An internal reference calibration and triangulation device

Abstract

The application relates to a kind of inner parameter calibration and triangulation equipment in the technical field of automatic driving camera, specifically, a kind of inner parameter calibration and triangulation equipment, including rack, the surface of the rack is installed with display screen on one side, the display screen is used for the display work of whole equipment;The surface of the rack is provided with calibration rotating mechanism, the calibration rotating mechanism is provided with fish-eye light box mechanism above, one side of the rack is provided with Chart board light box mechanism, the surface of the rack is further connected with light pipe mechanism.The application integrates three kinds of environment tests to one equipment by setting Chart board light box mechanism, fish-eye light box mechanism and light pipe mechanism, realizes the detection work of different angle products, expands the use range of equipment, and the application realizes the test function of three angles by using one equipment, saves time and effort, saves product test cost;Meanwhile, the application realizes the automatic positioning clamping work of product and the adjustment work of different angles by setting calibration rotating mechanism.

Description

Technical Field

[0001] This invention relates to the field of automotive camera technology for autonomous driving, specifically to an internal parameter calibration and triangulation measurement device. Background Technology

[0002] In automotive cameras used in autonomous driving and ADAS systems, triangulation and intrinsic parameter calibration are two key technical aspects, each with different applications and functions. Intrinsic parameter calibration is the process of determining the camera's own imaging characteristics (such as focal length, principal point, and distortion coefficient).

[0003] Intrinsic parameter calibration is mainly used for: image distortion correction, eliminating radial and tangential distortions caused by camera lenses, making images more consistent with real geometric structures, and forming the basis for subsequent vision algorithms; 3D reconstruction and visual ranging, in 3D reconstruction methods such as triangulation or structured light, intrinsic parameters must be used to convert image coordinates into a normalized camera coordinate system in order to correctly calculate spatial positions; and input preprocessing for object detection and tracking algorithms, many vision algorithms (such as lane detection and object recognition) rely on distortion-free images, and intrinsic parameter calibration is a prerequisite for image preprocessing.

[0004] Intrinsic parameter calibration involves a series of precise calibration processes to determine the camera's internal parameters and distortion coefficients, thereby completing distortion correction. This step is crucial for improving the camera's image quality and measurement accuracy. However, due to the diversity of intrinsic parameter calibration models and the differences in characteristics between different camera lenses, the calibrated intrinsic parameters and distortion coefficients may not necessarily guarantee complete measurement accuracy in practical applications. Therefore, additional testing steps are generally required to verify and ensure the camera's measurement accuracy (i.e., triangulation).

[0005] Currently, existing vehicle cameras operate in a single station during triangulation, resulting in low work efficiency. Furthermore, existing measurement equipment cannot perform measurements in different environments. To achieve measurements in different environments, multiple devices need to be operated, which is not only time-consuming and labor-intensive but also increases testing costs, causing significant inconvenience for users. Summary of the Invention

[0006] The purpose of this invention is to provide an internal parameter calibration and triangulation measurement device to solve the problems of low efficiency, time-consuming and labor-intensive operation, and high cost mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an internal parameter calibration and triangulation measurement device, comprising a frame, a display screen mounted on one side of the frame surface for displaying the entire device's operation; a calibration rotation mechanism disposed on the surface of the frame for clamping and adjusting the product; a fisheye light box mechanism disposed above the calibration rotation mechanism for testing products with large angles; and a chart light box mechanism disposed on one side of the frame for testing products with small angles. The frame surface is also connected to a light tube mechanism, which is used for triangulation testing. The chart light box mechanism includes a lens assembly and a chart assembly. The lens assembly is mounted on the frame surface, and the chart assembly is located on one side of the lens assembly. The chart assembly and the lens assembly work together for measurement in a checkerboard environment. The fisheye light box mechanism includes a lifting assembly and a fisheye box. The surface of the lifting assembly is equipped with a fisheye box, which is used to drive the lifting assembly to move up and down. The lifting assembly and the fisheye box work together to achieve measurement in a fisheye environment.

[0008] Preferably, a loading door is hinged to the front surface of the frame, a barcode scanner is installed on the surface of the frame and on one side of the loading door, a control panel is provided on the side of the frame, and a three-color alarm light is installed on one side of the top of the frame.

