Calibration test device for 3D camera

Abstract

The utility model relates to the technical field of 3D camera production, and aims to solve the technical problems of large calibration error and low test efficiency. In order to solve the technical problem, the utility model provides the calibration test device for the 3D camera. The utility model comprises: an optical platform; the camera mounting and fixing plate is mounted at the top of the optical platform; the locking mechanism is connected to the camera mounting and fixing plate and is used for clamping and fixing the 3D camera on the camera mounting and fixing plate; the calibration plate is positioned on one side of the camera mounting and fixing plate; the translation mechanism is connected to the top of the optical platform, is located on one side of the camera mounting and fixing plate and is used for driving the calibration plate to translate on the top of the optical platform; the six-axis adjusting mechanism is connected to the top of the translation mechanism, the calibration plate is connected to the top of the six-axis adjusting mechanism, and the six-axis adjusting mechanism is used for adjusting movement of the calibration plate in the X axis, the Y axis and the Z axis and rotation of the calibration plate around the X axis, the Y axis and the Z axis. The utility model ensures the test precision and improves the test efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of 3D camera production, in particular to a calibration test device for 3D cameras. Background Art

[0002] In 3D measurement and machine vision applications, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a spatial object and its corresponding point in the image, a geometric model of camera imaging must be established. These geometric model parameters are the camera parameters. These parameters must be calculated through a specific environment and algorithm to obtain them. The process of solving the parameters is called camera calibration. Whether in image measurement or machine vision applications, the calibration of camera parameters is a very critical link. The accuracy of the calibration results and the stability of the algorithm directly affect the accuracy of the results produced by the camera. Therefore, doing a good job of camera calibration is the prerequisite for doing a good job in subsequent work, and improving the calibration accuracy is the focus of scientific research.

[0003] Therefore, 3D cameras need to be calibrated and tested after production. In the prior art, 3D cameras are manually fixed, which cannot ensure the fixing effect and is prone to loosening and falling off, resulting in large calibration errors and low test efficiency. Utility Model Content

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the above-mentioned problems existing in the prior art.

[0005] In order to solve the above technical problems, the utility model provides a calibration test device for a 3D camera, comprising:

[0006] Optical platform;

[0007] The camera mounting plate is installed on the top of the optical platform;

[0008] A locking mechanism, connected to the camera mounting plate, for clamping and fixing the 3D camera on the camera mounting plate;

[0009] The calibration plate is located on one side of the camera mounting plate;

[0010] A translation mechanism, connected to the top of the optical platform and located on one side of the camera mounting plate, is used to drive the calibration plate to translate on the top of the optical platform;

[0011] The six-axis adjustment mechanism is connected to the top of the translation mechanism, and the calibration plate is connected to the top of the six-axis adjustment mechanism. The six-axis adjustment mechanism is used to adjust the movement of the calibration plate in the X, Y, and Z axes and the rotation around the X, Y, and Z axes.

[0012] In one embodiment of the present invention, the optical platform includes a supporting assembly and a honeycomb platform surface fixedly connected to the top of the supporting assembly.

[0013] In one embodiment of the utility model, the locking mechanism includes a first locking assembly connected to a second locking assembly; among the four sides of the upper surface of the camera mounting plate, two adjacent sides are provided with protrusions, and the remaining two sides are respectively connected to the first locking assembly and the second locking assembly.

[0014] In one embodiment of the utility model, the first locking assembly includes a first mounting fixing block, a first locking fixing block, a pull rod and a spring; the first mounting fixing block is fixedly connected to the top of the camera mounting fixing plate; a through hole is provided in the first mounting fixing block; the first locking fixing block is located above the camera mounting fixing plate; the pull rod passes through the through hole and is fixedly connected to the first locking fixing block; the spring is connected between the first mounting fixing block and the first locking fixing block, and the spring is sleeved on the pull rod.

[0015] In one embodiment of the utility model, the first locking assembly further includes a guide pin, which is connected to the first locking fixing block; a guide hole is provided in the first mounting fixing block, and the guide pin is inserted into the guide hole.

[0016] In one embodiment of the utility model, the second locking assembly includes a second mounting block, a second locking block and a hand screw; the second mounting block is fixedly connected to the top of the camera mounting plate; the second mounting block is provided with a threaded hole; the hand screw is threadedly connected in the threaded hole, and the free end of the hand screw extends out of the second mounting block and is connected to the second locking block. In some embodiments, the second locking block can be a circular block structure.

[0017] In one embodiment of the present invention, the support assembly includes a plurality of legs with adjustable heights.

