Calibration device for underwater measurement of stereoscopic vision equipment

Abstract

The invention relates to the technical field of underwater measurement, and discloses a calibration device for underwater measurement of stereoscopic vision equipment, which comprises metering plates fixedly mounted at two ends of a connecting frame, limiting columns are fixedly mounted at one ends, far away from the connecting frame, of the two metering plates, and first cameras are fixedly mounted in the limiting columns; the acquisition surfaces of the first camera and the second camera face upwards; a second camera with the collecting face facing the side where the limiting column is located is fixedly installed on the upper surface of the connecting frame. According to the invention, the approximate distance and the approximate size between the object and the device are calculated in a manner of comparing multiple groups of data, so that the measurement range of the device is increased.

Description

Technical Field

[0001] The invention relates to the technical field of underwater measurement, and in particular to a calibration device for underwater measurement of stereoscopic vision equipment. Background Art

[0002] Measuring underwater organisms or objects can help better understand the underwater environment and status. When measuring underwater objects, using stereo vision detection equipment is a common measurement method, which can effectively measure underwater objects and organisms. When using stereo vision detection equipment, corresponding calibration devices are required to compare with objects and organisms, so as to make the measurement results more accurate and the algorithm simpler and more accurate. Therefore, how to achieve this is expected to be well solved. Summary of the invention

[0003] The purpose of the present invention is to provide a calibration device for underwater measurement of a stereoscopic vision device to solve the problems raised in the above background technology.

[0004] In order to achieve the above-mentioned object, the present invention provides the following technical solution: a calibration device for underwater measurement of a stereoscopic vision device, comprising metering plates fixedly mounted on both ends of a connecting frame, two metering plates having a limiting column fixedly mounted thereon at one end away from the connecting frame, and the collection surfaces of the first camera and the second camera facing upward;

[0005] A second camera with a collection surface facing the side where the limiting column is located is fixedly mounted on the upper surface of the connecting frame.

[0006] Preferably, a centrally arranged connecting column is fixedly installed between the two metering plates, and the output shaft of the dual-axis motor fixedly installed in the connecting column extends into the metering plate and is fixedly connected to the top ring placed in the fixing groove opened in the metering plate.

[0007] Preferably, the upper and lower surfaces of the metering plate are provided with grooves communicating with the fixed groove ports, and diaphragms are fixedly arranged on the ports on both sides of the fixed groove, the top ring is elliptical, and the lower diaphragm protrudes into the groove as it is pushed by the curved surface of the top ring when rotating in the circumferential direction;

[0008] A counterweight block is arranged at the wide end inside the top ring.

[0009] Preferably, the groove is symmetrically provided with limiting grooves, and further comprises a top plate, one side of which is symmetrically threaded with a fixing rod slidably assembled in the limiting groove;

[0010] The end of the limit groove is threadedly installed with a fixing bolt, and the fixing rod passes through the fixing bolt, a return spring is arranged between the two, and in the default state of the return spring, the top plate is kept at the bottom of the groove;

[0011] The top plate and the diaphragm are always in contact with each other.

[0012] Preferably, a spring plate with a continuously bent cross section is provided in the port of the groove, and the spring plate is in abutting connection with the diaphragm.

[0013] Preferably, the spring plate is provided with a through hole for the end of the limiting column to extend out.

[0014] Preferably, an external cylinder is threadedly mounted on the first camera and the second camera, and the external cylinder is coaxial with the collection surface of the camera;

[0015] The outer cylinder is symmetrically provided with silicone lens sheets fixed on memory elastic plastic rings, and the two memory elastic plastic rings are arranged adjacent to each other;

[0016] The inner rings of the two memory elastic plastic rings are provided with elastic films so as to form an air cavity between the two silicone lens sheets;

[0017] An air chamber is provided in the external cylinder, and the air chamber is communicated with the air cavity through an air pump provided in the external cylinder, so that the air pressure in the air cavity is increased or decreased.

[0018] Preferably, an annular groove is provided on the inner wall of the external cylinder, and a first screw arranged vertically is symmetrically rotated on the annular groove, and the first screw is threadedly connected to a first sliding block located on a side wall that is attached to the side wall of the annular groove;

[0019] The first sliding block and the memory elastic plastic ring keep synchronous movement.

