Camera calibration equipment and system

Abstract

The utility model relates to a camera calibration device and system, and the camera calibration device is applied to the internal reference calibration of an infrared TOF depth camera and a visible light camera, and comprises a fixed frame, and a light supplement plate and a glass calibration plate which are disposed on the fixed frame. The fixing frame comprises a middle frame mechanism and a door frame mechanism, and the middle frame mechanism is hinged to the door frame mechanism. The light supplementing plate is arranged on the middle frame mechanism and is provided with a visible light source and an infrared light source capable of generating at least three infrared bands; the glass calibration plate is arranged on the door frame mechanism, and a light uniformizing film is attached to the back face of the glass calibration plate and used for evenly irradiating infrared light or visible light generated by the light supplementing plate to the glass calibration plate. According to the utility model, not only is the imaging effect of the camera shooting the calibration plate image improved, but also the manufacturing cost of the equipment is further reduced through simple structural member arrangement. Meanwhile, the infrared TOF depth camera calibration device can be adapted to camera calibration work of more types of infrared TOF depth cameras.

Description

Technical Field

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

[0002] With the rapid development of depth cameras, depth imaging technology has been applied to industrial measurement, 3D modeling, machine vision, face recognition and other fields. At present, the research on depth imaging technology is also very popular. Especially in the fields of industrial measurement and machine vision, people use the infrared light emitting end and receiving end to generate a point cloud depth image through time difference measurement to realize robot ranging and obstacle avoidance. However, the accuracy of the point cloud depth image is achieved by calibrating the parameters of the camera lens.

[0003] In the prior art, for the calibration of visible light cameras, a checkerboard with a determined shape and size is usually used, and visible light is used for fill light calibration. However, when calibrating an infrared light TOF depth camera, the black and white color difference of the calibration board cannot be obtained, that is, the traditional checkerboard in visible light cannot be recognized by the depth camera, and some special infrared backlights need to be adopted to assist the depth camera to recognize the checkerboard, so as to achieve the purpose of parameter calibration. Moreover, when calibrating with visible light and infrared light of different wavelengths and different resolutions, the processing process of the calibration board is usually relatively complicated, resulting in the imaging effect of the calibration board not meeting the expected requirements. Summary of the Utility Model

[0004] (1) Technical Problems to be Solved

[0005] In view of the above-mentioned disadvantages and deficiencies of the prior art, the utility model provides a camera calibration device and a system, which solve the technical problems of the complex structure and poor imaging effect of the calibration systems of infrared light TOF depth cameras and visible light cameras in the prior art.

[0006] (2) Technical Solutions

[0007] In order to achieve the above object, the main technical solutions adopted by the utility model include:

[0008] In a first aspect, an embodiment of the utility model provides a camera calibration device, which is applied to the internal parameter calibration of an infrared light TOF depth camera and a visible light camera. The camera calibration device includes: a fixing frame, and a fill light board and a glass calibration board arranged on the fixing frame;

[0009] The fixing frame includes a middle frame mechanism and a door frame mechanism, and the middle frame mechanism is hinged to the door frame mechanism;

[0010] The fill light board is arranged on the middle frame mechanism, and the fill light board is provided with a visible light source and an infrared light source capable of generating at least three infrared bands;

[0011] The glass calibration plate is arranged on the door frame mechanism, and a light homogenizing film is attached to the back of the glass calibration plate, and the light homogenizing film is used to uniformly irradiate the infrared light or visible light generated by the supplementary light plate onto the glass calibration plate.

[0012] Optionally, the supplementary light plate is composed of a plurality of light source circuit boards arranged, and each light source circuit board is provided with a visible light source and an infrared light source capable of generating at least three infrared wavebands.

[0013] Optionally, the infrared light source includes: an infrared light emitting array formed by combining and arranging a plurality of infrared lamp beads of 850nm, 905nm, and 940nm with the same number, and the 850nm infrared lamp beads, 905nm infrared lamp beads, and 940nm infrared lamps in the infrared light emitting array are arranged in an alternating distribution manner;

[0014] The visible light source includes: a visible light emitting array formed by combining a plurality of visible white lamp beads, and each visible white lamp bead in the visible light emitting array is arranged in the interval of the infrared light emitting array.