[0018] In one embodiment of the present invention, the support assembly further includes a plurality of universal adjustment wheels installed at the bottom of the support assembly.

[0019] In one embodiment of the utility model, the present application also includes an installation and fixing group, which includes an installation and fixing base plate and two fixed support plates; the installation and fixing base plate is fixedly connected to the top of the camera installation and fixing plate, and the two fixed support plates are vertically fixed on both sides of the installation and fixing base plate, and the camera installation and fixing plate is fixedly connected to the top of the two fixed support plates.

[0020] In one embodiment of the utility model, the head of the hand screw is provided with a knurling pattern.

[0021] The above technical solution of the utility model has the following advantages compared with the prior art:

[0022] The calibration test device for 3D cameras described in the utility model is simple to operate, can effectively ensure the test accuracy of products, and improve the test efficiency and product yield of products. The device plays a good application in the calibration accuracy test of 3D vision cameras. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein:

[0024] Figure 1 It is a structural schematic diagram of a calibration test device for a 3D camera in a preferred embodiment of the utility model;

[0025] Figure 2 yes Figure 1 A magnified image of point A;

[0026] Figure 3 yes Figure 1 A schematic structural diagram of a first locking assembly in a calibration test device for a 3D camera;

[0027] Description of the accompanying drawings in the specification: 100, optical platform; 110, support assembly; 111, support leg; 112, universal adjustment wheel; 120, honeycomb platform surface;

[0028] 200, camera mounting fixing plate;

[0029] 300, locking mechanism; 310, protrusion; 320, first mounting and fixing block; 321, through hole; 322, guide hole; 330, first locking and fixing block; 340, pull rod; 350, spring; 360, guide pin; 370, second mounting and fixing block; 380, second locking and fixing block; 390, hand screw;

[0030] 400, 3D camera;

[0031] 500, calibration plate;

[0032] 600, translation mechanism;

[0033] 700, six-axis adjustment mechanism;

[0034] 800, installing the fixing group; 810, installing the fixing base plate; 820, fixing the support plate. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0036] Reference Figure 1 to Figure 3 As shown, the embodiment of the utility model provides a calibration test device for a 3D camera, comprising:

[0037] Optical platform 100;

[0038] The camera mounting plate 200 is mounted on the top of the optical platform 100;

[0039] The locking mechanism 300 is connected to the camera mounting plate 200 and is used to clamp and fix the 3D camera 400 on the camera mounting plate 200. The 3D camera 400 is a product that has been assembled and is to be calibrated and tested. When installing, its luminous surface can be aligned with the middle position of the calibration plate 500. After installation and adjustment, it can be powered on and operated.

[0040] The calibration plate 500 is located on one side of the camera mounting fixing plate 200;

[0041] The translation mechanism 600 is connected to the top of the optical platform 100 and is located on one side of the camera mounting plate 200, and is used to drive the calibration plate 500 to translate on the top of the optical platform 100. In some embodiments, the translation mechanism 600 uses a linear motion guide module. The function of the translation mechanism 600 is to install the calibration plate 500 on the optical platform 100 and realize the reciprocating motion of the calibration plate 500. The linear motion guide module is connected to a driver, a circuit control system, and a computer terminal connected to the driver, so that program control drive can be realized.

[0042] The six-axis adjustment mechanism 700 is connected to the top of the translation mechanism 600, and the calibration plate 500 is connected to the top of the six-axis adjustment mechanism 700. The six-axis adjustment mechanism 700 is used to adjust the movement of the calibration plate 500 in the three axes of X, Y, and Z and the rotation around the three axes of X, Y, and Z. In some embodiments, the six-axis adjustment mechanism 700 adopts a six-axis adjustment platform to achieve the adjustment of six degrees of freedom of movement in the three axes of X, Y, and Z and rotation around the three axes of X, Y, and Z. The six-axis adjustment mechanism 700 can adjust the position of the calibration plate 500. The calibration plate 500 is mounted on the six-axis adjustment mechanism 700. When the 3D camera 400 to be tested in front of the calibration plate 500 cannot be well aligned with the calibration plate 500, the six-axis adjustment mechanism 700 can be used to align the 3D camera 400 with the calibration plate 500, so that a higher precision calibration imaging test can be obtained.

[0043] It can be seen that the application is simple to operate, can effectively ensure the test accuracy of the product, and improve the test efficiency and product yield of the product. The device has played a good application in the calibration accuracy test of 3D vision cameras.