[0009] Preferably, the calibration rotation mechanism includes a dual-station turntable, a vertical rotation motor, a swing rotation motor, a self-rotating motor, and a modular fixture. The dual-station turntable is fixed to the surface of the frame by a bracket, and a vertical rotation motor is installed at both the left and right ends of the dual-station turntable. The vertical rotation motor can realize rotation in the TZ axis direction.

[0010] Preferably, a swinging rotary motor is mounted on the surface of the vertical rotary motor, which is capable of rotating in the TX axis direction; a self-rotating motor is connected to the surface of the swinging rotary motor, which is capable of rotating in the TY direction; and a modular fixture is mounted on the surface of the self-rotating motor, which is used for clamping and fixing the product.

[0011] Preferably, the chart assembly includes an electric slide, a calibration plate, and a fill light. The electric slide is fixed to the surface of the frame, and the calibration plate is mounted on the slide plate of the electric slide, with a fill light fixed to the top of the calibration plate.

[0012] Preferably, the lens assembly includes a linear module, a movable frame, and a teleconverter. The linear module is fixed to the surface of the frame, and the movable frame is mounted on the slide plate of the linear module.

[0013] Preferably, the other end of the movable frame is slidably connected to the frame via a linear slide rail; a teleconverter is installed at the top of the movable frame, which is used to image the product onto the calibration plate.

[0014] Preferably, the lifting assembly includes a carrier plate, a lead screw module, and a placement frame. The carrier plate is fixed to the surface of the frame, and the lead screw module is fixed to the surface of the carrier plate.

[0015] Preferably, a placement frame is installed on the slide of the lead screw module, and the placement frame is fixedly connected to the fisheye box, the fisheye box having a vertical travel range of 30mm-325mm.

[0016] Preferably, the optical tube mechanism consists of a position adjustment plate and a parallel optical tube. The position adjustment plate is fixed to the surface of the frame, and the parallel optical tubes are installed at both ends of the top of the position adjustment plate at an angle. The surface of the parallel optical tube is provided with angular scale.

[0017] Compared with existing technologies, the beneficial effects of this invention are as follows: During the implementation of this internal parameter calibration and triangulation measurement equipment, the product is manually placed on the modular fixture, and then the start button on the control panel is pressed. The fixture pressure plate cylinder of the modular fixture extends to position the product. Then, the fixture lifting cylinder of the modular fixture actuates, and the bottom lifting wedge lifts the product and powers on. Afterwards, the small-angle, large-angle, and triangulation measurement tests are performed respectively through the Chart plate light box mechanism, the fisheye light box mechanism, and the light tube mechanism. This invention integrates three environmental tests into one device by setting up the Chart plate light box mechanism, the fisheye light box mechanism, and the light tube mechanism, realizing the internal parameter calibration and triangulation measurement of products at different angles, expanding the scope of equipment application. Furthermore, this invention uses one device to achieve three-angle testing functions, saving time and effort, and reducing product testing costs. Simultaneously, this invention, by setting up a calibration rotation mechanism, not only realizes the automatic positioning and clamping of the product but also enables the adjustment of different angles. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the main appearance structure of the present invention;

[0019] Figure 2 This is a side view of the structural appearance of the present invention;

[0020] Figure 3 This is a schematic diagram of the internal three-dimensional structure of the present invention;

[0021] Figure 4 This is an enlarged schematic diagram of the calibration rotation mechanism of the present invention;

[0022] Figure 5 This is an enlarged schematic diagram of the Chart plate light box mechanism of the present invention;

[0023] Figure 6 This is an enlarged structural schematic diagram of the fisheye light box mechanism of the present invention;

[0024] Figure 7 This is an enlarged schematic diagram of the fisheye box structure of the present invention;

[0025] Figure 8 This is an enlarged schematic diagram of the optical tube mechanism of the present invention;

[0026] Figure 9 This is a top view schematic diagram of the Chart plate measurement of the present invention;

[0027] Figure 10 This is a side view schematic diagram of the Chart plate measurement of the present invention;

[0028] Figure 11 This is a flowchart of the large-angle product testing process of the present invention;

[0029] Figure 12 This is a flowchart of the small-angle product testing process of the present invention;

[0030] Figure 13 This is a flowchart of the triangular product testing process of the present invention.

