Camera calibration device

Abstract

The utility model discloses a camera calibration device, and the device comprises a calibration frame, a calibration plate, and an abutting strip. The calibration plate and the abutting strip are erected on the calibration frame, the calibration plate and the abutting strip are oppositely arranged, the abutting strip is used for abutting against a courtyard robot to be detected, and the calibration plate is used for determining the calibration condition of a camera in the courtyard robot. According to the scheme, after the courtyard robot with the camera is abutted through the abutting strip on the calibration frame, the camera on the courtyard robot is calibrated through the calibration plate on the calibration frame, so that the camera in the courtyard robot can be calibrated at any time, the camera in the courtyard robot does not need to be disassembled, and the calibration efficiency is improved. And the calibration efficiency of the camera in the courtyard robot is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of calibration, especially relates to a camera calibration device. BACKGROUND

[0002] Various components are arranged on the outdoor courtyard robot, each component has corresponding function, such as the camera arranged on the outdoor robot, and the main function of the camera is to identify various objects such as obstacles, however, the current calibration of the camera in the courtyard robot has the problems of deficiency, including that the volume of the courtyard robot is too large, the camera in the courtyard robot cannot be calibrated at any time, the camera needs to be removed from the courtyard robot for calibration, which directly affects the calibration efficiency of the subsequent camera.

[0003] Therefore, the person skilled in the art needs to find a new technical solution to solve the above problems. UTILITARY MODEL

[0004] The utility model embodiment aims at providing a camera calibration device, which can solve the technical problem of removing the camera and affecting the camera calibration efficiency in the prior art.

[0005] The utility model embodiment solves its technical problem by adopting the following technical scheme:

[0006] The camera calibration device comprises a calibration frame, a calibration plate and an abutting strip, the calibration plate and the abutting strip are arranged on the calibration frame, the calibration plate and the abutting strip are in a relative arrangement relationship, the abutting strip is used for abutting with the courtyard robot to be detected, and the calibration plate is used for determining the calibration condition of the camera in the courtyard robot.

[0007] Optionally, the calibration frame comprises a sliding rail strip and a sliding strip, the sliding rail strip is movably connected with the sliding strip, and the sliding strip is fixedly connected with the abutting strip and the calibration plate.

[0008] Optionally, the sliding strip and the sliding strip are connected through a connecting piece, one end of the connecting piece is connected with the sliding strip, and the other end of the connecting piece is connected with the sliding strip.

[0009] Optionally, the calibration frame further comprises a fixing strip, the fixing strip is movably connected with the sliding rail strip, and the fixing strip is movably connected with the sliding rail strip.

[0010] Optionally, the sliding rail strip and the fixing strip are fixedly connected through the connecting piece, one end of the connecting piece is connected with the sliding rail strip, and the other end of the connecting piece is connected with the fixing strip.

[0011] Optionally, the calibration plate comprises a calibration frame, a bottom of the calibration frame is arranged on the slide rail strip, and a clamping groove is arranged at an edge of the calibration frame.

[0012] Optionally, the calibration plate further comprises a calibration surface, and the calibration surface is clamped in the clamping groove.

[0013] Optionally, the calibration frame is provided with a penetrating opening at an end side away from the bottom of the calibration frame, the calibration plate further comprises a supporting strip and a calibration surface, the supporting strip is arranged in the penetrating opening, and a bottom end of the calibration surface is abutted against the supporting strip.

[0014] Optionally, the slide rail strip is provided with a sliding wheel at a position close to the ground bottom, and the sliding wheel is used to move the entire camera calibration device.

[0015] Optionally, the abutment strip is arranged between the slide strips, and a fixing plate is arranged at a back position of the slide strips.

[0016] The camera calibration device comprises a calibration frame, a calibration plate and an abutment strip. The calibration plate and the abutment strip are arranged on the calibration frame, the calibration plate and the abutment strip are arranged in a relative arrangement, the abutment strip is used to abut against the yard robot to be detected, and the calibration plate is used to determine the calibration of the camera in the yard robot. According to the present application, the camera calibration device can calibrate the camera in the yard robot at any time without disassembling the camera in the yard robot, and the calibration efficiency of the camera in the yard robot is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0017] One or more embodiments are illustrated by way of example in the accompanying drawings that are not intended to be limiting of the embodiments. Like reference numbers in the drawings indicate like elements, unless otherwise specified. The drawings are not necessarily to scale, the emphasis instead being placed upon illustrating the principles of the embodiments.

[0018] Figure 1 A structural schematic diagram of an embodiment of the camera calibration device disclosed by the embodiments of the present application;

[0019] Figure 2 A structural schematic diagram of another embodiment of the camera calibration device disclosed by the embodiments of the present application;

[0020] Figure 3 A partial structural exploded schematic diagram of another embodiment of the camera calibration device disclosed by the embodiments of the present application.

