Binocular self-calibration three-dimensional vision system based on avalanche diode

Abstract

The invention discloses a binocular self-calibration three-dimensional visual system based on an avalanche diode, and relates to the technical field of visual triangulation calibration, the binocular self-calibration three-dimensional visual system comprises a support, a mounting rack, an adjusting member, a mounting member and a camera, and the avalanche diode is arranged in the camera. According to the binocular self-calibration three-dimensional vision system based on the avalanche diode, weak optical signals can be detected through the avalanche diode in the camera, and the intensity of electric signals is enhanced through an avalanche multiplication effect, so that the system can detect optical signals transmitted from a longer distance; according to the binocular self-calibration three-dimensional vision system, the accurate measurement capability of parameters such as the distance, the speed and the shape of the target object is remarkably improved, so that the measurement accuracy and performance of the whole binocular self-calibration three-dimensional vision system are improved, detailed information of the target object can be more accurately obtained, the measurement requirement of a high-precision product is met, and the application prospect is wide. The defect that the measurement precision of an existing binocular vision system is greatly influenced by environmental factors is overcome.

Description

Technical Field

[0001] The invention relates to the technical field of visual triangulation calibration, and in particular to a binocular self-calibration three-dimensional vision system based on an avalanche diode. Background Art

[0002] The invention patent with announcement number CN116476051A discloses an automated calibration and parallax calibration method and system for a binocular vision system, comprising the following steps: clamping an unmanned device by a robotic arm; loading a calibration motion trajectory of the robotic arm corresponding to the calibration direction, the robotic arm drives the unmanned device to move according to the calibration motion trajectory, and obtaining a calibration result; loading a ranging trajectory of the robotic arm corresponding to the calibration direction, and obtaining an algorithmic distance value between the binocular vision system and the target; obtaining a parallax deviation value of the binocular vision system according to the algorithmic distance value and the true distance value between the binocular vision system and the target, and calibrating the parallax of the binocular vision system according to the parallax deviation value.

[0003] The existing binocular vision system uses a robotic arm to load different motion trajectories to move the drone, and the robotic arm automatically performs repeatable calibration and parallax calibration processes to improve the calibration and calibration accuracy. Through these steps, the intrinsic and extrinsic parameter data of the binocular camera can be obtained for the final 3D reconstruction. In other words, the accuracy (quality) of 3D reconstruction depends on the intrinsic and extrinsic parameter information obtained by calibration. In actual use, the camera hardware will be affected by environmental factors (such as external force, temperature, etc.), resulting in calibration data variation and thus affecting the final 3D reconstruction accuracy. When measuring high-precision products, the accuracy error is particularly prominent. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a binocular self-calibration three-dimensional vision system based on an avalanche diode, which solves the existing problems.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a binocular self-calibration three-dimensional vision system based on avalanche diodes, comprising: A bracket, the bottom end of which is set on the ground through a tripod or bolts, the bracket is movably connected with a mounting frame, and the bracket limits the mounting frame through a limiting mechanism thereon to adjust the position of the mounting frame; A mounting frame, wherein both ends of the mounting frame are provided with slide grooves, and the mounting frame is connected to an adjusting member through the slide grooves thereon, for fine-tuning the adjusting member; An adjusting member, wherein the adjusting member is arranged in a slide slot on the mounting frame, and a fine adjustment mechanism on the adjusting member is used to fine-tune the horizontal position of the camera; A mounting member, the mounting member is mounted on the adjusting member and is used to limit the position of the camera for mounting; The camera is mounted on a mounting member. The cameras at both ends of the mounting member are used together to measure the product. An avalanche diode is provided inside the camera to detect weak light signals to achieve accurate measurement of parameters such as distance, speed, and shape of the target object.

[0006] Preferably, the limiting mechanism on the bracket includes a groove opened in the middle of one side of the bracket, a damping block is arranged inside the groove, one side of the damping block corresponds to the mounting frame, and the other side of the damping block is movably connected to a threaded knob through a bearing, and the threaded knob penetrates the screw hole at the bottom of the groove and is connected through internal and external threads, so as to drive the damping block to move and limit the mounting frame.

