Intelligent mower camera calibration device

Abstract

The utility model discloses an intelligent hay mower camera calibration device, relates to the intelligent hay mower camera processing technical field, and comprises a pedestal and a fixing frame group, the left and right sides of the pedestal are vertically provided with device frames, one side of each device frame is provided with an adjusting assembly, the fixing frame group is fixedly installed in the middle of the adjusting assembly, and the adjusting assembly is provided with a camera. An auxiliary table group is mounted under the fixing frame group, and a calibration plate is inserted into the top surface of the auxiliary table group. According to the intelligent mower camera calibration device, through the use of the fixing frame group, flexible clamping can be carried out within a certain range according to cameras of different models, the camera calibration device is used for carrying out calibration testing on the cameras, and through the cooperation with the use of the adjusting assembly, the cameras can be assisted to carry out calibration testing on the cameras according to the models and the structure sizes of the cameras. And the vertical distance between the camera and the calibration plate is adjusted in the vertical direction, so that the camera is assisted in focusing calibration, and the accuracy of calibration test is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent lawn mower camera processing, in particular to an intelligent lawn mower camera calibration device. Background Art

[0002] With the advancement of imaging technology, more and more scenes require camera capture. To ensure accurate camera capture and avoid excessive image distortion, cameras must be calibrated before leaving the factory. This typically involves multiple translations and rotations of a calibration plate, followed by multiple captures of the plate with the camera. This produces multiple sets of images of the plate at different angles and positions. These captured images can then be used to calculate the corresponding calibration parameters, which are then used to calibrate the camera.

[0003] For example, the utility model of application number 202320236109.X discloses a camera calibration device, wherein the first direction is parallel to the calibration plate. When the second clamping mechanism clamps the calibration plate and the first clamping structure releases the calibration plate, the second clamping mechanism can drive the calibration plate to rotate around an axis extending along the second direction, and the second direction is parallel to the calibration plate and perpendicular to the first direction. The camera calibration device provided in this application can easily adjust the rotation center and rotation angle of the calibration plate, and has high calibration accuracy. However, similar to the camera calibration device in the above-mentioned document, when used, considering that the camera being tested needs to perform different positioning and ranging according to the model, it is impossible to provide focus positioning in the vertical direction for the camera, which makes the accuracy of the overall test relatively limited.

[0004] Therefore, in view of this, the existing structure and defects are studied and improved, and an intelligent lawn mower camera calibration device is proposed. Utility Model Content

[0005] The purpose of the present invention is to provide a camera calibration device for an intelligent lawn mower to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a smart lawn mower camera calibration device, comprising a base and a fixed frame group, wherein device frames are vertically installed on the left and right sides of the base, and an adjustment component is installed on one side of the device frame, the fixed frame group is fixedly installed in the middle of the adjustment component, and an auxiliary platform group is installed directly below the fixed frame group, and a calibration plate is inserted into the top surface of the auxiliary platform group, the fixed frame group comprises a stabilizing frame, a servo motor, a bidirectional screw, a threaded slider, a support frame and a clamping frame, a servo motor is installed at one end of the bottom of the stabilizing frame, and a bidirectional screw is installed at the power output end of the servo motor through a coupling, and threaded sliders are installed on the left and right end surfaces of the bidirectional screw, and the bottom of the threaded slider is connected to the support frame, and a clamping frame is installed on one side of the support frame.

[0007] Furthermore, a "U" - shaped structure is fixedly connected between the base and the device frame, and an "H" - shaped connection is formed between the device frame and the adjustment component.

[0008] Furthermore, the adjustment component includes a lifting frame, lifting sliders, a worm, and a driving unit. Lifting sliders are installed on both the left and right sides of the lifting frame, and a worm is vertically connected to the middle section of the lifting sliders. Moreover, driving units are installed at the upper and lower ends of the worm through couplings.

[0009] Furthermore, a threaded connection is formed between the lifting sliders and the worm, and the worm and the driving unit are installed on one side of the device frame close to the vertical central axis of the base.

[0010] Furthermore, the stabilizing frame is fixedly attached to the center of the bottom of the lifting frame. A threaded connection is formed between the bidirectional screw and the threaded slider, and the side of the threaded slider away from the bidirectional screw is slidably connected to the bottom surface of the stabilizing frame, the support frame, and the clamping frame.

[0011] Furthermore, the clamping frame is arranged in an "L" - shaped structure, and the surface of the clamping frame is covered with an anti - slip soft rubber material. Moreover, the clamping frame is fixedly connected to one side of the support frame close to the vertical central axis of the bidirectional screw.