[0020] Preferably, a spherical threaded seat is rotatably provided on the memory elastic plastic ring, a rotating seat is rotatably provided on the first sliding block, and a second screw threadedly assembled on the spherical threaded seat is rotatably provided on the rotating seat;

[0021] It also includes a sleeve rod rotatably arranged in the annular groove, two ends of the sleeve rod are respectively plugged with moving parts, and the moving part is movably connected to the second screw rod through a universal joint.

[0022] Preferably, a synchronous belt is arranged in the annular groove, and the synchronous belt is sleeved in the annular groove and rotatably arranged with a roller;

[0023] A second rotating rod is rotatably arranged in the annular groove, and first trapezoidal gears fixedly mounted at both ends of the second rotating rod are respectively meshed with a second trapezoidal gear fixedly mounted on the first screw rod;

[0024] The second rotating rod and the sleeve rod are fixedly mounted with synchronous wheels;

[0025] A guide plate is fixedly installed in the annular groove, and symmetrically arranged roller members are slidably arranged on the guide plate, and the synchronous belt is located on two of the roller members as a horizontal section;

[0026] A micro motor is fixedly mounted on the guide slide plate, and a third screw rod is fixedly mounted on the output end of the micro motor for driving the two roller members to move synchronously so that the horizontal section is connected to the second rotating rod or the synchronous wheel on the sleeve rod.

[0027] In the above technical scheme, a calibration device for underwater measurement of a stereoscopic vision device provided by the present invention has the following beneficial effects: when the device is in use, when measuring a farther object, different data of the object in the first camera and the second camera are obtained by deflecting the device, so as to determine the movement angle of the object within the two fields of view, and calculate the approximate distance and approximate size of the object from the device by comparing multiple sets of data, thereby increasing the measurement range of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0029] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0030] Figure 2 It is a schematic diagram of the top cross-sectional structure of the metering plate and the connecting column installation of the present invention;

[0031] Figure 3 It is a schematic diagram of the cross-sectional structure of the metering plate of the present invention;

[0032] Figure 4 It is a schematic diagram of the cross-sectional structure of the top ring of the present invention;

[0033] Figure 5 A schematic diagram of a first embodiment for measuring a relatively close object;

[0034] Figure 6 A schematic diagram of a second embodiment for measuring a relatively close object;

[0035] Figure 7 It is a schematic diagram of the structure of the spring plate being squeezed according to the present invention;

[0036] Figure 8 For the present invention Figure 7 Schematic diagram of the enlarged structure;

[0037] Fig. 9 It is a schematic diagram of the transmission structure of the present invention.

[0038] Description of reference numerals:

[0039] 1. Measuring plate; 2. Connecting column; 3. Dual-axis motor; 4. Output shaft; 5. Top ring; 6. Counterweight; 7. Fixing groove; 8. Diaphragm; 9. Limiting groove; 10. Fixing rod; 11. Top plate; 12. Reset spring; 13. Fixing bolt; 14. Spring plate; 15. Limiting column; 16. First camera; 17. Wing plate; 18. Connecting frame; 19. Second camera; 20. External cylinder; 21. Memory elastic plastic ring; 22. Silicone lens sheet ; 23. Elastic membrane; 24. Air cavity; 25. Annular groove; 26. First screw; 27. First sliding block; 28. Spherical threaded seat; 29. ​​Rotating seat; 30. Second screw; 31. Sleeve rod; 32. Moving part; 33. Synchronous belt; 34. Roller; 35. Second rotating rod; 36. First trapezoidal gear; 37. Synchronous wheel; 38. Guide plate; 39. Roller member; 40. Micro motor; 41. Third screw; 42. Second trapezoidal gear. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0041] like Figure 1-9 As shown, a calibration device for underwater measurement of stereoscopic vision equipment includes a metering plate 1 fixedly mounted on both ends of a connecting frame 18, and a limiting column 15 with a first camera 16 fixedly mounted therein is fixedly mounted on one end of the two metering plates 1 away from the connecting frame 18, and the collection surfaces of the first camera 16 and the second camera 19 face upward;

[0042] A second camera 19 is fixedly mounted on the upper surface of the connecting frame 18 , with its collecting surface facing the side where the limiting column 15 is located.