[0021] Corresponding meanings of the reference numerals and the reference numerals:

[0022] 1. calibration frame; 101, slide rail strip; 102, sliding strip; 103, fixed strip; 2, calibration plate; 201, calibration frame; 2011, clamping groove; 202, calibration surface; 3, abutting strip; 4, garden robot; 5, camera; 6, connecting piece; 7, sliding wheel; 8, fixed plate; 9, camera calibration device. DETAILED DESCRIPTION

[0023] In order to facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element or one or more intervening elements can be present therebetween. When an element is described as "connected to" another element, it can be directly connected to the other element or one or more intervening elements can be present therebetween. The terms "upper", "lower", "inner", "outer", "vertical", "horizontal" and the like used in the specification indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0024] In addition, the terms "first", "second", and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance. The terms "include" or "contain" and the like mean that the elements or objects appearing before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connected" or "connected" and the like are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Unless otherwise defined, the terms "parallel", "vertical" and "same" and the like used in the embodiments of the present application include the cases of "strictly parallel", "strictly vertical", "strictly same" and the like, as well as the cases of "approximately parallel", "approximately vertical", "approximately same" and the like with a certain error. For example, the above "approximately" can mean that the difference between the compared objects is within 10% or 5% of the average value of the compared objects. In the following description of the embodiments of the present application, when the number of a component or element is not specifically indicated, it means that the component or element can be one or more, or can be understood as at least one. "At least one" means one or more, and "multiple" means at least two.

[0025] Unless otherwise defined, all technical and scientific terms used in the present disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terminology used in the description of the application herein is for the purpose of describing the particular embodiments only and is not intended to be limiting of the present application. The use of the terms "and / or" includes a combination of one or more of the associated listed items.

[0026] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as there is no conflict. Obviously, the described embodiments are part of the embodiments of the present application, not all. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0027] As shown in Figures 1 to 3 The camera calibration device 9 disclosed in the embodiments of the present application comprises a calibration frame 1, a calibration board 2 and an abutting strip 3. The calibration board 2 and the abutting strip 3 are arranged on the calibration frame 1, and the calibration board 2 and the abutting strip 3 are arranged in an opposite relationship. The abutting strip 3 is used to abut against the yard robot 4 to be detected, and the calibration board 2 is used to determine the calibration of the camera 5 in the yard robot 4.

[0028] The calibration frame 1 is the main structure of the entire calibration device, and the calibration board 2 and the abutting strip 3 are arranged on the main structure. The calibration board 2 and the abutting strip 3 are arranged on both sides of the calibration frame 1 and are arranged in a corresponding relationship. The calibration board 2 is provided with black and white calibration marks on the board surface. The abutting strip 3 can abut against the outer shell of the self-moving device. Specifically, when the yard robot 4 moves to the camera calibration device 9 for calibration, the edge shell of the yard robot 4 can abut against the abutting strip 3. After the camera 5 on the yard robot 4 is opened to capture the calibration marks on the calibration board 2, the calibration software connected is used to analyze the calibration of the camera 5 in the yard robot 4.

[0029] In the embodiments, the abutting strip 3 on the calibration frame 1 is used to abut against the yard robot 4 with the camera 5, and the calibration board 2 on the calibration frame 1 is used to calibrate the camera 5 on the yard robot 4. In this way, the camera 5 in the yard robot 4 can be calibrated at any time without disassembling the camera 5 in the yard robot 4, thereby ensuring the calibration efficiency of the camera 5 in the yard robot 4.

[0030] As shown in Figure 2As shown in the drawings, in an embodiment, the calibration frame 1 comprises a sliding rail strip 101 and a sliding strip 102, the sliding rail strip 101 is movably connected with the sliding strip 102, and the sliding strip 102 is fixedly connected with the abutting strip 3 and the calibration plate 2.

[0031] The sliding rail strip 101 is a strip body close to the ground, and a sliding groove (a sliding nut is arranged on the sliding groove, and the sliding nut is connected with the bottom of the sliding strip 102) for the sliding strip 102 to move is arranged on the surface side of the sliding rail strip 101. The sliding strip 102 is arranged above the sliding rail strip 101, so that the sliding strip 102 can slide along the length of the sliding rail strip 101. The sliding strip 102 is arranged on both ends of the sliding rail strip 101, for example, two sliding strips 102 are arranged on each end, and each two sliding strips 102 are fixedly connected with the abutting strip 3 and the calibration plate 2.