[0012] Furthermore, the auxiliary table group includes an X - axis guide rail, an electric control translation table, a placement table, support blocks, and limit posts. An electric control translation table is slidably installed on the surface of the X - axis guide rail, and a placement table is connected to the top of the electric control translation table. Moreover, support blocks are installed on the middle section surface of the placement table, and limit posts are vertically installed on one side of the support block away from the vertical central axis of the placement table.

[0013] Furthermore, a sliding connection is formed between the calibration plate and the limit posts, and the limit posts are arranged at the diagonal corners of the peripheral surface of the placement table.

[0014] The utility model provides an intelligent lawn mower camera calibration device, which has the following beneficial effects:

[0015] 1. The utility model uses a fixed frame group. When the servo motor installed at the bottom of the stabilizing frame is in operation, it can drive the bidirectional screw connected to the structure to rotate axially in the horizontal direction, so that the threaded sliders installed at both ends can translate left and right in the horizontal direction. As the threaded slider moves, the support frame and the clamping frame connected to the bottom will translate synchronously. By using the above structure, on the one hand, it can be appropriately adjusted according to the structural size of the camera to be debugged, and it can be clamped and fixed left and right, so that the entire device can realize calibration processing for different cameras, ensuring the structural flexibility and applicability of the entire device. On the other hand, by using anti-slip soft rubber material to cover the surface of the clamping frame, the camera can be stably clamped while avoiding wear on the surface when clamping and fixing the camera as much as possible.

[0016] 2. The utility model fixes the entire fixed frame group in the center of the fixed frame group. After the driving unit installed on the side of the device frame is operated, it will drive the worm connected to it to rotate axially in the vertical direction, thereby driving the lifting slider connected to its surface to move up and down. As the lifting slider moves, the stabilizing frame connected to its structure can move synchronously, and drive the fixed frame group connected to its bottom to move up and down. The use of the above structure can effectively provide different height adjustments in the vertical direction for the tested camera, so that it can be adjusted to different distances between the structural size of the camera and the calibration plate, so as to provide a good focus calibration area for the camera, while ensuring the flexibility of the device structure, and ensuring the accuracy of calibration and debugging.

[0017] 3. The utility model installs an auxiliary table group in the center of the base, wherein the electric-controlled translation table can translate left and right in the horizontal direction along the surface of the X-axis guide rail, and the electric-controlled translation table can provide the placement table with horizontal front and back translation, so as to move and adjust the calibration plate inserted on the surface of the placement table, thereby providing flexible assistance for the calibration of the camera. In addition, by vertically installing limit piles at the four diagonal corners of the placement table, and by connecting the holes opened at the four corners of the calibration plate to the surface of the limit piles, the auxiliary table group can be effectively guaranteed to be in the process of moving and adjusting. The calibration plate has sufficient structural stability to prevent unnecessary structural deviation, so as to facilitate the calibration of the camera. At the same time, the calibration plate with different patterns printed on the surface can be replaced according to the needs of calibration debugging, so as to realize the flexibility and convenience of the device structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a side view structural diagram of the body of an intelligent lawn mower camera calibration device of the present invention;

[0019] Figure 2 This is a schematic diagram of the fixed frame structure of a smart lawn mower camera calibration device of the present invention;

[0020] Figure 3 This utility model is a smart lawn mower camera calibration device Figure 1 A schematic diagram of the enlarged structure at point A;

[0021] Figure 4 This is a schematic diagram of the three-dimensional structure of the auxiliary platform group and the calibration plate part of the intelligent lawn mower camera calibration device of the utility model.

[0022] In the figure: 1. Base; 2. Device frame; 3. Adjustment assembly; 301. Lifting frame; 302. Lifting slider; 303. Worm; 304. Driving unit; 4. Fixed frame assembly; 401. Stabilizing frame; 402. Servo motor; 403. Bidirectional screw; 404. Threaded slider; 405. Support frame; 406. Clamping frame; 5. Auxiliary table assembly; 501. X-axis guide rail; 502. Electric control translation stage; 503. Placement table; 504. Support block; 505. Limit pile; 6. Calibration plate. DETAILED DESCRIPTION