[0007] Preferably, the adjusting member includes a fixed plate arranged above the slide slot, a sliding block is fixed to the middle part of the lower surface of the fixed plate, the sliding block is located in the slide slot, a screw groove is opened through the middle part of the sliding block, a screw rod is connected through the screw groove, one end of the screw rod is movably connected to the inner wall of one end of the slide slot through a bearing, the other end of the screw rod passes through the through groove opened at the other end of the slide slot and is fixedly connected to an adjusting knob for driving the sliding block to move in the slide slot to fine-tune the fixed plate.

[0008] Preferably, a scale is provided on one side of the upper surface of the fixed disk, a movable disk is movably connected to the upper side of the fixed disk via a slewing bearing, an indicator needle is fixed to one end of the circumferential side of the movable disk, the indicator needle corresponds to the scale and is used to accurately display the adjustment angle of the movable disk.

[0009] Preferably, an arc groove is opened on one side of the movable disk, and a stud is fixed on one side of the upper surface of the fixed disk. The stud is connected to the arc groove through the outer side of the upper end of the stud is movably connected with a limiting nut through internal and external threads. The limiting nut fits with the upper surface of the movable disk and is used to limit the movable disk.

[0010] Preferably, the mounting member includes a fixed block fixed in the middle of the upper surface of the movable disk, a gear is movably connected in a gear groove opened in the middle of the upper surface of the fixed block, movable plates are meshed and connected on both sides of the gear, a cover plate is fixed to the upper surface of the fixed block by bolts, and a limit knob is movably connected to the middle of the upper surface of the cover plate through a threaded through groove, and the bottom end of the limit knob corresponds to the gear and is used to limit the gear.

[0011] Preferably, a clamping plate is fixed to the end of the movable plate, and the two clamping plates cooperate to clamp the camera to limit its position. A rubber block is bonded to the clamping surface of the clamping plate, and the rubber block is in contact with the camera to provide buffering protection for the camera.

[0012] Preferably, the camera includes a camera seat, one side of the camera seat is connected to a circuit board, an imaging chip is installed on the circuit board, a filter is provided on the outside of the imaging chip, the filter is installed in the camera seat, and the other side of the camera seat is connected to a lens via internal and external threads.

[0013] Preferably, an avalanche diode is also provided in the camera, and the avalanche diode is mounted on a circuit board or an imaging chip.

[0014] The present invention provides a binocular self-calibration three-dimensional vision system based on avalanche diodes. Compared with the prior art, it has the following beneficial effects: 1. The binocular self-calibration 3D vision system based on avalanche diodes can detect weak light signals through the avalanche diodes inside the camera, and enhance the strength of electrical signals through the avalanche multiplication effect, so that the system can detect light signals transmitted from longer distances, significantly improving the ability to accurately measure parameters such as the distance, speed, and shape of the target object, thereby improving the measurement accuracy and performance of the entire binocular self-calibration 3D vision system, and being able to obtain detailed information about the target object more accurately, meeting the needs of high-precision product measurement, and making up for the defect that the existing binocular vision system is greatly affected by environmental factors in terms of measurement accuracy.

[0015] 2. The binocular self-calibration 3D vision system based on avalanche diodes realizes convenient fine-tuning and stable limiting of the camera position and angle through threaded knobs, slides, slewing bearings, gears and other components. For example, damping blocks and threaded knobs are set on the mounting frame to facilitate the adjustment of the mounting frame position and limit; the adjustment part realizes horizontal position fine-tuning through screws and sliders, and the cooperation of the movable plate and the fixed plate can accurately adjust the camera angle and limit the position, so that the camera can still maintain a stable parameter state when facing environmental factors, reducing the variation of calibration data caused by changes in camera position and angle, thereby improving the 3D reconstruction accuracy. In actual use, it can adapt to different scenes more flexibly and has higher stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a top view schematic diagram of the support structure of the present invention; Figure 3 It is a schematic diagram of the structure of the adjusting member of the present invention; Figure 4 It is an exploded schematic diagram of the mounting structure of the present invention; Figure 5 It is an exploded schematic diagram of the camera structure of the present invention; Figure 6 It is a schematic diagram of the first position of the avalanche diode structure of the present invention; Figure 7It is a schematic diagram of the second position of the avalanche diode structure of the present invention; Figure 8 It is a schematic diagram of camera calibration of the present invention.