[0032] The movable connection between the sliding rail strip 101 and the sliding strip 102 in the embodiment enables the sliding strip 102 to move freely on the sliding rail strip 101, so as to adjust the position between the abutting strip 3 and the calibration plate 2. The fixed connection of the sliding strip 102 (each two sliding strips 102 are connected with the abutting strip 3 and the calibration plate 2, which can be equivalent to the stability of the abutting strip 3 and the calibration plate 2 on the calibration frame 1) with the abutting strip 3 and the calibration plate 2 improves the stability of the abutting strip 3 and the calibration plate 2 on the calibration frame 1.

[0033] As shown in the drawings, Figure 2 In an embodiment, the sliding strip 102 is connected with the sliding strip 102 through a connecting piece 6. One end of the connecting piece 6 is connected with the sliding strip 102, and the other end of the connecting piece 6 is connected with the sliding strip 102.

[0034] The connecting piece 6 can be a conical structure, and two ends are arranged in the conical structure. One end of the connecting piece 6 is connected with the sliding strip 102 through the connecting piece 6, and the other end of the connecting piece 6 is connected with the sliding rail strip 101. A screw or a bolt can be arranged on each end to be fixedly connected. When the one end of the connecting piece 6 connected with the sliding strip 102 is fixedly connected, and the other end of the connecting piece 6 connected with the sliding rail strip 101 is movably connected, the sliding strip 102 can slide relative to the sliding rail strip 101. When the one end of the connecting piece 6 connected with the sliding strip 102 is fixedly connected, and the other end of the connecting piece 6 connected with the sliding rail strip 101 is also fixedly connected, the sliding strip 102 is prohibited from moving relative to the sliding rail strip 101.

[0035] In the embodiment, one end of the connecting piece 6 is connected with the sliding strip 102, and the other end of the connecting piece 6 is connected with the sliding rail strip 101, so as to ensure the stability of the overall structure of the calibration frame 1. Through the connection of the connecting piece 6, the sliding strip 102 can keep a relatively stable track during movement, and the problem of deviation error caused by shaking is reduced.

[0036] As Figure 2 shown, in an embodiment, the calibration frame 1 further comprises a fixed bar 103, which is movably connected with the slide rail bar 101.

[0037] Among them, the fixed bar 103 can be arranged between the two slide rail bars 101, and two fixed bars 103 can be arranged between the slide rail bars 101, which can increase the stability of the whole after acting on the slide rail bars 101; the slide rail bar 101 can also be provided with a sliding groove (a sliding nut is arranged on the sliding groove, and the sliding nut is connected with the bottom of the fixed bar 103) on the side close to the fixed bar 103, so that the fixed bar 103 can slide in the length arrangement direction of the slide rail bar 101, and the whole sliding bar 102 with the calibration plate 2 or / and the whole sliding bar 102 with the abutting bar 3 can slide relative to the slide rail bar 101 to control the calibration distance between the calibration plate 2 and the camera 5, which can be suitable for calibration in various distance scenes.

[0038] As Figure 2 shown, in an embodiment, the slide rail bar 101 and the fixed bar 103 are fixedly connected through the connecting piece 6; one end of the connecting piece 6 is connected with the slide rail bar 101, and the other end of the connecting piece 6 is connected with the fixed bar 103.

[0039] Among them, the connecting piece 6 can be arranged on the slide rail bar 101 and the sliding bar 102, and also can be arranged on the slide rail bar 101 and the fixed bar 103; the connecting piece 6 can be a conical structure, which has two ends, one end can be connected with the slide rail bar 101 through the connecting piece 6, and the other end can be connected with the fixed bar 103 through the connecting piece 6; a screw piece or a bolt piece can be arranged on each end for fixed connection; when the end of the connecting piece 6 connected with the fixed bar 103 is fixedly connected, and the end of the connecting piece 6 connected with the slide rail bar 101 is movably connected, the fixed bar 103 can slide relative to the slide rail bar 101; when the end of the connecting piece 6 connected with the fixed bar 103 is fixedly connected, and the end of the connecting piece 6 connected with the slide rail bar 101 is also fixedly connected, the sliding bar 102 can be prohibited from moving relative to the slide rail bar 101.

[0040] In the embodiment, one end of the connecting piece 6 is connected with the fixed bar 103, and the other end is connected with the slide rail bar 101, which ensures the stability of the whole structure of the calibration frame 1.

[0041] As Figure 2 shown, in an embodiment, the calibration plate 2 comprises a calibration frame 201, the bottom of the calibration frame 201 is arranged on the slide rail bar 101, and a clamping groove 2011 is formed at the edge of the calibration frame 201.

