the multiple infrared binocular cameras are configured to correspond one-to-one with the multiple second sliding grooves and the multiple second mounting plates 600.

[0060] Specifically, multiple infrared binocular cameras are respectively mounted on multiple second mounting plates 600. Correspondingly, multiple through holes are provided on the first side wall 101. When multiple infrared binocular cameras are mounted on multiple second mounting plates 600, and the multiple second mounting plates 600 are connected to the first mounting plate 500, and the first mounting plate 500 is connected to the first side wall 101, the multiple infrared binocular cameras face into the calibration box 100 through the multiple through holes on the first side wall 101.

[0061] In one embodiment, a communication connector is provided at one end of the second slide, which is used to electrically connect to the controller and the infrared binocular camera respectively.

[0062] Specifically, multiple infrared binocular cameras are mounted on multiple second mounting plates 600. The controller 400 is used to control the multiple infrared binocular cameras to capture depth images through a communication connector, which improves the consistency of the depth images captured by the multiple infrared binocular cameras, thereby improving the consistency of the calibration accuracy of the multiple infrared binocular cameras. Multiple infrared binocular cameras can be calibrated simultaneously, which is suitable for batch calibration of infrared binocular cameras. This greatly reduces the calibration time and improves the calibration efficiency.

[0063] In one embodiment, there are multiple preset positions, and each preset position corresponds to at least one infrared binocular camera among the multiple infrared binocular cameras. The controller is used to control at least one joint among the multiple joints to rotate, so that when the multiple joints drive the calibration plate to move to one of the multiple preset positions, the controller is used to control the corresponding infrared binocular camera among the multiple infrared binocular cameras to photograph the calibration plate.

[0064] Specifically, since the multiple infrared binocular cameras are positioned differently on the first mounting plate, their fields of view differ. When the calibration plate 200 is in some preset positions, the fields of view of some infrared binocular cameras may not be completely covered by the calibration plate 200. To ensure that each depth image captured by each infrared binocular camera is obtained when its field of view is completely covered by the calibration plate 200, each preset position corresponds to a pre-defined infrared binocular camera. For each preset position and infrared binocular camera, the field of view of the infrared binocular camera is completely covered by the calibration plate 200 at that preset position. Each time the calibration plate 200 moves to a preset position, the controller 400 controls the infrared binocular camera whose field of view covers that preset position to capture a depth image.

[0065] In one embodiment, the calibration housing 100 includes a first door 102 and a second door 103, which are respectively disposed on any two side facades of the calibration housing 100. When calibrating the infrared binocular camera, the first door 102 and the second door 103 are closed to ensure the supplementary lighting effect of multiple infrared light sources. The first door 102 and the second door 103 are provided to facilitate the adjustment and inspection of the robotic arm 300, multiple infrared binocular cameras, or calibration plate 200 located inside the calibration housing 100.

[0066] The aforementioned calibration device for an infrared binocular camera includes: a calibration housing, a calibration plate, a robotic arm, and a controller. The infrared binocular camera is slidably mounted on the calibration housing. The robotic arm is mounted inside the calibration housing and includes multiple joints hinged at both ends. The free end of the distal joint is connected to the calibration plate, and the free end of the proximal joint is mounted on the inner wall of the calibration housing. The controller is electrically connected to both the infrared binocular camera and the robotic arm. The controller controls at least one joint to rotate, thereby moving the calibration plate to a preset position and controlling the infrared binocular camera to capture images of the calibration plate.

[0067] The system consists of multiple infrared binocular cameras, and the controller is used to control the multiple infrared binocular cameras to capture depth images, which improves the consistency of the depth images captured by the multiple infrared binocular cameras, thereby improving the consistency of the calibration accuracy of the multiple infrared binocular cameras. It can calibrate multiple infrared binocular cameras at the same time, which is suitable for batch calibration of infrared binocular cameras, greatly reducing the calibration time and improving the calibration efficiency.

[0068] The calibration device is equipped with multiple infrared light sources, and the infrared binocular camera is located within the range of multiple infrared light sources. This ensures that when the infrared binocular camera is shooting the calibration board 200 at any preset position, the supplementary lighting provided by the multiple infrared light sources to the calibration board is sufficient and uniform, thereby improving the quality of the depth image captured by the infrared binocular camera and improving the calibration accuracy.

[0069] In one embodiment, based on the above-described calibration device for an infrared binocular camera, the present invention also provides a calibration system, including the above-described calibration device for an infrared binocular camera and an infrared binocular camera.

[0070] Specifically, the calibration device includes: a calibration box, a calibration plate, a robotic arm, and a controller. The robotic arm is disposed within the calibration box and includes multiple joints hinged at both ends. The free end of the distal joint is connected to the calibration plate, and the free end of the proximal joint is disposed on the inner wall of the calibration box. The controller is electrically connected to the infrared binocular camera and the robotic arm. The controller controls at least one joint to rotate, so that the joints move the calibration plate to a preset position. When the calibration plate moves to the preset position, the controller controls the infrared binocular camera to capture an image of the calibration plate. The infrared binocular camera is slidably disposed on the calibration box and faces inwards from the calibration box.