[0031] In the diagram: 1. Frame; 11. Display screen; 12. Control panel; 13. Barcode scanner; 14. Loading gate; 15. Three-color alarm light; 2. Calibration rotation mechanism; 21. Dual-station turntable; 22. Vertical rotation motor; 23. Swinging rotation motor; 24. Rotation motor; 25. Modular fixture; 3. Chart board light box mechanism; 31. Lens assembly; 311. Linear module; 312. Moving frame; 313. Teleconverter; 32. Chart board assembly; 321. Electric slide table; 322. Calibration board; 323. Fill light; 4. Fisheye light box mechanism; 41. Lifting assembly; 411. Carrier plate; 412. Lead screw module; 413. Placement rack; 42. Fisheye box; 5. Light tube mechanism; 51. Position adjustment plate; 52. Parallel light tube; 53. Angular scale. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. In addition, the terms "first," "second," "third," "upper," "lower," "left," "right," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. At the same time, in the description of the present invention, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The present invention provides a structure for an internal parameter calibration and triangulation measuring device as follows: Figure 1 as well as Figure 2 As shown, the device includes a frame 1, a display screen 11 mounted on one side of the frame 1, which is used for displaying the operation of the entire device; a loading door 14 is hinged to the front surface of the frame 1, a barcode scanner 13 is mounted on the surface of the frame 1 and on one side of the loading door 14, a control panel 12 is provided on the side of the frame 1, and a three-color alarm light 15 is mounted on one side of the top of the frame 1.

[0034] Furthermore, such as Figure 3 as well as Figure 4 As shown, a calibration rotation mechanism 2 is provided on the surface of the frame 1. This calibration rotation mechanism 2 is used for product clamping and adjustment. The calibration rotation mechanism 2 includes a dual-station turntable 21, a vertical rotation motor 22, a swing rotation motor 23, a self-rotating motor 24, and a modular fixture 25. The dual-station turntable 21 is fixed to the surface of the frame 1 by a bracket, and vertical rotation motors 22 are installed at both ends of the dual-station turntable 21. The vertical rotation motors 22 can realize rotation in the TZ axis direction. The swing rotation motor 23 is installed on the surface of the vertical rotation motor 22. The oscillating rotary motor 23 can achieve rotation in the TX axis direction; a self-rotating motor 24 is connected to the surface of the oscillating rotary motor 23, which can achieve rotation in the TY direction; a modular fixture 25 is mounted on the surface of the self-rotating motor 24, which is used for clamping and fixing the product. The modular fixture 25 includes a fixture pressure plate cylinder for positioning the product and a fixture lifting cylinder for lifting the product. A lifting wedge is installed at the output end of the fixture lifting cylinder. The fixture lifting cylinder drives the lifting wedge to move, which can achieve the lifting of the product.

[0035] During implementation, the product is placed on the modular fixture 25 by the operator, and then the start button on the control panel 12 is pressed. The fixture pressure plate cylinder of the modular fixture 25 extends to position the product. Then the fixture lifting cylinder of the modular fixture 25 is activated, and the bottom lifting wedge blocks lift the product and power it on.

[0036] Furthermore, such as Figure 6 , Figure 7 as well as Figure 11 As shown, a fisheye light box mechanism 4 is provided above the calibration rotation mechanism 2. The fisheye light box mechanism 4 is used for testing products with large angles. The fisheye light box mechanism 4 includes a lifting assembly 41 and a fisheye box 42. The surface of the lifting assembly 41 is provided with the fisheye box 42. The fisheye box 42 is used to drive the lifting assembly 41 to move up and down. The lifting assembly 41 and the fisheye box 42 are used to realize the measurement in the fisheye environment. The lifting assembly 41 includes a carrier plate 411, a lead screw module 412 and a placement frame 413. The carrier plate 411 is fixed to the surface of the frame 1, and the lead screw module 412 is fixed to the surface of the carrier plate 411. The placement frame 413 is installed on the slide of the lead screw module 412, and the placement frame 413 is fixed to the fisheye box 42. The range of the vertical stroke of the fisheye box 42 is 325mm-30mm.

[0037] During implementation, the lead screw module 412 on the surface of the carrier plate 411 drives the fisheye box 42 on the surface of the placement rack 413 to move and cover the product.