[0015] Optionally, the emission angles of the visible white lamp beads, the 850nm infrared lamp beads, the 905nm infrared lamp beads, and the 940nm infrared lamp beads are all configured to be 120 degrees.

[0016] Optionally, the glass calibration plate is a checkerboard glass calibration plate;

[0017] The checkerboard glass calibration plate is composed of a plurality of black grid glasses and white grid glasses distributed alternately, a white round block is arranged in the black grid glass at the center position of the checkerboard glass calibration plate, and a black round block is arranged in the white grid glass at the center position of the checkerboard glass calibration plate.

[0018] Optionally, one side of the middle frame mechanism is hinged to the fixed end of the door frame mechanism through a hinge, and the other side of the middle frame mechanism is connected to the movable end of the door frame mechanism through a door lock.

[0019] Optionally, a card slot is arranged inside the door frame mechanism, and the card slot is used to fix the glass calibration plate.

[0020] Optionally, the fixing frame includes: a lamp frame mechanism for installing the supplementary light plate on the middle frame mechanism.

[0021] Optionally, it includes: a power adapter and a switch;

[0022] The power adapter is connected to the supplementary light plate and is used to supply power to the supplementary light plate;

[0023] The switch is connected to the fill light board and is used to cause the fill light board to generate a corresponding target light source according to the gear selected by the switch.

[0024] In a second aspect, an embodiment of the present invention provides a calibration system for an infrared light TOF depth camera and a visible light camera, which is characterized by including:

[0025] The above-mentioned camera calibration device;

[0026] A camera fixing plate arranged within a preset range, which is used to fix the infrared light TOF depth camera and / or the visible light camera, so that the infrared light TOF depth camera and / or the visible light camera can capture the glass calibration plate of the camera calibration device from any angle to obtain a camera calibration image.

[0027] (III) Beneficial effects

[0028] The beneficial effects of the present invention are:

[0029] The present invention provides a camera calibration device. By arranging the fill light board and the glass calibration plate on the same fixing frame and arranging a light homogenizing film on the back of the glass calibration plate, the visible light and infrared light generated by the fill light board are evenly irradiated onto the glass calibration plate through the light homogenizing film. This not only improves the imaging effect of the infrared light TOF depth camera and the visible light camera when capturing the calibration plate image, but also further reduces the manufacturing cost of the device through simple structural component settings.

[0030] At the same time, the fill light board provided by the present invention can generate infrared light sources with at least three infrared bands, enabling the present invention to be adapted to more types of infrared light TOF depth cameras.

[0031] Furthermore, the fixing frame provided by the present invention is composed of a hinged middle frame mechanism and a door frame mechanism. The fill light board is arranged on the middle frame mechanism, and the glass calibration plate is arranged on the door frame mechanism, enabling the user to perform maintenance or replacement on the fill light board or the glass calibration plate at any time according to the hinged movement between the middle frame mechanism and the door frame mechanism, improving the convenience of use of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic structural diagram of a camera calibration device provided by an embodiment of the present invention;

[0033] Figure 2 It is an exploded view of the structure of a camera calibration device provided by an embodiment of the present invention;

[0034] Figure 3 It is a cross-sectional view of a camera calibration device provided by an embodiment of the present invention;

[0035] Figure 4The front view of a camera calibration device provided by an embodiment of the present utility model;

[0036] Figure 5 The rear view of a camera calibration device provided by an embodiment of the present utility model;

[0037] Figure 6 The front view of a light source circuit board in a camera calibration device provided by an embodiment of the present utility model;

[0038] Figure 7 The rear view of a light source circuit board in a camera calibration device provided by an embodiment of the present utility model.

[0039]

Explanation of the reference numerals

[0040] 10: Fixing frame; 11: Middle frame mechanism; 12: Door frame mechanism; 13: Hinge; 14: Door lock; 15: Lamp holder mechanism;

[0041] 20: Light supplement board; 21: Light source circuit board; 22: 850nm infrared lamp beads; 23: 905nm infrared lamp beads; 24: 940nm infrared lamp beads; 25: Visible white light lamp beads; 26: Light homogenizing film; 27: Power adapter interface;

[0042] 30: Checkerboard glass calibration board. Detailed implementation manners

[0043] In order to better explain the present utility model for easy understanding, the present utility model will be described in detail below with reference to the accompanying drawings through specific implementation manners.

