Camera calibration device

Abstract

The utility model relates to a camera calibration device, which comprises a first platform, a mechanical arm, a second platform, a camera, a camera mounting platform and a first moving device, the mechanical arm is fixed on the first platform, and a calibration plate is mounted at the moving end of the mechanical arm; the first moving device is mounted on the second platform, the camera is mounted on the camera mounting platform, and the camera mounting platform is arranged at the moving end of the first moving device, so that the camera mounting platform reciprocates in the first direction of the horizontal plane. The camera calibration device provided by the utility model can solve the problem of insufficient arm extension of a mechanical arm, can be compatible with calibration of cameras of more models, and is wider in applicable scene and range.

Description

Technical Field

[0001] This utility model relates to the field of camera calibration technology, and in particular to a camera calibration device. Background Technology

[0002] Machine vision is being used more and more widely. Combining machine vision with robotic arms can be applied to various industrial scenarios. Before use, the camera needs to be calibrated. Currently, a checkerboard calibration method is generally used. The robotic arm carries a checkerboard and moves it within the camera's field of view at its working distance. The camera takes multiple photos, and then feature vectors are calculated for multiple poses, thus completing the camera calibration.

[0003] However, the length of existing robotic arms is fixed and cannot be compatible with the calibration of 3D cameras with longer working distances. Increasing the length of the robotic arm would be expensive. Therefore, a camera calibration device is proposed to solve the above problems. Utility Model Content

[0004] This invention provides a camera calibration device that solves the problem of insufficient arm span of robotic arms, is compatible with more camera models, and is applicable to a wider range of scenarios and applications.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A camera calibration device includes a first platform, a robotic arm, a second platform, a camera, a camera mounting platform, and a first moving device;

[0007] The robotic arm is fixed on the first platform, and a calibration plate is installed on the moving end of the robotic arm.

[0008] The first mobile device is mounted on the second platform, and the camera is mounted on the camera mounting platform. The camera mounting platform is located at the mobile end of the first mobile device, so that the camera mounting platform reciprocates along the first direction of the horizontal plane.

[0009] Preferably, the device further includes a second moving device and a third mounting bracket. The third mounting bracket is mounted on the moving end of the first moving device, the second moving device is mounted on the third mounting bracket, and the camera mounting platform is mounted on the moving end of the second moving device, so that the camera mounting platform reciprocates in the vertical direction.

[0010] Preferably, there are two second moving devices, and a crossbar is connected between the moving ends of the two second moving devices, and the camera mounting platform is mounted on the crossbar.

[0011] Preferably, both the first moving device and the second moving device are linear drive modules.

[0012] Preferably, the second platform is provided with a slide rail along the first direction, and the third mounting bracket is provided with a slider, which is slidably disposed on the slide rail.

[0013] Preferably, there are two slide rails and two sliders, with the two slide rails respectively located on both sides of the first moving device.

[0014] Preferably, the second moving device is mounted at the central axis of the end of the third mounting bracket.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] By setting up the first moving device, the camera mounting platform can move along the first horizontal direction, thereby enabling relative movement between the camera and the calibration plate at the end of the robotic arm along the first direction. This allows the calibration plate to meet the calibration range of cameras with a larger working distance, be compatible with the calibration of more camera models, and be applicable to a wider range of scenarios. Furthermore, it eliminates the need to replace the robotic arm, saving costs. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall device in an embodiment of this utility model;

[0019] Figure 2 This is a schematic diagram of the second platform, camera mounting platform, first moving device, second moving device, and third mounting frame in an embodiment of this utility model;

[0020] Figure 3 This is a schematic diagram of the sliding structure of the third mounting bracket in an embodiment of this utility model.

[0021] Explanation of reference numerals in the attached figures:

[0022] 1. First platform; 2. Robotic arm; 3. Second platform; 4. Camera mounting platform; 5. First moving device; 6. Second moving device; 7. Third mounting bracket; 8. Slider; 9. Slide rail. Detailed Implementation