[0023] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0024] like Figures 1 to 4As shown in the figure, an intelligent lawn mower camera calibration device includes a base 1 and a fixed frame group 4. Device frames 2 are vertically installed on the left and right sides of the base 1, and an adjustment component 3 is installed on one side of the device frame 2. The fixed frame group 4 is fixedly installed in the middle of the adjustment component 3, and an auxiliary table group 5 is installed directly below the fixed frame group 4. Moreover, a calibration plate 6 is inserted on the top surface of the auxiliary table group 5. The fixed frame group 4 includes a stable frame 401, a servo motor 402, a bidirectional screw 403, a threaded slider 404, a support frame 405, and a clamping frame 406. A servo motor 402 is installed at one end of the bottom of the stable frame 401, and a bidirectional screw 403 is installed at the power output end of the servo motor 402 through a coupling. Moreover, threaded sliders 404 are installed on the left and right ends of the bidirectional screw 403, and a support frame 405 is connected to the bottom of the threaded slider 404. At the same time, a clamping frame 406 is installed on one side of the support frame 405. The stable frame 401 is fixedly attached to the center of the bottom of the lifting frame 301. The bidirectional screw 403 is threadedly connected to the threaded slider 404, and the side of the threaded slider 404 away from the bidirectional screw 403 is slidably connected to the bottom surface of the stable frame 401, the support frame 405, and the clamping frame 406. The clamping frame 406 is arranged in an "L" shape, and the surface of the clamping frame 406 is covered with an anti-slip soft rubber material. Moreover, the clamping frame 406 is fixedly connected to the side of the support frame 405 close to the vertical central axis of the bidirectional screw 403. By using the fixed frame group 4, when the servo motor 402 installed at the bottom of the stable frame 401 operates, it can drive the bidirectional screw 403 connected to it to rotate axially in the horizontal direction, so that the threaded sliders 404 installed at both ends of it can move left and right in the horizontal direction. As the threaded slider 404 moves, the support frame 405 and the clamping frame 406 connected to its bottom will move synchronously.

[0025] As Figures 1 to 4 shown, the base 1 and the device frame 2 are fixedly connected in a "U" shape, and the device frame 2 and the adjustment component 3 are connected in an "H" shape. The adjustment component 3 includes a lifting frame 301, a lifting slider 302, a worm 303, and a driving unit 304. Lifting sliders 302 are installed on both the left and right sides of the lifting frame 301, and a worm 303 is vertically connected to the middle section of the lifting slider 302. Moreover, driving units 304 are installed at the upper and lower ends of the worm 303 through couplings. The lifting slider 302 is threadedly connected to the worm 303, and the worm 303 and the driving unit 304 are installed on the side of the device frame 2 close to the vertical central axis of the base 1. By fixedly installing the entire fixed frame group 4 in the center of the fixed frame group 4, after the driving unit 304 installed on the side of the device frame 2 operates, it will drive the worm 303 connected to it to rotate axially in the vertical direction, thereby driving the lifting slider 302 connected to its surface to move up and down. As the lifting slider 302 moves, the stable frame 401 connected to it can move synchronously, and drive the fixed frame group 4 connected to its bottom to move up and down.

[0026] like Figures 1 to 4 As shown, the auxiliary table group 5 includes an X-axis guide rail 501, an electric-controlled translation stage 502, a placement table 503, a support block 504 and a limit pile 505. The surface of the X-axis guide rail 501 is slidably mounted with the electric-controlled translation stage 502, and the top of the electric-controlled translation stage 502 is connected to the placement table 503, and the middle surface of the placement table 503 is mounted with a support block 504, and the support block 504 is vertically mounted with a limit pile 505 on the side away from the vertical central axis of the placement table 503. The calibration plate 6 is slidably connected to the limit pile 505, and the limit pile 505 is arranged at the diagonal positions of the four sides of the placement table 503. The moving platform 502 can be translated left and right in the horizontal direction along the surface of the X-axis guide rail 501, and the electric-controlled translation platform 502 can provide the placement platform 503 with horizontal forward and backward translation, thereby moving and adjusting the calibration plate 6 inserted on the surface of the placement platform 503, thereby providing flexible assistance for the calibration of the camera. In addition, by vertically installing the limit piles 505 at the four diagonal corners of the placement platform 503, and by connecting the holes opened at the four corners of the calibration plate 6 to the surface of the limit piles 505, it can effectively ensure that the auxiliary platform group 5 is in the process of moving and adjusting, and the calibration plate 6 has sufficient structural stability.

[0027] In summary, if Figures 1 to 4 As shown, when using the intelligent lawn mower camera calibration device, first place the camera to be calibrated in the center of the fixed frame group 4, and at the same time start the servo motor 402 located on one side of the bottom of the stabilizing frame 401. Driven by the servo motor 402, the bidirectional screw 403 connected thereto will perform horizontal axial rotation, and make the threaded sliders 404 threadedly connected to both ends translate, while driving the support frame 405 and the clamping frame 406 at the bottom thereof to perform synchronous displacement and gradually approach the side of the camera, thereby achieving left and right clamping of the camera;

[0028] Then, the required calibration plate 6 is structurally inserted into the limit piles 505 provided at the four corners of the surface of the placement table 503 in the vertical direction, thereby completing the structural fixation. Then, according to the needs of calibration and debugging, the adjustment component 3 is started. Driven by the driving unit 304 installed on the side of the device frame 2, the worm 303 connected thereto is driven to rotate axially in the vertical direction, thereby driving the lifting slider 302 connected to its surface to move up and down. As the lifting slider 302 moves, the stabilizing frame 401 connected thereto is able to move synchronously, and drive the fixed frame group 4 connected to its bottom to move up and down. As the fixed frame group 4 moves, the camera clamped in the middle is adjusted to an appropriate vertical height.