[0044] Refer to Figure 1-7 , a camera calibration device and system proposed by an embodiment of the present utility model. The camera calibration device is applied to the internal parameter calibration of an infrared light TOF depth camera and a visible light camera. The camera calibration device includes: a fixing frame 10, a light supplement board 20 and a glass calibration board arranged on the fixing frame 10. The fixing frame 10 includes a middle frame mechanism 11 and a door frame mechanism 12, and the middle frame mechanism 11 is hinged to the door frame mechanism 12. The light supplement board 20 is arranged on the middle frame mechanism 11, and the light supplement board 20 is provided with a visible light source and an infrared light source capable of generating at least three infrared bands. The glass calibration board is arranged on the door frame mechanism 12, and a light homogenizing film 26 is attached to the back of the glass calibration board, and the light homogenizing film 26 is used to evenly irradiate the infrared light or visible light generated by the light supplement board 20 onto the glass calibration board.

[0045] In this embodiment, since the light supplement board 20 and the glass calibration board are arranged on the same fixing frame 10, and a light homogenizing film 26 is arranged on the back of the glass calibration board, the visible light and infrared light generated by the light supplement board 20 are evenly irradiated onto the glass calibration board through the light homogenizing film 26. This not only improves the imaging effect of the infrared light TOF depth camera and the visible light camera when shooting the calibration board image, but also further reduces the manufacturing cost of the device through the setting of simple structural components.

[0046] Meanwhile, the light supplement board 20 provided in this embodiment can generate infrared light sources with at least three infrared bands, enabling the present utility model to be adapted to more types of infrared light TOF depth cameras.

[0047] Furthermore, the fixing frame 10 provided in this embodiment is composed of a hinged middle frame mechanism 11 and a door frame mechanism 12. The light supplement board 20 is arranged on the middle frame mechanism 11, and the glass calibration board is arranged on the door frame mechanism 12, enabling the user to perform maintenance or replacement on the light supplement board 20 or the glass calibration board at any time according to the hinged movement of the middle frame mechanism 11 and the door frame mechanism 12, improving the convenience of use of the device.

[0048] To better understand the above technical solution, the exemplary embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present utility model are shown in the drawings, it should be understood that the present utility model can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present utility model and to be able to convey the scope of the present utility model completely to those skilled in the art.

[0049] First of all, the fixing frame 10 includes a middle frame mechanism 11, a door frame mechanism 12, and a lamp holder mechanism 15. One side of the middle frame mechanism 11 is hinged to the fixed end of the door frame mechanism 12 through a hinge 13, and the other side of the middle frame mechanism 11 is connected to the movable end of the door frame mechanism 12 through a door lock 14. The lamp holder mechanism 15 is used to mount the light supplement board 20 onto the middle frame mechanism 11. The middle frame mechanism 11 and the door frame mechanism 12 are connected in a hinged manner, facilitating the user to perform daily maintenance on the light supplement board 20 arranged within the middle frame mechanism 11.

[0050] Furthermore, a card slot is arranged inside the door frame mechanism 12, and the card slot is used to fix the glass calibration board. Preferably, the door frame mechanism 12 is formed by splicing profiles, which can not only reduce the overall weight of the device, but also enable the replacement of the glass calibration board by quickly disassembling the door frame mechanism 12 when the glass calibration board is damaged.

[0051] Secondly, the light supplement board 20 is mounted onto the middle frame mechanism 11 through the lamp holder mechanism 15, and the light supplement board 20 is provided with a visible light source and an infrared light source that can generate at least three infrared bands.

[0052] Furthermore, the light supplement board 20 is composed of a plurality of light source circuit boards 21 arranged in a row. Each light source circuit board 21 is provided with a visible light source and an infrared light source capable of generating at least three infrared bands.

[0053] In this embodiment, the light supplement board 20 is composed of 20 light source circuit boards 21 arranged in a 4-row and 5-column manner, and the power supply lines are used to supply power in series between the light source circuits.