[0017] In the figure: bracket 1, groove 11, damping block 12, threaded knob 13, mounting frame 2, slide groove 21, adjusting member 3, fixed plate 31, slider 32, screw groove 33, screw rod 34, adjusting knob 35, scale 36, movable plate 37, pointer 38, arc groove 39, stud 310, limit nut 311, mounting member 4, fixed block 41, gear 42, movable plate 43, cover plate 44, limit knob 45, splint 46, rubber block 47, camera 5, lens mount 51, circuit board 52, imaging chip 53, filter 54, lens 55, avalanche diode 56. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1-8 The present invention provides a binocular self-calibration three-dimensional vision system based on an avalanche diode, comprising a bracket 1, a mounting frame 2, an adjustment member 3, a mounting member 4 and a camera 5.

[0020] Specifically, the bottom end of the bracket 1 is set on the ground through a tripod or bolts, and the mounting frame 2 is movably connected to the bracket 1, and the bracket 1 limits the mounting frame 2 through a limiting mechanism thereon to adjust the position of the mounting frame 2. The limiting mechanism on the bracket 1 includes a groove 11 opened in the middle of one side of the bracket 1, and a damping block 12 is arranged inside the groove 11. One side of the damping block 12 corresponds to the mounting frame 2, and the other side of the damping block 12 is movably connected to a threaded knob 13 through a bearing. The threaded knob 13 penetrates the screw hole at the bottom of the groove 11 and is connected through internal and external threads, which is used to drive the damping block 12 to move and limit the mounting frame 2.

[0021] Specifically, both ends of the mounting frame 2 are provided with a slide groove 21, and the mounting frame 2 is connected with an adjusting member 3 through the slide groove 21 thereon, which is used to fine-tune the adjusting member 3. The adjusting member 3 is arranged in the slide groove 21 on the mounting frame 2, and the horizontal position is finely adjusted through the fine-tuning mechanism thereon. The adjusting member 3 is used to adjust the horizontal angle of the camera 5. The adjusting member 3 includes a fixed plate 31 arranged above the slide groove 21, and a slider 32 is fixed to the middle part of the lower surface of the fixed plate 31. The slider 32 is located in the slide groove 21, and a screw groove 33 is penetrated in the middle part of the slider 32. A screw rod 34 is penetrated and connected in the screw groove 33. One end of the screw rod 34 is movably connected to the inner wall of one end of the slide groove 21 through a bearing, and the other end of the screw rod 34 penetrates the through groove opened at the other end of the slide groove 21 and is fixed. An adjusting knob 35 is fixedly connected to the fixed plate 31 for driving the slider 32 to move in the slide groove 21 to fine-tune the fixed plate 31. A scale 36 is arranged on one side of the upper surface of the fixed plate 31. A movable plate 37 is movably connected to the upper side of the fixed plate 31 through a slewing bearing. An indicator needle is fixed to one end of the peripheral side of the movable plate 37. The indicator needle corresponds to the scale 36 and is used to accurately display the adjustment angle of the movable plate 37. An arc groove 39 is provided on one side of the movable plate 37. A stud 310 is fixed on one side of the upper surface of the fixed plate 31. The stud 310 is connected through the arc groove 39. The outer side of the upper end of the stud 310 is movably connected to a limiting nut 311 through internal and external threads. The limiting nut 311 fits with the upper surface of the movable plate 37 for limiting the movable plate 37.

[0022] More specifically, the mounting member 4 is installed on the adjusting member 3, and is used for limiting the installation of the camera 5. The mounting member 4 includes a fixed block 41 fixed to the middle part of the upper surface of the movable disk 37, and a gear 42 is movably connected in a gear 42 groove opened in the middle part of the upper surface of the fixed block 41, and movable plates 43 are meshed and connected on both sides of the gear 42. A cover plate 44 is fixed to the upper surface of the fixed block 41 by bolts, and a limit knob 45 is movably connected to the middle part of the upper surface of the cover plate 44 by a threaded through groove, and the bottom end of the limit knob 45 corresponds to the gear 42 and is used for limiting the gear 42. A clamping plate 46 is fixed to the end of the movable plate 43, and the two clamping plates 46 cooperate to clamp the camera 5 to limit the position, and a rubber block 47 is bonded to the clamping surface of the clamping plate 46, and the rubber block 47 is in contact with the camera 5 to provide buffering protection for the camera 5.

