Calibration equipment applied to laser 3D camera

Abstract

The utility model discloses a calibration device applied to a laser 3D camera, and the calibration device applied to the laser 3D camera comprises a support frame. The frame is arranged above the supporting frame, the servo driver is arranged at the upper end of the frame, the lead screw module is connected with the servo driver, the fixing plate is arranged at one end of the lead screw module, the calibration block is arranged on the lower surface of the fixing plate, a laser ruler is arranged on the edge of the end, connected with the frame, of the supporting frame, and the laser 3D camera is arranged on one side of the laser ruler. According to the utility model, the laser ruler and the moving structure of the calibration block are arranged, the contour line of the calibration block is collected by the laser 3D camera, and then the true value of the displacement is obtained by the laser ruler, so that the distortion of the laser 3D camera can be calibrated, the light plane of the laser 3D camera can be determined, and the structure is simple and easy to implement.

Description

[Technical field]

[0001] The utility model belongs to the field of machinery, and in particular relates to a calibration device applied to a laser 3D camera. [Background technology]

[0002] The method of using laser 3D cameras (such as line laser 3D cameras) for measurement has been widely used in the industrial field. Such structures include a line laser transmitter, a lens, and a corresponding image acquisition element. When working, the line laser transmitter emits laser light to an external object. After being reflected by the external object, the laser light is irradiated on the image acquisition element through the lens. The image acquisition element calculates the distance or motion parameters of the object based on the collected image using triangulation. In practical applications, a set of calibration equipment needs to be established to establish the relationship between the distance between image pixels and the actual distance, so that the distance on the image calculated using the triangulation method can be converted into the actual distance, so as to perform corresponding control (such as controlling other moving elements to move a certain distance) or calculation (calculating the physical parameters of the target external object, etc.). Therefore, the calibration accuracy of the calibration equipment will affect the accuracy of the entire measurement result. The traditional calibration method is to establish a correspondence between a point with known coordinates on the calibration object and its image point, and use a certain algorithm to obtain the measurement parameters of the laser 3D camera (i.e., the distortion correction parameters of the camera). It is highly dependent on the accuracy of the calibration block, and because the size of the calibration block is fixed, it cannot meet the needs of multiple application scenarios in actual implementation. [Utility Model Content]

[0003] The utility model aims to provide a calibration device applied to a laser 3D camera, so as to solve the problem of high reliance on the accuracy of a calibration block in the existing calibration method.

[0004] To achieve the above-mentioned purpose, the calibration device for a laser 3D camera implemented in the utility model includes a support frame, a frame arranged above the support frame, a servo driver arranged at the upper end of the frame, a screw module connected to the servo driver, a fixed plate arranged at one end of the screw module and a calibration block arranged on the lower surface of the fixed plate. In addition, a laser ruler is provided on the edge of one end of the support frame connected to the frame, and the laser 3D camera is arranged on one side of the laser ruler.

[0005] According to the above main features, the screw module is arranged in the middle of the frame.

[0006] According to the above main features, slide rail structures are provided on both sides of the frame and on both sides of the fixed plate correspondingly.

[0007] According to the above main features, the calibration block is fixed on the fixed plate by magnetic adsorption.

[0008] Compared with the prior art, the utility model sets a movable structure of a laser ruler and a calibration block, uses a laser 3D camera to collect the contour line of the calibration block, and then uses the true value of the displacement obtained by the laser ruler. In this way, the distortion of the laser 3D camera can be calibrated and the light plane of the laser 3D camera can be determined. This structure is simple and easier to implement.

Brief Description of the Drawings

[0009] Figure 1 The present invention is a front view of a calibration device for a laser 3D camera.

[0010] Figure 2 for Figure 1 Right view of . [Specific implementation method]

[0011] See also Figure 1 and Figure 2 As shown, the calibration device for the laser 3D camera for implementing the utility model includes a support frame 10, a frame 11 arranged above the support frame, a servo driver 12 arranged at the upper end of the frame 11, a screw module 13 connected to the servo driver 12, a fixed plate 14 arranged at one end of the screw module, and a calibration block 15 arranged on the lower surface of the fixed plate 14 (in this embodiment, the calibration block is fixed to the fixed plate by magnetic adsorption). In addition, a laser ruler 16 is arranged at the edge of one end of the support frame connected to the frame, and a laser 3D camera 17 is arranged on one side of the laser ruler. The laser ruler 16 is used to measure the distance between the fixed plate 14 and the laser ruler 16. Its working principle is to emit a laser beam signal to the target to be measured (i.e., the fixed plate), and then receive the signal reflected by the target to be measured. By measuring the time it takes for the light signal to go back and forth, the distance of the target to be measured is measured. Since the calibration block 15 is fixed on the fixed plate 14 , the distance of the calibration block 15 (eg, the distance relative to the laser ruler 16 or the moving distance) can be determined by measuring the distance of the fixed plate 14 relative to the laser ruler 16 .

[0012] In a specific implementation, the lead screw module 13 is arranged in the middle of the frame 11, and a slide rail structure (not numbered) is arranged on both sides of the frame 11 and on both sides of the fixed plate 14, so that when the servo driver 12 drives the lead screw module 13 to move, it further drives the fixed plate 14 and the calibration block 15 to move. The above-mentioned slide rail structure can make the movement smoother.

[0013] In addition, in a specific implementation, the servo driver 12 is a servo motor and is connected to a PLC (not shown). The PLC sends a pulse signal to the servo driver 12 to activate the servo driver to move, and then the servo driver 12 drives the calibration block 15 to move.

[0014] When working, the calibration block 15 has a specific shape, so that the laser 3D camera 17 can be used to extract features on the contour line of the calibration block, and then the true value of the displacement obtained by the laser ruler can be used to calibrate the distortion of the laser 3D camera 17 and help determine the light plane of the laser 3D camera 17. After the calibration is successful, the calibration coefficient can be uploaded to the laser 3D camera 17 so that the calibration coefficient can be directly used to eliminate the distortion of the laser 3D camera 17 when in use.

[0015] Compared with the prior art, the utility model sets a movable structure of a laser ruler and a calibration block, uses a laser 3D camera to collect the contour line of the calibration block, and then uses the true value of the displacement obtained by the laser ruler. In this way, the distortion of the laser 3D camera can be calibrated and the light plane of the laser 3D camera can be determined. This structure is simple and easier to implement.

[0016] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and utility model concept of the utility model, and all these changes or substitutions should fall within the protection scope of the claims attached to the utility model.

Claims

1. A calibration device for a laser 3D camera, characterized in that: The calibration device applied to the laser 3D camera includes a support frame, a frame arranged above the support frame, a servo driver arranged at the upper end of the frame, a screw module connected to the servo driver, a fixed plate arranged at one end of the screw module and a calibration block arranged on the lower surface of the fixed plate. In addition, a laser ruler is arranged on the edge of one end of the support frame connected to the frame, and the laser 3D camera is arranged on one side of the laser ruler.

2. The calibration device for a laser 3D camera according to claim 1, characterized in that: The lead screw module is arranged in the middle of the frame.

3. The calibration device for a laser 3D camera according to claim 1, characterized in that: Slide rail structures are correspondingly arranged on both sides of the frame and on both sides of the fixing plate.

4. The calibration device for a laser 3D camera according to claim 1, characterized in that: The calibration block is fixed on the lower surface of the fixing plate by means of magnetic adsorption.

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