[0054] In this embodiment, the infrared light source may include: an infrared light emitting array composed of 70 850nm infrared lamp beads 22, 70 905nm infrared lamp beads 23, and 70 940nm infrared lamp beads 24 arranged in combination. The 850nm infrared lamp beads 22, 905nm infrared lamp beads 23, and 940nm infrared lamp beads in the infrared light emitting array are arranged in an alternating distribution manner. Specifically, referring to Figure 6 As shown, the infrared light emitting array is in the form of a 7-row and 30-column array. The Nth column is all 850nm infrared lamp beads 22, the N + 1th column is all 905nm infrared lamp beads 23, and the N + 2th column is all 940nm infrared lamp beads 24, where N = 1, 4, 7, 10, 13, 16, 19, 22, 25, 28.

[0055] In this embodiment, the visible light source may include: a visible light emitting array composed of 30 visible white lamp beads 25 arranged in a 6-row and 5-column manner. Each visible white lamp bead 25 in the visible light emitting array is arranged in the interval of the infrared light emitting array.

[0056] It is worth mentioning that the emission angles of the visible white lamp beads 25, 850nm infrared lamp beads 22, 905nm infrared lamp beads 23, and 940nm infrared lamp beads in each light source circuit board 21 are all configured to be 120 degrees.

[0057] Next, the glass calibration board is fixedly installed on the door frame mechanism 12 through the card slot on the door frame mechanism 12. A light homogenizing film 26 is attached to the back of the glass calibration board. The light homogenizing film 26 is used to evenly irradiate the infrared light or visible light generated by the light supplement board 20 onto the glass calibration board, ensuring that the light distribution of the infrared light source and the visible light source reaches a uniform effect.

[0058] In this embodiment, referring to Figure 4 As shown, the glass calibration board is a checkerboard glass calibration board 28. The checkerboard glass calibration board 28 is composed of a number of alternately distributed black grid glasses and white grid glasses. A white circular block is arranged in the black grid glass at the center position of the checkerboard glass calibration board 28, and a black circular block is arranged in the white grid glass at the center position of the checkerboard glass calibration board 28. The black and white circular blocks arranged in the middle position of the checkerboard glass calibration board 28 facilitate the camera to accurately identify the center position of the calibration board during calibration.

[0059] Finally, the camera calibration device includes: a power adapter and a switch. The power adapter is connected to the power adapter interface 27 provided on the fill light board 20, and is used to convert 220V voltage into 24V voltage to supply power to the fill light board 20, so that the fill light board 20 generates a light source. The switch is connected to the fill light board 20, and is used to make the fill light board 20 generate a corresponding target light source according to the selected gear of the switch.

[0060] In a second aspect, the present utility model further provides a calibration system for an infrared light TOF depth camera and a visible light camera, including:

[0061] The above-mentioned camera calibration device;

[0062] A camera fixing plate arranged within a preset range, which is used to fix the infrared light TOF depth camera and / or the visible light camera, so that the infrared light TOF depth camera and / or the visible light camera can capture the glass calibration plate of the camera calibration device from any angle to obtain a camera calibration image.

[0063] In summary, the present utility model provides a camera calibration device and a system. The camera calibration device of the present utility model generates an infrared backlight source and a visible backlight source based on the fill light board 20, and then the two light sources can be evenly dispersed and irradiated onto the checkerboard glass calibration plate 28 through the built-in light homogenizing film 26 to generate a checkerboard image that is beneficial for the light TOF depth camera and / or the visible light camera to identify and calibrate.

[0064] At the same time, in the camera calibration device proposed by the present utility model, the fixing frame 10 is composed of a hinged middle frame mechanism 11 and a door frame mechanism 12. The fill light board 20 is arranged on the middle frame mechanism 11, and the glass calibration plate is arranged on the door frame mechanism 12, so that the user can perform maintenance or replacement on the fill light board 20 or the glass calibration plate at any time according to the hinged movement of the middle frame mechanism 11 and the door frame mechanism 12, improving the convenience of using the device.

[0065] Those skilled in the art should understand that the embodiments of the present utility model can be provided as a method, a system, or a computer program product. Therefore, the present utility model can adopt the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present utility model can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program codes.

[0066] The present utility model is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present utility model. It should be understood that each process and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowcharts and / or block diagrams can also be implemented by computer program instructions.

