Calibration device for binocular camera

Abstract

The utility model provides a calibration device for a binocular camera, which can effectively control the distance of a calibration scene, so that the binocular camera can shoot a plurality of groups of calibration object photos with multiple angles and different distances, thereby being beneficial to accurate calibration of the binocular camera, and enabling subsequent three-dimensional imaging and other work to be normally carried out. A lighting assembly is arranged at the upper end of a frame body, a transverse moving assembly and a vertical moving assembly are installed on the frame body, a binocular camera assembly is connected with the transverse moving assembly, a calibration plate is connected with a rotating component, the rotating component is connected with the vertical moving assembly through a supporting rod, and a scale plate is arranged at the lower end of the transverse moving assembly; the rotating component is used for driving the calibration plate to rotate at multiple angles, the transverse moving component is used for driving the binocular camera component to move left and right, the vertical moving component is used for driving the calibration plate to move up and down, and the scale plate is used for measuring the distance between the binocular camera component and the calibration plate.

Description

Technical Field

[0001] The utility model mainly relates to the technical field of camera calibration, and in particular to a precise calibration device for a binocular camera. Background Art

[0002] Binocular camera calibration is a calibration process that aims to determine the geometric and optical relationship between the two cameras in a binocular camera. Through this process, the camera focal length, optical center, and the relative position and posture between the two cameras can be obtained. By calibrating the binocular camera, it can help the subsequent stereo vision calculation and depth calculation.

[0003] At present, the calibration process of a binocular camera is to capture a calibration image. Specifically, a calibration object with known geometric features is used, and the binocular camera is used to capture multiple sets of images of the calibration object with different geometric features. During the capture process, the calibration object needs to be photographed at different positions and angles to provide sufficient information for calibration. However, during the photographing process of the calibration object, the calibration equipment of the current binocular camera usually cannot extract the corresponding feature points from the multiple sets of images due to problems with lighting and the inability of the calibration object to rotate at multiple angles. In addition, during the photographing process, the distance of the calibration scene cannot be controlled, resulting in the calibration result of the binocular camera failing to achieve the expected effect, making subsequent stereo imaging and other tasks unable to proceed normally. Utility Model Content

[0004] In order to solve the deficiencies of the prior art, the utility model provides a precise calibration device for a binocular camera.

[0005] In order to achieve the above purpose, the utility model is implemented through the following technical solutions:

[0006] The present application provides a calibration device for a binocular camera, comprising: a frame body, a binocular camera assembly, an illumination assembly, a lateral movement assembly, a vertical movement assembly, a calibration plate, a rotating member and a scale plate;

[0007] The lighting assembly is provided at the upper end of the frame body, the lateral movement assembly and the vertical movement assembly are installed on the frame body, the binocular camera assembly is connected to the lateral movement assembly, the calibration plate is connected to the rotating member, the rotating member is connected to the vertical movement assembly through a support rod, and the scale plate is provided at the lower end of the lateral movement assembly; the rotating member is used to drive the calibration plate to rotate at multiple angles, the lateral movement assembly is used to drive the binocular camera assembly to move left and right, the vertical movement assembly is used to drive the calibration plate to move up and down, and the scale plate is used to measure the distance between the binocular camera assembly and the calibration plate.

[0008] Optionally, the binocular camera assembly includes a binocular camera and a support rod frame, and the binocular camera is detachably mounted on the support rod frame.

[0009] Optionally, the lateral movement assembly includes a first screw rod, a second screw rod, a first screw rod motor and a second screw rod motor, the first screw rod is arranged at one end of the frame body, the second screw rod is arranged at the other end of the frame body, the first screw rod and the second screw rod are arranged on the same plane, the first screw rod motor is movably mounted on the first screw rod, and the second screw rod motor is movably mounted on the second screw rod.

[0010] Optionally, one side of the lower end of the support rod frame is connected to the first screw motor, and the other side of the lower end of the support rod frame is connected to the second screw motor.

[0011] Optionally, the vertical movement assembly includes a third screw rod and a third screw rod motor, one end of the third screw rod is connected to the first screw rod, the other end of the third screw rod is connected to the second screw rod, and the third screw rod motor is movably mounted on the third screw rod.