[0071] The solution provided by the calibration system is similar to the solution described in the calibration device for the infrared binocular camera. Therefore, the specific components included in the calibration device for the infrared binocular camera in the calibration system, as well as the connection relationships between the specific components, can be found in the above description of the calibration device for the infrared binocular camera, and will not be repeated here.

[0072] In one embodiment, such as Figure 4 As shown, based on the above-mentioned calibration device for an infrared binocular camera, the present invention also provides a calibration method for an infrared binocular camera, comprising:

[0073] S101, the controller sequentially sends multiple preset movement commands to the robotic arm, so that the robotic arm, based on the multiple movement commands, sequentially moves the calibration plate to the preset position corresponding to each movement command.

[0074] Specifically, a pre-set movement path is established, which includes multiple preset positions arranged in a movement sequence. Each preset position corresponds one-to-one with a set of movement commands. The controller sends the multiple movement commands to the robotic arm sequentially according to the movement sequence. The robotic arm rotates at least one joint among the multiple joints according to any given movement command, moving the calibration plate to the preset position corresponding to that command.

[0075] A set of rotation command instructions is pre-set for each movement command. The rotation command instruction set includes multiple joint rotation commands, which are used to control the rotation of multiple joints of the robotic arm. The robotic arm receives the movement command and controls at least one joint among the multiple joints to rotate according to the rotation command set corresponding to that movement command, thereby moving the calibration plate to a preset position.

[0076] S102, in response to the robotic arm moving to each preset position, the controller controls the infrared binocular camera with a field of view covering the target position to capture a depth image.

[0077] Specifically, at least one infrared binocular camera is pre-set for each preset position, and the field of view of the infrared binocular camera can be completely covered by the calibration plate at its corresponding preset position.

[0078] After the robotic arm moves to the preset position, the controller acquires at least one infrared binocular camera whose field of view covers the target position, and controls at least one infrared binocular camera to capture a depth image.

[0079] For example, the multiple movement commands corresponding to the preset path are arranged in the movement order as f1, f2 and f3; the controller sends the movement command f1 to the robotic arm, and the robotic arm rotates at least one joint according to the rotation command group corresponding to f1 to move the calibration plate to the preset position a1 corresponding to f1. The controller controls at least one infrared binocular camera corresponding to a1 to simultaneously capture images of the calibration plate to obtain a depth image.

[0080] The controller sends a movement command f2 to the robotic arm. The robotic arm rotates at least one joint according to the rotation command group corresponding to f2, so as to move the calibration plate to the preset position a2 corresponding to f2. The controller controls at least one infrared binocular camera corresponding to a2 to simultaneously capture images of the calibration plate and obtain a depth image.

[0081] The controller sends a movement command f3 to the robotic arm. The robotic arm rotates at least one joint according to the rotation command group corresponding to f3, so as to move the calibration plate to the preset position a3 corresponding to f3. The controller controls at least one infrared binocular camera corresponding to a3 to simultaneously capture images of the calibration plate and obtain a depth image.

[0082] S103, the controller calibrates each infrared binocular camera based on all depth images captured by each infrared binocular camera.

[0083] Specifically, the controller calibrates each infrared binocular camera based on multiple depth images captured by each camera. Calibration of the infrared binocular cameras based on multiple depth images can be achieved using existing technologies, which will not be elaborated upon further.

[0084] In one embodiment, S102 includes:

[0085] S1021, in response to the robotic arm moving to each preset position, the controller controls multiple infrared light sources to turn on, and controls the infrared binocular camera with a field of view covering the target position to capture a depth image.

[0086] Specifically, after the robotic arm moves to each preset position, the controller controls multiple infrared light sources to turn on and controls the infrared binocular camera corresponding to the preset position to capture depth images. The calibration board is illuminated by multiple infrared light sources so that the infrared binocular camera captures depth images in a sufficient and uniform infrared light environment, thereby improving the quality of the depth images captured by the multiple infrared binocular cameras and improving the calibration accuracy.

[0087] S1032, the controller controls the plurality of infrared light sources to turn off.

[0088] To save energy, multiple infrared light sources are turned off after the infrared binocular camera captures depth images. In other words, multiple infrared light sources are turned on before the infrared binocular camera captures depth images and turned off after the infrared binocular camera captures depth images.

[0089] In a specific embodiment, such as Figure 5 As shown, the calibration method for the aforementioned infrared binocular camera includes:

[0090] a1, Calibration begins;

[0091] a2, The controller sends movement commands to the robotic arm according to a preset sequence;

[0092] a3, according to the movement command, controls at least one joint of the robotic arm to rotate, so as to move the calibration plate to the preset position corresponding to the movement command;

[0093] a4 controls the infrared binocular camera to capture depth images covering the preset position;

[0094] a5: Determine if the preset position is the last preset position in the preset order. If not, proceed to a2; if so, proceed to a6.