[0043] Specifically, the two metering plates 1 in the embodiment are provided with wing plates 17 on opposite sides thereof, respectively, for use in conjunction with the lifting rope, as shown in FIG. Figure 5 and Figure 6 It is knowable.

[0044] In the above technology, the first camera 16 and the second camera 19 can monitor the object in the water, and according to the position of the object in the first camera 16 and the second camera 19, and the comparison of the measuring plate 1, the position and length of the object and other related information can be measured. Figure 5 and Figure 6 shown.

[0045] As an embodiment further provided by the present invention, Figure 2 and Figure 4 As shown, a centrally arranged connecting column 2 is fixedly installed between the two metering plates 1. The output shaft 4 of the dual-axis motor 3 fixedly installed in the connecting column 2 extends into the metering plate 1 and is fixedly connected to the top ring 5 placed in the fixing groove 7 opened in the metering plate 1.

[0046] Specifically, the top ring 5 is elliptical, and the use of a dual-axis motor 3 and a symmetrically arranged output shaft 4, top ring 5 and counterweight 6 can improve the symmetry of the device and avoid the device from tilting when suspended underwater. When measuring the observed object, the dual-axis motor 3 can drive the output shaft 4 and the top ring 5 to rotate, thereby adjusting the center of gravity of the counterweight 6, causing the metering plate 1 to tilt rapidly, and then the counterweight 6 returns to its original position, and the metering plate 1 will return to its original position under the action of gravity;

[0047] The counterweight 6 returns to its original position after being deflected for 2S. The surrounding resistance at this time can be monitored according to the time when the metering plate 1 deflects to the maximum angle, so as to determine the deflection angle of the entire device.

[0048] As another embodiment further provided by the present invention, Figure 3 As shown, the upper and lower surfaces of the metering plate 1 are provided with grooves communicating with the ports of the fixed groove 7, and diaphragms 8 are fixedly provided on the ports on both sides of the fixed groove 7. The top ring 5 is elliptical, and the lower diaphragm 8 protrudes into the groove as it is pushed by the curved surface of the top ring 5 when rotating in the circumferential direction;

[0049] A counterweight block 6 is arranged at the wide end inside the top ring 5 .

[0050] Furthermore, the groove is symmetrically provided with a limit groove 9, and further comprises a top plate 11, one side of which is symmetrically threadedly provided with a fixing rod 10 which is slidably assembled in the limit groove 9;

[0051] The end of the limiting groove 9 is threadedly installed with a fixing bolt 13, and the fixing rod 10 passes through the fixing bolt 13, and a return spring 12 is arranged between the two, and in the default state of the return spring 12, the top plate 11 is kept at the bottom of the groove;

[0052] The top plate 11 and the diaphragm 8 are always in contact with each other.

[0053] Furthermore, a spring plate 14 having a continuously bent cross section is disposed in the end of the groove, and the spring plate 14 is in abutting connection with the diaphragm 8 .

[0054] Specifically, when the top ring 5 drives the diaphragm 8 to move, it will drive the top plate 11 to move, and the fixing rod 10 will move with the top plate 11. Since the limiting groove 9 will limit the fixing rod 10, the stability of the fixing rod 10 and the top plate 11 during movement is increased.

[0055] When the top ring 5 drives the fixing rod 10 and the top plate 11 to move, since the fixing bolt 13 will limit the reset spring 12, the reset spring 12 will be compressed by the end with a larger diameter of the fixing rod 10, thereby charging the reset spring 12. When the top ring 5 returns to its original position, the reset spring 12 will drive the fixing rod 10 and the top plate 11 to return to their original positions, and there is a large friction force between the inner side of the fixing bolt 13 and the fixing rod 10, so there will be a certain delay in the fixing rod 10 and the top plate 11 returning to their original positions, resulting in the fixing rod 10 and the top plate 11 being completely restored to their original positions only after the overall tilt of the device is completed.