[0012] Optionally, one end of the support rod is connected to the third screw motor, and the other end of the support rod is connected to the rotating member.

[0013] Optionally, a bending portion is provided on the support rod, and the angle of the bending portion is set to 90 degrees.

[0014] Optionally, the scale plate is detachably mounted on the lower ends of the first screw rod and the second screw rod.

[0015] Optionally, the calibration plate and the rotating member are connected in a detachable manner.

[0016] Optionally, the lighting assembly is composed of a plurality of LED light boards, and the plurality of LED light boards are arranged above the calibration board, and the plurality of LED light boards are arranged at equal intervals.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] The precise calibration device for a binocular camera of the present application is provided with a frame body, a binocular camera assembly, a lighting assembly, a lateral movement assembly, a vertical movement assembly, a calibration plate, a rotating member and a scale plate; wherein, a lighting assembly is provided at the upper end of the frame body, a lateral movement assembly and a vertical movement assembly are mounted on the frame body, the binocular camera assembly is connected to the lateral movement assembly, the calibration plate is connected to the rotating member, the rotating member is connected to the vertical movement assembly via a support rod, and the scale plate is provided at the lower end of the lateral movement assembly.

[0019] In the present application, the rotating component is used to drive the calibration plate to rotate at multiple angles, the lateral moving component is used to drive the binocular camera component to move left and right, the vertical moving component is used to drive the calibration plate to move up and down, and the scale plate is used to measure the distance between the binocular camera component and the calibration plate.

[0020] It can be further known that through the cooperation of the lighting component, the rotating component, the scale plate, the lateral moving component and the vertical moving component, sufficient lighting can be provided for the calibration process, and the calibration object can be rotated at multiple angles. When driving the binocular camera and the calibration plate to move, in conjunction with the scale plate, the distance of the calibration scene can be effectively controlled, so that the binocular camera can take multiple groups of calibration object photos at multiple angles and different distances, which helps the binocular camera to calibrate and enables subsequent stereo imaging and other tasks to proceed normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Attached Figure 1 It is a schematic diagram of the overall structure of the calibration device for binocular cameras in the present application;

[0023] Attached Figure 2 It is a schematic diagram of the front structure of a calibration plate in a calibration device for a binocular camera of the present application;

[0024] Numbers in the attached drawings: 1. Frame body; 2. Support rod frame; 3. Binocular camera; 4. First screw rod; 5. Second screw rod; 6. Scale plate; 7. Illumination assembly; 8. Calibration plate; 9. Rotating member; 10. Support rod; 11. Third screw rod motor; 12. Third screw rod; 13. Second screw rod motor; 14. First screw rod motor. DETAILED DESCRIPTION

[0025] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only used to illustrate the relative positional relationships between the various components or components, and do not particularly limit the specific installation orientations of the various components or components.

[0026] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0027] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] In addition, the structures, proportions, sizes, etc. drawn in the drawings in the present application are only used to match the contents disclosed in the specification for the technical personnel in this field to understand and read, and are not used to limit the restrictive conditions under which the present application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in the present application without affecting the effects and purposes that can be achieved by the present application.

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] When the current binocular camera calibration equipment is photographing the calibration object, it is usually impossible to extract corresponding feature points from the multiple sets of pictures taken due to lighting problems and the inability of the calibration object to rotate at multiple angles. In addition, the distance of the calibration scene cannot be controlled during shooting, resulting in the calibration result of the binocular camera failing to achieve the expected effect, making subsequent stereo imaging and other tasks unable to proceed normally.

[0031] Based on this, the present application provides a precise calibration device for a binocular camera. Through the cooperation of an illumination component, a rotating member, a scale plate, a lateral moving component and a vertical moving component, it can provide sufficient lighting for the calibration process and can rotate the calibration object at multiple angles. When driving the binocular camera and the calibration plate to move, in conjunction with the scale plate, it can effectively control the distance of the calibration scene, so that the binocular camera can take multiple groups of photos of the calibration object at multiple angles and at different distances, thereby helping the binocular camera to calibrate and allowing subsequent stereo imaging and other tasks to proceed normally.