[0023] More specifically, the camera 5 is mounted on the mounting member 4, and the cameras 5 at both ends of the mounting frame 2 are used together to measure the product. An avalanche diode 56 is arranged inside the camera 5 for detecting weak light signals to achieve accurate measurement of parameters such as the distance, speed, and shape of the target object. The camera 5 includes a camera 5 seat, one side of the camera 5 seat is connected to a circuit board 52, an imaging chip 53 is mounted on the circuit board 52, a filter 54 is arranged on the outer side of the imaging chip 53, and the filter 54 is mounted in the camera 5 seat, and the other side of the camera 5 seat is connected to a lens 55 through internal and external threads. An avalanche diode 56 is also arranged in the camera 5, and the avalanche diode 56 is mounted on the circuit board 52.

[0024] In another embodiment of the present invention, the avalanche diode 56 is welded on the imaging chip 53. When the avalanche diode 56 is working, the reverse voltage provided by the external circuit causes the electric field inside the diode to gradually increase. At first, the current is small, but as the voltage approaches the breakdown voltage, the avalanche multiplication effect begins to take effect, and the current increases sharply. The strength of the electrical signal is enhanced through the avalanche multiplication effect, so that the receiving end can detect the optical signal transmitted from a longer distance, thereby extending the communication distance and achieving accurate measurement of parameters such as the distance, speed, and shape of the target object.

[0025] When installing the camera 5, first place the camera 5 between the two clamping plates 46, then move one of the clamping plates 46, the clamping plate 46 drives the movable plate 43 to move, the movable plate 43 cooperates with the gear 42 to drive the other movable plate 43 to move toward each other, and then the two clamping plates 46 move toward each other at the same time until the rubber blocks 47 on the two clamping plates 46 contact the camera 5. When the rubber blocks 47 are deformed, turn the limit knob 45, the limit knob 45 cooperates with the threaded through hole on the cover plate 44 to press the gear 42 to limit the position, and then limit the movable plate 43 and the clamping plate 46, so that the two clamping plates 46 can cooperate to clamp the camera 5 to limit the position.

[0026] When adjusting the camera 5, first adjust the center line of the two cameras 5 to be located at the center of the detection point. At this time, move the mounting bracket 2 until the distance between the two cameras 5 roughly meets the requirements. At this time, turn the threaded knob 13, and the threaded knob 13 drives the damping block 12 to move, and press the damping block 12 on the mounting bracket 2 to limit the mounting bracket 2. Then turn the adjustment knob 35, and the adjustment knob 35 drives the slider 32 to move in the slide groove 21, and fine-tune the adjustment member 3 and the mounting member 4, and then fine-tune the distance between the two cameras 5 until the distance between the two cameras 5 meets the requirements.

[0027] When the camera 5 is adjusting its horizontal angle, the movable disk 37 is rotated, and the indicator needle on the movable disk 37 and the scale 36 on the fixed disk 31 display the rotation angle in real time. When the rotation angle meets the requirement, the limit nut 311 is screwed until the limit nut 311 contacts the movable disk 37, limiting the movable disk 37 so that the camera 5 maintains a stable angle. At this time, the adjustment of the camera 5 is completed and the parameter calibration operation can be performed.

[0028] In the above embodiment, two monocular cameras 5 with the same internal parameters are first placed separately on different mounting parts 4. In order to ensure the measurement accuracy, the distance between the two cameras 5 is as far as possible. The positions and postures of the two cameras 5 are adjusted by the adjustment part 3 so that the two cameras 5 can simultaneously obtain the image information of the target from different angles, and the posture and position information of the camera 5 output by the inertial group and the satellite navigation are recorded.