[0029] Afterwards, with the assistance of the auxiliary table group 5, as the electric-controlled translation table 502 translates left and right in the horizontal direction along the surface of the X-axis guide rail 501, the electric-controlled translation table 502 provides the placement table 503 with horizontal forward and backward translation, thereby moving and adjusting the calibration plate 6 inserted on the surface of the placement table 503 until the camera completes calibration and debugging.

[0030] The embodiments of the present invention are provided for purposes of illustration and description and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention and to enable those skilled in the art to understand the present invention and design various embodiments with various modifications suitable for specific applications.

Claims

1. A camera calibration device for an intelligent lawn mower, comprising a base (1) and a fixing frame assembly (4), characterized in that: On the left and right sides of the base (1), device racks (2) are vertically installed, and an adjustment component (3) is installed on one side of the device rack (2). The fixed rack group (4) is fixedly installed in the middle of the adjustment component (3), and an auxiliary table group (5) is installed directly below the fixed rack group (4). Moreover, a calibration plate (6) is inserted on the top surface of the auxiliary table group (5). The fixed rack group (4) includes a stable rack (401), a servo motor (402), a bidirectional screw (403), a threaded slider (404), a support frame (405), and a clamping frame (406). At one end of the bottom of the stable rack (401), a servo motor (402) is installed, and the power output end of the servo motor (402) is installed with a bidirectional screw (403) through a coupling. Moreover, threaded sliders (404) are installed on the left and right ends of the bidirectional screw (403). And the bottom of the threaded slider (404) is connected to a support frame (405). At the same time, a clamping frame (406) is installed on one side of the support frame (405).

2. The intelligent lawn mower camera calibration device according to claim 1, characterized in that: A "U"-shaped structure is fixedly connected between the base (1) and the device rack (2), and an "H"-shaped connection is formed between the device rack (2) and the adjustment component (3).

3. The intelligent lawn mower camera calibration device according to claim 1, characterized in that: The adjustment component (3) includes a lifting frame (301), a lifting slider (302), a worm (303), and a drive unit (304). Lifting sliders (302) are installed on both the left and right sides of the lifting frame (301). And in the middle section of the lifting slider (302), a worm (303) is vertically connected. Moreover, drive units (304) are installed at the upper and lower ends of the worm (303) through couplings.

4. The intelligent lawn mower camera calibration device according to claim 3, characterized in that: A threaded connection is formed between the lifting slider (302) and the worm (303), and the worm (303) and the drive unit (304) are installed on one side of the device rack (2) close to the vertical central axis of the base (1).

5. The intelligent lawn mower camera calibration device according to claim 1, characterized in that: The stable rack (401) is fixedly attached to the center of the bottom of the lifting frame (301). A threaded connection is formed between the bidirectional screw (403) and the threaded slider (404). And the side of the threaded slider (404) away from the bidirectional screw (403) is in sliding connection with the bottom surface of the stable rack (401), the support frame (405), and the clamping frame (406).

6. The intelligent lawn mower camera calibration device according to claim 5, characterized in that: The clamping frame (406) is arranged in an "L" - shaped structure, and the surface of the clamping frame (406) is covered with an anti - slip soft rubber material. And the clamping frame (406) is fixedly connected to one side of the support frame (405) close to the vertical central axis of the bidirectional screw (403).

7. The intelligent lawn mower camera calibration device according to claim 1, characterized in that: The auxiliary table group (5) includes an X - axis guide rail (501), an electronically controlled translation table (502), a placement table (503), a support block (504), and a limit post (505). An electronically controlled translation table (502) is slidably installed on the surface of the X - axis guide rail (501). And the top of the electronically controlled translation table (502) is connected to a placement table (503). Moreover, a support block (504) is installed on the middle section surface of the placement table (503). And a limit post (505) is vertically installed on the side of the support block (504) away from the vertical central axis of the placement table (503).

8. The intelligent lawn mower camera calibration device according to claim 7, characterized in that: The calibration plate (6) is slidably connected to the limit piles (505), and the limit piles (505) are arranged at diagonal positions on the four sides of the placement platform (503).

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