[0056] Because the spring plate 14 in the embodiment is in a continuous bending shape, when the top ring 5 drives the fixing rod 10 and the top plate 11 to move, the spring plate 14 will be pushed by the top plate 11 moving outward to protrude to the outside of the groove. At this time, the spring plate 14 is horizontal, thereby forming a treading surface, so that the entire metering plate 1 is lifted. Since there are two metering plates 1 in the embodiment, the tilt angle of the control device can be achieved by controlling the lifting of one of the metering plates 1, thereby meeting the measurement needs.

[0057] As another embodiment further provided by the present invention, the spring plate 14 in the above embodiment is provided with a through hole for the end of the limit column 15 to extend out. This ensures that the collection surfaces of the first camera 16 and the second camera 19 are exposed to the outside and can be used normally, and the height of the limit column 15 extending out is based on the fact that when the top plate 11 pushes and protrudes to the outside of the groove, the first camera 16 and the second camera 19 will not be blocked from view.

[0058] As another embodiment further provided by the present invention, Figure 7 As shown, an external cylinder 20 is threadedly mounted on the first camera 16 and the second camera 19, and the external cylinder 20 is coaxial with the collection surface of the camera;

[0059] A silicone lens sheet 22 fixed on a memory elastic plastic ring 21 is symmetrically arranged in the external cylinder 20, and the two memory elastic plastic rings 21 are arranged adjacent to each other.

[0060] The inner rings of the two memory elastic plastic rings 21 are provided with elastic membranes 23 so as to form an air cavity 24 between the two silicone lens sheets 22;

[0061] An air chamber is provided in the external cylinder 20 , and the air chamber is connected to the air cavity 24 through an air pump provided in the external cylinder 20 , so that the air pressure in the air cavity 24 is increased or decreased.

[0062] Specifically, in order to switch between wide angle and telephoto when the first camera 16 and the second camera 19 are collecting, this embodiment inflates and evacuates the air cavity 24 so that the silicone lens sheet 22 convexes when inflated to form a convex lens, or concave when evacuated to form a concave-convex lens. Thus, by changing the curvature of the lens, the switch between wide angle and telephoto can be easily achieved. The curvature of the deformable lens can be adjusted in real time to achieve dynamic focus and capture more details. In scenes with complex or rapidly changing light conditions, the image quality can be optimized by adjusting the curvature of the lens to reduce the impact of light on the picture.

[0063] As another embodiment further provided by the present invention, an annular groove 25 is provided on the inner wall of the external cylinder 20, and a first screw 26 arranged vertically is symmetrically provided on the annular groove 25, and the first screw 26 is threadedly connected to a first sliding block 27 located on a side wall affixed to the side wall of the annular groove 25;

[0064] The first sliding block 27 and the memory elastic plastic ring 21 keep moving synchronously.

[0065] Specifically, in the above embodiment, the first screw rods 26 are arranged symmetrically about the center of the memory elastic plastic ring 21 , that is, two of them. Because there are two memory elastic plastic rings 21 , the number of the first screw rods 26 is four.

[0066] When the vacuum pump is controlled to operate, by inflating the air cavity 24, the silicone lens sheet 22 will gradually bulge outward under the action of inflation, thereby forming a convex lens. In this process, the first screw 26 will be driven synchronously to push the first sliding block 27 to move downward. As the first sliding block 27 moves downward, the two sides of the memory elastic plastic ring 21 will be squeezed and then bent and deformed. This design cleverly utilizes the characteristics of the memory elastic plastic ring 21, so that it can effectively match the convex state of the silicone lens sheet 22 after bending, thereby reducing the impact and damage to the physical structure of the silicone lens sheet 22 during the inflation process.

[0067] This precisely coordinated mechanism not only ensures that the silicone lens sheet 22 forms an ideal convex lens shape when inflated, but also effectively protects its physical structure and prolongs its service life.