[0023] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0024] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0025] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0026] like Figure 1-3As shown, this utility model embodiment provides a camera calibration device, including a first platform 1, a robotic arm 2, a second platform 3, a camera, a camera mounting platform 4, and a first moving device 5. The first platform 1 is installed on the work site, and the robotic arm 2 is installed on the first platform 1. The first platform 1 can be a metal pallet or other mounting platform. A calibration plate is installed at the first moving end (terminal end) of the robotic arm 2. The calibration plate is generally a checkerboard pattern, but other calibration pattern plates can also be used. The specific calibration plate pattern can be set according to the actual situation. The second platform 3 is installed on the work site and can be a truss composed of multiple profile rods. The upper end face of the truss is horizontally positioned. The first moving device 5 is installed on the upper end face of the second platform 3 and has a first moving end. The camera mounting platform 4 is located at the first moving end, and the camera is mounted on the camera mounting platform 4. The first moving device 5 enables the camera mounting platform 4 to reciprocate along a first direction on the horizontal plane, thereby enabling the camera to... The machine can reciprocate along the first direction of the horizontal plane. Specifically, during operation, if the movement distance of the robotic arm 2 is sufficient to meet the calibration field of view of the camera, the robotic arm 2 will drive the calibration plate to move within the calibration field of view of the camera, thereby achieving camera calibration. Preferably, the robotic arm 2 and the first moving device 5 can move together, allowing the calibration plate to reach the calibration field of view of the camera more quickly, thus improving the calibration efficiency of the camera. If the working distance of the camera being calibrated is relatively far and its calibration field of view is larger, and the movement range of the robotic arm 2 cannot meet the calibration field of view of the camera, the first moving device 5 can be used to move the camera in the opposite direction of the calibration plate, thereby increasing the horizontal distance between the camera and the calibration plate, so that the movement distance of the calibration plate meets the calibration field of view of the camera, thus completing the camera calibration. It is not necessary to increase the movement distance of the calibration plate by increasing the arm span of the robotic arm 2. The cost of setting up the first moving device 5 is lower than that of increasing the arm span of the robotic arm 2. In summary, this camera calibration device can solve the problem of insufficient arm span of robotic arm 2, without the need to replace robotic arm 2, and can improve the calibration efficiency of the camera. It is also compatible with the calibration of different models of cameras (different working distances and different calibration fields of view) in multiple scenarios.

[0027] Specifically, the camera calibration device also includes a second moving device 6 and a third mounting bracket 7. The third mounting bracket 7 is mounted on the moving end of the first moving device 5, so that the first moving device 5 can drive the third mounting bracket 7 to move in a first direction on the horizontal plane. The second moving device 6 is mounted on the third mounting bracket 7 and has a second moving end. The camera mounting platform 4 is mounted on the second moving end, so that the camera mounting platform 4 reciprocates in the vertical direction under the drive of the second moving device 6, which enables the camera to move in the vertical direction, thereby adjusting the working distance of the camera. Generally, when the length of the robotic arm 2 is limited and cannot meet the camera calibration range, the camera mounting platform 4 can be appropriately lowered by the second moving device 6 to meet the working distance of the camera and increase the moving distance of the robotic arm 2 to a certain extent. By using it in conjunction with the first moving device 5, it can be compatible with the calibration of more camera models, and the applicable scenarios and ranges are wider.

[0028] Specifically, two second moving devices 6 are configured, and the moving ends of the two second moving devices 6 are connected to a crossbar. The camera mounting platform 4 is mounted on the crossbar, so that the camera mounting platform 4 can move together through the two second moving devices 6, making the movement of the camera mounting platform 4 more stable and its operation more stable. Moreover, the second moving devices 6 are installed at the central axis of the end of the third mounting frame 7, so that the center of gravity of the entire third mounting frame 7 will not shift excessively, making the whole structure more stable.

[0029] Specifically, both the first mobile device 5 and the second mobile device 6 are linear drive modules, which can realize linear movement of the mobile end and can be obtained from the market as a whole, resulting in lower costs.

[0030] Specifically, the upper surface of the second platform 3 is provided with a slide rail 9 along the first direction, and the third mounting frame 7 is provided with a slider 8. The slider 8 is slidably mounted on the slide rail 9. The cooperation between the slide rail 9 and the slider 8 makes the movement of the third mounting frame 7 in the first direction more stable. Moreover, there are two slide rails 9 and two sliders 8. The two slide rails 9 are respectively located on both sides of the first moving device 5, realizing the middle drive and the sliding at both ends of the third mounting frame 7, making the movement of the third mounting frame 7 more stable.

[0031] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A camera calibration apparatus characterized by comprising: The device comprises a first platform, a mechanical arm, a second platform, a camera, a camera mounting platform and a first moving device. The mechanical arm is fixed on the first platform, and a calibration plate is mounted on the moving end of the mechanical arm. The first moving device is mounted on the second platform, the camera is mounted on the camera mounting platform, and the camera mounting platform is arranged at the moving end of the first moving device so that the camera mounting platform reciprocates along a horizontal plane in a first direction.

2. The camera calibration apparatus of claim 1, wherein The device further comprises a second moving device and a third mounting frame, the third mounting frame is mounted on the moving end of the first moving device, the second moving device is mounted on the third mounting frame, and the camera mounting platform is mounted on the moving end of the second moving device so that the camera mounting platform reciprocates along a vertical direction.

3. The camera calibration apparatus of claim 2, wherein The second moving device is provided in two, and a crossbar is connected between the moving ends of the two second moving devices, and the camera mounting platform is mounted on the crossbar.

4. The camera calibration apparatus of claim 3, wherein The first moving device and the second moving device are both linear driving modules.

5. The camera calibration apparatus of claim 2, wherein The second platform is provided with a slide rail in a first direction, and the third mounting frame is provided with a slide block which is slidingly arranged on the slide rail.

6. The camera calibration apparatus of claim 5, wherein, The slide rail and the slide block are both provided in two, and the two slide rails are respectively arranged on the two sides of the first moving device.

7. The camera calibration apparatus of claim 2, wherein The second moving device is mounted at the central axis of the end of the third mounting frame.

Images