[0032] like Figure 1 to Figure 2 , the present application provides a precise calibration device for a binocular camera, comprising: a frame body 1, a binocular camera assembly, an illumination assembly 7, a lateral movement assembly, a vertical movement assembly, a calibration plate 8, a rotating member 9 and a scale plate 6;

[0033] The lighting assembly 7 is provided at the upper end of the frame body 1, and the lateral movement assembly and the vertical movement assembly are installed on the frame body 1. The binocular camera assembly is connected to the lateral movement assembly, and the calibration plate 8 is connected to the rotating member 9. The rotating member 9 is connected to the vertical movement assembly through a support rod 10, and the scale plate 6 is provided at the lower end of the lateral movement assembly; the rotating member 9 is used to drive the calibration plate 8 to rotate at multiple angles, the lateral movement assembly is used to drive the binocular camera assembly to move left and right, and the vertical movement assembly is used to drive the calibration plate 8 to move up and down, and the scale plate 6 is used to measure the distance between the binocular camera assembly and the calibration plate 8.

[0034] In an embodiment of the present application, a lighting assembly 7 is provided at the upper end of the frame body 1, wherein the lighting assembly 7 is composed of a plurality of LED light boards. The number of LED light boards is not specifically limited in the present application and can be set according to actual conditions. The plurality of LED light boards are arranged above the calibration board 8, and the plurality of LED light boards are arranged at equal intervals. The plurality of LED light boards are used to provide illumination so that the binocular camera assembly can better shoot the calibration board 8.

[0035] A lateral moving component and a vertical moving component are provided on the frame body 1, wherein the lateral moving component is used to drive the binocular camera component to move left and right, and the vertical moving component is used to drive the binocular camera 3 to move up and down, wherein it should be noted that the left and right movement and up and down movement described here are based on the same plane, that is, up and down movement and left and right movement are performed on the same plane. When the lateral moving component drives the binocular camera component to move left and right, the distance between the binocular camera component and the calibration plate 8 can be adjusted accordingly, and in conjunction with the scale plate 6, multiple groups of pictures for calibration can be taken at different distances, and the corresponding distances can be recorded.

[0036] The vertical moving component is connected to the rotating member 9 through the support rod 10. The rotating member 9 can drive the calibration plate 8 to rotate at multiple angles. By changing different angles and distances, the binocular camera 3 can capture multiple groups of calibration plate 8 images at different angles, thereby facilitating subsequent calibration processing.

[0037] The binocular camera assembly includes a binocular camera 3 and a support rod frame 2, and the binocular camera 3 can be detachably mounted on the support rod frame 2, so as to facilitate replacement of different types of binocular cameras 3 and calibration of different types of binocular cameras 3. For the specific connection method, bolt fastening or snap-on fastening can be adopted, which is not specifically limited here.

[0038] Among them, the lateral movement component includes a first screw rod 4, a second screw rod 5, a first screw rod motor 14 and a second screw rod motor 13. The first screw rod 4 is arranged at one end of the frame body 1, and the second screw rod 5 is arranged at the other end of the frame body 1. The first screw rod 4 and the second screw rod 5 are arranged on the same plane. The first screw rod motor 14 is movably installed on the first screw rod 4, and the second screw rod motor 13 is movably installed on the second screw rod 5. One side of the lower end of the support rod frame 2 is connected to the first screw rod motor 14, and the other side of the lower end of the support rod frame 2 is connected to the second screw rod motor 13.

[0039] Since the first screw motor 14 can move on the first screw 4, and the second screw motor 13 can move on the second screw 5, when the first screw motor 14 and the second screw motor 13 move, the support rod frame 2 can be driven to move, thereby driving the binocular camera 3 on the support rod frame 2 to move, so that the binocular camera 3 can take multiple groups of pictures of the calibration plate 8 at different distances, so as to facilitate the later calibration of the binocular camera 3. It should be noted that when moving to different distances, the distance between the binocular camera 3 and the calibration plate 8 can be recorded by the scale plate 6, and the pictures taken at the distance can be recorded, so that the calibration point can be better obtained when the calibration process is performed later.

[0040] Among them, the vertical moving component includes a third screw rod 12 and a third screw rod motor 11, one end of the third screw rod 12 is connected to the first screw rod 4, the other end of the third screw rod 12 is connected to the second screw rod 5, the third screw rod 12 and the first screw rod 4 are perpendicular to each other, the third screw rod 12 and the first screw rod 4 are perpendicular to each other, the third screw rod motor 11 is movably installed on the third screw rod 12, one end of the support rod 10 is connected to the third screw rod motor 11, and the other end of the support rod 10 is connected to the rotating member 9.