[0068] As another embodiment further provided by the present invention, Figure 8 and Fig. 9 As shown, a spherical threaded seat 28 is rotatably provided on the memory elastic plastic ring 21, a rotating seat 29 is rotatably provided on the first sliding block 27, and a second screw 30 threadably assembled on the spherical threaded seat 28 is rotatably provided on the rotating seat 29;

[0069] It also includes a sleeve rod 31 rotatably disposed in the annular groove 25 , and two ends of the sleeve rod 31 are respectively plugged with moving parts 32 , and the moving part 32 is movably connected to the second screw rod 30 through a universal joint.

[0070] Furthermore, a synchronous belt 33 is provided in the annular groove 25, and the synchronous belt 33 is sleeved in the annular groove 25 and rotatably provided with a roller 34;

[0071] A second rotating rod 35 is rotatably disposed in the annular groove 25, and first trapezoidal gears 36 fixedly mounted at both ends of the second rotating rod 35 are respectively meshed with second trapezoidal gears 42 fixedly mounted on the first screw rod 26;

[0072] A synchronous wheel 37 is fixedly mounted on the second rotating rod 35 and the sleeve rod 31;

[0073] A guide plate 38 is fixedly installed in the annular groove 25, and roller members 39 arranged symmetrically are slidably arranged on the guide plate 38. The synchronous belt 33 is located on two roller members 39 as a horizontal section;

[0074] A micro motor 40 is fixedly mounted on the guide slide plate 38 , and a third screw rod 41 is fixedly mounted on the output end of the micro motor 40 for driving the two roller members 39 to move synchronously so that the horizontal section is connected to the synchronous wheel 37 on the second rotating rod 35 or the sleeve rod 31 .

[0075] Specifically, when the vacuum pump is started and the air cavity 24 is inflated, the silicone lens sheet 22 gradually bulges outward into a convex lens under the action of inflation. The micro motor 40 then drives the roller member 39 to move upward, so that the horizontal section engages with the synchronous wheel 37 on the second rotating rod 35, thereby driving the first sliding block 27 to move upward. This causes the second screw rod 30 to switch from a horizontal state to an inclined state. Subsequently, the micro motor 40 drives the roller member 39 to move up and down again, so that the horizontal section engages with the synchronous wheel 37 on the synchronous belt 33, and then drives the spherical thread seat 28 to move on the second screw rod 30, so that the ends of the two memory elastic plastic rings 21 are close to each other.

[0076] This design utilizes the characteristics of the memory elastic plastic ring 21, which enables it to bend and effectively cooperate with the convex state of the silicone lens sheet 22, reducing the impact and damage to the physical structure of the silicone lens sheet during the inflation process. Through this precise coordination mechanism, it can not only ensure that the silicone lens sheet forms an ideal convex lens shape when inflated, but also effectively protect its physical structure and extend its service life.

[0077] It should be noted that a motor for driving the synchronous belt 34 is also fixedly mounted on the external cylinder 20, which is not marked in the figure. The above-mentioned electronic components and control programs are common technical knowledge known to those skilled in the art, so they are not described in detail.

[0078] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A calibration device for underwater measurement of stereo vision equipment, characterized in that: It comprises metering plates (1) fixedly mounted on both ends of a connecting frame (18), and a limiting column (15) in which a first camera (16) is fixedly mounted is fixedly mounted on one end of the two metering plates (1) away from the connecting frame (18), and the collection surfaces of the first camera (16) and the second camera (19) face upwards; A second camera (19) is fixedly mounted on the upper surface of the connecting frame (18), with the collecting surface facing the side where the limiting column (15) is located.

2. The calibration device for underwater measurement of a stereoscopic vision device according to claim 1, characterized in that: A centrally arranged connecting column (2) is fixedly installed between the two metering plates (1); an output shaft (4) of a dual-axis motor (3) fixedly installed in the connecting column (2) extends into the metering plate (1) and is fixedly connected to a top ring (5) placed in a fixing groove (7) provided in the metering plate (1).

3. The calibration device for underwater measurement of a stereoscopic vision device according to claim 2, characterized in that: The upper and lower surfaces of the metering plate (1) are provided with grooves communicating with the ports of the fixed groove (7), and diaphragms (8) are fixedly arranged on the ports on both sides of the fixed groove (7); the top ring (5) is elliptical, and the lower diaphragm (8) protrudes into the groove as it is pushed by the curved surface of the top ring (5) when it rotates in the circumferential direction; A counterweight block (6) is arranged at the wide end inside the top ring (5).

