Space calibration module suitable for combined use of three-dimensional camera and thermal imaging infrared camera

Abstract

The utility model discloses a space calibration module suitable for combined use of a three-dimensional camera and a thermal imaging infrared camera, which comprises a supporting base, a cuboid-shaped three-dimensional module shell is fixedly mounted on the supporting base, bimodal target surfaces are respectively arranged on four side surfaces of the three-dimensional module shell, and the bimodal target surfaces are arranged on two sides of the three-dimensional module shell. A heat source control module is arranged in the three-dimensional module shell, the bimodal target surface comprises a thermal response coating on the outer layer and a standard 3D calibration pattern layer on the inner layer, and the heat source control module comprises a heating piece, a temperature control chip and a battery pack. According to the utility model, the bimodal target surfaces are respectively arranged on the four side surfaces of the three-dimensional module shell, and through heat source control of the internal heat source control module, characteristic surface observation in multiple angles and directions is realized, and synchronous identification of infrared and visible light systems is realized at the same time; and each visual surface is provided with a unique pattern code, so that multi-view accurate identification is facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to machine vision technical field especially applicable to three -dimensional camera and thermal imaging infrared camera combined use's space calibration module can be applied to intelligent manufacturing, robot navigation, multimodal fusion perception etc. BACKGROUND

[0002] At present, the common calibration object in machine vision system includes single RGB camera or 3D depth camera, such as structured light, ToF or binocular vision system. The thermal imaging infrared camera cannot have a visible light channel, and in actual calibration, it often depends on the target object's own heating characteristics or auxiliary heat source point for calibration, which has poor stability, high cost and is difficult to unify to a three-dimensional coordinate system.

[0003] The traditional method has the following deficiencies:

[0004] 1. Different modal cameras cannot be effectively calibrated, resulting in large system fusion error;

[0005] 2. The existing calibration target cannot be recognized by the infrared thermal imager and 3D camera at the same time;

[0006] 3. There is a lack of calibration device with thermal response characteristics and spatial structure compatibility;

[0007] 4. It is difficult to realize on-site rapid deployment and automatic calibration. INVENTION CONTENT

[0008] To solve the above technical problems, the utility model designs a space calibration module applicable to three-dimensional camera and thermal imaging infrared camera combined use.

[0009] The utility model adopts the following technical scheme:

[0010] A space calibration module applicable to three-dimensional camera and thermal imaging infrared camera combined use, comprising a support base, a cuboid-shaped three-dimensional module shell is fixedly installed on the support base, double-mode target surfaces are arranged on the four side surfaces of the three-dimensional module shell respectively, a heat source control module is arranged in the three-dimensional module shell, the double-mode target surface comprises a thermal response coating layer and a standard 3D calibration pattern layer, the heat source control module comprises a heating sheet, a temperature control chip and a battery pack. The double-material laminated structure of the double-mode target surface is adopted to realize the synchronous identification of the infrared and visible light systems.

[0011] As a preferred, the three-dimensional module shell top is provided with a heat dissipation structure, and the heat dissipation structure is formed by a plurality of heat dissipation fins arranged side by side.

[0012] As a preferred, the thermal response coating layer adopts a carbon nanometer black body coating.

[0013] Preferably, the housing of the three-dimensional module is an ABS housing or an aluminum alloy housing.

[0014] Preferably, the housing of the three-dimensional module includes a sensor bracket and a power supply interface. The sensor bracket is used to mount the heating element, temperature control chip, and battery pack.

[0015] Preferably, the heating element is an insertable heating element.

[0016] Preferably, the four sides of the three-dimensional module housing are each provided with a coded identification pattern. Each visible surface has a unique pattern code, which facilitates identification from multiple viewing angles.

[0017] Preferably, the standard 3D calibration pattern layer is a laser-etched checkerboard or dot matrix.