[0095] a6. Each infrared binocular camera is calibrated based on multiple depth images captured by each infrared binocular camera.

[0096] a7, End.

[0097] In the above process, a2-a5 are executed repeatedly until the robotic arm moves the calibration plate from the first preset position to the last preset position in a preset order. The movement command sent in a2 is different each time the cycle is repeated.

[0098] In this embodiment, the controller controls at least one joint of the robotic arm to rotate, thereby moving the calibration plate and changing the relative position between the calibration plate and the infrared binocular camera. This allows the infrared binocular camera to capture multiple depth images at different distances and angles from multiple preset positions. The controller can control multiple infrared binocular cameras to capture depth images, improving the consistency of the depth images captured by multiple infrared binocular cameras, and thus improving the consistency of the calibration accuracy of multiple infrared binocular cameras. It can calibrate multiple infrared binocular cameras simultaneously, which is suitable for batch calibration of infrared binocular cameras, greatly reducing the calibration time and improving the calibration efficiency. By using multiple infrared light sources to supplement the illumination of the calibration plate, the infrared binocular camera can capture depth images in a sufficient and uniform infrared light environment, improving the quality of the depth images captured by multiple infrared binocular cameras and improving the calibration accuracy.

[0099] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A calibration device for an infrared binocular camera, wherein the infrared binocular camera is used to capture images via the calibration device, characterized in that, The calibration device includes: A calibration box, wherein the infrared binocular camera is slidably mounted on the calibration box and is directed toward the inside of the calibration box; Calibration plate; A robotic arm is disposed inside the calibration box. The robotic arm includes multiple joints that are hinged at both ends. The free end of the most distal joint is connected to the calibration plate. The free end of the first joint is disposed on the inner wall of the calibration box. The controller is used to electrically connect to the infrared binocular camera and the robotic arm, respectively; The controller is used to control at least one of the plurality of joints to rotate, so that the plurality of joints drive the calibration plate to move to a preset position. The controller is also used to control the infrared binocular camera to capture images of the calibration plate when the calibration plate moves to the preset position. The calibration device further includes: a first mounting plate, wherein the infrared binocular camera is detachably mounted on one side of the first mounting plate, and a through hole is provided on the first side wall of the calibration box, the through hole communicating with the interior of the calibration box; A first groove is provided on the side of the first sidewall facing the external environment, and a first slider is provided on the first mounting plate to slide in cooperation with the first groove. The first slider and the infrared binocular camera are located on the same side of the first mounting plate, and the infrared binocular camera is used to face the calibration box through the through hole.

2. The calibration device for an infrared binocular camera according to claim 1, characterized in that, There are two first sliding grooves, which are respectively disposed on opposite sides of the through hole; there are two first sliders, which are disposed corresponding to the two first sliding grooves. The first slide groove is provided with a limiting part, which is used to restrict the sliding of the first mounting plate when the first mounting plate slides from one end of the first slide groove to the limiting part by the first slider.

3. The calibration device for an infrared binocular camera according to claim 2, characterized in that, The calibration device further includes: multiple infrared light sources, which are disposed on the side of the first sidewall facing the calibration box, and are spaced apart from each other along the periphery of the first sidewall; the infrared binocular camera is disposed within the area enclosed by the multiple infrared light sources, and the multiple infrared light sources are used to provide supplementary lighting for the infrared binocular camera.

4. The calibration device for an infrared binocular camera according to claim 1, characterized in that, The calibration device further includes a second mounting plate, and the infrared binocular camera is mounted on the second mounting plate; The first mounting plate has a second sliding groove, which is located on the same side of the first mounting plate as the first slider. The second mounting plate has a second slider that cooperates with the second sliding groove on the side opposite to the infrared binocular camera.

5. The calibration device for an infrared binocular camera according to claim 4, characterized in that, There are multiple infrared binocular cameras and multiple second mounting plates. Each infrared binocular camera is mounted on one of the second mounting plates. There are multiple second sliding grooves. The multiple infrared binocular cameras are configured to correspond one-to-one with the multiple second sliding grooves and the multiple second mounting plates.

6. The calibration device for an infrared binocular camera according to claim 5, characterized in that, A communication connector is provided at one end of the second slide, which is used to electrically connect to the controller and the infrared binocular camera respectively.

7. The calibration device for an infrared binocular camera according to claim 5, characterized in that, There are multiple preset positions, and each preset position corresponds to at least one of the multiple infrared binocular cameras. The controller is used to control at least one of the multiple joints to rotate, so that when the multiple joints drive the calibration plate to move to one of the multiple preset positions, the controller is used to control the corresponding infrared binocular camera among the multiple infrared binocular cameras to photograph the calibration plate.

8. The calibration device for an infrared binocular camera according to claim 1, characterized in that, The infrared binocular camera and the robotic arm are mounted opposite each other on the calibration box.

9. A calibration system, characterized in that, The calibration system includes an infrared binocular camera and a calibration device for the infrared binocular camera as described in any one of claims 1-8.

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