[0029] The Earth-centered Earth-fixed coordinate system is selected as the world coordinate system, and the position and posture information of the two cameras collected are uniformly converted to the world coordinate system. Assume that the position parameters of the two cameras collected by the navigation device are i (ψ i ,θ i ,γ i )(i=1,2), where λi represents longitude, represents latitude, and h i represents the height, ψ i represents the azimuth, θ i represents the pitch angle, γ i represents the roll angle, then its coordinate t in the world coordinate system i (X i ,Y i ,Z i ) can be calculated by the following formula: ; In the above formula, R e is the radius of the Earth, R f is the Earth's flattening.

[0030] Then, according to the pinhole imaging model, the following projection equations of the two cameras on the target are established: ; In the above formula, R i is the rotation matrix, which is only related to the external parameters (position) of the camera: ; ; In the above formula, is the scale factor, f is the focal length of the camera, dx and dy are the pixel sizes, and u is 0 、v0 is the pixel coordinate of the camera optical center, M i is a 3×4 perspective projection matrix, and P(x, y, z) is the three-dimensional coordinate of the target to be measured in the Earth-centered Earth-fixed coordinate system.

[0031] Combining the projection equations of the two cameras, we get the transmission projection equations, as shown in the following formula: ; The unique solution of the overdetermined equations can be obtained by the least squares algorithm, as shown in the following formula: in, , P is the coordinate of the target to be measured in the Earth-centered Earth-fixed coordinate system.

[0032] Due to the existence of systematic errors, the coordinates obtained by reprojecting the calculated target position back to the two-dimensional image plane through the transmission projection equations of the two cameras and the target coordinates obtained directly from the image through the detection algorithm cannot strictly coincide. The Euclidean distance between them represents the reprojection error.

[0033] Taking the calculated target position and the acquired camera pose as the initial values, an objective function to minimize the reprojection error is established, as shown in the following formula: ; Among them, z ij =[u ij ,v ij ] T represents the coordinates of the jth target in the i-th camera image, ξ i (ψ i ,θ i ,γ i ) represents the posture of the i-th camera, P j (x j ,y j ,z j ) represents the position of the jth target, and h(·) represents the reprojection process.

[0034] The Levenberg-Marquardt algorithm is used to solve the nonlinear least squares problem in the above formula, and the independent variables are defined as all the variables to be optimized, that is, x = [ξ 1 ,ξ 2 ,P 1 ,...,P n ] T , then the above formula further becomes: ; Using the camera attitude output by the navigation device and the calculated target position as the initial value, we continue to search for the descending direction δ x To find the optimal solution of the above formula.

[0035] By solving the incremental normal equation (J T J+ωI)δx k =J T e gets the increment δx k , where ω is the Lagrange multiplier, J is the Jacobian matrix, and is the objective function for x = [ξ 1 ,ξ 2 ,P 1 ,...,P n ] T The derivative matrix of .

[0036] Update the variable x to be optimized by the following formula: x = x + δx k .

[0037] The specific nonlinear optimization process is performed using the algorithm proposed in the public publication “A Brief Description of the Levenberg-Marquardt Algorithm Implemented by levmar” by Lourakis MIA.Lourakis et al., published in Foundation of Research & Technology, 2005, which will not be described in detail here.

[0038] When the objective function error is less than the preset error threshold, the iteration stops and the accumulated attitude angle compensation value and the calibrated target position are output. Assuming that the iteration is performed n times, the accumulated attitude angle compensation value is: .

[0039] Assuming that the cumulative attitude angle compensation value of camera i at time t is, then the initial value of the self-calibration algorithm at time t+1 is obtained by compensating the attitude angle of camera i output by the navigation device at time t, that is: .

[0040] For stationary target ranging, when the number of iterations of the nonlinear optimization process of the calibration algorithm at a certain moment is less than the preset number threshold or a command to stop ranging is sent manually, the ranging is completed and the self-calibration can be stopped; for dynamic target ranging, when the target moves out of the field of view or a command to stop ranging is sent manually, the ranging is completed and the self-calibration can be stopped.