[0038] Furthermore, such as Figure 5 , Figure 9 , Figure 10 as well as Figure 12 As shown, a chart light box mechanism 3 is provided on one side of the frame 1. This chart light box mechanism 3 is used for testing products with small angles. The chart light box mechanism 3 includes a lens assembly 31 and a chart assembly 32. The lens assembly 31 is mounted on the surface of the frame 1, and the chart assembly 32 is provided on one side of the lens assembly 31. The chart assembly 32 cooperates with the lens assembly 31 for measurement in a checkerboard environment. The chart assembly 32 includes an electric slide 321, a calibration plate 322, and a supplementary light 323. The 21 is fixed to the surface of the frame 1, and a calibration plate 322 is installed on the slide of the electric slide 321. A fill light 323 is fixed to the top of the calibration plate 322. The lens assembly 31 includes a linear module 311, a moving frame 312, and a teleconverter 313. The linear module 311 is fixed to the surface of the frame 1, and a moving frame 312 is installed on the slide of the linear module 311. The other end of the moving frame 312 is slidably connected to the frame 1 through a linear slide rail. A teleconverter 313 is installed at the top of the moving frame 312. The teleconverter 313 is used to image the product onto the calibration plate 322.

[0039] During implementation, the linear module 311 drives the teleconverter 313 on the surface of the moving frame 312 to move, while the electric slide 321 drives the calibration plate 322 to move, and the supplementary light 323 provides supplementary lighting.

[0040] Furthermore, such as Figure 8 as well as Figure 13 As shown, the surface of the frame 1 is also connected to a light tube mechanism 5, which is used for triangulation testing. The light tube mechanism 5 consists of a position adjustment plate 51 and a parallel light tube 52. The position adjustment plate 51 is fixed to the surface of the frame 1, and the parallel light tubes 52 are installed at the two ends of the top of the position adjustment plate 51 at an angle. The surface of the parallel light tube 52 is provided with angle scales 53.

[0041] During implementation, the test is conducted using two sets of parallel light tubes 52 on the surface of the position adjustment plate 51. The parallel light tubes 52 have four angle scales 53 for detection positions, which correspond to products with horizontal field of view of 30°, 60°, 120° and 200° respectively.

[0042] Working principle: When in use, the vehicle camera product is placed on the modular fixture 25 by the operator. Then, the start button on the control panel 12 is pressed. The fixture pressure plate cylinder of the modular fixture 25 extends to position the product. Then, the fixture lifting cylinder of the modular fixture 25 is activated, and the bottom lifting wedge blocks lift the product and power it on.

[0043] If a large-angle product needs to be tested, the swing rotary motor 23 drives the product to rotate 90° upward along the TX axis to start the product test. During the test, the lead screw module 412 on the surface of the carrier plate 411 drives the fisheye box 42 on the surface of the placement rack 413 to move and cover the product. The calibration is then performed and the calibration result is determined. After the test is completed, the calibration rotation mechanism 2 drives the tested product to the loading position for manual removal.

[0044] When testing products with small or large angles is required, the swing rotary motor 23 drives the product to rotate 90° along the Tx axis to start the product test. During the test, the vertical rotary motor 22 and the swing rotary motor 23 drive the product to rotate along the TZ and TX axes. The image capture algorithm requires a checkerboard angle image. This process is achieved by the linear module 311 driving the teleconverter 313 on the surface of the moving frame 312 to move. At the same time, the electric slide 321 drives the calibration plate 322 to move, and the supplementary light 323 provides supplementary lighting. After calibration, the calibration rotation mechanism 2 drives the tested product to the loading position for manual removal.

[0045] When triangulation testing of the product is required, the product is rotated along the TZ, TX, and TY axes to the distance measurement angle by the vertical rotary motor 22, the oscillating rotary motor 23, and the self-rotating motor 24 to start the product test. The vertical rotary motor 22, the oscillating rotary motor 23, and the self-rotating motor 24 drive the product to rotate along the TZ, TX, and TY axes, and a total of 16 target photos are taken for distance measurement. The distance measurement is carried out by two sets of parallel light tubes 52 on the surface of the position adjustment plate 51. The parallel light tubes 52 have four angle scales 53 for four detection positions, which correspond to products with horizontal field of view of 30°, 60°, 120°, and 200° respectively. After the test is completed, the three axes of the vertical rotary motor 22, the oscillating rotary motor 23, and the self-rotating motor 24 return to the initial position, and the process is switched to the loading and unloading station, where the product is manually removed.