[0044] Furthermore, the optical platform 100 includes a support assembly 110 and a honeycomb platform surface 120 fixedly connected to the top of the support assembly 110. The setting of the honeycomb platform surface 120 is helpful for clamping and fixing other equipment. A sufficiently thick honeycomb platform surface 120 can ensure the flatness of the optical platform 100, thereby ensuring that the test product can be installed on it with good accuracy.

[0045] Further, the locking mechanism 300 includes a first locking assembly connected to a second locking assembly; of the four sides of the upper surface of the camera mounting plate 200, two adjacent sides are provided with protrusions 310, and the remaining two sides are respectively connected to the first locking assembly and the second locking assembly. In some embodiments, one of the two protrusions 310 is arranged opposite to the calibration plate 500. A groove is milled on the upper surface of the camera mounting plate 200, so that protrusions 310 are formed on both sides of the camera mounting plate 200. In this embodiment, two sides of the 3D camera 400 are respectively against the inner wall of the protrusion 310, and then the remaining two sides of the 3D camera 400 are respectively locked and fixed by the first locking assembly and the second locking assembly, so as to limit the installation of the 3D camera 400, ensure that the 3D camera 400 is in the same position every time when it is installed, and improve the installation accuracy.

[0046] Further, the first locking assembly includes a first mounting block 320, a first locking block 330, a rod 340 and a spring 350; the first mounting block 320 is fixedly connected to the top of the camera mounting plate 200; a through hole 321 is provided in the first mounting block 320; the first locking block 330 is located above the camera mounting plate 200; the rod 340 passes through the through hole 321 and is fixedly connected to the first locking block 330; the spring 350 is connected between the first mounting block 320 and the first locking block 330, and the spring 350 is sleeved on the rod 340. In this embodiment, pulling out the rod 340 facilitates the insertion of the 3D camera 400, and then gradually loosening the rod 340 allows the rod 340 and the first locking block 330 to retract and lock the 3D camera 400 under the action of the spring 350, so as to facilitate the rapid locking and removal of the 3D camera 400, thereby realizing the rapid replacement of the 3D camera 400.

[0047] Furthermore, the first locking assembly also includes a guide pin 360, which is connected to the first locking fixed block 330; a guide hole 322 is provided in the first installation fixed block 320, and the guide pin 360 is inserted into the guide hole 322. In this embodiment, the cooperation between the guide hole 322 and the guide pin 360 plays a guiding role in the extension and contraction of the first locking fixed block 330, so as to prevent the first locking fixed block 330 from shaking and deviating when the pull rod 340 is pulled out. Furthermore, there are two guide pins 360, and the two guide pins 360 are symmetrically arranged on both sides of the pull rod 340. The guiding role is achieved more stably and reliably.

[0048] Further, the second locking assembly includes a second mounting block 370, a second locking block 380 and a hand screw 390; the second mounting block 370 is fixedly connected to the top of the camera mounting plate 200; a threaded hole is provided on the second mounting block 370; the hand screw 390 is threadedly connected in the threaded hole, and the free end of the hand screw 390 extends out of the second mounting block 370 and is connected to the second locking block 380. In some embodiments, the second locking block 380 can be a circular block structure. Specifically, in this embodiment, the second locking block 380 is clamped to the 3D camera 400 by screwing in the hand screw 390, and the second locking block 380 is released to release the 3D camera 400, which is convenient and quick to operate.

[0049] Furthermore, the support assembly 110 includes a plurality of height-adjustable legs 111. By adjusting the height of the legs 111, the height and flatness of the honeycomb platform surface 120 can be adjusted.

[0050] Furthermore, the support assembly 110 further includes a plurality of universal adjustment wheels 112 installed at the bottom of the support assembly 110. The universal adjustment wheels 112 facilitate transport, movement and position adjustment.

[0051] Further, the present application also includes a mounting and fixing group 800, which includes a mounting and fixing base plate 810 and two fixing support plates 820; the mounting and fixing base plate 810 is fixedly connected to the top of the camera mounting and fixing plate 200, and the two fixing support plates 820 are vertically fixed to the two sides of the mounting and fixing base plate 810, and the camera mounting and fixing plate 200 is fixedly connected to the top of the two fixing support plates 820. In some embodiments, the mounting and fixing base plate 810 adopts a rectangular metal structural member, and the mounting and fixing base plate 810 is provided with a mounting hole, and the mounting hole is used to connect with the optical platform 100 and the fixing support plate 820. The fixing support plate 820 is provided with a mounting tooth hole, one end of which is fixedly connected to the mounting and fixing base plate 810, and the other end is fixedly connected to the camera mounting and fixing plate 200. The camera mounting and fixing plate 200 is a rectangular metal member, which is used for the installation and fixing of the 3D camera 400 product. In this embodiment, the mounting fixed base plate 810, two fixed support plates 820 and the camera mounting fixed plate 200 form a frame structure, which is used to improve the height matching of the camera mounting fixed plate 200 and the position matching of the calibration plate 500, and to support and clamp the 3D camera 400 more stably and reliably.