[0041] In the implementation of this application, a bending portion is provided on the support rod 10, and the angle of the bending portion is set to 90 degrees. One end of the support rod 10 is connected to the third screw motor 11, and the other end of the support rod 10 is connected to the rotating member 9. The third screw motor 11 can drive the calibration plate 8 to move up and down. The up and down movement and the left and right movement are moved in the same plane, which has been explained above and will not be repeated here. The distance and direction of movement can be set according to actual conditions and are not limited here.

[0042] Among them, the scale plate 6 can be detachably installed on the lower ends of the first screw rod 4 and the second screw rod 5, so that when the scale plate 6 needs to be replaced, the scale to be replaced can be removed from the lower ends of the first screw rod 4 and the second screw rod 5, and the new scale can be installed below the first screw rod 4 and the second screw rod 5.

[0043] The connection between the calibration plate 8 and the rotating member 9 is a detachable connection, so that the calibration plate 8 can be easily replaced.

[0044] The technical features disclosed above are not limited to the disclosed combinations with other features. Those skilled in the art may also make other combinations between the technical features according to the purpose of the invention to achieve the purpose of the utility model.

Claims

1. A calibration device for a binocular camera, characterized in that: include: Frame body, binocular camera assembly, lighting assembly, lateral movement assembly, vertical movement assembly, calibration plate, rotating member and scale plate; The lighting assembly is provided at the upper end of the frame body, the lateral movement assembly and the vertical movement assembly are installed on the frame body, the binocular camera assembly is connected to the lateral movement assembly, the calibration plate is connected to the rotating member, the rotating member is connected to the vertical movement assembly through a support rod, and the scale plate is provided at the lower end of the lateral movement assembly; the rotating member is used to drive the calibration plate to rotate at multiple angles, the lateral movement assembly is used to drive the binocular camera assembly to move left and right, the vertical movement assembly is used to drive the calibration plate to move up and down, and the scale plate is used to measure the distance between the binocular camera assembly and the calibration plate.

2. The calibration device for a binocular camera according to claim 1, characterized in that: The binocular camera assembly comprises a binocular camera and a support rod frame, and the binocular camera is detachably mounted on the support rod frame.

3. The calibration device for a binocular camera according to claim 2, characterized in that: The lateral movement assembly includes a first screw rod, a second screw rod, a first screw rod motor and a second screw rod motor, the first screw rod is arranged at one end of the frame body, the second screw rod is arranged at the other end of the frame body, the first screw rod and the second screw rod are arranged on the same plane, the first screw rod motor is movably mounted on the first screw rod, and the second screw rod motor is movably mounted on the second screw rod.

4. The calibration device for a binocular camera according to claim 3, characterized in that: One side of the lower end of the support rod frame is connected to the first screw motor, and the other side of the lower end of the support rod frame is connected to the second screw motor.

5. The calibration device for a binocular camera according to claim 3, characterized in that: The vertical moving assembly includes a third screw rod and a third screw rod motor. One end of the third screw rod is connected to the first screw rod, and the other end of the third screw rod is connected to the second screw rod. The third screw rod motor is movably mounted on the third screw rod.

6. The calibration device for a binocular camera according to claim 5, characterized in that: One end of the support rod is connected to the third screw motor, and the other end of the support rod is connected to the rotating member.

7. The calibration device for a binocular camera according to claim 6, characterized in that: The support rod is provided with a bending portion, and the angle of the bending portion is set to 90 degrees.

8. The calibration device for a binocular camera according to claim 3, characterized in that: The scale plate is detachably mounted on the lower ends of the first screw rod and the second screw rod.

9. The calibration device for a binocular camera according to claim 1, characterized in that: The calibration plate and the rotating member are connected in a detachable manner.

10. The calibration device for a binocular camera according to any one of claims 1 to 9, characterized in that: The lighting assembly is composed of a plurality of LED light boards, and the plurality of LED light boards are arranged above the calibration board, and the plurality of LED light boards are arranged at equal intervals.

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