[0018] The beneficial effects of this utility model are: (1) The four sides of the three-dimensional module shell of this utility model are respectively provided with dual-mode target surfaces. Through the heat source control of the internal heat source control module, the characteristic surface observation under multiple angles and directions can be realized, and the synchronous identification of infrared and visible light systems can be realized at the same time; (2) Each visible surface has a unique pattern code, which is convenient for accurate identification from multiple perspectives. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of this utility model;

[0020] In the diagram: 1. Support base, 2. 3D module shell, 3. Dual-modal target surface, 4. Encoded recognition pattern, 5. Heat dissipation structure. Detailed Implementation

[0021] The technical solution of this utility model will be further described in detail below through specific embodiments and with reference to the accompanying drawings:

[0022] Example: Figure 1 As shown, a spatial calibration module suitable for use in conjunction with a 3D camera and a thermal imaging infrared camera includes a support base 1, on which a cuboid-shaped 3D module housing 2 is fixedly mounted. Dual-modal target surfaces 3 are respectively provided on the four sides of the 3D module housing. A heat source control module is provided inside the 3D module housing. The dual-modal target surfaces include an outer thermal response coating and an inner standard 3D calibration pattern layer. The heat source control module includes a heating element, a temperature control chip, and a battery pack.

[0023] The top of the 3D module housing features a heat dissipation structure 5, which consists of multiple heat sinks arranged side-by-side. The thermally responsive coating utilizes a carbon nanotube blackbody coating. The 3D module housing is made of ABS or aluminum alloy.

[0024] The stereoscopic module shell is internally provided with a sensor support and a power supply interface.

[0025] The four sides of the stereoscopic module shell are respectively provided with coded identification patterns 4.

[0026] The four sides of the stereoscopic module shell are respectively provided with double-mode target surfaces, the heat source control of the internal heat source control module is used to realize the observation of the characteristic surfaces under multiple angles and directions, and the synchronous identification of the infrared and visible light systems is realized; each visible surface is provided with a unique pattern code, and the multi-view accurate identification is facilitated.

[0027] The utility model can be applied to mutual registration in a multi-camera system installation environment, a patrol robot system with an infrared monitoring function, a three-dimensional reconstruction system with a night vision or concealed imaging device in the industrial field, and a calibration correction of a camera and a thermal imager in an automatic driving system.

[0028] The above-described embodiments are only a preferred scheme of the utility model, and do not limit the utility model in any form, and other variants and modifications can be made without exceeding the technical scheme recorded in the claims.

Claims

1. A spatial calibration module suitable for use in conjunction with a 3D camera and a thermal imaging infrared camera, comprising a support base, characterized in that, A rectangular three-dimensional module housing is fixedly installed on the support base. Dual-modal target surfaces are respectively provided on the four sides of the three-dimensional module housing. A heat source control module is provided inside the three-dimensional module housing. The dual-modal target surface includes an outer thermal response coating and an inner standard 3D calibration pattern layer. The heat source control module includes a heating element, a temperature control chip, and a battery pack.

2. The spatial calibration module for use with a 3D camera and a thermal imaging infrared camera as described in claim 1, characterized in that, The top of the three-dimensional module housing is provided with a heat dissipation structure, which is formed by multiple heat dissipation fins arranged side by side.

3. The spatial calibration module for use with a 3D camera and a thermal imaging infrared camera as described in claim 1, characterized in that, The thermally responsive coating is a carbon nanotube blackbody coating.

4. The spatial calibration module for use with a 3D camera and a thermal imaging infrared camera as described in claim 1, characterized in that, The housing of the three-dimensional module is an ABS housing or an aluminum alloy housing.

5. The spatial calibration module for use with a 3D camera and a thermal imaging infrared camera as described in claim 1, characterized in that, The 3D module housing contains a sensor bracket and a power supply interface.

6. The spatial calibration module for use with a 3D camera and a thermal imaging infrared camera as described in claim 1, characterized in that, The heating element is an insert-type heating element.

7. The spatial calibration module for use with a 3D camera and a thermal imaging infrared camera as described in claim 1, characterized in that, The four sides of the three-dimensional module housing are respectively provided with coded identification patterns.

8. The spatial calibration module for use with a 3D camera and a thermal imaging infrared camera as described in claim 1, characterized in that, The standard 3D calibration pattern layer is a laser-etched checkerboard or dot matrix.

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