[0052] Further, the head of the hand screw 390 is provided with a knurling pattern. Specifically, the setting of the knurling pattern can increase the hand tightening grip of the hand screw 390.

[0053] During the test, release the first locking assembly and the second locking assembly, press the two sides of the 3D camera 400 to be tested against the bosses respectively, and then clamp and lock the 3D camera 400 on the camera mounting plate 200 through the first locking assembly and the second locking assembly. Adjust the position of the calibration plate 500 through the six-axis adjustment mechanism 700 until the light of the 3D camera 400 just hits the middle position of the calibration plate 500. Then the 3D camera 400 is connected to the power supply and the network is connected; the translation mechanism 600 is also connected to the driver and the computer end, the driver is set up, and the work is started normally. The 3D camera 400 is fixed, and the calibration plate 500 realizes the reciprocating movement of the calibration plate 500 through the translation mechanism 600. After the calibration position is set by the program, the real-time calibration test of the camera can be carried out during the entire distance from the nearest to the farthest.

[0054] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention of the utility model.

Claims

1. A calibration test device for a 3D camera, characterized in that: include: Optical platform; A camera mounting plate is mounted on the top of the optical platform; A locking mechanism, connected to the camera mounting plate, for clamping and fixing the 3D camera on the camera mounting plate; A calibration plate, located on one side of the camera mounting fixing plate; A translation mechanism, connected to the top of the optical platform and located on one side of the camera mounting plate, used for driving the calibration plate to translate on the top of the optical platform; The six-axis adjustment mechanism is connected to the top of the translation mechanism, the calibration plate is connected to the top of the six-axis adjustment mechanism, and the six-axis adjustment mechanism is used to adjust the movement of the calibration plate in the X, Y, and Z axes and the rotation around the X, Y, and Z axes.

2. The calibration test device for a 3D camera according to claim 1, characterized in that: The optical platform comprises a supporting assembly and a honeycomb platform surface fixedly connected to the top of the supporting assembly.

3. The calibration test device for a 3D camera according to claim 2, characterized in that: The support assembly includes a plurality of legs that are adjustable in height.

4. The calibration test device for a 3D camera according to claim 3, characterized in that: The support assembly also includes a plurality of universal adjustment wheels installed at the bottom of the support assembly.

5. The calibration test device for a 3D camera according to claim 1, characterized in that: It also includes an installation fixing base plate and two fixed support plates; the installation fixing base plate is fixedly connected to the top of the camera installation fixing plate, the two fixed support plates are vertically fixed on both sides of the installation fixing base plate, and the camera installation fixing plate is fixedly connected to the top of the two fixed support plates.

6. The calibration test device for a 3D camera according to claim 1, characterized in that: The locking mechanism includes a first locking assembly connected to a second locking assembly; of the four sides on the upper surface of the camera mounting plate, two adjacent sides are provided with protrusions, and the remaining two sides are respectively connected to the first locking assembly and the second locking assembly.

7. The calibration test device for a 3D camera according to claim 6, characterized in that: The first locking assembly includes a first mounting and fixing block, a first locking and fixing block, a pull rod and a spring; the first mounting and fixing block is fixedly connected to the top of the camera mounting and fixing plate; a through hole is provided in the first mounting and fixing block; the first locking and fixing block is located above the camera mounting and fixing plate; the pull rod passes through the through hole and is fixedly connected to the first locking and fixing block; the spring is connected between the first mounting and fixing block and the first locking and fixing block, and the spring is sleeved on the pull rod.

8. The calibration test device for a 3D camera according to claim 7, characterized in that: The first locking assembly also includes a guide pin, which is connected to the first locking fixing block; a guide hole is provided in the first mounting fixing block, and the guide pin is inserted into the guide hole.

9. The calibration test device for a 3D camera according to claim 8, characterized in that: The second locking assembly includes a second mounting block, a second locking block and a hand screw; the second mounting block is fixedly connected to the top of the camera mounting plate; a threaded hole is provided on the second mounting block; the hand screw is threadedly connected in the threaded hole, and the free end of the hand screw extends out of the second mounting block and is connected to the second locking block.

10. The calibration test device for a 3D camera according to claim 9, characterized in that: The head of the hand screw is provided with a knurling pattern.

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