[0042] The calibration plate 2 can be provided in the shape of a square plate, and the calibration frame 201 is also provided in a shape suitable for the square plate. The calibration frame 201 can surround three edges of the calibration surface 202 in the calibration plate 2, and a clamping groove 2011 is provided at the edge of the calibration frame 201 to clamp the edge of the calibration surface 202.

[0043] As shown in the drawings, Figure 2 In an embodiment, the calibration plate 2 further comprises a calibration surface 202 clamped in the clamping groove 2011.

[0044] The edge of the calibration surface 202 is clamped in the clamping groove 2011, and the calibration surface 202 is stably arranged in the calibration plate 2 by clamping.

[0045] In an embodiment, the calibration frame 201 is provided with a through hole (not shown) at the end away from the bottom of the frame. The calibration plate 2 further comprises a support bar and a calibration surface 202. The support bar is arranged in the through hole (not shown), and the bottom end of the calibration surface 202 abuts against the support bar.

[0046] The through hole (not shown) can be arranged at any position on the edge of the calibration frame 201, that is, the through hole (not shown) can be arranged at any height relative to the bottom of the frame. After the support bar of the calibration plate 2 is arranged in the through hole (not shown), the surface of the support bar can support the calibration surface 202 upward.

[0047] In this embodiment, the calibration plate 2 is arranged in the through hole (not shown) at the end of the calibration frame 201. After the support bar is arranged in the through hole (not shown), the height of the calibration plate 2 relative to the bottom of the calibration frame 201 can be raised, and the calibration plate 2 can be used in various height scenes.

[0048] As shown in the drawings, Figure 1 In an embodiment, the sliding rail 101 is provided with a sliding wheel 7 at a position close to the ground bottom for moving the entire camera 5 calibration device.

[0049] The sliding wheel 7 is arranged at a position close to the ground bottom of the sliding rail 101. In this way, the entire camera 5 calibration device can be moved to a corresponding position by moving the sliding wheel 7, without moving the corresponding garden robot 4 with the camera 5, which is convenient for operation.

[0050] As shown in the drawings, Figure 1 and Figure 2 In an embodiment, the abutting bar 3 is arranged between the sliding bars 102, and the abutting bar 3 is provided with a fixed plate 8 at a position away from the sliding bars 102.

[0051] The fixed plate 8 is arranged on the opposite back surface of the abutting strip 3, and is connected with the sliding strip 102, so that the stability of the whole abutting strip 3 on the camera calibration device 9 is improved through the connection of the fixed plate 8 and the sliding strip 102, and the abutting strip 3 is prevented from being pushed open and dislocated by the yard robot 4 with the camera 5.

[0052] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above; for the sake of simplicity, they are not provided in detail; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A camera calibration device, characterized by, Including calibration frame, calibration board and abutting strip; the calibration board and the abutting strip are erected on the calibration frame, the calibration board and the abutting strip are in the opposite relationship, the abutting strip is used for abutting with the yard robot to be detected, and the calibration board is used for determining the calibration condition of the camera in the yard robot.

2. The camera calibration device of claim 1, wherein, The calibration frame includes a sliding rail strip and a sliding strip, the sliding rail strip is movably connected with the sliding strip, and the sliding strip is fixedly connected with the abutting strip and the calibration board.

3. The camera calibration device of claim 2, wherein, The sliding strip and the sliding strip are connected through a connecting piece; one end of the connecting piece is connected with the sliding strip, and the other end of the connecting piece is connected with the sliding strip.

4. The camera calibration device of claim 2, wherein, The calibration frame further includes a fixed strip, and the fixed strip is movably connected with the sliding rail strip.

5. The camera calibration device of claim 4, wherein, The sliding rail strip and the fixed strip are fixedly connected through a connecting piece; one end of the connecting piece is connected with the sliding rail strip, and the other end of the connecting piece is connected with the fixed strip.

6. The camera calibration device of claim 2, wherein, The calibration board includes a calibration frame, and the bottom of the calibration frame is erected on the sliding rail strip.

7. The camera calibration device of claim 6, wherein, The calibration board further includes a calibration surface, and the calibration surface is clamped in the clamping groove.

8. The camera calibration device of claim 6, wherein, The calibration frame is provided with a penetrating opening at the end side away from the frame bottom, and the calibration board further includes a support strip and a calibration surface, the support strip is penetrated in the penetrating opening, and the bottom end of the calibration surface abuts against the support strip.

9. The camera calibration device of claim 2, wherein, The sliding rail strip is provided with a sliding wheel for moving the entire camera calibration device at the position close to the ground bottom.

10. The camera calibration device of claim 2, wherein, The abutting strip is erected between the sliding strips, and the abutting strip is provided with a fixed plate at the back surface position of the sliding strip.

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