[0067] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present utility model can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a claim listing several devices, several of these devices may be embodied by the same hardware. The use of the terms first, second, third, etc. is for convenience of description only and does not denote any order. These terms can be understood as part of the name of the element.

[0068] In addition, it should be noted that in the description of this specification, the description of the terms "an embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0069] Although the preferred embodiments of the present utility model have been described, those skilled in the art can make additional changes and modifications after learning the basic creative concept. Therefore, the claims should be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present utility model.

[0070] Obviously, those skilled in the art can make various modifications and variations to the present utility model without departing from the spirit and scope of the present utility model. Thus, if these modifications and variations of the present utility model fall within the scope of the claims of the present utility model and its equivalent technologies, the present utility model should also include these modifications and variations.

Claims

1. A camera calibration device, characterized in that, The camera calibration device is applied to the internal parameter calibration of an infrared light TOF depth camera and a visible light camera. The camera calibration device includes: a fixing frame, and a light supplement board and a glass calibration board arranged on the fixing frame; The fixing frame includes a middle frame mechanism and a door frame mechanism, and the middle frame mechanism is hinged to the door frame mechanism; The light supplement board is arranged on the middle frame mechanism, and the light supplement board is provided with a visible light source and an infrared light source capable of generating at least three infrared wavebands; The glass calibration board is arranged on the door frame mechanism, and a light homogenizing film is attached to the back of the glass calibration board, and the light homogenizing film is used to uniformly irradiate the infrared light or visible light generated by the light supplement board onto the glass calibration board.

2. The camera calibration device according to claim 1, wherein The light supplement board is composed of a plurality of light source circuit boards arranged, and each light source circuit board is provided with a visible light source and an infrared light source capable of generating at least three infrared wavebands.

3. A camera calibration device according to claim 1, wherein The infrared light source includes: an infrared light emitting array formed by combining and arranging a plurality of infrared lamp beads of 850nm, 905nm, and 940nm with the same number, and the 850nm infrared lamp beads, 905nm infrared lamp beads, and 940nm infrared lamps in the infrared light emitting array are arranged in an alternating distribution manner; The visible light source includes: a visible light emitting array formed by combining a plurality of visible white light lamp beads, and each visible white light lamp bead in the visible light emitting array is arranged in the interval of the infrared light emitting array.

4. A camera calibration device according to claim 3, characterized in that, The light emitting angles of the visible white light lamp beads, the 850nm infrared lamp beads, the 905nm infrared lamp beads, and the 940nm infrared lamp beads are all configured to be 120 degrees.

5. The camera calibration device according to claim 1, characterized in that, The glass calibration board is a checkerboard glass calibration board; The checkerboard glass calibration board is composed of a plurality of black grid glasses and white grid glasses distributed alternately, a white round block is arranged in the black grid glass at the center position of the checkerboard glass calibration board, and a black round block is arranged in the white grid glass at the center position of the checkerboard glass calibration board.

6. The camera calibration device according to claim 1, characterized in that One side of the middle frame mechanism is hinged to the fixed end of the door frame mechanism through a hinge, and the other side of the middle frame mechanism is connected to the movable end of the door frame mechanism through a door lock.

7. The camera calibration device according to claim 1, characterized in that, A card slot is arranged inside the door frame mechanism, and the card slot is used to fix the glass calibration board.

8. The camera calibration device according to claim 1, wherein The fixing frame includes: a lamp frame mechanism for mounting the light supplement board onto the middle frame mechanism.

9. The camera calibration device according to claim 1, wherein Including: A power adapter and a switch; The power adapter is connected to the light supplement board and is used to supply power to the light supplement board; The switch is connected to the light supplement board and is used to make the light supplement board generate a corresponding target light source according to the gear selected by the switch.

10. A calibration system for an infrared light TOF depth camera and a visible light camera, characterized in that, Including: A camera calibration device according to any one of claims 1-9; A camera fixing plate arranged within a preset range, used to fix an infrared light TOF depth camera and / or a visible light camera, so that the infrared light TOF depth camera and / or the visible light camera can capture the glass calibration board of the camera calibration device from any angle to obtain a camera calibration image.

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