[0046] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An internal parameter calibration and triangulation measurement device, comprising a frame (1), characterized in that: A display screen (11) is installed on one side of the surface of the frame (1), which is used for displaying the entire equipment. A calibration rotation mechanism (2) is provided on the surface of the frame (1), which is used for product clamping and adjustment. The calibration rotation mechanism (2) includes a dual-station turntable (21), a vertical rotation motor (22), a swing rotation motor (23), a self-rotating motor (24), and a modular fixture (25). The dual-station turntable (21) is fixed to the surface of the frame (1) by a bracket, and vertical rotation motors (22) are installed on both the left and right ends of the dual-station turntable (21). The vertical rotation motors (22) can realize rotation in the TZ axis direction. A fisheye light box mechanism (4) is provided above the calibration rotation mechanism (2), which is used for testing products with large angles. A chart light box is provided on one side of the frame (1). The mechanism (3) is used for testing small-angle products; the surface of the frame (1) is also connected to a light tube mechanism (5), which is used for triangulation testing; the chart light box mechanism (3) includes a lens assembly (31) and a chart assembly (32). The lens assembly (31) is mounted on the surface of the frame (1), and a chart assembly (32) is provided on one side of the lens assembly (31). The chart assembly (32) and the lens assembly (31) are used together for measurement in a checkerboard environment; the fisheye light box mechanism (4) includes a lifting assembly (41) and a fisheye box (42). The surface of the lifting assembly (41) is provided with a fisheye box (42). The fisheye box (42) is used to drive the lifting assembly (41) to move up and down. The lifting assembly (41) and the fisheye box (42) are used together to achieve measurement in a fisheye environment.

2. The internal parameter calibration and triangulation measurement device according to claim 1, characterized in that: A loading door (14) is hinged to the front surface of the frame (1). A barcode scanner (13) is installed on the surface of the frame (1) and on one side of the loading door (14). A control panel (12) is provided on the side of the frame (1). A three-color alarm light (15) is installed on one side of the top of the frame (1).

3. The internal parameter calibration and triangulation measurement device according to claim 1, characterized in that: The vertical rotary motor (22) is equipped with a swing rotary motor (23), which can rotate in the TX axis direction; the swing rotary motor (23) is connected to a self-rotating motor (24), which can rotate in the TY direction; the self-rotating motor (24) is equipped with a modular fixture (25), which is used to clamp and fix the product.

4. The internal parameter calibration and triangulation measurement device according to claim 1, characterized in that: The Chart assembly (32) includes an electric slide (321), a calibration plate (322), and a fill light (323). The electric slide (321) is fixed to the surface of the frame (1), and the calibration plate (322) is installed on the slide plate of the electric slide (321), and the fill light (323) is fixed to the top of the calibration plate (322).

5. The internal parameter calibration and triangulation measurement device according to claim 1, characterized in that: The lens assembly (31) includes a linear module (311), a movable frame (312), and a teleconverter (313). The linear module (311) is fixed to the surface of the frame (1), and the movable frame (312) is mounted on the slide plate of the linear module (311).

6. The internal parameter calibration and triangulation measurement device according to claim 5, characterized in that: The other end of the movable frame (312) is slidably connected to the frame (1) via a linear slide rail; a teleconverter (313) is installed at the top of the movable frame (312), which is used to image the product onto the calibration plate (322).

7. The internal parameter calibration and triangulation measuring device according to claim 1, characterized in that: The lifting assembly (41) includes a carrier plate (411), a lead screw module (412), and a placement frame (413). The carrier plate (411) is fixed to the surface of the frame (1), and the lead screw module (412) is fixed to the surface of the carrier plate (411).

8. The internal parameter calibration and triangulation measurement device according to claim 7, characterized in that: The lead screw module (412) has a mounting bracket (413) installed on its slide, and the mounting bracket (413) is fixedly connected to the fisheye box (42). The range of the vertical stroke of the fisheye box (42) is 30mm-325mm.

9. The internal parameter calibration and triangulation measuring device according to claim 1, characterized in that: The light tube mechanism (5) is composed of a position adjustment plate (51) and a parallel light tube (52). The position adjustment plate (51) is fixed to the surface of the frame (1), and the parallel light tubes (52) are installed at both ends of the top of the position adjustment plate (51) at an angle. The surface of the parallel light tube (52) is provided with an angle scale (53).

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