[0041] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A binocular self-calibration three-dimensional vision system based on avalanche diode, characterized in that: include: A bracket, the bottom end of which is set on the ground through a tripod or bolts, the bracket is movably connected with a mounting frame, and the bracket limits the mounting frame through a limiting mechanism thereon to adjust the position of the mounting frame; A mounting frame, wherein both ends of the mounting frame are provided with slide grooves, and the mounting frame is connected to an adjusting member through the slide grooves thereon, for fine-tuning the adjusting member; An adjusting member, wherein the adjusting member is arranged in a slide slot on the mounting frame, and a fine adjustment mechanism on the adjusting member is used to fine-tune the horizontal position of the camera; A mounting member, the mounting member is mounted on the adjusting member and is used to limit the position of the camera for mounting; The camera is mounted on a mounting member. The cameras at both ends of the mounting member are used together to measure the product. An avalanche diode is provided inside the camera to detect weak light signals to achieve accurate measurement of the distance, speed, and shape parameters of the target object.

2. The binocular self-calibration 3D vision system based on avalanche diode according to claim 1, characterized in that: The limiting mechanism on the bracket includes a groove opened in the middle of one side of the bracket, a damping block is arranged inside the groove, one side of the damping block corresponds to the mounting frame, and the other side of the damping block is movably connected to a threaded knob through a bearing, and the threaded knob penetrates the screw hole at the bottom of the groove and is connected through internal and external threads, which is used to drive the damping block to move and limit the mounting frame.

3. The binocular self-calibration 3D vision system based on avalanche diode according to claim 1, characterized in that: The adjusting member includes a fixed plate arranged above the slide slot, a slider is fixed to the middle part of the lower surface of the fixed plate, the slider is located in the slide slot, a screw groove is penetrated through the middle part of the slider, a screw rod is penetrated through the screw groove, one end of the screw rod is movably connected to the inner wall of one end of the slide slot through a bearing, the other end of the screw rod penetrates the through groove opened at the other end of the slide slot and is fixedly connected to an adjusting knob for driving the slider to move in the slide slot to fine-tune the fixed plate.

4. The binocular self-calibration 3D vision system based on avalanche diode according to claim 3, characterized in that: A scale is provided on one side of the upper surface of the fixed disk, a movable disk is movably connected to the upper side of the fixed disk via a slewing bearing, an indicator needle is fixed to one end of the circumferential side of the movable disk, and the indicator needle corresponds to the scale and is used to accurately display the adjustment angle of the movable disk.

5. The binocular self-calibration 3D vision system based on avalanche diode according to claim 4, characterized in that: An arc groove is provided on one side of the movable disk, and a stud is fixed on one side of the upper surface of the fixed disk. The stud is connected to the arc groove through the outer side of the upper end of the stud is movably connected to a limiting nut through internal and external threads. The limiting nut fits with the upper surface of the movable disk to limit the movable disk.

6. The binocular self-calibration 3D vision system based on avalanche diode according to claim 1, characterized in that: The mounting part includes a fixed block fixed in the middle of the upper surface of the movable disk, a gear is movably connected in a gear groove opened in the middle of the upper surface of the fixed block, movable plates are meshed and connected on both sides of the gear, a cover plate is fixed to the upper surface of the fixed block by bolts, and a limit knob is movably connected to the middle of the upper surface of the cover plate through a threaded through groove, and the bottom end of the limit knob corresponds to the gear and is used to limit the gear.

7. The binocular self-calibration 3D vision system based on avalanche diode according to claim 6, characterized in that: A clamping plate is fixed to the end of the movable plate, and the two clamping plates cooperate to clamp and limit the camera. A rubber block is bonded to the clamping surface of the clamping plate, and the rubber block is in contact with the camera for buffering and protecting the camera.

8. The binocular self-calibration 3D vision system based on avalanche diode according to claim 1, characterized in that: The camera includes a camera seat, one side of the camera seat is connected to a circuit board, an imaging chip is installed on the circuit board, a filter is arranged on the outside of the imaging chip, the filter is installed in the camera seat, and the other side of the camera seat is connected to a lens via internal and external threads.

9. The binocular self-calibration 3D vision system based on avalanche diode according to claim 8, characterized in that: The camera is also provided with an avalanche diode, which is mounted on a circuit board or an imaging chip.

Images