4. The calibration device for underwater measurement of a stereoscopic vision device according to claim 3, characterized in that: The groove is symmetrically provided with a limiting groove (9), and further comprises a top plate (11), one side of which is symmetrically threadedly provided with a fixing rod (10) which is slidably assembled in the limiting groove (9); A fixing bolt (13) is threadedly mounted on the end of the limiting groove (9), and the fixing rod (10) passes through the fixing bolt (13), and a return spring (12) is arranged between the two, and in the default state of the return spring (12), the top plate (11) is maintained at the bottom of the groove; The top plate (11) and the diaphragm (8) are always in contact with each other.

5. The calibration device for underwater measurement of stereoscopic vision equipment according to claim 4, characterized in that: A spring plate (14) having a continuously bent cross section is arranged in the end of the groove, and the spring plate (14) is in abutting connection with the diaphragm (8).

6. The calibration device for underwater measurement of stereoscopic vision equipment according to claim 5, characterized in that: The spring plate (14) is provided with a through hole through which the end of the limiting column (15) extends.

7. The calibration device for underwater measurement of stereoscopic vision equipment according to claim 1, characterized in that: An external cylinder (20) is threadedly mounted on the first camera (16) and the second camera (19), and the external cylinder (20) is coaxial with the collection surface of the camera; A silicone lens sheet (22) fixed on a memory elastic plastic ring (21) is symmetrically arranged inside the external cylinder (20), and the two memory elastic plastic rings (21) are arranged adjacent to each other; The inner rings of the two memory elastic plastic rings (21) are provided with elastic films (23) so as to form an air cavity (24) between the two silicone lens sheets (22); An air chamber is provided in the external cylinder (20), and the air chamber is connected to the air cavity (24) via an air pump provided in the external cylinder (20), so that the air pressure in the air cavity (24) is increased or decreased.

8. The calibration device for underwater measurement of stereoscopic vision equipment according to claim 7, characterized in that: An annular groove (25) is formed on the inner wall of the external cylinder (20), and a first screw rod (26) arranged vertically is symmetrically rotated in the annular groove (25), and the first screw rod (26) is threadedly connected to a first sliding block (27) located on the side wall of the annular groove (25); The first sliding block (27) and the memory elastic plastic ring (21) maintain synchronous movement.

9. The calibration device for underwater measurement of stereoscopic vision equipment according to claim 8, characterized in that: A spherical threaded seat (28) is rotatably provided on the memory elastic plastic ring (21), a rotating seat (29) is rotatably provided on the first sliding block (27), and a second screw (30) threadedly assembled on the spherical threaded seat (28) is rotatably provided on the rotating seat (29); It also comprises a sleeve rod (31) rotatably arranged in the annular groove (25), wherein both ends of the sleeve rod (31) are respectively plugged with moving parts (32), and the moving part (32) is movably connected to the second screw rod (30) via a universal joint.

10. The calibration device for underwater measurement of stereoscopic vision equipment according to claim 8, characterized in that: A synchronous belt (33) is arranged in the annular groove (25), and the synchronous belt (33) is sleeved in the annular groove (25) and rotatably arranged on a roller shaft (34); A second rotating rod (35) is rotatably arranged in the annular groove (25), and first trapezoidal gears (36) fixedly mounted on both ends of the second rotating rod (35) are respectively meshed with second trapezoidal gears (42) fixedly mounted on the first screw rod (26); A synchronous wheel (37) is fixedly mounted on the second rotating rod (35) and the sleeve rod (31); A guide plate (38) is fixedly installed in the annular groove (25), and symmetrically arranged roller members (39) are slidably arranged on the guide plate (38), and the synchronous belt (33) is located on two roller members (39) in a horizontal section; A micro motor (40) is fixedly mounted on the guide slide plate (38), and a third screw rod (41) is fixedly mounted on the output end of the micro motor (40) for driving the two roller members (39) to move synchronously so that the horizontal section is connected in transmission with the second rotating rod (35) or the synchronous wheel (37) on the sleeve rod (31).

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